JP5613407B2 - Remote control switch device and electric actuator - Google Patents

Description

  The present invention relates to a remote control switch device used as a hand switch for remote operation (remote control) in an electrically operated operating table such as an electric bed or a transport vehicle, and in particular, remote control operation in a situation not intended by a person. The present invention relates to a remote control switch device that does not operate an electric operating table and does not complicate an operation in a situation intended by a person, and an electric operating table including the remote control switch device.

  Conventionally, some electric beds are provided with a remote control switch device (also simply referred to as “remote control”) for bed operation, and there are some which prevent erroneous operation by this remote control. For example, when a user who is difficult to operate a switch or a user who cannot understand a series of interlocking motions, the bottom interlocking motion of the bed or the like is invalidated so that there is no danger. Is disclosed (see Patent Document 1). In this bottom operation switching method such as a bed, an operation command is not accepted when an operation command is received from at least two switches.

  In addition, a bed including a floor raising / lowering mechanism having a rising angle adjusting means that can adjust the rising angle of the floor to correspond to a user's injury or illness condition is disclosed (see Patent Document 2). This bed is set so that it cannot be set unless the floor wake-up angle setting operation switch is pressed for a certain period of time, and the angle setting by the demented person is not accepted.

JP 2003-265540 A Japanese Patent Laid-Open No. 08-132187

  By the way, if you place a heavy object on the switch (button switch, etc.) with the remote control switch device such as an electric actuator (electric bed, etc.) moved on the floor, the switch will turn on and the motorized The actuator may move and make you feel uncomfortable. In this way, even if a remote control operation is performed in a situation that is not intended by a person, such as when an impact or an object is placed on the remote control switch device placed at a certain place, it is electrically operated. It is necessary to avoid the stand from operating. For this reason, until now, the case shape is devised so that the switch does not turn on when placed on the floor, and the pressing force required to turn on the switch contact is set high so that it is difficult to turn it on. However, it was hard to say that it was a sufficient measure.

  The present invention has been made in view of such circumstances, and it is an object of the present invention to operate an electric actuator without operating even if a remote control operation is performed in a situation not intended by a person. An object of the present invention is to provide a remote control switch device that does not complicate the operation in an intended situation, and an electric operating table including the remote control switch device.

The remote control switch device according to claim 1 of the present invention for solving the above-described problems is a remote control switch for remotely operating the actuator by outputting an input command to the controller for driving the actuator provided in the electric operating table by operating the switch. an apparatus determines a state detection sensor for detecting a change of state caused by the operation, the stationary state or operating state based on a change of the state detection sensor detects the input by the operation of said switch in accordance with the determination result A switch operation determining unit that determines whether or not to output a command to the controller, and the switch operation determining unit outputs an input command by operating the switch for a certain period of time after determining the operation state. The switch received within a certain time after the operation of the switch is completed. And outputs an instruction input by the operation of switch on the controller.
In this remote control switch device, when a person operates the remote control switch, the state detection sensor detects that the state (for example, tilt) of the remote control switch device changes because it is held in hand, and this state detection sensor Based on the detection result, a stationary state or an operating state is determined, and whether or not to accept a switch operation is determined according to the determination result.
As a result, when a remote control operation is performed without being held by a person, that is, when a remote control operation is performed in a situation that is not intended by the person, the electric actuator is not operated and It is possible to realize a remote control switch device that does not complicate the operation in the situation described above.

The invention according to claim 2 is the remote control switch device according to claim 1, wherein the state detection sensor is an angle sensor.
In this remote control switch device, an angle sensor is used as a state detection sensor. When a human operates the remote control switch device, the angle usually changes (for example, tilt occurs from a horizontal state). For this reason, when a sensor capable of detecting an angle is provided in the remote control switch device and the angle changes, for example, a button operation (switch operation) is accepted if the angle is not horizontal.
Thereby, it is possible to determine whether or not to accept a switch operation (button operation) based on information on an angle change when the remote control switch device is moved. For this reason, even if a remote control operation is performed in a situation that is not intended by a person, the electric operating table can be prevented from operating. For example, when a button (switch) is turned on while the angle is horizontal, the button is turned on while it is placed on the floor (an object is placed on the button even though no one is operating it). It is possible to determine that the button is ON with that weight and invalidate the operation.

Further, the invention according to claim 3 is the remote control switch device according to claim 2, wherein an average value of angles detected by the angle sensor from a current time point to a predetermined time before is used as a reference angle. When the angle detected by the sensor is greater than the reference angle by a predetermined angle or more, or when the angle is smaller than the reference angle by a predetermined angle or more, it is determined that the operation state is detected and an input command is output to the controller A switch state change detection unit, and when the switch state change detection unit detects the operation state, the switch operation determination unit determines to output the input command to the controller, and outputs the input command to the controller. It is characterized by doing.
In this remote control switch device, whether the current detected angle X is larger than the reference angle by a predetermined angle XX or more with an average value of angles detected by the angle sensor from the current time point to a predetermined time before as a reference angle (X > Reference angle + XX degrees), or when it is smaller than the reference angle by a predetermined angle XX or more (X <reference angle−XX degrees), it is detected that a change in state has occurred. That is, when a human operates the remote control switch device, the angle (posture) usually changes (for example, the tilt is generated from the horizontal state). For this reason, a button signal (switch operation signal) is received when the angle of the remote control switch device changes. As for the reference angle, the remote control switch device may be operated on a table (bed mattress) other than the floor, so the angle change is constant when the switch operation (button operation) is OFF. In the following case, it is determined that the person has stopped the switch operation, and the angle detected by the angle sensor at that time (more specifically, the angle average value detected by the angle sensor for a predetermined period) is held.
Accordingly, it is possible to determine whether or not to accept a switch operation (button operation) by detecting whether the angle detected by the angle sensor is larger or smaller than the predetermined angle XX with respect to the reference angle. For this reason, it is possible to detect a large change in angle that occurs when a person holds the remote control switch device in his / her hand. It is possible to realize a remote control switch device that does not operate and does not complicate the operation in a situation intended by a person.

The invention according to claim 4 is the remote control switch device according to claim 1, wherein the state detection sensor is an acceleration sensor, and the acceleration detected by the acceleration sensor is an acceleration within a predetermined range. If the operation state is detected, a switch state change detection unit for determining that an input command is output to the controller is provided, and the switch operation determination unit is configured so that the switch state change detection unit determines the operation state. If detected, it is determined to output the input command to the controller, and the input command is output to the controller.
In this remote control switch device, an acceleration sensor is used as a state detection sensor. When the acceleration change X is an acceleration within a predetermined range (a range of V1 <X <V2), it is determined that a human is touching the remote control switch device, and a switch operation (button operation) is performed. ). At this time, a change beyond the upper limit acceleration V2 is ignored as a change due to an external factor (earthquake or impact), and a change below the lower limit acceleration V1 is ignored as an change caused by an operation other than a person. And V2 can be set to determine whether or not the remote control switch device is held in the hand with the intention of being operated by a person. For this reason, it is possible to determine whether or not a person has the remote control switch device in his / her hand with the intention of the operation, so that the electric actuator can be operated even if the remote control operation is performed in a situation not intended by the person. And a remote control switch device that does not complicate the operation in the situation intended by the person can be realized.

The invention according to claim 5 is the remote control switch device according to claim 3 or 4, wherein a plurality of button switches are arranged, and any one of the plurality of button switches is pressed. A button input unit that outputs a button signal corresponding to the pressed button switch, and the switch operation determination unit waits for the switch state change detection unit to detect the operation state of the remote control switch device. One and change waiting state a, a state if said operating state is detected in the previous SL change waiting state a, the button signal masked state B to prohibit the acceptance of the button signal for a predetermined mask time In the button signal mask state B when the predetermined mask time has elapsed, and the button signal reception that permits the reception of the button signal. 4 transitions of a state C and a button ON state D in which a transition is made when a button signal is input in the button signal acceptance state C and the input button signal is output to the controller And determining whether or not to accept the button signal by transitioning between the four determination modes according to a change in the state of the remote control switch device and an on / off state of the button switch. It is characterized by.
In this remote control switch device, change waiting state A, the button signal masked state B, includes a button signal reception state C, and the four determination mode button ON state D, a change in the change detected by the switch state change detecting section Based on the ON / OFF state of the switch (button switch), the transition is made between the four determination modes. When the determination mode is the button signal reception state C, a switch operation (button operation) is received.
As a result, it is possible to detect with high accuracy the case where a person intends to operate and to hold the remote control switch device, and to accept the button signal only when the determination mode is the button signal acceptance state C. For this reason, even if a remote control operation is performed in a situation not intended by the person, the remote control switch device can be realized without causing the electric actuator to operate and without complicating the operation in the situation intended by the person. .

According to a sixth aspect of the present invention, there is provided the remote control switch device according to any one of the first to fifth aspects, wherein the remote control switch device includes a display unit that indicates an operation state of the remote control switch device.
In this remote control switch device, if the switch operation can be accepted by the user, the fact that it can be accepted on the display unit is displayed to notify the operator whether or not the operation by the remote control switch device is possible. The operability of the remote control switch device can be improved. For example, the display unit is configured by an LED (light emitting diode), and when the switch operation can be accepted, the LED or the like is turned on, and when the switch operation cannot be accepted, the LED is turned off to display the display easily. The operability of the remote control switch device can be improved.

According to a seventh aspect of the present invention, there is provided an electric operating table including the remote control switch device according to any one of the first to sixth aspects, wherein the controller for driving the actuator is operated by the switch operation of the remote control switch device. An input command is transmitted by the actuator, and a plurality of locations are driven by a predetermined operation by the actuator.
As a result, in an electric operating table such as an electric bed, even if a remote control operation is performed in a situation not intended by a person, the electric bed or the like does not operate, and an unpleasant feeling can be avoided.

In the remote control switch device, when a person operates the remote control switch, the state of the remote control switch device changes because it is held in hand. This change is detected by the state detection sensor, and it is determined whether or not to accept a switch operation based on a signal from the state detection sensor.
As a result, it is possible to realize a remote control switch device that does not operate the electric actuator and does not complicate the operation in the situation intended by the person even if the remote control operation is performed in a situation not intended by the person. .

It is a figure which shows the structure of the electric bed apparatus (remote control switch apparatus and electric bed) concerning embodiment of this invention. It is a figure for demonstrating the structure of an electric bed apparatus. It is a timing chart for demonstrating operation | movement of the remote control switch apparatus shown in FIG. 6 is a transition diagram of a determination mode in a switch input determination unit 21. FIG. 3 is a flowchart showing a control process (main routine) in a switch input determination unit 21. It is a figure for demonstrating a button input filter process and an angle input filter process. It is a flowchart which shows the flow of a switch state change detection process. It is a flowchart which shows the flow of a process in the angle change waiting state A and the button signal mask state B. It is a flowchart which shows the flow of a process in the button signal reception state C and the button ON state D.

(Description of the configuration of the remote control switch device and the electric bed device)
FIG. 1 is a diagram showing a configuration of a remote control switch device 10 according to an embodiment of the present invention and an electric bed device (electric operating table) 1 using the remote control switch device 10.
An electric bed device 1 shown in FIG. 1 includes an electric bed 2 and a remote control switch device 10 serving as a hand switch for remotely operating the electric bed 2.
The electric bed 2 includes a bed main body 5 that supports a user's body, a motor 4 that serves as an actuator that drives the raising / lowering mechanism of the bed main body 5, and a controller 3 that drives and controls the motor 4. The remote control switch device 10 is wired to the controller 3 with a communication cable or the like. The electric bed 2 may be configured to have a plurality of motors.

FIG. 2 is a schematic diagram showing the configuration of the electric bed 2.
As shown in FIG. 2, in the electric bed 2, the back portion 6, the waist portion 7 and the foot portion 8 of the bed body 5 on which the person M lies are driven by three motors 4A, 4B, and 4C (not shown). It is configured to be moved up and down by an up / down mechanism (actuator mechanism). In addition, since the general purpose thing is employ | adopted about these raising / lowering mechanisms, the detailed description is abbreviate | omitted here.

  The controller 3 is provided with an AC / DC converter circuit (not shown) connected to a plug for plugging into a household outlet. The controller 3 and motors (DC motors) 4A, 4B, 4C It is driven by the direct current converted by the / DC converter circuit. When the motors 4A, 4B, and 4C are AC motors, an inverter circuit that converts a DC voltage converted by the AC / DC converter circuit into an AC voltage is provided.

  The remote control switch device 10 is a switch input device in which a plurality of types of switches (button switches) for remotely operating the controller 3 are arranged. The remote control switch device 10 has an external configuration as shown in FIG. 2, and is wired to the controller 3 via a communication cable 3A. On the surface of the remote control switch device 10, a button input unit 11 in which a plurality of push button switches (also simply referred to as “buttons”) are arranged, and a display unit 16 composed of light emitting diodes are arranged. Yes. Further, the remote control switch device 10 includes a release switch 17 in addition to the power switch 18 for turning on / off the power of the remote control switch device 10. The release switch 17 is a switch for releasing a button signal mask function in the remote control switch device 10 to be described later.

  Returning to FIG. 1, the remote control switch device 10 includes a button input unit 11 in which various buttons (switches) are arranged, an angle sensor 12 that is a state detection sensor that detects a tilt (posture) of the remote control switch device 10, and an angle An angle detection unit 13 that detects the tilt (angle) of the remote control switch device 10 based on a signal output from the sensor 12, an acceleration sensor 14 that is a state detection sensor that detects a movement (acceleration) of the remote control switch device 10, and an acceleration sensor And an acceleration detection unit 15 that detects the movement (acceleration) of the remote control switch device 10 based on a signal output from 14.

  In addition, the angle sensor 12 may detect the ground angle of the operation surface of the remote control switch device 10. For example, it is possible to use a structure in which a pendulum in a hanging state is provided and an angle formed by an operation surface with respect to the pendulum is detected. As the acceleration sensor 14, a piezo-resistive type sensor can be used, and a piezoelectric type or a capacitance type can be used. Furthermore, a simple structure using a weight, a spring, a damper, and a displacement sensor may be used. Further, as will be described later, it is not always necessary to provide both the angle sensor 12 and the acceleration sensor 14, and only one of them may be provided.

  The remote control switch device 10 also includes a switch input determination unit 21. The switch input determination unit 21 represents a button signal (input command) output from the button input unit 11, angle information indicating an angle output from the angle detection unit 13, and acceleration output from the acceleration detection unit 15. Acceleration information is input, and based on these signals, it is determined whether or not to accept a button signal input from the button input unit 11.

  The filter unit 22 in the switch input determination unit 21 is included in these signals for the signal input from the button input unit 11, the signal input from the angle detection unit 13, and the signal input from the acceleration detection unit 15. Remove high frequency noise components. An example of the filtering process in the filter unit 22 will be described later.

The switch state change detection unit 23 is a remote control switch based on either the angle information indicated by the signal output from the angle detection unit 13 or the acceleration information indicated by the signal output from the angle detection unit 13 or both. It is determined whether or not a change in state (change in inclination angle or generation of acceleration due to movement) has occurred in the device 10 itself.
Based on the angle information, the switch operation determination unit 24 sets a determination mode to be described later, and performs a process of determining whether to accept a button signal transmitted from the button input unit 11 according to the determination mode.

The angle information buffer 25 is a buffer (storage unit) for storing angle information input from the angle detection unit 13 and storing angle information over a predetermined period counted by a reference angle update timer 28 described later. .
The mask time timer 26 is used for masking without accepting a button signal for a predetermined time T1 when the switch state change detecting unit 23 detects that the state of the remote control switch device 10 has changed. Timer.
In addition, the reception permission time timer 27 detects the button signal for a predetermined reception permission time T2 when “no angle change” and “button signal OFF” are detected in the determination mode of the button signal reception state C described later. It is a timer to allow the reception of.

The reference angle update timer 28 is a timer that is used when the switch state change detection unit 23 updates the reference angle used to detect “there is an angle change”. When “no angle change” continues during the counting period of the reference angle update timer 28, a new reference angle is set based on the angle information read during the counting period.
This “change in angle” indicates that a change has occurred in the state of the remote control switch device 10 caused by the operation of the user intended to perform the operation. For example, the user holds the remote control switch device 10 in his / her hand to perform the operation. It is a state that is sometimes detected. In other words, the detection of “there is an angle change” is detection of an operation state that is a state intended for an operation. Further, “no angle change”, that is, “angle change present” is not detected indicates a stationary state in which no operation is intended.

  The display unit 16 is used to indicate that the remote control switch device 10 is in a state where a button signal can be received, and is, for example, a green light emitting diode. The release switch 17 is a switch for releasing a button signal mask function in the remote control switch device 10 to be described later. When the release switch 17 is turned on, the button signal masking function in the switch input determination unit 21 is released, and the button signal (input command to the controller 3) output from the button input unit 11 is not masked. The data is output to the controller 3 as it is.

  The remote control switch device 10 is equipped with a CPU such as a microcontroller or a custom microcomputer. The CPU includes a ROM, a RAM, an A / D converter (D / A conversion if desired). Built-in), timer (or counter), I / O port, and the like. And the process in the switch input determination part 21, the angle detection part 13, and the acceleration detection part 15 reads the program memorize | stored in ROM built in CPU itself, and performs the process of information, and an arithmetic process. Thus, the function is realized. This CPU reads a signal (angle information) output from the angle sensor 12 through an A / D converter and reads an acceleration signal output from the acceleration sensor 14 every predetermined sampling period. And the function requested | required in the switch input determination part 21, the angle detection part 13, and the acceleration detection part 15 is performed by a program process for every predetermined | prescribed control processing period. The switch input determination unit 21, the angle detection unit 13, and the acceleration detection unit 15 may be configured with dedicated hardware.

  In the example illustrated in FIG. 2, the example in which the electric bed 2 is driven by the three motors 4 </ b> A, 4 </ b> B, and 4 </ b> C has been described. The number of motors to be used is appropriately determined according to the type, structure, function, etc. of the electric operating table. In addition to using LEDs, the display unit 16 may be a liquid crystal display. Further, it may be notified by voice or music that the button signal can be received.

(Description of operation of remote control switch device 10)
FIG. 3 is a timing chart for explaining the operation of remote control switch device 10 of the remote control shown in FIG.
In the timing chart shown in FIG. 3, the horizontal axis indicates time, and the vertical axis indicates whether button operation is permitted / prohibited, button signals (ON and OFF) input to the controller 3, and input from the button input unit 11. A button signal (ON, OFF), an angle change (present, absent) of the remote control switch device 10, and a determination mode (A, B, C, D) in the switch operation determination unit 24 are shown side by side. The operation of the remote control switch device 10 shown in FIG. 1 will be described below with reference to FIG.

In FIG. 3, it is assumed that the determination mode is in the angle change waiting state A before time t1. Here, the angle change waiting state A is an initial state of the switch input determination unit 21 and corresponds to, for example, a state where the remote control switch device 10 is placed on the floor or hung on a wall. To do.
At time t1, an angle change is detected by the switch state change detection unit 23 based on angle information input from the angle sensor 12 and the angle detection unit 13, and a signal of “there is an angle change” (operating state) is displayed as a switch operation determination unit. 24.
The switch operation determination unit 24 activates the mask time timer 26 to measure the mask time T1, and masks the input of the button signal for the mask time T1 up to time t2. That is, the reception of the button ON signal from the button input unit 11 is prohibited until a predetermined mask time T1 has elapsed after the “change in angle” is detected. This period of the mask time T1 is called a button signal mask state B. Here, the button signal mask state B corresponds to a state in which the position of the remote control switch device 10 has changed due to movement by applying some force to the remote control switch device 10. Here, the button ON signal indicates a state in which the button signal is ON.

In this button signal masking state B, this button ON signal is masked even if the button signal is turned ON (with an ON edge) at time t1 ′. This is because the button signal is turned ON immediately after the “change in angle” is detected in order to distinguish it from a normal human operation because the button is turned ON by an external impact.
Then, the switch input determination unit 21 shifts to the button signal reception state C from time t2 after the lapse of the mask time T1. In the button signal acceptance state C, the button signal is ON from time t2 to time t3, but the button signal is not recognized as ON because the button signal is accepted as “ON edge exists”. . That is, the button ON signal is not output to the controller 3.

On the other hand, in the button signal acceptance state C, when the button signal is turned on (with an ON edge) at time t4, this button on signal is accepted by the switch input determination unit 21 and becomes the button on state D. In this button ON state D, a button ON signal is output to the controller 3 (button ON signal indicated by symbol a).
Thereafter, in the state of “no angle change” at time t5, when the button signal is turned OFF, the switch input determination unit 21 starts the reception permission time timer 27 and measures the reception permission time T2 until time t6. During this reception permission time T2, the button signal reception state C is maintained. That is, the reception of the button signal is permitted until the predetermined reception permission time T2 elapses in the state of “no angle change” and “button OFF”. After time t6, the switch input determination unit 21 again shifts to the angle change waiting state A.
Therefore, even if a button ON signal (with an ON edge) is input at time t7, it is in the angle change waiting state A, so this button ON signal is not accepted and the button ON signal is output to the controller 3. Absent.

  In FIG. 3, the mask time T <b> 1 and the acceptance permission time T <b> 2 can be determined by actual measurement or experimental results with reference to a normal handling example of the remote control switch device 10. Further, by setting the mask time T1 to “0” seconds, an input of a button ON signal (with an ON edge) may be accepted immediately after shifting to the “angle change present” state. Alternatively, the acceptance permission time T2 may be set to “0” seconds to immediately shift to the angle change waiting state A in the state of “no angle change” and “button OFF”.

  FIG. 4 is a transition diagram of the angle change waiting state A, the button signal mask state B, the button signal reception state C, and the button ON state D described above. Hereinafter, this state transition diagram will be described with reference to FIG. 4 (and FIG. 3). The determination mode transition process is performed by the switch operation determination unit 24.

First, it is assumed that the state is in the angle change waiting state A (see, for example, the state A before time t1 in FIG. 3). When the switch state change detection unit 23 detects that “there is an angle change” in the state of “button signal OFF”, the state shifts to the button signal mask state B (step Sab indicated by an arrow line). See). For example, the state B is from the time t1 to the time t2 in FIG.
In this button signal mask state B, when “there is an angle change” is not detected during the measurement of the mask time T1 by the mask time timer 26 (less than the mask time T1), the state shifts again to the angle change waiting state A (arrow). (Refer to step Sba indicated by a line). On the other hand, in the button signal mask state B, when the mask time T1 elapses, the state shifts to the button signal reception state C (see step Sbc indicated by an arrow line). For example, the state C changes from time t2 to t4 in FIG.

In this button signal acceptance state C, when the button signal is turned from OFF to ON (when an ON edge is detected (“ON edge present”)), the state transitions to the button ON state D (see step Scd indicated by an arrow line). ). For example, the state D is from time t4 to time t5 in FIG.
On the other hand, in the button signal reception state C, when the reception permission time T2 elapses without any button operation, the state shifts to the angle change waiting state A (see step Sca indicated by an arrow line). For example, in FIG. 2, when the acceptance permission time T2 elapses from time t5, the state returns to the angle change waiting state A at time t6.
Further, when the button signal is turned OFF after the button ON signal is output to the controller 3 in the button ON state D, the state shifts to the button signal reception state C (see step Sdc indicated by an arrow line). For example, when the button signal is turned OFF at time t5 in FIG.

As described above, in this embodiment, the four modes of the angle change waiting state A, the button signal mask state B, the button signal reception state C, and the button ON state D are transitioned, and the remote control switch device 10 does not intend. The malfunction is avoided.
That is, the switch operation determination unit 24 detects a change in state caused by the operation of the angle sensor 12 or the acceleration sensor 14, and determines a stationary state or an operation state based on the detected change. Then, it is determined whether or not an input command (button ON signal) by operating the switch is output to the controller 3 according to the determination result.

5, FIG. 7, FIG. 8, and FIG. 9 are flowcharts showing the flow of processing performed by the switch input determination unit 21, and the flow of processing executed by the switch input determination unit 21 described above is a flowchart. It is shown.
The switch input determination unit 21 executes processing (main routine) shown in the flowchart of FIG. 5 at a predetermined control processing cycle.

  First, when a button ON signal (or an OFF signal) is input from the button input unit 11 in the switch input determination unit 21, first, button input filter processing for removing noise is performed on this signal (step S11). Subsequently, an angle input filter process is performed on the angle detection signal (angle input signal) input from the angle detection unit 13 (step S12). Thereafter, a switch state change detection process (step S13) and a switch operation determination process are performed. When the acceleration sensor 14 is used, the acceleration information output from the angle detection unit 13 is also filtered.

  FIG. 6 is a diagram for explaining filter processing performed in the button input filter processing (step S11) and the angle input filter processing (step S12). As shown in FIG. 6A, in the filter processing of the button input signal, noise before and after the button ON signal (such as chattering noise at the switch contact) is filtered (removed). Further, as shown in FIG. 6B, in the acceleration information filtering process, noise (high-frequency noise such as a jitter component) of the entire angle information waveform is filtered. When the acceleration sensor 14 is used, noise (high frequency noise) of the entire waveform of acceleration information output from the acceleration detection unit 15 is filtered. Thus, by suppressing noise by performing filtering, it is possible to input the button signal and angle information (and acceleration information) with high accuracy. The signal filtering process is performed using a digital filter or the like.

  FIG. 7 is a flowchart showing details of the switch state change detection process in step S13 shown in FIG. 7A shows the flow of the switch state change detection process when the angle sensor 12 is used, and FIG. 7B shows the flow of the switch state change detection process when the acceleration sensor 14 is used. Yes. Note that. This switch state change detection process is performed in the switch state change detector 23.

First, the flow of the switch state change detection process when the angle sensor 12 is used will be described with reference to FIG.
First, it is determined whether or not the previous angle information (angle information stored in the angle information buffer 25) read from the angle detection unit 13 last time is equal to the current angle information (step S101). If it is determined that the previous angle information is not equal to the current angle information (Yes in step S101), the angle information buffer 25 is cleared (step S102). Further, the timer value of the reference angle update timer 28 is cleared (step S103).

  Then, the process proceeds to step S108, and it is determined whether “current angle information> reference angle + XX degrees” or “current angle information <reference angle−XX degrees” is satisfied (step S108). Here, the XX degree is a preset value for angle change detection. If the determination condition is satisfied, that is, if the current angle information is “current angle information> reference angle + XX degrees” or “current angle information <reference angle−XX degrees” (Yes in step S108), the remote control switch The state (switch state) of the apparatus 10 is set to “with angle change” (step S109). In step S108, if the current angle information is not “current angle information> reference angle + XX degrees” and is not “current angle information <reference angle−XX degrees” (No in step S108), the remote control switch device 10 The state (switch state) is set to “no angle change” (step S110).

On the other hand, if it is determined in step S101 that the previous angle information is equal to the current angle information (No in step S101), the current angle information is input to the angle information buffer 25 (step S104). Then, it is determined whether the timer value of the reference angle update timer 28 is “timer value> no angle change determination time” (step S105).
If it is determined in step S105 that “timer value> no angle change determination time” (Yes in step S105), an average value of the angle information stored in the angle information buffer 25 is calculated, and the calculated average value Is input as new reference angle information (step S106). That is, in the determination of step S101, when “previous angle information = current angle information” continues, a new reference angle is set based on the angle information read during the counting period of the reference angle update timer 28. Become. Thereafter, the process proceeds to step S108.
On the other hand, if it is determined in step S105 that “timer value> no angle change determination time” (No in step S105), the timer value is incremented (step S107), and then the process proceeds to step S108.

  By comparing the angle information with the reference angle by the switch state change detection process described above, it is possible to detect “there is an angle change” when the attitude (tilt) of the remote control switch device 10 changes, When “no change” continues for a predetermined time, a new reference angle can be set based on the continued angle information.

  It should be noted that the switch state change detection process may be further simplified, and it may be determined that “there is an angle change” if it is other than the horizontal angle ± XX degrees, and “there is no angle change” if it is within the horizontal angle ± XX degrees. The reference angle may be checked every time the remote control switch device 10 is activated, or the reference angle is stored in a nonvolatile memory such as an EEPROM (Electrically Erasable PROM) before the remote control switch device 10 is turned off. Can be stored and the stored value can be used at the next startup.

  Next, the flow of the switch state change detection process when the acceleration sensor 14 is used will be described with reference to FIG. Note that when the acceleration sensor 14 is used, “acceleration = 0” when the remote control switch device 10 is stationary, and “acceleration” when the state of the remote control switch device 10 changes due to a human touch or the like. Therefore, it is not necessary to provide a reference angle.

In this case, first, an acceleration signal is read from the acceleration sensor 14 to determine whether or not “acceleration> V1” and “acceleration <V2” (step S201). That is, it is determined whether or not the acceleration is within a predetermined range (V1 <acceleration <V2).
If “acceleration> V1” and “acceleration <V2” (Yes in step S201), the state (switch state) of the remote control switch device 10 is set to “with angle change” (step S202). On the other hand, when “acceleration> V1” and “acceleration <V2” are not satisfied (No in step S201), the state (switch state) of remote control switch device 10 is set to “no angle change” (step S203).
Thus, when the acceleration sensor 14 is used, when the acceleration is a value within a predetermined range, the state of the remote control switch device 10 is set to “with angle change”. The accelerations V1 and V2 indicating the comparison reference ranges can be determined by actual measurement or experimental results with reference to a normal handling example of the remote control switch device 10 by a human.

  8 and 9 are flowcharts showing details of the switch operation determination processing in step S14 shown in FIG. 8 shows the flow of processing in the angle change waiting state A and the button signal mask state B, and FIG. 9 shows the flow of processing in the button signal reception state C and the tan ON state D.

First, the flow of processing in the angle change waiting state A and the button signal mask state B will be described with reference to FIG.
First, it is determined whether or not the current determination mode is “determination mode = angle change waiting state A” (step S301). If “determination mode = angle change waiting state A” (Yes in step S301), it is determined whether or not “button signal = OFF” (step S302).

If it is determined in step S302 that “button signal = OFF” is not satisfied (No in step S302), the “determination mode = angle change waiting state A” is maintained and the process is terminated. If it is determined in step S302 that “button signal = OFF” (Yes in step S302), then the state (switch state) of the remote control switch device 10 is “switch state = change in angle” or not. Is determined (step S303).
If it is determined in step S303 that there is no “angle change” (still state), “judgment mode = angle change waiting state A” is maintained and the process is terminated.
On the other hand, if it is determined in step S303 that “switch state = change in angle” (Yes in step S303), the count value (timer value) of the mask time timer 26 is set to “0” (step S304), and the determination mode is set. The process is terminated after the transition to the button signal mask state B (step S305).

  On the other hand, if it is determined in step S301 that it is not “determination mode = angle change waiting state” (No in step S301), the process proceeds to step S306, and whether or not “determination mode = button signal mask state B” is determined. Is determined (step S306). If it is determined in step S306 that “determination mode = button signal mask state B” (Yes in step S306), the count value (timer value) of the mask time timer 26 is incremented (step S307). It is determined whether or not the count value (timer value) of the mask time timer 26 is “timer value> mask time T1” (step S308).

  If it is determined in step S308 that “timer value> mask time T1” is not satisfied (No in step S308), “determination mode = button signal mask state B” is maintained and the process is terminated. On the other hand, if it is determined that “timer value> mask time T1” (Yes in step S308), the process proceeds to “determination mode = button signal reception state C” (step S309), and the process is terminated. If it is determined in step S306 that “determination mode = button signal mask state B” is not established, the process proceeds to step S310 (FIG. 9).

FIG. 9 is a flowchart showing the flow of processing in the button signal acceptance state C and the button ON state D.
First, in step S311 following step S310, it is determined whether or not “determination mode = button signal reception state C”. If it is determined that “determination mode = button signal reception state C” (Yes in step S311), it is determined whether or not “button signal is ON (ON edge exists)” (step S312).

If it is determined in step S312 that “button signal ON (ON edge present)” (Yes in step S312), the count value (timer value) of the reception permission timer 27 is set to “0” (step S312). S313) Subsequently, the state transits to “judgment mode = button ON state D” (step S314), and the process ends.
On the other hand, if it is determined in step S312 that the button signal is not ON (ON edge present) (No in step S312), the process proceeds to step S315, and the state (switch state) of the remote control switch device 10 is “switch state ≠ angle. Whether or not there is a change is determined (step S315).
If it is determined in step S315 that “switch state ≠ angle change present”, that is, if “switch state = angle change present” is determined (No in step S315), the count value of the acceptance permission time timer 27 (No in step S315) (Timer value) is set to “0” (step S316), “judgment mode = button signal acceptance state C” is maintained as it is, and the process is terminated.

  On the other hand, if it is determined in step S315 that “switch state ≠ angle change is present”, that is, if “switch state = angle change is present” (Yes in step S315), the reception permission time timer 27 The count value (timer value) is incremented (step S317), and then it is determined whether or not the timer value of the reception permission time timer 27 is “timer value> signal reception permission time T2” (step S318).

  If it is determined in step S318 that “timer value> signal reception permission time T2” is not satisfied, that is, if the signal reception permission time T2 has not elapsed (No in step S318), “determination mode = button signal reception” The process is terminated while maintaining the “state C”. On the other hand, if it is determined in step S318 that "timer value> signal reception permission time T2", that is, if the signal reception permission time T2 has elapsed (Yes in step S318), the signal reception permission time T2 is not exceeded. Since the button signal was not turned ON, the count value (timer value) of the acceptance permission timer 27 is set to “0” (step S319), and the state is changed to “judgment mode = angle change waiting state” (step S320). The process is terminated.

On the other hand, when it is determined in step S311 that “determination mode = button signal reception state C” is not satisfied (No in step S311), the process proceeds to step S321. The process proceeds to step S321 only when “determination mode = button ON state D”. Then, in step S321, it is determined whether or not “button signal = ON” (step S321).
If it is determined in step S321 that “button signal = ON” (Yes in step S321), a button signal is output to the controller 3 (step S322). On the other hand, if it is determined in step S321 that “button signal = ON” is not established, the button signal to the controller 3 is turned off (step S323), and the state transitions to “determination mode = button signal acceptance state C” (step S323). S324), the process is terminated.

  As described above, in the remote control switch device 10 of the present invention, the state (tilt, movement) of the remote control switch device 10 is sensed by the angle sensor 12 and the acceleration sensor 14 to determine whether or not the remote control operation intended by the person. Can be determined. When the remote control operation is not intended by a person (for example, when an object is placed on the remote control switch device 10), it is possible to set so that the electric operating table does not operate. Further, since it is determined whether or not the operation is possible by detecting the angle and acceleration of the remote controller, the external operation (operation by the user) is not complicated. In addition, since a means for transmitting to the user such as an LED lamp for displaying an operable state is provided, it is easy to determine whether or not the remote control switch device 10 can be operated, and safety in handling the electric actuator is improved. To do.

Further, the button signal is transmitted to the controller for a certain time (mask time T1) after the operation state is detected by the operation applied to the remote control switch device 10 using the angle sensor 12 or the acceleration sensor 14 which is a state detection sensor. No output to 3. As a result, when the remote control switch device 10 is dropped on the floor, it becomes an operating state, and even if the button is pressed, the button signal can be masked and an unintended remote control operation is output to the controller 3. It is possible to prevent the electric actuator from operating.
Further, in the button signal reception state C, after the button operation is finished (after the button signal is turned OFF), the button signal reception state C is maintained for a certain period of time (reception permission time T2). . Thereby, a continuous button operation can be received, and an unintended operation can be prevented without impairing the operability of the remote control switch device 10.

  Thus, in the past, the case shape was devised so that the switch would not turn on when it was placed on the floor, and the pressing force required to turn on the button contact was set high to make it difficult to turn on. However, if the present invention is used, a product that is not bound by such regulations can be made.

  Although the embodiment of the present invention has been described above, the remote control switch device and the electric bed device of the present invention are not limited to the above-described illustrated examples, and various types can be made without departing from the gist of the present invention. Of course, changes can be made.

DESCRIPTION OF SYMBOLS 1 ... Electric bed apparatus, 2 ... Electric bed, 3 ... Controller, 3A ... Communication cable, 4, 4A, 4B, 4C ... Motor, 5 ... Bed main body, 10 ... Remote control switch apparatus, 11 ... Button input part, 12 ... Angle Sensor: 13 ... Angle detection unit, 14 ... Acceleration sensor, 15 ... Acceleration detection unit, 16 ... Display unit, 17 ... Release switch, 18 ... Power switch, 21 ... Switch input determination unit, 22 ... Filter unit, 23 ... Switch state Change detection unit, 24 ... switch operation determination unit, 25 ... angle information buffer, 26 ... mask time timer, 27 ... acceptance permission time timer, 28 ... reference angle update timer

Claims (7)

A remote control switch device for remotely operating the actuator by outputting an input command by operating a switch to a controller for driving the actuator provided in the electric operating table,
A state detection sensor for detecting a change in state caused by an operation;
A switch operation determination unit that determines a stationary state or an operating state based on a change detected by the state detection sensor, and determines whether or not to output an input command by operating the switch to the controller according to a determination result; Prepared ,
The switch operation determination unit
An input command based on the operation of the switch is not output to the controller for a certain period of time after the operation state is determined, and an input command based on the operation of the switch received within a certain time after the operation of the switch is completed Remote control switch device characterized in that output to The remote control switch device according to claim 1, wherein the state detection sensor is an angle sensor. Using the average value of the angles detected by the angle sensor from the current time point to a predetermined time before as a reference angle, the angle detected by the angle sensor is greater than the reference angle by a predetermined angle or larger than the reference angle. A switch state change detection unit that determines that an input command is output to the controller, assuming that the operation state is detected when the angle is smaller than a predetermined angle,
The switch operation determination unit, when the switch state change detection unit detects the operation state, determines to output the input command to the controller, and outputs the input command to the controller. The remote control switch device according to 2. The state detection sensor is an acceleration sensor;
When the acceleration detected by the acceleration sensor is an acceleration within a predetermined range, the switch state change detection unit that determines to output an input command to the controller is detected as the operation state is detected,
The switch operation determination unit, when the switch state change detection unit detects the operation state, determines to output the input command to the controller, and outputs the input command to the controller. Item 12. The remote control switch device according to Item 1. A plurality of button switches are arranged, and when any one of the plurality of button switches is pressed, a button input unit that outputs a button signal corresponding to the pressed button switch is provided.
The switch operation determination unit
And wait one change waiting state A from the operating state of the remote control switch device is detected by the switch state change detecting section,
A state if said operating state is detected in the previous SL change waiting state A, and button signals masked state B to prohibit the acceptance of the button signal for a predetermined mask time,
A transition state when the predetermined mask time has elapsed in the button signal mask state B, the button signal acceptance state C permitting acceptance of the button signal;
The button signal reception state C includes four transition modes: a button transition state when a button signal is input, and a button ON state D in which the input button signal is output to the controller.
It is determined whether or not to accept the button signal by transitioning between the four determination modes in accordance with a change in the state of the remote control switch device and an on / off state of the button switch. The remote control switch device according to claim 3 or 4. The remote control switch device according to any one of claims 1 to 5, further comprising a display unit that indicates an operation state of the remote control switch device. While comprising the remote control switch device according to any one of claims 1 to 6,
An electric operating table, wherein an input command is transmitted to a controller for driving an actuator by a switch operation of the remote control switch device, and a plurality of locations are driven by the actuator by a predetermined operation.

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