JP6455419B2 - Nursing care support device - Google Patents

Description

  The present invention relates to a care support device, and more particularly to a technique for seating a care recipient on a toilet seat of a Western-style toilet using a transfer support device.

  Patent Document 1 discloses a transfer support device that can prevent a situation in which a cared person is sandwiched and pressed between a sitting object by a body holder and can easily and quickly perform a transfer operation. It is disclosed.

  This transfer support apparatus is provided with a support base, a support column having one end tiltably attached to the support table, a body holding tool that is provided at the other end of the support column and held by the care recipient, and tilts the support column. A driving unit; a measuring unit that measures torque generated when the care recipient holds the body holding device; and a control unit that controls the driving unit. The control means controls the driving means based on the torque measured by the measuring means in the transfer operation in which the care receiver is seated on the seated object while holding the body holding tool.

  In the transfer support apparatus as disclosed in Patent Document 1, the body of the care recipient is lifted in a posture inclined forward by the body holder. When the seat is a toilet seat, when the seat is lowered from the lifted position to the toilet seat, the transfer support device is moved too close to the toilet seat and the knee of the cared person is pressed against the toilet seat, or the cared person's buttocks against the toilet lid There is a case where the care recipient is uncomfortable by pressing.

  For example, the smaller the cared person is, the easier the back of the knee is in contact with the toilet seat. On the other hand, the larger the cared person is, the easier it is for the buttocks to contact the toilet lid. Therefore, it is desired to be able to be seated on the toilet seat without causing discomfort to the cared person regardless of the physique of the cared person.

  Moreover, since access to the toilet seat is insufficient, there are cases where clothes and floors are contaminated during excretion. More specifically, when transferring to the toilet seat manually, the caregiver lowers the cared person to the toilet seat while supporting the armpit of the cared person, and if the position is inappropriate, While sitting on the thigh and buttocks of the cared person, make them sit back. This operation may impose a strong physical burden on the caregiver, but is performed in a short time.

  On the other hand, when the transfer support apparatus performs correction after the care receiver is seated at an inappropriate position, the work of lifting the care receiver again and re-sitting is necessary. In this case, although there is almost no physical burden on the caregiver, it takes more time than the manual work, and it causes discomfort to the caregiver who is complaining of urinary sensation and constipation, and is in the process of re-sitting. May begin to be excreted, and clothes and floors may be contaminated.

JP 2010-119564 A

  As described above, it is important that the care recipient is seated at an appropriate position on the toilet seat.

  The present invention provides a care support apparatus that allows a care receiver to be seated at an appropriate position on a toilet seat.

  A care support apparatus according to an aspect of the present invention is a care support apparatus including a transfer support apparatus that supports a transfer operation of a care receiver and a Western-style toilet used by the care receiver, wherein the transfer support apparatus includes: , A carriage part, an arm part connected to the carriage part, a holder connected to the arm part and holding the care receiver, and a first part provided in the arm part for translationally moving the holder An actuator, a second actuator that is provided on the arm portion and rotates the holder around the pitch axis, and a control unit that controls the first actuator and the second actuator. A first distance measuring sensor that is provided at a position above the toilet seat and detects a distance to a cared person held by the holder; and provided at a position below the toilet seat and held by the holder Covered A second distance sensor for detecting a distance to the guardian, and the control unit holds the holder until the distance detected by the second distance sensor is equal to or less than a predetermined second threshold value. In order to make the cared person seated on the toilet seat after being translated and moved closer to the toilet seat, the cared person was held on the holder by the rotational movement of the second actuator. When the cared person is brought close to the toilet seat, if the distance detected by the first distance measuring sensor is less than a predetermined first threshold value, it is held by the holder by translational movement by the first actuator. The care recipient is kept away from the toilet seat.

  According to the above-described aspect of the present invention, it is possible to provide a care support apparatus that allows a care receiver to be seated at an appropriate position in the toilet seat.

It is a figure which shows the structure of the care support apparatus which concerns on embodiment. It is a figure which shows the detection distance of the ranging sensor which concerns on embodiment. It is a figure which shows the relationship between the detection distance of the ranging sensor which concerns on embodiment, and a threshold value. It is a flowchart which shows the process of the care support apparatus which concerns on embodiment. It is a figure which shows the structure of the care support apparatus which concerns on the modification 1 of embodiment. It is a figure which shows the structure of the care support apparatus which concerns on the modification 2 of embodiment. It is a figure which shows the structure of the care support apparatus which concerns on the modification 3 of embodiment.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. Specific numerical values and the like shown in the following embodiments are merely examples for facilitating understanding of the invention, and are not limited thereto unless otherwise specified. In the following description and drawings, matters obvious to those skilled in the art are omitted or simplified as appropriate for the sake of clarity.

<Embodiment of the Invention>
First, with reference to FIG. 1, the structure of the care support apparatus 1 which concerns on embodiment of this invention is demonstrated. As shown in FIG. 1, the care support device 1 includes a transfer support device 2 and a western-style toilet 4.

  The transfer support device 2 includes a base part 20, a pair of drive wheels 21, a pair of auxiliary wheels 22, a carriage body 23, a first link 24, a second link 25, and a third link 26. The front holder 27, the pair of side holders 28, the operation panel 29, the control device 30, the communication device 31, the notification device 32, the first actuator 33, and the second actuator 34. Have.

  The base part 20, the pair of drive wheels 21, the pair of auxiliary wheels 22 and the carriage body 23 function as a carriage part. The 1st link 24, the 2nd link 25, the 3rd link 26, the 1st actuator 33, and the 2nd actuator 34 function as an arm part connected with a cart part. The front holder 27 and the pair of side holders 28 are connected to the arm portion and function as a holder that holds the care recipient.

  The control device 30, the communication device 31, the notification device 32, the first actuator 33 and the second actuator 34 function as the robot subsystem 3.

  The base portion 20 has a pair of left and right drive wheels 21 attached to the front (leftward in FIG. 1) and a pair of left and right auxiliary wheels 22 attached to the rear (rightward in FIG. 2). A cart body 23 is connected to the upper portion of the base portion 20.

  Each of the pair of left and right drive wheels 21 is rotated by being driven according to control by the control device 30. As the drive wheel 21 rotates, the transfer assist device 2 moves. Each of the pair of left and right auxiliary wheels 22 rotates in accordance with the movement of the transfer support device 2 by the rotation of the drive wheel 21 and assists the movement of the transfer support device 2.

  Here, the transfer assist device 2 may have a pair of left and right passive wheels that are not controlled by the control device 30 instead of the pair of left and right drive wheels 21. In this case, each of the pair of left and right passive wheels rotates together with each of the pair of left and right auxiliary wheels 22 and moves the transfer support device 2 according to the force of the caregiver pushing the transfer support device 2 in the front-rear direction.

  The cart body 23 includes a control device 30 and a communication device 31. A notification device 32 is attached to the front surface (left side surface in FIG. 1) of the carriage main body 23. A first link 24 is attached to the upper portion of the cart body 23.

  One end of the first link 24 is connected to the upper portion of the carriage body 23, and the other end is connected to one end of the second link 25 via the first actuator 33. The second link 25 has one end connected to the first link 24 via the first actuator 33 and the other end connected to the third link 26 via the second actuator 34. One end of the third link 26 is connected to the second link 25 via the first actuator 33, and the other end is connected to the front holder 27.

  The front holder 27 holds the cared person from the front. Each of the pair of left and right side holders 28 holds the cared person from the side so as to sandwich the cared person from both sides. At least one of the pair of left and right side surface holders 28 has an operation panel 29.

  The operation panel 29 is an input device that receives an operation input from a caregiver who cares for the care recipient. The operation panel 29 generates an input signal indicating the content input from the caregiver and outputs it to the control device 30. The control device 30 recognizes the input contents of the caregiver based on the input signal input from the operation panel 29.

  The control device 30 is a device that controls the transfer support device 2. As described above, the transfer assist device 2 moves the transfer assist device 2 by driving the pair of left and right drive wheels 21. Further, the control device 30 drives the first actuator 33 to translate the holders (the front holder 27 and the side holder 28) in translation. In addition, the control device 30 drives the second actuator 34 to rotate the holders (the front holder 27 and the side holder 28). More specifically, the control device 30 rotates the holder around the pitch axis of the transfer assist device 2 around the second actuator 34. In this case, the front-rear direction of the transfer support device 2 is the left-right direction in FIG. 1, and the left-right direction of the transfer support device 2 is the front depth direction in FIG. That is, the pitch axis is the front depth direction in FIG.

  The control device 30 includes, for example, a CPU (Central Processing Unit), and various controls in the present embodiment are realized by the CPU executing programs that cause the CPU to perform various controls in the present embodiment. To do.

  The communication device 31 is a device that transmits and receives radio signals to and from the communication device 52 of the western toilet 4. The communication device 31 receives the radio signal transmitted by the communication device 52 of the western toilet 4, converts the received radio signal into an electrical signal, and outputs the electrical signal to the control device 30. The control device 30 performs various controls based on the electrical signal input from the communication device 31.

  The notification device 32 is a device that makes various notifications to the caregiver who operates the transfer support device 2 in accordance with control from the control device 30. The notification device 32 may be a display device that performs notification by an image, such as a display, or may be a light-emitting device that performs notification by light, for example, an LED light. For example, a speaker, An audio output device that performs notification by voice may be used, or a device having two or more of them.

  As described above, the first actuator 33 is a device that translates the holder in accordance with control from the control device 30. The first actuator 33 translates the second link 25, the second actuator 34, the third link 26, and the holder connected to the tip of the first actuator 33 as a unit, so that the first actuator 33 is held by the holder. The caregiver is brought close to or away from the side surface of the toilet seat 41 of the western toilet 4.

  As described above, the second actuator 34 is a device that rotates the holder around the pitch axis in accordance with control from the control device 30. The second actuator 34 rotates the third link 26 and the holding tool connected to the tip of the second actuator 34 as a unit, so that the cared person held by the holding tool can be moved to the western toilet 4. Approach or move away from the upper surface of the toilet seat 41.

  The western toilet 4 includes a toilet body 40, a toilet seat 41, a toilet lid 42, a first distance measuring sensor 50, a second distance measuring sensor 51, and a communication device 52.

  The toilet body 40 is connected so that the toilet seat 41 and the toilet lid 42 overlap with the upper part. Only one end of the toilet seat 41 is connected via a rotation shaft, and the toilet seat 41 is rotatable about the rotation shaft. Only one end of the toilet lid 42 is connected via a rotating shaft so as to overlap the toilet seat 41, and the toilet lid 42 is rotatable about the rotating shaft. That is, each of the toilet seat 41 and the toilet lid 42 can be opened and closed with respect to the toilet body 40 around the same rotation axis. In FIG. 1, the toilet seat 41 is closed and the toilet lid 42 is opened.

  The first distance measuring sensor 50 is a sensor that measures the distance to the cared person's buttocks when the cared person held by the holder of the transfer assist device 2 sits on the toilet seat 41. The first ranging sensor 50 is provided on the back surface of the toilet lid 42 so that the distance to the care receiver's buttocks can be measured. Therefore, the distance from the back surface of the toilet lid 42 (first ranging sensor 50) to the care receiver's buttocks can be measured by the first ranging sensor 50 with the toilet lid 42 opened. . That is, the first distance measuring sensor 50 measures the distance to the cared person held by the holder of the transfer assist device 2 at a position above the toilet seat 41 (a position higher than the toilet seat 41). is there. The first distance measuring sensor 50 measures the distance to the care receiver's buttocks, generates a first distance signal indicating the measured distance, and outputs the first distance signal to the communication device 52.

  The second ranging sensor 51 is a sensor that measures the distance to the care receiver's lower leg (back of the knee) when the care receiver held by the holder of the transfer assist device 2 sits on the toilet seat 41. The first distance measuring sensor 50 is provided on the front surface (front end) of the toilet body 40 so that the distance to the care receiver's lower leg can be measured. Therefore, the distance from the front surface of the toilet body 40 (the front end of the toilet seat 41, the second distance measuring sensor 51) to the lower leg of the care receiver can be measured by the second distance measuring sensor 51. The second distance measuring sensor 51 may be provided at the front end of the toilet seat 41. That is, the second distance measuring sensor 51 determines the distance to the cared person held by the holder of the transfer assist device 2 at a position below the toilet seat 41 (the same position as the toilet seat 41 or a position lower than the toilet seat 41). Measure. The second ranging sensor 51 measures the distance to the care receiver's lower leg, generates a second distance signal indicating the measured distance, and outputs the second distance signal to the communication device 52.

  The communication device 52 is a device that transmits and receives radio signals to and from the communication device 31 of the transfer support device 2. The communication device 52 converts each of the first distance signal and the second distance signal input from each of the first distance sensor 50 and the second distance sensor 51 into a radio signal, and transfers support device To the second communication device 31.

  Each of the first distance signal and the second distance signal received by the communication device 31 of the transfer assist device 2 is converted from a radio signal to a telegraph signal and output to the control device 30. And the control apparatus 30 can perform various control based on the distance which each of the 1st distance signal and the 2nd distance signal input from the communication apparatus 31 shows.

  Next, a distance d1 measured by the first distance measuring sensor 50 and a distance d2 measured by the second distance measuring sensor 51 will be described with reference to FIG.

  As shown in FIG. 2, the first distance measuring sensor 50 measures a distance d1 from the back surface (first distance measuring sensor 50) of the toilet lid 42 to the buttocks of the care receiver. As shown in FIG. 2, the second distance measuring sensor 51 measures the distance d2 from the front surface of the toilet body 40 (the front end of the toilet seat 41, the second distance measuring sensor 51) to the lower leg of the care recipient. To do.

  In the present embodiment, as will be described later, the position of the holder of the transfer assist device 2 is controlled so that each of the measured distance d1 and distance d2 keeps a constant distance. A seating at an appropriate position in the toilet seat 41 is realized.

  Subsequently, referring to FIG. 3, the distance d1 and the distance d2 measured by the first distance measuring sensor 50 and the second distance measuring sensor 51, respectively, and the distance d1 and the distance d2 are respectively defined. The specified value d10 and the specified value d20 will be described.

  As shown in FIG. 3, in the present embodiment, each of the prescribed value d10 and the prescribed value d20 is determined in advance in order to determine whether or not a certain distance is maintained as each of the distance d1 and the distance d2. ing.

  When the distance d1 measured by the first distance measuring sensor 50 is equal to or greater than the specified value d10, the cared person is not sitting too deep on the toilet seat 41 of the western toilet 4 and the cared person's buttocks and stool A certain distance is maintained between the back surface of the lid 42. On the other hand, if the distance d1 measured by the first distance measuring sensor 50 is less than the specified value d10, the cared person is sitting too deep on the toilet seat 41 of the western toilet 4 and the cared person's buttocks A certain distance from the back surface of the toilet lid 42 is not maintained. That is, in this case, it is determined that the sitting position of the care recipient is inappropriate.

  When the distance d2 measured by the second distance measuring sensor 51 is equal to or greater than the specified value d20, the cared person is not sitting too deep on the toilet seat 41 of the western toilet 4 and the lower leg of the cared person And a certain distance between the front surface of the toilet body 40 and the toilet body 40. On the other hand, when the distance d2 measured by the second distance measuring sensor 51 is less than the specified value d20, the cared person is sitting too deep on the toilet seat 41 of the western-style toilet 4, and the lower leg of the cared person This means that a certain distance cannot be maintained between the front surface of the toilet body 40. That is, in this case, it is determined that the sitting position of the care recipient is inappropriate.

  Therefore, in the present embodiment, as will be described later, when the cared person is seated on the toilet seat 41 by the transfer assist device 2, the distance d1 measured by the first distance measuring sensor 50 becomes a specified value d10 or more. In addition, the care recipient is seated at an appropriate position in the toilet seat 41 by controlling the distance d2 measured by the second distance measuring sensor 51 to be equal to or greater than the specified value d20.

  Each of the specified value d10 and the specified value d20 is clarified by a preliminary experiment, for example, and is stored in advance in a storage device (for example, a hard disk or a non-volatile memory) included in the control device 30, thereby the control device 30. Can be recognized.

  Then, with reference to FIG. 4, the process of the care support apparatus 1 which concerns on embodiment of this invention is demonstrated.

  The caregiver operates the transfer support device 2 in a state where the care receiver is held and lifted by the holding tools (the front holding device 27 and the side surface holding device 28) of the transfer supporting device 2. From the side, it approaches the toilet seat 41 of the western-style toilet 4 (S1).

  More specifically, the caregiver performs an input for instructing the operation panel 29 to translate the holder. In response to this input, the operation panel 29 outputs an input signal indicating the input content to the control device 30. In response to this input signal, the control device 30 drives the first actuator 33 to translate the holder and the cared person held by the holder so as to approach the toilet seat 41. In addition, as mentioned above, when the transfer assistance apparatus 2 has a passive wheel instead of the drive wheel 21, the caregiver pushes the transfer assistance apparatus 2 so that the holder and the care receiver held by the caregiver are removed from the toilet seat. Translation may be performed so as to approach 41.

  The second distance measuring sensor 51 generates a second distance signal at predetermined time intervals and transmits the second distance signal to the transfer supporting device 2 via the communication device 52. The control device 30 receives the second distance signal transmitted from the second distance measuring sensor 51 via the communication device 31 (S2).

  The control device 30 determines whether or not the distance d2 indicated by the received second distance signal is equal to or less than the specified value d20 (S3). When the distance d2 is not equal to or less than the specified value d20 (S3: No), the control device 30 continues the translation of the holder according to the operation from the caregiver and the cared person held thereby (S1).

  When the distance d2 is equal to or less than the specified value d20 (S3: Yes), the care receiver is sufficiently close to the toilet seat 41, and thus the control device 30 notifies the start of the care receiver's seating. Is displayed on the notification device 32 (S4).

  More specifically, the control device 30 generates image information indicating an image instructing to start sitting of the cared person and outputs the image information to the notification device 32. The notification device 32 displays an image indicated by the image information input from the control device 30. As described above, the notification device 32 may be a device that notifies this instruction by light or sound, or may be a device that notifies this instruction by two or more of image, light, and sound. Good.

  In response to this notification, the caregiver operates the transfer support device 2 to bring the care receiver closer to the toilet seat 41 of the western toilet 4 from above (S5).

  More specifically, the caregiver performs an input for instructing the operation panel 29 to rotate the holder. In response to this input, the operation panel 29 outputs an input signal indicating the input content to the control device 30. In response to this input signal, the control device 30 drives the second actuator 34 to rotate the holder and the cared person held by the holder so as to approach the toilet seat 41.

  The control device 30 determines whether or not the angle of the holder is equal to or less than a predetermined specified value (S6). The angle of the holder corresponds to the angle formed by the seat surface of the toilet seat 41 and the third link 26 in FIG. Therefore, the control device 30 derives the angle of the holder from the rotation angle of the second actuator that changes the inclination of the holder. For example, the second actuator 34 may have an angle detection sensor (for example, a rotary encoder) that detects the rotation angle, and the rotation angle detected by the angle detection sensor may be acquired.

  When it determines with the angle of a holder not being below a predetermined regulation value (S6: No), the control apparatus 30 continues the rotational movement of the holder according to operation from a caregiver, and the care receiver held by it. (S5).

  The first distance measuring sensor 50 generates a first distance signal at predetermined time intervals and transmits the first distance signal to the transfer supporting device 2 via the communication device 52. When it determines with the angle of a holder being below a predetermined regulation value (S6: Yes), the control apparatus 30 is the 1st distance signal transmitted from the 1st ranging sensor 50 via the communication apparatus 31. Is received (S7).

  The control device 30 determines whether or not the distance d1 indicated by the received first distance signal is greater than or equal to the specified value d10 (S8). When the distance d1 is less than the specified value d10 (S8: No), the control device 30 drives the first actuator 33 to move the holder and the care receiver held by the control device 30 in the X direction (see “ X direction ") is translated (S9). That is, the control device 30 drives the first actuator 33 to translate the holder and the cared person held thereby so as to move away from the toilet seat 41. Thereafter, the processing is executed again from step S7.

  When the distance d1 is greater than or equal to the specified value d10 (S8: Yes), the control device 30 continues the rotational movement of the holding tool according to the operation from the caregiver and the cared person held thereby (S10).

  As described above, in the present embodiment, when the distance d2 between the lower leg of the care recipient and the western-style toilet 4 reaches the specified value d2, the caregiver is started to lower the holder. And when the angle of a holder becomes a regulation value, distance d1 of a cared person's buttocks and western style toilet 4 is checked.

  When d1 ≧ d10, the control device 30 continues to lower the holding tool. When d1 <d10, the control device 30 moves the holding tool forward by d10-d1 by the second actuator 34 (the buttocks is stool). (In a direction away from the lid 42). Thereafter, the holder is continuously lowered while confirming that d1 ≧ d10. That is, steps S7 to S10 may be repeated until the caregiver finishes the operation of lowering the holder.

  As described above, the value measured by the first distance measuring sensor 50 is the distance between the care receiver's buttocks and the toilet lid 42, and the transfer support device 2 is thus pressed against the toilet lid 42 by the care recipient. You can recognize that you are in a position where you cannot. The value measured by the second distance measuring sensor 51 is the distance between the lower leg of the care recipient and the front end of the toilet body 40 (toilet lid 41). It can be recognized that it is in a position where it cannot be pressed against (toilet lid 41).

  As described above, a cared person with a small physique often sits in a state where the back of the knee is in contact with the toilet seat 41, and a cared person with a large physique has a buttocks at the rear end of the toilet seat 41 or the toilet lid. In many cases, the user sits in contact with 42 (in this case, the back of the knee and the toilet seat are slightly separated).

  On the other hand, according to the control sequence using the first distance measuring sensor 50 and the second distance measuring sensor 51, the transfer assist device 2 is such that the lower leg of the care receiver is not pressed against the toilet seat 41, Moreover, the cared person can be seated deeply to such an extent that the buttocks of the cared person cannot be pressed against the toilet lid 42. Thus, according to the present embodiment, the cared person can be seated at an appropriate position regardless of the physique by one control sequence shown in FIG.

  In addition, the position of the cared person and the toilet seat 41 can be grasped with higher accuracy than the caregiver's eye measurement, and the position of the cared person's knees can be aligned to sit deeply without being too deep. A sitting position can be provided. Therefore, the caregiver does not need to pay attention to the positional relationship between the care recipient and the toilet seat 41, and does not need to be aware of the physique of the care recipient. This is very useful in an environment where a plurality of care recipients are transferred, such as a care facility.

  As described above, in the present embodiment, the holder is translated until the distance d2 detected by the second distance measuring sensor 51 is equal to or less than the predetermined second threshold value (specified value d20). After the cared person held by the holding tool is brought close to the toilet seat 41, the cared person held by the holding tool is rotated by the second actuator 34 in order to seat the cared person on the toilet seat 41. When the distance detected by the first distance measuring sensor 50 is less than a predetermined first threshold value (specified value d10) when moving closer to, the holder is held by the first actuator 33 by translational movement. The care recipient is kept away from the toilet seat 41.

  According to this, it is possible to prevent the back of the knee from coming into contact with the toilet seat 41 and to prevent the buttocks from coming into contact with the toilet lid 42 regardless of the physique of the cared person. That is, the cared person can be seated at an appropriate position in the toilet seat 41.

  In the embodiment described above, the distance measuring sensors 50 and 51 typified by a laser sensor are used as an apparatus for detecting the position of the cared person, not an imaging apparatus that captures an image like a camera. . Therefore, even in an extremely private environment such as excretion, the relative position of the cared person relative to the toilet seat 41 can be detected and the seat of the toilet seat can be seated at an appropriate position without harming the caregiver and his / her family. Can be realized.

<Variation 1 of the embodiment of the invention>
Then, the modification 1 of embodiment of this invention is demonstrated. In the above-described embodiment, the control for moving the holder in the front-rear direction (the left-right direction in FIG. 1, the direction in which the holder is moved closer to or away from the western toilet 4 by translational movement) is performed. However, the operation may be performed by operating the carriage unit.

  Compared with the care support apparatus 1 shown in FIG. 1, the care support device 1 according to the first modification of the embodiment of the present invention clearly shows a pair of left and right actuators 35 that drive the left and right drive wheels 21. The difference is that there is a link 60 instead of the first link 24, the second link 25, and the first actuator 33. That is, in the first modification, the robot subsystem 3 includes the actuator 35 in place of the first actuator 33 as compared with the care support device 1 shown in FIG.

  One end of the link 60 is connected to the upper portion of the carriage main body 23, and the other end is connected to one end of the second link 25 via the second actuator 34.

  The control device 30 drives each of the pair of left and right actuators 35 to rotate each of the pair of left and right drive wheels 21 to move the transfer assist device 2. Further, according to the movement of the transfer support device 2, the holder and the care receiver held by the holder move in translation with respect to the western toilet 4.

  Each of the pair of left and right actuators 35 is a device that moves the transfer support device 2 in accordance with control from the control device 30 as described above. And this movement turns into the movement which translates the holder which the transfer assistance apparatus 2 has as mentioned above.

  That is, in the first modification, the control device 30 drives the actuator 35 in steps S <b> 1 and S <b> 9 in the process shown in FIG. 4, thereby bringing the care receiver closer to or away from the toilet seat 41 of the western toilet 4.

<Modification 2 of Embodiment of Invention>
Then, the modification 2 of embodiment of this invention is demonstrated. As in the second modification, the distance measuring sensor subsystem 5 may include only the distance measuring sensors 50 and 51. That is, in the above-described embodiment, the first distance signal and the second distance signal are transmitted from the distance measurement sensor subsystem 5 to the robot subsystem by wireless communication, but are transmitted by wired communication. May be.

  The care support device 1 according to the second modification of the embodiment of the present invention is different from the care support device 1 shown in FIG. 1 in that the communication device 31 and the communication device 52 are not provided. That is, in the second modification, the robot subsystem 3 does not include the communication device 31 and the distance measuring sensor subsystem 5 does not include the communication device 52, as compared with the care support device 1 illustrated in FIG.

  In the second modification, the transfer support device 2 (robot subsystem 3) is close to the western toilet 4 (ranging sensor subsystem 5) to some extent, and the control device 30 of the robot subsystem 3 and the ranging sensor sub The control device 30 can acquire the first distance signal and the second distance signal by connecting each of the distance measuring sensor 50 and the distance measuring sensor 51 of the system 5 with a signal line.

<Modification 3 of the embodiment of the invention>
Then, the modification 3 of embodiment of this invention is demonstrated. In the above-described embodiment, the same specified values d10 and d20 are used for all of a plurality of different cared persons. However, different specified values d10 and d20 are set for each of a plurality of different cared persons. It may be used.

  Compared with the care support apparatus 1 shown in FIG. 1, the care support apparatus 1 which concerns on the modification 3 of embodiment of this invention differs in the point which has the input device 36 further. That is, in the third modification, the robot subsystem 3 further includes an input device 36 as compared with the care support device 1 illustrated in FIG. 1.

  In the third modification, a preliminary experiment is performed for each of a plurality of different cared persons, and each of a plurality of different cared persons can be seated at an optimal position. Defined values d10 and d20 are defined. That is, the prescribed value d10 and the prescribed value d20 that are different for each of a plurality of different care recipients are stored in advance in the storage device of the control device 30 described above.

  The input device 36 is a device to which an identification number of a care recipient is input from a caregiver. The caregiver inputs the identification number of the cared person to the input device 36 before transferring the cared person by the transfer supporting device 2. The input device 36 outputs an input signal indicating the input identification number to the control device 30. The control device 30 acquires the specified value d10 and the specified value d20 corresponding to the care recipient identified by the identification number indicated by the input signal input from the input device 36 from the storage device, and the specified values in the processing shown in FIG. Used as the value d10 and the specified value d20. This identification number may be input via the operation panel 29.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 Care support apparatus 2 Transfer support apparatus 3 Robot subsystem 4 Western style toilet 5 Ranging sensor subsystem 20 Base part 21 Drive wheel 22 Auxiliary wheel 23 Car body 24 First link 25 Second link 26 Third link 27 Front Holding device 28 Side surface holding device 29 Operation panel 30 Control device 31, 52 Communication device 32 Notification device 33 First actuator 34 Second actuator 35 Actuator 36 Input device 40 Toilet body 41 Toilet seat 42 Toilet lid 50 First distance measuring sensor 51 Second distance sensor 60 link

Claims (1)

A care support device comprising a transfer support device that supports a transfer operation of a care receiver, and a Western-style toilet used by the care receiver,
The transfer support device includes:
A cart section;
An arm unit connected to the carriage unit;
A holder connected to the arm portion and holding the care recipient;
A first actuator provided on the arm portion for translating the holder;
A second actuator provided on the arm portion and configured to rotate the holder around the pitch axis;
A control unit for controlling the first actuator and the second actuator,
The Western toilet is
A first distance measuring sensor that is provided at a position above the toilet seat and detects a distance to a cared person held by the holder;
A second distance measuring sensor that is provided at a position below the toilet seat and detects a distance to a cared person held by the holder;
The controller is
Until the distance detected by the second ranging sensor is equal to or less than a predetermined second threshold value, the holder is translated and the care recipient held by the holder is moved closer to the toilet seat,
The distance detected by the first distance measuring sensor when the cared person held by the holder is moved closer to the toilet seat by the rotational movement by the second actuator in order to seat the cared person on the toilet seat. Is less than a predetermined first threshold, the care recipient held by the holder is moved away from the toilet seat by translational movement by the first actuator.
Care support device.

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