JP6674321B2 - Life support system, method and automatic lifting chair - Google Patents

Description

  The present disclosure relates to a life support system that includes an automatic elevating chair that moves a seat surface on which a user sits, and that assists a user to stand up from the automatic elevating chair.

  In recent years, life support technology and nursing care support technology have been developed as technologies supporting a rapidly aging society. Among them, the concept of extending the healthy life expectancy of the elderly is regarded as important. Specifically, it is important that the system or the device does not partially support the predetermined operation of the elderly but the system or the device partially supports the predetermined operation and promotes the spontaneous behavior of the elderly. It is believed that. As such a technique, for example, a stand-up support system that supports an operation in which an elderly person stands up from a chair has been studied (for example, see Patent Document 1).

Japanese Patent No. 4923605

  However, the system of Patent Literature 1 is still in a study stage and needs further improvement.

  Therefore, an object of the present disclosure is to solve the above-mentioned conventional problems, and to provide a life support system, a method, and an automatic elevating chair that can realize further improvement.

  One aspect of the life support system of the present disclosure is an automatic lifting chair that moves a seat on which a user sits, a load detection device that detects a load applied by a user's hand or arm, and a user's standing support instruction. And an instruction input unit for receiving, wherein the automatic lift-type chair controls the seating surface movement, and a support control device that executes a support operation for a user standing up in the automatic lift-type chair, The support control device executes a first support operation of moving a seat position from a sitting position to a first seat position in response to the support instruction, and executes the support surface in response to the detection of the load. And performing a second support operation of moving the position from the first seat position to the second seat position.

  One embodiment of the automatic lift-type chair of the present disclosure is an automatic lift-type chair that is connected to an autonomous mobile robot via a network and moves a seating surface on which a user sits. A communication unit that receives, from the autonomous mobile robot, reception information indicating that standing support has been received, and load detection information indicating that a load applied to the autonomous mobile robot has been detected; and Controlling, to perform a support operation for the rise of the user sitting on the automatic lifting chair, and a support control device, the support control device, when the reception information is received by the communication unit, Performing a first support operation of moving the seat position from the sitting position to the first seat position, and, when receiving the load detection information by the communication unit, changing the seat position; And it executes the second assistance operation for moving from the serial first seating surface position to the second seating surface position.

  One aspect of the life support method of the present disclosure is a life support method used in an automatic lifting chair that connects to an autonomous mobile robot via a network and moves a seat on which a user sits. Receiving, from the autonomous mobile robot via the network, reception information indicating that standing support has been received, and load detection information indicating that a load applied to the autonomous mobile robot has been detected, Controlling the surface to perform an assisting operation for the user who is sitting on the self-elevating chair, and moving the seat position from the seat position to the first seat position when receiving the reception information; A first support operation is performed, and when the load detection information is received, a second support operation of moving the seat position from the first seat position to the second seat position is performed. It is intended.

  According to the present disclosure, further improvements can be realized in the life support system, the method, and the automatic elevating chair.

Schematic diagram showing a main configuration and a main operation of a life support system according to a first embodiment of the present disclosure. External view of the autonomous mobile robot according to the first embodiment External view of the automatic lifting chair according to the first embodiment. Control block diagram of life support system according to Embodiment 1 Flow chart showing the operation procedure of the life support system according to the first embodiment. External view of an automatic lifting chair according to Embodiment 2 of the present disclosure Control block diagram of life support system of Embodiment 2 External view of an autonomous mobile robot according to a third embodiment of the present disclosure of the present disclosure Control block diagram of life support system of Embodiment 3 Detailed control block diagram of a moving route setting unit according to the third embodiment 9 is a flowchart showing an operation procedure of the autonomous mobile robot according to the third embodiment. 4 is a schematic view of an automatic lifting chair according to a fourth embodiment of the present disclosure. 5 is a schematic diagram of an automatic lifting chair according to a fifth embodiment of the present disclosure. FIG. 7 is a schematic diagram of an automatic lifting chair according to a sixth embodiment of the present disclosure. Configuration diagram of an automatic elevating chair according to Embodiment 7 of the present disclosure Control block diagram of life support system according to Embodiment 8 of the present disclosure Flow chart showing the operation of the life support system according to the eighth embodiment. Control block diagram of life support system according to Embodiment 9 of the present disclosure Flow chart showing the operation of the life support system according to the ninth embodiment. Control block diagram of life support system according to Embodiment 10 of the present disclosure Flow chart showing the operation of the life support system according to the tenth embodiment. Control block diagram of life support system according to Embodiment 11 of the present disclosure Flow chart showing the operation of the life support system according to the eleventh embodiment. Control block diagram of life support system according to Embodiment 12 of the present disclosure Flow chart showing the operation of the life support system according to the twelfth embodiment. External view of autonomous mobile robot according to Embodiment 13 of the present disclosure Control block diagram of life support system according to Embodiment 13 Flow chart showing the operation of the life support system according to the thirteenth embodiment. External view of an autonomous mobile robot according to Embodiment 14 of the present disclosure Control block diagram of life support system according to Embodiment 14 Flow chart showing the operation of the life support system according to the fourteenth embodiment. External view of an autonomous mobile robot according to Embodiment 15 of the present disclosure Control block diagram of life support system of embodiment 15 Flow chart showing the operation of the life support system of the fifteenth embodiment. Control block diagram of life support system according to Embodiment 16 of the present disclosure Control block diagram of life support system according to Embodiment 17 of the present disclosure

(Knowledge underlying the present disclosure)
As a system that supports the operation of a user (for example, an elderly person), three actuators provided in an electric wheelchair perform a tilting operation of a seating portion of an electric wheelchair, a tilting operation of a backrest portion, and a telescopic operation of a backrest portion. Some can be automatically and individually operated (for example, see Patent Document 1).

  According to the technology disclosed in Patent Document 1, the reclining operation of the electric wheelchair is controlled by using an operation switch and an operation lever provided on the electric wheelchair, and the electric wheelchair can be shifted from a normal position to a stand-up position. However, since the user is supported by the electric wheelchair in all of the steps from the sitting state to the standing state, the user does not use his / her muscle strength to perform the standing operation. Therefore, by continuing to use the assisting operation of the electric wheelchair of Patent Literature 1, the user's muscular strength continues to decrease.

  Further, in the technique disclosed in the prior art document 1, the user operates the operation switch and the operation lever by himself / herself to cause the electric wheelchair to perform a reclining operation until the user stands up. In such a configuration, since the user is forcibly shifted from the sitting state to the rising state according to the operation of the seating portion and the backrest portion, for example, for a user whose body function is declining, his or her own body operation is controlled by the device. I feel scared.

  Then, the inventors have studied to improve the function of the life support system, and have come up with the following improvement measures.

  One mode of a life support system includes an automatic lifting chair that moves a seat on which a user sits, a load detection device that detects a load applied by a user's hand or arm, and an instruction to receive a user's standing support instruction. An input unit, and the automatic lift-type chair includes a support control device that controls the seating surface movement and performs a support operation for a user standing up in the automatic lift-type chair. The support control device executes a first support operation of moving a seat position from a sitting position to a first seat position in response to the support instruction, and sets the seat position in accordance with the detection of the load. A second support operation for moving the first seat position to the second seat position.

  According to the above aspect, the support control device executes the first support operation of moving the seat position of the automatic lifting chair from the sitting position to the first seat position in accordance with the support instruction input to the instruction input unit. And performing a second support operation of moving the seat position from the first seat position to the second seat position according to the detection of the load by the load detecting device.

  Here, for example, when the user voluntarily performs a rising operation by applying a load to the load detection device with his / her hand or arm to spontaneously rise, the support control device of the automatic lifting chair executes the second support operation. I do. Therefore, at least at the start of the rising motion, the user uses his / her muscular strength, so that his or her own rising motion is not left only to the operation of the automatic lifting chair. By using the life support system of this aspect, it is possible to support the user's rising motion and to suppress a decrease in the user's muscular strength.

  Further, when the rising support instruction is input, the support control device for the automatic lifting chair executes, for example, a first support operation for raising the body of the user. Thereafter, when a load is applied to the load detection device by the hand or the arm of the user, for example, a second support operation of shifting the user's body from a state in which the user is raised to a state in which the user is raised is executed. For this reason, when the user informs the life support system of his / her intention to stand up and performs an operation of applying his or her own weight to the load detection device, the stand-up assisting operation by the automatic lifting chair is executed. Therefore, since the user's own physical operation is not dominated by the life support system, the mental burden on the user can be reduced. Further, when the second support operation is performed, the user is in a state where a part of the weight is applied to the load detection device. For this reason, the body in which the posture easily collapses due to the operation of the automatic lifting chair can be supported by itself, and the mental burden on the user can be reduced from this point as well. From the above, in the present aspect, the automatic lifting chair performs the rising motion at the stage when the user is ready for the mind and body, so that it is possible to create a sense of security for the user.

  In the above aspect, for example, the load detection device is an autonomous mobile robot connected to the automatic elevating chair via a network, the autonomous mobile robot is provided in the main body and the main body, A handle unit that can be gripped by a user, a first load detection unit that detects a load applied to the handle unit as a load applied by the hand or arm of the user, and the instruction input unit may be provided. .

  In the above aspect, for example, the autonomous mobile robot further receives, via the network, reception information indicating that the rising support instruction has been received, and load detection information indicating that the load has been detected. A first communication unit for transmitting to the automatic lifting chair; the automatic lifting chair further includes a second communication unit for receiving the reception information and the load detection information via the network; The control device executes the first support operation when the reception information is received by the second communication unit, and executes the second support operation when the load detection information is received by the second communication unit. It may be.

  In the above aspect, for example, the automatic lifting chair further includes a second load detection unit that detects a load applied to the seat surface, wherein the support control device receives the load detection information, The second support operation may be performed when it is detected that the load applied to the seat has decreased.

  According to the above aspect, the automatic lifting chair executes the second support operation using the load detection information of the first load detection unit and the load detection information of the second load detection unit. Thus, it is possible to more reliably detect that the weight or the center of gravity of the user is moving from the automatic lifting chair to the autonomous mobile robot, and to execute the second support operation. Therefore, the reliability of the second support operation can be improved.

  In the above aspect, for example, the autonomous mobile robot further includes: a moving device configured to move the main body in a self-standing state; and a movement control unit configured to control an operation of the moving device. The unit controls the operation of the moving device to move the autonomous mobile robot to a support position near the front of the automatic elevating chair when the rising support instruction is received via the instruction input unit. Is also good.

  According to the above aspect, when the autonomous mobile robot receives the support instruction, the movement control unit of the autonomous mobile robot controls the autonomous mobile robot to move to the front of the automatic elevating chair via the moving device. . This makes it easier for a user who wants to stand up to grasp the handle of the autonomous mobile robot.

  In the above aspect, for example, the seating position may be a seating surface position in which at least a front-back direction of the seating surface is inclined rearward of the automatic lifting chair with respect to a horizontal plane.

  According to the above aspect, the seating position of the automatic lifting chair is such that the front-back direction of the seating surface is inclined rearward of the automatic lifting chair with respect to the horizontal plane. Thereby, the reclining angle of the automatic elevating chair can be set to a deeper posture, so that the comfort of the user can be improved.

  In the above aspect, for example, the assisting operation includes at least an operation of displacing a seating surface angle that is an angle formed between a front-rear direction and a vertical direction of the seating surface, and the first assisting operation includes the seating position. Is an operation of displacing the seat angle from the steady seat angle corresponding to the first seat position to the first seat angle corresponding to the first seat position, and the second support operation is performed from the first seat angle. An operation of displacing the seat angle to a second seat angle corresponding to the second seat position, wherein the first seat angle is an angle between the steady seat angle and the second seat angle. There may be.

  According to the above aspect, since the angle of the chair can be displaced by the two-stage operation, it is possible to realize seat surface control that gives the user a sense of security.

  In addition, the seat angle can be displaced in at least two stages in the order of the steady seat angle, the first seat angle, and the second seat angle, thereby providing a sense of security for the user.

  In the above aspect, for example, the automatic lift-type chair further includes at least one of a footrest on which the foot of the user is placed and a leg rest for guiding the leg of the user, and the seating position is a position of the footrest and the legrest. At least one of the user's knee joints may be at a seating position where the angle of the knee joint is greater than 90 degrees.

  According to the above aspect, the automatic lifting chair includes at least one of the footrest and the legrest, and sets the seating position to the seating position where the angle of the knee joint of the user is larger than 90 degrees. This allows the user to maintain a very relaxed posture while sitting.

  In the above aspect, for example, the assisting operation includes, at least, an operation of displacing the seat surface in the front-rear direction of the automatic elevating chair, and the first assisting operation is performed from the seating position to the seating position. The operation may be an operation of displacing the seat surface position to the first seat position that is in front of the automatic lifting chair.

  In the above aspect, for example, the automatic elevating chair further includes a vital information detecting unit that detects vital information of a user sitting on the automatic elevating chair, and a degree of awakening of the user based on the vital information. A determination unit for determining a degree of arousal, wherein the support control device may control a speed of the movement of the seat surface in accordance with the degree of arousal.

  According to the above aspect, the automatic elevating chair determines the arousal level of the user who is seated, and controls the speed of movement of the seat according to the arousal level. Thus, the automatic lifting chair can perform the rising operation more safely for the user.

  In the above aspect, for example, the automatic elevating chair further includes a vital information detecting unit that detects vital information of a user sitting on the automatic elevating chair, and a degree of fatigue of the user based on the vital information. A determination unit for determining a degree of fatigue, wherein the support control device may control a speed of the movement of the seat surface according to the degree of fatigue.

  According to the above aspect, the automatic lifting chair determines the degree of fatigue of the user sitting on the chair, and controls the speed of movement of the seat according to the degree of fatigue. Thus, the automatic lifting chair can perform the rising operation more safely for the user.

  In the above aspect, for example, when the arousal degree is less than a threshold, the support control device executes the first support operation at a first seating surface moving speed, and when the arousal degree is equal to or more than the threshold, The second support operation may be performed at a second seating surface moving speed, and the first seating surface moving speed may be lower than the second seating surface moving speed.

  In the above aspect, for example, when the strength of the vital information is equal to or more than a predetermined value, the support control device may start executing the first support operation without receiving the reception information.

  According to the above aspect, when the user's vital information is large (that is, the user is ready to get up from the automatic elevating chair), the first support operation is performed regardless of the presence or absence of the reception information. Thus, the rising operation can be started at a timing appropriate for the user.

In the above aspect, for example, the automatic elevating chair further includes a voice output unit,
The voice output unit may output a voice prompting the user to wake up when the wakefulness is lower than a predetermined value and the first support operation is being performed.

  According to the above aspect, when the degree of awakening of the user is not sufficient and the first support operation has begun, the user can be prompted to wake up by voice, so that safety can be improved.

  In the above aspect, for example, the automatic lift-type chair further includes an operation time acquisition unit that acquires an operation time required to complete the first support operation at a predetermined seating surface movement speed, and the movement control unit includes: Calculating a travel route to the support position and a travel time, the first communication unit transmits travel time information indicating the travel time to the automatic lift-type chair via the network, The apparatus, when receiving the travel time information via the second communication unit, compares the travel time with a first operation time required to complete the first support operation at a first sitting surface traveling speed. When the operation time is shorter than the movement time, the first support operation is performed at a second movement speed lower than the first movement speed, and the second movement speed is lower than the second movement speed. The first support at the seating speed Or the second operation time required to complete the operation is a speed the same as the moving time.

  According to the above aspect, the automatic elevating chair is configured such that the moving time required to move to the support position of the autonomous mobile robot and the second operation time required to complete the first support operation are the same. 1 Control the moving speed of the assisting operation. This allows the user to smoothly transition from the first operation support to the second operation support.

  In the above aspect, for example, the movement control unit calculates a movement route to the support position and a movement time required for movement of the movement route, and the automatic lifting chair further completes the first support operation. An operation time obtaining unit that obtains an operation time required to cause the autonomous mobile robot to transmit operation time information indicating the operation time to the autonomous mobile robot via the network. The unit calculates a moving route to the support position and a moving time required when the moving route is moved at a predetermined moving speed, and the movement control unit calculates the operating time via the first communication unit. When the information is received, the operation time is compared with a first movement time required to move along the movement route at a first movement speed, and when there is a difference between the operation time and the first movement time, The moving device operates the moving device at the second moving speed on the moving route, and the second moving speed is the same as the operating time required for moving the moving route at the second moving speed. It may be speed.

  According to the above aspect, the autonomous mobile robot controls the speed for movement control so that the operation time required for the automatic lifting chair to complete the first support operation is equal to the movement time. This allows the user to smoothly transition from the first operation support to the second operation support.

  In the above aspect, for example, the autonomous mobile robot further includes a first light-emitting unit provided in the main body unit, and the second communication unit performs the first light-emitting operation when the first support operation is performed. A first command for causing the light emitting unit to emit light may be transmitted to the autonomous mobile robot.

  According to the above aspect, the autonomous mobile robot causes the first light-emitting unit provided in the main body to emit light when notified that the automatic lift-type chair is performing the first support operation. Thereby, the user can recognize that the rising operation is to be performed.

In the above aspect, for example, the autonomous mobile robot further includes a surface determination unit that determines which surface of the main body unit is directed to the automatic elevating chair, and the first light emitting unit includes: Surfaces provided on the front and back of the main body, respectively, when the first command is received via the first communication unit, a surface on which the main body is determined to have the rear facing the self-elevating chair. The first light-emitting unit corresponding to the above may emit light.

  According to the above aspect, the autonomous mobile robot determines whether the chair is facing the front or the back with respect to the elevating chair. If the robot is facing the back, the light emitting unit provided on the back emits light. Let it. Thereby, the user can recognize that the autonomous mobile robot is in the walking support state.

  In the above aspect, for example, the autonomous mobile robot further includes a second light emitting unit provided on the handle unit, and the second communication unit performs the second light emission when the first support operation is completed. A second command for causing the unit to emit light may be transmitted to the autonomous mobile robot.

  According to the above aspect, the autonomous mobile robot causes the second light emitting unit provided on the handle unit to emit light when the automatic lifting / lowering robot completes the first support operation. Thus, the user can easily recognize the position of the handle portion to be gripped and the grip timing.

  In another aspect, the present invention relates to an automatic lifting / lowering chair that is connected to an autonomous mobile robot via a network and moves a seat on which a user sits, wherein the autonomous mobile robot is connected via the network. A communication unit that receives reception information indicating that support for standing up support has been received, and load detection information that indicates that a load applied to the autonomous mobile robot has been detected, and controlling the seating surface to perform the automatic elevation And a support control device that performs a support operation for standing up of a user sitting on the chair, and the support control device sets the seat surface position to the sitting position when the reception information is received by the communication unit. Performing a first support operation of moving from the first to the first seating position, and when the load detection information is received by the communication unit, the seating position is changed to the first seating position. Performing a second assistance operation of moving into et second seating surface position.

  According to the above aspect, based on the support instruction input to the autonomous mobile robot, the automatic lifting chair executes the first support operation of moving the seat position from the seated position to the first seat position. Thereafter, the seat position is moved from the first seat position to the second seat position according to the load detection information from the autonomous mobile robot.

  Here, for example, when the user applies a load to the autonomous mobile robot and spontaneously performs the rising operation in order to stand up spontaneously, the automatic lifting chair executes the second support operation. Therefore, at least at the start of the rising motion, the user uses his / her muscular strength, so that his or her own rising motion is not left only to the operation of the automatic lifting chair. By using the life support system of this aspect, it is possible to support the user's rising motion and to suppress a decrease in the user's muscular strength.

  When the rising support instruction is executed, the automatic lift-type chair executes, for example, a first support operation for raising the body of the user. Then, when the user applies a load to the autonomous mobile robot, for example, a second support operation for shifting the user's body from a state in which the user has raised the body to a state in which the user has risen is executed. Therefore, when the user transmits his / her intention to stand up to the life support system and then executes the operation of applying his / her own weight to the autonomous mobile robot, the stand-up assisting operation by the automatic lifting / lowering chair is executed. Therefore, since the user's own physical operation is not dominated by the life support system, the mental burden on the user can be reduced. Further, when the second support operation is executed, the user is in a state where a part of the weight is applied to the autonomous support robot. Therefore, the body in which the posture easily collapses due to the operation of the automatic lifting chair can be supported by itself. From this point, the mental burden on the user can be reduced. From the above, in the present aspect, the automatic lifting chair performs the rising motion at the stage when the user is ready for the mind and body, so that it is possible to create a sense of security for the user.

  In the other aspect, for example, the autonomous mobile robot includes a main body, a handle provided on the main body, which can be gripped by a user, and a first load detection unit that detects a load applied to the handle. The load detection information may be information transmitted from the autonomous mobile robot to the automatic lifting chair when the first load detection unit detects the load.

  According to the above aspect, the user can apply a load by gripping the handle of the autonomous mobile robot. Therefore, at least when the second support operation is performed, the user holds the handle of the autonomous mobile robot, so that it is possible to prevent the posture from being lost.

  In another aspect, the present invention relates to a life support method used in an automatic elevating chair that connects to an autonomous mobile robot via a network and moves a seating surface on which a user sits, wherein the network is connected to the robot. Via, from the autonomous mobile robot, receiving information indicating that the standing support support has been received, and load detection information indicating that the load applied to the autonomous mobile robot has been detected, to control the seat surface Performing a support operation for a user sitting on the automatic lift-type chair, and, when receiving the reception information, moving the seat position from the seat position to the first seat position. And when the load detection information is received, a second support operation of moving the seat position from the first seat position to the second seat position is performed.

  Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings.

(Embodiment 1)
FIG. 1 is a schematic diagram illustrating a main configuration and a main operation of the life support system according to the first embodiment of the present disclosure. The first embodiment is a life support system that supports a user to stand up, and includes an autonomous mobile robot 2 and an automatic elevating chair 3, both of which are connected via a communication network. You. In the first embodiment, when the user is in the sitting position of the automatic lifting chair 3 and receives an input of a standing support instruction from the user to the life support system, first, the automatic lifting chair 3 is moved. An operation of raising the seat from the seating position to the first seat position is performed. Next, when it is detected that the user has held the handle of the autonomous mobile robot or that the user has applied a load to the handle, the automatic lifting chair 3 performs an operation of rising up to the second seat position. .

  FIG. 2 is a schematic diagram of the autonomous mobile robot 2, and FIG. 3 is a schematic diagram of the automatic liftable chair 3. Here, the positional relationship between the seating position, the first seating surface position, and the second seating surface position is, as shown in FIG. 1, “the seating surface angle at the seating position” <“the seating surface angle at the first seating position”. There is a relationship of "the seat angle at the second seat position". That is, as the seat angle increases, the posture of the user approaches a standing posture. In FIG. 3, since the angle between the horizontal direction and the front-back direction of the seating surface is represented as the seating surface angle θ, the value of the seating surface angle θ is 0 when the seating surface is horizontal. On the other hand, when the seating surface is inclined so as to incline to the rear of the automatic liftable chair 3, the seating surface angle θ has a negative value. Here, the angle between the vertical direction and the front-back direction of the seating surface may be expressed as the seating surface angle θ.

(Configuration of autonomous mobile robot)
As shown in FIG. 2, the autonomous mobile robot 2 includes a main body 21, a moving device 22 that moves the main body 21 in a self-standing state, and a handle provided on the main body 21 and that can be gripped by a user. A unit 23 and an instruction input unit 24 for receiving a support instruction for starting up. In the following description, the automatic mobile robot 2 may be simply referred to as “robot 2”.

  The main body 21 is formed of, for example, a frame having rigidity that supports other components and can support a load when the user stands up.

  The moving device 22 includes a plurality of wheels 25 provided at a lower portion of the main body 21 and a driving unit 26 that moves the main body 21 by rotating the wheels. The wheels 25 support the main body 21 in a self-standing state, and are driven to rotate by the drive unit 26, thereby moving the main body part 21 in a state of maintaining the self-standing state. Although the case where the moving device 22 includes a moving mechanism using wheels has been described as an example, a case where a moving mechanism other than wheels (a running belt, a roller, a multi-legged mechanism, or the like) may be used.

  The handle portion 23 is provided at an upper portion of the main body portion 21 and is provided in a shape and a height position at which the user can easily grasp with both hands in a seated state and an upright state.

  Further, the robot 2 is provided with a first load detection unit 27 that detects a load applied to the handle unit 23. The first load detection unit 27 detects a load (that is, a force in the vertical direction) generated in the handle unit 23 when the user grips the handle unit 23. As such a first load detection unit 27, for example, a force sensor can be used. The handle load detected by the first load detection unit 27 is sent to the automatic lifting chair 3 through the network, and is used when the automatic lifting chair 3 performs a second support operation described later.

  The instruction input unit 24 has a function of accepting, as a support instruction, an indication of a user's desire to “rise”. The instruction input unit 24 may be, for example, a microphone, a button, a camera, or the like. When the instruction input unit 24 is a microphone, a user's intention display is obtained by voice (for example, a specific keyword) or sound by a microphone, and is converted into an electric signal by voice or sound recognition means to provide a support instruction. May be accepted. When the instruction input unit 24 is a button, the user may input an intention display by pressing the button. When the instruction input unit 24 is a camera, a user's image is acquired by the camera, and a specific gesture is recognized by an image recognition unit, or a facial expression is recognized (for example, one eye is closed). Thus, a support instruction may be received. The support instruction may be any information that notifies that the user is ready to start up, and is not limited to the example described above.

  Further, the robot 2 is provided with a communication unit 28 for transmitting information such as a handle load to the automatic lifting chair 3 through a network. Here, the term “network” refers not only to a public network such as the Internet, but also to a concept that includes short-range communication technology (eg, Wi-Fi (registered trademark), Bluetooth (registered trademark), infrared communication, etc.). It is.

(Configuration of automatic lifting chair)
As shown in FIG. 3, the automatic lift-type chair 3 includes a seat surface 31 on which a user sits, a frame 32 that supports the seat surface 31 so as to be able to move up and down, and a seat surface that moves the seat surface 31 so as to be inclined forward. And a moving device 33. In addition, the automatic lift-type chair 3 includes a support control device 34 that controls the movement of the seat by the seat movement device 33 according to an instruction input or the like. In addition, in this specification, the front means the direction of the front side of the user sitting on the automatic lifting chair 3, and the rear means the direction of the rear side of the user. In addition, the left-right direction is a left-right direction based on the user's front-side orientation. For example, in FIG. 1, the direction orthogonal to the paper surface is the left-right direction. In the following description, the automatic lifting chair 3 may be simply referred to as “chair 3”.

  The seat surface 31 is supported by the frame 32. Specifically, the front end of the seating surface 31 is supported by the frame 32 so as to be rotatable about the left-right direction as a rotation axis. The rear end of the seat surface 31 is supported by the frame 32 via a hydraulic lifting actuator 35 as a mechanism for mechanically expanding and contracting in the vertical direction. When the lifting actuator 35 expands and contracts by hydraulic pressure, the seat surface can be moved so as to change the angle θ of the seat surface 31. In the first embodiment, the seat moving device 33 includes the lifting actuator 35, and the seat 31 can be moved so as to be inclined forward by extending and retracting the lifting actuator 35. In the present specification, the angle θ of the seat surface 31 is represented as an angular displacement based on the posture of the seat surface in a posture where the user sits. The movement of the seat surface 31 may be performed by using other various driving devices such as using an electric motor in addition to the hydraulic lifting actuator.

  In addition, the seat surface 31 is provided with a seat surface angle detection unit 37 that detects the angle θ of the seat surface 31. A tilt sensor or the like may be used as the seat angle detection unit 37. The angle θ of the seat surface detected by the seat angle detection unit 37 is input to the support control device 34.

  The support control device 34 is configured to transmit the seat surface movement device 33 (that is, the support surface movement device 33 (that is, the support surface movement device 33) , The movement of the seat surface by the lifting actuator 35) is controlled.

(Control configuration of life support system)
Next, a description will be given of a control configuration for controlling a support operation for supporting a user to stand up in the life support system 1 having such a configuration. FIG. 4 is a control block diagram illustrating a main control configuration in the life support system 1. The control block diagram of FIG. 4 also shows the relationship between each control configuration and information handled.

  As shown in FIG. 4, when the instruction input unit 24 of the robot 2 receives an instruction input of stand-up support (that is, an input of the support instruction), it is accepted that the support instruction has been received as the support instruction. The received reception information is notified to the chair 3 through the communication unit 28. The support control device 34 of the chair 3 that has received the notification controls the seat moving device 33 so that the seat angle θ of the chair 3 is changed from the seated state to the first seat position. When the first load detection unit 27 of the robot 2 detects a load caused by the user holding the handle unit 23, the load information (the handle load) is transmitted to the chair 3 via the communication unit 28. Notify to The support control device 34 of the chair 3 that has been notified through the communication unit 38 controls the seat moving device 33 so that the seat angle θ of the chair 3 is changed from the first seat position to the second seat position.

(Start-up support by the life support system)
Next, a main procedure for supporting the standing motion of the user sitting on the chair 3 by the rising support system 1 of the first embodiment will be described with reference to the flowchart shown in FIG. Further, in the flowchart of FIG. 5, the procedure in the robot 2 and the procedure in the chair 3 are shown in parallel, and the transfer of information between the robot 2 and the chair 3 is also shown.

  First, in step S1 of FIG. 5, the instruction input unit 24 of the robot 2 waits for input of a support instruction, which is an indication of a user's intention to stand up.

  When the instruction input unit 24 receives the input of the support instruction, the instruction input unit 24 notifies the communication unit 28 of that, and the communication unit 28 receives the support instruction to the communication unit 38 of the chair 3 through the network. Is notified. When receiving the reception information from the communication unit 38, the support control device 34 of the chair 3 controls the seat surface 31 to move from the sitting position (initial position) to the first seat position (step S2: first support). motion). Specifically, the support control device 34 controls the movement of the seat surface 31 by controlling the seat surface moving device 33 (that is, the hydraulic lifting actuator 35). Here, the support control device 34 may acquire the angle of the seat surface 31 from the inclination sensor 37, and use this angle to feedback-control the movement of the seat surface 31.

  Next, in step S3 of FIG. 5, the first load detection unit 27 of the robot 2 detects whether a load has been detected. Here, detecting the load means detecting whether or not the user has touched the handle portion 23 of the robot 2. When the first load detecting unit 27 detects a load on the handle unit 23 (handle load) of the user, the first load detecting unit 27 uses the communication unit 28 and the communication unit 38 to communicate the fact as first load information (load detection information). Is notified to the support control device 34. The support control device 34 that has received the notification controls the seat 31 to move from the first seat position to the second seat position (step S4: second support operation).

  When the seat surface 31 reaches the second seat position, the movement control of the seat surface 31 ends (step S5), and the rising support process ends. Thereafter, the robot 2 in a state where the handle portion 23 is gripped by the user who has risen may be switched from the rising support mode to the walking support mode (step S6), and may start supporting the user's walking motion.

  As described above, according to the life support system 1 of the first embodiment, the user moves the seat at the first stage at the timing at which the intention of standing up from the chair 3 has been performed, and the user can stand up. Encourage body preparation. Thereafter, the user can hold the handle portion 23 of the robot 2 and perform the second-stage movement of the seating surface to actually stand up the chair 2 in a state where the user can actually stand up.

(Embodiment 2)
Next, a life support system 71 according to the second embodiment of the present disclosure will be described with reference to a configuration diagram of the automatic elevating chair 73 in FIG. 6 and a control block diagram in FIG. The same components as those of the life support system 1 according to the first embodiment are denoted by the same reference numerals, and description thereof is omitted. Hereinafter, differences between the life support system 71 of the second embodiment and the life support system 1 of the first embodiment will be mainly described.

  FIG. 6 shows a configuration of the automatic elevating chair 73 according to the second embodiment. In FIG. 6, a difference from the automatic lifting chair 3 in the first embodiment is that a second load detection unit 36 is added to a lower portion of the seat surface 31. The second load detection unit 36 detects how much weight is put on the chair when the user is sitting on the seat surface 31. Typically, it is constituted by a pressure sensor, but is not limited to this as long as it can detect a load.

  FIG. 7 shows a control block diagram of a life support system 71 according to the second embodiment. The difference between the second embodiment and the first embodiment is that the automatic lifting chair 73 has the second load detection unit 36, and the support control device 74 uses the information of the first load detection unit 27 and the second load detection unit 36. The control of the seat moving device 33 is performed based on the information of the detection unit 36. Specifically, the following control is performed.

  When the first load detection unit 27 receives a notification that the first load detection unit 27 has detected the load (notification of the load detection information) from the autonomous mobile robot 2, the support control device 74 performs the second load detection of the second load detection unit 36. Detect data. At this time, at the timing of detecting that the second load data has decreased, the support control device 74 causes the seat moving device 33 to move the seat from the first seat position to the second seat position. Command. When the second load data becomes equal to or less than a preset threshold, it may be determined that the second load data has decreased.

  As described above, according to the life support system 71 according to the second embodiment of the present disclosure, the user can lift the automatic elevating chair 73 with the operation of getting up from the chair, so that the user can more smoothly. A simple rising operation can be realized.

(Embodiment 3)
Next, regarding the life support system 91 according to the third embodiment of the present disclosure, a configuration diagram of the autonomous mobile robot 92 in FIG. 8, a control block diagram in FIG. 9, and a more detailed control of the movement route setting unit 94 in FIG. This will be described with reference to a block diagram and an operation flowchart of the autonomous mobile robot 92 in FIG. The same components as those of the life support system 1 according to the first embodiment are denoted by the same reference numerals, and description thereof will be omitted. Hereinafter, differences between the life support system 91 of the third embodiment and the life support system 1 of the first embodiment will be mainly described.

  FIG. 9 is a configuration diagram of an autonomous mobile robot 92 in the life support system 91 according to the third embodiment. In FIG. 9, the difference from the autonomous mobile robot 2 of the first embodiment is that the autonomous mobile robot 92 includes a movement control unit 93. The movement control unit 93 calculates a relative positional relationship between the autonomous mobile robot 92 and the automatic lifting chair 3 as described later. The autonomous mobile robot 92 determines a movement path to a support position defined near the front of the automatic lifting chair 3 based on the calculated positional relationship, and moves to the support position based on the movement path. .

  FIG. 9 is a control block diagram of the life support system 91 according to the third embodiment. In FIG. 9, the difference from the life support system 1 in the first embodiment is that a movement control unit 93 including a movement route setting unit 94 is added, and the movement device 22 moves autonomously based on the movement control by the movement control unit 93. The point is that the movement control of the mold robot 92 is performed. In the third embodiment, the movement route setting unit 94 is configured to be built in the movement control unit 93. However, the present invention is not limited to this. For example, the movement route setting unit 94 may be installed outside the autonomous mobile robot 92 and exchange control information by communicating with the autonomous mobile robot 92.

  FIG. 10 is a control block diagram illustrating a more detailed configuration of the movement route setting unit 94. As shown in FIG. 10, the moving route setting unit 94 includes a distance image sensor 101, a chair position estimating unit 102, a self-position estimating unit 104, and a moving route determining unit 105. In FIG. 10, a distance image sensor 101 captures an external image using, for example, an image sensor. As an example, the environment where the life support system 91 is placed may be photographed from above using a camera or the like. Then, the chair position estimating unit 102 analyzes the image captured by the distance image sensor 101, and based on the environment map 106 holding a map of the environment where the life support system 91 is placed, the chair position estimation unit 102 Estimate the position. More specifically, by matching an image photographed from above with a previously acquired “shape image of chair 3 viewed from above” and comparing the result with environment map 106, It estimates a high position. Similarly, the self-position estimating unit 104 estimates a self-position having a high possibility (that is, the position of the robot 92) by comparing the result of image matching with the environment map 106. There are various methods for estimating the self-position of the chair 3 other than the above. For example, there is a method for estimating the moving distance and the direction by accumulating the rotation angles of the wheels 25. In the third embodiment, it is sufficient that the positions of the automatic lifting chair 3 and the autonomous mobile robot 92 can be estimated, so the method of estimating the position is not limited to the method of the above embodiment. Thereafter, the movement route determination unit 105 calculates the relative position between the automatic lift-type chair 3 and the autonomous mobile robot 92 based on the position estimation results of the chair position estimation unit 102 and the self-position estimation unit 104. The movement path determination unit 105 determines a movement path from the current position of the robot 92 to the “support position” defined near the front of the automatic lifting chair 3 based on the calculated relative positional relationship.

  When the autonomous mobile robot 92 according to the third embodiment receives a rising support instruction (step S1), the self-position of the autonomous mobile robot 92 and the position of the automatic elevating chair 3 are determined by the above-described method. Each is estimated (step S110). Thereafter, in the autonomous mobile robot 92, the movement path of the autonomous mobile robot 92 is determined (step S111), and based on the determined movement path, the autonomous mobile robot 92 assists in the vicinity of the front of the automatic elevating chair 3. Move to the position (step S112).

  As described above, according to the life support system 91 according to the third embodiment of the present disclosure, the autonomous mobile robot 92 moves to the support position in front of the automatic elevating chair 3 when performing the rising support. Therefore, it is possible to use the power of the robot when necessary, and there is an effect that the robot does not get in the way during reclining.

(Embodiment 4)
Next, a living support system 1 according to the fourth embodiment of the present disclosure will be described using the configuration diagram of FIG. In the fourth embodiment, the front-rear direction of the seat surface at the seating position of the automatic lifting chair 3 is inclined rearward of the automatic lifting chair 3 with respect to the horizontal direction (horizontal plane). That is, in FIG. 12, the seat surface angle θ, which is the angle formed between the front-rear direction of the seat surface and the horizontal plane, has an inclination angle above the horizontal plane (that is, the seat surface angle θ is a negative value). There.)

  As described above, in the automatic elevating chair 3 according to the fourth embodiment, the user can take a posture with a deeper reclining angle in the sitting position, so that the user's comfort can be improved. In addition, it is possible to support the user to stand up from the sitting position where the reclining angle is deep.

(Embodiment 5)
Next, the automatic lifting chair 3 in the life support system 1 according to the fifth embodiment of the present disclosure will be described using the schematic diagram of FIG. Embodiment 5 describes a method of defining the seat surface angle θ. In FIG. 13, the seat angle θ defines the angle between the front-rear direction of the seat surface and the horizontal direction as a positive clockwise direction from the horizontal direction toward the front-rear direction of the seat surface. As shown in FIG. 13, the seating angle θ (steady seating angle) at the seating position described in Embodiment 4 (that is, the seating position in a state where the reclining angle is deep) indicates a negative value. . On the other hand, at the first seat position and the second seat position, each seat angle θ shows a positive value. The first seat angle is an angle between the steady seat angle and the second seat angle.

(Embodiment 6)
Next, an automatic elevating chair 3 according to the sixth embodiment of the present disclosure will be described using the schematic diagram of FIG. The automatic lifting chair 3 according to the sixth embodiment includes at least one of the footrest 142 and the legrest 141. Further, in the automatic lifting chair 3, the angle of the knee joint of the user using at least one of the footrest 142 and the legrest 141 is larger than 90 degrees. Conversely, the footrest 142 or the legrest 141 is set so that the angle of the knee joint of the user is larger than 90 degrees.

  As described above, in the automatic elevating chair 3 according to the sixth embodiment, the user can take a posture in which the legs are extended forward at the sitting position, so that the comfort of the user can be improved.

(Embodiment 7)
Next, an automatic elevating chair 151 according to a seventh embodiment of the present disclosure will be described using the configuration diagram of FIG. The automatic elevating chair 151 according to the sixth embodiment is different from the automatic elevating chair 3 according to the first embodiment in that a displacement mechanism 153 is provided and a seat surface 152 is further provided thereon.

  As shown in FIG. 15, the chair 151 has a displacement mechanism 153 provided on a seat base (corresponding to the seat 31 in the chair 3 of the first embodiment) 154, and is provided on the displacement mechanism 153. And a seat surface 152. The displacement mechanism 153 has a function of sliding the seat surface 152 in the front-rear direction with respect to the seat surface base 154. For example, the displacement mechanism 153 may be configured by a rail and a slider that slides along the rail. For example, a rail is fixed to one of the seat base 154 and the seat surface 152, and a slider is fixed to the other, and the slider moves along the rail. May be slid in the front-back direction.

  When the user sitting on the chair 151 having such a configuration gives a rising support instruction to the robot 2, the seat surface 152 of the chair 151 is moved from the seated position to the first seat surface position (first support). motion). Since the first seating surface position is a seating surface angle inclined forward, the seating surface 152 slides forward with respect to the seating surface base 154 through the displacement mechanism 153 by the user's own weight. That is, by the first support operation, the seat surface 152 of the chair 151 is displaced from the sitting position to the first seat surface position that is in front of the chair 151 from the sitting position. Thereby, the user can approach the robot 2 more easily, and can easily grip the handle portion 23. Thereafter, when a load on the handle portion 23 is detected, the second support operation is started.

  According to the chair 151 of the seventh embodiment, by performing the first support operation, the user can take a posture closer to the robot 2 and can easily grip the handle portion 23. In the chair 151, for example, when a sitting position in which the reclining angle is deep (the seating surface angle θ is a negative value) is used, the user is in a state of sitting deeply on the chair 151. Even in such a case, by displacing the seat surface 152 forward by the first support operation, the user can easily grip the handle portion 23, and the convenience for the user is improved. Although illustration of the footrest and the legrest is omitted in FIG. 15, these may be provided.

(Embodiment 8)
Next, a life support system 161 according to the eighth embodiment of the present disclosure will be described using a control block diagram of the life support system 161 in FIG. 16 and an operation flowchart in FIG. The same components as those of the life support system 1 according to the first embodiment are denoted by the same reference numerals, and description thereof is omitted. Hereinafter, differences between the life support system 161 of the eighth embodiment and the life support system 1 of the first embodiment will be mainly described.

  FIG. 16 is a control block diagram of the life support system 161 according to the eighth embodiment. In the eighth embodiment, the automatic control chair 162 includes the vital information detection unit 165 and the arousal level determination unit 164, and the support control device 163 is configured based on the information. The difference is that the speed of the movement of the seat surface is controlled.

  The vital information detecting unit 165 detects the latest load change (body movement), pulse, heartbeat, respiration, and the like. Then, the wakefulness determination unit 164 determines the wakefulness of the user from the vital information.

  The vital information detection unit 165 may be, for example, a load sensor provided on the seating surface 31 of the chair 162 or the backrest (back surface). The load sensor may detect a change in pressure (body movement), a pulse, a heartbeat, a breath, or the like by capturing a change in pressure on the body surface (living body surface) of the user. For example, since the shape of the user's body changes due to breathing, this change may be detected as a load. In addition, a pulse may be detected as a change in the blood vessel surface. In addition, the heartbeat may be detected as a change in the body surface close to the heart of the user. A single load sensor may detect a plurality of vital information such as a pulse, a heartbeat, and breathing. In addition, about a pulse, you may utilize well-known pulse acquisition methods and apparatuses, such as a pulse meter using infrared rays. As for respiration, a method of capturing the swelling of the user's body with a distance sensor or detecting the swelling of the user with an image using a camera may be used.

  The wakefulness determination unit 164 determines the wakefulness of the user based on the vital information detected by the vital information detection unit 165. For example, in the vital information, when the load changes frequently, when the pulse is high, or when the number of breaths is high, it can be determined that the user's arousal level is high.

  When the vital information is pulse or heart rate data, when a decrease in the pulse or heart rate (for example, a 10% decrease) or an increase in the HF component (high-frequency component) is detected, the arousal level determination unit 164 determines It may be determined that the user's arousal level is low (for example, a sleep state). In addition, when a decrease in the pulse or heart rate (for example, a continuous gradual decrease) or a state in which the HF component continuously increases is detected, the arousal level determination unit 164 determines that the arousal level of the user is low (for example, And the like before sleep).

  As another method of detecting vital information and determining the arousal level based on the detected vital information, it is also conceivable to measure the brain waves of the user. It is known that when the component of the α wave or the θ wave is seen in the brain wave, the degree of arousal is low. Therefore, the level of the arousal degree can be determined using the measurement data. Finally, the support control device 163 performs control to determine the moving speed of the seating surface 31 based on the determined degree of awakening of the user. Specifically, the lower the awakening degree is, the lower the moving speed of the seat surface 31 is.

  FIG. 17 is an operation flowchart of the life support system 161 according to the eighth embodiment. First, the vital information detecting unit 165 of the automatic lifting chair 162 detects a load change (body movement), a pulse, a breath, or the like in the immediate vicinity of the user (step S171). Next, the arousal level determination unit 164 determines the arousal level of the user from the vital information described above (step S172). The determination of the arousal level can be made based on whether the arousal level is equal to or more than the threshold value or less than the threshold value. The support control device 163 determines that the lower the above-mentioned arousal level is, the lower the moving speed of the seat of the automatic elevating chair 162 is (step S173), and the seat moving device 33 determines the determined moving speed. Then, the seat surface is moved from the seat position to the first seat position (step S174).

  As described above, according to the life support system 161 according to the eighth embodiment of the present disclosure, when performing the rising support, the automatic lifting chair 162 moves the seat surface at a speed corresponding to the arousal level of the user. . Therefore, for example, when the user's awakening degree is low, the sudden operation is not performed at a rapid speed, and the rising operation can be executed more safely.

(Embodiment 9)
Next, a life support system 181 according to the ninth embodiment of the present disclosure will be described using a control block diagram of the life support system 181 in FIG. 18 and an operation flowchart in FIG. The same components as those of the life support system 1 according to the first embodiment are denoted by the same reference numerals, and description thereof is omitted. Hereinafter, differences between the life support system 181 of the ninth embodiment and the life support system 1 of the first embodiment will be mainly described.

  FIG. 18 is a control block diagram of the life support system 181 according to the ninth embodiment. In the ninth embodiment, the vital information detecting unit 184 mainly detects a change in the load (body movement) of the user, and the support control device 183 determines the amount of the change in the load change (body movement). The difference is that the support operation of the automatic lift-type chair 182 is started without waiting for the support instruction from the autonomous mobile robot 2 when the value of “intensity” is equal to or more than a predetermined value.

  FIG. 19 is an operation flowchart of the life support system 181 according to the ninth embodiment. First, in the automatic lifting chair 182, the vital information detecting unit 184 mainly detects a change in the load of the user (step S191). Information on the detected change in the load of the user is input to the support control device 183. When the above-mentioned load change amount is equal to or more than the predetermined value, the support control device 183 does not wait for the support instruction information of the autonomous mobile robot 2 input via the communication unit 38, and moves from the seated position to the first position. The seat is moved to the seat position (step S3).

  As described above, when the load change amount of the user is large (that is, the user is ready to stand up from the automatic elevating chair 182), the first support operation is performed regardless of the presence or absence of the reception information. Therefore, the rising operation can be started at a timing appropriate for the user.

(Embodiment 10)
Next, living support system 201 according to the tenth embodiment of the present disclosure will be described using the control block diagram of life support system 201 in FIG. 20 and the operation flowchart in FIG. The same components as those of the life support system 161 according to the eighth embodiment are denoted by the same reference numerals, and description thereof will be omitted. Hereinafter, differences between the life support system 201 of the tenth embodiment and the life support system 161 of the eighth embodiment will be mainly described.

  FIG. 20 is a control block diagram of the life support system 201 according to the tenth embodiment. In the tenth embodiment, the support control device 203 determines whether or not to notify the user by voice based on the arousal level of the user determined by the arousal level determination unit 164, and the voice output unit 204 transmits the voice to the user. The output is different from the eighth embodiment. Here, the audio signal is a so-called auditory signal, and may be any information (signal) that can be recognized by the user aurally, and includes, for example, a signal representing a voice and a signal indicating the volume of the sound.

  FIG. 21 is an operation flowchart of the life support system 201 according to the tenth embodiment. First, the wakefulness determination unit 164 determines the wakefulness of the user from the vital information detected by the vital information detection unit 165 (step S172). The support control device 203 determines whether the arousal level is equal to or less than a predetermined value, and if it is equal to or less than the predetermined value, controls to output a sound to the sound output unit 204 (step S211). In response, the sound output unit 204 outputs a sound to the user (Step S212).

  As described above, according to the life support system 201 according to the tenth embodiment of the present disclosure, when the awakening degree of the user is not sufficient, the user is encouraged to awaken, and thus the safety during the movement operation of the seat surface is improved. Can be increased.

(Embodiment 11)
Next, a life support system 221 according to the eleventh embodiment of the present disclosure will be described using a control block diagram of the life support system 221 in FIG. 22 and an operation flowchart in FIG. The same components as those of the life support system 1 according to the first embodiment are denoted by the same reference numerals, and description thereof is omitted. Hereinafter, differences between the life support system 221 of the eleventh embodiment and the life support system 1 of the first embodiment will be mainly described.

  FIG. 22 is a control block diagram of the life support system 221 according to the eleventh embodiment. In the eleventh embodiment, the operation time acquisition unit 225 of the automatic lifting / lowering chair 222 calculates the time (first operation time) required for completing the first support operation, and the movement control unit 224 of the autonomous mobile robot 226. Calculates the travel time based on the travel route from the current position to the support position. The support control device 223 compares the above-described first operation time with the movement time, and if the movement time is longer than the first operation time, the support control device 223 controls the movement speed of the seat surface to be slow. This is different from the first embodiment. Here, the travel time is calculated based on the travel path from the current position to the support position. However, the travel time may be calculated simply by “travel distance / travel speed”, or when the travel path is curved. If the speed of the autonomous mobile robot 226 changes depending on the degree of the curvature, the calculation may be performed in consideration of the degree of the change. The above-mentioned operation time may be a value obtained by dividing a seat angle to be changed from the seat position to the first seat position by the angular velocity of the seat movement.

  FIG. 23 is an operation flowchart of the life support system 221 according to the eleventh embodiment. First, the operation time acquisition unit of the automatic lifting / lowering chair 222 calculates the time (first operation time) from the position of the seat to the position of the first seat due to the movement of the seat (step S231). Further, the movement control unit 224 of the autonomous mobile robot 226 calculates a time (movement time) for moving from the current position to the support position based on the obtained movement path (step S232). The support control device 223 compares the travel time sent via the communication unit 38 with the first operation time (step S233). If the first operation time is shorter than the travel time, The control is performed such that the seating surface is moved from the seating position to the first seating surface position over a longer period of time (second operation time) (step S234). If the comparison result is opposite, control is performed so that the seat surface is moved in a normal time (first operation time) (step S235). Here, taking the second operation time means, as is clear from the above, that the seat surface is moved slowly when the autonomous mobile robot 225 arrives late.

  As described above, according to the life support system 221 according to the eleventh embodiment of the present disclosure, the arrival of the autonomous mobile robot 226 and the arrival of the automatic lifting / lowering chair 222 to the first seat position are close to each other. Therefore, it is possible for the user to smoothly shift from the first operation support to the second operation support.

(Embodiment 12)
Next, a life support system 241 according to the twelfth embodiment of the present disclosure will be described using a control block diagram of the life support system 241 in FIG. 24 and an operation flowchart in FIG. The same components as those of the life support system 1 according to the first embodiment are denoted by the same reference numerals, and description thereof is omitted. Hereinafter, differences between the life support system 241 of the twelfth embodiment and the life support system 1 of the first embodiment will be mainly described.

FIG. 24 is a control block diagram of the life support system 241 according to the twelfth embodiment. In the twelfth embodiment, the movement control of the autonomous mobile robot 243 is performed by using the “time required for the rising operation from the sitting position to the first seating position” acquired by the operation time acquiring unit 225 of the automatic elevating chair 242. The difference from the first embodiment is that the unit 244 adjusts the moving speed of the autonomous mobile robot from the current position to the support position. For this reason, the movement control unit 244 calculates the “movement time from the current position to the support position” of the autonomous mobile robot 243 calculated by the movement route setting unit 94 and the “time required for the start-up operation of the automatic elevating chair 242” described above. And ". If the two times are different, the moving speed of the autonomous mobile robot 243 is adjusted so that the end time of the rising operation coincides with the arrival time of the support position. Specifically, when the above-mentioned time points are different, the time difference (Δt: the moving time of the robot−the above-mentioned operation time) is calculated, and the moving speed is calculated according to Equation 1.
(Equation 1): Δv = Δt / t × v

  Here, Δv is a change amount of the moving speed of the autonomous mobile robot 243, t is the operation time described above, and v is a normal moving speed (first moving speed) of the autonomous mobile robot 243. In the above calculation result, the moving speed of the robot is assumed to be constant speed motion (constant speed). However, when the moving path is curved, the moving speed is set to be accelerated only in the linear portion. Is also good. This is because accelerating on a curve increases the danger.

  FIG. 25 is an operation flowchart of the life support system 241 according to the twelfth embodiment. First, the operation time acquisition unit of the automatic elevating chair 242 acquires the time (operation time) for moving from the sitting position to the first seating position (step S231). Next, the movement control unit 244 of the autonomous mobile robot 243 calculates a time (first movement time) required to reach the support position from the current position (Step S232). Next, the support control device 245 transmits the operation time to the autonomous mobile robot 243 via the communication unit 38. The movement control unit 244 compares the operation time with the first movement time using the operation time received via the communication unit 28 (Step S251). As a result of the comparison, when the two times are different, the movement control unit 244 changes the movement speed (first movement speed) of the autonomous mobile robot 243 to the form shown in Expression 1 (second movement speed) and performs the movement control. Is performed (step S252). If the two times are the same as a result of the comparison, the movement control is performed at the first movement speed (step S253).

  As described above, according to the life support system 241 according to the twelfth embodiment of the present disclosure, the arrival of the autonomous mobile robot 243 and the arrival of the automatic elevating chair 242 to the first seat position are close to each other. . Therefore, it is possible for the user to smoothly shift from the first operation support to the second operation support.

(Embodiment 13)
Next, the life support system 271 according to the thirteenth embodiment of the present disclosure will be described with reference to the schematic view of the autonomous mobile robot 276 in FIG. 26, the control block diagram of the life support system 271 in FIG. 27, and the operation flowchart in FIG. explain. The same components as those of the life support system 1 according to the first embodiment are denoted by the same reference numerals, and description thereof is omitted. Hereinafter, differences between the life support system 271 of the thirteenth embodiment and the life support system 1 of the first embodiment will be mainly described.

  FIG. 26 is a schematic view of the autonomous mobile robot 276. In FIG. 26, reference numeral 273 denotes a first light emitting unit. The first light emitting unit 273 has a function of notifying the user that the autonomous mobile robot 276 is ready to stand up and execute the support. Here, the first light emitting section 273 may be any information (signal) that can be visually recognized by the user, such as a signal indicating the intensity of light or a signal indicating a difference in emission color, in addition to the LED and the bulb.

  FIG. 27 is a control block diagram of life support system 271 in the thirteenth embodiment. In the thirteenth embodiment, the support control device 274 transmits a first command indicating that “the automatic lift-type chair 275 has started moving from the sitting position to the first seating position” through the communication unit 38 through the autonomous movement. Notify the type robot 276. Based on the first command, the main body 272 of the autonomous mobile robot 276 is controlled so that the first light emitting unit 273 emits light. Such a point is different from the first embodiment. Here, the timing of notifying the first command and causing the first light emitting unit 273 to emit light is not limited to the time when the above-described movement is started, and may be during the movement. The point is that the light emission timing only needs to be a timing that does not cause a user to feel strange.

  FIG. 28 is an operation flowchart of the life support system 271 according to the thirteenth embodiment. The support control device 274 outputs a first command indicating that the automatic lifting chair 275 moves from the sitting position to the first seating position at the stage of the movement. The main unit 272 of the autonomous mobile robot 276 that has received the first command via the communication unit 28 causes the first light emitting unit 273 to emit light (step S281).

  As described above, according to the life support system 271 according to the thirteenth embodiment of the present disclosure, the user can easily recognize that the rising motion is about to be performed.

(Embodiment 14)
Next, the life support system 301 according to the fourteenth embodiment of the present disclosure will be described with reference to the schematic view of the autonomous mobile robot 303 in FIG. 29, the control block diagram of the life support system 301 in FIG. 30, and the operation flowchart in FIG. explain. The same components as those of the life support system 271 according to the above-described thirteenth embodiment are denoted by the same reference numerals, and description thereof is omitted. Hereinafter, differences between the life support system 301 of the thirteenth embodiment and the life support system 271 of the thirteenth embodiment will be mainly described.

  FIG. 29 is a schematic view of the autonomous mobile robot 303. In FIG. 29, reference numeral 305 denotes a first light emitting unit provided so as to illuminate the front and back of the autonomous mobile robot 303 (the upper side is the front side and the lower side is the back side perpendicular to the plane of the drawing). Here, in FIG. 29, it is described that two first light emitting parts 305 for the front and the back are provided. However, it is needless to say that the first light emitting parts are arranged on the back and the front of one housing, respectively. I do not care. The light emitter of the first light emitting unit 305 is the same as the light emitting unit 273 of the autonomous mobile robot in the thirteenth embodiment. Reference numeral 306 denotes a surface determination unit that determines whether the autonomous mobile robot 303 faces the automatic lifting chair 275.

  FIG. 30 is a control block diagram of the life support system 301 according to the fourteenth embodiment. In the fourteenth embodiment, the surface determination unit 306 determines whether the autonomous mobile robot 303 is facing the front / rear surface of the automatic elevating chair 275. Based on the result of the determination by the surface determining unit 306, the first light emitting unit 305 on the side that can be visually recognized by the user sitting on the automatic lifting chair 275 is caused to emit light. This is different from the thirteenth embodiment. Here, the surface determination unit 306 irradiates an infrared sensor, a radio wave, or the like (not shown) mounted on the autonomous mobile robot 303, and analyzes the reflection information, whereby any surface is directed to the automatic lift-type chair. Is determined. It should be noted that there are other techniques for determining a surface, and the technique is not limited to the above-described technique. For example, a specific mark is put on the automatic lift-type chair 275, and the mark is taken from an image taken by an image pickup device (not shown) that can image the front and back mounted on the autonomous mobile robot 303. It may be determined whether the photographed side is facing the automatic elevating chair 275 by analyzing whether or not the user is on the chair.

  FIG. 31 is an operation flowchart of the life support system 301 according to the fourteenth embodiment. Upon receiving the first command communicated via the communication unit 28, the main unit 304 causes the first light emitting unit 305 on the side facing the automatic lifting chair 275 to emit light based on the determination result of the surface determining unit 306 ( Step S311).

  Thereby, the user can recognize that the autonomous mobile robot 303 is in the walking support state.

(Embodiment 15)
Next, the life support system 331 according to Embodiment 15 of the present disclosure will be described with reference to the schematic view of the autonomous mobile robot 333 in FIG. 32, the control block diagram of the life support system 331 in FIG. 33, and the operation flowchart in FIG. explain. The same components as those of the life support system 1 according to the first embodiment are denoted by the same reference numerals, and description thereof is omitted. Hereinafter, differences between the life support system 331 of the fifteenth embodiment and the life support system 1 of the first embodiment will be mainly described.

  FIG. 32 is a schematic view of the autonomous mobile robot 333. In FIG. 32, reference numeral 336 denotes a second light emitting unit provided on the handle unit 335. The details of the second light-emitting unit 336 are the same as those of the above-described first light-emitting unit, and a description thereof will not be repeated. The second light emitting unit 336 notifies the user that the life support system 331 can shift to the second support operation. That is, when the second light emitting unit 336 is turned on or blinks, the user can recognize that it is time to hold the handle unit 335, and can take an action of holding the handle unit 335 with ease.

  FIG. 33 is a control block diagram of the life support system 331 according to the fifteenth embodiment. In the fifteenth embodiment, the handle part 335 is provided with the second light emitting part. Further, the support control device 334 of the automatic elevating chair 332 sends a second command to the autonomous mobile robot 333 via the communication unit 38 that the first support operation is completed. The handle portion 335 of the autonomous mobile robot 333 receives the second command, and is controlled so that the second light emitting portion 336 emits light. Such a point is different from the first embodiment.

  FIG. 34 is an operation flowchart of the life support system 331 according to the fifteenth embodiment. The support control device 334 of the automatic elevating chair 332 outputs the second command via the communication unit 38 when the chair 332 completes the first support operation. Upon receiving the above-mentioned second command, the handle unit 335 of the autonomous mobile robot 333 controls the second light-emitting unit 336 to emit light (step S341). In the above description, the light emission control of the second light emitting unit 336 is performed by the handle unit 335, but is not limited thereto. A movement control unit (not shown) may be used, or the movement control unit may be provided outside the autonomous mobile robot 333 and controlled by communication.

  As described above, according to the life support system 331 according to Embodiment 15 of the present disclosure, the user can easily recognize the position and the grip timing of the handle portion 335 to be gripped by the user.

(Embodiment 16)
Next, a life support system 401 according to Embodiment 16 of the present disclosure will be described with reference to a control block diagram shown in FIG. The same components as those of the life support system 161 according to the eighth embodiment are denoted by the same reference numerals, and description thereof will be omitted. Hereinafter, differences between the life support system 401 of the sixteenth embodiment and the life support system 161 of the eighth embodiment will be mainly described.

  As shown in FIG. 35, in the life support system 401 according to the sixteenth embodiment, the automatic lifting / lowering chair 402 includes a vital information detecting unit 165 and a fatigue degree determining unit 403, and based on the information. Embodiment 8 is different from Embodiment 8 in that the support control device 413 controls the speed of the movement of the seat. In particular, the eighth embodiment is different from the eighth embodiment in that the speed of the movement of the seat is controlled based on the degree of fatigue of the user instead of the degree of arousal of the user.

  The vital information detecting unit 165 detects the latest load change (body movement), pulse, heartbeat, respiration, and the like. The fatigue level determination unit 403 determines the user's level of fatigue from the detected vital information. For example, when a pulse or a heartbeat is used as vital information, the fatigue level determination unit 403 may determine the fatigue level from the balance (ratio) between the HF component and the LF component. For example, when LF component / HF component> 2.5, it may be determined that the degree of fatigue is high.

  When the fatigue level determination unit 403 determines that the user's fatigue level is high, the support control device 413 performs control to determine the moving speed of the seating surface 31 based on the determined user's fatigue level. Specifically, the higher the degree of fatigue, the lower the moving speed of the seating surface 31.

  As described above, according to the life support system 401 according to the sixteenth embodiment of the present disclosure, when performing the rising support, the automatic lifting chair 402 moves the seating surface at a speed according to the degree of fatigue of the user. . Therefore, for example, when the user's fatigue level is high, sudden start is not performed at a rapid speed, and the start-up operation can be performed more safely.

(Embodiment 17)
Next, a life support system 451 according to a seventeenth embodiment of the present disclosure will be described with reference to a control block diagram shown in FIG. The same components as those of the life support system 1 according to the first embodiment are denoted by the same reference numerals, and description thereof is omitted. Hereinafter, differences between the life support system 451 of the seventeenth embodiment and the life support system 1 of the first embodiment will be mainly described.

  As shown in FIG. 36, the life support system 451 according to the seventeenth embodiment includes an automatic elevating chair 3, a load detection device 452 for detecting a load applied by a user's hand or arm, and an instruction for receiving a user's start-up support instruction. An input unit 453 is provided.

  The load detecting device 452 receives a load by a hand or an arm of the user and supports the user's body, and a load detecting unit provided on the supporting structure and detecting a load applied to the supporting structure. Is provided. Such a support structure may be, for example, a walking stick or an armrest provided on the automatic lifting chair 3. That is, the support structure may be a structure provided on the chair 3, or may be an independent structure separate from the chair 3. The load detecting means may be, for example, a force sensor.

  The instruction input unit 453 is provided on, for example, a support structure (for example, a stick or armrest) of the load detection device 452. Note that the instruction input unit 453 is not limited to being provided in the load detection device 452, and may be a case where it is separate from the load detection device 452.

  Further, the load detection device 452 is provided with a communication unit 428 that transmits information such as a load to the automatic lifting chair 3 via a network.

  In the life support system 451 according to the seventeenth embodiment, when a support instruction from a user is input to the instruction input unit 453, the instruction input unit 24 notifies the communication unit 428 of the fact, and the communication unit 428 transmits the chair 3 via the network. Is notified of the reception information indicating that the support instruction has been received. When receiving the reception information from the communication unit 38, the support control device 34 in the chair 3 controls the seat 31 to move from the seated position to the first seat position (first support operation).

  Next, when the load detection device 452 detects a load applied by the user's hand or arm, the load detection device 452 notifies the support control device 34 of the chair 3 via the communication unit 428 and the communication unit 38 as load detection information. The support control device 34 that has received this notification controls the seat 31 to move from the first seat position to the second seat position (second support operation).

  According to the life support system 451 of the seventeenth embodiment, not the autonomous mobile robot, but the support structure such as a cane or an armrest, the user's load is detected to support the user's rising motion. Can be.

  Note that by appropriately combining any of the above-described various embodiments, the effects of the respective embodiments can be achieved.

  Although the present invention has been fully described in connection with preferred embodiments thereof with reference to the accompanying drawings, various changes and modifications will be apparent to those skilled in the art. It is to be understood that such changes and modifications are intended to be included therein without departing from the scope of the invention as set forth in the appended claims.

  In the life support system according to the present disclosure, at the stage when the user is ready for the mind and body, the automatic lift-type chair supports the rising operation in two stages, so that it is possible to create a sense of security for the user. It is useful to apply the present invention to a life support system for a user who needs support for a rising motion such as an elderly person.

REFERENCE SIGNS LIST 1 life support system 2 autonomous mobile robot 3 automatic elevating chair 21 main body 23 handle 24 instruction input unit 25 wheels 27 first load detection unit 28 communication unit 31 seat surface 33 seat surface movement device 34 support control device 36 second Load detection unit 38 Communication unit 93 Movement control unit 94 Movement path setting unit 141 Leg rest 142 Footrest 164 Arousal level determination unit 165 Vital information detection unit 204 Voice output unit 225 Operating time acquisition unit 273 First light emitting unit 306 Surface determination unit 336 First 2 light emitting unit

Claims (20)

An automatic elevating chair that moves the seat of the seat on which the user sits,
A load detection device that detects a load applied by a user's hand or arm;
An instruction input unit for receiving a user's start-up support instruction,
The automatic lifting chair,
A support control device that controls the seating surface movement and executes a support operation for rising of a user sitting on the automatic lifting chair,
The support control device,
Performing a first support operation of moving the seat position from the seat position to the first seat position in response to the support instruction;
Performing a second support operation of moving the seat position from the first seat position to the second seat position in response to the detection of the load;
Life support system. The load detection device is an autonomous mobile robot connected to the automatic lifting chair via a network,
The autonomous mobile robot,
The main body,
A handle portion provided on the main body portion and capable of being gripped by a user,
A first load detection unit that detects a load applied to the handle unit as a load applied by the hand or arm of the user;
The instruction input unit,
The life support system according to claim 1. The autonomous mobile robot further comprises:
Via the network, a first communication unit that transmits to the automatic lifting chair each of reception information indicating that the rising support instruction has been received, and load detection information indicating that the load has been detected,
The automatic lifting chair further comprises:
A second communication unit that receives the reception information and the load detection information via the network;
The support control device,
When the reception information is received by the second communication unit, the first support operation is performed,
When the load detection information is received by the second communication unit, the second support operation is performed.
The life support system according to claim 2. The automatic lifting chair further comprises:
A second load detection unit that detects a load applied to the seat surface,
The support control device is configured to execute the second support operation when the load detection information is received, and when it is detected that the load applied to the seat is reduced.
The life support system according to claim 3. The autonomous mobile robot further comprises:
A moving device for moving the main body in a self-standing state,
A movement control unit that controls the operation of the moving device,
The movement control unit controls the operation of the moving device to move the autonomous mobile robot to a support position near the front of the automatic elevating chair when receiving the rising support instruction via the instruction input unit. Move,
The life support system according to claim 3 or 4. The assisting operation includes, at least, an operation of displacing a seating surface angle that is an angle between an anteroposterior direction and a vertical direction of the seating surface,
The first support operation is an operation of displacing the seat angle from a steady seat angle corresponding to the seat position to a first seat angle corresponding to the first seat position,
The second support operation is an operation of displacing the seat angle from the first seat angle to a second seat angle corresponding to the second seat position,
The first seat angle is an angle between the steady seat angle and the second seat angle.
The life support system according to any one of claims 3 to 5. The automatic lifting chair further comprises:
Comprising at least one of a footrest for placing the user's foot and a legrest for guiding the user's leg,
The seating position is a seating position where the angle of the knee joint of the user using at least one of the footrest and the leg rest is larger than 90 degrees.
The life support system according to any one of claims 3 to 6. The assisting operation includes at least an operation of displacing the seat surface in the front-rear direction of the automatic lifting chair,
The first assisting operation is an operation of displacing the seating position from the sitting position to the first seating position that is ahead of the automatic lifting chair from the sitting position,
The life support system according to claim 7. The automatic lifting chair further comprises:
A vital information detecting unit that detects vital information of a user sitting on the automatic lifting chair,
An arousal level determination unit that determines the arousal level of the user based on the vital information,
The support control device controls a speed of the seating surface movement according to the arousal level,
A life support system according to any one of claims 3 to 8. The automatic lifting chair further comprises:
A vital information detecting unit that detects vital information of a user sitting on the automatic lifting chair,
A fatigue degree determination unit that determines the degree of fatigue of the user based on the vital information,
The support control device controls a speed of the seating surface movement according to the degree of fatigue,
A life support system according to any one of claims 3 to 8. When the strength of the vital information is equal to or greater than a predetermined value, the support control device starts executing the first support operation without receiving the reception information.
The life support system according to claim 9. The automatic lifting chair further includes a voice output unit,
The voice output unit is configured to output a voice prompting the user to wake up when the wakefulness is lower than a predetermined value, and when the first support operation is being performed.
The life support system according to claim 9. The automatic lifting chair further comprises:
An operation time acquisition unit that acquires an operation time required to complete the first support operation at a predetermined seating surface movement speed,
The movement control unit calculates a movement route to the support position, and a movement time,
The first communication unit transmits travel time information indicating the travel time to the automatic lift-type chair via the network,
The support control device, when receiving the travel time information via the second communication unit, the travel time and a first operation time required to complete the first support operation at a first sitting surface traveling speed. When the operation time is shorter than the moving time, the first support operation is performed at a second seating surface moving speed lower than the first seating surface moving speed,
The second seating surface moving speed is a speed at which a second operation time required to complete the first support operation at the second seating surface moving speed becomes the same as the moving time,
The life support system according to claim 5. The movement control unit calculates a movement route to the support position, and a movement time required for movement of the movement route,
The automatic lifting chair further comprises:
An operation time acquisition unit that acquires an operation time required to complete the first support operation,
The second communication unit transmits, via the network, operation time information indicating the operation time to the autonomous mobile robot,
The movement control unit calculates a movement route required for moving the movement route to the support position and the movement route at a predetermined movement speed,
The movement control unit, when receiving the operation time information via the first communication unit, compares the operation time with a first movement time required to move the movement route at a first movement speed. And when there is a difference between the operating time and the first moving time, operating the moving device at a second moving speed;
The second movement speed is a speed at which a second movement time required when moving along the movement route at the second movement speed is the same as the operation time.
The life support system according to claim 5. The autonomous mobile robot further comprises:
A first light emitting unit provided on the main body unit;
The second communication unit transmits a first command for causing the first light emitting unit to emit light to the autonomous mobile robot when the first assisting operation is performed,
The life support system according to any one of claims 3 to 14. The autonomous mobile robot further comprises:
A surface determination unit that determines which surface of the main unit is facing the automatic lifting chair,
The first light emitting unit is provided on a front surface and a back surface of the main body, respectively.
When the first command is received via the first communication unit, the first light emitting unit corresponding to the surface on which the main body is determined to have the back facing the automatic lifting chair emits light,
The life support system according to claim 15. The autonomous mobile robot further comprises:
A second light emitting unit provided on the handle unit,
The second communication unit transmits a second command for causing the second light emitting unit to emit light to the autonomous mobile robot when the first support operation is completed,
The life support system according to any one of claims 3 to 16. An automatic lifting / lowering chair that is connected to an autonomous mobile robot via a network and moves a seat on which a user sits,
Via the network, from the autonomous mobile robot, a communication unit that receives reception information indicating that standing support has been received, and load detection information indicating that a load applied to the autonomous mobile robot has been detected,
Controlling the seating surface, to perform a support operation for the rising of the user sitting on the automatic lifting chair, comprising a support control device,
The support control device,
When the reception information is received by the communication unit, a first support operation of moving the seat position from the seat position to the first seat position is performed,
When the load detection information is received by the communication unit, a second support operation for moving the seat position from the first seat position to the second seat position is performed.
Automatic lifting chair. The autonomous mobile robot,
The main body,
A handle portion provided on the main body portion and capable of being gripped by a user,
A first load detection unit that detects a load applied to the handle unit,
The load detection information is information transmitted from the autonomous mobile robot to the automatic lifting chair when the load is detected by the first load detection unit.
An automatic lifting chair according to claim 18. A life support method used in an automatic lift-type chair that connects to an autonomous mobile robot via a network and moves a seat on which a user sits,
Through the network, from the autonomous mobile robot, receiving information indicating that the standing support has been received, and load detection information indicating that the load applied to the autonomous mobile robot has been detected,
By controlling the seat surface, to perform a support operation for the rise of the user sitting on the automatic lifting chair,
When receiving the reception information, a first support operation of moving the seat position from the seat position to the first seat position is performed,
When the load detection information is received, a second support operation of moving the seat position from the first seat position to the second seat position is performed.
Life support method.

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