JPH11197185A - Sitting position movement supporting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a person to be helped able to independently and easily leave a bed and take sitting position even when a helper does not attend in free time. SOLUTION: A main body 1 is provided with a motor-driven reclining mechanism, a height adjustment mechanism 12, an automatic armrest housing mechanism for automatically housing armrests 8 and 9 below the upper surface of a seat plate 5 and a moving mechanism 26, and the motor-driven mechanisms are position controlled altogether by a controller. Also, a vital sign measurement device for measuring the vital sign of a user without contacting is buried in a mattress 18. An interface part is constituted of a joy stick 27, a hand controller and a screen 10 integrated with a touch panel and the service conditions of this sitting position movement supporting device are recorded by a means for storing the operations. The main body 1 automatically performs charging by being joined to a home base 2 and a radio communication means is provided between them further. The home base 2 is connected to a calling button 3, an ISDN channel 22 and a power source cord 39.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for assisting movement of a sitting position such as an electric wheelchair.

[0002]

2. Description of the Related Art A conventional sitting position support device, such as a wheelchair for nursing, which supports the movement of the elderly, is premised on being used with a caregiver, and focuses on a structure that reduces the labor for transfer work. Was placed. A general nursing wheelchair as disclosed in Japanese Patent Application Laid-Open No. 7-39562 has a structure in which the seat can be reclined and the height of the wheelchair can be adjusted. The caregiver deforms the wheelchair into a full flat bed. The patient was moved by hand to the side of the cared person's bed to transfer the cared person.

Further, there is a type in which a part of a bed is separated and deformed into a wheelchair as disclosed in Japanese Patent Application Laid-Open No. 05-176959, but in such a wheelchair, a caregiver is a care recipient. Instead of having to lift and transfer his body, he needed to separate and deform the wheelchair.

A conventional remote monitoring system using a vital sign of a user, such as that disclosed in JP-A-08-80285 and JP-A-07-203016, focuses on finding and reporting abnormalities. And the information was presented to the doctor's terminal.

[0005] To move the wheelchair by electric movement, the user directly operated the wheelchair by operating means such as a joystick. Further, as a method for the caregiver to easily move the wheelchair, by grasping the handle having the force detection means provided at the back of the wheelchair at the base, and applying force,
The ones that work with electric power assist are commercially available.

[0006]

In the conventional reclining wheelchair, it was difficult without a caregiver to lower the back plate, store the armrests, transform it into a full flat state, and lay it on the bed. For this reason, it has been difficult for an elderly person who is sufficiently capable of turning over to make an independent transfer. On the other hand, the use of a wheelchair in which a part of the bed is separated or deformed cannot use a conventional bed, and there is an inconvenience that the essential functions of a nursing bed such as sleeping comfort and vertical movement are sacrificed.

[0007] In the conventional remote monitoring system, the function of notifying an abnormality to a medical institution or the like is emphasized. For example, there was no use of a communication function for checking the vital signs and use status of devices while communicating with a family using a videophone with images, and grasping a living situation.

[0008] Even if the elderly have physical ability to move their hands, it is difficult for the elderly to operate a control stick such as a joystick to select other easy operation methods and move on their own. Did not.

[0009] Regarding the power assist when the caregiver pushes and moves the sitting position movement assisting device by hand, the position of pushing by hand is limited in the conventional method. For this reason, when moving a relatively large device, there is a disadvantage that it is necessary to go behind in a narrow passage.

According to the present invention, the user (cared person) can easily transfer and move from the bed in which the user (care receiver) is sleeping by simple operation, and can effectively use the remote monitoring and videophone communication functions. It is an object of the present invention to provide a movement support device and to provide a sitting position movement support device that is easy to use for not only a caregiver but also a care receiver.

[0011]

A first means of the present invention for achieving the above object is to provide a bed-like shape having a flat upper surface from a chair having a seat surface, a backrest, a leg plate, and an armrest portion by electric reclining. To the chair having the seat surface, the backrest, the leg plate, and the armrest portion from the bed-like shape to the chair having the armrest portion, the armrest portion is moved when the sitting position movement assistance device is laid on the bed. It is characterized by having armrest storing means for automatically storing and forming a flat surface from the bed to the sitting position support device.

A second means of the present invention for achieving the above object is the first means, wherein the armrest accommodating means detects which side of the sitting position support device is in contact with the bed. The bed side detecting means is provided, and the armrest on the side in contact with the bed detected by the bed side detecting means is automatically stored.

[0013] A third means of the present invention for achieving the above object is to provide a bed-like shape having a flat top surface from a chair having a seat surface, a backrest, a leg plate and an armrest portion by electric reclining. A seating movement support device that is transformed from a shape into a chair having the seat surface, the backrest, the leg plate, and the armrest portion, and moves to a place where the automatic charging means is installed when not in use and is connected to the automatic charging means and waits. And a control means for performing a positioning operation on a bed by moving the main body while deforming the main body into a predetermined shape in response to the remote calling means. By providing the remote calling means beside the bed, it is possible to call the sitting position support device, which is waiting at the place where the automatic charging means is installed, to the side of the bed where the care receiver is sleeping at any time.

According to a fourth aspect of the present invention, there is provided a sitting position support apparatus having a function of a wireless videophone and a vital sign measuring means, wherein the vital sign, a destination, and peripheral devices such as a television are provided. Means for recording information indicating the use state of the sitting position support device including the use state, and means for displaying the information recorded in the recording means on the information display means of the other party simultaneously with the videophone call. It is characterized by the following.

A function of adding a vital sign and usage information to a call signal of a videophone is provided to enable communication via an ISDN line. In the terminal of the ISDN line,
Install an adapter that can distinguish between normal telephone and videophone signals. With these configurations, a caregiver who makes a videophone call can check the vital sign and the use status of the sitting position support device at the same time as talking with the care receiver. By providing a vital sign detecting means inside the armrest portion or the mattress of the sitting position assisting device, the vital sign can always be automatically measured when the user sits on the chair (sitting position assisting device). Further, a recording means for storing the operation of the interface of the user (cared person) is provided as the usage status of the sitting position movement support device. Further, by providing a wireless communication means between the sitting position support device and the adapter of the communication terminal, the sitting position support device can perform the IS
Make the DN line available.

According to a fifth aspect of the present invention, there is provided a sitting position support apparatus having image information display means for displaying a target of movement as an image, wherein the image information display means comprises a moving image displayed as an image. It is configured to include a selecting means for selecting any of the targets, a moving path to the target selected by the selecting means is searched from among the moving paths set in advance corresponding to the target, and the automatic driving is performed. It is characterized by having control means for moving. The image information display means of the sitting movement support device is provided with a function of associating a plurality of preset movement paths with a target image, and a specific movement path is determined by detecting the image selected by the displayed image selection means. By configuring a system for issuing a command for automatic driving to the moving mechanism, the position can be moved by an easy operation for the elderly.

According to a sixth aspect of the present invention, there is provided an electric vehicle comprising: a seat fixed to a bogie via a frame; and an electric reclining mechanism for deforming the seat. In the sitting position support device, one end of a reclining mechanism driving means for deforming the seat is connected to the frame, the frame is fixed to the bogie via force detecting means, and an external force acting on the seat is detected. It is characterized by having control means for performing movement following the external force. One end of the driving means for deformation of the seat portion is arranged on a frame for fixing the seat, and the frame for fixing the seat portion and the bogie portion of the moving mechanism are further fixed via force detecting means, and the external force on the seat portion is reduced. No matter what position of the seat is pushed by hand, it has a control means to detect without being affected by the reclining mechanism and to move the moving mechanism in the direction of action of the detected force. The device can be moved with power assist.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of a sitting movement support apparatus will be described below with reference to the drawings. FIG. 1 and FIG. 2 are appearance images of a sitting position support apparatus according to an embodiment of the present invention.
1 is a basic system configuration diagram of a sitting position support device.

The illustrated sitting position support apparatus includes a main body 1, a home base 2 that waits for the main body when not in use and automatically charges the main body, and automatically calls the care receiver by calling the main body 1 from a remote place. A call button 3 for moving the person to be laid sideways on the bed in which the person using the sitting position support device is sleeping, or moving the care receiver from the bed to the home base 2, a remote controller 29, and information The input device 32 is included.

As shown in FIG. 4, the main body 1 includes a moving mechanism 26, a frame 55 mounted on the moving mechanism 26 via force detecting means 56, a seat mounted on the frame 55, and a frame 55. Linear actuator 54a interposed between the seat and the seat portion to perform a reclining operation
54b. The frame 55 includes the height adjusting mechanism 12.

The seat portion includes a seat plate 5 forming a substantially flat seating surface, and a back plate 4 behind the seat plate 5 and forming a backrest.
And a leg plate 6 in front of the seat plate 5 for supporting the shin;
A tread plate 7 arranged at the tip of the base plate to constitute a footrest, and armrests 8 arranged at both sides of the seat plate 5 so as to be capable of automatically moving up and down.
9, a pillow 24 disposed at an end of the back plate 4 on the side remote from the seat plate 5, speaker microphones 25a and 25b disposed on both sides of the pillow 24, and disposed on a left side surface of the back plate 4. A back plate side contact sensor (left) 14, an armrest side contact sensor (left) 16 disposed on the left side of the armrest 8, a leg plate side contact sensor (left) 15 disposed on the left side of the leg plate 6, Footboard 7
Tread front contact sensors 17a, 17b arranged in front of
A speaker 19 disposed on the front of the armrest 8; an extension connector plate 36 disposed on the front of the armrest 9; a call button 28 disposed on the inner side surface of the armrest 9; An operation button opening / closing cover 37, an emergency stop button 23, a joystick 27, a screen 10 supported by a screen support rod 11 mounted on an outer side surface of the armrest 9, and a hand controller 13 connected to a control device (not shown). And an antenna 20 arranged on the outer side surface of the armrest 9.

Although each of the above-mentioned contact sensors is shown only on the left side, if there is a case where the right side of the main body 1 is joined to the bed, it is naturally provided on the right side.

An automatic armrest storage mechanism 4 is provided on the seat.
6. Reclining mechanism 45, height adjusting mechanism 45, information processing device 44b, interface unit 49, external force detecting device 50, control device 51 are installed, and vital sign measuring device 48 is mattress of back plate 4 (or seat plate 5). 18
Embedded in

The automatic armrest accommodating mechanism 46 has a pair of female screws which are arranged inside the armrests with the axis up and down and dispersed back and forth, and which are screwed to the female screws and the axis is arranged up and down. A screw rod, a bearing that supports the lower end of the screw rod and restrains the vertical movement thereof, a worm gear fixed to the lower part of the screw rod, and a drive shaft including a worm that meshes with the worm gear; The motor includes a motor that drives the drive shaft, a limit switch that regulates the end of the vertical movement of the armrest, and a casing that covers these components. The drive shafts are respectively disposed with respect to the armrests 8 and 9, and each drive shaft is engaged with both of the worm gears of the two threaded rods which are screwed to the pair of female screws. When the drive shaft rotates, the armrest rises or descends to a predetermined position. As the automatic armrest storage mechanism, various methods other than this, such as a method of raising and lowering the armrest by using a fluid pressure cylinder and a method of raising and lowering the armrest by expanding and contracting a link mechanism such as a pantograph, are possible.

The automatic armrest storage mechanism does not necessarily need to be provided for both the armrests 8 and 9. When the space for the main body 1 to enter is provided only on one side of the bed, it is in contact with the bed. An automatic armrest storage mechanism may be provided only on the side armrest.

The moving mechanism 26 includes a trolley, a power supply unit mounted on the trolley, casters 40 and 41 arranged in pairs before and after the trolley, and a charging unit disposed on the left side of the trolley and connected to the power supply unit. Terminal 38 and a drive wheel 42 mounted on a truck. External force detection device 50
Is connected to the force detecting means 56 and outputs the direction and magnitude of the external force applied to the seat.

The home base 2 includes a main body 2A and a main body 2A.
An automatic charging device 43 (not shown), which is connected to the charging terminal 38 of the main body 1 of the sitting position assisting device and charges the power supply device; an information processing device 44a, which is embedded in the main body 2A; And an antenna 21 connected to the device 44a. Information processing device 4
A telephone line (ISDN line) 22 is connected to 4a, and a power cord 39 is connected to the automatic charging device 43 from the outside.

The call button 3 is connected by a cable to an information processing device 44a provided inside the main body 2A of the home base 2, and is arranged on a bed where the care receiver is sleeping.

The back plate 4 and the leg plate 6 are raised and lowered (rotated) by an electric reclining mechanism. When the back plate 4 and the leg plate 6 are deformed into a full-flat bed-like shape, the tread plate 7 also rotates.
The upper surface of each of the back plate 4, the seat plate 5, the leg plate 6, and the tread plate 7 (the portion where the mattress is located is the upper surface of the mattress, the same applies hereinafter) is a horizontal plane. The armrests 8 and 9 move up and down electrically, and when the main body 1 is laid on the bed, the armrests 8 on the bed side are automatically lowered and stored, and the upper surface of the armrests 8 is placed on the seat plate 5.
Lower than the upper surface of the
Transfer to the bed or transfer from the main body 1 to the bed.

When the main body 1 is placed sideways on a bed whose height cannot be adjusted, the height of the seat portion can be automatically adjusted by the height adjusting mechanism 12. When the care receiver transfers from the bed to the main body 1, the height of the upper surface of the seat plate 5 is adjusted to be slightly lower than the bed, and when the care receiver transfers to the bed from the main body 1, the seat plate is set to be slightly higher than the bed. Adjust the height of the top surface of 5. Electric reclining and height adjustment
It is possible for the user to operate by himself / herself the controller 13.

A screen 10 for displaying a screen such as a videophone is attached to a screen support bar 11 extending from the armrest 9 or the back plate 4 on the side not in contact with the bed, and can be folded and stored. The screen support bar 11 is formed of a joint that is flexible against collision. Screen 10
Is integrated with a touch panel for input. The voice of the telephone is transmitted through the speaker microphone 25.

As means for confirming that the main body 1 is connected to the home base 2 or is in contact with the bed sideways,
Contact sensors 14 to 17 are arranged on the outer periphery of the back plate 4, the armrests 8, 9, the leg plate 6, and the tread plate 7.

An external force (for example, a force pressed by a caregiver) is applied to the main body 1.
As shown in FIG. 4, one end of each of linear motion actuators 54a and 54b for deforming a seat from a chair to a bed-like shape or vice versa as shown in FIG. The other end of the seat 55 is connected to the back plate 4 and the leg plate 6, respectively, and the frame 55 of the seat and the moving mechanism 26 are connected via force detecting means 56. With such a configuration, the caregiver manually presses an arbitrary part of the seat portion of the sitting position assisting device, and the direction in which the force acts on the external force detecting device 50 via the force detecting means 56. Is detected. The control device 51 can move the sitting position movement assisting device in the detected direction with the power assist of the moving mechanism.

The height adjustment mechanism 1 for raising and lowering the seat portion
2, the frame is vertically divided into an upper frame 55a fixed to the seat plate 5 and a lower frame 55b coupled to the moving mechanism 26 via the force detecting means 56, as shown in FIG.
Linear motion actuators 57a and 57b are interposed between the upper frame 55a and the lower frame 55b, and the lower frame 55b
, The upper frame 55a (and the seat) moves up and down. FIG. 6 shows another example of the height adjusting mechanism 12. 5, the frame 55 is fixed to the seat plate 5 as in the example shown in FIG. 4, and the moving mechanism 26 has a moving mechanism 26a having a configuration similar to that of the lower frame 55b shown in FIG. The moving mechanism 26 has a moving mechanism 26 b having a similar configuration to the moving mechanism 26. The height adjusting mechanism 12 in the figure includes a moving mechanism 26a and a linear motion actuator 57 interposed between the moving mechanism 26a and the moving mechanism 26b.
a, 57b, and the frame 55 (and the seat) is coupled to the moving mechanism 26a via the force detecting means 56. That is, the frame 55 (and the seat portion) and the moving mechanism 26a are integrally moved up and down with respect to the moving mechanism 26b.

The moving mechanism 26 is movable in all directions, and is operated by a touch panel or a joystick 27 on the screen 10. By pressing the emergency stop button 23, all the electric mechanisms can be stopped.

When the operation is difficult or when help is needed, the speaker 19 is sounded by the call button 28 to call a caregiver. A remote controller 29 is provided for the caregiver. Remote controller 29
Has a joystick 30 and a button 31,
The remote control including the parallel movement of the main body 1 can be performed.

[0037] Japanese Patent Application Laid-Open Nos.
JP-A-2003016 and JP-A-9-47436 propose a method for remotely monitoring elderly people living at home by measuring vital signs in an unrestricted manner without wearing them. The same remote monitoring is also performed in the sitting movement support device of the present embodiment,
When an abnormality occurs, the speaker 19 can sound a buzzer to call the caregiver, and can have a function of notifying a remote place set in advance such as a medical welfare facility. Antenna 20 ~ between main body 1 and home base 2
The home base 2 is connected to a telephone line (ISDN line) 22 so that it can communicate with the outside.

Since the telephone line is open except during an emergency call, the telephone line can be used for communication such as a videophone call and an online information providing service. A speaker / microphone 25 is arranged on the side of the pillow 24 so that the voice of the videophone can be easily heard and the voice of the user can be easily picked up.

An information input device 32 is prepared as a dedicated interface for inputting information such as a moving route and a telephone number as an initial setting. The information input device 32 includes a joystick 33 for teaching a moving path.
And keys 34 for inputting characters such as names and telephone numbers
And a connection terminal 35 connected to a connection jack arranged on an extension connector plate 36 of the main body 1. The input operation is performed by inserting the connection terminal 35 into a connection jack arranged on the expansion connector plate 36 of the main body. Expansion connector plate 3
6 is also provided with an insertion slot for a medium capable of reading image information and the like and a general-purpose spare terminal, so that an interface or a controller for a game or the like according to the user's preference can be used.

A number of spare buttons are prepared on the upper surface of the armrest 9, and an operation button opening / closing cover 37 is attached thereto. When the setting is made so that the spare button is associated with an arbitrary operation, the button can be used to perform on-the-spot rotation, for example, when the player wants to turn around immediately. The reason why the button is not exposed by the openable cover or the like is to prevent the button from being accidentally pressed when there is no normal relationship.

When the main body 1 stands by at the home base 2, the main body 1 is located in a positional relationship where an electrode (not shown) of the automatic charging device 43 of the home base 2 comes into contact with the charging terminal 38 of the main body 1. Is fixed to the home base 2 by a fixing device (not shown) so as to maintain the position. This fixing device can be replaced with a wheel brake, or can serve to prevent the body from rolling over in the event of an earthquake or the like. The automatic charging device 43 is charged by supplying electricity from a power cord 39 connected to a home power outlet.

As a basic system configuration of the above-described sitting movement support apparatus, as shown in FIG. 3, the home base 2 includes an automatic charging apparatus 43, an information processing apparatus 44a for using wireless communication and an ISDN line. It consists of. The main body 1 includes an electric mechanism unit 4 including a reclining mechanism 45 including linear motion actuators 54a and 54b, a height adjusting mechanism 12, an automatic armrest storage mechanism 46, a moving mechanism 26, and the like.
7, a vital sign measuring device 48 including a vital sign sensor and its signal processing, an interface unit 49 including the screen 10, the joystick 27, and the information input device 32 connected to the expansion connector board 36, and information processing for wireless communication. The control unit includes a device 44b, an external force detection device 50 for sensing a contact and a force acting on the main body, and a control device 51 for controlling the whole of these devices.
In this embodiment, the reclining mechanism 45 is constituted by the linear motion actuators 54a and 54b. However, the reclining mechanism 45 is not a cylinder type actuator, but an actuator in which a rotating shaft is rotated by an electric motor or a screw rod is rotated by an electric motor. The reclining mechanism may be constituted by an actuator of the type that is extended.

An on / off electric signal can be transmitted from the call button 3 to the home base 2 by a cable (or a remote controller), and the home base 2 and the sitting position support apparatus main body 1 have wireless communication means. By preparing a plurality of call buttons and sending an identification signal to the home base 2, 1
A plurality of persons can use the table-sitting movement support device. Home base 2 is telephone line (ISDN line) 2
Remote terminal 5 disposed at a remote medical institution having information processing device 44c or a family member using a videophone
It leads to one. The information processing device 44c is a means for making the ISDN line available, but the target device may be a personal computer or a handy video camera in addition to the telephone 52 and the videophone 53.

As an example of the use of the sitting position support apparatus having the above system configuration, an operation sequence when transferring by the call button 3 is shown in FIG. 7, and a partial system configuration of the electric mechanism and the control device for explanation. The figure is shown in FIG. The reclining mechanism 45, the height adjustment mechanism 12, the automatic armrest storage mechanism 46, and the moving mechanism 26 use switches 77 to 79 controlled by the control device 51 and motors 81 to 84 driven by the driver 80 as driving sources. By incorporating the limit switches 85 to 86 and the detectors of the rotary encoders 87 to 88 into the mechanism, the control device 51 can use the information for controlling the electric mechanism.

Next, an example of the operation sequence will be described with reference to FIG. The main body 1 of the sitting position support device is a home base 2
And a standby state 58 by automatic charging is set as an initial state. In this standby state, the main body 1 is in a shape that does not take the most compact place in a sitting position (chair, the same applies hereinafter).

When the user (cared person) presses the call button 3 (59), the information processing device 44a of the home base 2
Confirms that it is connected to the automatic charging device 43 (6
0), it is confirmed that the charge amount is sufficient (61), and a signal indicating that the call button 3 has been pressed and a destination indicating the destination are transmitted from the antenna 21. When receiving the wireless signal, the antenna 20 of the sitting position support apparatus 1
A signal is transmitted to the control device 51 via b. Control device 5
1 determines the movement start from the content of the signal and starts the movement in the bed direction specified by the predetermined movement route (6).
2). The control of the moving mechanism 26 by the automatic operation can be performed by applying a conventional technique such as a method by teaching or a method of following a recognition tape on the floor surface.

When a pre-designated large space beside the bed is reached, reclining deformation is performed at that position,
The armrests 8 are stored and become full flat (the upper surfaces of the back plate 4, the seat plate 5, the leg plate 6, and the tread plate 7 are flush with each other, the same applies hereinafter) (63). The control to rotate the motor until it reaches the full flat can be controlled by a signal from the limit switch 85 without detecting the rotation angle. In addition, the signal of the limit switch 85 can be used as a trigger for the vertical movement of the armrest. The height adjustment mechanism 12 sets the height in advance as necessary, automatically counts height information by the rotary encoder 87, and automatically adjusts the seat portion to a required height according to the height of the bed. Adjust the height of the. However, the height of some electric nursing care beds can be easily adjusted, and the height may be adjusted by the bed. In this case, the automatic height adjustment of the main body 1 is not required, or a means for recognizing the bed height is provided for the height adjustment.

When the main body 1 is fully flat and the height is ready, the main body 1 is placed side by side in close contact with the side of the bed (64). At this time, the contact sensors 14 to 1 on the side of the main body 1
The state of contact between the main body 1 and the bed is confirmed by 6 and the horizontal mounting is reliably performed (65, 68). The armrests may be stored after the contact sensors 14 to 16 confirm that the armrests have been placed sideways, after the contact has been confirmed.

The free movement (66) represents a section in which the user operates the joystick 27 or the screen 10 to perform a sitting movement. When the user has finished transferring from the bed to the main body 1, the user operates the hand controller 13 to transform the main body 1 to a sitting position (a chair, the same applies hereinafter). After the transfer of the user, the main body 1 does not start moving unless it is operated by the caregiver unless the user reclines and becomes a sitting position. Further, in the state where the user is transferring, only when the user himself operates the hand controller 13,
The reclining mechanism 45 operates. Whether the user is transferring or not is detected by the force detecting means 56,
The control device 51 is notified via the external force detection device 50.

Returning from the destination by operating the joystick 27 or the screen 10 of the user, the free movement (66) is completed. When returning to the bed position by the automatic operation by the operation of the screen 10, the above-described operation sequence from the movement to the side of the bed (62) to the position before the free movement (66) is applied. However, the transformation into the full flat (63) is performed by the user himself using the hand controller 13. In addition, (6
After the contact status is confirmed in 5), the armrest on the side where the contact is confirmed is automatically stored, and thereafter the main body 1 is not moved until the call button is pressed twice (59, 70).

When the user has finished transferring to the bed by laying it on the bed (67), the main unit 1 is evacuated to the home base 2 by the call button 3. When the call button 3 is pressed (59), it is confirmed by the contact sensors 14 to 16 that it is in a state of being laid sideways on the bed (69), and the confirmation is urged by, for example, outputting a voice to confirm that the retreat of the main body 1 may be started. , The call button 3 flashes. When the call button is pressed again (70), it is once separated from the bed (71), deformed to the original shape (sitting position) (72), and moves in the opposite direction to the path when called in a compact shape (70). 73). Upon arrival at the home base 2, the automatic charging device 43 is checked while checking the signal of the contact sensor 17 and the conduction state of the charging terminal 35.
(74, 76).

The situation of free movement will be described with reference to a screen display example as shown in FIG.

When the transfer from the bed is completed, the screen 10 displays an image representing a preset destination. As an example, an example is shown in which a button 90 for automatically driving to the dining room or buttons 91 to 93 indicating destinations of a window, a toilet, and a bath are displayed on a screen 89 in FIG. 9.
When there are many destinations to be set, a plurality of screens can be prepared, and a large number can be displayed by a button 94 for switching to the next screen. When one of the images is selected by the touch panel, the automatic operation is started, and the screen 10 displays an image 95 of the selected destination and a stop button 96 for temporarily stopping or stopping the automatic operation. Switch to 97. On the other hand, direct control with the joystick 27 is also possible, such as when avoiding an obstacle or changing the position freely. In addition, Joystick 2
For the parallel movement and the like not operated in step 7, the movement is commanded using the touch panel of the screen 10. When the joystick 27 is moved or the stop button 96 of the screen 10 is pressed, the screen 10 changes its movement form such as parallel movement or in-place rotation like the screen 98 by arrows 99 to 104.
Switches to the screen displayed with, and interrupts automatic operation. By pressing the image of the arrow on the touch panel, the moving mode and the moving amount are operated together. In other words, the driving is continued while the pressing is performed, and the moving amount can be controlled. After a certain period of time after manual operation,
When the button 105 for returning to the previous screen is pressed, the screen returns to the automatic operation screen 89 again, and the automatic operation is performed by correcting the deviation from the predetermined route.

When returning to a predetermined position such as a bed, automatic operation is performed not by simply traveling backward but by changing direction and moving forward.

The screen 10 can be not only an interface for commanding movement but also an interface for other functions. For example, the screen 106 in FIG. 10 is an image 107 to be selected when measuring a vital sign, an image 108 to be selected when watching TV on the screen 10, an image 109 to be selected when using a videophone, and the operation of the user. A screen showing an image 110 to be selected when viewing an action record and an image 111 to be selected when a direct call to a predetermined hospital is desired.

When using a videophone, image 1
When 09 is selected, the screen is switched to a telephone book data screen 114 with a name 112 and a face image 113. The data of the name 112, the image 113, the telephone number, and the identification number are registered in the information processing device 44b in advance. The process from connection to disconnection when making a videophone call on the main unit 1 is shown in the flowchart of FIG. 11 and will be described below. First, when a caller is selected, a connection is made automatically with reference to data of a telephone number registered in advance in the information processing device 44b (119). Even if the other party's phone is a videophone, image input is not performed at the stage of talking (screen 115 in FIG. 10), and when the camera button 116 on the screen 115 of the main body 1 is touched with mutual understanding (1).
23), the still image is switched to the moving image by the videophone camera (126). On the other hand, when the other party is a telephone other than the videophone, the user talks while displaying the still image (12).
7). When the other party hangs up or touches the image of ending the call (hangup button 118 on screen 115 in FIG. 10), the call is disconnected (129).

Next, a flow chart of a process leading to the start of a call when a call is made to the main body 1 is shown in FIG. 12 and will be described below. When there is an incoming call at home base 2 (13
0), the information processing device 44a determines whether the main body 1 is in use (131). In other words, if it is connected to the home base, it is determined that it is in standby, otherwise it is in use.
If it is in use, the user is prompted to enter an identification number (132), thereby identifying from whom. That is, collation is performed with personal data registered in the information processing device 44b in advance by setting the telephone directory (133). If the collation is not obtained, the connection is canceled (13
7) There is a security effect. If a match is obtained,
An image 113 such as a face set in advance is displayed on the screen 10, and the user rings the telephone bell to call the user (134). If the telephone is not picked up, the call is automatically disconnected after a certain period of time (136, 137).
If the main unit 1 is on standby, for example, using the answering machine function,
For example, a treatment such as switching to a nurse station is performed.

If the operation of these touch panels is recorded in units of operation contents, the living situation of the user can be partially recorded. For example, it is possible to confirm the situation such as from what time to when the mobile function is used, how much in a week, how much the telephone function is, and how frequently the vital signs are concerned. The switching of the screen 10 and the history of the image selection are classified and arranged by function, and are effectively used when recording the usage status.

[0059]

According to the present invention, when the main body 1 of the sitting position assisting device performs the positioning operation on the bed, the reclining of the seat portion is automatically performed, the armrests are stored, and the bed is fully flat. There is no hindrance to transfer because it is laid sideways. Furthermore, since the main body 1 of the movement assisting device can be called up by remote control and brought into the above-described state, the cared person can transfer from the bed to the main body 1 of the sitting position assisting device alone with little labor to turn over. .

When the main body 1 of the sitting position assisting device is not used, it becomes automatically compact (sitting position) and retreats to a preset standby position (home base), so that it does not become an obstacle.

By adding a function of transmitting vital sign information and information on the use status of the sitting position support device to the communication function, family members and the like can communicate while looking at the face by making a videophone call, and at the same time, receive a call. You can know the caregiver's health and living conditions.

Since it is possible to move by automatic driving only by selecting a destination image on the touch panel, the elderly can move alone by easy operation.

Since the power assist works and can be moved with a small force when the caregiver presses any part of the seat portion of the main body 1 of the sitting position supporting device, the main body 1 is a relatively heavy sitting position supporting device having an electric mechanism. Nor does the caregiver become unwieldy.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a sitting shape of a sitting position assisting apparatus according to one embodiment of the present invention.

FIG. 2 is a perspective view of a full flat shape of the sitting position support apparatus shown in FIG. 1;

FIG. 3 is a block diagram showing a basic system configuration of the sitting position support apparatus shown in FIG. 1;

FIG. 4 is a side view showing the arrangement of the force detecting means of the embodiment shown in FIG.

FIG. 5 is a side view showing the arrangement of the height adjusting means of the embodiment shown in FIG. 1;

FIG. 6 is a side view showing another example of the arrangement of the height adjusting means of the embodiment shown in FIG. 1;

FIG. 7 is a procedure diagram showing an operation sequence of transfer by a call button in the embodiment shown in FIG. 1;

FIG. 8 is a block diagram showing a system configuration of the electric mechanism unit of the embodiment shown in FIG.

9 is a plan view showing an example of a screen display at the time of the sitting position movement of the embodiment shown in FIG. 1;

FIG. 10 is a plan view showing an example of a screen display when a videophone is used in the embodiment shown in FIG. 1;

FIG. 11 is a flowchart showing an operation procedure when using the videophone in the embodiment shown in FIG. 1;

FIG. 12 is a flowchart of an operation procedure at the time of an incoming call in the embodiment shown in FIG. 1;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main body of sitting position support apparatus 2 Home base 2A Home base main body 3 Call button 4 Back board 5 Seat board 6 Leg board 7 Tread board 8 Armrest (left) 9 Armrest (right) 10 Screen 11 Screen support rod 12 Height adjustment mechanism 13 Hand controller 14 Backboard side contact sensor (left) 15 Legboard side contact sensor (left) 16 Armrest side contact sensor (left) 17 Treadboard front contact sensor 18 Mattress 19 Speaker 20 Antenna 21 Antenna 22 Telephone line (ISDN line) 23 Emergency stop Button 24 Pillow 25 Speaker / Microphone 26, 26a, 26b Moving mechanism 27 Joystick 28 Call button 29 Remote controller 30 Joystick 31 Button 32 Information input device 33 Joystick 34 Key 35 Connection terminal 36 Expansion connector Tab plate 37 Operation button opening / closing cover 38 Charging terminal 39 Power cord 40 Caster (front left) 41 Caster (rear left) 42 Drive wheel 43 Automatic charging device 44a, 44b, 44c Information processing device 45 Reclining mechanism 46 Automatic armrest storage mechanism 47 Electric mechanism part 48 Vital sign measuring device 49 Interface part 50 External force detecting device 51 Control device 52 Telephone 53 Videophone 54a, 54b Linear motion actuator 55, 55a, 55b Frame for fixing a seat portion 56 Force detecting means 57a, 57b Linear motion Actuator 77, 78 On / off switch 79 Forward / reverse switch 80 Driver 81, 82, 83, 84 Motor 85, 86 Limit switch 87, 88 Rotary encoder

Claims (6)

[Claims] 1. A motorized recliner is used to move the seat, backrest, leg plate and armrest from a chair having a seat, a backrest, a leg plate and an armrest to a bed-like shape having a flat upper surface and from the bed-like shape. In the seating movement assisting device of the electric movement which is transformed into a chair having, when the seating movement assisting device is laid on a bed, the armrest portion is automatically stored, and a flat surface is formed from the bed to the seating movement assisting device. A seating movement support device, comprising: 2. The sitting position support device according to claim 1,
The armrest storage means has a bed side detection means for detecting which side of the sitting position support device is in contact with the bed, and the armrest on the side in contact with the bed detected by the bed side detection means is automatically moved. A seating movement support device characterized by being stowed. 3. A motorized recliner moves the seat, backrest, leg plate and armrest from a chair having a seat, a backrest, a leg plate and an armrest to a bed-like shape having a flat upper surface and from the bed-like shape. A remote calling means and a remote calling means in a sitting position assisting device which is transformed into a chair having the function, moves to a place where the automatic charging means is installed when not in use, and is connected to the automatic charging means and stands by. And a control means for performing a positioning operation on the bed by moving the main body while deforming the main body into a predetermined shape in response to the movement. 4. A sitting position assisting device having a function of a wireless videophone and vital sign measuring means, showing a usage state of the sitting position assisting device including a vital sign, a destination, and a use state of peripheral devices such as a television. Information recording means, and means for displaying information recorded in the recording means on the other party's information display means simultaneously with a videophone call,
A sitting movement support device, comprising: 5. A sitting position support apparatus having image information display means for displaying a movement target as an image, wherein said image information display means includes a selection means for selecting one of the movement targets displayed as an image. And a control means for searching for a movement route to the target selected by the selection means from among the movement routes set in advance corresponding to the target, and moving by automatic driving. Sitting movement support device. 6. A seating movement assisting device for electric movement, comprising a seat including a frame and fixed to a bogie via the frame, and an electric reclining mechanism for deforming the seat. One end of the driving means for deforming the seat is connected to the frame, the frame of the seat is fixed to the bogie via the force detecting means, and an external force acting on the seat is detected to move in accordance with the external force. A sitting position movement assisting device comprising control means.