JPWO2018189823A1 - Assistive device data acquisition device - Google Patents

Abstract

The data acquisition device of the assistance device includes a video data acquisition unit that acquires video data of the operation status of the assistance device, a log data acquisition unit that acquires log data representing the operation status of the assistance device, and video data and log data. A synchronization data generation unit that generates synchronization data linked so that the synchronization data can be temporally synchronized, and a synchronization data providing unit that stores the synchronization data or outputs the synchronization data to an external device to provide the synchronization data.

Description

  The present specification relates to a device that acquires data relating to the operation status of an assistance device.

  With the progress of an aging society, needs for assistive devices are increasing. The introduction of the assisting device reduces the physical burden on the caregiver and the care recipient and also alleviates the shortage of caregivers. As an example of the assisting device, there is a device that assists a transfer operation from a seated posture of a care recipient. This type of assistance device generally includes a movable part that operates while supporting a part of the body of the care recipient, and a drive source such as a motor that drives the movable part. Patent Literature 1 discloses a technology example of acquiring data relating to the operation status of an assistance device.

  The home assistance device monitoring system disclosed in Patent Literature 1 stores sensor means for detecting an operation state of a driving unit in the home assistance device, and log data representing an operation history of the driving unit based on a detection signal of the sensor means. It has a first control means and a second control means for displaying log data. Further, a head angle adjusting unit, a leg angle adjusting unit, and a bed height adjusting unit of a bed are illustrated as the driving units of the home assistance device. Thus, it is said that the caregiver, the care manager, and the like can easily grasp the operation history of the care receiver and recognize a detailed living situation.

WO 2006/106607

  By the way, in order to grasp the operation state of the assistance device in detail, not only the log data but also the video data of the assistance device and the person to be assisted as moving images may be used together. However, the log data and the moving image data are generally acquired by different devices, and a time difference occurs between the internal times of the respective devices. For this reason, even if the log data and the moving image data are collected in one data acquisition device, it is difficult to compare the two data while securing temporal synchronization. This problem is not limited to the use for recognizing the life situation of the care receiver, but becomes apparent in the use for analyzing the operation state of the assisting device to further improve the operation performance and the use comfort.

  In the present specification, an object to be solved is to provide a data acquisition device of an assisting device that can secure temporal synchronization of both data in a configuration that acquires moving image data in addition to log data.

  The present specification is a moving image data obtaining unit that obtains moving image data of the operation status of the assistance device, a log data obtaining unit that obtains log data representing the operation status of the assistance device, the video data and the log A synchronization data generation unit that generates synchronization data linked so that data can be temporally synchronized, and a synchronization data providing unit that stores the synchronization data or that can output the synchronization data to an external device and provide the synchronization data. A data acquisition device for an assistance device is disclosed.

  In addition, the present specification is a moving image data acquisition unit that acquires moving image data of the operation state of the assistance device, a log data acquisition unit that acquires log data representing the operation state of the assistance device, A synchronization data generation unit that generates synchronization data linked so that the log data can be temporally synchronized, and an image display of the moving image data, and based on the synchronization data, the operation state of the assistance device being displayed. And a display unit for displaying the log data temporally corresponding to the image of the second assistance device.

  In the data acquisition devices of the first and second assistance devices, the synchronization data generation unit generates synchronization data in which moving image data and log data are linked so as to be temporally synchronized. Therefore, when using the synchronization data provided from the synchronization data providing unit or when viewing the image displayed on the display unit, temporal synchronization between the moving image data and the log data can be ensured.

It is the perspective view which looked at the assistance device used as the object of a data acquisition device from diagonally back. It is a figure which shows the initial state at the time of an assistance apparatus assisting the transfer operation of a care receiver, and is a side sectional view which cut | disconnected the assistance apparatus by the center line. It is a figure which shows the end state at the time of an assistance apparatus assisting a transfer operation of a person to be assisted, and is a side sectional view which cut the assistance apparatus by the center line. It is the figure which showed typically the use situation of the data acquisition apparatus of the assistance apparatus of 1st Embodiment. FIG. 2 is a block diagram illustrating a functional configuration of the data acquisition device. FIG. 7 is a diagram illustrating an operation flow of the data acquisition device. It is a block diagram showing functional composition of a data acquisition device of an assistance device of a 2nd embodiment. It is a figure which shows typically an example of the screen displayed on the display apparatus by the display part.

1. Configuration of Assistance Device 1 First, an example of the assistance device 1 as a target of the data acquisition device will be described. FIG. 1 is a perspective view of an assistance device 1 as a target of a data acquisition device as viewed obliquely from behind. FIG. 2 is a side sectional view of the assistance device 1 taken along a center line, showing an initial state when the assistance device 1 assists the transfer operation of the care recipient M. FIG. 3 is a side sectional view of the assistance device 1 taken along a center line, showing a final state when the assistance device 1 assists the transfer operation of the care recipient M.

  The assistance device 1 assists transfer between two different places, such as transfer between the care receiver M between a bed and a wheelchair, transfer between a wheelchair and a toilet seat, for example. The assistance device 1 supports the torso of the care receiver M and assists the transfer operation from the sitting posture to the transfer posture and the seating operation from the transfer posture to the sitting posture. Here, the transfer posture is a posture in which the buttocks are lifted from the seat surface, and includes a standing posture and a middle waist posture. In other words, the transfer posture includes a state in which the upper body is upright and a state in which the body is leaning forward. Further, the assistance device 1 can transfer the assisted person M in the transfer posture when the two places to be transferred are separated from each other.

  The assistance device 1 includes a base 10, a driving unit 2, a support unit 50, a control unit 90, and the like. The drive unit 2 includes an arm 20, an actuator 30, a link mechanism 40, and the like. The drive unit 2 moves the support unit 50 relative to the base 10.

  The base 10 is formed of a frame 11, a footrest 12, a front wheel 13, a rear wheel 14, a lower leg support 15, and the like. The frame 11 is formed by a rear member 11a that is horizontally disposed close to the floor surface F, and a front member 11b that extends obliquely upward and forward from the front end of the rear member 11a. An actuator support portion 11c is protruded from the upper surface of the rear member 11a near the front side. The footrest 12 is fixed substantially horizontally on the upper surface of the rear member 11a. On the upper surface of the foot rest 12, a mark 12a for guiding a position on which the care recipient M places a foot is written.

  The two front wheels 13 are provided on the front member 11b, and the two rear wheels 14 are provided on the rear member 11a. By the steering function of the front wheel 13 and the rear wheel 14, the assisting device 1 can perform not only a straight movement and a turning movement but also a lateral movement and a turning point. Further, the front wheel 13 has a lock function for restricting movement. The lower leg contact part 15 is formed by a pair of support members 16 and a cushion member 17. The pair of support members 16 are erected from the front member 11b obliquely rearward and upward. The cushion member 17 is provided on an upper end of the support member 16. The cushion member 17 is located above the foot rest 12 so that the vicinity of the lower leg of the care recipient M can be contacted.

  The arm 20 that constitutes the driving unit 2 is formed of two bar-shaped members that are separated and parallel to each other. The two rod-shaped members are coupled together using a swing shaft 21 on the lower side and coupled using a bearing shaft 22 on the upper side. The arm 20 has a curved shape or a bent shape in which two rod-shaped members protrude forward. A link support 27 is provided near the middle of the arm 20 in the length direction. Further, a regulating member 28 having a shape substantially along the arm 20 is provided near the link support 27 of the arm 20. The arm 20 swings back and forth with the swing shaft 21 supported by the front member 11b as the swing axis.

  In order to regulate the swing angle of the arm 20, a stopper mechanism 23 is provided. The stopper mechanism 23 includes a contact member 24 fixed to the lower side of the arm 20, and a first stopper 25 and a second stopper 26 fixed to the front member 11b. The arm 20 moves from a rear position (shown in FIG. 2) where the contact member 24 contacts the first stopper 25 to a front position (shown in FIG. 3) where the contact member 24 contacts the second stopper 26. Rocks between.

  The support part 50 is formed to include a body support part 52 and a pair of side support parts 53. The trunk support 52 is swingably supported by the support shaft 22 of the arm 20. Accordingly, the support portion 50 swings in the front-rear direction with the support shaft 22 as the swing axis. The swing angle range of the support portion 50 can be exemplified by 30 °, but is not limited thereto. Further, the body support portion 52 includes a handle 52a and a locking portion 52b. The handle 52a is formed in a substantially rectangular frame shape. The handle 52a is a part that the care recipient M grips, and also a part that the caregiver grips to move the assistance device 1. The locking portion 52b is located near the center in the square frame of the handle 52a. The torso support part 52 supports the part of the care receiver M from the chest to the abdomen.

  The pair of side support portions 53 is attached to the left and right chest sides of the body support portion 52. The side support portion 53 is formed in an L-shape bent at an obtuse angle. A short linear portion from the base end on the mounting side of the side support portion 53 to the bending position becomes a shoulder receiving portion 53a, and a long linear portion from the bending position to the distal end becomes a side entry portion 53b. The shoulder receiving portion 53a is located in substantially the same plane as the trunk supporting portion 52, and supports the front surface of the shoulder of the care receiver M. The side entrance portion 53b gradually moves away from the plane, enters the sides of the body of the care recipient M on both sides, and can extend in the rear direction of the care recipient M. The surface of the side supporting portion 53 is covered with a cushion material that is easy to deform and compress.

  The pair of side support portions 53 enter the sides on both sides of the body of the care recipient M and support both sides. The side support portion 53 is swingable about a base end as an axis, and an angle formed with the body support portion 52 is adjustable. Therefore, when the care receiver M leans against the armpit support portion 53, the armpit support portion 53 swings, and the leaning operation becomes easy. Further, the support portion 50 responds to the physical differences of the plurality of assisted persons M due to the swing of the side support portion 53.

  The actuator 30 constituting the drive unit 2 is formed by a main body 31, a movable part 32, a motor 33 (see FIG. 5), and the like. The movable section 32 moves directly with respect to the main body section 31 and projects from the return position via the intermediate position. The motor 33 serving as a drive source is provided in the main body 31. The motor 33 is controlled by the control unit 90 and drives the movable unit 32 via a power transmission mechanism such as a transmission gear (not shown). The drive source is not limited to the motor 33, and may be a pressure drive source that directly moves the movable portion 32 corresponding to a piston using hydraulic pressure or air pressure. A base end 31a of the main body 31 is supported by the actuator support 11c of the frame 11 so as to be tiltable. As a result, the actuator 30 tilts in the front-rear direction with the actuator support 11c as a fulcrum. The distal end 32 a of the movable portion 32 engages with the link mechanism 40.

  The link mechanism 40 constituting the drive unit 2 is formed by a first link member 41, a second link member 42, and the like. The first link member 41 is a long member formed of metal, hard resin, or the like. The first link member 41 has a supported portion 41a at the center, a driven portion 41b and a roller 41c at one end, and a connecting portion 41d at the other end. The supported portion 41a is swingably supported by the link support portion 27 of the arm 20. The driven part 41b is engaged with the tip 32a of the movable part 32 of the actuator 30. When the movable portion 32 further projects from the intermediate position, the roller 41c comes into contact with the regulating member 28 of the arm 20 and can roll.

  The second link member 42 connects the connecting portion 41d of the first link member 41 and the locking portion 52b of the body support portion 52. The second link member 42 is formed using a flexible material, for example, rubber, elastomer, soft resin, film-shaped hard resin, or the like. When the connecting portion 41d and the locking portion 52b move away from each other, the second link member 42 is brought into an interlocking state in which the connecting portion 41d and the locking portion 52b are linked. On the other hand, when the connecting portion 41d and the locking portion 52b move in a direction approaching each other, the second link member 42 allows a non-interlocking state in which the connecting portion 41d and the locking portion 52b are not linked.

  The control unit 90 includes a control main unit 91, an operation device 92, a wireless communication unit 99 (see FIG. 5), a battery power supply 96, and the like. The control body 91 and the battery power supply 96 are fixedly provided on the front side near the lower end of the arm 20. The battery power supply 96 is shared by the control main unit 91, the wireless communication unit 99, and the actuator 30. The operating device 92 is connected to the control main unit 91 using a connection cord 93. The operation device 92 is not limited to this, and may be communicatively connected to the control main unit 91 using wireless communication. The operating device 92 is provided with an up button 94 and a down button 95.

  The functional configuration of the control unit 90 is shown in FIG. The control main unit 91 is configured using a computer device having a CPU and operating with software. The control main unit 91 stores an identification code for identifying the individual of the assistance device 1. The identification code is also displayed on the main body of the assistance device 1. The control main unit 91 controls switching between forward connection, reverse connection, and interruption of the voltage supplied from the battery power supply 96 to the motor 33. Correspondingly, the motor 33 rotates forward, reverse, and stops, and the movable section 32 projects, returns, and stops. The control main unit 91 controls the actuator 30 according to the operation state of the operation device 92.

  More specifically, while the up button 94 is being pressed by a finger, the control main unit 91 controls the up mode in which the movable unit 32 of the actuator 30 projects from the main unit 31. The ascending mode is equivalent to assisting a transfer operation for raising the buttocks of the assisted person M. In addition, while the down button 95 is being pressed with a finger, the control main unit 91 performs control in a down mode in which the movable unit 32 of the actuator 30 is returned to the main unit 31. The descending mode corresponds to assisting the sitting operation of lowering the buttocks of the care recipient M. When the finger is released from the up button 94 or the down button 95 and the pressed state is canceled, the control main unit 91 immediately stops the control. As a result, the actuator 30 and the support 50 are immediately stopped, and high safety is ensured.

  Further, the control main unit 91 includes a device built-in clock 97 and a log data management unit 98. The device built-in clock 97 continuously counts time regardless of whether the main power supply of the assistance device 1 is turned on or off. The log data management unit 98 functions when the main power is turned on, and continuously records the log data DL indicating the operation state of the assistance device 1. The log data DL is, for example, a value of a command value relating to the rotation amount of the motor 33 and an actual operation value at predetermined time intervals. According to this example, log data DL in which a time, a command value, and an actual value are set are sequentially recorded.

  In order to acquire the above-described log data DL, it is not necessary to attach a sensor for measurement or the like, and the cost does not increase. Even so, if the calculation based on the rotation amount of the motor 33 is performed, the swing angle of the support 50 and the arm 20 can be uniquely obtained. When a sensor for measurement or the like is provided, at least one item of the protrusion amount of the movable portion 32, the swing angle of the support portion 50, and the swing angle of the arm 20 may be measured to obtain the log data DL. it can.

  The wireless communication unit 99 performs data transmission between the control main unit 91 and an external wireless communication device. The wireless communication unit 99 has a function of wirelessly transmitting the log data DL in response to an external request. The wireless communication system of the wireless communication unit 99 is, for example, a general system used for a smartphone, a tablet terminal, or the like. Note that a wired communication unit that performs data transmission via a communication line may be used instead of the wireless communication unit 99.

2. Next, the operation of the assistance device 1 will be described. In the following description, assistance in the transfer operation of the assisted person M will be described as an example. In this case, the assistance device 1 operates from the initial state shown in FIG. 2 to the end state shown in FIG. Note that when assisting the person M to take a seating operation, the assistance device 1 operates in the reverse direction in substantially the reverse order of the assistance of the transfer operation.

  First, the caregiver presses the down button 95 of the operating device 92 to return the movable portion 32 of the actuator 30 to the return position shown in FIG. Subsequently, the caregiver grasps the handle 52a, moves the assistance device 1, and approaches the care receiver M in the sitting posture. The care receiver M causes the lower body to enter an area between the base 10 and the support 50. Further, the care receiver M places both feet on the marks 12 a of the foot placement table 12. The helper M can obtain a stable posture by bringing a part of the lower leg into contact with the cushion material 17 of the lower leg contact portion 15.

  Subsequently, the care receiver M leans the torso forward to make surface contact with the torso support portion 52 and leans on the side support portions 53 on both sides. At this time, the torso support portion 52 swings in the upright direction, so that the forward inclination angle of the torso can be small. In addition, since the side entry portion 53b of the side support portion 53 is substantially horizontal or slightly lowers downward, the care recipient M can easily lean on the side support portion 53. The posture of the care receiver M at this time is the initial posture. In the initial posture, the buttocks are sitting on the seat. The above-described series of operations of the helpee M may be assisted by the helper.

  Subsequently, the caregiver presses the up button 94 of the operating device 92 to cause the movable portion 32 to project. While the movable portion 32 projects from the return position to the intermediate position, the roller 41c of the first link member 41 has not yet contacted the regulating member 28. Therefore, the first link member 41 is driven by the movable portion 32 and swings counterclockwise in FIG. At the same time, the actuator 30 tilts forward. Further, the arm 20 maintains the rear position in the initial state. With the swing of the first link member 41, the support portion 50 swings forward in conjunction with the second link member 42. This operation is continued until the movable section 32 reaches the intermediate position. As a result, the care receiver M has the upper body further tilted forward. At this time, the side entry portion 53b of the side supporting portion 53 is lowered forward, so that the assisted person M is restricted from moving backward and does not fall off the supporting portion 50.

  The caregiver further continuously presses the up button 94 of the operating device 92 to make the movable portion 32 protrude. When the movable portion 32 projects beyond the intermediate position, the roller 41c comes into contact with the regulating member 28, and the swing of the first link member 41 ends. Thereafter, the arm 20 is driven by the movable portion 32 and swings clockwise in FIG. At the same time, the actuator 30 further tilts forward. Further, the connecting portion 41d and the locking portion 52b are in an interlocking state, and the support portion 50 maintains a constant posture with respect to the arm 20. This operation is continued until the end state in FIG. 3 in which the arm 20 reaches the front position. As a result, the assisted person M further leans forward while the buttocks move away from the seating surface and the upper body moves obliquely upward and forward. As a result, as shown in FIG. 3, the assisted person M assumes a transfer posture in which the buttocks rise significantly from the seat surface and the legs are extended.

3. Configuration of Data Acquisition Device 6 of Assistance Device of First Embodiment The description will proceed to the data acquisition device 6 of the assistance device of the first embodiment. FIG. 4 is a diagram schematically illustrating a use state of the data acquisition device 6 of the assistance device according to the first embodiment. FIG. 5 is a block diagram showing a functional configuration of the data acquisition device 6. The data acquisition device 6 is mainly configured with the communication terminal 60. Specifically, the data acquisition device 6 is configured using a moving image shooting function, a wireless communication function, a display function, a memory, an application, and the like of the communication terminal 60. The application is dedicated software for data acquisition. Examples of this type of communication terminal 60 include a smartphone and a tablet terminal.

  By using the communication terminal 60, it is not necessary to construct a system by combining a moving image photographing camera, a wireless communication device, a display device, and the like. Further, since the communication terminal 60 originally has the moving image shooting function, the wireless communication function, the display function, and the memory, it is only necessary to develop an application. Therefore, the cost of the data acquisition device 6 is low.

  As shown in FIG. 5, the communication terminal 60 includes an internal clock 61, a moving image photographing camera 62, a moving image data acquiring unit 63, a log data acquiring unit 64, a synchronous data generating unit 65, and a synchronous data providing unit 66. Among them, at least a part of the functions of the moving image data acquisition unit 63, the log data acquisition unit 64, the synchronization data generation unit 65, and the synchronization data provision unit 66 is realized by an application.

  Internal clock 61 is generally built into communication terminal 60. The internal clock 61 continuously counts time regardless of the operation status of the communication terminal 60. The video shooting camera 62 is operated by a shooting start button and a shooting end button (not shown). As shown in FIG. 4, the operator Op can use the moving image photographing camera 62 of the communication terminal 60 to photograph the operation state of the assistance apparatus 1 and store the moving image data DD in the memory.

  The moving image data DD obtained by shooting is associated with the time of the internal clock 61. That is, the shooting start time, the shooting end time, and the time of each image during shooting of the moving image data DD are measured by the internal clock 61. In other words, the internal clock 61 functions as a camera built-in clock. The moving image data acquiring unit 63 acquires the moving image data DD from the moving image photographing camera 62 and transfers the moving image data DD to the synchronous data generating unit 65.

  As shown in FIG. 4, the operator Op can use the wireless communication function of the communication terminal 60 to capture the log data DL of the assistance device 1 in the communication terminal 60 and store the log data DL in the memory. The log data acquisition unit 64 acquires the log data DL from the control main unit 91 of the assistance device 1 via the wireless communication unit 99, and transfers the log data DL to the synchronization data generation unit 65. The synchronization data generation unit 65 generates synchronization data DS in which the moving image data DD and the log data DL are linked so as to be temporally synchronized. The synchronization data DS includes moving image data DD and log data DL, and further includes link information indicating a synchronization relationship between the two data. The details of the functions of the log data acquisition unit 64 and the synchronization data generation unit 65 will be described later together with the operation.

  The synchronization data providing unit 66 outputs the synchronization data DS to the external device 71 so that the external device 71 can provide the synchronization data DS. An internet communication network 72 can be used as an output unit of the synchronous data providing unit 66. Further, as the external device 71, a cloud server or a development database of a manufacturer of the assistance device 1 can be exemplified. The synchronous data DS is used, for example, for the purpose of analyzing the operation state of the assistance device 1 and further improving the operation performance and the use comfort.

  More specifically, as shown in FIG. 4, the engineer En of the maker downloads the synchronization data DS from the external device 71 to the analysis tool 73. Thus, the engineer En can analyze the association between the moving image data DD and the log data DL on the analysis tool 73. Alternatively, the engineer En can play back the moving image data DD on the analysis tool 73 and compare it with the log data DL. At this time, time synchronization between the moving image data DD and the log data DL can be ensured, so that analysis and comparison are facilitated, and the accuracy of analysis and comparison is improved.

  Further, since the communication terminal 60 and the Internet communication network 72 are used, the engineer En can acquire the synchronization data DS even when the assistance device 1 is located at a remote place. As a result, the engineer En does not need to travel to a remote place. Further, the engineer En can acquire the synchronization data DS widely from a plurality of assisting devices 1 and another type of assisting device such as a movable bed.

4. Operation and Function of Data Acquisition Device 6 of Assistance Device of First Embodiment Next, operation and operation of data acquisition device 6 of the assistance device of the first embodiment will be described. FIG. 6 is a diagram showing an operation flow of the data acquisition device 6. The operation flow of the data acquisition device 6 proceeds by executing the application of the communication terminal 60 and operating the operator Op. In the following description, a nursing facility using a plurality of assistance devices 1 is assumed. First, the operator Op turns on the main power of the assistance device 1 to be subjected to data acquisition and starts the application of the communication terminal 60.

  In step S1 of FIG. 6, the log data obtaining unit 64 wirelessly transmits a call signal to search for the assisting device 1 located nearby. Upon receiving the call signal, the control main unit 91 of the assistance device 1 returns its own identification code wirelessly. As a result, the log data acquisition unit 64 acquires the identification codes of the plurality of assistance devices 1 that can be data acquisition targets, and displays the identification codes in a list. If all of the plurality of assistance devices 1 in the nursing home are stopped, the moving image data acquisition unit 63 cannot acquire any identification code, and ends the operation flow.

  In the next step S2, the operator Op checks the identification code displayed on the main body of the assistance device 1 to be subjected to data acquisition, and selects the same identification code from the list displayed by the moving image data acquisition unit 63. Thus, when the main power of the plurality of assistance devices 1 is turned on, the operator Op and the data acquisition device 6 can commonly recognize the specific assistance device 1 from which data is to be acquired.

  In the next step S3, the operator Op presses the shooting start button of the moving image shooting camera 62 to start moving image shooting of the operation status of the assisting device 1. At this time, the moving image photographing camera 62 acquires the photographing start time TsD measured using the internal clock 61. Thus, the storage of the moving image data DD in the memory starts. Thereafter, the assisting operation of the assisted person M by the assisting device 1 proceeds, and the moving image shooting also proceeds in parallel.

  When the assistance operation by the assistance device 1 ends, in step S4, the operator Op presses a shooting end button to end the moving image shooting. At this time, the moving image photographing camera 62 acquires the photographing end time TeD measured using the internal clock 61. Thereafter, the moving image data acquisition unit 63 attaches the information of the photographing start time TsD and the photographing end time TeD to the moving image data DD, and transfers the information to the synchronous data generation unit 65. Note that actually, the transfer of the moving image data DD between the memories is not necessary, and the operation authority of the moving image data DD is merely transferred to the synchronous data generating unit 65.

  In the next step S5, the log data acquisition unit 64 establishes a wireless communication environment with the wireless communication unit 99 of the assistance apparatus 1 and sets a state where data transmission can be performed. In the next step S <b> 6, the synchronous data generation unit 65 acquires the first current time T <b> 1 measured using the internal clock 61. At the same time, the synchronization data generator 65 acquires the second current time T2 measured by using the internal clock 97 of the assistance device 1 by wireless communication. In the next step S7, the synchronous data generation unit 65 obtains the time difference ΔT by subtracting the second current time T2 from the first current time T1.

  The time difference ΔT is expressed by adding positive and negative signs. For example, it is assumed that the first current time T1 is 10:23:50 and the second current time T2 is 10:21:35. In this case, the time difference ΔT is calculated as +2 minutes 15 seconds. The time difference ΔT becomes link information of the synchronization data DS.

In the next step S8, the synchronization data generation unit 65 determines the start time TsL and the end time TeL of the log data DL that match the shooting start time TsD and the shooting end time TeD based on the time difference ΔT. Specifically, the synchronous data generation unit 65 performs the following calculations of (Expression 1) and (Expression 2).
TsL = TsD-ΔT (Equation 1)
TeL = TeD-ΔT (Equation 2)
The synchronization data generation unit 65 notifies the log data acquisition unit 64 of the obtained start time TsL and end time TeL.

  For example, it is assumed that the time difference ΔT is +2 minutes and 15 seconds as described above, the shooting start time TsD is 10:15:00 seconds, and the shooting end time TeD is 10:25:00 seconds. Then, according to (Equation 1), the start time TsL of the log data DL is calculated as 10:12:45. Further, the end time TeL of the log data DL is calculated as 10:17:45 according to (Equation 2). Similarly, the recording time TL of the log data DL that matches the shooting time TD of an arbitrary image of the moving image data DD is calculated as the recording time (TD-ΔT). That is, the image at the shooting time TD of the moving image data DD and the information of the recording time (TD-ΔT) of the log data DL are linked as information at the same time.

  In the next step S9, the log data acquisition unit 64 acquires the log data DL from the start time TsL to the end time TeL from the control main unit 91 by using the wireless communication function, and stores it in the memory. Here, the predetermined time interval of the log data DL is significantly shorter than the time interval of frame advance of the moving image data DD. Therefore, it is preferable that the log data obtaining unit 64 obtains the log data DL by appropriately thinning it. For example, the log data acquisition unit 64 may acquire only the log data DL linked to the shooting time TD of the moving image data DD. Further, for example, the log data acquisition unit 64 may simply acquire the log data DL for every tenth log data and omit the nine log data DLs.

  As described above, since the start time TsL and the end time TeL of the log data DL are obtained, the log data DL in a time zone during which no moving image is captured is not wirelessly transmitted. Further, the log data DL is appropriately thinned out to save the data amount. Therefore, the wireless communication time required to acquire the log data DL is reduced. In addition, the adverse effect that the analysis accuracy of the synchronous data DS is reduced hardly occurs.

  In the next step S10, the synchronization data generation unit 65 links the log data DL associated with the moving image data DD from the start of shooting to the end of shooting and the moving image data DD to generate synchronization data DS. The synchronization data DS includes information on the moving image data DD, the thinned log data DL, and the time difference ΔT. In the next step S11, the synchronization data providing unit 66 outputs the synchronization data DS to the external device 71 so that the synchronization data DS can be provided. When analyzing and comparing the moving image data DD and the log data DL, the engineer En can secure time synchronization in consideration of the time difference ΔT.

  The data acquisition device 6 of the assistance device according to the first embodiment includes a synchronization data generation unit 65 that generates synchronization data DS in which the moving image data DD and the log data DL are linked. Therefore, when using the synchronization data DS provided from the synchronization data providing unit 66, it is possible to secure temporal synchronization between the moving image data DD and the log data DL.

5. Data acquisition device 6A of the assistance device of the second embodiment
Next, a data acquisition device 6A of the assistance device according to the second embodiment will be described mainly with respect to differences from the first embodiment. FIG. 7 is a block diagram illustrating a functional configuration of the data acquisition device 6A of the assistance device according to the second embodiment. The data acquisition device 6A mainly includes a personal computer 60A. Specifically, the data acquisition device 6A is configured using a wired communication function, a wireless communication function, a display function, a memory, an application, and the like of the personal computer 60A.

  As shown in FIG. 7, the personal computer 60A includes a moving image data acquisition unit 63A, a log data acquisition unit 64, a synchronization data generation unit 65A, a synchronization data storage unit 67, a display unit 68, and a display device 69. Among them, at least a part of the functions of the moving image data acquisition unit 63A, the log data acquisition unit 64, the synchronization data generation unit 65A, and the display unit 68 is realized by an application. The function of the log data acquisition unit 64 is the same as in the first embodiment, and a description thereof will be omitted.

  The moving image data acquisition unit 63A is connected to the output communication line 76 of the single type moving image photographing camera 75. The moving image capturing camera 75 captures the operation status of the assistance device 1 according to the operation of the operator Op, and outputs the moving image data DD. The moving image photographing camera 75 records the photographing start time TsD and the photographing end time TeD of the moving image data DD by using a camera built-in clock. The moving image data acquiring unit 63A attaches information of the photographing start time TsD and the photographing end time TeD to the moving image data DD acquired by using the wired communication function, and passes the information to the synchronous data generating unit 65A.

  The synchronous data generating unit 65A generates synchronous data DS in which the moving image data DD and the log data DL are linked so as to be temporally synchronized, and stores the synchronous data DS in the synchronous data storage unit 67. The method of generating the synchronization data DS and the data structure are the same as in the first embodiment. That is, also in the second embodiment, the synchronous data generation unit 65A obtains the time difference ΔT and performs an operation using (Equation 1) and (Equation 2).

  The display unit 68 displays an image of the moving image data DD on the display device 69 with reference to the synchronization data DS stored in the synchronization data storage unit 67. Further, the display unit 68 displays the log data DL temporally corresponding to the image of the moving image data DD being displayed based on the time difference ΔT which is the link information of the synchronization data DS. FIG. 8 is a diagram schematically illustrating an example of a screen displayed on the display device 69 by the display unit 68.

  The moving image data DD is displayed on the entire screen shown in FIG. The moving image data DD represents an operation state in which the assistance device 1A and the assistance person assist the assistance recipient M. In the center of the upper part of the screen, the hour, minute, and second indicating the shooting time TD of the image of the moving image data DD being displayed are displayed as HH / MM / SS. The shooting time TD of the moving image data DD is measured by a built-in clock of the moving image shooting camera 75.

  In addition, log data DL is displayed in a superimposed manner on the upper left side of the screen. More specifically, the hour, minute, and second representing the recording time TL of the log data DL are displayed as HH / mm / ss on the first line of the log data DL. The recording time TL of the log data DL is measured by the internal clock 97 of the assistance apparatus 1A. On the second and third lines of the log data DL, the command value CCC and the actual operation value ZZZ of the motor 33 at the recording time TL are displayed.

  Here, the recording time TL of the log data DL differs from the shooting time TD of the moving image data DD in display values of minutes and seconds, and is just shifted by the time difference ΔT. That is, the recording time TL of the log data DL actually means the same time that is completely synchronized with the shooting time TD of the moving image data DD. Then, the command value CCC and the actual value ZZZ are values at the moment of the image of the moving image data DD being displayed. As a result, temporal synchronization of the moving image data DD and the log data DL is ensured, and analysis and comparison are facilitated, and accuracy of the analysis and comparison is improved.

  The data acquisition device 6A of the assistance device according to the second embodiment includes a synchronization data generation unit 65A that generates synchronization data DS in which the moving image data DD and the log data DL are linked. Therefore, when viewing the image displayed by the display unit 68, temporal synchronization of the moving image data DD and the log data DL can be ensured.

6). Modifications and Applications of Embodiments Note that the form in which the synchronization data DS is provided is not limited to the first and second embodiments described above, and can be modified as appropriate. For example, the synchronization data providing unit 66 of the communication terminal 60 stores the synchronization data DS in a memory, provides data communication in response to an external request, or provides the synchronization data DS by using a portable memory. You may. Further, the target of data acquisition is not limited to the assistance device 1, but may be, for example, a movable bed. The first and second embodiments can be variously modified or applied.

  1, 1A: Assist device 2: Drive unit 10: Base 20: Arm 30: Actuator 33: Motor 40: Link mechanism 50: Support unit 52: Body support unit 53: Side support unit 6, 6A: Acquisition of data of the assist device Apparatus 60: Communication terminal 60A: Personal computer 61: Internal clock 62: Video camera 63, 63A: Video data acquisition unit 64: Log data acquisition unit 65, 65A: Synchronous data generation unit 66: Synchronous data providing unit 67: Synchronous data storage Unit 68: display unit 71: external device 75: video camera 90: control unit 91: control main unit 92: operation device 97: device built-in clock 98: log data management unit 99: wireless communication unit DD: video data DL: log Data DS: Synchronous data M: Assisted person Op: Operating Data En: engineer

Claims (7)

A moving image data acquisition unit that acquires moving image data of the operation status of the assistance device,
A log data acquisition unit that acquires log data representing the operation status of the assistance device,
A synchronization data generation unit that generates synchronization data linked so that the video data and the log data can be temporally synchronized;
A synchronization data providing unit that stores the synchronization data, or that can be provided by outputting to an external device;
A data acquisition device for an assistance device comprising: A moving image data acquisition unit that acquires moving image data of the operation status of the assistance device,
A log data acquisition unit that acquires log data representing the operation status of the assistance device,
A synchronization data generation unit that generates synchronization data linked so that the video data and the log data can be temporally synchronized;
A display unit that displays the moving image data as an image, and displays the log data temporally corresponding to the image of the operation status of the assisting device being displayed based on the synchronization data,
A data acquisition device for an assistance device comprising: The synchronous data generator,
A first current time measured using a camera built-in clock of a video camera that captures the operation status of the assistance device, and a second current time measured using the device built-in clock of the assistance device,
Calculating a time difference between the first current time and the second current time;
Generating the synchronization data based on the time difference;
A data acquisition device for an assistance device according to claim 1. The moving image data acquisition unit acquires the moving image data from the start of shooting of the moving image shooting camera to the end of shooting,
The synchronization data generation unit acquires a shooting start time and a shooting end time measured by using the camera built-in clock, and based on the time difference, a start time of the log data that matches the shooting start time and the shooting end time. And end time,
A data acquisition device for an assistance device according to claim 3. The moving image data acquisition unit acquires the moving image data from the start of shooting of the moving image shooting camera to the end of shooting,
The synchronous data generation unit links the log data and the moving image data, which are associated from the start of shooting of the moving image data to the end of shooting,
A data acquisition device for an assistance device according to claim 3.   The data of the assistance device according to any one of claims 1 to 5, wherein the log data includes at least one of data on a driving source of the assistance device and data on a movable unit driven by the driving source. Acquisition device.   The data acquisition device for an assistance device according to any one of claims 1 to 6, wherein the moving image data acquisition unit and the log data acquisition unit are shared by a communication terminal having a moving image photographing function.

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