WO2015045010A1 - 介助ロボット - Google Patents
介助ロボット Download PDFInfo
- Publication number
- WO2015045010A1 WO2015045010A1 PCT/JP2013/075771 JP2013075771W WO2015045010A1 WO 2015045010 A1 WO2015045010 A1 WO 2015045010A1 JP 2013075771 W JP2013075771 W JP 2013075771W WO 2015045010 A1 WO2015045010 A1 WO 2015045010A1
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- WO
- WIPO (PCT)
- Prior art keywords
- person
- assisted
- robot
- standing
- assistance
- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/104—Devices carried or supported by
- A61G7/1046—Mobile bases, e.g. having wheels
- A61G7/1048—Mobile bases, e.g. having wheels having auxiliary drive means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/14—Standing-up or sitting-down aids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/104—Devices carried or supported by
- A61G7/1046—Mobile bases, e.g. having wheels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1063—Safety means
- A61G7/1065—Safety means with electronic monitoring
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/22—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering for automatically guiding movable devices, e.g. stretchers or wheelchairs in a hospital
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/018—Control or drive mechanisms
Definitions
- the present invention relates to an assistance robot.
- the assistance robot includes a holding unit that supports a part of the body of the person being assisted and assists standing and sitting (running movement + arm unit).
- the assistance robot supports a part of the body of the person being assisted in the bed or the like, and raises the person being assisted or supports the part of the body of the person being assisted. Or sitting.
- storage means for storing map information including floor plan information in a building is stored in the storage means.
- storage means for storing map information including floor plan information in a building is stored in the storage means.
- travel control means robot control unit 45
- the above-described electric wheelchair (moving body) can automatically move, so it seems that the effort of the assistant is reduced.
- the assistance robot and the electric wheelchair are controlled independently, there is a risk that they may be moved and driven separately, and there is a problem that it takes time and effort to deal with this.
- the present invention has been made in order to solve the above-described problems.
- a driving assistance device such as an electric wheelchair
- the operation of the driving assistance device and the assistance robot can be performed. It is an object of the present invention to provide an assistance robot that reduces annoyance and, in turn, the effort of an assistant.
- an assistance robot is an assistance robot including a holding unit that supports a part of the body of a person being assisted and assists standing and sitting, and at least seats the person being assisted.
- the person being assisted gets in and out of the driving assistance device that performs at least one of raising / lowering and traveling movement by the driving source, at least control information is received from the driving assistance device, and the assistance person gets in / out based on the control information
- a control unit that performs control for assisting.
- FIG. 5b is an end view taken along line 5b-5b shown in FIG. 5a.
- FIG. 5a It is a front view which shows the periphery containing the 1st slide part shown to FIG. 5a. It is a side view which shows a mode that the assistance robot is supporting the person who is sitting. It is a side view which shows a mode that the assistance robot is supporting the person who is standing. It is a figure which shows standing motion in the left half and shows seating motion in the right half. It is a figure which shows standing-up operation
- FIG. 1 is a schematic diagram showing an overview of the care center 10 in which the assistance robot 20 and the electric wheelchair 40 are arranged.
- the care center 10 is provided with a station 11, a training room 12, and individual rooms 13a to 13d.
- the care center 10 is a living area where people live.
- a person existing in the care center 10 is a person M1 who needs assistance or a person M2 who helps the person M1.
- the station 11 is a place where the assistant M2 is packed, and is a base on which the assistant robot 20 and the electric wheelchair 40 (described later) stand by or are charged.
- the assistance robot 20 is allowed to move in a living area where a person lives, and moves in the living area by driving by left and right driving wheel motors 21g and 21h as driving sources.
- the training room 12 is a room where the person being assisted M1 performs training and rehabilitation.
- Each of the private rooms 13a to 13d is a room in which the care recipient M1 lives.
- An electric bed 50 (described later) is disposed in each of the private rooms 13a to 13d.
- the station 11, the training room 12, and the individual rooms 13a to 13d are provided with entrances / exits 11a, 12a, 13a1 to 13d1, respectively, and the entrances / exits 11a, 12a, and 13a1 to 13d1 are connected via a passage 14. .
- an arrow in the vicinity of the assisting robot 20 indicates the traveling direction of the assisting robot 20.
- a guide mark 14a is provided in the passage 14.
- the guide marks 14a are provided at the corners of the entrance / exit 11a of the station 11, the entrances / exits 13a1 to 13d1 of the individual chambers 13a to 13d, and predetermined locations of the passage 14 (for example, the corners of the intersections and the ceiling surface).
- the guide mark 14 a is a mark that can be read by the imaging device 28 of the assisting robot 20.
- the guide mark 14a is, for example, a two-dimensional barcode.
- the two-dimensional barcode includes the current point (for example, the intersection of the passage 14), the distance and direction from the current point to the destination (for example, the passage when the assisting robot 20 moves from the station 11 to the first private room 13a). Information such as the distance and direction (left turn) from the intersection to the first private room 13a when 14 intersections are reached is described.
- the assistance robot 20 is an assistance robot for supporting a part of the body of the person being assisted M1 (for example, the upper body, particularly the chest) to assist standing and sitting. 2 and 3, the assisting robot 20 includes a base 21, a robot arm unit 22, a holding unit 23, a handle 24, an operation device 25, a storage device 26 (storage unit), and a control device 27 (control unit). ).
- the base 21 includes left and right base portions 21a and 21b and left and right leg portions 21c and 21d.
- the left and right base portions 21a and 21b are arranged at a predetermined distance in the left and right direction.
- the left and right base portions 21a and 21b are provided with left and right drive wheels 21e and 21f, respectively, and left and right drive.
- the assistance robot 20 travels by left and right drive wheels 21e and 21f driven by left and right drive wheel motors 21g and 21h, respectively.
- the left and right drive wheels 21e and 21f and the left and right drive wheel motors 21g and 21h constitute a travel drive unit AC.
- the left and right leg portions 21c and 21d extend horizontally from the left and right base portions 21a and 21b in the forward direction (left direction in FIGS. 2 and 3).
- Left and right driven wheels 21i and 21j are provided at the distal ends of the left and right leg portions 21c and 21d, respectively.
- a pair of collision prevention sensors 21k and 21l are provided at the ends of the left and right leg portions 21c and 21d, respectively.
- the collision prevention sensors 21k and 21l are sensors that detect obstacles, and the detection signals thereof are transmitted to the control device 27.
- the robot arm portion 22 has a base portion attached to a base 21 and mainly includes first and second rotation motors 22a1c and 22b3 and a slide motor 22a2b as shown in FIGS. 4a and 5a.
- the robot arm unit 22 may be configured from a plurality of axes.
- the shaft may include at least one of the rotation shaft and the slide shaft.
- the base of the first arm 22a is attached to the base 21.
- FIG. The first arm 22a includes a slide base 22a1, a first slide 22a2, and a second slide 22a3.
- the slide base 22a1 is formed in a substantially rectangular parallelepiped shape as shown in FIGS.
- the slide base 22a1 includes a frame 22a1b whose base end is attached to the base 21 so as to be rotatable around the first rotation shaft 22a1a.
- the frame 22a1b has a substantially U-shaped cross section.
- the left and right plate members 22a1b1, 22a1b2 and the left and right plate members 22a1b1, 22a1b2 The rear plate-like member 22a1b3 is connected to both ends.
- the first rotating motor 22a1c is provided on the base 21, as shown in FIG. 4a.
- the first drive belt 22a1d is mounted between the pulley of the first rotation motor 22a1c and the pulley of the first rotation shaft 22a1a.
- the frame 22a1b that is, the slide base portion 22a1, rotates forward or backward around the first rotation shaft 22a1a.
- the slide base 22a1 includes a knee sensor 22a1g.
- the knee sensor 22a1g is provided on the front surface of the slide base portion 22a1 (the left side in FIG. 2 and FIG. 3 is the front side) and is directed forward, and the knee height of the person M1 sitting on the seating portion. They are arranged at approximately equal positions.
- the knee sensor 22a1g is a distance detection sensor that detects the distance to the knee of the person being assisted M1.
- the detection signal of the knee sensor 22a1g is transmitted to the control device 27.
- the knee of the person being assisted M1 sitting on the seating portion is the reference part of the person being assisted M1
- the knee sensor 22a1g is a first distance detection sensor that detects the distance to the reference part of the person being assisted.
- the first slide portion 22a2 is formed in a substantially rectangular parallelepiped shape as shown in FIGS. 2 and 3, and is configured to be smaller than the slide base portion 22a1.
- the first slide portion 22a2 slides in the longitudinal direction (axial movement direction) with respect to the slide base portion 22a1, and is configured to be substantially accommodated in the slide base portion 22a1 when contracted.
- the first slide portion 22a2 includes a frame 22a2a (see FIG. 4a).
- the frame 22a2a is formed in an H-shaped cross section and an H-shaped side view, and the front and rear plate-like members 22a2a1, 22a2a2 and the front-rear plate-like members 22a2a1, 22a2a2 It is comprised from the connection plate-shaped member 22a2a3 to which both ends were connected.
- the left and right ends of the rear plate member 22a2a2 are slidably engaged with the left and right guide grooves 22a1e of the frame 22a1b.
- a slide motor 22a2b is provided above the rear plate member 22a2a2.
- a pulley 22a2c is rotatably provided below the rear plate member 22a2a2.
- a slide belt 22a2e is mounted between the pulley 22a2d and the pulley 22a2c of the slide motor 22a2b.
- guide rails 22a2f are provided at the left and right ends of the front plate member 22a2a1 of the frame 22a2a.
- the guide rail 22a2f is slidably engaged with the left and right guide receiving portions 22a3b inside the left and right plate-like members of the frame 22a3a of the second slide portion 22a3 which will be described later.
- the second slide portion 22a3 is formed in a substantially rectangular parallelepiped shape and is smaller than the first slide portion 22a2.
- the second slide portion 22a3 slides in the longitudinal direction (axial movement direction) with respect to the first slide portion 22a2, and is configured to be substantially accommodated in the first slide portion 22a2 when contracted. Yes.
- the second slide portion 22a3 includes a frame 22a3a (see FIG. 4a).
- the frame 22a3a has a substantially U-shaped cross section.
- the front plate has left and right ends connected to the front end portions of the left and right plate members 22a3a1, 22a3a2 and the left and right plate members 22a3a1, 22a3a2. It is comprised from the shape member 22a3a3.
- left and right guide receiving portions 22a3b On the inner side of the frame 22a3a (inner wall surfaces of the left and right plate members 22a3a1, 22a3a2), left and right guide receiving portions 22a3b that are slidably engaged with the guide rails 22a2f of the frame 22a2a are provided.
- a fixing portion 22a3c attached to and fixed to the sliding belt 22a2e is provided at the lower part of the right plate member 22a3a2 of the frame 22a3a (see FIGS. 4b and 5c).
- the frame 22a2a of the first slide portion 22a2 extends along the axial direction with respect to the frame 22a1b of the slide base 22a1 (expanded state shown in FIGS. 4a and 3b).
- the frame 22a3a of the second slide portion 22a3 extends relative to the frame 22a2a of the first slide portion 22a2 (the extended state shown in FIGS. 4a and 3b).
- the second arm 22b is formed in a substantially rectangular parallelepiped shape, and is formed at the distal end portion of the second slide portion 22a3 so as to extend in a direction orthogonal to the longitudinal direction (forward direction).
- the second arm 22b includes a frame 22b1 composed of left and right plate-like members 22b1a and 22b1b.
- the rear ends of the left and right plate members 22b1a and 22b1b of the frame 22b1 are connected and fixed to the upper ends of the left and right plate members 22a3a1 and 22a3a2 of the frame 22a3a, respectively.
- the second rotating shaft 22b2 is rotatably interposed at the front ends of the left and right plate-like members 22b1a and 22b1b of the frame 22b1.
- a second rotation motor 22b3 is provided at the center of the left and right plate-like members 22b1a and 22b1b.
- the second rotating belt 22b4 is mounted between the pulley of the second rotating motor 22b3 and the pulley of the second rotating shaft 22b2.
- the third arm 22c is formed in a substantially rectangular parallelepiped shape, and a base end portion thereof is attached to a distal end portion of the second arm 22b so as to be rotatable around the second rotation shaft 22b2.
- the third arm 22c includes a frame 22c2.
- the rear end of the frame 22c2 is fixed so as to rotate integrally with the second rotation shaft 22b2.
- the front end portion of the frame 22c2 is fixed to the rear end of the holding portion 23.
- the holding part 23 is fixed to the tip of the third arm 22c.
- the holding unit 23 supports a part of the body of the person being assisted M1 (for example, the upper body, particularly the chest) and assists standing and sitting.
- the holding part 23 is a member that supports both arms (both sides) from the lower side when facing the person being assisted M1 in the standing and sitting movements of the person being assisted, for example, toward the front. It is formed in a substantially U shape in plan view that opens.
- the holding portion 23 is formed of, for example, a relatively soft material on the premise that the holding portion 23 contacts the person being assisted.
- the handle 24 is fixed to the upper surface of the third arm 22c as shown in FIGS.
- the handle 24 is composed of a pair of left and right bar-shaped handles, and is gripped by the left and right hands of the person being assisted M1.
- the handle 24 is provided with contact sensors 24a and 24b that detect gripping.
- the handle 24 is provided with a left turn switch 24c for turning the assistance robot 20 to the left and a right turn switch 24d for turning the assistance robot 20 to the right. Further, the handle 24 is provided with a stop switch 24e for stopping the assisting robot 20.
- the third arm 22c receives from the person being assisted M1 when walking while the person being assisted M1 is supported by the holding unit 23 or when the person being assisted is holding the handle 24.
- a load sensor 22c1 for detecting the force received is provided.
- the load sensor 22c1 detects a strain amount of the strain generating body that changes due to a change in load as a voltage change, or when pressure is applied to the silicon chip, the gauge resistance changes according to the deflection and is converted into an electric signal.
- a semiconductor pressure sensor for example, a semiconductor pressure sensor.
- the operation device 25 includes a display unit 25a that displays an image and an operation unit 25b that receives an input operation from an operator (which is an assistant and a person being assisted M1).
- the display unit 25a is configured by a liquid crystal display, and displays an operation mode selection screen of the assisting robot 20 and the like.
- As the operation mode a standing motion assist mode for assisting the standing motion of the person being assisted M1, a seating motion assisting mode for assisting the seating motion of the attendant M1, and the like are set.
- the operation unit 25b includes a cursor key for moving the cursor up / down / left / right, a cancel key for canceling input, a determination key for determining selection, and the like, and is configured to be able to input an operator's instruction.
- the operation device 25 includes a display function of the display unit 25a and an input function of the operation unit 25b, and may be configured by a touch panel that operates the device by pressing a display on the screen.
- the shoulder position Ps that is a movement control part of the person assisted by M1 is In the case where the standing locus reference data indicating the standing locus to pass and the person to be assisted M1 (see FIG. 7) standing by being supported by the holding portion 23 are seated, they are different from the standing locus, and the person being assisted
- the seating locus reference data indicating the seating locus through which the shoulder position Ps of M1 passes is stored.
- the standing locus Tas ⁇ b> 1 indicates that the center of gravity position G of the person being assisted M ⁇ b> 1 is from an early point after the start point of the standing action, which is an action for raising the person being assisted, to the end point of the standing action. It is set so that it exists in the range A of the back of both feet of the person being assisted M1.
- the locus of the gravity center position G is represented by Tg1.
- the seating locus Tbs1 indicates that the center of gravity position G of the person being assisted is from the back of both feet of the person being assisted by M1 from an early time after the start of the seating movement, which is the action of seating the person being assisted. It is set so as to move out of the range A and move toward the planned sitting position of the person being assisted M1.
- the seating locus Tbs1 is set to be positioned above the standing locus Tas1.
- the locus of the gravity center position G is represented by Tg2.
- the standing locus Tas1 and the sitting locus Tbs1 may be created based on the two-dimensional coordinates (for example, xy coordinates) of the shoulder position Ps obtained by actually photographing the standing motion of a healthy person.
- the standing locus (standing operation) is shown in FIG.
- the standing motion is shown stepwise from the upper left (sitting state) to the lower right (standing state).
- the second state (middle of the upper stage) shows an early time point after the start time of the standing-up operation, and is a time point when the seated person M1 leans forward and the waist of the person M1 rises. From the second to the end point of the standing motion (sixth), the center-of-gravity position G of the person being assisted M1 is within the range A on the soles of both feet of the person being assisted.
- the seating locus (sitting operation) is shown in FIG.
- the sitting operation is shown stepwise from the upper left (standing state) to the lower right (sitting state).
- the second state (middle of the upper stage) an earlier time point after the start time of the seating operation is shown, and the standing person M1 sits down and the center of gravity G of the person M1 is the person M1. It is the time of having gone out of the range A of the backs of both feet.
- the center of gravity position G of the person being assisted is out of the range A of the back of both feet of the person being assisted M1 and the person who is to be assisted by the person sitting by the person M1 (illustrated) Move to the seat (for example, chair) side.
- the seat for example, chair
- the reference data for each locus is formed with two-dimensional coordinates.
- the standing locus reference data is represented by (Xa1, Ya1),..., (Xan, Yan), for example, in xy coordinates, and is composed of n pieces.
- the reference data for the seating locus is represented by (Xb1, Yb1),..., (Xbn, Ybn), for example, in xy coordinates, and consists of n pieces.
- the origin may be the reference point of the assisting robot 20, the center of gravity of the assisting robot 20, the coordinates of the first rotation axis 22a1a, or the coordinates of the seated foot (ankle), Moreover, it is good also as the arbitrary points of the seating surface of the care receiver M1.
- the trajectory reference data is preferably configured by adding the angle ⁇ of the holding unit 23 at each coordinate to the xy coordinates.
- the angle ⁇ of the holding portion 23 at each coordinate is an angle of the holding portion 23 at each point of the standing locus Tas1 and the seating locus Tbs1 (see FIG. 12).
- This angle ⁇ is an angle formed between the upper body of the person being assisted M1 (the inner wall surface in contact with the person being assisted by the person being assisted by the holding unit 23) and the horizontal plane.
- the angle ⁇ is 90 degrees when in a sitting state or a standing state.
- the trajectory reference data is represented by (Xa1, Ya1, ⁇ 1),..., (Xan, Yan, ⁇ n), for example.
- the reference data for the standing locus includes a first angle ( ⁇ a) that is a rotation angle of the first rotation motor 22a1c, and an arm length (L: slide amount) of the slide motor 22a2b. : A rotation angle corresponding to this arm length) and a second angle ( ⁇ b) which is the rotation angle of the second rotation motor 22b3.
- the coordinates (Xa1, Ya1, ⁇ 1) obtained by adding the angle ⁇ of the XY coordinates are represented by robot coordinates ( ⁇ a1, L1, ⁇ b1).
- FIG. 12 is a side view schematically showing the length and angle of the robot arm unit 22.
- the length of the first arm 22a is La (variable)
- the length of the second arm 22b is Lb (fixed)
- the third arm 22c extends from the second rotation shaft 22b2 to the shoulder position Ps.
- the length along the installation direction is Lc (fixed) and the length along the direction perpendicular to the extending direction is Ld (fixed).
- the angle formed by the first arm 22a and the horizontal line is the first angle ⁇ a
- the angle formed by the first arm 22a and the second arm 22b is 90 degrees
- the angle formed by the second arm 22b and the third arm 22c is ⁇ b.
- the XY coordinates of the point P1 where the first arm 22a and the second arm 22b are orthogonal are (La ⁇ (cos ⁇ a), La ⁇ (sin ⁇ a)).
- the XY coordinates of the point P2, which is the second rotation axis 22b2, are obtained by adding (Lb ⁇ (sin ⁇ a), Lb ⁇ (cos ⁇ a)) to the point P1.
- the XY coordinates of the point P3, which is the foot of the perpendicular line dropped from the shoulder position Ps to the third arm 22c, are (Lc ⁇ (cos ( ⁇ / 2 ⁇ a ⁇ b), Lc ⁇ (sin ( ⁇ / 2 ⁇ a ⁇ b))
- the shoulder position Ps, that is, the XY coordinates (Xa1, Ya1) of the point P4 are (Ld ⁇ (cos ( ⁇ a + ⁇ b), Ld ⁇ (sin ( ⁇ a + ⁇ b)) with respect to the point P3.
- the robot coordinates ( ⁇ a1, L1, ⁇ b1) are calculated from the coordinates (Xa1, Ya1, ⁇ 1) obtained by adding the angle ⁇ of the XY coordinates.
- the first angular velocity ( ⁇ a) that is the angular velocity of the first angle ( ⁇ a) that is the rotation angle of the first rotation motor 22a1c
- the storage device 26 stores a map (for example, two-dimensional coordinates) shown in FIG. This map shows the shape and size of the room (for example, the private room 13a), the position of the entrance / exit (for example, the entrance / exit 13a1), the position of the electric bed 50, and the like. Furthermore, as shown in FIG. 14, the storage device 26 stores a traveling space necessary for traveling the assistance robot 20. FIG. 14 shows a travel space when turning left by 90 degrees with respect to the traveling direction. In FIG. 14, the travel space range is indicated by a broken line, and the travel direction is indicated by an arrow. Furthermore, as shown in FIG. 15, the storage device 26 stores a transfer space (necessary transfer space) necessary for transfer between the assisting robot 20 and the electric wheelchair 40.
- a transfer space (necessary transfer space) necessary for transfer between the assisting robot 20 and the electric wheelchair 40.
- the necessary transfer space has a length in the width direction (the maximum width of the assisting robot 20 and the electric wheelchair 40) is X (mm), and a length in the traveling direction (outside of the outer end of the assisting robot 20 and the electric wheelchair 40). The distance to the end) is Y (mm).
- the length in the traveling direction is set to a necessary and sufficient distance at which the assisting robot 20 and the electric wheelchair 40 face each other to ensure transfer.
- the storage device 26 stores a correction amount (first correction amount) corresponding to the height of a seating part such as a chair or a bed on which the person M1 is seated.
- the first correction amount is a value for correcting each data described above.
- Each of the data described above is data when the height of the seating portion is a predetermined value (for example, 40 cm).
- the storage device 26 stores a correction amount (second correction amount) corresponding to the height of the person being assisted M1.
- This second correction amount is a value for correcting each data described above.
- Each of the data described above is data when the height of the person being assisted M1 is a predetermined value (for example, an average height or the like, specifically, 170 cm).
- Each correction amount described above is stored as a map, but may be stored as an arithmetic expression.
- the control device 27 performs control related to traveling and posture deformation of the assistance robot 20.
- the control device 27 includes the above-described collision prevention sensors 21k and 21l, knee sensors 22a1g, load sensors 22c1, contact sensors 24a and 24b, a left turn switch 24c, a right turn switch 24d, a stop switch 24e,
- the left and right drive wheel motors 21g and 21h, the first rotation motor 22a1c, the slide motor 22a2b, the second rotation motor 22b3, the operation device 25, the storage device 26, the imaging device 28, the guide device 29, and the transmission / reception device 30 are connected.
- the control device 27 includes a microcomputer (not shown), and the microcomputer includes an input / output interface, a CPU, a RAM, and a ROM (all not shown) connected via a bus.
- the imaging device 28 is provided on each of the front surface of the slide base portion 22a1 and the back surface of the first slide portion 22a2.
- the imaging device 28 provided on the front surface of the slide base 22a1 captures an object in front of the assisting robot 20.
- the imaging device 28 provided on the back surface of the first slide portion 22a2 captures an object behind or above the assisting robot 20.
- the guidance device 29 guides the state of the assistance robot 20 by voice or display to a person who is in the vicinity including the person being assisted M1 and the assistant.
- the guidance device 29 may be a speaker that outputs voice, or a display device such as an LCD or LED that displays characters, graphics, and the like.
- the transmission / reception device 30 can communicate with the transmission / reception device 48 of the electric wheelchair 40.
- the transmission / reception device 30 receives transmission data from the transmission / reception device 48 and transmits transmission data to the transmission / reception device 48.
- the electric wheelchair 40 is a driving assistance device that performs at least one of raising and lowering and traveling movement by the left and right driving wheel motors 44a1 and 44b1 (drive sources) in a state where the person M1 is seated at least. Furthermore, the electric wheelchair 40 is a drive moving body that travels at least by the left and right drive wheel motors 44a1 and 44b1 (drive sources) in a state where the person being assisted M1 is seated.
- the electric wheelchair 40 includes a seat portion 41, a backrest portion 42, an armrest 43, left and right drive wheels 44a and 44b, left and right drive wheel motors 44a1 and 44b1, left and right steering wheels 44c and 44d, and a collision prevention sensor 45. , An operation device 46, a storage device 47, a transmission / reception device 48, and a control device 49.
- the seat 41 is where the person being assisted M1 is seated.
- the backrest part 42 is a part that rests the back of the person being assisted M1.
- the armrest 43 is a portion where the person being assisted M1 puts his elbow.
- the left and right drive wheels 44a and 44b are wheels for moving (driving) the electric wheelchair 40 and are independently driven by the left and right drive wheel motors 44a1 and 44b1.
- the left and right steering wheels 44c and 44d are wheels for steering the electric wheelchair 40 and are steered by a steering motor (not shown).
- the collision prevention sensor 45 is a sensor that detects an obstacle, and a detection signal thereof is transmitted to the control device 49.
- the operation device 46 is an operation device (for example, a joystick) that accepts an input operation from an operator (a person being assisted M1), and the operation signal is transmitted to the control device 49.
- the storage device 47 stores the map (for example, two-dimensional coordinates) shown in FIG. This map shows the shape and size of the room, the arrangement of entrances and exits, the arrangement of beds, and the like. Furthermore, the storage device 47 stores a travel space necessary for travel of the electric wheelchair 40 (the travel space is the same as that in FIG. 14 described above).
- the transmission / reception device 48 can communicate with the transmission / reception device 30 of the assisting robot 20.
- the transmission / reception device 48 receives transmission data from the transmission / reception device 30 and transmits transmission data to the transmission / reception device 30.
- the control device 49 performs control related to traveling of the electric wheelchair 40 and raising / lowering of the seat portion 41. As shown in FIG. 18, the control device 49 is connected to the above-described collision prevention sensors 45 and 45, left and right drive wheel motors 44 a 1 and 44 b 1, an operation device 46, a storage device 47, and a transmission / reception device 48.
- the control device 49 has a microcomputer (not shown), and the microcomputer includes an input / output interface, a CPU, a RAM, and a ROM (all not shown) connected via a bus.
- the electric bed 50 is a driving assistance device that performs at least one of raising / lowering and traveling movement by the raising / lowering motor 54a (drive source) in a state where the person M1 is seated at least.
- the electric bed 50 is a bed raising / lowering device that raises and lowers the bed 53 on which at least the person being assisted M1 is seated by the raising / lowering motor 54a (drive source).
- the electric bed 50 includes a base 51, a frame 52, a bed portion 53, an elevating / raising mechanism 54, an operation device 55, a storage device 56, a transmission / reception device 57, and a control device 58.
- the electric bed 50 is configured such that a frame 52 that supports the bed 53 so as to be raised and lowered is movable up and down with respect to the base 51.
- Wheels are provided on the lower surface of the base 51, and the electric bed 50 is movable.
- a frame 52 is provided above the base 51 via an elevating / raising mechanism 54.
- the bed portion 53 is supported so as to be raised and lowered with respect to the frame 52.
- the bed 53 is divided into a plurality of floors.
- the bed 53 is composed of a back floor 53a on the head side, a waist floor 53b on the foot side, and a foot floor 53c.
- the electric lift / relief mechanism 54 is schematically shown by a two-dot chain line in FIG. 19, and the bed 53 is raised and lowered by a built-in lift motor 54a, and the bed 53 is raised and lowered by a built-in lift motor 54b.
- the operation device 55 is an operation device that accepts an input operation from an operator (which is the person being assisted M1), and an operation signal thereof is transmitted to the control device 58.
- the storage device 56 stores the height of the bed portion 53.
- the height of the bed portion 53 may be detected by a height sensor (not shown), and the detected height may be stored in the storage device 56.
- the height set by the operator's operation may be stored in the storage device 56. You may make it memorize
- the transmission / reception device 57 can communicate with the transmission / reception device 30 of the assisting robot 20.
- the transmission / reception device 57 receives transmission data from the transmission / reception device 30 and transmits transmission data to the transmission / reception device 30.
- the control device 58 controls the raising / lowering / raising / lowering of the bed portion 53 of the electric bed 50. As shown in FIG. 20, the control device 58 is connected to the above-described lifting motor 54 a, undulation motor 54 b, operating device 55, storage device 56, and transmission / reception device 57.
- the control device 58 includes a microcomputer (not shown), and the microcomputer includes an input / output interface, a CPU, a RAM, and a ROM (all not shown) connected via a bus.
- the assistance robot 20 is a route from the entrance / exit 11a of the station 11 to each of the entrances / exits 13a1 to 13d1 of the individual rooms 13a to 13d. It moves along the route stored in the storage device 26. At this time, the assistance robot 20 reads the guide mark 14a provided in the passage 14 via the imaging device 28, calculates the remaining journey from the information, and moves based on the result.
- the assistance robot 20 is approaching the person being assisted M1 is described.
- the assistance robot 20 approaches toward the person M1 who sits beside the bed, for example.
- the assistance robot 20 moves forward with the front surface of the assistance robot 20 in the traveling direction.
- the assistance robot 20 reads a guidance mark provided in the vicinity of the person being assisted M1 through the front imaging device 28, and approaches the person assisted by M1 based on the information.
- the assistance robot 20 uses a detection result of the knee sensor 22a1g (a distance between the assistance robot 20 and the knee of the person being assisted M1), and a predetermined position at which the distance from the sitting person M1 is a predetermined distance. Move up.
- This predetermined position is an optimum position (an optimum standing position) for raising the person being assisted M1.
- the assistance robot 20 provides guidance to the person being assisted with “hold the handle”.
- the assistance robot 20 performs an erection operation to erect the person to be assisted M1 in order to detect that the person has grasped the handle 24 by the contact sensors 24a and 24b.
- the assistance robot 20 holds the upper body of the sitting person M1 by the holding unit 23 (see FIG. 6). Then, the assistance robot 20 raises the person being assisted M1 while holding the upper body (see FIG. 7). More specifically, as shown in the left half of FIG. 8, a standing operation is performed along the reference standing locus.
- the assistance robot 20 assists the person M1 in the standing state.
- the person being assisted M1 walks and moves while the armpit is held by the holding unit 23.
- the assistance robot 20 moves to a footrest portion (not shown) of the assistance robot 20 in a state where the person being assisted M1 stands up.
- the assistance robot 20 moves forward with the back surface of the assistance robot 20 in the traveling direction.
- the support robot M1 (see FIG. 7) standing up and the upper part of the person being assisted M1 by the holding unit 23.
- the seat is held in the held state (see FIG. 6). More specifically, as shown in the right half of FIG. 8, a seating operation is performed along the seating locus.
- the assistance robot 20 will guide "Please let go of the handle” to the person M1 when the sitting operation is completed.
- the assistance robot 20 moves away from the person being assisted M1 in order to detect that his / her hand has been released from the handle 24 by the contact sensors 24a and 24b.
- the control device 27 acquires the operation mode (any of the standing motion assist mode, the seating motion assist mode, and the series motion assist mode) selected by the operation device 25, and a reference corresponding to the acquired mode. Data is acquired from the storage device 26. In the standing motion assist mode, the standing locus reference data is acquired. In the sitting motion assist mode, the seating locus reference data is acquired. In the continuous motion assist mode, the standing locus reference data and the seating locus are acquired. Get standard data.
- step S104 the control device 27 acquires the height of the bed portion 53 of the electric bed 50 (the height at the time of transfer) from the transmission / reception device 57 of the electric bed 50 via the transmission / reception device 30.
- the control device 27 receives the height of the bed portion 53 of the electric bed 50 (particularly the height of the bed portion 53 set in advance when transferring), which is control information of the electric bed 50.
- the storage device 56 of the electric bed 50 stores the medical condition of the person being assisted M1 (for example, left-handed inability, right-sided inability), this medical condition may be acquired as control information.
- the assistance robot 20 automatically determines the riding position of the assistance robot 20 (the right side position or the left side position of the electric bed 50) according to the inability to half-body.
- the control device 58 receives the traveling position information of the assisting robot 20, derives the remaining arrival time, and raises and lowers the bed 53 to a predetermined height at the derived arrival remaining time. It may be. Since the bed part 53 is normally in a low position when the person being assisted M1 is sleeping, the bed part 53 is moved up and down from a normal low position to a high position suitable for transfer before the assistance robot 20 arrives. Can do. Thus, the electric bed 50 can pre-adjust the height of the bed portion 53 until the assistance robot 20 arrives. Note that the electric bed 50 may adjust the height of the bed portion 53 after the assistance robot 20 arrives.
- step S106 the control device 27 corrects the reference data acquired in step S102 based on the height of the bed portion 53 acquired in step S104 (correction unit). Specifically, the control device 27 acquires a first correction amount according to the height of the bed portion 53 from the storage device 26. And the control apparatus 27 correct
- step S108 the control device 27 drives the drive unit including the first and second rotation motors 22a1c and 22b3 and the slide motor 22a2b, thereby causing the robot arm unit 22 to be based on the standing locus reference data.
- the control device 27 drives the drive unit to drive the robot arm unit 22 to perform a seating operation based on the seating locus reference data.
- the control device 27 drives the drive unit so that the reference data corrected in step S106 (including the uncorrected reference data) is obtained.
- the control device 27 can perform the standing operation and the seating operation according to the height of the bed portion 53 that is the control information of the electric bed 50.
- step S202 the control device 27 determines whether or not there is a transfer start instruction.
- the control device 27 advances the program to step S204 and subsequent steps.
- the control device 27 repeatedly executes the process of step S202.
- the transfer start instruction is issued, for example, when a transfer start SW (not shown) is pressed (selected).
- step S204 the control device 27 transfers the person around the standing position (assisting robot 20) from which the person to be assisted M1 is raised. If there is a space, “YES” is determined in step S204, the program proceeds to step S208, and control is performed to call the electric wheelchair 40 around the standing position.
- the control device 27 has no transfer space around the standing position and the standby position of the electric wheelchair 40 (electric wheelchair 40). If there is a transfer space in the vicinity of), it is determined as “NO” or “YES” in steps S204 and 206, respectively, the program proceeds to step S210, and the assist robot 20 is moved around the standby position. I do.
- step S204 the control device 27 determines whether there is no transfer space around each of the standing position and the standby position. Each is determined as “NO”, the program proceeds to step S212, and both the electric wheelchair 40 and the assisting robot 20 are controlled to travel to the transfer position.
- step S214 the control device 27 finely adjusts the positions of both the electric wheelchair 40 and the assisting robot 20, and starts transfer control (described above).
- the transfer space is calculated from the room map (see FIG. 13), the travel space (see FIG. 14), and the necessary transfer space (see FIG. 15), which are the destination information.
- the control device 27 includes at least one of movement start information, movement speed information, movement destination information (including the above-described map (see FIG. 13)), current position information, and movement end information of the electric wheelchair 40.
- Control information of the electric wheelchair 40 including one of them is acquired from the transmission / reception device 48 of the electric wheelchair 40 via the transmission / reception device 30.
- the control device 27 receives control information of the electric wheelchair 40.
- the control device 27 executes the program shown in the flowchart of FIG. 23 every predetermined short time.
- the control device 27 obtains at least one of movement start information, movement speed information, movement destination information (the above-described map (see FIG. 13)), current position information, and movement end information of the electric wheelchair 40.
- the control information of the electric wheelchair 40 is acquired from the transmission / reception device 48 of the electric wheelchair 40 via the transmission / reception device 30.
- the control device 27 receives control information of the electric wheelchair 40.
- step S304 the control device 27 assists in cooperation with the electric wheelchair 40 while maintaining the relative position between the assisting robot 20 and the electric wheelchair 40 based on the control information acquired in step S302.
- the robot 20 is moved and moved.
- the control device 27 measures the distance from the image acquired from the imaging device 28 to the electric wheelchair 40, or measures the distance to the upper body of the person M1 sitting on the moving electric wheelchair 40. You may make it do.
- the upper body of the person being assisted M1 sitting on the moving electric wheelchair 40 can be reliably supported, and as a result, the person being assisted by the person M1 having a high degree of care can be accommodated. That is, a single type of assistance robot 20 can handle a person M1 having a wide range of care needs.
- the assisting robot 20 may be provided with a connection part that can be mechanically attached to and detached from the electric wheelchair 40.
- the assistance robot 20 is automatically connected to the electric wheelchair 40 via the connection portion.
- the control device 27 maintains the relative position between the assisting robot 20 and the electric wheelchair 40 in a predetermined positional relationship by the connection with the connecting portion while the electric wheelchair 40 on which the person M1 is seated is traveling.
- the control (the connection control) for running and moving in cooperation with the electric wheelchair 40 is performed.
- the control device 27 includes the driving assistance device (the above-described electric wheelchair 40 (driving moving body), electric bed) that performs at least one of raising and lowering and traveling movement by the driving source in a state where the person M1 is seated. 50 (bed-bed lifting device)), control to perform control to receive at least control information from the driving assistance device and assist the getting on and off of the person to be assisted based on the control information when the person to be assisted on and off the person M1 Part. Furthermore, the control device 27 is a control unit that performs control in cooperation with the driving assistance device based on the control information from the driving assistance device when assisting the person being assisted by getting on and off the person M1.
- the driving assistance device the above-described electric wheelchair 40 (driving moving body), electric bed
- 50 bed-bed lifting device
- control device 27 is a control unit that performs control in cooperation with the driving assistance device based on the control information from the driving assistance device when assisting the person being assisted by getting on and off the person M1.
- the assistance robot 20 is the assistance robot 20 including the holding unit 23 that supports a part of the body of the person being assisted M1 and assists standing and sitting, and at least the person to be assisted M1 is seated.
- the person to be assisted M1 is placed on a driving assistance device (electric wheelchair 40, electric bed 50) that performs at least one of raising and lowering and traveling movement by the drive source (right and left driving wheel motors 44a1 and 44b1, and raising and lowering motor 54a).
- the control device 27 is provided which receives at least control information from the driving assistance device (electric wheelchair 40, electric bed 50) and performs control for assisting the getting on and off of the person being assisted based on the control information.
- the assistance robot 20 assists getting on and off the person to be assisted M1 based on the control information received from the driving assistance apparatus when the person on the assistance person M1 gets on and off the driving assistance apparatus such as the electric wheelchair 40.
- the assistance robot 20 is operated in accordance with the operation of the driving assistance device, that is, in cooperation with the driving assistance device. Therefore, when using the assistance robot 20 when transferring the person being assisted M1 to the driving assistance device, the assistance robot 20 is provided that reduces the troublesomeness of the operation of the driving assistance device and the assistance robot 20, and thus the effort of the assistance person. can do.
- the control device 27 cooperates with the driving assistance device based on the control information from the driving assistance device such as the electric wheelchair 40 when assisting the getting-on / off of the person being assisted M1. Is to control.
- the assisting robot 20 is operated in conjunction with the operation of the driving assistance device, that is, more reliably in cooperation with the driving assistance device, when the person to be assisted M1 gets on and off the driving assistance device. Therefore, when using the assistance robot 20 when transferring the person being assisted M1 to the driving assistance device, it is possible to further reduce the troublesomeness of the operation of the driving assistance device and the assistance robot 20, and thus the effort of the assistance person.
- the driving assistance device is a driving moving body (electric wheelchair 40) that moves at least by the driving source in a state where the person being assisted M1 is seated, and the control information is driving movement. It includes at least one of body movement start information, movement speed information, movement destination information, current position information, movement end information, travel space, and necessary transfer space.
- the assistant M1 is erected and transferred to the drive vehicle (electric wheelchair 40)
- the drive vehicle is moved around the erection position.
- the assistance robot 20 is controlled to travel around the standby position, and when there is no transfer space around each of the standing position and the standby position, both the driving mobile body and the assisting robot 20 are traveled to the transfer position. Is to do.
- the assistance robot 20 when the person being assisted M1 is transferred to a driving vehicle such as the electric wheelchair 40, the surroundings of the standing position where the assistance person M1 is caused to stand by the assistance robot 20 (for example, electric
- the assisting robot 20 holding the person being assisted M1 in an upright state) and the driving moving body according to the presence / absence of the transfer space around the standby position of the bed 50 and the driving moving body (electric wheelchair 40) can be moved to an appropriate position, and the person being assisted M1 can be reliably transferred to the drive moving body at the appropriate position.
- the control device 27 includes the assistance robot 20 and the driving vehicle (electric wheelchair 40) while the driving vehicle (electric wheelchair 40) on which the person M1 is seated travels. ) Is controlled to travel and move in cooperation with the drive moving body while maintaining the relative position to a predetermined positional relationship.
- the holding unit 23 of the assistance robot 20 can reliably support a part of the body of the person M1 who is sitting on the driving moving body (electric wheelchair 40) that is traveling and moving. It is also possible to cope with the movement of the care recipient M1 who has a high degree of care.
- the driving assistance device is a bed raising / lowering device (electric bed 50) that raises and lowers at least the bed on which the person M1 is seated by a driving source
- the control information is the bed
- the control device 27 includes at least the height of the portion 53, and the control device 27 performs a standing operation and a seating operation according to the height of the bed portion 53.
- the assistance robot 20 can stand and seat the person to be assisted M1 according to the height of the bed part 53.
- the person being assisted M1 can stand and sit without discomfort.
- the assistance robot 20 can stand and seat the person being assisted M1 only when the bed portion 53 has a height suitable for standing and sitting, the person assisted by the person M1 is more comfortable. Can stand and sit.
- the assistance robot 20 is an assistance robot including a holding unit 23 that supports a part of the body of the person being assisted M1 and assists standing and sitting, and is supported by the holding unit 23 and is seated.
- the standing locus through which the movement control part (for example, the shoulder position Ps) of the person assisted M1 passes is after the start time of the erection operation, which is an operation to erect the person assisted M1.
- the center of gravity position G of the person being assisted M1 is set so as to be within the range A on the soles of both feet of the person being assisted during the period from the early point of time to the end of the standing motion, and is supported by the holding portion 23 to stand up.
- the seating locus that is different from the standing locus and through which the movement control part of the person being assisted passes is the start of the seating operation, which is the operation for seating the person being assisted
- Time Center-of-gravity position G of the care receiver M1 from an early point in the descending is that is set to move the seating plan position side of the care receiver M1 deviates from the back of the range A of both feet of the care receiver M1.
- the center of gravity position G is the same as when the normal person is erected. It enters the range A on the soles of both feet from the beginning of the standing motion, and from that point to the end time of the standing motion. Therefore, the person being assisted M1 is assisted in standing up with the same feeling (feeling) as when standing without assistance. Therefore, it can stand up without giving discomfort to the person being assisted M1.
- the center of gravity position G is determined from the time when both the legs start from the beginning of the seating operation, as in the case where the normal person is seated.
- the person M1 moves to the side of the planned seating position (for example, the seating portion) of the person being assisted. Therefore, the person being assisted M1 is assisted in the seating with the same feeling (feeling) as when sitting without assistance. Therefore, the person being assisted can be seated without feeling uncomfortable.
- the assisting robot 20 is an assisting robot including a holding unit 23 that supports a part (chest) of the person being assisted M1 and assists standing and sitting, and is provided on the base 21 and the base 21.
- a robot arm portion 22 having a plurality of arms 22a, 22b, and 22c that can be moved relative to each other by a drive portion, a holding portion 23 that is provided at the tip of the robot arm portion 22 and supports a person being assisted, and a holding portion
- the standing locus reference data indicating the erection locus through which the movement control part of the person being assisted passes, and the holder 23 is erected.
- the reference data for the seating locus that is different from the standing locus and that indicates the seating locus through which the movement control part of the person being assisted passes is stored.
- a device 26 storage unit
- a driving unit is driven
- a control unit 27 that drives based on the robot arm portion 22 to the reference data for the reference data and the seating trajectory for standing trajectory, the.
- the movement control part for example, the shoulder position
- the robot arm unit 22 can be driven based on the reference data for the erection locus corresponding to the erection locus of the healthy person. Therefore, the person being assisted M1 is assisted in standing up with the same feeling (feeling) as when standing without assistance. Therefore, it can stand up without giving discomfort to the person being assisted M1.
- the sitting locus of a healthy person is generally different from the standing locus, but it becomes easy to set the reference data for the sitting locus so that the data corresponds to the sitting locus of the healthy person.
- the robot arm unit 22 can be driven based on the seating locus reference data corresponding to the seating locus of the healthy person. Therefore, the person being assisted M1 is assisted in the seating with the same feeling (feeling) as when sitting without assistance. Therefore, the person being assisted can be seated without feeling uncomfortable.
- the person being assisted M1 may be transferred to an electric seat lifting / lowering device 60 such as an electric toilet seat lifting / lowering device.
- the electric toilet seat elevating device 60 is a driving assistance device that performs at least one of elevating and traveling by the elevating motor 65a (driving source) in a state where at least the person being assisted is seated. That is, the electric toilet seat lifting / lowering device 60 is a seating portion lifting / lowering device that lifts and lowers the seating portion (that is, the toilet seat 62) on which the person being assisted M1 is seated by the lifting / lowering motor 65a (drive source).
- the electric toilet seat lifting / lowering device 60 includes a toilet 61, a toilet seat 62, a fixing frame 63, a lifting / lowering frame 64, a lifting / lowering mechanism 65, an operation device 66, a transmission / reception device 67, and a control device 68, as shown in FIG. .
- the fixing frame 63 is fixed to the toilet bowl 61 or the floor.
- a toilet seat 62 is fixed to the upper part of the lifting frame 64.
- the elevating mechanism 65 is interposed between the fixing frame 63 and the elevating frame 64.
- the elevating mechanism 65 has a built-in elevating motor 65a, and the elevating frame 64 is moved up and down with respect to the fixing frame 63 by driving the elevating motor 65a.
- the operation device 66 is an operation device that accepts an input operation from an operator (a person being assisted M1), and the operation signal is transmitted to the control device 68.
- the transmission / reception device 67 can communicate with the transmission / reception device 30 of the assisting robot 20.
- the transmission / reception device 67 receives transmission data from the transmission / reception device 30 and transmits transmission data to the transmission / reception device 30.
- the control device 68 controls the raising / lowering / raising of the toilet seat 62 of the electric toilet seat lifting / lowering device 60. As shown in FIG. 25, the control device 68 is connected to the lifting motor 65a, the operation device 66, and the transmission / reception device 67 described above.
- the control device 68 includes a microcomputer (not shown), and the microcomputer includes an input / output interface, a CPU, a RAM, and a ROM (all not shown) connected via a bus.
- step S402 the control device 27 acquires the operation mode (any of the standing motion assist mode, the seating motion assist mode, and the series motion assist mode) selected by the operation device 25, and a reference corresponding to the acquired mode. Data is acquired from the storage device 26. In the standing motion assist mode, the standing locus reference data is acquired. In the sitting motion assist mode, the seating locus reference data is acquired. In the continuous motion assist mode, the standing locus reference data and the seating locus are acquired. Get standard data.
- step S404 the control device 27 determines the height of the toilet seat 62 of the electric toilet seat lifting / lowering device 60 (the height at which the toilet seat 62 is positioned at the lowest position), the lifting start information (for example, the lifting start time), the lifting speed information (for example, the lifting speed). ) And lifting / lowering end information (for example, lifting / lowering end time) is acquired from the transmitting / receiving device 67 of the electric toilet seat lifting / lowering device 60 via the transmitting / receiving device 30.
- the control device 27 receives at least one of the height of the toilet seat 62, the lifting start information, the lifting speed information, and the lifting end information, which is control information of the electric toilet seat lifting device 60.
- step S406 the control device 27 corrects the reference data acquired in step S402 based on the height of the toilet seat 62 acquired in step S404 (correction unit). Specifically, the control device 27 acquires a first correction amount corresponding to the height of the toilet seat 62 from the storage device 26. And the control apparatus 27 correct
- step S408 the control device 27 drives the drive unit including the first and second rotation motors 22a1c and 22b3 and the slide motor 22a2b, thereby causing the robot arm unit 22 to be based on the standing locus reference data.
- the control device 27 drives the drive unit to drive the robot arm unit 22 to perform a seating operation based on the seating locus reference data.
- the control device 27 drives the drive unit so that the reference data corrected in step S406 (including the uncorrected reference data) is obtained.
- control device 27 adjusts the lifting / lowering state of the toilet seat 62 (elevating speed, starting / lowering start / end of lifting / lowering) based on the lifting / lowering start information, the lifting / lowering speed information, and the lifting / lowering end information of the toilet seat 62 acquired in step S404. Stand up and sit down. As described above, the control device 27 can perform the standing operation and the seating operation in accordance with the height and the lifting state of the toilet seat 62, which are control information of the electric toilet seat lifting device 60.
- the driving assistance device is a seating unit lifting / lowering device (electric toilet seat lifting / lowering device 60) that lifts and lowers the seating portion (toilet seat 62) on which the person M1 is seated by a driving source (elevating motor 65a).
- the control information includes at least one of elevating start information, elevating speed information, elevating end information of the seating unit elevating device, and the control device 27 sets the elevating state of the seating unit (toilet seat 62). At the same time, the standing operation and the sitting operation are performed.
- the assisting robot 20 stands and seats the person to be assisted M1 as the seating part (toilet seat 62) moves up and down. Therefore, the person being assisted M1 can stand and sit without discomfort.
- the seating unit lifting device a device in which the passenger seat and the rear seat of the welfare vehicle are lifted up can be applied.
- an electric motor is used as a drive source, but a hydraulic drive source may be used.
- Transceiver 40 ... Electric wheelchair (drive assist device, drive moving body), 50 ... Electric bed (drive assist device, bed lifting device), 60 ... Electric toilet seat lifting device (drive assist device, seat lifting device) , M1 ... the care receiver, M2 ... caregiver.
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- Invalid Beds And Related Equipment (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
なお、左右駆動輪21e,21fおよび左右駆動輪用モータ21g,21hから走行用駆動部ACが構成されている。
第2回転用モータ22b3が駆動すると、フレーム22c2すなわち第3アーム22cが第2回転軸22b2回りに上方向または下方向に回転する。
表示部25aは、液晶ディスプレイで構成されており、介助ロボット20の動作モードの選択画面などを表示する。動作モードとしては、被介助者M1の起立動作を補助する起立動作補助モードや、被介助者M1の着座動作を補助する着座動作補助モードなどが設定されている。
なお、前述した起立軌跡および着座軌跡は、シミュレーションで作成するようにしてもよい。
なお、上述した各補正量は、マップとして記憶されているが、演算式として記憶されていてもよい。
このとき、介助ロボット20は、通路14に設けられている案内用マーク14aを撮像装置28を介して読み取り、その情報から残りの道程を算出しその結果に基づいて移動する。
最初に、被介助者M1を電動ベッド50から起立させる場合について図21のフローチャートに沿って説明する。制御装置27は、ステップS102において、操作装置25によって選択された動作モード(起立動作補助モード、着座動作補助モード、一連動作補助モードのいずれか)を取得して、その取得したモードに応じた基準データを記憶装置26から取得する。起立動作補助モードのときは、起立軌跡用基準データを取得し、着座動作補助モードのときは、着座軌跡用基準データを取得し、一連動作補助モードのときは、起立軌跡用基準データおよび着座軌跡用基準データを取得する。
そして、制御装置27は、ステップS214において、電動車いす40および介助ロボット20の両方の位置を微調整して、移乗制御(上述)を開始する。
これによれば、介助ロボット20は、駆動介助機器に被介助者M1を乗り降りさせる際に、駆動介助機器の作動により合わせてすなわち駆動介助機器とより確実に協調して作動されるようになる。したがって、被介助者M1を駆動介助機器に移乗させる際に介助ロボット20を利用する場合に、駆動介助機器および介助ロボット20の操作の煩わしさ、ひいては介助者の手間をより低減することができる。
これによれば、介助ロボット20の保持部23が、走行移動中の駆動移動体(電動車いす40)に着座している被介助者M1の体の一部を確実に支えることができるため、要介護度の高い被介助者M1の移動にも対応が可能となる。
これによれば、被介助者M1を電動ベッド50などの寝床部昇降装置に乗り降りさせる際、介助ロボット20は寝床部53の高さに合わせて被介助者M1を起立・着座させることができるため、被介助者M1は違和感なく起立・着座することができる。さらに、介助ロボット20は、寝床部53の高さが起立・着座に適当な高さであるときに限り、被介助者M1を起立・着座させることができるため、被介助者M1はより違和感なく起立・着座することができる。
制御装置27は、ステップS402において、操作装置25によって選択された動作モード(起立動作補助モード、着座動作補助モード、一連動作補助モードのいずれか)を取得して、その取得したモードに応じた基準データを記憶装置26から取得する。起立動作補助モードのときは、起立軌跡用基準データを取得し、着座動作補助モードのときは、着座軌跡用基準データを取得し、一連動作補助モードのときは、起立軌跡用基準データおよび着座軌跡用基準データを取得する。
これによれば、被介助者M1を電動便座昇降装置60などの着座部昇降装置に乗り降りさせる際、介助ロボット20は着座部(便座62)の昇降に合わせて被介助者M1を起立・着座させることができるため、被介助者M1は違和感なく起立・着座することができる。
Claims (7)
- 被介助者の体の一部を支えて起立および着座を補助する保持部を備えた介助ロボットであって、
前記被介助者を少なくとも着座した状態で駆動源により昇降および走行移動のうち少なくとも一方を行う駆動介助機器に、前記被介助者を乗り降りさせる際に、前記駆動介助機器から制御情報を少なくとも受け取り、前記制御情報に基づいて前記被介助者の乗り降りを補助する制御を行う制御部を備えたことを特徴とする介助ロボット。 - 前記制御部は、前記被介助者の乗り降りを補助する際、前記駆動介助機器からの前記制御情報に基づいて前記駆動介助機器と連携して制御を行うことを特徴とする請求項1記載の介助ロボット。
- 前記駆動介助機器は、前記被介助者を着座した状態で駆動源により少なくとも走行移動させる駆動移動体であり、
前記制御情報は、前記駆動移動体の移動開始情報、移動速度情報、移動先情報、現在位置情報、移動終了情報、走行スペース、必要移乗スペースのうち少なくともいずれか一つを含んでおり、
前記制御部は、前記介助ロボットが前記被介助者を起立させて前記駆動移動体に移乗させる際に、前記被介助者を起立させた起立位置の周辺に移乗スペースがある場合には、前記駆動移動体を前記起立位置の周辺に呼び寄せる制御を行い、一方、前記起立位置の周辺に移乗スペースがなく、かつ、前記駆動移動体の待機位置の周辺に移乗スペースがある場合には、前記介助ロボットを前記待機位置の周辺に走行移動させる制御を行い、さらに、前記起立位置および前記待機位置の各周辺に移乗スペースがない場合には、前記駆動移動体および前記介助ロボットの両方を移乗位置まで走行移動させる制御を行うことを特徴とする請求項1または請求項2記載の介助ロボット。 - 前記制御部は、前記被介助者が着座している前記駆動移動体の走行移動中において前記介助ロボットと前記駆動移動体との相対位置を所定位置関係に維持しながら前記駆動移動体と連携して走行移動させるための制御を行うことを特徴とする請求項3記載の介助ロボット。
- 前記駆動介助機器は、前記被介助者が着座する着座部を駆動源により昇降させる着座部昇降装置であり、
前記制御情報は、前記着座部昇降装置の昇降開始情報、昇降速度情報、昇降終了情報のうち少なくともいずれか一つを含んでおり、
前記制御部は、前記着座部の昇降状態に合わせて、起立動作および着座動作を行うことを特徴とする請求項1~請求項3の何れか一項記載の介助ロボット。 - 前記駆動介助機器は、前記被介助者が少なくとも着座する寝床部を駆動源により昇降させる寝床部昇降装置であり、
前記制御情報は、前記寝床部の高さを少なくとも含んでおり、
前記制御部は、前記寝床部の高さに応じて、起立動作および着座動作を行うことを特徴とする請求項1または請求項2記載の介助ロボット。 - 前記保持部に支えられて着座している前記被介助者を起立させる場合において、前記被介助者の移動制御部位が通過する起立軌跡は、前記被介助者を起立させる動作である起立動作の開始時点以降の早い時点から前記起立動作の終了時点までの間において前記被介助者の重心位置が前記被介助者の両足の裏の範囲内に存在するように設定され、
前記保持部に支えられて起立している前記被介助者を着座させる場合において、前記起立軌跡と異なる軌跡であって前記被介助者の移動制御部位が通過する着座軌跡は、前記被介助者を着座させる動作である着座動作の開始時点以降の早い時点から前記被介助者の重心位置が前記被介助者の両足の裏の範囲内から外れ前記被介助者の着座予定位置側に移動するように設定されたことを特徴とする請求項1~請求項6の何れか一項記載の介助ロボット。
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