WO2017141336A1

WO2017141336A1 - Assistance robot

Info

Publication number: WO2017141336A1
Application number: PCT/JP2016/054343
Authority: WO
Inventors: 丈弘平岡; 伸幸中根; 英明野村; 一成大野
Original assignee: 富士機械製造株式会社
Priority date: 2016-02-15
Filing date: 2016-02-15
Publication date: 2017-08-24
Also published as: SG11201806237XA; AU2016393481B2; EP3417842A4; JP6586474B2; EP3417842A1; AU2016393481A1; EP3417842B1; JPWO2017141336A1

Abstract

The purpose of the present invention is to provide an assistance robot capable of: moving a holding member along a travel trajectory in accordance with a usage state; and supporting the standing action and the sitting action of a person receiving assistance. A control device for the assistance robot has a trajectory setting unit that: selects either a travel trajectory corresponding to a requested action or a travel trajectory that does not correspond to the requested action, from a standing trajectory or a sitting trajectory, on the basis of a current state including the current position of the holding member, if a standing action or a sitting action has been entered as the requested action; and sets said travel trajectory as a reference trajectory.

Description

Assistance robot

The present invention relates to an assistance robot.

Patent Document 1 discloses an assistance robot that appropriately moves a holding member that holds a person being assisted to assist the person being assisted in standing and sitting. In such an assistance robot, it is desirable to appropriately control the position of the holding member so as not to give a sense of discomfort to the person being assisted. The assistance robot of Patent Literature 1 includes different movement trajectories corresponding to the standing motion and the sitting motion, respectively. As a result, when the standing motion or the seating motion is input as the requested motion, the assistance robot controls the position of the holding member based on the movement trajectory corresponding to the requested motion.

International Publication No. 2014/122752

However, depending on the current position of the holding member in the assistance robot, the rider's weight on the holding member, and the like, it is not always appropriate to set the movement locus corresponding to the requested action. Therefore, it is desired that the assistance robot moves the holding member along an appropriate movement locus according to the use state.

The present invention has been made in view of such circumstances, and provides an assistance robot that can support a standing person's standing operation and sitting operation by moving a holding member along a movement locus according to a use state. The purpose is to do.

The assistance robot according to claim 1 controls a base, a holding member that holds the upper body of the person being assisted, a driving device that moves the holding member in the vertical direction and the front-back direction of the base, and the operation of the driving device. And a control device. The control device stores a standing locus that is a movement locus of the holding member corresponding to the standing motion of the person being assisted and a seating locus that is a movement locus of the holding member corresponding to the seating motion of the person being assisted When a standing motion or a seating motion is input as a requested motion, a movement trajectory corresponding to the requested motion from the standing trajectory and the seating trajectory based on the current state including the current position of the holding member, or a movement not corresponding to the requested motion A trajectory setting unit that selects any one of the trajectories and sets the movement trajectory as a reference trajectory, and a drive control unit that moves the holding member based on the set reference trajectory.

According to the configuration of the invention according to claim 1, the reference locus is switched based on the current state of the holding member. In other words, as the reference trajectory for the requested action, a movement trajectory that does not correspond to the requested action may be set in addition to the movement locus that corresponds to the requested action. Specifically, the holding member that is moved based on the reference trajectory is moved based on the seating trajectory instead of the standing trajectory although the standing motion is requested, or the seating motion is requested. Nevertheless, there are cases where the movement is based on the standing locus, not the sitting locus.

This makes it possible to set the movement locus according to the current state of the holding member, that is, the use state of the assisting robot, as compared with the configuration in which the movement locus corresponding to the requested action is always selected. Thereby, it becomes possible to support the standing person's standing operation and the sitting operation without giving a sense of incongruity to the person who operates the person being assisted and the operator who operates the assistance robot.

It is a back perspective view of the appearance of the assistance robot of an embodiment. It is a figure which shows the care receiver in the structure and sitting posture of an assistance robot. It is a figure which shows the care receiver in the structure and standing posture of an assistance robot. It is a block diagram which shows the controller and control apparatus of an assistance robot. It is a figure which shows the movement locus | trajectory of a holding member, and the angle of the holding member with respect to the position of a holding member. It is a flowchart which shows the setting process of a reference locus. It is a table | surface which shows the pattern of the reference | standard locus | trajectory set when the standing switch is pressed down. It is a table | surface which shows the pattern of the reference locus set when pressing down a seating switch. It is a figure which shows the movement locus | trajectory of the holding member in the deformation | transformation aspect of embodiment, and the angle of the holding member with respect to the position of a holding member.

<Embodiment>
(Configuration of assistance robot 1)
The assistance robot 1 supports a person M (shown in FIGS. 2 and 3) to support a standing operation from a sitting posture to a standing posture and to support a sitting operation from a standing posture to a sitting posture. Since the assistance robot 1 supports the upper body of the person M who is in the standing posture, one assistance person can pull the assistance robot 1 and move it to a moving target in an assistance facility, for example. Note that the “standing posture” means a state where at least the lower body of the person M is standing, and does not mean a state where the upper body is standing.

As shown in FIGS. 1 and 4, the assistance robot 1 includes a base 10, a support device 20, a controller 50, and a control device 60. In the following, the front, rear, left, right, up and down are the front, back, left, right, up and down as viewed from the person being assisted as shown in FIG. The base 10 is configured such that the person being assisted M can board the vehicle, and is configured to be movable in the front-rear direction and the left-right direction while the person assisted by the person M is riding. As shown in FIGS. 1 and 2, the base 10 includes a frame 11, a support 12, a footrest 13, a fixed cover 14, and a plurality of wheels 15.

The frame 11 of the base 10 is provided at a position slightly separated from the floor surface 2 (grounding surface, ground) and substantially horizontally with respect to the floor surface 2. The support column 12 is fixed to the frame 11 and is provided in a state of standing upward from the front upper surface of the frame 11. The column 12 is disposed at the center in the left-right direction in front of the frame 11. In addition, in this embodiment, although the assistance robot 1 has the one support | pillar 12, you may make it provide the 2 or more support | pillar 12. FIG.

The foot placement table 13 is fixed to the rear of the upper surface of the frame 11 and places the foot of the person being assisted on board. On the upper surface of the foot placing table 13, a grounding mark 13 a for the foot of the person being assisted M is written. The ground mark 13a has a role of guiding the position of the foot to the person being assisted. As shown in FIG. 1, the fixed cover 14 is fixed to the frame 11 or the column 12. The fixed cover 14 covers the periphery of the lower portion of the elevating body 31 of the elevating unit 30 in the driving device 23 described later, and protects the inside of the driving device 23. The plurality of wheels 15 are provided on the base 10 and support the base 10 so as to be movable with respect to the floor surface 2.

The support device 20 is provided on the base 10 and configured to be able to support the person being assisted in a standing posture (see FIG. 3). In the present embodiment, the support device 20 includes a holding member 21, a crus contact portion 22, and a drive device 23. The holding member 21 holds the upper body of the person being assisted. In the present embodiment, the holding member 21 includes a trunk receiving portion 21 a that contacts the trunk of the person being assisted M, and a side receiving portion 21 b that holds both sides of the person being assisted M. Note that the holding member 21 may include only one of the body receiving portion 21a and the side receiving portion 21b.

The trunk receiving portion 21a supports the trunk of the person being assisted M from below. The trunk | drum receiving part 21a is formed in planar shape, and is formed with a cushioning material. The torso receiving portion 21a is formed in an initial shape corresponding to the body of the standard person being assisted M, and is flexibly deformed according to the body of each person being assisted. In this embodiment, the trunk | drum receiving part 21a contacts ranging from the chest of the care recipient M to the abdomen.

The side receiving portions 21b are formed in an arc shape and are arranged on the left and right sides of the body receiving portion 21a so that the arc opening faces upward. The side support part 21b supports the upper body of the person being assisted M by supporting the side of the person being assisted from below. Further, the armpit receiving portion 21b regulates the back-and-forth movement of the person being assisted by sandwiching both sides of the person being assisted from the front-rear direction. Accordingly, the body receiving portion 21 a and the side receiving portion 21 b can regulate the position of the shoulder of the person being assisted M held by the holding member 21.

The lower leg support 22 determines the position and posture of the lower body of the person being assisted in the sitting position by bringing the front part of the lower leg (shin or knee) of the person being assisted in the sitting position. In particular, the position of the foot is determined to some extent. The lower thigh pad 22 is fixed to the column 12 of the base 10. The crus pad part 22 includes two support members 22a and a crus pad body 22b.

The support member 22a is formed in an L shape. One end of the L-shaped support member 22 a is fixed to the support column 12, and the other L-shaped end of the support member 22 a is positioned behind the support column 12. The crus pad main body 22b is fixed to the other end side of the support member 22a, and is located behind the lifting cover 33 and below the swinging support portion 32. The lower thigh pad main body 22b is a part that contacts the front part of the lower leg of the person being assisted M, is formed in a planar shape, and is formed of a cushion material.

The driving device 23 is a device that supports the holding member 21 so as to be movable in the vertical direction and the front-rear direction of the base 10 and moves the holding member 21 along a plurality of different movement trajectories. In the present embodiment, the drive device 23 includes an elevating unit 30 and a swinging unit 40. The elevating unit 30 moves in the vertical direction with respect to the base 10. The elevating unit 30 includes an elevating body 31, a swing support unit 32, and an elevating cover 33.

As shown in FIG. 2, the elevating body 31 is formed in an elongated shape in the up-down direction. The elevating body 31 is provided on the rear surface of the support column 12 so as to be linearly movable in the vertical direction. The elevating body 31 is guided by a guide (not shown) on the rear surface of the column 12 and is driven by a linear motion device (not shown). The elevating body 31 is surrounded by the fixed cover 14. The swing support part 32 is provided on the upper end side of the elevating body 31, and has a swing axis 32a parallel to the left-right direction.

As shown in FIG. 1, the elevating cover 33 is fixed to the elevating part 30 and surrounds the elevating body 31 and the swing support part 32. Further, the elevating cover 33 surrounds the support column 12 and the fixed cover 14. In the present embodiment, the assisting robot 1 has one lifting unit 30 corresponding to one support column 12. On the other hand, if the assistance robot 1 has two or more columns 12, the assistance robot 1 may have a configuration having the number of lifting units 30 corresponding to the number of columns 12.

The swinging unit 40 moves the holding member 21 in the front-rear direction of the base 10 with respect to the lifting unit 30 and rotates the holding member 21 around an axis parallel to the left-right direction of the base 10. The swing unit 40 includes a swing main body 41, an arm 42, and a grip 43. The swing body 41 is detachably attached to the body receiving portion 21a of the holding member 21.

The arm 42 is rotatably provided with the swing axis 32a of the swing support part 32 of the elevating part 30 as a central axis. The arm 42 is rotated by an arm driving device (not shown). When the assistance robot 1 assists in standing up, the arm 42 turns to the front side from the state extending backward. On the other hand, when the assistance robot 1 assists in seating, the arm 42 turns to the rear side so as to extend rearward.

The grip 43 is formed in a U shape when viewed in the front-rear direction, and both U-shaped ends of the grip 43 are fixed to the swinging body 41. The central portion of the grip 43 is positioned in front of the body receiving portion 21 a and the swinging main body 41 and is gripped by the person being assisted M held by the holding member 21. The grip 43 is also used when an assistant pulls the assistant robot 1.

With the above-described configuration, the swinging unit 40 moves the holding member 21 attached to the swinging body 41 on the distal end side of the arm 42 around an axis (swinging shaft center 32 a) parallel to the left-right direction of the base 10. Rotate. The oscillating portion 40 oscillates the holding member 21 so that the holding member 21 has an angle defined with respect to the position in the front-rear direction of the holding member 21 by rotating the holding member 21.

The controller 50 is an input device that receives an operation by an operator (an assistant or an attendant M). In the present embodiment, the controller 50 includes an upright switch 51, a seating switch 52, an up switch 53, and a down switch 54, as shown in FIG. The standing switch 51 accepts an operation for requesting execution of a standing motion in which the person being assisted M is in a standing posture from the current state including the current position and the current angle of the holding member 21. The seating switch 52 accepts an operation for requesting execution of a seating operation in which the person being assisted M is in a sitting posture from the current state of the holding member 21.

The ascending switch 53 accepts an operation for requesting the ascending operation to raise the holding member 21 from the current state. The lowering switch 54 receives an operation for requesting execution of a lowering operation for lowering the holding member 21 from the current state. The controller 50 is communicably connected to the control device 60, and when only one of the switches is pressed, an operation corresponding to the pressed switch is transmitted to the control device 60 as an input requested operation. Send.

The control device 60 controls the operation of the driving device 23 so as to move the holding member 21 up and down in accordance with the requested operation transmitted from the controller 50. The control device 60 is fixed to the frame 11 of the base 10 on the side of the column 12. The control device 60 includes a storage unit 61, a trajectory setting unit 62, and a drive control unit 63. The storage unit 61 stores standing motion data 71 and sitting motion data 72.

The standing motion data 71 is two-dimensional coordinate data indicating a standing trajectory 81 (see FIG. 5) that is a moving trajectory of the holding member 21 corresponding to the standing motion of the person being assisted. The seating motion data 72 is two-dimensional coordinate data indicating a seating locus 82 (see FIG. 5) that is a movement locus of the holding member 21 corresponding to the sitting motion of the person being assisted M. The origin of the two-dimensional coordinate data may be an arbitrary reference point in the movable range of the holding member 21 or the center of gravity of the assisting robot 1.

Here, the standing trajectory 81 and the seating trajectory 82 of the holding member 21 are trajectories in which the reference point on the holding member 21 is moved by the operation of the driving device 23, for example. Specifically, the standing locus 81 is a curved locus from the first position P1 to the second position P2, as shown in the upper part of FIG. The seating locus 82 is a locus composed of a curved locus from the second position P2 to the third position P3 and a linear locus from the third position P3 to the first position P1.

The trajectory setting unit 62 uses either the standing trajectory 81 or the seating trajectory 82 as a reference trajectory based on the current state including the current position of the holding member 21 when the standing motion or the seating motion is input as the required motion. Set. The drive control unit 63 moves the holding member 21 based on the set reference trajectory. Specifically, the drive control unit 63 controls the operation of the drive device 23 so that the holding member 21 moves along the reference locus by synchronizing the operations of the elevating unit 30 and the swinging unit 40.

According to such a configuration, the control device 60 controls the movement of the holding member 21 along the seating locus 82 when the seating switch 52 of the controller 50 is pressed. The movement of the member 21 may be controlled. The same applies to the case where the standing switch 51 of the controller 50 is pressed. As described above, the operation process of the holding member 21 is executed based on the movement locus that does not correspond to the requested action so that the holding member 21 is moved along the movement locus according to the use state of the assistance robot 1. The purpose is to optimize the reference trajectory.

Specifically, the trajectory setting unit 62 receives at least the current position and the current angle of the holding member 21 included in the current state of the holding member 21 when the upright switch 51 or the seating switch 52 is pressed and a requested action is input. Based on one, a reference trajectory for the requested action is set. In the present embodiment, the trajectory setting unit 62 sets a reference trajectory for the requested action based on the area information 73 stored in the storage unit 61 and the current position of the holding member 21.

The area information 73 is information indicating a plurality of areas partitioned at at least one specified position in the vertical direction or the front-rear direction of the holding member 21 with respect to the base 10. In the present embodiment, the specified position Pr is a position in the front-rear direction of the holding member 21 with respect to the base 10 and is set based on the angle of the holding member 21 as shown in FIG.

Here, the drive device 23 in the present embodiment is configured such that the holding member 21 moves in the front-rear direction and rotates around the oscillation axis 32a as the arm 42 of the oscillation unit 40 rotates. That is, as shown in the lower part of FIG. 5, the swinging unit 40 swings the holding member 21 so as to have an angle θ defined with respect to the position of the holding member 21 in the front-rear direction. As shown in FIGS. 2 and 3, the angle θ of the holding member 21 is an angle formed with respect to the vertical axis, and monotonously increases as the holding member 21 moves forward.

In addition, when the holding member 21 is rotated to some extent, the person being assisted M held by the holding member 21 lifts the buttocks Mb of the person being assisted from the seating surface of the chair 90 and deposits weight on the support device 20. It becomes. In this embodiment, the position in the front-rear direction of the holding member 21 corresponding to the predetermined angle θt of the holding member 21 that is in the above state is set as the specified position Pr. The plurality of areas indicated by the area information 73 include a standing priority area Ar generated by dividing the movable range Rn in the front-rear direction of the holding member 21 by the specified position Pr, and a seating priority area As.

The standing priority area Ar is an area in which the trajectory setting unit 62 prioritizes the standing trajectory 81 and sets it as a reference trajectory when the holding member 21 is located in the area. The seating priority area As is an area where the trajectory setting unit 62 prioritizes the seating trajectory 82 and sets it as a reference trajectory when the holding member 21 is located in the area. As shown in the upper part of FIG. 5, the standing priority area Ar is located behind the seating priority area As.

(Reference locus setting process)
The reference locus setting process by the locus setting unit 62 of the control device 60 will be described with reference to FIGS. The reference locus setting process is executed when, for example, the standing switch 51 or the seating switch 52 of the controller 50 is pressed and a standing motion or a seating motion is input as a requested motion. Note that when the ascending switch 53 or the descending switch 54 of the controller 50 is pressed, the operation of the elevating unit 30 is controlled without being based on the reference locus, so the reference locus setting process is not executed.

As shown in FIG. 6, the trajectory setting unit 62 of the control device 60 first determines whether or not the previous operation in which the holding member 21 has been moved to the current position is equal to the requested operation (Step 11 (hereinafter, “ Step ”is expressed as“ S ”)). For this reason, the trajectory setting unit 62 acquires information indicating the previous operation temporarily stored in the storage unit 61. This information includes a standing motion, a seating motion, an ascending motion, and a descending motion as previous motions. If no information indicating the previous operation is stored, the trajectory setting unit 62 recognizes that the previous operation was power-on, assuming that a power switch (not shown) was turned on immediately before.

When the previous action and the requested action are equal (S11: Yes), the locus setting unit 62 sets the movement locus of the holding member 21 corresponding to the requested action as the reference locus regardless of the current state of the holding member 21. (S15). Thereafter, the same operation as the previous operation is resumed under the control of the drive control unit 63. As such an operation, for example, a case where the operator releases the erection switch 51 and presses the erection switch 51 again during the erection operation is assumed (patterns N11 and N12 in FIG. 7).

Similarly, it is assumed that the operator releases the seating switch 52 and presses the seating switch 52 again during the seating operation (patterns N23 and N24 in FIG. 8). In the rightmost column of FIGS. 7 and 8, the movement trajectory of the previous operation in which the holding member 21 has been moved to the current position Pc is indicated by a thick arrow, and the movement trajectory of the requested operation based on the reference trajectory from the current position Pc is shown. Indicated by thick arrows.

On the other hand, when the previous operation and the requested operation are different (S11: No), the trajectory setting unit 62 determines whether the previous operation is an ascending operation, a descending operation, or power-on based on information indicating the previous operation. It is determined whether or not there is (S12). When the previous operation is an ascending operation, a descending operation, or power-on (S12: Yes), the trajectory setting unit 62 moves the trajectory of the holding member 21 corresponding to the requested operation regardless of the current state of the holding member 21. Is set as a reference trajectory (S15). Thereafter, the holding member 21 is moved from the current position and current angle along the movement locus corresponding to the requested operation under the control of the drive control unit 63 (patterns N15 and N16 in FIG. 7 and pattern N25 in FIG. 8). N26).

The trajectory setting unit 62 determines that when the previous operation is neither an ascending operation, a descending operation, or power-on (S12: No), that is, the requested operation is an upright operation and the previous operation is a seating operation or a requested operation. If it is a seating operation and the previous operation is a standing operation, the current state of the holding member 21 is acquired (S13). In the present embodiment, the trajectory setting unit 62 acquires the current position Pc of the holding member 21 as the current state.

Subsequently, the trajectory setting unit 62 selects either the standing trajectory 81 or the seating trajectory 82 based on the area information 73 and the current position of the holding member 21, and sets a reference trajectory for the requested action (S14). . Specifically, when the area to which the current position Pc of the holding member 21 belongs is the standing priority area Ar, the standing locus 81 is set as the movement locus of the requested action. On the other hand, when the area to which the current position Pc of the holding member 21 belongs is the seating priority area As, the seating locus 82 is set as the movement locus of the requested action.

That is, when the requested action is a standing action and the previous action is a seating action, if the area to which the current position Pc belongs is a standing priority area Ar, the standing locus 81 is set as the reference locus (pattern N13 in FIG. 7). ). As a result, the reference trajectory for the requested motion is set to the movement trajectory (stand-up trajectory 81) corresponding to the requested motion, similar to S15. On the other hand, if the area to which the current position Pc belongs is the seating priority area As, the seating locus 82 is set as the reference locus (pattern N14 in FIG. 7). As a result, the reference trajectory of the requested motion is set to a movement trajectory (sitting trajectory 82) that does not correspond to the requested motion (standing motion).

Further, when the requested operation is a seating operation and the previous operation is a standing operation, if the area to which the current position Pc belongs is the seating priority area As, the seating locus 82 is set as the reference locus (pattern N22 in FIG. 8). ). As a result, the reference trajectory of the requested action is set to the movement trajectory (sitting locus 82) corresponding to the requested action as in S15. On the other hand, if the area to which the current position Pc belongs is the standing priority area Ar, the standing locus 81 is set as the reference locus (pattern N21 in FIG. 8). As a result, the reference trajectory of the requested motion is set to a movement trajectory (standing trajectory 81) that does not correspond to the requested motion (sitting motion).

As described above, the trajectory setting unit 62 selects a movement trajectory that does not correspond to the requested action depending on the current state of the holding member 21, and sets the movement trajectory as a reference trajectory (pattern N14 in FIG. 7, FIG. 8). Pattern N21). Thereby, in the subsequent operation, the holding member 21 is moved so as to go back along a movement locus not corresponding to the requested operation (that is, a movement locus corresponding to the previous operation) instead of the movement locus corresponding to the requested operation. Such control is to perform an operation expected by the operator while considering safety based on the weight of the person being assisted by the holding member 21 and the like.

After the reference locus setting process is executed, the holding member 21 is moved along the reference locus from the current position and current angle under the control of the drive control unit 63. As described above, the assistance robot 1 supports the standing person's standing operation and the sitting operation by moving the holding member 21 along the movement locus corresponding to various usage states.

(Effects of the configuration of the embodiment)
The assistance robot 1 includes a base 10, a holding member 21 that holds the upper body of the person M to be assisted, a driving device 23 that moves the holding member 21 in the vertical direction and the front-rear direction of the base 10, and the operation of the driving device 23. And a control device 60 for controlling. The control device 60 includes a standing trajectory 81 that is a movement trajectory of the holding member 21 corresponding to the standing motion of the person being assisted M, and a seating trajectory 82 that is a movement trajectory of the holding member 21 corresponding to the seating motion of the person being assisted M. , And when the standing motion or the seating motion is input as the requested motion, the standing motion 81 and the seating trajectory 82 are changed to the requested motion based on the current state including the current position Pc of the holding member 21. Either a corresponding movement locus or a movement locus that does not correspond to the requested action is selected, a locus setting unit 62 that sets the movement locus as a reference locus, and the holding member 21 is moved based on the set reference locus. And a drive control unit 63 to be operated.

According to such a configuration, the reference trajectory is switched based on the current state of the holding member 21. Accordingly, it is possible to set a movement locus according to the current state of the holding member 21, that is, the usage state of the assistance robot 1, as compared with the configuration in which the movement locus corresponding to the requested operation is always selected. Thereby, it becomes possible to support the standing person's standing operation and the sitting operation without giving a sense of incongruity to the operator who operates the person being assisted M and the assistance robot 1.

In addition, the trajectory setting unit 62 responds to the requested operation regardless of the current state of the holding member 21 when the requested operation is equal to the previous operation in which the holding member 21 has been moved to the current position Pc (S11: Yes). The movement locus of the holding member 21 is set as a reference locus (S15).
If the previous operation and the requested operation are the same (S11: Yes), for example, it is considered that the requested operation is requested to be executed intermittently. Therefore, in such a case, it is not necessary to switch the reference locus based on the current state of the holding member 21, and the movement locus corresponding to the requested operation (the standing locus 81 if the requested operation is a standing operation, the seating operation is seated). If it is an operation, the seating locus 82) is set as the reference locus (S15). As a result, it is possible to reduce the processing load of the control, and it is possible to perform control that responds quickly to the operator's request.

In addition, the storage unit 61 further stores area information 73 indicating a plurality of areas defined at at least one specified position Pr in the vertical direction or the front-rear direction of the holding member 21 with respect to the base 10. The plurality of areas include a standing priority area Ar having the rising locus 81 as a reference locus and a seating priority area As having the sitting locus 82 as a reference locus. The trajectory setting unit 62 sets a reference trajectory for the requested action based on the area information 73 and the current position Pc of the holding member 21.
According to such a configuration, by using the area information 73 for setting the reference trajectory of the requested action, it is possible to reduce the processing load of the control, and it is possible to perform control that responds promptly to the operator's request.

In addition, the driving device 23 moves the elevating unit 30 that moves in the vertical direction with respect to the base 10 and the holding member 21 in the front-rear direction of the base 10 with respect to the elevating unit 30, and the holding member 21 is And a rocking portion 40 that rocks the holding member 21 so that the holding member 21 is rotated at an angle defined with respect to the position in the front-rear direction of the holding member 21. The specified position Pr is a position in the front-rear direction of the holding member 21 with respect to the base 10 and is set based on the angle of the holding member 21.
When setting the reference trajectory of the requested action, one indicator is the attitude of the person being assisted M, in particular, how much the buttock Mb of the person being assisted is lifted from the seat surface 91. Here, in the operation of the assistance robot 1, when the holding member 21 that holds the person being assisted rotates more than a predetermined angle, the buttocks Mb of the person being assisted rises from the seat surface 91. Therefore, by setting the specified position Pr for dividing the area based on the angle of the holding member 21 as described above, the area can be appropriately divided, and the assisted person M and the operator can be assisted without feeling uncomfortable. It is possible to support the standing motion and the sitting motion of the person M.

Further, the standing priority area Ar is located behind the seating priority area As.
According to such a configuration, the area can be appropriately divided, and the standing operation and the sitting operation of the person being assisted can be supported without giving a sense of incongruity to the person being assisted and the operator.

<Modification of Embodiment>
(Trace setting process)
In the embodiment, the trajectory setting unit 62 selects one of the standing trajectory 81 and the seating trajectory 82 based on the area information 73 and the current position Pc of the holding member 21 and sets a reference trajectory for the requested action ( S14). On the other hand, the trajectory setting unit 62 may be configured to set a reference trajectory for the requested action based on the angle included in the current state of the holding member 21.

In such a configuration, the current state of the holding member 21 includes the current angle of the holding member 21. The trajectory setting unit 62 sets a reference trajectory for the requested action based on at least one of the current position Pc and the angle of the holding member 21 included in the current state when the requested action is input. The angle of the holding member 21 may be acquired based on a detection result by an angle detector in an arm driving device that drives the arm 42, for example.

According to such a configuration, the trajectory setting unit 62 switches the reference trajectory depending on the current angle of the holding member 21. Thereby, in a mode in which the movement locus is set by the angle of the holding member 21 in addition to the current position Pc of the holding member 21, more detailed setting can be performed. Further, in a mode in which the movement locus is set by the angle of the holding member 21 instead of the current position Pc, the movement locus can be set according to the posture of the person being assisted.

(About area information)
In the embodiment, the specified position Pr that divides the movable range Rn of the holding member 21 is set based on the angle of the holding member 21 (predetermined angle θt). On the other hand, the specified position Pr may be set in addition to the angle of the holding member 21 or in place of the angle of the holding member 21. Accordingly, the standing priority area Ar and the seating priority area As can be partitioned such that the boundary line is inclined with respect to the vertical axis, for example.

Also, as shown in the upper part of FIG. 9, a plurality of specified positions Pr1, Pr2 may be set in the front-rear direction of the holding member 21, and divided into three areas. In this configuration, the plurality of areas include an intermediate area Am located between the standing priority area Ar and the seating priority area As. Here, the prescribed positions Pr1 and Pr2 are positions in the front-rear direction of the holding member 21 corresponding to, for example, the first angle θt1 and the second angle θt2 of the holding member 21, as shown in the lower part of FIG.

Further, the intermediate area Am may be an area in which, when the holding member 21 is located in the area, the locus setting unit 62 preferentially sets the movement locus of the holding member 21 corresponding to the previous operation as a reference locus. According to such a configuration, for example, when the requested operation is a standing operation and the previous operation is a seating operation, if the area to which the current position Pc belongs is an intermediate area Am, the movement does not correspond to the requested operation (standing operation). The trajectory (sitting trajectory 82) is set as the reference trajectory.

Similarly, when the requested action is a sitting action and the previous action is a standing action, if the area to which the current position Pc belongs is an intermediate area Am, a movement locus (standing locus 81) that does not correspond to the requested action (seating action). ) Is set as the reference trajectory. According to such a configuration, it is possible to set a reference trajectory corresponding to a more detailed current state as compared to a configuration divided into two priority areas.

(About the driving device 23)
In the embodiment, the driving device 23 is configured to include the elevating unit 30 that moves in the vertical direction with respect to the base 10 and the swinging unit 40 that swings the holding member 21. In contrast, the drive device 23 supports the holding member 21 so as to be movable in the vertical direction and the front-rear direction of the base, and can move the holding member 21 along a plurality of different movement trajectories. If so, various modes can be adopted.

Specifically, the swinging unit 40 rotates the arm 42 to move the swinging main body 41 in the front-rear direction and rotates the swinging main body 41 around the axis. Alternatively, the swinging main body 41 may be supported by a rail inclined to the right. According to such a structure, when the rocking | swiveling main body 41 moves along a rail, while the holding member 21 attached to the rocking | swiveling main body 41 moves to the front-back direction, it is possible to make it incline.

In addition, the driving device 23 includes a rotating member that is provided on the base 10 and rotates around an axis parallel to the left-right direction, and an extendable arm that is provided on the rotating member and can be expanded and contracted in the radial direction of the rotating member. It is good also as a structure. Alternatively, the driving device 23 is a first rotation member that rotates around an axis parallel to the left-right direction, and a second rotation that is provided on the first rotation member and rotates around an axis parallel to the rotation axis of the first rotation member. It is good also as a structure provided with a member.

In such a configuration, by attaching the holding member 21 to the telescopic arm or the second rotating member, the holding member 21 can move in the vertical direction and the front-rear direction of the base 10, and follows a plurality of movement trajectories. It is possible to move. When the holding member 21 is moved along a plurality of movement trajectories, the same effect as that of the embodiment can be obtained by setting a reference trajectory for the requested action based on the current state of the holding member 21.

DESCRIPTION OF SYMBOLS 1: Assistance robot 2: Floor 10: Base 11: Frame 12: Post 13: Foot rest 13a: Ground mark 14: Fixed cover 15: Wheel 20: Support device 21: Holding member 21a: Body Receiving part, 21b: armpit receiving part 22: lower leg support part, 22a: support member, 22b: lower leg support body 23: drive device,
30: Elevating part 31: Elevating body 32: Oscillating support part 32a: Oscillating axis 33: Elevating cover 40: Oscillating part
41: Swing body, 42: Arm, 43: Grip 50: Controller 51: Standing switch, 52: Seating switch 53: Up switch, 54: Down switch 60: Controller 61: Storage unit, 62: Trajectory setting unit, 63 : Drive controller 71: Data for standing motion 72: Data for sitting motion 73: Area information 81: Standing locus, 82: Seating locus 90: Chair, 91: Seat surface Rn: Movable range (of holding member) Ar: Standing Priority area, As: Seating priority area, Am: Intermediate area M: Assisted person, Mb: (Supported person) buttocks P1: First position, P2: Second position, P3: Third position Pc: (Holding member Current position, Pr: prescribed position θ: angle of (holding member), θt: predetermined angle (of holding member) θt1: first angle (of holding member), θt2: second (of holding member) Degrees N11 ~ N16: when pressing the operation patterns N21 ~ N26 upright switch 51: operation pattern during depression of the seating switch 52

Claims

The base,
A holding member for holding the upper body of the person being assisted,
A driving device for moving the holding member in the vertical direction and the front-rear direction of the base;
A control device for controlling the operation of the drive device,
The control device includes:
A storage unit that stores a standing locus that is a movement locus of the holding member corresponding to the standing motion of the person being assisted and a seating locus that is a movement locus of the holding member that corresponds to the seating operation of the person being assisted ,
When the standing motion or the seating motion is input as a request motion, based on the current state including the current position of the holding member, the trajectory corresponding to the requested motion from the standing trajectory and the seating trajectory, or the A trajectory setting unit that selects any one of the trajectories not corresponding to the requested action and sets the travel trajectory as a reference trajectory;
An assistance robot comprising: a drive control unit configured to move the holding member based on the set reference trajectory.
The drive device rotates the holding member around an axis parallel to the horizontal direction of the base,
The current state of the holding member includes a current angle of the holding member,
The trajectory setting unit sets the reference trajectory of the requested action based on at least one of a current position and a current angle of the holding member included in the current state when the requested action is input. The assistance robot according to Item 1.
The trajectory setting unit moves the holding member corresponding to the requested operation regardless of the current state of the holding member when the previous operation of moving the holding member to the current position is equal to the requested operation. The assistance robot according to claim 1, wherein a trajectory is set as the reference trajectory.
The storage unit further stores area information indicating a plurality of areas defined at at least one specified position in the vertical direction or the front-rear direction of the holding member with respect to the base,
The plurality of areas include a standing priority area that uses the standing locus as the reference locus, and a seating priority area that uses the seating locus as the reference locus,
The assistance robot according to any one of claims 1 to 3, wherein the trajectory setting unit sets the reference trajectory of the requested action based on the area information and a current position of the holding member.
The driving device includes:
An elevating part that moves up and down with respect to the base;
The holding member is moved in the front-rear direction of the base with respect to the elevating part, and the holding member is rotated about an axis parallel to the left-right direction of the base to move the holding member relative to the front-rear position. And a swinging part that swings the holding member so as to have an angle defined by
The assistance robot according to claim 4, wherein the specified position is a position in a front-rear direction of the holding member with respect to the base, and is set based on an angle of the holding member.
The assistance robot according to claim 5, wherein the standing priority area is located behind the seating priority area.
7. The intermediate area according to claim 4, wherein the plurality of areas further include an intermediate area in which the movement locus of the holding member corresponding to the previous operation in which the holding member has been moved to the current position is the reference locus. The assistance robot according to the item.