JP2016093371A - Transfer assist device - Google Patents

Transfer assist device Download PDF

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JP2016093371A
JP2016093371A JP2014231979A JP2014231979A JP2016093371A JP 2016093371 A JP2016093371 A JP 2016093371A JP 2014231979 A JP2014231979 A JP 2014231979A JP 2014231979 A JP2014231979 A JP 2014231979A JP 2016093371 A JP2016093371 A JP 2016093371A
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arm
unit
sole
cared person
gravity
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JP6350232B2 (en
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近藤　秀樹
Hideki Kondo
秀樹 近藤
智久 高井
Tomohisa Takai
智久 高井
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Toyota Motor Corp
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Abstract

PROBLEM TO BE SOLVED: To provide a transfer assist device capable of reducing a request torque to an arm part.SOLUTION: A transfer assist device 1 according to one embodiment of the present invention includes: a carriage 2 having a sole holding part 6a for supporting the soles of a care-receiver; an arm part 3 provided on the carriage 2; a holding part 4 provided on the arm part 3 for holding the care-receiver; and a control part 5 for controlling the arm part 3. The control part 5 pulls in the care-receiver seating on a seating object towards a connection part between the carriage 2 and the arm 3 and controls the arm part 3 such that a position of a centroid is moved upward, with the centroid position of the care-receiver disposed on the vicinity of an upper side of a position where the soles of the care-receiver are grounded on the sole support part 6a.SELECTED DRAWING: Figure 1

Description

本発明は、移乗支援装置に関する。   The present invention relates to a transfer support apparatus.

移乗支援装置は、自立歩行が困難な被介護者をベッドから車椅子に移動する際などに良好に用いられている。例えば、図７に示すように、一般的な移乗支援装置１００は、台車１０１にアーム部１０２が支持されており、アーム部１０２に設けられた保持部１０３に被介護者を保持した状態で、アーム部１０２を回転（傾動）させて被介護者を移乗させる構成である。   The transfer support device is favorably used when a care recipient who is difficult to walk independently is moved from a bed to a wheelchair. For example, as shown in FIG. 7, in a general transfer support apparatus 100, an arm unit 102 is supported on a carriage 101, and a care receiver is held by a holding unit 103 provided on the arm unit 102. In this configuration, the care receiver is transferred by rotating (tilting) the arm portion 102.

ここで、特許文献１の移乗支援装置は、被介護者が保持される保持部や当該被介護者の膝を支持する膝支持部にセンサを設け、各センサで検出した被介護者の保持部や膝支持部への接触状態に基づいて、アーム部や保持部を制御することで、被介護者の身体的な負担を軽減するように工夫されている。   Here, the transfer support apparatus of Patent Document 1 is provided with a sensor in a holding unit that holds a cared person or a knee support part that supports the knee of the cared person, and the holding part of the cared person detected by each sensor. It is devised to reduce the physical burden on the cared person by controlling the arm part and the holding part based on the contact state with the knee support part.

特開２０１１−１１００８０号公報JP 2011-110080 A

移乗支援装置は、被介護者の移乗を支援する際に、下方にかかる重力に対して被介護者が自重を支える筋力の不足分を補うこと、及び被介護者の踵を中心に後方に回転（転倒）することを防ぐこと、の２つの機能が求められる。   When assisting the caregiver's transfer, the transfer support device compensates for the lack of muscular strength that the cared person supports its own weight against the downward gravity, and rotates rearward around the cared person's heel The two functions of preventing (falling) are required.

ここで、被介護者の後方への転倒モーメントは、被介護者の自重×モーメントアームで求めることができ、モーメントアームは、被介護者の足の接地位置（足裏位置）と当該被介護者の重心位置との重力方向と直交する方向での間隔（即ち、水平方向での間隔）Ｄ１である。   Here, the rearward moment of the cared person can be obtained by the cared person's own weight × moment arm, and the moment arm is determined by the grounded position (foot position) of the cared person's foot and the cared person. The distance in the direction perpendicular to the direction of gravity with respect to the center of gravity position (that is, the distance in the horizontal direction) D1.

つまり、モーメントアームが大きくなると、被介護者の後方への転倒モーメントが大きくなり、アーム部への要求トルクが増大してしまう。しかし、特許文献１の移乗支援装置は、モーメントアームを考慮することなく、被介護者を移乗するので、アーム部に大きなトルクが要求される場合がある。   That is, when the moment arm is large, the moment of falling backward of the care recipient increases, and the required torque to the arm portion increases. However, since the transfer assistance apparatus of patent document 1 transfers a cared person without considering a moment arm, a big torque may be requested | required of an arm part.

本発明は、上記を鑑みなされたものであって、アーム部への要求トルクを低減することができる移乗支援装置を提供することを目的とする。   The present invention has been made in view of the above, and an object of the present invention is to provide a transfer assist device capable of reducing the required torque to the arm portion.

本発明の一態様に係る移乗支援装置は、
被介護者の足裏を支持する足裏支持部を有する台車と、
前記台車に設けられたアーム部と、
前記アーム部に設けられ、前記被介護者を保持する保持部と、
前記アーム部を制御する制御部と、を備え、
前記制御部は、着座物に着座した状態の前記被介護者を前記台車と前記アーム部との連結部側に引き込み、前記被介護者の足裏が前記足裏支持部に接地した位置の上方付近に前記被介護者の重心位置が配置された状態で、前記被介護者の重心位置が上方に移動するように、前記アーム部を制御する。
これにより、被介護者を移乗する際のモーメントアームが小さく、アーム部への要求トルクを軽減することができる。 A transfer support apparatus according to an aspect of the present invention includes:
A carriage having a sole support portion for supporting the sole of the care recipient;
An arm provided on the carriage;
A holding part that is provided in the arm part and holds the care recipient;
A control unit for controlling the arm unit,
The control unit pulls the cared person in a state of sitting on a seated object to the connecting part side of the carriage and the arm part, and above the position where the sole of the cared person contacts the foot support part The arm unit is controlled so that the center of gravity position of the cared person moves upward in a state where the center of gravity position of the cared person is arranged in the vicinity.
Thereby, the moment arm at the time of transferring a cared person is small, and the required torque to an arm part can be reduced.

上記の移乗支援装置において、
前記被介護者の重心位置を検出する第１の検出部と、
前記被介護者の足裏が前記足裏支持部に接地した位置を検出する第２の検出部と、
前記制御部は、前記被介護者の足裏が前記足裏支持部に接地することによって当該足裏に作用する反力の作用線上で前記被介護者の重心位置が上方に移動するように、前記アーム部を制御することが好ましい。
これにより、被介護者の足裏が足裏支持部に接地することによって当該足裏に作用する反力の作用線上で正確に被介護者の重心位置を上方に移動させることができる。 In the above transfer support device,
A first detection unit for detecting the position of the center of gravity of the care recipient;
A second detection unit for detecting a position where the sole of the care recipient contacts the sole support unit;
The control unit is configured so that the position of the center of gravity of the cared person moves upward on the line of reaction force acting on the sole when the sole of the cared person contacts the sole support part. It is preferable to control the arm portion.
As a result, when the care receiver's sole touches the sole support portion, the position of the center of gravity of the care receiver can be accurately moved on the line of reaction force acting on the sole.

上記の移乗支援装置において、前記被介護者の足裏位置を前記台車と前記アーム部との連結部側に移動させる位置調整部を備え、
前記制御部は、前記作用線上で前記被介護者の重心位置が上方に移動するように、前記アーム部と前記位置調整部とを制御することが好ましい。
これにより、被介護者の足裏位置をアーム部と台車との連結部側に近づけることができるので、アーム部への要求トルクを軽減することができる。 In the above-mentioned transfer support device, a position adjusting unit that moves the position of the sole of the care recipient to the connecting part side of the carriage and the arm part,
It is preferable that the control unit controls the arm unit and the position adjustment unit so that the position of the center of gravity of the care recipient moves upward on the action line.
Thereby, since the position of the sole of the cared person can be brought closer to the connecting portion side between the arm portion and the carriage, the required torque to the arm portion can be reduced.

本発明によれば、アーム部への要求トルクを低減することができる移乗支援装置を提供することができる。   ADVANTAGE OF THE INVENTION According to this invention, the transfer assistance apparatus which can reduce the request | requirement torque to an arm part can be provided.

実施の形態１の移乗支援装置を示す模式図である。1 is a schematic diagram illustrating a transfer support device according to a first embodiment. 実施の形態１の移乗支援装置のブロック図である。1 is a block diagram of a transfer support apparatus according to Embodiment 1. FIG. 実施の形態１の移乗支援装置の制御方法の流れを示すフローチャート図である。FIG. 3 is a flowchart showing a flow of a control method of the transfer assistance apparatus according to the first embodiment. 実施の形態２の移乗支援装置を示す模式図である。FIG. 6 is a schematic diagram illustrating a transfer support device according to a second embodiment. 実施の形態３の移乗支援装置のブロック図である。FIG. 10 is a block diagram of a transfer support apparatus according to a third embodiment. 実施の形態２の移乗支援装置の制御方法の流れを示すフローチャート図である。FIG. 10 is a flowchart showing a flow of a control method of the transfer assist device of the second embodiment. 一般的な移乗支援装置を示す模式図である。It is a schematic diagram which shows a general transfer assistance apparatus.

以下、本発明を適用した具体的な実施の形態について、図面を参照しながら詳細に説明する。但し、本発明が以下の実施の形態に限定される訳ではない。また、説明を明確にするため、以下の記載及び図面は、適宜、簡略化されている。   Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings. However, the present invention is not limited to the following embodiment. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

＜実施の形態１＞
以下に、本実施の形態の移乗支援装置を説明する。先ず、本実施の形態の移乗支援装置の基本構成を説明する。図１は、本実施の形態の移乗支援装置を示す模式図である。図２は、本実施の形態の移乗支援装置のブロック図である。なお、以下の説明では、移乗支援装置が水平に配置されていることを前提とし、被介護者が乗り込む側を移乗支援装置の前側としている。 <Embodiment 1>
Below, the transfer assistance apparatus of this Embodiment is demonstrated. First, the basic configuration of the transfer support apparatus according to the present embodiment will be described. FIG. 1 is a schematic diagram showing a transfer support apparatus according to the present embodiment. FIG. 2 is a block diagram of the transfer support apparatus according to the present embodiment. In the following description, it is assumed that the transfer support device is horizontally arranged, and the side on which the care recipient gets in is the front side of the transfer support device.

本実施の形態の移乗支援装置１は、図１及び図２に示すように、台車２、アーム部３、保持部４及び制御部５を備えている。台車２は、台車本体６及び車輪７を備えている。台車本体６は、当該台車本体６の前側上面に、被介護者の足裏を支持する足裏支持部６ａを備えており、当該足裏支持部６ａ上に被介護者が搭乗する。   As shown in FIGS. 1 and 2, the transfer support apparatus 1 according to the present embodiment includes a carriage 2, an arm unit 3, a holding unit 4, and a control unit 5. The carriage 2 includes a carriage body 6 and wheels 7. The cart body 6 includes a sole support portion 6a that supports the sole of the cared person on the front upper surface of the cart body 6, and the cared person gets on the sole support portion 6a.

車輪７は、台車本体６の下面に前後左右に間隔を開けて設けられており、前側の一組の車輪７及び後側の一組の車輪７の何れか一方が例えば自在キャスターで構成されている。そして、他方の一組の車輪７がモータによって駆動する駆動輪とされているとよい。   The wheels 7 are provided on the lower surface of the cart body 6 at intervals in the front-rear and left-right directions, and either one of the front set of wheels 7 or the rear set of wheels 7 is formed of, for example, a free caster. Yes. The other set of wheels 7 may be drive wheels driven by a motor.

アーム部３は、台車本体６の上面に設けられたロボットアームである。本実施の形態のアーム部３は、第１のアーム８、第２のアーム９及び第３のアーム１０を備えている。   The arm unit 3 is a robot arm provided on the upper surface of the cart body 6. The arm unit 3 of the present embodiment includes a first arm 8, a second arm 9, and a third arm 10.

第１のアーム８は、移乗支援装置１の上下方向に延在しており、ヨー軸回りに回転可能に台車本体６の後側上面に支持されている。つまり、第１のアーム８は、足裏支持部６ａに対して移乗支援装置１の後側に配置されている。   The first arm 8 extends in the vertical direction of the transfer assist device 1 and is supported on the rear upper surface of the carriage body 6 so as to be rotatable around the yaw axis. That is, the first arm 8 is disposed on the rear side of the transfer support device 1 with respect to the sole support portion 6a.

第２のアーム９の一方の端部は、第１のアーム８の上端部に第１の関節部１１を介して連結されており、第１の関節部１１によって、第２のアーム９が第１のアーム８に対してピッチ軸回りに回転する。   One end portion of the second arm 9 is connected to the upper end portion of the first arm 8 via the first joint portion 11, and the second arm 9 is connected to the first arm portion 11 by the first joint portion 11. It rotates around the pitch axis with respect to one arm 8.

第３のアーム１０の一方の端部は、第２のアーム９の他方の端部に第２の関節部１２を介して連結されており、第２の関節部１２によって、第３のアーム１０が第２のアーム９に対してピッチ軸回りに回転する。   One end portion of the third arm 10 is connected to the other end portion of the second arm 9 via the second joint portion 12, and the third arm 10 is connected by the second joint portion 12. Rotates about the pitch axis relative to the second arm 9.

第３のアーム１０の他方の端部は、保持部４に第３の関節部１３を介して連結されており、第３の関節部１３によって、保持部４が第３のアーム１０に対してピッチ軸及びロール軸回りに回転する。   The other end portion of the third arm 10 is connected to the holding portion 4 via the third joint portion 13, and the holding portion 4 is connected to the third arm 10 by the third joint portion 13. It rotates around the pitch axis and roll axis.

第１の関節部１１、第２の関節部１２及び第３の関節部１３は夫々、図示を省略するがモータ及び減速器などを備えており、制御部５から入力される制御信号に基づいて動作する。   The first joint unit 11, the second joint unit 12, and the third joint unit 13 are each provided with a motor, a speed reducer, and the like (not shown), and are based on a control signal input from the control unit 5. Operate.

ここで、ヨー軸は、移乗支援装置１の上下方向に延在し、移乗支援装置１を上下方向から見て第１のアーム８を左右方向に旋回させる軸である。ピッチ軸は、アーム部３を移動支援装置１の前後方向に延在させた状態で当該移動支援装置１の左右方向に延在し、第２のアーム９及び第３のアーム１０を移乗支援装置１の上下方向に回転させる軸である。ロール軸は、第３のアーム１０の軸線方向に延在し、移乗支援装置１を前後方向から見て保持部４を左右方向に回転させる軸である。   Here, the yaw axis is an axis that extends in the vertical direction of the transfer assist device 1 and pivots the first arm 8 in the horizontal direction when the transfer assist device 1 is viewed from the vertical direction. The pitch axis extends in the left-right direction of the movement support apparatus 1 with the arm unit 3 extending in the front-rear direction of the movement support apparatus 1, and the second arm 9 and the third arm 10 are transferred to the transfer support apparatus. 1 is a shaft that rotates in the vertical direction. The roll axis is an axis that extends in the axial direction of the third arm 10 and rotates the holding portion 4 in the left-right direction when the transfer assist device 1 is viewed from the front-rear direction.

保持部４は、被介護者を保持する。本実施の形態の保持部４は、第３のアーム１０に連結された側と逆側の面に被介護者の胸部を接触させた状態で当該被介護者に抱え込まれる。   The holding unit 4 holds a care receiver. The holding unit 4 of the present embodiment is carried by the cared person in a state where the cared person's chest is in contact with the surface opposite to the side connected to the third arm 10.

制御部５は、第１の関節部１１、第２の関節部１２及び第３の関節部１３を制御するための制御信号を生成する。本実施の形態の制御部５は、操作部１４からの操作信号に基づいて制御信号を生成する。操作部１４は、被介護者を持ち上げ又は持ち下げるために介護者によって操作され、例えばジョイスティックや操作パネルなどである。   The control unit 5 generates a control signal for controlling the first joint unit 11, the second joint unit 12, and the third joint unit 13. The control unit 5 according to the present embodiment generates a control signal based on the operation signal from the operation unit 14. The operation unit 14 is operated by a caregiver to lift or lower the care receiver, and is, for example, a joystick or an operation panel.

このような構成の移乗支援装置１は、制御部５の制御に基づいてアーム部３及び保持部４が所望の動作をし、保持部４に保持された被介護者を持ち上げ及び持ち下げる。   In the transfer support device 1 having such a configuration, the arm unit 3 and the holding unit 4 perform desired operations based on the control of the control unit 5, and lift and lower the cared person held by the holding unit 4.

次に、本実施の形態の移乗支援装置１の詳細な構成を説明する。本実施の形態の移乗支援装置１は、上述の構成に加えて、さらに第１の検出部１５及び第２の検出部１６を備えている。   Next, the detailed structure of the transfer assistance apparatus 1 of this Embodiment is demonstrated. The transfer assistance apparatus 1 of this Embodiment is further provided with the 1st detection part 15 and the 2nd detection part 16 in addition to the above-mentioned structure.

第１の検出部１５は、保持部４に保持された被介護者の重心位置を検出する。本実施の形態の第１の検出部１５は、詳細は後述するが、保持部４に保持された被介護者を撮像部１７で撮像して得た画像に基づいて、被介護者の重心位置を検出する。第１の検出部１５は、検出した被介護者の重心位置を示す信号を制御部５に出力する。   The first detection unit 15 detects the position of the center of gravity of the care receiver held by the holding unit 4. Although the details will be described later, the first detection unit 15 of the present embodiment is based on an image obtained by imaging the cared person held by the holding unit 4 with the imaging unit 17, and the position of the center of gravity of the cared person Is detected. The first detection unit 15 outputs a signal indicating the detected position of the center of gravity of the care receiver to the control unit 5.

撮像部１７は、保持部４に保持された被介護者を撮像することができるように、台車２に固定されており、画像信号を第１の検出部１５に出力する。なお、図１では、撮像部１７の図示を省略している。撮像部１７としては、一般的な撮像装置を用いることができ、ＣＣＤ（Charge Coupled Device）又はＣＭＯＳ（Complementary Metal Oxide Semiconductor）などの撮像素子を備えている。   The imaging unit 17 is fixed to the carriage 2 so that the cared person held by the holding unit 4 can be imaged, and outputs an image signal to the first detection unit 15. In FIG. 1, illustration of the imaging unit 17 is omitted. As the imaging unit 17, a general imaging device can be used, and an imaging element such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS) is provided.

第２の検出部１６は、被介護者の足裏が足裏支持部６ａに接地した位置を検出する。本実施の形態では、被介護者の足裏が足裏支持部６ａに接地した位置を検出するために、被介護者の足裏が足裏支持部６ａに接地することによって当該足裏支持部６ａに作用する荷重を検出する。そのため、第２の検出部１６として複数の荷重センサを足裏支持部６ａの上面に配置している。第２の検出部１６の荷重センサは、検出信号を制御部５に出力する。   The second detection unit 16 detects a position where the sole of the cared person contacts the sole support unit 6a. In the present embodiment, in order to detect the position where the sole of the care recipient touches the sole support portion 6a, the sole support portion of the care receiver is grounded to the sole support portion 6a. The load acting on 6a is detected. Therefore, a plurality of load sensors are arranged as the second detection unit 16 on the upper surface of the sole support unit 6a. The load sensor of the second detection unit 16 outputs a detection signal to the control unit 5.

次に、本実施の形態の移乗支援装置１の制御方法を説明する。図３は、本実施の形態の移乗支援装置の制御方法の流れを示すフローチャート図である。なお、以下の説明では、図１に示すように、既にベッド１８に着座する被介護者に移乗支援装置１を近づけ、被介護者の胸部に保持部４を接触させて当該被介護者に保持部４を抱き込ませ、且つ被介護者の足裏を足裏支持部６ａに接地させた状態から、被介護者を持ち上げる動作を説明する。   Next, the control method of the transfer assistance apparatus 1 of this Embodiment is demonstrated. FIG. 3 is a flowchart showing the flow of the control method of the transfer support apparatus according to the present embodiment. In the following description, as shown in FIG. 1, the transfer support device 1 is brought close to a cared person already sitting on the bed 18, and the holding part 4 is brought into contact with the cared person's chest to be held by the cared person. The operation of lifting the cared person from the state where the part 4 is embraced and the sole of the cared person is grounded to the sole support part 6a will be described.

先ず、被介護者の持ち上げ動作を移乗支援装置１に実行させるべく、介護者が操作部１４を操作すると、操作部１４は、操作信号を制御部５に出力する（Ｓ１）。   First, when the caregiver operates the operation unit 14 to cause the transfer assist device 1 to perform the lifting operation of the care receiver, the operation unit 14 outputs an operation signal to the control unit 5 (S1).

次に、制御部５は、操作部１４から持ち上げ動作を実行する操作信号が入力されると、第１の検出部１５から被介護者の重心位置を取得する（Ｓ２）。詳細には、第１の検出部１５は、保持部４に保持された被介護者を移乗支援装置１の左右方向から撮像部１７で撮像して得た画像の特徴点を抽出し、各々の特徴点に移乗支援装置１におけるローカル座標系の座標を与える。   Next, when the operation signal for executing the lifting operation is input from the operation unit 14, the control unit 5 obtains the position of the center of the care receiver from the first detection unit 15 (S <b> 2). Specifically, the first detection unit 15 extracts feature points of an image obtained by imaging the cared person held by the holding unit 4 from the left and right directions of the transfer supporting device 1 with the imaging unit 17, and The coordinates of the local coordinate system in the transfer support device 1 are given to the feature points.

第１の検出部１５は、抽出した特徴点に基づいて被介護者の胸部（例えば、胸部の最も膨らんでいる位置）の座標及び当該胸部に対して被介護者の厚さ方向で対向する背部の座標を導き出す。そして、第１の検出部１５は、導き出した胸部の座標と背部の座標との厚さ方向の中心位置を被介護者の重心位置と推定し、推定した被介護者の重心位置を示す座標の信号を制御部５に出力する。これにより、制御部５は、被介護者の重心位置を取得することができる。   Based on the extracted feature points, the first detection unit 15 coordinates the cared person's chest (for example, the position where the chest is most swollen) and the back part facing the breast in the thickness direction of the cared person To derive the coordinates. Then, the first detection unit 15 estimates the center position in the thickness direction of the derived coordinates of the chest and the back as the center of gravity of the cared person, and the coordinates of the estimated center of gravity of the cared person The signal is output to the control unit 5. Thereby, the control part 5 can acquire a care receiver's gravity center position.

このとき、第１の検出部１５は、保持部４の形状が予め定まっており、当該保持部４に被介護者の胸部が接触しているので、保持部４周辺のみの画像を抽出して、抽出した画像の特徴点を抽出すればよい。これにより、特徴点を抽出する処理量を少なくすることができる。   At this time, since the shape of the holding unit 4 is determined in advance and the cared person's chest is in contact with the holding unit 4, the first detection unit 15 extracts only the image around the holding unit 4. The feature points of the extracted image may be extracted. Thereby, the processing amount which extracts a feature point can be decreased.

次に、制御部５は、被介護者を移乗支援装置１側に引き寄せた後に上昇させるために、第１の関節部１１、第２の関節部１２及び第３の関節部１３の制御信号を生成する（Ｓ３）。詳細には、制御部５は、保持部４を前斜め下側に向かって移動させて被介護者の股関節Ｈ１を中心に当該被介護者を前傾させ、被介護者の足裏が足裏支持部６ａに接地することによって当該足裏支持部６ａに作用する荷重に対する反力の作用線Ｌ１上に被介護者の重心位置を配置する引き込み動作、及び被介護者を上昇させる上昇動作をアーム部３及び保持部４が実現するように、第１の関節部１１、第２の関節部１２及び第３の関節部１３の制御信号を生成する。   Next, the control unit 5 sends control signals of the first joint unit 11, the second joint unit 12, and the third joint unit 13 in order to raise the cared person after drawing it to the transfer support device 1 side. Generate (S3). Specifically, the control unit 5 moves the holding unit 4 obliquely downward toward the front and tilts the cared person forward about the cared person's hip joint H1, so that the foot of the cared person is on the sole. Arming the pull-in operation to place the position of the center of gravity of the cared person on the action line L1 of the reaction force against the load acting on the sole support part 6a by touching the support part 6a, and the raising operation to raise the cared person Control signals for the first joint unit 11, the second joint unit 12, and the third joint unit 13 are generated so that the unit 3 and the holding unit 4 are realized.

次に、制御部５は、生成した制御信号に基づいて、第１の関節部１１、第２の関節部１２及び第３の関節部１３を制御して引き込み動作を開始する（Ｓ４）。これにより、保持部４が前斜め下側に向かって移動し、その結果、被介護者は股関節Ｈ１を中心に前傾してベッド１８から自然と保持部４に身を預けることができる。   Next, the control unit 5 controls the first joint unit 11, the second joint unit 12, and the third joint unit 13 based on the generated control signal, and starts a pull-in operation (S 4). Thereby, the holding | maintenance part 4 moves toward the front diagonally lower side, As a result, a care receiver can be inclined to the holding | maintenance part 4 naturally from the bed 18 leaning forward centering on the hip joint H1.

次に、制御部５は、第２の検出部１６からの検出信号に基づいて足裏支持部６ａからの反力位置を取得する（Ｓ５）。詳細には、第２の検出部１６の各荷重センサには、予め移乗支援装置１におけるローカル座標系の座標が与えられており、制御部５は、第２の検出部１６の各荷重センサから入力される検出信号に基づいて、被介護者の足裏の接地位置を示す座標として、被介護者の足裏が足裏支持部６ａに接地することによって当該足裏支持部６ａに作用する荷重の中心位置を示す座標を導き出す。ここで、被介護者の足裏が足裏支持部６ａから受ける反力は、被介護者の足裏によって足裏支持部６ａが受ける荷重に対応するので、制御部５は、導き出した荷重の中心位置を示す座標を被介護者の足裏が受ける反力の中心位置を示す座標と推定する。荷重の中心位置は、一般的な手法を用いて導き出すことができ、例えば、第２の検出部１６の各荷重センサから入力される検出信号に基づいて分散圧を導き出し、当該分散圧に基づいて導き出すことができる。   Next, the control part 5 acquires the reaction force position from the sole support part 6a based on the detection signal from the 2nd detection part 16 (S5). Specifically, the coordinates of the local coordinate system in the transfer support device 1 are given in advance to each load sensor of the second detection unit 16, and the control unit 5 receives each load sensor of the second detection unit 16 from each load sensor. Based on the input detection signal, as a coordinate indicating the ground contact position of the care receiver's sole, the load acting on the sole support portion 6a by the care receiver's sole contacting the sole support portion 6a A coordinate indicating the center position of is derived. Here, since the reaction force that the care receiver receives from the sole support portion 6a corresponds to the load that the sole support portion 6a receives by the sole of the care receiver, the control unit 5 The coordinates indicating the center position are estimated as the coordinates indicating the center position of the reaction force received by the sole of the care receiver. The center position of the load can be derived using a general method. For example, the distributed pressure is derived based on the detection signal input from each load sensor of the second detection unit 16, and based on the distributed pressure. Can be derived.

次に、制御部５は、被介護者の重心位置が作用線Ｌ１上に配置されたか否かを判定する（Ｓ６）。ここで、作用線Ｌ１は、反力中心位置を通る重力線であり、本実施の形態では、移乗支援装置１の上下方向に延在する。そのため、制御部５は、被介護者の重心位置における移乗支援装置１の前後方向での座標が、反力中心位置における移乗支援装置１の前後方向の座標と一致するか否かを判定する。なお、移乗支援装置１が傾斜面で用いられる場合は、移乗支援装置１に搭載された加速度センサやジャイロセンサによって検出された移乗支援装置１の傾斜角度に基づいて各座標が補正される。   Next, the control unit 5 determines whether or not the position of the center of gravity of the care receiver is placed on the action line L1 (S6). Here, the action line L1 is a gravity line passing through the reaction force center position, and extends in the vertical direction of the transfer assist device 1 in the present embodiment. Therefore, the control part 5 determines whether the coordinate in the front-back direction of the transfer assistance apparatus 1 in the care receiver's gravity center position corresponds with the coordinate in the front-back direction of the transfer assistance apparatus 1 in the reaction force center position. When the transfer support device 1 is used on an inclined surface, each coordinate is corrected based on the inclination angle of the transfer support device 1 detected by an acceleration sensor or a gyro sensor mounted on the transfer support device 1.

制御部５は、被介護者の重心位置における移乗支援装置１の前後方向での座標が、反力中心位置における移乗支援装置１の前後方向の座標と一致しない場合（Ｓ６のＮＯ）、保持部４が前斜め下側にさらに移動するように、第１の関節部１１、第２の関節部１２及び第３の関節部１３を制御し（Ｓ７）、Ｓ５の工程に戻る。   When the coordinate in the front-rear direction of the transfer assist device 1 at the center of gravity of the care receiver does not match the coordinate in the front-rear direction of the transfer assist device 1 at the reaction force center position (NO in S6), the control unit 5 The first joint portion 11, the second joint portion 12 and the third joint portion 13 are controlled so that 4 further moves forward obliquely downward (S7), and the process returns to S5.

一方、制御部５は、被介護者の重心位置における移乗支援装置１の前後方向での座標が、反力中心位置における移乗支援装置１の前後方向の座標と一致する場合（Ｓ６のＹＥＳ）、被介護者を上昇させるために上昇動作に切り替え（Ｓ８）、被介護者の重心位置が作用線Ｌ１上に配置された状態で当該被介護者を上昇させる（Ｓ９）。   On the other hand, when the coordinate in the front-rear direction of the transfer assist device 1 at the center of gravity position of the care recipient coincides with the coordinate in the front-rear direction of the transfer assist device 1 at the reaction force center position (YES in S6), In order to raise the cared person, the operation is switched to the ascending operation (S8), and the cared person is raised with the position of the center of gravity of the cared person placed on the action line L1 (S9).

次に、制御部５は、被介護者が目標位置に到達したか否かを判定する（Ｓ１０）。詳細には、予め第１の関節部１１、第２の関節部１２及び第３の関節部１３には、移乗支援装置１におけるローカル座標系の座標が与えられており、制御部５は、例えば、第３の関節部１３の座標が所定の位置に到達したか否かを判定する。   Next, the control unit 5 determines whether or not the care recipient has reached the target position (S10). More specifically, the coordinates of the local coordinate system in the transfer support device 1 are given to the first joint unit 11, the second joint unit 12, and the third joint unit 13 in advance. Then, it is determined whether or not the coordinates of the third joint portion 13 have reached a predetermined position.

制御部５は、被介護者が目標位置に到達していないと判定すると（Ｓ１０のＮＯ）、Ｓ９の工程に戻る。一方、制御部５は、被介護者が目標位置に到達したと判定すると（Ｓ１０のＹＥＳ）、移乗支援装置１による被介護者の持ち上げ動作を終了する。   When it is determined that the care receiver has not reached the target position (NO in S10), the control unit 5 returns to the process of S9. On the other hand, when the control unit 5 determines that the care recipient has reached the target position (YES in S10), the care receiver lift operation by the transfer assist device 1 ends.

このように本実施の形態では、作用線Ｌ１上で被介護者の重心位置が移動するように、アーム部３及び保持部４を制御する。そのため、本実施の形態の移乗支援装置１は、被介護者を移乗する際（特に、被介護者を上昇及び下降させる際）のモーメントアームが小さく、アーム部３（即ち、各アームや関節部）への要求トルクを軽減することができる。しかも、転倒モーメントは、上述のように被介護者の自重×モーメントアームで求めることができるが、本実施の形態では、モーメントアームを小さくすることができるので、被介護者の体重に個別差があっても、転倒モーメントのばらつきを抑制でき、設計マージンを多く確保する必要がない。したがって、本実施の形態の移乗支援装置１は、アーム部３の小型化に寄与できる。   Thus, in this Embodiment, the arm part 3 and the holding | maintenance part 4 are controlled so that a care receiver's gravity center position may move on the action line L1. Therefore, the transfer support device 1 of the present embodiment has a small moment arm when transferring the cared person (particularly when raising and lowering the cared person), and the arm part 3 (that is, each arm or joint part). ) Required torque can be reduced. In addition, the fall moment can be obtained by the cared person's own weight × moment arm as described above. However, in this embodiment, the moment arm can be made small, so there is an individual difference in the weight of the cared person. Even in such a case, it is possible to suppress the variation of the falling moment, and it is not necessary to secure a large design margin. Therefore, the transfer assist device 1 of the present embodiment can contribute to the downsizing of the arm unit 3.

しかも、第１の検出部１５及び第２の検出部１６の検出結果に基づいてアーム部３を制御するので、作用線Ｌ１上で正確に被介護者の重心位置を上方に移動させることができる。   Moreover, since the arm unit 3 is controlled based on the detection results of the first detection unit 15 and the second detection unit 16, the position of the center of gravity of the care receiver can be accurately moved upward on the action line L1. .

＜実施の形態２＞
実施の形態１の移乗支援装置１は、被介護者の重心位置が作用線Ｌ１上に配置されるようにアーム部３及び保持部４を制御したが、さらに被介護者の足裏位置を移動させてもよい。 <Embodiment 2>
The transfer assist device 1 according to the first embodiment controls the arm unit 3 and the holding unit 4 so that the center of gravity position of the cared person is arranged on the action line L1, but further moves the sole position of the cared person You may let them.

図４は、本実施の形態の移乗支援装置を示す模式図である。図５は、本実施の形態の移乗支援装置のブロック図である。なお、以下の説明では、実施の形態１と等しい要素には等しい符号を用い、実施の形態１と重複する説明は省略する。   FIG. 4 is a schematic diagram showing the transfer support apparatus according to the present embodiment. FIG. 5 is a block diagram of the transfer support apparatus of the present embodiment. In the following description, the same reference numerals are used for elements that are the same as those in the first embodiment, and descriptions that are the same as those in the first embodiment are omitted.

本実施の形態の移乗支援装置２１は、図４及び図５に示すように、実施の形態１の移乗支援装置１と略等しいが、足裏支持部６ａに被介護者の足裏位置を調整する位置調整部６ｂを備えている。   As shown in FIGS. 4 and 5, the transfer support device 21 of the present embodiment is substantially the same as the transfer support device 1 of the first embodiment, but the foot support position of the care receiver is adjusted to the foot support portion 6a. The position adjusting unit 6b is provided.

位置調整部６ｂは、被介護者の足裏位置を移乗支援装置１の前後方向に移動させるものであり、制御部５の制御信号に基づいて動作する。そして、位置調整部６ｂにおける台車２の上面から露出する部分に第２の検出部１６が配置されている。位置調整部６ｂとしては、例えばベルトコンベアなどを用いることができ、この場合、ベルトの外周面に第２の検出部１６を配置すればよい。   The position adjustment unit 6 b moves the care receiver's sole position in the front-rear direction of the transfer support device 1, and operates based on a control signal from the control unit 5. And the 2nd detection part 16 is arrange | positioned in the part exposed from the upper surface of the trolley | bogie 2 in the position adjustment part 6b. For example, a belt conveyor or the like can be used as the position adjustment unit 6b. In this case, the second detection unit 16 may be disposed on the outer peripheral surface of the belt.

このような移乗支援装置２１は、以下のように制御される。図６は、本実施の形態の移乗支援装置の制御方法の流れを示すフローチャート図である。本実施の形態の移乗支援装置２１の制御方法のＳ２１〜Ｓ２８の工程は、実施の形態１の移乗支援装置１の制御方法のＳ１〜Ｓ８の工程と等しいので説明は省略する。   Such a transfer support device 21 is controlled as follows. FIG. 6 is a flowchart showing the flow of the control method of the transfer support apparatus of the present embodiment. Since the steps S21 to S28 of the control method of the transfer assist device 21 of the present embodiment are the same as the steps S1 to S8 of the control method of the transfer assist device 1 of the first embodiment, description thereof will be omitted.

Ｓ２８の工程が終了すると、次に、制御部５は、第１の関節部１１、第２の関節部１２及び第３の関節部１３の制御と連動するように位置調整部６ｂの制御を開始し（Ｓ２９）、被介護者の重心位置が作用線Ｌ１上に配置された状態で当該被介護者を上昇させる（Ｓ３０）。詳細には、位置調整部６ｂによって被介護者の足裏位置を移乗支援装置２１の後側（即ち、台車２とアーム部３との連結部側）に移動させる。同時に、被介護者の重心位置が作用線Ｌ１上に配置された状態を維持するように、アーム部３によって被介護者の重心位置を移乗支援装置２１の後側に移動させつつ、被介護者を上昇させる。   When the process of S28 is completed, the control unit 5 starts control of the position adjustment unit 6b so as to be interlocked with the control of the first joint unit 11, the second joint unit 12, and the third joint unit 13. Then, the cared person is raised in a state where the center of gravity of the cared person is placed on the action line L1 (S30). Specifically, the position of the care receiver's sole is moved to the rear side of the transfer support device 21 (that is, the connecting portion side of the carriage 2 and the arm portion 3) by the position adjusting portion 6b. At the same time, the cared person is moved to the rear side of the transfer support device 21 by the arm unit 3 so that the position of the cared person's center of gravity is maintained on the action line L1. To raise.

次に、制御部５は、被介護者が目標位置に到達したか否かを判定し（Ｓ３１）、被介護者が目標位置に到達していないと判定するとＳ３０の工程に戻り（Ｓ３１のＮＯ）、被介護者が目標位置に到達したと判定すると移乗支援装置１による被介護者の持ち上げ動作を終了する（Ｓ３１のＹＥＳ）。   Next, the control unit 5 determines whether or not the cared person has reached the target position (S31). If it is determined that the cared person has not reached the target position, the process returns to the process of S30 (NO in S31). ), When it is determined that the care receiver has reached the target position, the lifting operation of the care receiver by the transfer assist device 1 is ended (YES in S31).

このように本実施の形態では、被介護者を移乗する際に当該被介護者の重心位置を台車２とアーム部３との連結部側に近づけることができるので、アーム部３への要求トルクをより軽減することができる。   As described above, in the present embodiment, when the care recipient is transferred, the center of gravity of the care recipient can be brought closer to the connecting portion side of the carriage 2 and the arm portion 3, so that the required torque to the arm portion 3 Can be further reduced.

本発明は上記実施の形態に限られたものではなく、趣旨を逸脱しない範囲で適宜変更することが可能である。   The present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

上記実施の形態では、撮像部１７を用いて被介護者の重心位置を推定しているが、この限りでなく、以下のように被介護者の重心位置を推定してもよい。例えば、予め保持部４における被介護者と接触する側の面に複数個の荷重センサを設けておき、第１の検出部１５は、保持部４に被介護者が保持された際の各荷重センサの検出値と、予め取得しておいた各荷重センサの検出値と体格との関係と、を比較し、被介護者の体格を推定する。そして、第１の検出部１５は、推定した被介護者の体格と、予め取得しておいた第３の関節部１３の関節軸から被介護者の重心位置までの距離と体格との関係と、を比較し、被介護者の重心位置を推定する。但し、被介護者の重心位置を検出することができれば、手法は限定されない。   In the embodiment described above, the center of gravity position of the cared person is estimated using the imaging unit 17, but the present invention is not limited to this, and the center of gravity position of the cared person may be estimated as follows. For example, a plurality of load sensors are provided in advance on the surface of the holding unit 4 on the side that comes into contact with the cared person, and the first detection unit 15 uses each load when the cared person is held by the holding unit 4. The detected value of the sensor is compared with the relationship between the detected value of each load sensor acquired in advance and the physique, and the physique of the care receiver is estimated. And the 1st detection part 15 is the relationship between the estimated physique of a cared person, the distance from the joint axis | shaft of the 3rd joint part 13 which was previously acquired, and a cared person's gravity center position, and a physique. , And the center of gravity position of the care receiver is estimated. However, the technique is not limited as long as the position of the center of gravity of the care recipient can be detected.

上記実施の形態のアーム部３は、第１のアーム８、第２のアーム９及び第３のアーム１０を備えているが、アームの数は特に限定されず、上述の制御方法を実現できればよい。   Although the arm part 3 of the said embodiment is provided with the 1st arm 8, the 2nd arm 9, and the 3rd arm 10, the number of arms is not specifically limited, What is necessary is just to be able to implement | achieve the above-mentioned control method. .

上記実施の形態では、被介護者の重心位置を作用線Ｌ１上で移動させているが、アーム部３への要求トルクを軽減できるように被介護者を移動させればよい。例えば、上記実施の形態では、第１の検出部１５及び第２の検出部１６を用いて正確に被介護者の重心位置を作用線Ｌ１上で移動させているが、第１の検出部１５及び第２の検出部１６を省略し、台車２とアーム部３との連結部側に被介護者を引き込んだ後に当該被介護者が上昇又は下降するように、アーム部３を制御してもよい。詳細には、被介護者の足裏が足裏支持部６ａに接地する位置を予め設定すると共に、被介護者の重心位置を例えば第３の関節部１３を基準に予め設定しておき、設定した被介護者の足裏が足裏支持部６ａに接地する位置の上方付近に被介護者の重心位置が配置されるように、着座物に着座した状態の被介護者を引き込み、その後、設定した被介護者の足裏が足裏支持部６ａに接地する位置の上方付近に被介護者の重心位置が配置された状態で、被介護者の重心位置が上方に移動するように、アーム部３を制御すればよい。これにより、被介護者を移乗する際のモーメントアームが小さく、アーム部への要求トルクを軽減することができる移乗支援装置を簡単な構成で実現することができる。また、第１の検出部１５又は第２の検出部１６の一方を省略してもよい。   In the above embodiment, the position of the center of gravity of the cared person is moved on the action line L1, but the cared person may be moved so that the required torque to the arm unit 3 can be reduced. For example, in the above embodiment, the position of the center of gravity of the cared person is accurately moved on the action line L1 using the first detection unit 15 and the second detection unit 16, but the first detection unit 15 The second detection unit 16 may be omitted, and the arm unit 3 may be controlled so that the cared person is raised or lowered after the cared person is drawn into the connecting part side of the carriage 2 and the arm unit 3. Good. Specifically, the position where the care receiver's sole touches the foot support 6a is set in advance, and the position of the center of gravity of the care receiver is set in advance with reference to the third joint portion 13, for example. The care receiver in the state of being seated on the sitting object is drawn in so that the position of the center of gravity of the care receiver is placed near the position above the position where the sole of the care receiver touches the sole support portion 6a. The arm portion so that the position of the center of gravity of the cared person moves upward in a state where the position of the center of gravity of the cared person is located near the position above the position where the sole of the cared person touches the sole support part 6a. 3 may be controlled. Thereby, the moment arm at the time of transferring a care recipient is small, and the transfer support device which can reduce the demand torque to an arm part is realizable by simple composition. One of the first detection unit 15 and the second detection unit 16 may be omitted.

１ 移乗支援装置
２ 台車、６ 台車本体、６ａ 足裏支持部、６ｂ 位置調整部
３ アーム部、８ 第１のアーム、９ 第２のアーム、１０ 第３のアーム、１１ 第１の関節部、１２ 第２の関節部、１３ 第３の関節部
４ 保持部
５ 制御部
７ 車輪
１４ 操作部
１５ 第１の検出部
１６ 第２の検出部
１７ 撮像部
１８ ベッド
２１ 移乗支援装置
１００ 移乗支援装置
１０１ 台車
１０２ アーム部
１０３ 保持部
Ｈ１ 股関節
Ｌ１ 作用線 DESCRIPTION OF SYMBOLS 1 Transfer assistance apparatus 2 Cart, 6 bogie main body, 6a Foot support part, 6b Position adjustment part 3 Arm part, 8 1st arm, 9 2nd arm, 10 3rd arm, 11 1st joint part, 12 Second joint part, 13 Third joint part 4 Holding part 5 Control part 7 Wheel 14 Operation part 15 First detection part 16 Second detection part 17 Imaging part 18 Bed 21 Transfer support apparatus 100 Transfer support apparatus 101 Dolly 102 Arm portion 103 Holding portion H1 Hip joint L1 Line of action

Claims (3)

被介護者の足裏を支持する足裏支持部を有する台車と、
前記台車に設けられたアーム部と、
前記アーム部に設けられ、前記被介護者を保持する保持部と、
前記アーム部を制御する制御部と、を備え、
前記制御部は、着座物に着座した状態の前記被介護者を前記台車と前記アーム部との連結部側に引き込み、前記被介護者の足裏が前記足裏支持部に接地した位置の上方付近に前記被介護者の重心位置が配置された状態で、前記被介護者の重心位置が上方に移動するように、前記アーム部を制御する移乗支援装置。 A carriage having a sole support portion for supporting the sole of the care recipient;
An arm provided on the carriage;
A holding part that is provided in the arm part and holds the care recipient;
A control unit for controlling the arm unit,
The control unit pulls the cared person in a state of sitting on a seated object to the connecting part side of the carriage and the arm part, and above the position where the sole of the cared person contacts the foot support part A transfer support device for controlling the arm unit so that the center of gravity of the care receiver moves upward in a state where the center of gravity of the care receiver is disposed in the vicinity. 前記移乗支援装置は、
前記被介護者の重心位置を検出する第１の検出部と、
前記被介護者の足裏が前記足裏支持部に接地した位置を検出する第２の検出部と、
前記制御部は、前記被介護者の足裏が前記足裏支持部に接地することによって当該足裏に作用する反力の作用線上で前記被介護者の重心位置が上方に移動するように、前記アーム部を制御する請求項１に記載の移乗支援装置。 The transfer support device includes:
A first detection unit for detecting the position of the center of gravity of the care recipient;
A second detection unit for detecting a position where the sole of the care recipient contacts the sole support unit;
The control unit is configured so that the position of the center of gravity of the cared person moves upward on the line of reaction force acting on the sole when the sole of the cared person contacts the sole support part. The transfer assistance apparatus of Claim 1 which controls the said arm part. 前記被介護者の足裏位置を前記台車と前記アーム部との連結部側に移動させる位置調整部を備え、
前記制御部は、前記作用線上で前記被介護者の重心位置が上方に移動するように、前記アーム部と前記位置調整部とを制御する請求項２に記載の移乗支援装置。 A position adjusting unit that moves the sole position of the care recipient to the connecting part side of the carriage and the arm part;
The transfer support device according to claim 2, wherein the control unit controls the arm unit and the position adjustment unit so that the position of the center of gravity of the care recipient moves upward on the line of action.
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