WO2018189823A1 - Device for acquiring data from assisting device - Google Patents

Device for acquiring data from assisting device Download PDF

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Publication number
WO2018189823A1
WO2018189823A1 PCT/JP2017/014938 JP2017014938W WO2018189823A1 WO 2018189823 A1 WO2018189823 A1 WO 2018189823A1 JP 2017014938 W JP2017014938 W JP 2017014938W WO 2018189823 A1 WO2018189823 A1 WO 2018189823A1
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WO
WIPO (PCT)
Prior art keywords
data
moving image
shooting
assistance device
data acquisition
Prior art date
Application number
PCT/JP2017/014938
Other languages
French (fr)
Japanese (ja)
Inventor
丈二 五十棲
有城 神谷
Original Assignee
株式会社Ｆｕｊｉ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社Ｆｕｊｉ filed Critical 株式会社Ｆｕｊｉ
Priority to PCT/JP2017/014938 priority Critical patent/WO2018189823A1/en
Priority to JP2019512095A priority patent/JP6745400B2/en
Publication of WO2018189823A1 publication Critical patent/WO2018189823A1/en

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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

Definitions

  • This specification relates to a device that acquires data related to the operation status of an assistance device.
  • Patent Document 1 discloses a technical example for acquiring data related to the operation status of the assistance device.
  • the home assistance device monitoring system disclosed in Patent Document 1 stores sensor means for detecting an operation state of the drive unit in the home assistance device, and log data representing an operation history of the drive unit based on a detection signal of the sensor means.
  • First control means and second control means for displaying log data are included.
  • the head part angle adjustment part of a bed, the leg part angle adjustment part, and the bed height adjustment part are illustrated as a drive part of an at-home assistance apparatus.
  • log data and moving image data are generally acquired by separate devices, and a time difference occurs at the internal time of each device. For this reason, even if log data and moving image data are collected in one data acquisition device, it is difficult to ensure temporal synchronization and compare both data. This problem is not limited to the use of recognizing the living situation of the person being assisted, but becomes apparent in the use of analyzing the operation status of the assistance device to further improve the operation performance and the comfort of use.
  • the present specification includes a moving image data acquisition unit that acquires moving image data that captures an operation state of an assistance device, a log data acquisition unit that acquires log data representing the operation state of the assistance device, the moving image data, and the log A synchronization data generation unit that generates synchronization data linked so that the data can be synchronized in time, and a synchronization data provision unit that stores the synchronization data or enables output to an external device for provision A data acquisition device of an assistance device is disclosed.
  • the present specification includes a moving image data acquisition unit that acquires moving image data that captures the operation status of the assistance device, a log data acquisition unit that acquires log data representing the operation status of the assistance device, the moving image data, A synchronization data generation unit that generates synchronization data linked so that the log data can be synchronized in time, and the moving image data is displayed as an image, and based on the synchronization data, the operation status of the assistance device being displayed
  • a data acquisition device for a second assistance device includes a display unit that displays the log data temporally corresponding to the image.
  • the synchronization data generation unit In the data acquisition devices of the first and second assistance devices, the synchronization data generation unit generates synchronization data linked so that the moving image data and the log data can be synchronized in time. Therefore, when using the synchronization data provided from the synchronization data providing unit or when viewing the image displayed on the display unit, temporal synchronization of the moving image data and the log data can be ensured.
  • FIG. 1 is a perspective view of an assistance device 1 that is a target of a data acquisition device as viewed obliquely from behind.
  • FIG. 2 is a figure which shows the initial state in case the assistance apparatus 1 assists the transfer operation
  • FIG. 3 is a diagram illustrating a final state when the assistance device 1 assists the transfer operation of the person being assisted M, and is a side cross-sectional view of the assistance device 1 taken along the center line.
  • the assistance device 1 assists transfer between two different places such as transfer between the bed of the person being assisted M and the wheelchair and transfer between the wheelchair and the toilet seat.
  • the assistance device 1 supports the body of the person being assisted M and assists the transfer operation from the sitting posture to the posture at the time of transfer and the sitting operation from the posture at the time of transfer to the sitting posture.
  • the transfer posture is a posture in which the buttocks floats from the seating surface, and includes a standing posture and a middle waist posture. That is, the posture at the time of transfer includes a state where the upper body stands up and a state of leaning forward.
  • the assistance apparatus 1 can transfer the care recipient M in the posture at the time of transfer when the two places to be transferred are separated.
  • the assistance device 1 includes a base 10, a drive unit 2, a support unit 50, a control unit 90, and the like.
  • the drive unit 2 includes an arm 20, an actuator 30, a link mechanism 40, and the like. The drive unit 2 moves the support unit 50 relative to the base 10.
  • the base 10 is formed of a frame 11, a foot placing table 12, a front wheel 13, a rear wheel 14, a crus pad 15 and the like.
  • the frame 11 is formed of a rear member 11a that is disposed horizontally in the vicinity of the floor surface F, and a front member 11b that extends obliquely upward and forward from the front end of the rear member 11a.
  • An actuator support portion 11c is projected from the front side of the upper surface of the rear member 11a.
  • the footrest 12 is fixed substantially horizontally on the upper surface of the rear member 11a.
  • the two front wheels 13 are provided on the front member 11b, and the two rear wheels 14 are provided on the rear member 11a. Due to the steering function of the front wheels 13 and the rear wheels 14, the assistance device 1 can perform not only a straight movement and a turning movement, but also a lateral movement and a super turn. Further, the front wheel 13 has a lock function for restricting movement.
  • the lower thigh pad 15 is formed of a pair of support members 16 and a cushion material 17.
  • the pair of support members 16 are erected from the front member 11b obliquely rearward and upward.
  • the cushion material 17 is provided at the upper end of the support member 16. The cushion material 17 is located above the footrest 12 and can be contacted with the vicinity of the lower leg of the person being assisted M.
  • the arm 20 constituting the drive unit 2 is formed of two bar-like members that are spaced apart and parallel to each other.
  • the two rod-shaped members are coupled to each other on the lower side using the swing shaft 21 and on the upper side using the support shaft 22.
  • the arm 20 has a curved shape in which two rod-like members protrude forward or a bent shape.
  • a link support portion 27 is provided near the middle of the arm 20 in the length direction.
  • a regulating member 28 having a shape substantially along the arm 20 is provided near the link support portion 27 of the arm 20.
  • the arm 20 swings in the front-rear direction with the swing shaft 21 supported by the front member 11b as the swing axis.
  • a stopper mechanism 23 is provided to regulate the swing angle of the arm 20.
  • the stopper mechanism 23 includes a contact member 24 fixed to the lower side of the arm 20, and a first stopper 25 and a second stopper 26 fixed to the front member 11b.
  • the arm 20 extends from a rear position (shown in FIG. 2) where the contact member 24 contacts the first stopper 25 to a front position (shown in FIG. 3) where the contact member 24 contacts the second stopper 26. Swing between.
  • the support part 50 is formed including a body support part 52 and a pair of side support parts 53.
  • the trunk support 52 is supported by the support shaft 22 of the arm 20 so as to be swingable. Thereby, the support part 50 rocks
  • the swing angle range of the support portion 50 can be exemplified as 30 °, but is not limited thereto.
  • the body support portion 52 includes a handle 52a and a locking portion 52b.
  • the handle 52a is formed in a substantially rectangular frame shape.
  • the handle 52 a is a part that is held by the person being assisted M, and is also a part that is held by the assistant in order to move the assistance device 1.
  • the locking portion 52b is located near the center of the rectangular frame of the handle 52a.
  • the torso support part 52 supports the abdomen from the chest of the to-be-supported person's M torso.
  • the pair of side support parts 53 are attached to the chest sides on the left and right sides of the body support part 52.
  • the side support portion 53 is formed in an L shape that bends at an obtuse angle.
  • a short straight line portion from the base end on the attachment side of the side support portion 53 to the bent position becomes a shoulder receiving portion 53a, and a long straight portion from the bent position to the distal end becomes a side entry portion 53b.
  • the shoulder receiving portion 53 a is located in substantially the same plane as the body support portion 52 and supports the front surface of the shoulder of the person being assisted M.
  • the side entry portion 53b gradually moves away from the plane, enters the sides of the body of the person being assisted M, and can extend in the back direction of the person being assisted.
  • the surface of the side support portion 53 is covered with a cushion material that can be easily deformed and compressed.
  • the pair of side support portions 53 enter the sides of the body of the person being assisted M and support both sides.
  • the side support part 53 is swingable about the base end as an axis, and the angle formed with the body support part 52 is adjustable. Therefore, when the person being assisted leans against the side support portion 53, the side support portion 53 swings, and the operation of leaning is facilitated. Furthermore, the support part 50 respond
  • the actuator 30 constituting the drive unit 2 is formed by a main body 31, a movable part 32, a motor 33 (see FIG. 5), and the like.
  • the movable part 32 moves linearly relative to the main body part 31 and protrudes from the return position via the intermediate position.
  • a motor 33 serving as a drive source is provided in the main body 31.
  • the motor 33 is controlled by the control unit 90 and drives the movable unit 32 via a power transmission mechanism such as a transmission gear (not shown).
  • the drive source is not limited to the motor 33, and may be a pressure drive source that directly moves the movable portion 32 corresponding to the piston using hydraulic pressure or air pressure.
  • the base end 31a of the main body 31 is supported by the actuator support 11c of the frame 11 so as to be tiltable. As a result, the actuator 30 tilts in the front-rear direction with the actuator support 11c as a fulcrum.
  • the distal end 32 a of the movable part 32 engages with the link mechanism 40.
  • the link mechanism 40 constituting the drive unit 2 is formed of a first link member 41, a second link member 42, and the like.
  • the first link member 41 is a long member formed of metal, hard resin, or the like.
  • the first link member 41 has a supported portion 41a at the center, a driven portion 41b and a roller 41c at one end, and a connecting portion 41d at the other end.
  • the supported part 41a is supported by the link support part 27 of the arm 20 so as to be swingable.
  • the driven portion 41 b is engaged with the tip 32 a of the movable portion 32 of the actuator 30. When the movable portion 32 further protrudes from the intermediate position, the roller 41c can come into contact with the regulating member 28 of the arm 20 and roll.
  • the second link member 42 connects the connecting portion 41d of the first link member 41 and the locking portion 52b of the body support portion 52.
  • the second link member 42 is formed using a flexible material such as rubber, elastomer, soft resin, or film-like hard resin.
  • the connecting portion 41d and the locking portion 52b move in directions away from each other, the second link member 42 is in an interlocking state in which the connecting portion 41d and the locking portion 52b are interlocked.
  • the connecting portion 41d and the locking portion 52b move in a direction approaching each other, the second link member 42 allows an unlinked state in which the connecting portion 41d and the locking portion 52b are not linked.
  • the control unit 90 includes a control main body 91, an operating device 92, a wireless communication unit 99 (see FIG. 5), a battery power source 96, and the like.
  • the control main body 91 and the battery power source 96 are fixed on the front side near the lower end of the arm 20.
  • the battery power source 96 is shared by the control main body 91, the wireless communication unit 99, and the actuator 30.
  • the operating device 92 is connected to the control main body 91 using a connection cord 93. However, the operation device 92 may be connected to the control main body 91 by wireless communication.
  • the operating device 92 is provided with an up button 94 and a down button 95.
  • the functional configuration of the control unit 90 is shown in FIG.
  • the control main body 91 is configured using a computer device having a CPU and operating with software.
  • the control main body 91 stores an identification code that identifies an individual of the assistance device 1.
  • the identification code is also displayed on the main body of the assistance device 1.
  • the control main body 91 performs switching control of normal connection, reverse connection, and interruption of the voltage supplied from the battery power source 96 to the motor 33. In response to this, the motor 33 rotates forward, reversely, and stops, and the movable portion 32 protrudes, returns, and stops.
  • the control main body 91 controls the actuator 30 according to the operation state of the operation device 92.
  • the control main body 91 controls the ascending mode in which the movable portion 32 of the actuator 30 protrudes from the main body 31.
  • the ascending mode corresponds to assistance of a transfer operation that raises the buttocks of the person being assisted.
  • the control main body 91 controls the lowering mode in which the movable portion 32 of the actuator 30 is returned to the main body 31.
  • the descending mode corresponds to assistance of a seating operation for lowering the buttocks of the person being assisted.
  • the control main body 91 includes a device built-in clock 97 and a log data management unit 98.
  • the device built-in clock 97 continuously counts time regardless of whether the main power of the assistance device 1 is turned on or off.
  • the log data management unit 98 functions when the main power is turned on, and continuously records the log data DL representing the operation status of the assistance device 1.
  • the log data DL is, for example, a value for each predetermined time interval between a command value related to the rotation amount of the motor 33 and an actual operation value. According to this example, log data DL in which a time, a command value, and an actual operation value are set is sequentially recorded.
  • the swing angle of the support portion 50 and the arm 20 can be uniquely determined.
  • a measurement sensor or the like is attached, at least one item of the protruding amount of the movable portion 32, the swing angle of the support portion 50, and the swing angle of the arm 20 may be measured and used as log data DL. it can.
  • the wireless communication unit 99 performs data transmission between the control main unit 91 and an external wireless communication device.
  • the wireless communication unit 99 has a function of wirelessly transmitting log data DL in response to an external request.
  • the wireless communication method of the wireless communication unit 99 is a general method used for, for example, smartphones and tablet terminals. Instead of the wireless communication unit 99, a wired communication unit that performs data transmission via a communication line may be used.
  • Assistance Device 1 Operation of Assistance Device 1
  • assistance of the transfer operation of the person being assisted M is taken as an example.
  • the assistance device 1 operates from the initial state shown in FIG. 2 to the final state shown in FIG.
  • the assistance device 1 operates in the reverse direction in the generally reverse order of the assistance of the transfer operation.
  • the assistant presses down button 95 of operating device 92 to return movable portion 32 of actuator 30 to the return position shown in FIG. Subsequently, the assistant holds the handle 52a and moves the assistant device 1 to approach the person M who is in the sitting posture.
  • the person being assisted M causes the lower body to enter the region between the base 10 and the support part 50. Further, the person being assisted M places both feet on the mark 12 a of the foot placing table 12.
  • the care receiver M can obtain a stable posture by bringing a part of the lower leg into contact with the cushion material 17 of the lower leg pad 15.
  • the person being assisted M tilts the trunk forward to bring it into surface contact with the trunk support 52 and leans against the side support 53 on both sides.
  • the trunk support portion 52 swings in the standing direction, so that the forward tilt angle of the trunk is small.
  • the side entry portion 53 b of the side support portion 53 is substantially horizontal or slightly rearwardly lowered, the person being assisted M can easily lean on the side support portion 53.
  • the posture of the person being assisted at this time is the initial posture. In the initial posture, the buttocks are seated on the seat.
  • the series of operations of the person being assisted M described above may be assisted by an assistant.
  • the assistant presses the ascending button 94 of the operation device 92 to cause the movable portion 32 to protrude. While the movable portion 32 protrudes from the return position to the intermediate position, the roller 41c of the first link member 41 is not yet in contact with the regulating member 28. For this reason, the first link member 41 is driven by the movable portion 32 and swings counterclockwise in FIG. At the same time, the actuator 30 tilts forward. Further, the arm 20 maintains the rear position of the initial state. As the first link member 41 swings, the support portion 50 swings forward in conjunction with the second link member 42. This operation is continued until the movable part 32 reaches the intermediate position. Thereby, as for the care receiver M, the upper body leans further forward. At this time, since the side entry part 53b of the side support part 53 is forwardly lowered, the person being assisted M is restricted from moving backward and does not fall off the support part 50.
  • the assistant further presses the ascending button 94 of the operation device 92 to cause the movable portion 32 to protrude.
  • the roller 41c comes into contact with the restricting member 28, and the swinging of the first link member 41 ends.
  • the arm 20 is driven by the movable portion 32 and swings clockwise in FIG.
  • the actuator 30 tilts further forward.
  • the connecting portion 41 d and the locking portion 52 b are in an interlocking state, and the support portion 50 maintains a constant posture with respect to the arm 20. This operation is continued until the end state of FIG. 3 when the arm 20 reaches the front position.
  • the person being assisted M further tilts forward while the upper body moves diagonally forward and upward while the buttocks move away from the seating surface.
  • the person being assisted M takes the posture at the time of transfer in which the buttock is greatly raised from the seating surface and the leg is extended.
  • FIG. 4 is a diagram schematically illustrating a usage state of the data acquisition device 6 of the assistance device according to the first embodiment.
  • FIG. 5 is a block diagram showing a functional configuration of the data acquisition device 6.
  • the data acquisition device 6 is configured mainly with the communication terminal 60. Specifically, the data acquisition device 6 is configured using the moving image shooting function, wireless communication function, display function, memory, application, and the like of the communication terminal 60.
  • the application is dedicated software for data acquisition.
  • this kind of communication terminal 60 a smart phone and a tablet terminal can be illustrated.
  • the communication terminal 60 By using the communication terminal 60, it is not necessary to construct a system by combining a video camera, a wireless communication device, a display device, and the like. Further, since the communication terminal 60 originally has a moving image shooting function, a wireless communication function, a display function, and a memory, it is only necessary to develop an application. Therefore, the cost of the data acquisition device 6 is low.
  • the communication terminal 60 includes an internal clock 61, a moving image camera 62, a moving image data acquisition unit 63, a log data acquisition unit 64, a synchronization data generation unit 65, and a synchronization data provision unit 66.
  • the moving image data acquisition unit 63, log data acquisition unit 64, synchronization data generation unit 65, and synchronization data provision unit 66 are realized by an application.
  • the internal clock 61 is generally built in the communication terminal 60.
  • the internal clock 61 continuously measures time regardless of the operation status of the communication terminal 60.
  • the moving image shooting camera 62 is operated by a shooting start button and a shooting end button (not shown). As shown in FIG. 4, the operator Op can use the moving image capturing camera 62 of the communication terminal 60 to capture the operation status of the assistance device 1 and store the moving image data DD in the memory.
  • the moving image data DD acquired by shooting is associated with the time of the internal clock 61. That is, the shooting time of the moving image data DD, the shooting end time, and the time of each image during shooting are measured by the internal clock 61.
  • the internal clock 61 functions as a camera built-in clock.
  • the moving image data acquisition unit 63 acquires the moving image data DD from the moving image shooting camera 62 and passes it to the synchronization data generation unit 65.
  • the operator Op can use the wireless communication function of the communication terminal 60 to capture the log data DL of the assistance device 1 into the communication terminal 60 and store it in the memory.
  • the log data acquisition unit 64 acquires the log data DL from the control main body unit 91 of the assistance device 1 via the wireless communication unit 99 and passes it to the synchronization data generation unit 65.
  • the synchronization data generation unit 65 generates synchronization data DS linked so that the moving image data DD and the log data DL can be temporally synchronized.
  • the synchronization data DS includes moving image data DD and log data DL, and also includes link information representing the synchronization relationship between the two data. Details of the functions of the log data acquisition unit 64 and the synchronization data generation unit 65 will be described later together with the operation.
  • the synchronization data providing unit 66 outputs the synchronization data DS to the external device 71 so that it can be provided.
  • An Internet communication network 72 can be used as an output unit of the synchronization data providing unit 66.
  • examples of the external device 71 include a cloud server and a development database of the manufacturer of the assistance device 1.
  • the synchronization data DS is used, for example, for an application that analyzes the operation status of the assistance device 1 and further improves the operation performance and the comfort of use.
  • the engineer En of the manufacturer downloads the synchronization data DS from the external device 71 to the analysis tool 73.
  • the engineer En can analyze the relationship between the moving image data DD and the log data DL on the analysis tool 73.
  • the engineer En can reproduce the moving image data DD on the analysis tool 73 and compare it with the log data DL.
  • the temporal synchronization of the moving image data DD and the log data DL can be ensured, analysis and comparison are facilitated, and the accuracy of analysis and comparison is improved.
  • the engineer En can acquire the synchronization data DS even when the assistance device 1 is in a remote place. As a result, the engineer En does not have to travel to a remote location. Furthermore, the engineer En can acquire a wide range of synchronization data DS from a plurality of assistance devices 1 and other types of assistance devices such as a movable bed.
  • FIG. 6 is a diagram showing an operation flow of the data acquisition device 6.
  • the operation flow of the data acquisition device 6 proceeds by executing the application of the communication terminal 60 and operating the operator Op.
  • the operator Op turns on the main power supply of the assistance device 1 that is the target of data acquisition and activates the application of the communication terminal 60.
  • step S1 of FIG. 6 the log data acquisition unit 64 transmits a call signal wirelessly and searches for the assisting device 1 located nearby.
  • the control main body 91 of the assistance device 1 that has received the call signal returns its own identification code wirelessly.
  • the log data acquisition part 64 acquires the identification code of the some assistance apparatus 1 which can become the object of data acquisition, and displays it as a list. If the plurality of assistance devices 1 in the care facility are all stopped, the moving image data acquisition unit 63 ends the operation flow because it cannot acquire any identification code.
  • the operator Op confirms the identification code displayed on the main body of the assistance device 1 that is the object of data acquisition, and selects the same identification code that the moving image data acquisition unit 63 displays as a list. Thereby, when the main power supply of the some assistance apparatus 1 is turned on, the operator Op and the data acquisition apparatus 6 can recognize in common the specific assistance apparatus 1 used as the object of data acquisition.
  • the moving image shooting camera 62 acquires the shooting start time TsD timed using the internal clock 61. Thereby, storage of the moving image data DD in the memory starts. Thereafter, the assistance operation of the person M to be assisted by the assistance device 1 proceeds, and the video shooting also proceeds in parallel.
  • step S4 the operator Op presses the photographing end button to finish the moving image photographing.
  • the moving image shooting camera 62 acquires the shooting end time TeD measured using the internal clock 61.
  • the moving image data acquisition unit 63 attaches information about the shooting start time TsD and the shooting end time TeD to the moving image data DD, and passes the information to the synchronization data generation unit 65.
  • the transfer of the moving image data DD between the memories is not necessary, and the operation authority of the moving image data DD simply shifts to the synchronous data generation unit 65.
  • the log data acquisition unit 64 establishes a wireless communication environment with the wireless communication unit 99 of the assisting device 1 so that data transmission can be performed.
  • the synchronization data generation unit 65 acquires the first current time T ⁇ b> 1 that is timed using the internal clock 61.
  • the synchronization data generation unit 65 acquires the second current time T2 measured using the device built-in clock 97 of the assistance device 1 by wireless communication.
  • the synchronization data generation unit 65 subtracts the second current time T2 from the first current time T1 to obtain a time difference ⁇ T.
  • the time difference ⁇ T is expressed with a positive / negative sign. For example, it is assumed that the first current time T1 is 10:23:50 and the second current time T2 is 10:21:35. In this case, the time difference ⁇ T is calculated as +2 minutes 15 seconds. The time difference ⁇ T becomes link information of the synchronization data DS.
  • the time difference ⁇ T is +2 minutes 15 seconds
  • the shooting start time TsD is 10:15:00
  • the shooting end time TeD is 10:20:00.
  • the start time TsL of the log data DL is calculated as 10:12:45.
  • the end time TeL of the log data DL is calculated as 10:17:45.
  • the recording time TL of the log data DL that coincides with the shooting time TD of an arbitrary image of the moving image data DD is calculated as the recording time (TD ⁇ T). That is, the image at the shooting time TD of the moving image data DD and the information of the recording time (TD ⁇ T) of the log data DL are linked as information at the same time.
  • the log data acquisition unit 64 uses the wireless communication function to acquire the minutes from the start time TsL to the end time TeL of the log data DL from the control body 91 and store them in the memory.
  • the predetermined time interval of the log data DL is orders of magnitude shorter than the time interval of frame advance of the moving image data DD. Therefore, it is preferable that the log data acquisition unit 64 acquires the log data DL by thinning it out appropriately.
  • the log data acquisition unit 64 may acquire only the log data DL linked to the shooting time TD of the moving image data DD. Further, for example, the log data acquisition unit 64 may simply acquire the log data DL every tenth and omit the nine in between.
  • the log data DL in a time zone in which no moving image shooting is performed is not wirelessly transmitted. Further, the log data DL is appropriately thinned to save the data amount. Therefore, the wireless communication time required for acquiring the log data DL is shortened. Moreover, there is almost no adverse effect that the analysis accuracy of the synchronization data DS is lowered.
  • the synchronization data generation unit 65 links the log data DL associated with the moving image data DD from the start of shooting to the end of shooting and the moving image data DD to generate the synchronization data DS.
  • the synchronization data DS includes information of moving image data DD, thinned log data DL, and time difference ⁇ T.
  • the synchronization data providing unit 66 outputs the synchronization data DS to the external device 71 so that it can be provided.
  • the engineer En can ensure temporal synchronization in consideration of the time difference ⁇ T when analyzing and comparing the moving image data DD and the log data DL.
  • the data acquisition device 6 of the assistance device includes a synchronization data generation unit 65 that generates synchronization data DS obtained by linking the moving image data DD and the log data DL. Therefore, when using the synchronization data DS provided from the synchronization data providing unit 66, temporal synchronization of the moving image data DD and the log data DL can be ensured.
  • FIG. 7 is a block diagram illustrating a functional configuration of the data acquisition device 6A of the assistance device according to the second embodiment.
  • the data acquisition device 6A is composed mainly of a personal computer 60A.
  • the data acquisition device 6A is configured using the wired communication function, wireless communication function, display function, memory, application, and the like of the personal computer 60A.
  • the personal computer 60A includes a moving image data acquisition unit 63A, a log data acquisition unit 64, a synchronization data generation unit 65A, a synchronization data storage unit 67, a display unit 68, and a display device 69.
  • a moving image data acquisition unit 63A the log data acquisition unit 64
  • a synchronization data generation unit 65A the synchronization data storage unit 67
  • a display unit 68 the display device 69.
  • the functions of the moving image data acquisition unit 63A, the log data acquisition unit 64, the synchronization data generation unit 65A, and the display unit 68 are realized by an application. Since the function of the log data acquisition unit 64 is the same as that of the first embodiment, description thereof is omitted.
  • the moving image data acquisition unit 63A is connected to the output communication line 76 of the single moving image shooting camera 75.
  • the moving image shooting camera 75 images the operation status of the assistance device 1 and outputs moving image data DD.
  • the moving image shooting camera 75 records the shooting start time TsD and the shooting end time TeD of the moving image data DD using the camera built-in clock.
  • the moving image data acquisition unit 63A attaches the information of the shooting start time TsD and the shooting end time TeD to the moving image data DD acquired using the wired communication function, and transfers it to the synchronization data generation unit 65A.
  • the synchronization data generation unit 65A generates synchronization data DS linked so that the moving image data DD and the log data DL can be temporally synchronized, and stores them in the synchronization data storage unit 67.
  • the generation method and data structure of the synchronization data DS are the same as those in the first embodiment. That is, also in the second embodiment, the synchronous data generation unit 65A calculates the time difference ⁇ T and performs the calculation using (Expression 1) and (Expression 2).
  • the display unit 68 refers to the synchronization data DS stored in the synchronization data storage unit 67 and displays the moving image data DD on the display device 69 as an image. Further, the display unit 68 displays log data DL temporally corresponding to the image of the moving image data DD being displayed based on the time difference ⁇ T that is the link information of the synchronization data DS.
  • FIG. 8 is a diagram schematically illustrating an example of a screen displayed on the display device 69 by the display unit 68.
  • the moving image data DD is displayed on the entire screen shown in FIG.
  • the moving image data DD represents an operation state in which the assistance device 1 ⁇ / b> A and the assistant assist the person being assisted M.
  • the hour / minute / second indicating the shooting time TD of the image of the moving image data DD being displayed is displayed as HH / MM / SS.
  • the shooting time TD of the moving image data DD is measured by the camera built-in clock of the moving image shooting camera 75.
  • log data DL is displayed on the left side of the upper part of the screen. More specifically, the hour, minute and second representing the recording time TL of the log data DL is displayed as HH / mm / ss on the first line of the log data DL.
  • the recording time TL of the log data DL is measured by the device built-in clock 97 of the assistance device 1A.
  • the command value CCC and actual operation value ZZZ of the motor 33 at the recording time TL are displayed on the second and third lines of the log data DL.
  • the recording time TL of the log data DL differs from the shooting time TD of the moving image data DD in the display values of minutes and seconds, and is shifted by exactly the time difference ⁇ T. That is, the recording time TL of the log data DL actually means the same time that is completely synchronized with the shooting time TD of the moving image data DD.
  • the command value CCC and the actual movement value ZZZ are values at the moment of the image of the moving image data DD being displayed. Thereby, temporal synchronization of the moving image data DD and the log data DL is ensured, and analysis and comparison are facilitated, and the accuracy of analysis and comparison is improved.
  • the data acquisition device 6A of the assistance device includes a synchronization data generation unit 65A that generates synchronization data DS obtained by linking the moving image data DD and the log data DL. Therefore, when viewing the image displayed on the display unit 68, temporal synchronization of the moving image data DD and the log data DL can be ensured.
  • the form for providing the synchronization data DS is not limited to the first and second embodiments described above, and can be modified as appropriate.
  • the synchronization data providing unit 66 of the communication terminal 60 stores the synchronization data DS in a memory, and performs the data communication according to an external request or provides the synchronization data DS using a portable memory. May be.
  • the object of data acquisition is not limited to the assistance apparatus 1, For example, a movable bed etc. may be sufficient.
  • the first and second embodiments can be variously modified and applied.

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Abstract

The device for acquiring data from an acquisition device according to the present invention includes: a moving image data acquisition unit that acquires moving image data of an operating status of the assisting device; a log data acquisition unit that acquires log data representing the operating status of the assisting device; a synchronous data generating unit that generates synchronous data in which the moving image data and the log data are linked and temporally synchronized with each other; and a synchronous data providing unit that makes the synchronous data available by storing the synchronous data or by outputting the synchronous data to an external device.

Description

介助装置のデータ取得装置Assistance device data acquisition device
　本明細書は、介助装置の動作状況に関するデータを取得する装置に関する。 This specification relates to a device that acquires data related to the operation status of an assistance device.
　高齢化社会の進展に伴い、介助装置のニーズが増大している。介助装置の導入により、介助者および被介助者の身体的な負担が軽減されるとともに、介護士の人手不足も緩和される。介助装置の一例として、被介助者の着座姿勢からの移乗動作を介助する装置がある。この種の介助装置は、一般的に、被介助者の身体の一部を支持した状態で動作する可動部、および可動部を駆動するモータ等の駆動源を有する。介助装置の動作状況に関するデータを取得する技術例が特許文献１に開示されている。 As the aging society progresses, the need for assistance devices is increasing. The introduction of the assistance device reduces the physical burden on the caregiver and the person being assisted, and also reduces the shortage of caregivers. As an example of the assistance device, there is a device that assists the transfer operation from the sitting posture of the person being assisted. This type of assistance device generally has a movable part that operates while supporting a part of the body of the person being assisted, and a drive source such as a motor that drives the movable part. Patent Document 1 discloses a technical example for acquiring data related to the operation status of the assistance device.
　特許文献１に開示された在宅介助装置モニタシステムは、在宅介助装置における駆動部の動作状態を検出するセンサ手段と、センサ手段の検出信号に基づいて駆動部の動作履歴を表すログデータを記憶する第１制御手段と、ログデータを表示させる第２制御手段とを有する。また、在宅介助装置の駆動部として、ベッドの頭部角度調節部、脚部角度調節部、およびベッド高さ調節部が例示されている。これにより、介助者やケアマネージャ等は、被介助者の操作履歴を容易に把握して、細かな生活状況を認識できる、とされている。 The home assistance device monitoring system disclosed in Patent Document 1 stores sensor means for detecting an operation state of the drive unit in the home assistance device, and log data representing an operation history of the drive unit based on a detection signal of the sensor means. First control means and second control means for displaying log data are included. Moreover, the head part angle adjustment part of a bed, the leg part angle adjustment part, and the bed height adjustment part are illustrated as a drive part of an at-home assistance apparatus. Thereby, it is said that a caregiver, a care manager, etc. can grasp | ascertain the operation history of a caregiver easily and can recognize a detailed living condition.
国際公開第２００６／１０６６０７号International Publication No. 2006/106607
　ところで、介助装置の動作状況を詳細に把握するためには、ログデータだけでなく、介助装置および被介助者を動画で撮影した動画データを併用するとよい。しかしながら、ログデータおよび動画データは、別々の装置で取得されるのが一般的あり、各装置の内部時刻に時間差が発生する。このため、ログデータおよび動画データを１つのデータ取得装置に集めても、時間的な同期を確保して両データを見比べることが難しい。この問題点は、被介助者の生活状況を認識する用途に限定されず、介助装置の動作状況を分析して動作性能や使用快適性のさらなる向上を図る用途において顕在化する。 By the way, in order to grasp the operation status of the assistance device in detail, it is preferable to use not only log data but also moving image data obtained by photographing the assistance device and the person being assisted with moving images. However, log data and moving image data are generally acquired by separate devices, and a time difference occurs at the internal time of each device. For this reason, even if log data and moving image data are collected in one data acquisition device, it is difficult to ensure temporal synchronization and compare both data. This problem is not limited to the use of recognizing the living situation of the person being assisted, but becomes apparent in the use of analyzing the operation status of the assistance device to further improve the operation performance and the comfort of use.
　本明細書では、ログデータに加えて動画データを取得する構成において、両データの時間的な同期を確保できる介助装置のデータ取得装置を提供することを解決すべき課題とする。 In this specification, it is an issue to be solved to provide a data acquisition device of an assistance device capable of ensuring temporal synchronization of both data in a configuration in which moving image data is acquired in addition to log data.
　本明細書は、介助装置の動作状況を撮影した動画データを取得する動画データ取得部と、前記介助装置の前記動作状況を表すログデータを取得するログデータ取得部と、前記動画データおよび前記ログデータを時間的に同期できるようにリンクさせた同期データを生成する同期データ生成部と、前記同期データを記憶し、または外部装置に出力して提供可能とする同期データ提供部と、を備える第一の介助装置のデータ取得装置を開示する。 The present specification includes a moving image data acquisition unit that acquires moving image data that captures an operation state of an assistance device, a log data acquisition unit that acquires log data representing the operation state of the assistance device, the moving image data, and the log A synchronization data generation unit that generates synchronization data linked so that the data can be synchronized in time, and a synchronization data provision unit that stores the synchronization data or enables output to an external device for provision A data acquisition device of an assistance device is disclosed.
　また、本明細書は、介助装置の動作状況を撮影した動画データを取得する動画データ取得部と、前記介助装置の前記動作状況を表すログデータを取得するログデータ取得部と、前記動画データおよび前記ログデータを時間的に同期できるようにリンクさせた同期データを生成する同期データ生成部と、前記動画データを画像表示するとともに、前記同期データに基づき、表示中の前記介助装置の前記動作状況の画像と時間的に対応した前記ログデータを表示する表示部と、を備える第二の介助装置のデータ取得装置を開示する。 In addition, the present specification includes a moving image data acquisition unit that acquires moving image data that captures the operation status of the assistance device, a log data acquisition unit that acquires log data representing the operation status of the assistance device, the moving image data, A synchronization data generation unit that generates synchronization data linked so that the log data can be synchronized in time, and the moving image data is displayed as an image, and based on the synchronization data, the operation status of the assistance device being displayed A data acquisition device for a second assistance device is provided that includes a display unit that displays the log data temporally corresponding to the image.
　第一及び第二の介助装置のデータ取得装置において、同期データ生成部は、動画データおよびログデータを時間的に同期できるようにリンクさせた同期データを生成する。したがって、同期データ提供部から提供される同期データを利用するときや、表示部が表示した画像を見るときに、動画データおよびログデータの時間的な同期を確保することができる。 In the data acquisition devices of the first and second assistance devices, the synchronization data generation unit generates synchronization data linked so that the moving image data and the log data can be synchronized in time. Therefore, when using the synchronization data provided from the synchronization data providing unit or when viewing the image displayed on the display unit, temporal synchronization of the moving image data and the log data can be ensured.
データ取得装置の対象となる介助装置を斜め後方から見た斜視図である。It is the perspective view which looked at the assistance apparatus used as the object of a data acquisition apparatus from diagonally backward. 介助装置が被介助者の移乗動作を介助する場合の初期状態を示す図であって、介助装置を中心線で切った側面断面図である。It is a figure which shows the initial state in case an assistance apparatus assists a person being transferred, and is a side cross-sectional view of the assistance apparatus taken along the center line. 介助装置が被介助者の移乗動作を介助する場合の終期状態を示す図であって、介助装置を中心線で切った側面断面図である。It is a figure which shows the final state in case an assistance apparatus assists a transfer operation of a caregiver, and is side surface sectional drawing which cut the assistance apparatus with the centerline. 第１実施形態の介助装置のデータ取得装置の使用状況を模式的に示した図である。It is the figure which showed typically the use condition of the data acquisition apparatus of the assistance apparatus of 1st Embodiment. データ取得装置の機能構成を示すブロック図である。It is a block diagram which shows the function structure of a data acquisition apparatus. データ取得装置の動作フローを示した図である。It is the figure which showed the operation | movement flow of the data acquisition apparatus. 第２実施形態の介助装置のデータ取得装置の機能構成を示すブロック図である。It is a block diagram which shows the function structure of the data acquisition apparatus of the assistance apparatus of 2nd Embodiment. 表示部によって表示装置に表示された画面の一例を模式的に示す図である。It is a figure which shows typically an example of the screen displayed on the display apparatus by the display part.
　１．介助装置１の構成
　まず、データ取得装置の対象となる介助装置１について、例示説明する。図１は、データ取得装置の対象となる介助装置１を斜め後方から見た斜視図である。また、図２は、介助装置１が被介助者Ｍの移乗動作を介助する場合の初期状態を示す図であって、介助装置１を中心線で切った側面断面図である。さらに、図３は、介助装置１が被介助者Ｍの移乗動作を介助する場合の終期状態を示す図であって、介助装置１を中心線で切った側面断面図である。 1. Configuration of Assisting Device 1 First, the assisting device 1 that is a target of the data acquisition device will be described by way of example. FIG. 1 is a perspective view of an assistance device 1 that is a target of a data acquisition device as viewed obliquely from behind. Moreover, FIG. 2 is a figure which shows the initial state in case the assistance apparatus 1 assists the transfer operation | movement of the care receiver M, and is side surface sectional drawing which cut the assistance apparatus 1 with the centerline. Further, FIG. 3 is a diagram illustrating a final state when the assistance device 1 assists the transfer operation of the person being assisted M, and is a side cross-sectional view of the assistance device 1 taken along the center line.
　介助装置１は、例えば、被介助者Ｍのベッドと車椅子との間の移乗や、車椅子と便座との間の移乗など、異なる二箇所の間の移乗を介助する。介助装置１は、被介助者Ｍの胴体を支持して、座位姿勢から移乗時姿勢への移乗動作、および移乗時姿勢から座位姿勢への着座動作を介助する。ここで、移乗時姿勢は、臀部が座面から浮いた姿勢であり、立位姿勢および中腰姿勢を含む。つまり、移乗時姿勢は、上半身が起立した状態および前かがみの状態などを含む。また、介助装置１は、移乗する二箇所が離れている場合に、移乗時姿勢の被介助者Ｍを移送することができる。 The assistance device 1 assists transfer between two different places such as transfer between the bed of the person being assisted M and the wheelchair and transfer between the wheelchair and the toilet seat. The assistance device 1 supports the body of the person being assisted M and assists the transfer operation from the sitting posture to the posture at the time of transfer and the sitting operation from the posture at the time of transfer to the sitting posture. Here, the transfer posture is a posture in which the buttocks floats from the seating surface, and includes a standing posture and a middle waist posture. That is, the posture at the time of transfer includes a state where the upper body stands up and a state of leaning forward. Moreover, the assistance apparatus 1 can transfer the care recipient M in the posture at the time of transfer when the two places to be transferred are separated.
　介助装置１は、基台１０、駆動部２、支持部５０、および制御部９０などを備える。駆動部２は、アーム２０、アクチュエータ３０、およびリンク機構４０などで構成されている。駆動部２は、基台１０に対して支持部５０を相対的に移動させる。 The assistance device 1 includes a base 10, a drive unit 2, a support unit 50, a control unit 90, and the like. The drive unit 2 includes an arm 20, an actuator 30, a link mechanism 40, and the like. The drive unit 2 moves the support unit 50 relative to the base 10.
　基台１０は、フレーム１１、足載置台１２、前輪１３、後輪１４、および下腿当て部１５などで形成される。フレーム１１は、床面Ｆに近接して水平に配置される後側部材１１ａ、および後側部材１１ａの前端から前方斜め上方に延在する前側部材１１ｂで形成される。後側部材１１ａの上面の前側寄りに、アクチュエータ支承部１１ｃが突設される。足載置台１２は、後側部材１１ａの上面に、ほぼ水平に固設される。足載置台１２の上面には、被介助者Ｍが足を乗せる位置を案内するマーク１２ａが記されている。 The base 10 is formed of a frame 11, a foot placing table 12, a front wheel 13, a rear wheel 14, a crus pad 15 and the like. The frame 11 is formed of a rear member 11a that is disposed horizontally in the vicinity of the floor surface F, and a front member 11b that extends obliquely upward and forward from the front end of the rear member 11a. An actuator support portion 11c is projected from the front side of the upper surface of the rear member 11a. The footrest 12 is fixed substantially horizontally on the upper surface of the rear member 11a. On the upper surface of the foot placing table 12, a mark 12a for guiding the position where the person being assisted puts his / her foot is written.
　２個の前輪１３は、前側部材１１ｂに設けられ、２個の後輪１４は、後側部材１１ａに設けられる。前輪１３および後輪１４の転舵機能により、介助装置１は、直進移動および旋回移動だけでなく、横移動および超信地旋回が可能となっている。さらに、前輪１３は、移動を規制するロック機能を備える。下腿当て部１５は、一対の支持部材１６およびクッション材１７で形成される。一対の支持部材１６は、前側部材１１ｂから後方斜め上方に向けて立設される。クッション材１７は、支持部材１６の上端に設けられる。クッション材１７は、足載置台１２の上方に位置しており、被介助者Ｍの下腿付近が接触可能となっている。 The two front wheels 13 are provided on the front member 11b, and the two rear wheels 14 are provided on the rear member 11a. Due to the steering function of the front wheels 13 and the rear wheels 14, the assistance device 1 can perform not only a straight movement and a turning movement, but also a lateral movement and a super turn. Further, the front wheel 13 has a lock function for restricting movement. The lower thigh pad 15 is formed of a pair of support members 16 and a cushion material 17. The pair of support members 16 are erected from the front member 11b obliquely rearward and upward. The cushion material 17 is provided at the upper end of the support member 16. The cushion material 17 is located above the footrest 12 and can be contacted with the vicinity of the lower leg of the person being assisted M.
　駆動部２を構成するアーム２０は、離隔して並行する２本の棒状部材などで形成される。２本の棒状部材は、下側が揺動軸２１を用いて結合されるとともに、上側が支承軸２２を用いて結合される。アーム２０は、２本の棒状部材が前方に突出する湾曲した形状、または屈曲した形状を有する。アーム２０の長さ方向の中間付近に、リンク支承部２７が設けられる。さらに、アーム２０のリンク支承部２７の近くに、概ねアーム２０に沿う形状の規制部材２８が設けられる。アーム２０は、前側部材１１ｂに支承された揺動軸２１を揺動軸心にして、前後方向に揺動する。 The arm 20 constituting the drive unit 2 is formed of two bar-like members that are spaced apart and parallel to each other. The two rod-shaped members are coupled to each other on the lower side using the swing shaft 21 and on the upper side using the support shaft 22. The arm 20 has a curved shape in which two rod-like members protrude forward or a bent shape. A link support portion 27 is provided near the middle of the arm 20 in the length direction. Further, a regulating member 28 having a shape substantially along the arm 20 is provided near the link support portion 27 of the arm 20. The arm 20 swings in the front-rear direction with the swing shaft 21 supported by the front member 11b as the swing axis.
　アーム２０の揺動角度を規制するために、ストッパ機構２３が設けられる。ストッパ機構２３は、アーム２０の下側に固設された当接部材２４、ならびに前側部材１１ｂに固設された第１ストッパ２５および第２ストッパ２６からなる。アーム２０は、当接部材２４が第１ストッパ２５に当接する後側位置（図２に示される）から、当接部材２４が第２ストッパ２６に当接する前側位置（図３に示される）までの間で揺動する。 A stopper mechanism 23 is provided to regulate the swing angle of the arm 20. The stopper mechanism 23 includes a contact member 24 fixed to the lower side of the arm 20, and a first stopper 25 and a second stopper 26 fixed to the front member 11b. The arm 20 extends from a rear position (shown in FIG. 2) where the contact member 24 contacts the first stopper 25 to a front position (shown in FIG. 3) where the contact member 24 contacts the second stopper 26. Swing between.
　支持部５０は、胴体支持部５２および一対の脇支持部５３を含んで形成される。胴体支持部５２は、アーム２０の支承軸２２に揺動可能に支承される。これにより、支持部５０は、支承軸２２を揺動軸心にして前後方向に揺動する。支持部５０の揺動角度範囲として３０°を例示でき、これに限定されない。また、胴体支持部５２は、ハンドル５２ａおよび係止部５２ｂを備える。ハンドル５２ａは、概ね四角形の枠形状に形成されている。ハンドル５２ａは、被介助者Ｍが把持する部位であるとともに、介助装置１を移動させるために介助者が把持する部位でもある。係止部５２ｂは、ハンドル５２ａの四角形の枠内の中央付近に位置する。胴体支持部５２は、被介助者Ｍの胴体の胸部から腹部の辺りを支持する。 The support part 50 is formed including a body support part 52 and a pair of side support parts 53. The trunk support 52 is supported by the support shaft 22 of the arm 20 so as to be swingable. Thereby, the support part 50 rocks | fluctuates in the front-back direction by making the support shaft 22 into a rocking | fluctuation axis center. The swing angle range of the support portion 50 can be exemplified as 30 °, but is not limited thereto. The body support portion 52 includes a handle 52a and a locking portion 52b. The handle 52a is formed in a substantially rectangular frame shape. The handle 52 a is a part that is held by the person being assisted M, and is also a part that is held by the assistant in order to move the assistance device 1. The locking portion 52b is located near the center of the rectangular frame of the handle 52a. The torso support part 52 supports the abdomen from the chest of the to-be-supported person's M torso.
　一対の脇支持部５３は、胴体支持部５２の左右両側の胸部側に取り付けられる。脇支持部５３は、鈍角に屈曲するＬ字状に形成される。脇支持部５３の取り付け側の基端から屈曲位置までの短い直線状部分は肩受け部５３ａとなり、屈曲位置から先端までの長い直線状部分は脇進入部５３ｂとなる。肩受け部５３ａは、胴体支持部５２と概ね同じ平面内に位置して、被介助者Ｍの肩の前面を支持する。脇進入部５３ｂは、前記平面から徐々に遠ざかり、被介助者Ｍの胴体の両側の脇に進入して、被介助者Ｍの背面方向への延在が可能となっている。脇支持部５３の表面は、変形および圧縮が容易なクッション材で覆われる。 The pair of side support parts 53 are attached to the chest sides on the left and right sides of the body support part 52. The side support portion 53 is formed in an L shape that bends at an obtuse angle. A short straight line portion from the base end on the attachment side of the side support portion 53 to the bent position becomes a shoulder receiving portion 53a, and a long straight portion from the bent position to the distal end becomes a side entry portion 53b. The shoulder receiving portion 53 a is located in substantially the same plane as the body support portion 52 and supports the front surface of the shoulder of the person being assisted M. The side entry portion 53b gradually moves away from the plane, enters the sides of the body of the person being assisted M, and can extend in the back direction of the person being assisted. The surface of the side support portion 53 is covered with a cushion material that can be easily deformed and compressed.
　一対の脇支持部５３は、被介助者Ｍの胴体の両側の脇に進入して、両方の脇を支持する。脇支持部５３は、基端を軸心にして揺動可能とされており、胴体支持部５２と成す角度が調整可能となっている。したがって、被介助者Ｍが脇支持部５３にもたれかかるときに脇支持部５３が揺動して、もたれかかる動作が容易になる。さらに、支持部５０は、脇支持部５３の揺動によって、複数の被介助者Ｍの体格差にも対応する。 The pair of side support portions 53 enter the sides of the body of the person being assisted M and support both sides. The side support part 53 is swingable about the base end as an axis, and the angle formed with the body support part 52 is adjustable. Therefore, when the person being assisted leans against the side support portion 53, the side support portion 53 swings, and the operation of leaning is facilitated. Furthermore, the support part 50 respond | corresponds also to the physique difference of the to-be-assisted person M by the rocking | fluctuation of the side support part 53. FIG.
　駆動部２を構成するアクチュエータ３０は、本体部３１、可動部３２、およびモータ３３（図５参照）などで形成される。可動部３２は、本体部３１に対して直動し、戻り位置から中間位置を経由して突出する。駆動源となるモータ３３は、本体部３１に設けられる。モータ３３は、制御部９０から制御され、図略の変速ギヤなどの動力伝達機構を介して可動部３２を駆動する。駆動源は、モータ３３に限定されず、油圧や空気圧を用いてピストンに相当する可動部３２を直動させる圧力駆動源でもよい。本体部３１の基端３１ａは、フレーム１１のアクチュエータ支承部１１ｃに傾動可能に支承される。これにより、アクチュエータ３０は、アクチュエータ支承部１１ｃを支点として前後方向に傾動する。可動部３２の先端３２ａは、リンク機構４０に係合する。 The actuator 30 constituting the drive unit 2 is formed by a main body 31, a movable part 32, a motor 33 (see FIG. 5), and the like. The movable part 32 moves linearly relative to the main body part 31 and protrudes from the return position via the intermediate position. A motor 33 serving as a drive source is provided in the main body 31. The motor 33 is controlled by the control unit 90 and drives the movable unit 32 via a power transmission mechanism such as a transmission gear (not shown). The drive source is not limited to the motor 33, and may be a pressure drive source that directly moves the movable portion 32 corresponding to the piston using hydraulic pressure or air pressure. The base end 31a of the main body 31 is supported by the actuator support 11c of the frame 11 so as to be tiltable. As a result, the actuator 30 tilts in the front-rear direction with the actuator support 11c as a fulcrum. The distal end 32 a of the movable part 32 engages with the link mechanism 40.
　駆動部２を構成するリンク機構４０は、第１リンク部材４１および第２リンク部材４２などで形成される。第１リンク部材４１は、金属や硬質樹脂などで形成された長尺状の部材である。第１リンク部材４１は、中央に被支承部４１ａをもち、一端に被駆動部４１ｂおよびローラ４１ｃをもち、他端に連結部４１ｄをもつ。被支承部４１ａは、アーム２０のリンク支承部２７に揺動可能に支承される。被駆動部４１ｂは、アクチュエータ３０の可動部３２の先端３２ａに係合される。ローラ４１ｃは、可動部３２が中間位置からさらに突出すると、アーム２０の規制部材２８に接触して転動し得るようになっている。 The link mechanism 40 constituting the drive unit 2 is formed of a first link member 41, a second link member 42, and the like. The first link member 41 is a long member formed of metal, hard resin, or the like. The first link member 41 has a supported portion 41a at the center, a driven portion 41b and a roller 41c at one end, and a connecting portion 41d at the other end. The supported part 41a is supported by the link support part 27 of the arm 20 so as to be swingable. The driven portion 41 b is engaged with the tip 32 a of the movable portion 32 of the actuator 30. When the movable portion 32 further protrudes from the intermediate position, the roller 41c can come into contact with the regulating member 28 of the arm 20 and roll.
　第２リンク部材４２は、第１リンク部材４１の連結部４１ｄと、胴体支持部５２の係止部５２ｂとを連結する。第２リンク部材４２は、可撓性を有する材料、例えば、ゴム、エラストマー、軟質樹脂、フィルム状の硬質樹脂などを用いて形成される。連結部４１ｄと係止部５２ｂが相互に離れる方向に移動する場合に、第２リンク部材４２は、連結部４１ｄおよび係止部５２ｂを連動させる連動状態とする。一方、連結部４１ｄと係止部５２ｂが相互に近づく方向に移動する場合に、第２リンク部材４２は、連結部４１ｄおよび係止部５２ｂを非連動とする非連動状態を許容する。 The second link member 42 connects the connecting portion 41d of the first link member 41 and the locking portion 52b of the body support portion 52. The second link member 42 is formed using a flexible material such as rubber, elastomer, soft resin, or film-like hard resin. When the connecting portion 41d and the locking portion 52b move in directions away from each other, the second link member 42 is in an interlocking state in which the connecting portion 41d and the locking portion 52b are interlocked. On the other hand, when the connecting portion 41d and the locking portion 52b move in a direction approaching each other, the second link member 42 allows an unlinked state in which the connecting portion 41d and the locking portion 52b are not linked.
　制御部９０は、制御本体部９１、操作器９２、無線通信部９９（図５参照）、およびバッテリ電源９６などで構成される。制御本体部９１およびバッテリ電源９６は、アーム２０の下端寄りの前側に固設される。バッテリ電源９６は、制御本体部９１、無線通信部９９、およびアクチュエータ３０に共用とされる。操作器９２は、接続コード９３を用いて制御本体部９１に接続される。これに限定されず、操作器９２は、無線通信を用いて制御本体部９１に通信接続されてもよい。操作器９２には、上昇ボタン９４および下降ボタン９５が設けられている。 The control unit 90 includes a control main body 91, an operating device 92, a wireless communication unit 99 (see FIG. 5), a battery power source 96, and the like. The control main body 91 and the battery power source 96 are fixed on the front side near the lower end of the arm 20. The battery power source 96 is shared by the control main body 91, the wireless communication unit 99, and the actuator 30. The operating device 92 is connected to the control main body 91 using a connection cord 93. However, the operation device 92 may be connected to the control main body 91 by wireless communication. The operating device 92 is provided with an up button 94 and a down button 95.
　制御部９０の機能構成は、図５に示されている。制御本体部９１は、ＣＰＵを有してソフトウェアで動作するコンピュータ装置を用いて構成される。制御本体部９１は、介助装置１の個体を特定する識別コードを記憶している。識別コードは、介助装置１の本体にも表示される。制御本体部９１は、バッテリ電源９６からモータ３３に供給する電圧の正接続、逆接続、および遮断を切り替え制御する。これに対応して、モータ３３は正転、逆転、および停止し、可動部３２は突出、戻り、および停止する。制御本体部９１は、操作器９２の操作状態に応じて、アクチュエータ３０を制御する。 The functional configuration of the control unit 90 is shown in FIG. The control main body 91 is configured using a computer device having a CPU and operating with software. The control main body 91 stores an identification code that identifies an individual of the assistance device 1. The identification code is also displayed on the main body of the assistance device 1. The control main body 91 performs switching control of normal connection, reverse connection, and interruption of the voltage supplied from the battery power source 96 to the motor 33. In response to this, the motor 33 rotates forward, reversely, and stops, and the movable portion 32 protrudes, returns, and stops. The control main body 91 controls the actuator 30 according to the operation state of the operation device 92.
　詳述すると、上昇ボタン９４が指で押下されている間、制御本体部９１は、アクチュエータ３０の可動部３２を本体部３１から突出させる上昇モードの制御を行う。上昇モードは、被介助者Ｍの臀部を上昇させる移乗動作の介助に相当する。また、下降ボタン９５が指で押下されている間、制御本体部９１は、アクチュエータ３０の可動部３２を本体部３１に戻す下降モードの制御を行う。下降モードは、被介助者Ｍの臀部を下降させる着座動作の介助に相当する。上昇ボタン９４や下降ボタン９５から指が離れて押下状態が解消されると、制御本体部９１は、直ちに制御を中断する。これにより、アクチュエータ３０および支持部５０が直ちに停止して、高い安全性が確保される。 More specifically, while the ascending button 94 is pressed with a finger, the control main body 91 controls the ascending mode in which the movable portion 32 of the actuator 30 protrudes from the main body 31. The ascending mode corresponds to assistance of a transfer operation that raises the buttocks of the person being assisted. In addition, while the lowering button 95 is being pressed with a finger, the control main body 91 controls the lowering mode in which the movable portion 32 of the actuator 30 is returned to the main body 31. The descending mode corresponds to assistance of a seating operation for lowering the buttocks of the person being assisted. When the finger is released from the ascending button 94 or the descending button 95 and the pressed state is canceled, the control main body 91 immediately stops the control. Thereby, the actuator 30 and the support part 50 stop immediately, and high safety | security is ensured.
　また、制御本体部９１は、装置内蔵時計９７およびログデータ管理部９８を含む。装置内蔵時計９７は、介助装置１の主電源の入り切り状態に関係なく、継続的に計時を行う。ログデータ管理部９８は、主電源が投入されると機能して、介助装置１の動作状況を表すログデータＤＬを継続的に記録する。ログデータＤＬは、例えば、モータ３３の回転量に関する指令値および実動値の所定時間間隔ごとの値とされる。この例によれば、時刻、指令値、および実動値をセットにしたログデータＤＬが、順次記録される。 The control main body 91 includes a device built-in clock 97 and a log data management unit 98. The device built-in clock 97 continuously counts time regardless of whether the main power of the assistance device 1 is turned on or off. The log data management unit 98 functions when the main power is turned on, and continuously records the log data DL representing the operation status of the assistance device 1. The log data DL is, for example, a value for each predetermined time interval between a command value related to the rotation amount of the motor 33 and an actual operation value. According to this example, log data DL in which a time, a command value, and an actual operation value are set is sequentially recorded.
　上記したログデータＤＬを取得するために、測定用のセンサ等を付設する必要は無く、コストが増加しない。それでも、モータ３３の回転量に基づく演算を行えば、支持部５０やアーム２０の揺動角度を一義的に求めることができる。なお、測定用のセンサ等を付設する場合、可動部３２の突出量、支持部５０の揺動角度、およびアーム２０の揺動角度の少なくとも一項目を実測して、ログデータＤＬとすることができる。 It is not necessary to attach a sensor for measurement in order to acquire the log data DL described above, and the cost does not increase. Still, if the calculation based on the rotation amount of the motor 33 is performed, the swing angle of the support portion 50 and the arm 20 can be uniquely determined. When a measurement sensor or the like is attached, at least one item of the protruding amount of the movable portion 32, the swing angle of the support portion 50, and the swing angle of the arm 20 may be measured and used as log data DL. it can.
　無線通信部９９は、制御本体部９１と外部の無線通信機との間で、データ伝送を行う。無線通信部９９は、外部からの要求に応じてログデータＤＬを無線送信する機能を有する。無線通信部９９の無線通信方式は、例えば、スマートフォンやタブレット端末などに用いられる一般的な方式とされる。なお、無線通信部９９に代え、通信線を経由してデータ伝送を行う有線通信部を用いてもよい。 The wireless communication unit 99 performs data transmission between the control main unit 91 and an external wireless communication device. The wireless communication unit 99 has a function of wirelessly transmitting log data DL in response to an external request. The wireless communication method of the wireless communication unit 99 is a general method used for, for example, smartphones and tablet terminals. Instead of the wireless communication unit 99, a wired communication unit that performs data transmission via a communication line may be used.
　２．介助装置１の動作
　次に、介助装置１の動作について説明する。以降の説明では、被介助者Ｍの移乗動作の介助を例にする。この場合、介助装置１は、図２に示される初期状態から図３に示される終期状態まで動作する。なお、被介助者Ｍの着座動作を介助する場合、介助装置１は、移乗動作の介助の概ね逆順で逆方向に動作する。 2. Operation of Assistance Device 1 Next, the operation of the assistance device 1 will be described. In the following description, assistance of the transfer operation of the person being assisted M is taken as an example. In this case, the assistance device 1 operates from the initial state shown in FIG. 2 to the final state shown in FIG. In addition, when assisting the sitting operation of the person being assisted M, the assistance device 1 operates in the reverse direction in the generally reverse order of the assistance of the transfer operation.
　まず、介助者は、操作器９２の下降ボタン９５を押下して、アクチュエータ３０の可動部３２を、図２に示される戻り位置まで戻す。続いて、介助者は、ハンドル５２ａを把持して介助装置１を移動させ、座位姿勢の被介助者Ｍに接近させる。被介助者Ｍは、下半身を基台１０と支持部５０の間の領域に進入させる。さらに、被介助者Ｍは、両足を足載置台１２のマーク１２ａに載置する。被介助者Ｍは、下腿の一部を下腿当て部１５のクッション材１７に接触させることで、安定した姿勢が得られる。 First, the assistant presses down button 95 of operating device 92 to return movable portion 32 of actuator 30 to the return position shown in FIG. Subsequently, the assistant holds the handle 52a and moves the assistant device 1 to approach the person M who is in the sitting posture. The person being assisted M causes the lower body to enter the region between the base 10 and the support part 50. Further, the person being assisted M places both feet on the mark 12 a of the foot placing table 12. The care receiver M can obtain a stable posture by bringing a part of the lower leg into contact with the cushion material 17 of the lower leg pad 15.
　続いて、被介助者Ｍは、胴体を前傾させて胴体支持部５２に面接触させるとともに、両脇で脇支持部５３にもたれかかる。このとき、胴体支持部５２は起立した方向に揺動しているので、胴体の前傾角度は小さくて済む。また、脇支持部５３の脇進入部５３ｂがほぼ水平か僅かに後下がりとなるので、被介助者Ｍは、脇支持部５３に容易にもたれかかることができる。このときの被介助者Ｍの姿勢が初期姿勢となる。初期姿勢では、臀部が座面に着いている。上述した被介助者Ｍの一連の動作は、介助者が介助してもよい。 Subsequently, the person being assisted M tilts the trunk forward to bring it into surface contact with the trunk support 52 and leans against the side support 53 on both sides. At this time, the trunk support portion 52 swings in the standing direction, so that the forward tilt angle of the trunk is small. Further, since the side entry portion 53 b of the side support portion 53 is substantially horizontal or slightly rearwardly lowered, the person being assisted M can easily lean on the side support portion 53. The posture of the person being assisted at this time is the initial posture. In the initial posture, the buttocks are seated on the seat. The series of operations of the person being assisted M described above may be assisted by an assistant.
　続いて、介助者は、操作器９２の上昇ボタン９４を押下して、可動部３２を突出させる。可動部３２が戻り位置から中間位置まで突出する間、第１リンク部材４１のローラ４１ｃは、未だ規制部材２８に接触していない。このため、第１リンク部材４１は、可動部３２に駆動されて、図２の反時計回りに揺動する。同時に、アクチュエータ３０は、前方に傾動する。また、アーム２０は、初期状態の後側位置を維持する。第１リンク部材４１の揺動に伴い、支持部５０は、第２リンク部材４２に連動されて前方に揺動する。この動作は、可動部３２が中間位置に到達するまで継続される。これにより、被介助者Ｍは、上半身がさらに前傾する。このとき、脇支持部５３の脇進入部５３ｂが前下がりとなるので、被介助者Ｍは、後方への移動が規制されて支持部５０から脱落しない。 Subsequently, the assistant presses the ascending button 94 of the operation device 92 to cause the movable portion 32 to protrude. While the movable portion 32 protrudes from the return position to the intermediate position, the roller 41c of the first link member 41 is not yet in contact with the regulating member 28. For this reason, the first link member 41 is driven by the movable portion 32 and swings counterclockwise in FIG. At the same time, the actuator 30 tilts forward. Further, the arm 20 maintains the rear position of the initial state. As the first link member 41 swings, the support portion 50 swings forward in conjunction with the second link member 42. This operation is continued until the movable part 32 reaches the intermediate position. Thereby, as for the care receiver M, the upper body leans further forward. At this time, since the side entry part 53b of the side support part 53 is forwardly lowered, the person being assisted M is restricted from moving backward and does not fall off the support part 50.
　介助者は、さらに継続して操作器９２の上昇ボタン９４を押下し、可動部３２を突出させる。可動部３２が中間位置を越えて突出すると、ローラ４１ｃが規制部材２８に接触して、第１リンク部材４１の揺動が終了する。この後、アーム２０が、可動部３２に駆動されて、図２の時計回りに揺動する。同時に、アクチュエータ３０は、さらに前方に傾動する。また、連結部４１ｄおよび係止部５２ｂは連動状態となっており、支持部５０は、アーム２０に対して一定の姿勢を維持する。この動作は、アーム２０が前側位置に到達する図３の終期状態まで継続される。これにより、被介助者Ｍは、臀部が座面から離れるとともに、上半身が前方斜め上方へ移動しつつさらに前傾する。その結果、図３に示されるように、被介助者Ｍは、臀部が座面から大きく上昇して、脚部が伸びた移乗時姿勢となる。 The assistant further presses the ascending button 94 of the operation device 92 to cause the movable portion 32 to protrude. When the movable portion 32 protrudes beyond the intermediate position, the roller 41c comes into contact with the restricting member 28, and the swinging of the first link member 41 ends. Thereafter, the arm 20 is driven by the movable portion 32 and swings clockwise in FIG. At the same time, the actuator 30 tilts further forward. Further, the connecting portion 41 d and the locking portion 52 b are in an interlocking state, and the support portion 50 maintains a constant posture with respect to the arm 20. This operation is continued until the end state of FIG. 3 when the arm 20 reaches the front position. As a result, the person being assisted M further tilts forward while the upper body moves diagonally forward and upward while the buttocks move away from the seating surface. As a result, as shown in FIG. 3, the person being assisted M takes the posture at the time of transfer in which the buttock is greatly raised from the seating surface and the leg is extended.
　３．第１実施形態の介助装置のデータ取得装置６の構成
　第１実施形態の介助装置のデータ取得装置６の説明に移る。図４は、第１実施形態の介助装置のデータ取得装置６の使用状況を模式的に示した図である。また、図５は、データ取得装置６の機能構成を示すブロック図である。データ取得装置６は、通信端末６０を主体にして構成される。詳細には、データ取得装置６は、通信端末６０の動画撮影機能、無線通信機能、表示機能、メモリ、およびアプリケーションなどを利用して構成される。アプリケーションは、データ取得用の専用ソフトウェアである。この種の通信端末６０として、スマートフォンやタブレット端末を例示できる。 3. Configuration of Data Acquisition Device 6 of Assistance Device of First Embodiment The description shifts to description of the data acquisition device 6 of the assistance device of the first embodiment. FIG. 4 is a diagram schematically illustrating a usage state of the data acquisition device 6 of the assistance device according to the first embodiment. FIG. 5 is a block diagram showing a functional configuration of the data acquisition device 6. The data acquisition device 6 is configured mainly with the communication terminal 60. Specifically, the data acquisition device 6 is configured using the moving image shooting function, wireless communication function, display function, memory, application, and the like of the communication terminal 60. The application is dedicated software for data acquisition. As this kind of communication terminal 60, a smart phone and a tablet terminal can be illustrated.
　通信端末６０を用いることにより、動画撮影カメラ、無線通信機、表示装置などを組み合わせてシステムを構築する必要が無くなる。また、通信端末６０は、動画撮影機能、無線通信機能、表示機能、およびメモリを元から備えているので、アプリケーションを開発するだけでよい。したがって、データ取得装置６のコストは低廉である。 By using the communication terminal 60, it is not necessary to construct a system by combining a video camera, a wireless communication device, a display device, and the like. Further, since the communication terminal 60 originally has a moving image shooting function, a wireless communication function, a display function, and a memory, it is only necessary to develop an application. Therefore, the cost of the data acquisition device 6 is low.
　図５に示されるように、通信端末６０は、内部時計６１、動画撮影カメラ６２、動画データ取得部６３、ログデータ取得部６４、同期データ生成部６５、および同期データ提供部６６を有する。このうち、動画データ取得部６３、ログデータ取得部６４、同期データ生成部６５、および同期データ提供部６６の機能の少なくとも一部は、アプリケーションによって実現される。 As shown in FIG. 5, the communication terminal 60 includes an internal clock 61, a moving image camera 62, a moving image data acquisition unit 63, a log data acquisition unit 64, a synchronization data generation unit 65, and a synchronization data provision unit 66. Among these, at least some of the functions of the moving image data acquisition unit 63, log data acquisition unit 64, synchronization data generation unit 65, and synchronization data provision unit 66 are realized by an application.
　内部時計６１は、通信端末６０に一般的に内蔵されている。内部時計６１は、通信端末６０の動作状況に関係なく、継続的に計時を行う。動画撮影カメラ６２は、図略の撮影開始ボタンおよび撮影終了ボタンによって操作される。図４に示されるように、オペレータＯｐは、通信端末６０の動画撮影カメラ６２を用いて、介助装置１の動作状況を撮影し、動画データＤＤをメモリに記憶することができる。 The internal clock 61 is generally built in the communication terminal 60. The internal clock 61 continuously measures time regardless of the operation status of the communication terminal 60. The moving image shooting camera 62 is operated by a shooting start button and a shooting end button (not shown). As shown in FIG. 4, the operator Op can use the moving image capturing camera 62 of the communication terminal 60 to capture the operation status of the assistance device 1 and store the moving image data DD in the memory.
　撮影によって取得される動画データＤＤは、内部時計６１の時刻と対応付けられる。つまり、動画データＤＤの撮影開始時刻、撮影終了時刻、および撮影途中の各画像の時刻は、内部時計６１によって計時される。換言すると、内部時計６１は、カメラ内蔵時計として機能する。動画データ取得部６３は、動画撮影カメラ６２から動画データＤＤを取得し、同期データ生成部６５に受け渡す。 The moving image data DD acquired by shooting is associated with the time of the internal clock 61. That is, the shooting time of the moving image data DD, the shooting end time, and the time of each image during shooting are measured by the internal clock 61. In other words, the internal clock 61 functions as a camera built-in clock. The moving image data acquisition unit 63 acquires the moving image data DD from the moving image shooting camera 62 and passes it to the synchronization data generation unit 65.
　また、図４に示されるように、オペレータＯｐは、通信端末６０の無線通信機能を用いて、介助装置１のログデータＤＬを通信端末６０に取り込み、メモリに記憶することができる。ログデータ取得部６４は、介助装置１の制御本体部９１から無線通信部９９を経由してログデータＤＬを取得し、同期データ生成部６５に受け渡す。同期データ生成部６５は、動画データＤＤおよびログデータＤＬを時間的に同期できるようにリンクさせた同期データＤＳを生成する。同期データＤＳは、動画データＤＤおよびログデータＤＬを含み、さらに、両データの同期関係を表すリンク情報をも含む。ログデータ取得部６４および同期データ生成部６５の機能の詳細については、後で動作と併せて説明する。 Further, as shown in FIG. 4, the operator Op can use the wireless communication function of the communication terminal 60 to capture the log data DL of the assistance device 1 into the communication terminal 60 and store it in the memory. The log data acquisition unit 64 acquires the log data DL from the control main body unit 91 of the assistance device 1 via the wireless communication unit 99 and passes it to the synchronization data generation unit 65. The synchronization data generation unit 65 generates synchronization data DS linked so that the moving image data DD and the log data DL can be temporally synchronized. The synchronization data DS includes moving image data DD and log data DL, and also includes link information representing the synchronization relationship between the two data. Details of the functions of the log data acquisition unit 64 and the synchronization data generation unit 65 will be described later together with the operation.
　同期データ提供部６６は、同期データＤＳを外部装置７１に出力して、提供可能とする。同期データ提供部６６の出力部には、インターネット通信網７２を利用できる。また、外部装置７１として、クラウドサーバや、介助装置１のメーカの開発用データベースを例示できる。同期データＤＳは、例えば、介助装置１の動作状況を分析して動作性能や使用快適性のさらなる向上を図る用途に使用される。 The synchronization data providing unit 66 outputs the synchronization data DS to the external device 71 so that it can be provided. An Internet communication network 72 can be used as an output unit of the synchronization data providing unit 66. Further, examples of the external device 71 include a cloud server and a development database of the manufacturer of the assistance device 1. The synchronization data DS is used, for example, for an application that analyzes the operation status of the assistance device 1 and further improves the operation performance and the comfort of use.
　詳述すると、図４に示されるように、メーカのエンジニアＥｎは、外部装置７１から同期データＤＳを分析ツール７３にダウンロードする。これにより、エンジニアＥｎは、分析ツール７３上で動画データＤＤとログデータＤＬの関連性を分析できる。あるいは、エンジニアＥｎは、分析ツール７３上で動画データＤＤを再生しつつ、ログデータＤＬと比較することができる。このとき、動画データＤＤおよびログデータＤＬの時間的な同期を確保できるので、分析や比較が容易になり、かつ、分析や比較の精度が向上する。 More specifically, as shown in FIG. 4, the engineer En of the manufacturer downloads the synchronization data DS from the external device 71 to the analysis tool 73. Thereby, the engineer En can analyze the relationship between the moving image data DD and the log data DL on the analysis tool 73. Alternatively, the engineer En can reproduce the moving image data DD on the analysis tool 73 and compare it with the log data DL. At this time, since the temporal synchronization of the moving image data DD and the log data DL can be ensured, analysis and comparison are facilitated, and the accuracy of analysis and comparison is improved.
　また、通信端末６０およびインターネット通信網７２を用いるので、エンジニアＥｎは、介助装置１が遠隔地にあっても同期データＤＳを取得できる。これにより、エンジニアＥｎは、遠隔地まで出張しなくてもよくなる。さらに、エンジニアＥｎは、複数の介助装置１や、可動式ベッドなどの別種の介助装置から、幅広く同期データＤＳを取得できる。 In addition, since the communication terminal 60 and the Internet communication network 72 are used, the engineer En can acquire the synchronization data DS even when the assistance device 1 is in a remote place. As a result, the engineer En does not have to travel to a remote location. Furthermore, the engineer En can acquire a wide range of synchronization data DS from a plurality of assistance devices 1 and other types of assistance devices such as a movable bed.
　４．第１実施形態の介助装置のデータ取得装置６の動作および作用
　次に、第１実施形態の介助装置のデータ取得装置６の動作および作用について説明する。図６は、データ取得装置６の動作フローを示した図である。データ取得装置６の動作フローは、通信端末６０のアプリケーションの実行およびオペレータＯｐの操作によって進行する。以降の説明では、複数台の介助装置１を使用する介護施設を想定する。オペレータＯｐは、まず、データ取得の対象とする介助装置１の主電源を投入するとともに、通信端末６０のアプリケーションを起動する。 4). Operation and Action of the Data Acquisition Device 6 of the Assistance Device of the First Embodiment Next, the operation and action of the data acquisition device 6 of the assistance device of the first embodiment will be described. FIG. 6 is a diagram showing an operation flow of the data acquisition device 6. The operation flow of the data acquisition device 6 proceeds by executing the application of the communication terminal 60 and operating the operator Op. In the following description, a care facility that uses a plurality of assistance devices 1 is assumed. First, the operator Op turns on the main power supply of the assistance device 1 that is the target of data acquisition and activates the application of the communication terminal 60.
　図６のステップＳ１で、ログデータ取得部６４は、コール信号を無線で送信して、近くに位置する介助装置１を探索する。コール信号を受け取った介助装置１の制御本体部９１は、自己の識別コードを無線で返信する。これにより、ログデータ取得部６４は、データ取得の対象となりえる複数の介助装置１の識別コードを取得して、一覧表示する。仮に、介護施設内の複数の介助装置１が全て停止している場合、動画データ取得部６３は、識別コードを一つも取得できないので、動作フローを終了させる。 In step S1 of FIG. 6, the log data acquisition unit 64 transmits a call signal wirelessly and searches for the assisting device 1 located nearby. The control main body 91 of the assistance device 1 that has received the call signal returns its own identification code wirelessly. Thereby, the log data acquisition part 64 acquires the identification code of the some assistance apparatus 1 which can become the object of data acquisition, and displays it as a list. If the plurality of assistance devices 1 in the care facility are all stopped, the moving image data acquisition unit 63 ends the operation flow because it cannot acquire any identification code.
　次のステップＳ２で、オペレータＯｐは、データ取得の対象とする介助装置１の本体に表示された識別コードを確認し、動画データ取得部６３が一覧表示したうちの同じ識別コードを選択する。これにより、複数の介助装置１の主電源が投入されている場合に、オペレータＯｐおよびデータ取得装置６は、データ取得の対象とする特定の介助装置１を共通認識できる。 In the next step S2, the operator Op confirms the identification code displayed on the main body of the assistance device 1 that is the object of data acquisition, and selects the same identification code that the moving image data acquisition unit 63 displays as a list. Thereby, when the main power supply of the some assistance apparatus 1 is turned on, the operator Op and the data acquisition apparatus 6 can recognize in common the specific assistance apparatus 1 used as the object of data acquisition.
　次のステップＳ３で、オペレータＯｐは、動画撮影カメラ６２の撮影開始ボタンを押下して、介助装置１の動作状況の動画撮影を開始する。このとき、動画撮影カメラ６２は、内部時計６１を用いて計時した撮影開始時刻ＴｓＤを取得する。これにより、動画データＤＤのメモリへの記憶が始まる。この後、介助装置１による被介助者Ｍの介助動作が進行し、並行して動画撮影も進行する。 In the next step S3, the operator Op presses the shooting start button of the moving image shooting camera 62 to start moving image shooting of the operation status of the assistance device 1. At this time, the moving image shooting camera 62 acquires the shooting start time TsD timed using the internal clock 61. Thereby, storage of the moving image data DD in the memory starts. Thereafter, the assistance operation of the person M to be assisted by the assistance device 1 proceeds, and the video shooting also proceeds in parallel.
　介助装置１による介助動作が終了すると、ステップＳ４で、オペレータＯｐは、撮影終了ボタンを押下して、動画撮影を終了する。このとき、動画撮影カメラ６２は、内部時計６１を用いて計時した撮影終了時刻ＴｅＤを取得する。この後、動画データ取得部６３は、動画データＤＤに撮影開始時刻ＴｓＤおよび撮影終了時刻ＴｅＤの情報を付して、同期データ生成部６５に受け渡す。なお、実際には、動画データＤＤのメモリ間の転送は必要でなく、単に動画データＤＤの操作権限が同期データ生成部６５に移行するだけである。 When the assistance operation by the assistance device 1 is completed, in step S4, the operator Op presses the photographing end button to finish the moving image photographing. At this time, the moving image shooting camera 62 acquires the shooting end time TeD measured using the internal clock 61. Thereafter, the moving image data acquisition unit 63 attaches information about the shooting start time TsD and the shooting end time TeD to the moving image data DD, and passes the information to the synchronization data generation unit 65. Actually, the transfer of the moving image data DD between the memories is not necessary, and the operation authority of the moving image data DD simply shifts to the synchronous data generation unit 65.
　次のステップＳ５で、ログデータ取得部６４は、介助装置１の無線通信部９９との無線通信環境を確立して、データ伝送を行える状態とする。次のステップＳ６で、同期データ生成部６５は、内部時計６１を用いて計時した第１現在時刻Ｔ１を取得する。同時に、同期データ生成部６５は、介助装置１の装置内蔵時計９７を用いて計時した第２現在時刻Ｔ２を無線通信によって取得する。次のステップＳ７で、同期データ生成部６５は、第１現在時刻Ｔ１から第２現在時刻Ｔ２を減算して、時間差ΔＴを求める。 In the next step S5, the log data acquisition unit 64 establishes a wireless communication environment with the wireless communication unit 99 of the assisting device 1 so that data transmission can be performed. In the next step S <b> 6, the synchronization data generation unit 65 acquires the first current time T <b> 1 that is timed using the internal clock 61. At the same time, the synchronization data generation unit 65 acquires the second current time T2 measured using the device built-in clock 97 of the assistance device 1 by wireless communication. In the next step S7, the synchronization data generation unit 65 subtracts the second current time T2 from the first current time T1 to obtain a time difference ΔT.
　時間差ΔＴは、正負の符号を付けて表現される。例えば、第１現在時刻Ｔ１が１０時２３分５０秒で、第２現在時刻Ｔ２が１０時２１分３５秒である場合を想定する。この場合、時間差ΔＴは、＋２分１５秒と演算される。時間差ΔＴは、同期データＤＳのリンク情報となる。 The time difference ΔT is expressed with a positive / negative sign. For example, it is assumed that the first current time T1 is 10:23:50 and the second current time T2 is 10:21:35. In this case, the time difference ΔT is calculated as +2 minutes 15 seconds. The time difference ΔT becomes link information of the synchronization data DS.
　次のステップＳ８で、同期データ生成部６５は、時間差ΔＴに基づいて、撮影開始時刻ＴｓＤおよび撮影終了時刻ＴｅＤに一致するログデータＤＬの開始時刻ＴｓＬおよび終了時刻ＴｅＬを求める。具体的に、同期データ生成部６５は、次の（式１）および（式２）の演算を行う。
　　　ＴｓＬ＝ＴｓＤ－ΔＴ………（式１）
　　　ＴｅＬ＝ＴｅＤ－ΔＴ………（式２）
同期データ生成部６５は、求めた開始時刻ＴｓＬおよび終了時刻ＴｅＬをログデータ取得部６４に通知する。 In the next step S8, the synchronization data generating unit 65 obtains the start time TsL and the end time TeL of the log data DL that matches the shooting start time TsD and the shooting end time TeD based on the time difference ΔT. Specifically, the synchronous data generation unit 65 performs the following calculations (Equation 1) and (Equation 2).
TsL = TsD−ΔT (Equation 1)
TeL = TeD−ΔT (Equation 2)
The synchronization data generation unit 65 notifies the log data acquisition unit 64 of the obtained start time TsL and end time TeL.
　例えば、時間差ΔＴが前述した＋２分１５秒であって、撮影開始時刻ＴｓＤが１０時１５分００秒で、撮影終了時刻ＴｅＤが１０時２０分００秒である場合を想定する。すると、（式１）により、ログデータＤＬの開始時刻ＴｓＬは、１０時１２分４５秒と演算される。また、（式２）により、ログデータＤＬの終了時刻ＴｅＬは、１０時１７分４５秒と演算される。同様に、動画データＤＤの任意の画像の撮影時刻ＴＤに一致するログデータＤＬの記録時刻ＴＬは、記録時刻（ＴＤ－ΔＴ）と演算される。つまり、動画データＤＤの撮影時刻ＴＤの画像と、ログデータＤＬの記録時刻（ＴＤ－ΔＴ）の情報とが、同時刻の情報としてリンクされる。 For example, it is assumed that the time difference ΔT is +2 minutes 15 seconds, the shooting start time TsD is 10:15:00, and the shooting end time TeD is 10:20:00. Then, according to (Equation 1), the start time TsL of the log data DL is calculated as 10:12:45. Further, according to (Expression 2), the end time TeL of the log data DL is calculated as 10:17:45. Similarly, the recording time TL of the log data DL that coincides with the shooting time TD of an arbitrary image of the moving image data DD is calculated as the recording time (TD−ΔT). That is, the image at the shooting time TD of the moving image data DD and the information of the recording time (TD−ΔT) of the log data DL are linked as information at the same time.
　次のステップＳ９で、ログデータ取得部６４は、無線通信機能を用いて、ログデータＤＬの開始時刻ＴｓＬから終了時刻ＴｅＬまでの分を制御本体部９１から取得し、メモリに記憶する。ここで、ログデータＤＬの所定時間間隔は、動画データＤＤのコマ送りの時間間隔と比較して桁違いに短い。したがって、ログデータ取得部６４は、ログデータＤＬを適正に間引きして取得することが好ましい。例えば、ログデータ取得部６４は、動画データＤＤの撮影時刻ＴＤにリンクするログデータＤＬだけを取得してもよい。また例えば、ログデータ取得部６４は、ログデータＤＬを単純に１０個目ごとに取得して、間の９個を省略してもよい。 In the next step S9, the log data acquisition unit 64 uses the wireless communication function to acquire the minutes from the start time TsL to the end time TeL of the log data DL from the control body 91 and store them in the memory. Here, the predetermined time interval of the log data DL is orders of magnitude shorter than the time interval of frame advance of the moving image data DD. Therefore, it is preferable that the log data acquisition unit 64 acquires the log data DL by thinning it out appropriately. For example, the log data acquisition unit 64 may acquire only the log data DL linked to the shooting time TD of the moving image data DD. Further, for example, the log data acquisition unit 64 may simply acquire the log data DL every tenth and omit the nine in between.
　上記したようにログデータＤＬの開始時刻ＴｓＬおよび終了時刻ＴｅＬを求めるので、動画撮影が行われていない時間帯のログデータＤＬは、無線伝送されない。さらに、ログデータＤＬは、適正に間引きされることでデータ量が節約される。したがって、ログデータＤＬの取得に要する無線通信時間が短縮される。かつ、同期データＤＳの分析精度が低下したりする弊害は、殆ど生じない。 As described above, since the start time TsL and the end time TeL of the log data DL are obtained, the log data DL in a time zone in which no moving image shooting is performed is not wirelessly transmitted. Further, the log data DL is appropriately thinned to save the data amount. Therefore, the wireless communication time required for acquiring the log data DL is shortened. Moreover, there is almost no adverse effect that the analysis accuracy of the synchronization data DS is lowered.
　次のステップＳ１０で、同期データ生成部６５は、動画データＤＤの撮影開始から撮影終了までに対応付けられたログデータＤＬと、動画データＤＤとをリンクさせて、同期データＤＳを生成する。同期データＤＳは、動画データＤＤ、間引きされたログデータＤＬ、および時間差ΔＴの情報を含む。次のステップＳ１１で、同期データ提供部６６は、同期データＤＳを外部装置７１に出力して、提供可能とする。エンジニアＥｎは、動画データＤＤおよびログデータＤＬの分析や比較を行う際に、時間差ΔＴを考慮して、時間的な同期を確保することができる。 In the next step S10, the synchronization data generation unit 65 links the log data DL associated with the moving image data DD from the start of shooting to the end of shooting and the moving image data DD to generate the synchronization data DS. The synchronization data DS includes information of moving image data DD, thinned log data DL, and time difference ΔT. In the next step S <b> 11, the synchronization data providing unit 66 outputs the synchronization data DS to the external device 71 so that it can be provided. The engineer En can ensure temporal synchronization in consideration of the time difference ΔT when analyzing and comparing the moving image data DD and the log data DL.
　第１実施形態の介助装置のデータ取得装置６は、動画データＤＤおよびログデータＤＬをリンクさせた同期データＤＳを生成する同期データ生成部６５を備える。したがって、同期データ提供部６６から提供される同期データＤＳを利用するときに、動画データＤＤおよびログデータＤＬの時間的な同期を確保することができる。 The data acquisition device 6 of the assistance device according to the first embodiment includes a synchronization data generation unit 65 that generates synchronization data DS obtained by linking the moving image data DD and the log data DL. Therefore, when using the synchronization data DS provided from the synchronization data providing unit 66, temporal synchronization of the moving image data DD and the log data DL can be ensured.
　５．第２実施形態の介助装置のデータ取得装置６Ａ
　次に、第２実施形態の介助装置のデータ取得装置６Ａについて、第１実施形態と異なる点を主にして説明する。図７は、第２実施形態の介助装置のデータ取得装置６Ａの機能構成を示すブロック図である。データ取得装置６Ａは、パソコン６０Ａを主体にして構成される。詳細には、データ取得装置６Ａは、パソコン６０Ａの有線通信機能、無線通信機能、表示機能、メモリ、およびアプリケーションなどを利用して構成される。 5). Data acquisition device 6A of the assistance device of the second embodiment
Next, the data acquisition device 6A of the assistance device of the second embodiment will be described mainly with respect to differences from the first embodiment. FIG. 7 is a block diagram illustrating a functional configuration of the data acquisition device 6A of the assistance device according to the second embodiment. The data acquisition device 6A is composed mainly of a personal computer 60A. Specifically, the data acquisition device 6A is configured using the wired communication function, wireless communication function, display function, memory, application, and the like of the personal computer 60A.
　図７に示されるように、パソコン６０Ａは、動画データ取得部６３Ａ、ログデータ取得部６４、同期データ生成部６５Ａ、同期データ記憶部６７、表示部６８、および表示装置６９を有する。このうち、動画データ取得部６３Ａ、ログデータ取得部６４、同期データ生成部６５Ａ、および表示部６８の機能の少なくとも一部は、アプリケーションによって実現される。ログデータ取得部６４の機能は、第１実施形態と同じであるので、説明は省略する。 7, the personal computer 60A includes a moving image data acquisition unit 63A, a log data acquisition unit 64, a synchronization data generation unit 65A, a synchronization data storage unit 67, a display unit 68, and a display device 69. Among these, at least some of the functions of the moving image data acquisition unit 63A, the log data acquisition unit 64, the synchronization data generation unit 65A, and the display unit 68 are realized by an application. Since the function of the log data acquisition unit 64 is the same as that of the first embodiment, description thereof is omitted.
　動画データ取得部６３Ａは、単体形の動画撮影カメラ７５の出力通信線７６に接続されている。動画撮影カメラ７５は、オペレータＯｐの操作にしたがい、介助装置１の動作状況を撮影して、動画データＤＤを出力する。動画撮影カメラ７５は、カメラ内蔵時計を用いて、動画データＤＤの撮影開始時刻ＴｓＤおよび撮影終了時刻ＴｅＤを記録する。動画データ取得部６３Ａは、有線通信機能を用いて取得した動画データＤＤに撮影開始時刻ＴｓＤおよび撮影終了時刻ＴｅＤの情報を付して、同期データ生成部６５Ａに受け渡す。 The moving image data acquisition unit 63A is connected to the output communication line 76 of the single moving image shooting camera 75. In accordance with the operation of the operator Op, the moving image shooting camera 75 images the operation status of the assistance device 1 and outputs moving image data DD. The moving image shooting camera 75 records the shooting start time TsD and the shooting end time TeD of the moving image data DD using the camera built-in clock. The moving image data acquisition unit 63A attaches the information of the shooting start time TsD and the shooting end time TeD to the moving image data DD acquired using the wired communication function, and transfers it to the synchronization data generation unit 65A.
　同期データ生成部６５Ａは、動画データＤＤおよびログデータＤＬを時間的に同期できるようにリンクさせた同期データＤＳを生成して、同期データ記憶部６７に記憶する。同期データＤＳの生成方法およびデータ構造は、第１実施形態と同じである。つまり、第２実施形態でも、同期データ生成部６５Ａは、時間差ΔＴを求めて、（式１）および（式２）を用いた演算を行う。 The synchronization data generation unit 65A generates synchronization data DS linked so that the moving image data DD and the log data DL can be temporally synchronized, and stores them in the synchronization data storage unit 67. The generation method and data structure of the synchronization data DS are the same as those in the first embodiment. That is, also in the second embodiment, the synchronous data generation unit 65A calculates the time difference ΔT and performs the calculation using (Expression 1) and (Expression 2).
　表示部６８は、同期データ記憶部６７に記憶された同期データＤＳを参照して、表示装置６９に動画データＤＤを画像表示する。さらに、表示部６８は、同期データＤＳのリンク情報である時間差ΔＴに基づき、表示中の動画データＤＤの画像と時間的に対応したログデータＤＬを表示する。図８は、表示部６８によって表示装置６９に表示された画面の一例を模式的に示す図である。 The display unit 68 refers to the synchronization data DS stored in the synchronization data storage unit 67 and displays the moving image data DD on the display device 69 as an image. Further, the display unit 68 displays log data DL temporally corresponding to the image of the moving image data DD being displayed based on the time difference ΔT that is the link information of the synchronization data DS. FIG. 8 is a diagram schematically illustrating an example of a screen displayed on the display device 69 by the display unit 68.
　図８に示される画面の全体に動画データＤＤが表示される。動画データＤＤは、介助装置１Ａおよび介助者が被介助者Ｍを介助する動作状況を表している。画面の上部の中央に、表示中の動画データＤＤの画像の撮影時刻ＴＤを表す時分秒が、ＨＨ／ＭＭ／ＳＳと表示されている。動画データＤＤの撮影時刻ＴＤは、動画撮影カメラ７５のカメラ内蔵時計によって計時されたものである。 The moving image data DD is displayed on the entire screen shown in FIG. The moving image data DD represents an operation state in which the assistance device 1 </ b> A and the assistant assist the person being assisted M. In the upper center of the screen, the hour / minute / second indicating the shooting time TD of the image of the moving image data DD being displayed is displayed as HH / MM / SS. The shooting time TD of the moving image data DD is measured by the camera built-in clock of the moving image shooting camera 75.
　また、画面の上部の左側に、ログデータＤＬが重ねて表示される。詳述すると、ログデータＤＬの１行目に、ログデータＤＬの記録時刻ＴＬを表す時分秒が、ＨＨ／ｍｍ／ｓｓと表示されている。ログデータＤＬの記録時刻ＴＬは、介助装置１Ａの装置内蔵時計９７によって計時されたものである。ログデータＤＬの２行目および３行目に、記録時刻ＴＬにおけるモータ３３の指令値ＣＣＣおよび実動値ＺＺＺが表示されている。 Also, log data DL is displayed on the left side of the upper part of the screen. More specifically, the hour, minute and second representing the recording time TL of the log data DL is displayed as HH / mm / ss on the first line of the log data DL. The recording time TL of the log data DL is measured by the device built-in clock 97 of the assistance device 1A. The command value CCC and actual operation value ZZZ of the motor 33 at the recording time TL are displayed on the second and third lines of the log data DL.
　ここで、ログデータＤＬの記録時刻ＴＬは、動画データＤＤの撮影時刻ＴＤと比較して、分および秒の表示値が異なり、ちょうど時間差ΔＴだけずれている。つまり、ログデータＤＬの記録時刻ＴＬは、実際には動画データＤＤの撮影時刻ＴＤと完全に同期した同時刻を意味する。そして、指令値ＣＣＣおよび実動値ＺＺＺは、表示中の動画データＤＤの画像の瞬間における値となる。これにより、動画データＤＤおよびログデータＤＬの時間的な同期が確保されて、分析や比較が容易になり、かつ、分析や比較の精度が向上する。 Here, the recording time TL of the log data DL differs from the shooting time TD of the moving image data DD in the display values of minutes and seconds, and is shifted by exactly the time difference ΔT. That is, the recording time TL of the log data DL actually means the same time that is completely synchronized with the shooting time TD of the moving image data DD. The command value CCC and the actual movement value ZZZ are values at the moment of the image of the moving image data DD being displayed. Thereby, temporal synchronization of the moving image data DD and the log data DL is ensured, and analysis and comparison are facilitated, and the accuracy of analysis and comparison is improved.
　第２実施形態の介助装置のデータ取得装置６Ａは、動画データＤＤおよびログデータＤＬをリンクさせた同期データＤＳを生成する同期データ生成部６５Ａを備える。したがって、表示部６８が表示した画像を見るときに、動画データＤＤおよびログデータＤＬの時間的な同期を確保することができる。 The data acquisition device 6A of the assistance device according to the second embodiment includes a synchronization data generation unit 65A that generates synchronization data DS obtained by linking the moving image data DD and the log data DL. Therefore, when viewing the image displayed on the display unit 68, temporal synchronization of the moving image data DD and the log data DL can be ensured.
　６．実施形態の変形および応用
　なお、同期データＤＳを提供する形態は、上述した第１および第２実施形態に限定されず、適宜変形することができる。例えば、通信端末６０の同期データ提供部６６は、同期データＤＳをメモリに記憶しておき、外部からの要求に応じてデータ通信を行ったり、携帯メモリを用いたりして同期データＤＳを提供してもよい。また、データ取得の対象は、介助装置１に限定されず、例えば可動式ベッドなどでもよい。第１および第２実施形態は、他にも様々な変形や応用が可能である。 6). Modifications and Applications of the Embodiments The form for providing the synchronization data DS is not limited to the first and second embodiments described above, and can be modified as appropriate. For example, the synchronization data providing unit 66 of the communication terminal 60 stores the synchronization data DS in a memory, and performs the data communication according to an external request or provides the synchronization data DS using a portable memory. May be. Moreover, the object of data acquisition is not limited to the assistance apparatus 1, For example, a movable bed etc. may be sufficient. The first and second embodiments can be variously modified and applied.
　１、１Ａ：介助装置　　２：駆動部　　１０：基台　　２０：アーム　　３０：アクチュエータ　　３３：モータ　　４０：リンク機構　　５０：支持部　　５２：胴体支持部　　５３：脇支持部　　６、６Ａ：介助装置のデータ取得装置　　６０：通信端末　　６０Ａ：パソコン　　６１：内部時計　　６２：動画撮影カメラ　　６３、６３Ａ：動画データ取得部　　６４：ログデータ取得部　　６５、６５Ａ：同期データ生成部　　６６：同期データ提供部　　６７：同期データ記憶部　　６８：表示部　　７１：外部装置　　７５：動画撮影カメラ　　９０：制御部　　９１：制御本体部　　９２：操作器　　９７：装置内蔵時計　　９８：ログデータ管理部　　９９：無線通信部　　ＤＤ：動画データ　　ＤＬ：ログデータ　　ＤＳ：同期データ　　Ｍ：被介助者　　Ｏｐ：オペレータ　　Ｅｎ：エンジニア 1, 1A: Assistance device 2: Drive unit 10: Base 20: Arm 30: Actuator 33: Motor 40: Link mechanism 50: Support unit 52: Body support unit 53: Side support unit 6, 6A: Data acquisition of assist device Device 60: Communication terminal 60A: Personal computer 61: Internal clock 62: Video camera 63, 63A: Video data acquisition unit 64: Log data acquisition unit 65, 65A: Synchronization data generation unit 66: Synchronization data provision unit 67: Synchronization data storage Unit 68: Display unit 71: External device 75: Video camera 90: Control unit 91: Control main unit 92: Operation unit 97: Device built-in clock 98: Log data management unit 99: Wireless communication unit DD: Video data DL: Log Data D : Synchronous data M: the care Op: operator En: engineer

Claims (7)

  1. 　介助装置の動作状況を撮影した動画データを取得する動画データ取得部と、
    　前記介助装置の前記動作状況を表すログデータを取得するログデータ取得部と、
    　前記動画データおよび前記ログデータを時間的に同期できるようにリンクさせた同期データを生成する同期データ生成部と、
    　前記同期データを記憶し、または外部装置に出力して提供可能とする同期データ提供部と、
    　を備える介助装置のデータ取得装置。     A moving image data acquisition unit for acquiring moving image data obtained by photographing the operation status of the assistance device;
    A log data acquisition unit for acquiring log data representing the operation status of the assistance device;
    A synchronization data generation unit that generates synchronization data linked so that the video data and the log data can be synchronized in time;
    A synchronization data providing unit that stores the synchronization data or that can be provided to an external device;
    A data acquisition device for an assistance device.
  2. 　介助装置の動作状況を撮影した動画データを取得する動画データ取得部と、
    　前記介助装置の前記動作状況を表すログデータを取得するログデータ取得部と、
    　前記動画データおよび前記ログデータを時間的に同期できるようにリンクさせた同期データを生成する同期データ生成部と、
    　前記動画データを画像表示するとともに、前記同期データに基づき、表示中の前記介助装置の前記動作状況の画像と時間的に対応した前記ログデータを表示する表示部と、
    　を備える介助装置のデータ取得装置。     A moving image data acquisition unit for acquiring moving image data obtained by photographing the operation status of the assistance device;
    A log data acquisition unit for acquiring log data representing the operation status of the assistance device;
    A synchronization data generation unit that generates synchronization data linked so that the video data and the log data can be synchronized in time;
    A display unit for displaying the moving image data and displaying the log data temporally corresponding to the image of the operation state of the assistance device being displayed based on the synchronization data;
    A data acquisition device for an assistance device.
  3. 　前記同期データ生成部は、
    　前記介助装置の前記動作状況を撮影する動画撮影カメラのカメラ内蔵時計を用いて計時した第１現在時刻、および、前記介助装置の装置内蔵時計を用いて計時した第２現在時刻を取得し、
    　前記第１現在時刻と前記第２現在時刻との時間差を求め、
    　前記時間差に基づいて前記同期データを生成する、
    　請求項１または２に記載の介助装置のデータ取得装置。     The synchronous data generation unit
    Obtaining a first current time measured using a camera built-in clock of a video camera that captures the operation status of the assistance device, and a second current time measured using the device built-in clock of the assistance device;
    Obtaining a time difference between the first current time and the second current time;
    Generating the synchronization data based on the time difference;
    The data acquisition apparatus of the assistance apparatus of Claim 1 or 2.
  4. 　前記動画データ取得部は、前記動画撮影カメラの撮影開始から撮影終了までの前記動画データを取得し、
    　前記同期データ生成部は、前記カメラ内蔵時計を用いて計時した撮影開始時刻および撮影終了時刻を取得し、前記時間差に基づいて前記撮影開始時刻および前記撮影終了時刻に一致する前記ログデータの開始時刻および終了時刻を求める、
    　請求項３に記載の介助装置のデータ取得装置。     The moving image data acquisition unit acquires the moving image data from the start of shooting of the moving image shooting camera to the end of shooting,
    The synchronization data generation unit acquires a shooting start time and a shooting end time measured using the camera built-in clock, and the log data start time coincides with the shooting start time and the shooting end time based on the time difference. And find the end time,
    The data acquisition device of the assistance device according to claim 3.
  5. 　前記動画データ取得部は、前記動画撮影カメラの撮影開始から撮影終了までの前記動画データを取得し、
    　前記同期データ生成部は、前記動画データの撮影開始から撮影終了までに対応付けられた前記ログデータと、前記動画データとをリンクさせる、
    　請求項３または４に記載の介助装置のデータ取得装置。     The moving image data acquisition unit acquires the moving image data from the start of shooting of the moving image shooting camera to the end of shooting,
    The synchronization data generation unit links the log data associated with the video data from the start of shooting to the end of shooting, and the video data.
    The data acquisition device of the assistance device according to claim 3 or 4.
  6. 　前記ログデータは、前記介助装置が有する駆動源に関するデータ、および前記駆動源に駆動される可動部に関するデータの少なくとも一方を含む、請求項１～５のいずれか一項に記載の介助装置のデータ取得装置。 The data of the assistance device according to any one of claims 1 to 5, wherein the log data includes at least one of data relating to a driving source included in the assistance device and data relating to a movable part driven by the driving source. Acquisition device.
  7. 　前記動画データ取得部および前記ログデータ取得部は、動画撮影機能を有する通信端末によって兼ねられる、請求項１～６のいずれか一項に記載の介助装置のデータ取得装置。 The data acquisition device for an assistance device according to any one of claims 1 to 6, wherein the moving image data acquisition unit and the log data acquisition unit are also used by a communication terminal having a moving image shooting function.
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