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WO2015159883A1 - Dispositif d'assitance de transport - Google Patents

Dispositif d'assitance de transport Download PDF

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Publication number
WO2015159883A1
WO2015159883A1 PCT/JP2015/061472 JP2015061472W WO2015159883A1 WO 2015159883 A1 WO2015159883 A1 WO 2015159883A1 JP 2015061472 W JP2015061472 W JP 2015061472W WO 2015159883 A1 WO2015159883 A1 WO 2015159883A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
distance
drive unit
drive
detection
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2015/061472
Other languages
English (en)
Japanese (ja)
Inventor
健太 中内
岸　英治
元井　政和
川崎　陽一
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Industries Corp
Original Assignee
Toyota Industries Corp
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
Priority claimed from JP2014086141A external-priority patent/JP5915690B2/ja
Priority claimed from JP2014086140A external-priority patent/JP6038068B2/ja
Application filed by Toyota Industries Corp filed Critical Toyota Industries Corp
Publication of WO2015159883A1 publication Critical patent/WO2015159883A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/08—Apparatus for transporting beds
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/05—Parts, details or accessories of beds
    • A61G7/0506—Head or foot boards
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/05—Parts, details or accessories of beds
    • A61G7/0528—Steering or braking devices for castor wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/14—Joysticks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/32—General characteristics of devices characterised by sensor means for force
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/40—General characteristics of devices characterised by sensor means for distance
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
    • A61G2203/72—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/047—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven by a modular detachable drive system
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to a conveyance auxiliary device used when a carrier conveys an object.
  • Patent Document 1 includes a traveling carriage attached to the front end portion of a bed and an operating device attached to the rear end portion of the bed, and a pair of gripping members of the operating device by a carrier on the rear end side of the bed.
  • a conveyance auxiliary device that detects left and right forces applied to the vehicle and controls the traveling carriage based on the left and right forces.
  • the conveyance auxiliary device In the conveyance auxiliary device, an input operation is performed with the left and right hands of the carrier with respect to the left and right operation input units such as the pair of gripping members.
  • the conveyance auxiliary device may detect that the carrier has released either the left or right hand (one hand) from the operation unit and cause the drive unit to perform an emergency stop (sudden stop). Conceivable.
  • the driving unit is suddenly stopped, the moving bed is decelerated rapidly at a predetermined speed. As a result, a large inertial force in the forward direction acts on the person lying on the bed, which may cause discomfort.
  • an object of the present invention is to provide a conveyance assisting device that prevents sudden deceleration when the carrier removes one hand from the operation unit.
  • a conveyance auxiliary device is a conveyance auxiliary device that is used when a carrier conveys an object, a driving unit that is attached to the object and assists in conveying the object, and an object
  • An operation unit having a left operation input unit that is attached to an object and that inputs an operation on the drive unit by the left hand of the transporter; and a right operation input unit that inputs an operation on the drive unit by the right hand of the transporter;
  • a first control unit that controls the drive unit according to each operation amount input to the operation input unit and the right operation input unit, and a left hand that detects whether or not the left hand of the carrier is in contact with the left operation input unit
  • a right hand detection unit that detects whether or not the right hand of the transporter is in contact with the right operation input unit, and the first control unit includes the left hand of the transporter and the left hand of the transporter by the left hand detection unit and the right hand detection unit. If it is detected that one side of the right hand is not touching, The part is decelerated at
  • the first control unit controls the drive unit according to the operation, and the drive unit assists the transport of the object.
  • the transporter can transport the object with the assistance of the drive unit.
  • the operation unit includes a left operation input unit and a right operation input unit, and the carrier performs an operation on the left operation input unit with the left hand and performs an operation on the right operation input unit with the right hand.
  • the conveyance assist device detects whether the left hand is in contact with the left operation input unit by the left hand detection unit and inputs the right operation by the right hand detection unit. It is detected whether the right hand is in contact with the part.
  • the carrier removes only one hand from the operation unit to do something temporarily.
  • the first control unit moves the drive unit at a predetermined deceleration. Decelerate.
  • the predetermined deceleration is a deceleration that does not cause a large inertial force to act on the object itself or an object placed on the object due to deceleration, and the object placed on the object itself or the object, etc. It should be set in consideration.
  • the drive unit decelerates at a predetermined deceleration, and a large inertial force is applied to the target object and the object placed on the target object. Does not work.
  • the conveyance assisting device can prevent sudden deceleration because the drive unit decelerates at a predetermined deceleration when the carrier releases one hand from the operation unit.
  • the object can be transported (movable) by a person, for example, a bed having a caster, a loading platform having a caster, or an apparatus having a caster.
  • the object is transported by a plurality of persons when there is no assistance by the transport assist device.
  • the first control unit causes the driving unit to emergency stop when the left hand detection unit and the right hand detection unit detect that both the left hand and the right hand of the carrier are not in contact. May be.
  • the transport auxiliary device having this configuration, when the left hand detection unit and the right hand detection unit detect that the left hand and the right hand of the transporter are not in contact, the first control unit makes an emergency stop (rapid stop) Control). As a result, the driving unit immediately stops. In this way, the transport assisting device can ensure safety because the drive unit immediately stops when the transporter releases both hands from the operation unit.
  • emergency stop rapid stop
  • the operation detection unit detects whether or not the operation unit is attached to the object
  • the attachment detection unit detects that the operation unit is not attached to the object.
  • a state determination unit that disables operation on the operation unit.
  • the carrier cannot convey the object via the operation unit, and the carrier can operate the operation unit (left operation input unit, right operation input unit). Cannot operate normally.
  • the state determination unit disables the operation on the operation unit. As a result, the drive unit is not controlled via the operation unit.
  • the conveyance assist device includes a lateral movement operation input unit to which an operation for moving the drive unit in the lateral direction is input.
  • the lateral movement operation input unit includes a left operation input unit and a right operation input unit. You may arrange
  • the distance detection unit that detects the distance from the drive unit to the obstacle and the drive unit according to the operation of the operation unit by the carrier, and the distance detection unit detects the distance.
  • a second control unit for stopping the drive unit when the distance is equal to or less than the first threshold distance; an approach operation input unit for inputting an approach operation for approaching the drive unit to the obstacle to a distance less than the first threshold distance;
  • the second control unit interrupts stopping the drive unit based on the distance detected by the distance detection unit, and sets the speed of the drive unit to a predetermined value. You may limit it to speed.
  • the second control unit controls the drive unit according to the operation.
  • the transporter can transport the object with the assistance of the drive unit.
  • the drive of the drive unit is stopped by the second control unit. The Thereby, the drive unit can be stopped in front of the obstacle.
  • the first threshold distance is a distance that can be stopped before the drive unit hits (contacts) the obstacle.
  • the drive unit (and hence the object) can be brought close to the wall or the like.
  • the speed of the drive unit is limited to a predetermined speed (because the drive unit is decelerated)
  • the second control unit can be brought close to the wall or the like and stopped.
  • the predetermined speed is a very low speed that can be stopped immediately.
  • the drive unit (and thus the object) can be brought close to the obstacle.
  • the interruption of the drive of the drive unit based on the distance detected by the distance detection unit is not only configured to be interrupted by invalidating the stop control for the drive unit, but also by invalidating the detection by the distance detection unit.
  • the structure which interrupts may be sufficient, and the structure interrupted by making 1st threshold distance small (for example, set to 0) may be sufficient.
  • the object is transportable (movable) by a person, and examples thereof include a bed having a caster, a loading platform having a caster, and a device having a caster.
  • the object is transported by a plurality of persons when there is no assistance by the transport assist device.
  • the obstacle is an obstacle when the object is being transported, such as a person, a wall, or an object placed on the transport path.
  • the conveyance auxiliary device includes a short-distance detection unit capable of detecting a distance shorter than the shortest distance that can be detected by the distance detection unit, and the second control is performed when an approach operation is input to the approach operation input unit.
  • the unit may stop the driving unit when the distance detected by the short-range detection unit is equal to or less than the second threshold distance.
  • the conveyance auxiliary device with this configuration can prevent the drive unit from hitting an obstacle even when an approach operation is input to the approach operation input unit.
  • the second threshold distance is a distance shorter than the first threshold distance. In this way, the conveyance assisting device can prevent the driving unit from hitting the obstacle even when the conveyance assisting device is approaching the obstacle.
  • the second threshold distance may be set according to the environment in which the object is conveyed. Since the conveyance auxiliary device having this configuration can appropriately set the second threshold distance according to the environment in which the object is conveyed, the drive unit can be prevented from hitting an obstacle under various environments.
  • the distance detection unit includes a plurality of distance detection units having different detection directions
  • the second control unit detects a direction in which the drive unit is going to travel among the plurality of distance detection units. You may control using the distance detected by the distance detection part included in an area
  • the drive unit when the drive unit is going straight ahead (when a straight ahead operation is performed), the drive unit tries to go straight, detected by the distance detection unit including the direction to go straight in the detection area. It can be controlled based on the distance to the obstacle present in the direction, and when the drive unit is going to bend along the curve (when it is operated to bend), it detects the direction to bend
  • the drive unit can be controlled based on the distance to the obstacle that exists in the direction of bending detected by the distance detection unit included in the region. As a result, it is possible to detect the distance to the obstacle with high accuracy regardless of whether the vehicle is going straight or turning.
  • a conveyance auxiliary device is a conveyance auxiliary device used when a carrier conveys an object, and is mounted on the object and assists conveyance of the object, and a conveyance An operation unit for the operator to operate the drive unit, a distance detection unit for detecting the distance from the drive unit to the obstacle, and the drive unit according to the operation of the carrier to the operation unit, and the distance detection
  • the second control unit that stops the driving unit and the approach that inputs the driving unit to the obstacle to a distance less than the first threshold distance are input.
  • the second control unit interrupts stopping the drive unit based on the distance detected by the distance detection unit, and the drive unit Is limited to a predetermined speed.
  • the second control unit controls the drive unit according to the operation.
  • the transporter can transport the object with the assistance of the drive unit.
  • the conveyance assist device detects the distance from the drive unit to the obstacle by the distance detection unit, and when the detection distance is equal to or less than the first threshold distance, the second control unit stops the drive unit. . Thereby, the drive unit can be stopped in front of the obstacle.
  • the first threshold distance is a distance that can be stopped before the drive unit hits an obstacle.
  • the second control unit interrupts stop control based on the detection distance detected by the distance detection unit, and the speed of the drive unit.
  • the predetermined speed is a very low speed that can be stopped immediately.
  • the conveyance auxiliary device can bring the drive unit (and thus the object) closer to the obstacle.
  • the suspension of stop control based on the distance detected by the distance detection unit is interrupted not only by disabling stop control for the drive unit but also by disabling detection by the distance detection unit.
  • the structure may be sufficient and the structure interrupted by making 1st threshold distance small (for example, set to 0) may be sufficient.
  • the object is transportable (movable) by a person, and examples thereof include a bed having a caster, a loading platform having a caster, and a device having a caster.
  • the object is transported by a plurality of persons when there is no assistance by the transport assist device.
  • the obstacle is an obstacle when the object is being transported, such as a person, a wall, or an object placed on the transport path.
  • the drive unit when the carrier removes one hand from the operation unit, the drive unit is decelerated at a predetermined deceleration, so that sudden deceleration can be prevented.
  • FIG. 1 is a diagram schematically illustrating a state in which the conveyance auxiliary device according to the first embodiment is mounted on a bed.
  • 2A is a plan view of the operation handle of the conveyance assisting device in FIG. 1
  • FIG. 2B is a perspective view of the operation handle of the conveyance assisting device in FIG.
  • FIG. 3 is a block diagram showing a control configuration of the conveyance assisting device of FIG.
  • FIG. 4 is a diagram schematically illustrating a state in which the conveyance auxiliary device according to the second embodiment is mounted on a bed.
  • 5A is a plan view of the operation handle of the conveyance assisting device in FIG. 4
  • FIG. 5B is a perspective view of the operation handle of the conveyance assisting device in FIG. FIG.
  • FIG. 6 is a block diagram illustrating a control configuration of the conveyance assisting device in FIG. 4.
  • FIG. 7 is a diagram schematically showing detection ranges and threshold distances of three ultrasonic sensors and one short-range ultrasonic sensor of the conveyance assisting device of FIG.
  • FIG. 8A is a plan view of the operation handle of the conveyance auxiliary device according to the third embodiment
  • FIG. 8B is a perspective view of the operation handle of the conveyance auxiliary device according to the third embodiment.
  • FIG. 9 is a block diagram illustrating a control configuration of the transport assisting apparatus according to the third embodiment.
  • the transport assisting apparatus 1 is used when a single transporter (for example, a nurse) transports a movable bed having casters, and assists the transport of the bed by a single transporter.
  • the transport assisting device 1 is mounted on the bed when transported, and is removed from the bed except when transported.
  • the carrier conveys the bed while pushing the bed at the rear end side (one end side in the longitudinal direction to be described later) and operates the conveyance assisting device. Therefore, a bed that has conventionally been transported by two transporters can be transported by one transporter on the rear end side, and the transport assisting device plays the role of a conventional transporter on the front end side.
  • the longitudinal direction of the bed is the front-rear direction
  • the carrier side is the rear direction
  • the other side is the front direction.
  • the direction orthogonal to the front-rear direction is the left-right direction (lateral direction)
  • the left hand side of the carrier is the left direction
  • the right hand side of the carrier is the right direction.
  • the movement of the bed includes forward and backward movements that move the bed in the front-rear direction.
  • the movement of the bed includes a left movement for moving the left-right direction (direction orthogonal to the front-rear direction) to the left and a right movement for moving the left-right direction to the right.
  • the movement of the bed includes a left turn (turning counterclockwise on the spot) and a right turn (turning clockwise on the spot) for turning the bed.
  • FIG. 1 is a diagram schematically illustrating a state in which the conveyance auxiliary device 1 according to the first embodiment is mounted on a bed B.
  • the conveyance auxiliary device 1 includes an operation handle 2 (operation unit) and a drive unit 3 (drive unit).
  • the operation handle 2 is attached to the rear end of the bed B, and the drive unit 3 is attached to the front end of the bed B.
  • the drive unit 3 is controlled according to each operation.
  • the transport assisting device 1 decelerates and stops when the transporter P releases one hand from the operation handle 2 while transporting the bed B, and stops emergency when the both hands are released.
  • the bed B includes a bed height adjusting mechanism Bb provided on the lower side of the bed main body Ba, and casters Bc attached to four corners at the bottom of the bed height adjusting mechanism Bb.
  • the bed height adjusting mechanism Bb is a conventional well-known mechanism and adjusts the height position of the bed main body Ba.
  • the caster Bc has a shaft and wheels. The shaft is attached to be rotatable about a vertical axis, and the wheel is attached to the lower part of the shaft to be rotatable about a horizontal axis.
  • Boards Bd and Be are respectively attached to the bed main body Ba at the front end and the rear end in the longitudinal direction.
  • a mattress Bf is installed on the upper surface of the bed main body Ba.
  • FIG. 2A is a plan view of the operation handle
  • FIG. 2B is a perspective view of the operation handle
  • FIG. 3 is a block diagram illustrating a control configuration of the conveyance assisting device 1.
  • the operation handle 2 is attached to the upper part of the board Be at the rear end of the bed B and is gripped by the left hand LH and the right hand RH of the carrier P.
  • each operation on the drive unit 3 is input by the left hand LH and the right hand RH.
  • Each operation includes an operation of pushing and pulling with the left hand LH and the right hand RH, and an ON / OFF operation for each switch.
  • the operation handle 2 has a main body 2a and clamp portions 2b and 2b.
  • the main body 2a is substantially plate-shaped and has a predetermined length in consideration of the distance between the left and right hands of a person.
  • the clamp portions 2b and 2b are substantially L-shaped members for clamping the board Be between the main body 2a and are attached to the left and right end portions of the front surface of the main body 2a.
  • the operation handle 2 is attached to the board Be by clamping the board Be with the main body 2a and the left and right clamp portions 2b and 2b sandwiched from above.
  • Left and right operation grips 2c and right operation grips 2d are provided at left and right end portions (portions straddling the upper surface of the main body 2a and the upper surfaces of the clamp portions 2b and 2b) on the upper surface of the operation handle 2.
  • the left operation grip (left operation input unit) 2c is held by the left hand LH of the carrier P, and an operation is input by the left hand LH.
  • the right operation grip (right operation input unit) 2d is gripped by the right hand RH of the carrier P, and an operation is input by the right hand RH.
  • Each of the operation grips 2c and 2d has a shape that can be easily gripped by a human hand and has a size that can be easily gripped by a human hand.
  • the surface of each operation grip 2c, 2d has a predetermined strength and flexibility, and is formed of, for example, rubber, resin, or cloth.
  • a left operation detection sensor 2e is provided inside the left operation grip 2c.
  • a right operation detection sensor 2f is provided inside the right operation grip 2d.
  • the left operation detection sensor 2e detects the magnitude of the pushing force and pulling force (operation force in the front-rear direction) applied by the left hand LH of the carrier P.
  • the right operation detection sensor 2f detects the magnitude of the pushing force and pulling force (operation force in the front-rear direction) applied by the right hand RH of the carrier P.
  • the left operation detection sensor 2e and the right operation detection sensor 2f are sensors using strain gauges, for example.
  • a pressing force is indicated as a positive value
  • a pulling force is indicated as a negative value.
  • the drive unit 3 advances straight and pushes the right operation grip 2d larger than the left operation grip 2c.
  • the drive unit 3 moves forward while turning counterclockwise, and when a larger pressing force is applied to the left operation grip 2c than to the right operation grip 2d, the drive unit 3 bends clockwise. While moving forward.
  • the drive unit 3 moves back straight and pulls the right operation grip 2d larger than the left operation grip 2c.
  • the drive unit 3 moves backward while turning clockwise, and when a larger pulling force is applied to the left operation grip 2c than the right operation grip 2d, the drive unit 3 moves backward while turning counterclockwise. To do.
  • a left movement switch (lateral movement operation input unit) 2g is provided on the inner side of the left operation grip 2c.
  • a right movement switch (lateral movement operation input unit) 2h is provided on the inner side of the right operation grip 2d.
  • the left movement switch 2g is disposed at a position where a finger (particularly, thumb) of the left hand LH holding the left operation grip 2c can reach.
  • the right movement switch 2h is disposed at a position where the finger (particularly the thumb) of the right hand RH holding the right operation grip 2d can reach. Accordingly, the carrier P can operate the left movement switch 2g without releasing the left hand LH from the left operation grip 2c. Further, the carrier P can operate the right movement switch 2h without releasing the right hand RH from the right operation grip 2d.
  • the left movement switch 2g and the right movement switch 2h are switches for moving the drive unit 3 in the left-right direction, and are conventional well-known ON / OFF mechanical switches.
  • the left movement switch 2g is input (ON operation)
  • the drive unit 3 moves to the right in the left-right direction orthogonal to the front-rear direction
  • the right movement switch 2h is ON
  • the drive unit 3 is orthogonal to the front-rear direction. Move to the right in the left-right direction.
  • the drive unit 3 at the front end moves to the left.
  • the bed B moves to the left, and when the transporter P at the rear end moves to the right, the bed B turns left on the spot.
  • the drive unit 3 at the front end moves to the right.
  • the bed B moves to the right, and if the transporter P at the rear end moves to the left, the bed B turns right on the spot.
  • a left hand detection sensor 2i is provided inside the left operation grip 2c.
  • the left hand detection sensor (left hand detection unit) 2i detects that the left hand LH of the carrier P is gripping (contacting) the left operation grip 2c.
  • a right hand detection sensor (right hand detection unit) 2j is provided inside the right operation grip 2d.
  • the right hand detection sensor 2j detects that the right hand RH of the carrier P is gripping (contacting) the right operation grip 2d.
  • the left hand detection sensor 2i and the right hand detection sensor 2j are sensors using limit switches, for example.
  • the left hand detection sensor 2i outputs ON information (signal) when the left hand LH is placed on the surface of the left operation grip 2c and a slight load is applied, and outputs OFF information (signal) when no load is applied.
  • the right hand detection sensor 2j outputs ON / OFF information that turns ON when the right hand RH is placed on the surface of the right operation grip 2d and a slight load is applied, and turns OFF when the load
  • An attachment detection sensor (attachment detection portion) 2k is provided at a location facing the right clamp portion 2b inside the main body 2a.
  • the attachment detection sensor 2k detects whether or not the operation handle 2 is attached to the board Be.
  • the attachment detection sensor 2k is a sensor using a limit switch, for example.
  • the attachment detection sensor 2k outputs ON / OFF information that turns ON when a load is applied to the main body 2a and turns OFF when the load is not applied. As a result, it is possible to detect a state in which the board Be is sandwiched and clamped between the main body 2a and the clamp portion 2b.
  • a transmitter (not shown) is provided inside the main body 2a.
  • the transmitter transmits each piece of information to the receiver of the drive unit 3.
  • the transmitter may be wireless or wired.
  • Information transmitted from the transmitter includes information indicating the magnitude of the force detected by the left operation detection sensor 2e, information indicating the magnitude of the force detected by the right operation detection sensor 2f, and the left movement switch 2g.
  • Information indicating OFF or information indicating ON / OFF output by the attachment detection sensor 2k is included.
  • the drive unit 3 will be described with reference to FIGS.
  • the drive unit 3 is mounted on the front side of the board Bd at the front end of the bed B.
  • the driving unit 3 is controlled in moving speed or moving direction according to each operation on the operation handle 2 by the carrier P.
  • the drive unit 3 decelerates and stops when the carrier P releases one hand from the operation handle 2, and makes an emergency stop (rapid stop) when both hands are released from the operation handle 2.
  • the transporter P releases one hand or both hands from the operation handle 2 during the stop. If it is, the operation of the operation handle 2 becomes impossible. Thereby, the drive unit 3 is maintained in a stopped state.
  • the drive unit 3 has a main body 3a.
  • the main body 3a has a predetermined shape, the front side is a curved surface, and the rear side is a flat surface.
  • the main body 3a is higher than the height of the board Bd and narrower than the width of the board Bd, and has a predetermined thickness that can accommodate each member described below.
  • a mounting arm (not shown) is provided on the rear surface of the main body 3a. When the drive unit 3 is mounted on the bed B, the mounting arm is disposed perpendicular to the rear surface of the main body 3a, and is placed under the main body 2a of the bed B and mounted on an attachment attached to the lower surface of the main body 2a. Is done.
  • a bumper 3b is attached to the front side of the lower end of the main body 3a.
  • a drive wheel 3c, a steering motor 3d, a drive motor 3e, a control device (first control unit) 4, a battery (not shown), a receiver (not shown), and the like are housed in the main body 3a. .
  • the drive wheel 3c is disposed at the lowermost part of the main body 3a so as to be in contact with the floor surface.
  • the drive wheel 3c is attached to be rotatable around a horizontal axis.
  • the battery supplies power to the steering motor 3d, the drive motor 3e, the control device 4, and the like.
  • the receiver receives each piece of information transmitted from the transmitter of the operation handle 2.
  • the steering motor 3d is connected to the drive wheel 3c via a shaft (not shown).
  • the steering motor 3d generates a steering torque for rotating the drive wheel 3c around the vertical axis by the steering control in the control device 4.
  • a steering angle sensor 3f is attached to the steering motor 3d.
  • the steering angle sensor 3f detects the steering angle of the drive wheel 3c (and consequently the traveling direction of the drive unit 3).
  • the steering angle sensor 3f is a sensor using an encoder, for example.
  • the steering angle sensor 3 f outputs the detected steering angle information to the control device 4.
  • the drive motor 3e is connected to the drive wheel 3c via a belt (not shown).
  • the drive motor 3e generates a drive torque that rotates the drive wheel 3c around the horizontal axis by drive control in the control device 4.
  • a speed sensor 3g is attached to the drive motor 3e.
  • the speed sensor 3g detects the wheel speed of the drive wheel 3c (and consequently the speed of the drive unit 3).
  • the speed sensor 3g is a sensor using an encoder, for example.
  • the speed sensor 3g outputs the detected speed information to the control device 4.
  • the control device 4 will be described with reference to FIGS.
  • the detection sensors 2e, 2f, 2i, 2j, and 2k, and the switches 2g and 2h and the control device 4 are directly connected, but actually, the detection sensors 2e, 2f, and 2i are drawn.
  • 2j, 2k and the information from the switches 2g, 2h are input to the control device 4 via the transmitter of the operation handle 2 and the receiver of the drive unit 3.
  • the control device 4 is an electronic control device for controlling the drive unit 3 and includes a memory such as a CPU [Central [Processing Unit], a ROM [Read Only Memory] and a RAM [Random Access Memory], an input / output circuit, and the like. .
  • the control device 4 loads an application program stored in a ROM or the like into the RAM and executes the program by the CPU, whereby the state determination unit 4a, the steering control unit 4b, the drive control unit 4c, the deceleration stop control unit 4d, and the emergency stop A control unit 4e is configured.
  • the control device 4 receives the information output from the detection sensors 2e, 2f, 2i, 2j, 2k and the switches 2g, 2h of the operation handle 2, and the steering angle sensor 3f and speed sensor of the drive unit 3. Each information output from 3g is input.
  • the state determination unit 4 a, the steering control unit 4 b, the drive control unit 4 c, the deceleration stop control unit 4 d, and the emergency stop control unit 4 e perform the following processes using these pieces of input information. To control the steering motor 3d and / or the drive motor 3e.
  • the state determination unit 4a determines whether the ON / OFF information output from the mounting detection sensor 2k is ON or OFF while the drive unit 3 is stopped. When the ON / OFF information output from the attachment detection sensor 2k is OFF (when the operation handle 2 is not normally attached to the board Be), the state determination unit 4a outputs ON from each of the detection sensors 2i and 2j. Regardless of the / OFF information, the operation on the operation handle 2 by the carrier P is disabled. That is, the state determination unit 4a does not cause the steering control unit 4b and the drive control unit 4c to perform processing.
  • the state determination unit 4a When the ON / OFF information output from the attachment detection sensor 2k is ON (when the operation handle 2 is normally attached to the board Be), the state determination unit 4a is in a state where the drive unit 3 is stopped or moving. Then, it is determined whether the ON / OFF information output from the left hand detection sensor 2i is ON or OFF, and whether the ON / OFF information output from the right hand detection sensor 2j is ON or OFF.
  • the state determination unit 4a allows the carrier P to operate the operation handle 2. That is, the state determination unit 4a causes the steering control unit 4b and the drive control unit 4c to perform each process.
  • the ON / OFF information output from at least one of the left hand detection sensor 2i and the right hand detection sensor 2j is OFF while the drive unit 3 is stopped (the carrier P performs at least one of the left hand LH and the right hand RH during the stop).
  • the state determination unit 4 a When separated from the operation handle 2), the state determination unit 4 a disables the operation of the operation handle 2 by the carrier P. That is, the state determination unit 4a does not cause the steering control unit 4b and the drive control unit 4c to perform each process.
  • the ON / OFF information output from only one of the left hand detection sensor 2i and the right hand detection sensor 2j is OFF during the movement of the drive unit 3 (the carrier P operates only one of the left hand LH and the right hand RH during the movement).
  • the state determination unit 4a When separated from the handle 2, the state determination unit 4a causes the deceleration stop control unit 4d to perform processing.
  • the state determination unit 4a causes the emergency stop control unit 4e to perform processing.
  • the state determination unit 4a may not only cause the steering control unit 4b and the drive control unit 4c to perform each process when the operation of the operation handle 2 by the transporter P is disabled. It may be in a state where it cannot be performed (that is, a state in which no force is detected by the operation detection sensors 2e and 2f and / or a state in which an ON operation to the movement switches 2g and 2h is not accepted).
  • the steering control unit 4b calculates the difference between the force applied to the left operation grip 2c detected by the left operation detection sensor 2e and the force applied to the right operation grip 2d detected by the right operation detection sensor 2f.
  • the steering control unit 4b determines the steering direction of the drive wheel 3c (the traveling direction of the drive unit 3) based on whether the difference in force is a positive value or a negative value, and also sets the target steering angle based on the absolute value of the difference in force. To decide.
  • the steering control unit 4b controls the steering motor 3d based on the steering direction and the target steering angle.
  • the steering control unit 4b when the ON / OFF information output from the left movement switch 2g is ON, the steering angle of the drive wheel 3c is 90 ° in the counterclockwise direction (counterclockwise) from the state in which the steering angle of the driving wheel 3c faces the front direction.
  • the steering motor 3d is controlled so as to be rotated.
  • the steering control unit 4b when the right movement switch 2h is turned on, the steering angle of the driving wheel 3c is rotated 90 ° in the clockwise direction (clockwise) from the state in which the steering angle of the driving wheel 3c is directed to the front direction.
  • the steering motor 3d is controlled. In this steering control, feedback control is performed using the actual steering angle detected by the steering angle sensor 3f.
  • the drive control unit 4c calculates the sum of the force applied to the left operation grip 2c detected by the left operation detection sensor 2e and the force applied to the right operation grip 2d detected by the right operation detection sensor 2f.
  • the drive control unit 4c determines the traveling direction (forward direction or backward direction) of the driving wheel 3c (driving unit 3) depending on whether the sum of the forces is a positive value or a negative value, and determines the target from the absolute value of the sum of the forces. Calculate the speed.
  • the drive control unit 4c controls the drive motor 3e based on the determined traveling direction and the calculated target speed. In this drive control, feedback control is performed using the actual speed detected by the speed sensor 3g.
  • control with respect to the drive motor 3e in the drive control part 4c will be processed by the deceleration stop control part 4d or the emergency stop control part 4e, when the process is implemented by the deceleration stop control part 4d or the emergency stop control part 4e. have priority.
  • the deceleration stop control unit 4d will be described.
  • the deceleration stop control unit 4d causes the drive wheel 3c (drive unit 3) to decrease by a predetermined amount.
  • the drive motor 3e is controlled so as to decelerate at the speed and finally stop.
  • the predetermined deceleration is a deceleration that does not cause discomfort to the person lying on the bed B due to deceleration (a deceleration that does not cause a large inertial force).
  • the deceleration stop control unit 4d determines the state without stopping the driving unit 3.
  • the unit 4a may cause the steering control unit 4b and the drive control unit 4c to perform each process, and cause the drive unit 3 to resume normal movement.
  • the emergency stop control unit 4e will be described.
  • the emergency stop control unit 4e immediately stops the drive wheel 3c (drive unit 3).
  • the drive motor 3e is controlled so that
  • the operation handle 2 is attached to the board Be at the rear end of the bed B, and the drive unit 3 is attached to the board Bd at the front end of the bed B.
  • a load is applied to the attachment detection sensor 2k, and the attachment detection sensor 2k outputs ON information.
  • the information output from the left hand detection sensor 2 i and the right hand detection sensor 2 j is OFF information, and the control device 4 does not perform each control on the drive unit 3.
  • the control device 4 does not perform each control on the drive unit 3.
  • the transporter P cannot transport the bed B through the operation handle 2, and the transporter P is normal with respect to the operation handle 2. Cannot be operated properly.
  • the transporter P holds the left operation grip 2c and the right operation grip 2d of the operation handle 2 with the left hand LH and the right hand RH, respectively.
  • a load is applied to the left hand detection sensor 2i and the right hand detection sensor 2j, and the left hand detection sensor 2i and the right hand detection sensor 2j each output ON information.
  • the control device 4 performs each control on the drive unit 3.
  • the left hand detection sensor 2i and the right hand detection sensor 2j are not loaded until the left hand grip 2c and the right operation grip 2d of the operation handle 2 are gripped by the left hand LH and the right hand RH, the left hand detection sensor 2i and the right hand Each detection sensor 2j outputs OFF information.
  • the control device 4 does not perform each control on the drive unit 3 even when the information output from the attachment detection sensor 2k is ON information.
  • the left operation grip 2c and the right operation grip 2d of the operation handle 2 are not gripped by the left hand LH and the right hand RH, normal operation cannot be performed by the left hand LH and the right hand RH.
  • the control device 4 performs steering control and drive control according to each operation on the left operation grip 2c and the right operation grip 2d by the transporter P and / or each operation on the left movement switch 2g and the right movement switch 2h.
  • the steering motor 3d and the drive motor 3e are operated, and the drive unit 3 moves at a direction and speed according to the operation. Accordingly, the bed B can be transported by the transporter P on the rear end side of the bed B and the drive unit 3 on the front end side.
  • the control device 4 controls the drive motor 3e so as to decelerate and stop at the predetermined deceleration.
  • the drive motor 3e generates a drive torque that achieves a predetermined deceleration, and finally stops the generation of the drive torque.
  • the drive unit 3 decelerates at a predetermined deceleration rate until the speed becomes 0 km / h.
  • the control device 4 controls the drive motor 3e so that the drive wheel 3c stops.
  • the drive motor 3e immediately stops the generation of the drive torque.
  • the drive unit 3 stops immediately.
  • both the left hand detection sensor 2i and the right hand detection sensor 2j are loaded, and the left hand detection sensor 2i and the right hand detection sensor 2j output ON information, respectively. To do. In this case, the control device 4 resumes each control for the drive unit 3.
  • the transport assisting device 1 when the transporter P releases one hand from the left operation grip 2c and the right operation grip 2d of the operation handle 2, the drive unit 3 is decelerated at a predetermined deceleration and stopped. B's sudden deceleration can be prevented. Therefore, the person lying on the bed B does not feel uncomfortable. Further, according to the transport assist device 1, when the transporter P releases both hands from the left operation grip 2c and the right operation grip 2d of the operation handle 2, the drive unit 3 is immediately stopped, so that safety can be ensured.
  • the conveyance assisting device 1 when the operation handle 2 is not normally attached to the bed B, the operation handle 2 is disabled and each control for the drive unit 3 is not performed. Therefore, the drive unit 3 does not move and maintains a stopped state.
  • the left movement switch 2g and the right movement switch 2h are respectively operated by the left hand LH and the right hand RH of the carrier P operated by the left operation grip 2c and the right operation grip 2d (in particular, the thumb). ) Is within the reach. For this reason, when the transporter P operates the left movement switch 2g and the right movement switch 2h, it can be operated without releasing the left operation grip 2c and the right operation grip 2d. Accordingly, the carrier P can operate the left movement switch 2g and the right movement switch 2h without decelerating and stopping.
  • the conveyance assisting device 101 includes an approach switch 102i in the operation handle 2 in place of the left hand detection sensor 2i, the right hand detection sensor 2j, and the attachment detection sensor 2k.
  • the contact sensor 103c in the drive unit 3, the contact sensor 103c, the front ultrasonic sensor (distance detection unit) 103d, the left side ultrasonic sensor (distance detection unit) 103e, the right side ultrasonic sensor (Distance detection unit) 103f and a short-distance ultrasonic sensor (short-distance detection unit) 103g, and as shown in FIG.
  • the state determination unit 4a In place of the deceleration stop control unit 4d and the emergency stop control unit 4e, a deceleration control unit 104c, a stop control unit 104d, and an approach control unit 104e are provided. Differs from the conveyance assisting device 1 of the first embodiment. About another structure, it is the same as that of the conveyance auxiliary
  • the configuration different from the conveyance auxiliary device 1 of the first embodiment will be described in detail, and the same configuration will be denoted by the same reference numerals as those of the first embodiment, and description thereof will be omitted.
  • FIG. 5 (a) is a plan view of the operation handle
  • FIG. 5 (b) is a perspective view of the operation handle.
  • an approach switch (approach operation input unit) 102i is provided in the immediate vicinity of the left operation grip 2c on the upper surface of the main body 2a of the operation handle 2.
  • the approach switch 102i is disposed at a position where the finger (particularly, thumb) of the left hand LH holding the left operation grip 2c can reach.
  • the approach switch 102i is a switch for canceling the stop control by the stop control unit 104d, which will be described in detail later, and causing the drive unit 3 (and thus the bed B) to approach the wall in a hospital room or an elevator, etc. This is a well-known ON / OFF mechanical switch.
  • the drive unit 3 is mounted on the front side of the board Bd at the front end of the bed B.
  • the driving unit 3 is controlled in moving speed or moving direction according to each operation on the operation handle 2 by the carrier P. Further, the drive unit 3 decelerates according to the distance to the obstacle output from the ultrasonic sensor in order to prevent the drive unit 3 from hitting the obstacle while the bed B is being transported. Stop at.
  • the drive unit 3 is based on the distance output from the ultrasonic sensor so as to be as close as possible to the wall in the elevator or in the sick room.
  • the stop control is interrupted to enable driving in a state where the speed is limited, and the stop control is stopped immediately before the wall based on the distance output from the short-range ultrasonic sensor.
  • the contact sensor 103c is provided in the bumper 3b.
  • the contact sensor 103c detects that an object has been touched.
  • the contact sensor 103c is, for example, a limit switch.
  • the contact sensor 103c outputs to the control device 4 ON / OFF information indicating whether the object has been touched by ON / OFF.
  • the front ultrasonic sensor 103d, the left side ultrasonic sensor 103e, and the right side ultrasonic sensor 103f are provided on the front surface of the main body 3a.
  • the front ultrasonic sensor 103d is disposed at a predetermined height position in the center in the left-right direction on the front surface of the main body 3a, and detects an object (obstacle) present in the front direction on the front side of the drive unit 3.
  • the left side ultrasonic sensor 103e is arranged at the same height position on the left side of the front ultrasonic sensor 103d in the front surface portion of the main body 3a, and detects an object existing in the left direction on the front side of the drive unit 3.
  • the right side ultrasonic sensor 103f is arranged at the same height position on the right side of the front ultrasonic sensor 103d in the front surface portion of the main body 3a, and detects an object existing in the right direction on the front side of the drive unit 3.
  • Each of the ultrasonic sensors 103d to 103f is a known conventional ultrasonic sensor, and has a detection range (detection region) in which the forward detectable distance is several meters and the lateral detectable angle is several tens of degrees.
  • Each of the ultrasonic sensors 103d to 103f detects an object existing within the detection range, and when an object can be detected, calculates a distance to the object.
  • the ultrasonic sensors 103d to 103f output the distance information to the control device 4.
  • the short-range ultrasonic sensor 103g is provided on the front surface of the bumper 3b.
  • the short-range ultrasonic sensor 103g is disposed at a lower portion in the center in the left-right direction on the front surface of the bumper 3b, and detects an object existing at a short distance on the front side of the drive unit 3.
  • the short-range ultrasonic sensor 103g is a known conventional ultrasonic sensor, and has a detection range in which the forward detectable distance is several tens of centimeters and the left-right direction detectable angle is several tens of degrees.
  • the short-range ultrasonic sensor 103g can detect a distance shorter than the shortest distance that can be detected by the ultrasonic sensors 103d to 103f.
  • the short-range ultrasonic sensor 103g can detect a short distance with higher accuracy than the ultrasonic sensors 103d to 103f.
  • the near-field ultrasonic sensor 103g detects an object (particularly a wall) existing in the object within the detection range, and when the object can be detected, calculates the distance to the object, and the distance is the threshold distance L. If there is an object equal to or less than E2, ON information is output to the control device 4, and otherwise, OFF information is output to the control device 4.
  • the determination between the detection distance and the threshold distance LE2 may be performed by the control device 4. In this case, the distance information detected by the short-range ultrasonic sensor 103g is output to the control device 4.
  • the detection range A L of the left side ultrasonic sensor 103e is in the range of from the front direction to several m destination ⁇ several 10 ° about the number 10 ° left rotation direction
  • the range is ⁇ several tens of degrees up to several meters away.
  • the detection range A N of the near ultrasonic sensor 103g ranges up to several 10cm destination ⁇ several 10 ° around the front direction.
  • deceleration control by the deceleration control unit 104c and stop control by the stop control unit 104d are performed using the three ultrasonic sensors 103d to 103f having different detection directions (detection ranges).
  • the threshold distance L S used in this deceleration control is a distance at which the driving unit 3 that is moving at a speed according to the operation by the carrier P can be safely decelerated and stopped before the obstacle. m.
  • the detectable distances of the ultrasonic sensors 103d to 103f are longer than the threshold distance L S.
  • the threshold distance (first threshold distance) L E1 ( ⁇ L S ) used in the stop control is a distance that allows the drive unit 3 that is moving at a speed during deceleration control to stop before the obstacle, It is several tens of centimeters. Further, stop control by the stop control unit 104d (part of approach control by the approach control unit 104e) is performed using the short-range ultrasonic sensor 103g.
  • the threshold distance (second threshold distance) L E2 used in the stop control is shorter than the threshold distance L E1 , and the drive unit 3 that is moving at the speed limit at the time of approach control is immediately moved immediately before the obstacle. It is a distance that can be stopped at a distance of several centimeters to several tens centimeters.
  • each detection sensor 2e, 2f and each switch 2g, 2h, 102i and the control device 4 are directly connected, but actually, each detection sensor 2e, 2f, each switch 2g, 2h, Each information output from 102 i is input to the control device 4 via the transmitter of the operation handle 2 and the receiver of the drive unit 3.
  • the control device 4 is an electronic control device for controlling the drive unit 3, and includes a CPU, a memory such as a ROM and a RAM, an input / output circuit, and the like.
  • an application program stored in the ROM is loaded into the RAM and executed by the CPU, whereby the steering control unit 4b, the drive control unit 4c, the deceleration control unit 104c, the stop control unit 104d, and the approach control unit 104e Composed.
  • the control device 4 receives the information output from the detection sensors 2e and 2f of the operation handle 2 and the switches 2g, 2h and 102i, as well as the ultrasonic sensors 103d to 103g and the steering angle sensor in the drive unit 3. Each information output from 3f and the speed sensor 3g is input.
  • the steering control unit 4b, the drive control unit 4c, the deceleration control unit 104c, the stop control unit 104d, and the approach control unit 104e perform the respective processes using these pieces of input information, and the steering motor 3d and / or Alternatively, the drive motor 3e is controlled.
  • the deceleration control unit 104c, the stop control unit 104d, and the approach control unit 104e will be described. Note that the control for the drive motor 3e in the drive control unit 4c is performed by the deceleration control unit 104c, the stop control unit 104d, or the approach control unit 104e, the deceleration control unit 104c, the stop control unit 104d, or the approach. The processing by the control unit 104e is prioritized.
  • the deceleration control unit 104c determines whether or not the steering angle detected by the steering angle sensor 3f is within the threshold angle ⁇ from the front direction to the left rotation direction, and whether or not the steering angle is within the threshold angle ⁇ from the front direction to the right rotation direction. Determine whether.
  • This threshold angle ⁇ is a threshold for determining which of the three ultrasonic sensors 103d to 103f is used, and is set based on each angle in the detection direction of the ultrasonic sensors 103d to 103f.
  • the In the deceleration control unit 104c when the steering angle is within the threshold angle ⁇ from the front direction to the left-right rotation direction, the distance detected by the front ultrasonic sensor 103d is used, and the steering angle exceeds the threshold angle ⁇ in the left rotation direction. Is detected using the distance detected by the left ultrasonic sensor 103e, and when the steering angle exceeds the threshold angle ⁇ in the right rotation direction, the distance detected by the right ultrasonic sensor 103f is used. It is determined whether the determined distance is equal to or less than the threshold distance L S.
  • the deceleration control unit 104c sets the upper limit speed of the drive wheel 3c (drive unit 3) and controls the drive motor 3e so as to reach the upper limit speed.
  • the upper limit speed is set so that the speed decreases stepwise as the distance to the obstacle becomes shorter. For example, the speed at each stage is several km / h.
  • the stop control unit 104d will be described. Determines the stop control section 104d, 3 pieces of the distances sensed respectively by the ultrasonic sensor 103d ⁇ 103f threshold distance L E1 below whether, respectively.
  • the stop control unit 104d determines that the detection distance detected by any of the three ultrasonic sensors 103d to 103f is equal to or less than the threshold distance LE1 , the drive wheel 3c (drive unit 3) stops.
  • the drive motor 3e is controlled.
  • the bumper 3b is provided with the contact sensor 103c, and the stop control unit 104d is in the case where the ON / OFF information output from the contact sensor 103c is ON (detection of contact with an object).
  • the drive motor 3e is controlled so that the drive wheel 3c (drive unit 3) stops.
  • the processing performed by the deceleration control unit 104c and the stop control unit 104d is performed only during the forward movement of the drive unit 3, and is not performed during the backward movement, the movement in the left and right directions, and the stop. Further, the processing performed by the stop control unit 104d is not performed for a certain period of time when the approach switch 102i is turned on. Therefore, if the approach switch 102i is turned ON, the drive unit 3 is also closer than the threshold distance L E1 obstacle, the drive unit 3 is not stopped.
  • the approach control unit 104e will be described.
  • the process performed by the stop control unit 104d is interrupted for a certain period of time, and the approach control unit 104e performs the process.
  • This fixed time is a time during which the drive unit 3 is allowed to be closer to the obstacle than the threshold distance LE1 , and is several tens of seconds, for example.
  • the approach control unit 104e sets a speed limit of the drive wheel 3c (drive unit 3), and controls the drive motor 3e so as to reach the speed limit.
  • the speed limit is a speed at which the drive wheel 3c (drive unit 3) can be stopped immediately, and is a speed lower than the upper limit speed in the deceleration control unit 104c, for example, several km / h, comma number km / h. Furthermore, the approach controller 104e, when ON / OFF information output from short range ultrasonic sensor 103g is ON (detection distance of the short-range ultrasonic sensor 103g is equal to or smaller than the threshold distance L E2), the drive wheels 3c (drive unit The drive motor 3e is controlled to stop 3).
  • the processing by the approach control unit 104e is performed only for a certain period of time after the approach switch 102i is turned on, but the processing by the approach control unit 104e is performed until the approach switch 102i is turned off. It is good also as composition to do.
  • the threshold distance L E2 is a distance shorter than the threshold distance E1 of the stop control unit 104d as described above, and is a distance for stopping the drive unit 3 close to just before the wall.
  • handrails are attached to walls such as elevators. Since the handrail protrudes from the wall, the handrail may hit the main body 3a when the drive unit 3 is brought close to the wall. Accordingly, the handrail is to avoid exposure to body 3a, it may be to set the threshold distance L E2. For example, the distance corresponding to the handrail protruding from the wall is measured, and the threshold distance LE2 is set by adding a margin of about several centimeters to the distance.
  • the threshold distance LE2 is set, so that the drive unit 3 can be prevented from hitting the handrail, and it is not necessary to directly detect the handrail.
  • the threshold distance LE2 may be set in consideration of the member.
  • the detection distance detected by any of the three ultrasonic sensors 103d to 103f is equal to or less than the threshold distance L E1 even during the effective period (within the above-described fixed time) in which the process is performed by the approach control unit 104e. and after it is determined, when the detection distance to be detected by all three ultrasonic sensors 103d ⁇ 103f is determined to exceed the threshold distance L E1 stops the process of implementing the approach controller 104e, The deceleration control unit 104c may perform the process.
  • the flow of operations (particularly, deceleration control, stop control, approach control) in the conveyance auxiliary device 1 will be described with reference to FIGS.
  • the transporter P moves the left operation grip 2c and the right operation grip of the operation handle 2 together. Operate by gripping 2d.
  • the control device 4 performs steering control and drive control according to each operation to the left operation grip 2c and right operation grip 2d and / or each operation to each movement switch 2g, 2h, 102i.
  • the steering motor 3d and the drive motor 3e are operated, and the drive unit 3 moves at a direction and speed according to the operation. Accordingly, the bed B can be transported by the transporter P on the rear end side of the bed B and the drive unit 3 on the front end side.
  • each of the ultrasonic sensors 103d to 103f detects an obstacle in the detection range in each direction. If an obstacle is detected, the distance to the obstacle is calculated and the distance information is controlled. Output to device 4.
  • the steering angle sensor 3 f detects the steering angle of the drive wheel 3 c and outputs the steering angle information to the control device 4.
  • the control device 4 selects an ultrasonic sensor facing the traveling direction of the drive unit 3 from the three ultrasonic sensors 103d to 103f based on the steering angle of the drive wheel 3c.
  • the control device 4 determines whether or not the distance detected by the selected ultrasonic sensor is equal to or less than the threshold distance L S.
  • the control device 4 sets an upper limit speed according to the distance to the obstacle, and controls the drive motor 3e so that the upper limit speed is reached.
  • the drive motor 3e generates a drive torque that reaches the upper limit speed. Accordingly, when the driving unit 3 approaches the obstacle from the threshold distance L S , the driving unit 3 gradually decelerates as the driving unit 3 approaches the obstacle.
  • control device 4 respectively determines the three respective distances detected respectively by the ultrasonic sensor 103d ⁇ 103f threshold distance L E1 below whether the.
  • the control device 4 controls the drive motor 3e so that the drive wheel 3c stops.
  • the drive motor 3e stops generating drive torque.
  • the control device 4 performs such stop control and deceleration control, the drive unit 3 can be safely stopped before the obstacle while decelerating.
  • the near-field ultrasonic sensor 103g detects an obstacle (especially a wall) in a near-range detection range with higher accuracy than the ultrasonic sensors 103d to 103f, and if the obstacle can be detected, the obstacle is detected. And ON / OFF information indicating whether the distance is equal to or less than the threshold distance LE2 is output to the control device 4.
  • the carrier P turns on the approach switch 102i of the operation handle 2 when the bed B is put in the elevator.
  • the control device 4 interrupts stop control using the ultrasonic sensors 103d to 103f for a fixed time.
  • the control device 4 controls the drive motor 3e so that the speed limit is lower than the upper limit speed during deceleration control. By this control, the drive motor 3e generates a drive torque that reaches the speed limit. As a result, the drive unit 3 moves at a very low speed, and the bed B on which the drive unit 3 is mounted can be brought close to the wall at a very low speed.
  • control device 4 controls the drive motor 3e so that the drive wheel 3c stops when the ON / OFF information output from the short-range ultrasonic sensor 103g is ON (the detection distance is equal to or less than the threshold distance LE2 ). .
  • the drive motor 3e stops the generation of the drive torque.
  • the drive unit 3 responds to a pressing operation to the left operation grip 2c and the right operation grip 2d by the transporter P (particularly even when a pressing operation at a speed higher than the speed limit is performed). Can be brought close to the wall and stopped. Further, even when the stopping operation of the carrier P is delayed, the drive unit 3 can be prevented from hitting the wall.
  • the stop control based on the distance detected by the ultrasonic sensors 103d to 103f is interrupted and detected by the short-range ultrasonic sensor 103g.
  • the threshold distance LE2 can be set according to the environment in which the bed B is transported, so that it is possible to prevent the drive unit 3 from hitting a handrail in an environment such as a hospital.
  • the conveyance auxiliary device 1 by using an ultrasonic sensor in which the detection direction (detection range) matches the traveling direction of the drive unit 3 among the three ultrasonic sensors 103d to 103f having different detection directions, Whether the drive unit 3 is traveling straight or curved, it is possible to obtain a highly accurate distance to the obstacle. Thereby, it becomes possible with high accuracy to the obstacle, and the drive unit 3 can be prevented from hitting the obstacle. In particular, even when the vehicle is curved, an obstacle that becomes a blind spot from the carrier P can be detected by the side ultrasonic sensors 103e and 103f.
  • the conveyance auxiliary device 201 (see FIG. 4) according to the third embodiment is a combination of the configuration of the conveyance auxiliary device 1 according to the first embodiment and the configuration of the conveyance auxiliary device 101 according to the second embodiment. is there.
  • the operation handle 2 includes a main body 2a, a clamp portion 2b, a left operation grip 2c, a right operation grip 2d, a left operation detection sensor 2e, a right operation detection sensor 2f, a left movement switch 2g, and a right movement switch. 2h, a left hand detection sensor 2i, a right hand detection sensor 2j, a mounting detection sensor 2k, and an approach switch 102i.
  • the drive unit 3 includes a main body 3a, a bumper 3b, a drive wheel 3c, a steering motor 3d, a drive motor 3e, a steering angle sensor 3f, a speed sensor 3g, a contact sensor 103c, a front ultrasonic sensor ( A distance detection unit) 103d, a left side ultrasonic sensor (distance detection unit) 103e, a right side ultrasonic sensor (distance detection unit) 103f, and a short distance ultrasonic sensor (short distance detection unit) 103g.
  • the control device 4 includes a state determination unit 4a, a steering control unit 4b, a drive control unit 4c, a deceleration stop control unit 4d, an emergency stop control unit 4e, a deceleration control unit 104c, a stop control unit 104d, And an approach control unit 104e.
  • each part which comprises the conveyance assistance apparatus 201 of 3rd Embodiment it is the same as that of the conveyance assistance apparatus 1 of 1st Embodiment, and the conveyance assistance apparatus 101 of 2nd Embodiment.
  • the same reference numerals as those in the first embodiment and the second embodiment are used, and the description thereof is omitted.
  • the present invention is applied to a bed having a caster as an object to be transported.
  • a loading platform having a caster for example, one that can load and transport meals, medical instruments, articles, etc.
  • an apparatus having a caster for example, other devices such as a medical device may be applied.
  • the drive unit (drive unit) and the operation handle (operation unit) are separately provided and attached to the front and rear ends of the object.
  • the drive unit and the operation unit may be integrated.
  • the limit switch was applied as the left hand detection sensor 2i and the right hand detection sensor 2j, if it can detect that the hand is contacting the operation grip, an optical sensor, an electrostatic sensor, etc. Other detection sensors may be applied.
  • the left operation detection sensor 2e and the left hand detection sensor 2i are configured separately, but are configured by one sensor having the functions of two sensors. Also good.
  • the limit switch is applied as the mounting detection sensor 2k. However, as long as it can detect that the operation handle 2 is mounted, another detection sensor such as an optical sensor or an electrostatic sensor is applied. May be.
  • the three ultrasonic sensors 103d to 103f are provided as the distance detection unit.
  • a configuration including one, two, or four or more ultrasonic sensors may be used.
  • a sensor capable of detecting a distance may be used, or the sensor may be configured by a single sensor (for example, a laser scanner) that can set an area that covers a wide detection range, and the detection area is switched according to the traveling direction of the drive unit. May be.
  • the short-distance ultrasonic sensor is provided as the short-distance detection unit.
  • a sensor capable of short-distance detection other than the ultrasonic sensor may be used, or the area setting used as the above-described distance detection unit. It may be shared with possible sensors and switched to a close detection area.
  • the processing of the stop control unit is interrupted.
  • the detection by the ultrasonic sensor is performed. It may be configured to be suspended as invalid, or may be configured to be suspended by setting the threshold distance L E1 to be equal to or less than the threshold distance L E2 (for example, 0).

Landscapes

  • Health & Medical Sciences (AREA)
  • Nursing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Invalid Beds And Related Equipment (AREA)
  • Handcart (AREA)

Abstract

La présente invention concerne un dispositif d'assistance de transport comprenant : une unité d'entraînement à monter sur un objet pour aider au transport de l'objet; une unité de manipulation à monter sur l'objet, comprenant en outre une unité d'entrée de manipulation gauche qui reçoit une entrée d'une manipulation par la main gauche d'un opérateur pour l'unité d'entraînement, et une unité d'entrée de manipulation droite qui reçoit une entrée d'une manipulation par la main droite de l'opérateur pour l'unité d'entraînement; une première unité de commande qui commande l'unité d'entraînement en réponse aux quantités de manipulation entrées dans l'unité d'entrée de manipulation gauche et l'unité d'entrée de manipulation droite ; une unité de détection de main gauche qui détecte si la main gauche de l'opérateur est en contact avec l'unité d'entrée de manipulation gauche ; et une unité de détection de main droite qui détecte si la main droite de l'opérateur est en contact avec l'unité d'entrée de manipulation droite. Quand il est détecté par l'unité de détection de main gauche et l'unité de détection de main droite que l'une des mains de l'opérateur n'est pas en contact, la première unité de commande provoque la deceleration de l'unité d'entrainement à une décélération prescrite.
PCT/JP2015/061472 2014-04-18 2015-04-14 Dispositif d'assitance de transport Ceased WO2015159883A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2014-086141 2014-04-18
JP2014-086140 2014-04-18
JP2014086141A JP5915690B2 (ja) 2014-04-18 2014-04-18 搬送補助装置
JP2014086140A JP6038068B2 (ja) 2014-04-18 2014-04-18 搬送補助装置

Publications (1)

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WO2015159883A1 true WO2015159883A1 (fr) 2015-10-22

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EP3919335A4 (fr) * 2019-02-01 2022-10-12 Evar Co., Ltd. Chariot électrique
EP4162912A1 (fr) * 2017-05-31 2023-04-12 Mizuho Orthopedic Systems, Inc Système, appareil et procédé de support et/ou de positionnement d'un patient avant, pendant ou après un acte médical
JP7789964B2 (ja) 2017-05-31 2025-12-22 ミズホ・オーソペディック・システムズ・インク 医療処置の前、最中、または後に患者を支援および／または位置決めするためのシステム、装置、および方法

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JP2013100076A (ja) * 2011-10-13 2013-05-23 Toyota Industries Corp ベッド搬送補助装置およびベッド
JP2014021676A (ja) * 2012-07-17 2014-02-03 Nikon Corp 電子機器

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JPS63155307A (ja) * 1986-12-19 1988-06-28 Shin Caterpillar Mitsubishi Ltd 無人自走体の障害物監視システム
JPH08317953A (ja) * 1995-05-26 1996-12-03 Tokico Ltd ベッド搬送装置
JPH0924071A (ja) * 1995-07-13 1997-01-28 Tokico Ltd ベッド搬送装置
JPH09202235A (ja) * 1996-01-26 1997-08-05 Suzuki Motor Corp 駆動手段付き手押し台車
JP2002002488A (ja) * 2000-06-27 2002-01-09 Matsushita Electric Works Ltd パワーアシスト型手押し車
JP2003167628A (ja) * 2001-11-28 2003-06-13 Figla Co Ltd 自律走行作業車
JP2004098890A (ja) * 2002-09-10 2004-04-02 Hoshizaki Electric Co Ltd 運搬車
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JP2013100076A (ja) * 2011-10-13 2013-05-23 Toyota Industries Corp ベッド搬送補助装置およびベッド
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4162912A1 (fr) * 2017-05-31 2023-04-12 Mizuho Orthopedic Systems, Inc Système, appareil et procédé de support et/ou de positionnement d'un patient avant, pendant ou après un acte médical
US12290478B2 (en) 2017-05-31 2025-05-06 Mizuho Osi System, apparatus and method for supporting and/or positioning a patient before, during, or after a medical procedure
JP7789964B2 (ja) 2017-05-31 2025-12-22 ミズホ・オーソペディック・システムズ・インク 医療処置の前、最中、または後に患者を支援および／または位置決めするためのシステム、装置、および方法
EP3919335A4 (fr) * 2019-02-01 2022-10-12 Evar Co., Ltd. Chariot électrique

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TWI619486B (zh) 2018-04-01
TW201603794A (zh) 2016-02-01
TWI574678B (zh) 2017-03-21
TW201642825A (zh) 2016-12-16

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