JP6936476B2 - Electric bed - Google Patents

Description

The present invention relates to an electric bed technique capable of controlling undulating motion, and more particularly to an electric bed for treatment or nursing care.

Conventionally, a technique has been known in which an actuator is driven via a motor to operate a link mechanism to raise and lower the bed (see, for example, Patent Document 1). Such electric beds are mainly used for medical treatment in hospitals and long-term care in homes.

In order to realize this undulating operation in the electric bed, link mechanisms with various structures have been put into practical use, and some use hydraulic actuators and some use motor actuators, but in general, motors. In many cases, the actuator is driven via the above to operate the link mechanism. In particular, in the electric bed for treatment or nursing care, it is general that the three movements of the back raising angle, the knee raising height, and the bed height can be adjusted almost steplessly as the undulating movements.

However, such an electric bed is roughly classified into two types, a first type in which feedback control is not performed and a second type in which feedback control is performed.

In the first type, while the operator confirms the displayed value displayed on the switch for operation, the actuator is driven via the motor to operate the link mechanism, and the operator operates the position at the desired value. It is to stop. This first type of electric bed is often relatively inexpensive.

However, for example, if the subject of treatment or care using an electric bed is restricted in terms of its back-raising angle, knee-raising height, and bed height under the guidance of a doctor, the first type of electric bed may be used. Since the back-raising angle, knee-raising height, and bed height are arbitrarily adjusted at the discretion of the operator, there is a risk of erroneous operation.

Therefore, in the second type, the setting values that limit the back-raising angle, knee-raising height, and bed height are input in advance with the operation switch, and the actuator is driven via the motor to drive the link mechanism. Is configured to detect the amount of rotation of the motor with an encoder or potentiometer and perform feedback control when operating the motor.

In this second type of electric bed, for example, when the subject of treatment or care using the electric bed is restricted in terms of its back-raising angle, knee-raising height, and bed height under the guidance of a doctor. Set the corresponding setting value in advance with the operation switch. Then, when the operator drives the actuator via the motor with the switch for operation to operate the link mechanism, the feedback control operates without exceeding the set value. Therefore, the second type of electric bed is realized as a safe and secure electric bed for the operator or the person to be treated or cared for.

In particular, in the second type of electric bed, delicate movements such as simultaneously variably controlling the back-raising angle and the knee-raising height, and the back-raising angle and Interlocking control with respect to knee-raising height can be realized, and such control cannot be realized with the first type electric bed.

FIG. 17 shows an example of a conventional typical second type electric bed 10. With reference to FIG. 17, in a conventional typical second type electric bed 10, a controller 12, a motor 13, an actuator 14, and a link mechanism 16 are arranged below a bed frame 17 that supports a human body. .. In particular, a total of three sets of the motor 13, the actuator 14, and the link mechanism 16 are provided so that the back raising angle, the knee raising height, and the bed height can be adjusted respectively.

A harness for driving each motor 13 is connected to the controller 12. Each actuator 14 is connected to the output shaft of each motor 13, and the cylinder of each actuator 14 is connected to each link mechanism 16. Further, the output shaft of each motor 13 is provided with a rotation amount detection sensor 15 for detecting the rotation amount of an encoder, a potentiometer, etc., and the output signal of the rotation amount detection sensor 15 is a signal cable (FIG. It is connected to the controller 12 via (not shown).

Then, the switch 11 for operation is connected to the controller 12, and the operator uses the switch 11 to adjust the back raising angle, the knee raising height, and the bed height of the landing portion 18 almost steplessly. Can be done.

The switch 11 of the second type electric bed 10 is capable of operating variable movements of the back raising angle, the knee raising height, and the bed height, and exceeds the setting value that can be changed by feedback control. Works without.

FIG. 18 shows a schematic configuration of a functional unit that realizes an operation during operation of the entire conventional typical second type electric bed 10. With reference to FIG. 18, first, the operation signal is output from the switch 11 to the controller 12.

When the controller 12 receives an operation signal based on predetermined set values regarding the back-raising angle, the knee-raising height, and the bed height, the controller 12 supplies a drive signal to the motor 13 and an encoder in order to realize the corresponding operation. A rotation amount signal indicating the rotation amount of the corresponding motor 13 is input from each rotation amount detection sensor 15 such as a potentiometer or a potentiometer to monitor the rotation amount, and the state corresponds to the predetermined set value based on the rotation amount. Feedback control is performed.

The cylinders of the actuators 14 that adjust the back-raising angle, the knee-raising height, and the bed height are respectively expanded and contracted according to the rotation of the motor 13, and are electrically driven via the respective link mechanisms 16 according to the expansion and contraction. The variable operation of the landing portion 18 on the bed 10 is performed.

Further, in the second type electric bed 10, there is one that improves the usability by interlocking control of the movement related to the back raising or lowering and the movement related to the knee raising or knee lowering.

For example, the back bottom and the knee bottom can be swung up and down, respectively, and the back angle, which is the lifting angle of the back bottom from the horizontal state, and the knee angle, which is the lifting angle of the knee bottom from the horizontal state, are preset and stored. A technique for interlocking and controlling the dorsal angle and the knee angle so as to change along the pattern is known (see, for example, Patent Documents 2 and 3).

That is, in the technique of Patent Document 2, the preset pattern connecting the coordinate points where the back bottom and the knee bottom are in the horizontal state and the coordinate points where the back bottom is raised at a plurality of points is stored in the storage unit. However, the back angle and the knee angle are interlocked and controlled so as to change according to the pattern. In particular, in the techniques of Patent Documents 2 and 3, when the positions of both the back angle and the knee angle are controlled, both the back angle and the knee angle are always operated and interlocked along the pattern connecting the points. It is supposed to operate. It is preferable that each pattern for raising and lowering the back is prepared in advance, and the temperature is set to 3 ° or less while allowing variation in each coordinate point.

Further, in the technique of Patent Document 3, the coordinate planes of the dorsal angle and the knee angle are divided into a plurality of areas based on the pattern, and the actual coordinates of the dorsal angle and the knee angle are located at positions not on the pattern for each area. The motion mode of the back bottom and the knee bottom for matching on the pattern is predetermined and stored in the storage unit, and the back angle and the knee angle are interlocked and controlled according to the predetermined motion mode. It has become.

In the techniques of Patent Documents 2 and 3, similarly to those shown in FIGS. 17 and 18 described above, each actuator that enables the back bottom and the knee bottom to swing up and down respectively controls the rotation of each motor. When expanding and contracting, the rotation amount detection sensor attached to the motor is monitored and feedback control is performed.

By the way, although it is not an electric bed, a technique of using a uniaxial acceleration sensor for detecting the back-raising angle (that is, the back angle) is disclosed (see, for example, Patent Document 4).

Japanese Unexamined Patent Publication No. 2014-12054 Japanese Patent No. 3707555 Japanese Patent No. 4179852 Japanese Unexamined Patent Publication No. 2015-136579

As described above, the first type electric bed that does not perform feedback control may be operated by mistake.

On the other hand, the second type of electric bed that performs feedback control is realized as a safe and secure electric bed for the operator or the target person for treatment or long-term care.

However, the conventional second type electric bed is configured to perform feedback control using a rotation amount detection sensor that detects the rotation amount such as an encoder or a potentiometer, and generally, an encoder or a potentiometer or a potentiometer is used. The meter has the property that a cumulative error occurs. For this reason, encoders and potentiometers used for electric beds for treatment and long-term care are required to have extremely high accuracy and low error specifications, and are expensive. As a result, electric beds are also expensive.

Further, as disclosed in Patent Documents 2 and 3, the conventional second type electric bed does not detect the actual position of the landing portion, but the amount of rotation of the motor by an encoder or a potentiometer. Since feedback control is performed by indirectly estimating the back-raising angle, knee-raising height, and bed height of the landing part, there is an error between the actual position of the landing part and the rotation amount of the motor. In some cases, or when a condition such as deformation of the landing portion occurs due to aging, it is necessary to reset or recalibrate.

Therefore, for the second type of electric bed that performs feedback control, a technique that can be made cheaper and realizes highly accurate feedback control is desired.

More preferably, for the first type electric bed, the second type is cheaper than purchasing a new second type electric bed, and only by adding or changing parts having a configuration that is easy to retrofit. A technique for transforming into an electric bed is desired.

More preferably, it is desired to have a technique for transforming the second type electric bed into a highly accurate second type electric bed only by adding or changing parts having a structure that can be easily retrofitted.

By the way, in the technique of Patent Document 2, "a pattern connecting at a plurality of points is preset and stored in a storage unit", and the dorsal angle and the knee are changed so that the dorsal angle and the knee angle change along the pre-stored pattern. The angle is interlocked and controlled. Further, in the technique of Patent Document 3, the coordinate planes of the dorsal angle and the knee angle are "matched on the pattern with respect to the dorsal bottom and the knee bottom not on the pattern for each of a plurality of areas divided based on the pattern. The motion mode for this purpose is predetermined and stored in the storage unit, and the back angle and the knee angle are interlocked and controlled according to the predetermined motion mode.

Then, in the techniques of Patent Documents 2 and 3, since the back angle and the knee angle calculated based on the detection of the rotation amount of the motor by the encoder and the potentiometer are assumed, both the back angle and the knee angle are linked. Therefore, even when connecting linearly as a "pattern connecting at multiple points", it can be controlled by a simple geometric conversion based on the amount of rotation of the motor, but when performing position control of both the back angle and the knee angle, , Both the back angle and the knee angle are always operated, and the interlocking operation is performed along the pattern connecting the points.

However, in the configuration in which the "pattern" and the "operation mode for each area" are stored in the storage unit as in the techniques of Patent Documents 2 and 3, when the structure of the electric bed changes, when the ROM is used as the storage unit, the configuration is such. As it is explained that when the ROM needs to be replaced and the RAM is used, the RAM needs to be rewritten, it is not planned that the pattern can be changed by the user. There is room for improvement in terms of usability.

Further, in the configuration of storing the "pattern" and the "operation mode for each area" in the storage unit as in the techniques of Patent Documents 2 and 3, the storage capacity of the storage unit for that purpose is required, but the storage capacity can be reduced. The accompanying cost reduction is desired. In particular, in the techniques of Patent Documents 2 and 3, the user cannot change the "pattern" and the "operation mode for each area", and it is not easy to change the "pattern" and the "operation mode for each area". It is necessary to memorize the pattern of the above, and in that case, the storage capacity is further increased.

Then, in the techniques of Patent Documents 2 and 3, since the back angle and the knee angle calculated based on the detection of the rotation amount of the motor by the encoder and the potentiometer are assumed, as described above, the actual landing portion. There is still a problem that it is necessary to reset or recalibrate if there is an error between the position of the motor and the amount of rotation of the motor, or if the landing part is deformed due to aging. Remain.

Further, in a configuration in which interlocking control is performed according to a "pattern" or "operation mode for each area" as in the techniques of Patent Documents 2 and 3, in particular, when interlocking control is performed according to the "operation mode for each area" according to the pattern, the back is Depending on the position of the angle and the knee angle, the jerky motion may be performed, and a technique for suppressing this jerky motion and preferably improving the usability by interlocking control that makes the motion smoother is desired.

An object of the present invention is to provide an electric bed that realizes cheaper and more accurate feedback control in view of the above problems, improves usability, and enables interlocking control of the back angle and the knee angle. It is in.

The electric bed of the first aspect according to the present invention is an electric bed capable of controlling an undulating operation by feedback control, and includes a predetermined operation of raising or lowering the back and an operation of raising or lowering the knee with respect to the landing portion. Based on the operation signal for controlling the drive mechanism that executes the undulating operation of, the set value for interlocking control of the back-raising or back-lowering operation and the knee-raising or knee-lowering operation is calculated, and the landing is performed. Operation signal control that feedback-controls the execution of the predetermined undulating operation by the drive mechanism based on the sensor signal from the predetermined sensor that directly or indirectly detects the operation of the movable part related to the movement of the unit and the set value. The operation signal control unit includes a back angle, which is an angle at which the movable portion of the landing portion is lifted from a horizontal state corresponding to the back-raising or back-lowering operation, and the knee-raising or knee-lowering operation. A storage unit that stores a plurality of interlocking control points in advance on a coordinate plane represented by a knee angle, which is an angle at which the movable part of the landing portion corresponding to the above is lifted from the horizontal state, and a back angle based on the sensor signal. And the start reference point indicating the coordinate point of the knee angle is calculated, the interlocking control point at the latest position in the operation direction from the start reference point is set as the target interlocking control point, and the reference connecting the start reference point and the target interlocking control point. Two control lines are set by calculating a parallel virtual line separated from the line by a predetermined Euclidean distance, and the target interlocking control point is based on the two control lines and the target interlocking control point. The actual target point, which is located on the coordinate axis of either the back angle or the knee angle and is the latest position between the two control lines within a predetermined threshold from the target interlocking control point, is calculated, and the start is described. An interlocking control set value calculation unit that calculates a set value for interlocking control of the back angle and the knee angle from the reference point toward the actual target point, and the actual target point with respect to the start reference point based on the set value. The drive mechanism is controlled with the target of, and feedback control is performed based on monitoring of both the knee angle and the back angle until the interlocking operation of the knee angle and the back angle reaches one of the two control lines. After that, feedback control based on monitoring one of the knee angle and the back angle, which is the movement direction, is performed, and switchable feedback control is performed to transition the interlocking movement of the knee angle and the back angle within the two control lines, and the target is When it is determined that the start reference point has been reached, the start reference point is updated, the interlocking control set value calculation unit is instructed to update the set value indicating a new actual target point, feedback control is performed, and the updated start reference point and the updated start reference point and Interlocking control to be the target It is characterized by including a feedback control unit that controls continuous operation until the end of the operation of the interlocking mode that performs interlocking control of the operating points of the back raising angle and the knee raising height based on the points.

Further, in the electric bed of the first aspect according to the present invention, the interlocking control set value calculation unit is determined so as to sandwich the reference line connecting the start reference point and the target interlocking control point with the reference line as the center. when the assumed Euclidean distance two parallel imaginary lines spaced, said two of the imaginary line predetermined one for positive and the other negative side to one any of the virtual line virtual About line, or calculate the virtual line of both, or a virtual line of the plus-side and the negative side and the control lines of the two-wire control line of a virtual line of the plus-side and the reference line the two-wire and either or and wherein the negative side of the virtual line and the reference line to perform a predetermined operation to the control line of the two-wire.

Further, in the electric bed of the first aspect according to the present invention, when the feedback control unit has a difference larger than a predetermined threshold for both the knee angle and the back angle in comparison between the start reference point and the actual target point. as feedback control, the imaginary line of the plus-side and the negative side when performing the switched feedback control and the control line of the two-wire, interlocking operation of the knee angle and the back angle of the two control lines out when it reaches the positive side of the imaginary line performs feedback control based on the monitoring of the back angle and constant knee angle only until reaching the imaginary line of the negative, after reaching the imaginary line of the negative, the knee angle and repeatedly switching control to the feedback control based on both the monitoring of the back angle, the virtual the plus side when the interlocking operation of the knee angle and the back angle has reached the imaginary line of the negative side of the said two control lines the knee angle provides feedback control based on the monitoring of the back angle only to a constant until it reaches the line, after reaching the imaginary line of the plus side, repeat the control for switching the feedback control based on the monitoring of both the knee angle and the back angle It is characterized in that it is configured as follows.

Further, in the electric bed of the first aspect according to the present invention, when the feedback control unit has a difference larger than a predetermined threshold for both the knee angle and the back angle in comparison between the start reference point and the actual target point. as feedback control, the imaginary line of the plus-side and the reference line when performing the switched feedback control and the control line of the two-wire, interlocking operation of the knee angle and the back angle of the two control lines when it reaches the out the positive side of the imaginary line performs feedback control based on the monitoring of only the knee angle and the back angle constant until reaching the reference line, after reaching the reference line, both of knee angle and the back angle It is characterized in that it is configured to repeat the control to switch to the feedback control based on monitoring.

Further, in the electric bed of the first aspect according to the present invention, when the feedback control unit has a difference larger than a predetermined threshold for both the knee angle and the back angle in comparison between the start reference point and the actual target point. as feedback control, the minus side of the virtual line and the reference line when performing the switched feedback control and the control line of the two-wire, interlocking operation of the knee angle and the back angle of the two control lines when it reaches the out the negative side of the imaginary line performs feedback control based on the monitoring of only the back angle and constant knee angle until reaching the reference line, after reaching the reference line, both of knee angle and the back angle It is characterized in that it is configured to repeat the control to switch to the feedback control based on monitoring.

Further, the electric bed of the second aspect according to the present invention is an electric bed that can control the undulating operation by feedback control, and performs a back-raising or back-lowering operation and a knee-raising or knee-lowering operation with respect to the landing portion. Based on the operation signal for controlling the drive mechanism that executes the predetermined undulating operation including the operation signal, the set value for interlocking control of the back-raising or back-lowering operation and the knee-raising or knee-lowering operation is calculated, and the setting value is calculated. An operation that feedback-controls the execution of the predetermined undulating motion by the drive mechanism based on the sensor signal from the predetermined sensor that directly or indirectly detects the motion of the movable part related to the movement of the landing portion and the set value. The operation signal control unit includes a signal control unit, and the operation signal control unit includes a back angle which is a lift angle of a movable part of the landing portion from a horizontal state corresponding to the back-raising or back-lowering operation, and the knee-raising or knee-lowering. Based on the sensor signal and a storage unit that stores a plurality of interlocking control points in advance on the coordinate plane represented by the knee angle, which is the lifting angle of the movable part of the landing portion from the horizontal state corresponding to the operation of. The start reference point indicating the coordinate points of the back angle and the knee angle is calculated, the interlocking control point at the latest position in the operation direction from the start reference point is set as the target interlocking control point, and the start reference point and the target interlocking control point are set. An interlocking control setting that calculates a set value for interlocking control of the back angle and the knee angle from the start reference point to the actual target point, with the connecting reference line as the control line and the target interlocking control point as the actual target point. Based on the value calculation unit and the set value, the drive mechanism is controlled with respect to the actual target point with respect to the start reference point, and the knee angle is adjusted until the interlocking operation of the knee angle and the back angle reaches a predetermined time. Feedback control is based on monitoring of both the back angle, and after the lapse of the predetermined time, feedback control is performed based on monitoring of one of the knee angle and the back angle, which is the movement direction, until the one control line is reached. , Performs switchable feedback control that corrects and transitions the interlocking motion of the knee angle and back angle so as to follow one control line in the predetermined time unit, and updates the start reference point when it is determined that the target has been reached. , the interlocking control set value the setting value update instruction and feedback control shown the new real target point to computing unit, back lifting angle and the knee based on the synchronous control point to updated the start reference point and the target It is characterized by including a feedback control unit that controls continuous operation until the end of the operation of the interlocking mode that performs interlocking control of the operating point of the raised height.

Further, in the electric bed of the second aspect according to the present invention, the feedback control unit takes the predetermined time so as to sandwich the reference line connecting the start reference point and the target interlocking control point with the reference line as the center. Assuming two virtual points separated by a distance specified by the progress, one of the two virtual points predetermined is set to the plus side and the other is set to the minus side, and the start reference point and the actual target are set. As a feedback control when there is a difference larger than a predetermined threshold for both the knee angle and the back angle in comparison with the point, when the switchable feedback control is performed, the interlocking operation of the knee angle and the back angle is the predetermined when a transition is made to the positive side with respect to the reference line after a time performs feedback control based on monitoring only the knee angle and the back angle constant until reaching the reference line, after reaching the reference line, the knee angle the back angle both repeat control to switch the feedback control based on the monitoring of, when the interlocking operation of the knee angle and the back angle is shifted to the minus side with respect to the reference line after the elapse of the predetermined time to the reference line It is configured to keep the knee angle constant until it reaches, perform feedback control based on monitoring only the dorsal angle, and after reaching the reference line, repeat control to switch to feedback control based on monitoring both the knee angle and the dorsal angle. It is characterized by that.

Further, in the electric beds of the first and second aspects according to the present invention, the plurality of interlocking control points stored in the storage unit are configured to be reconfigurable by an external operation.

Further, in the electric beds of the first and second aspects according to the present invention, when the feedback control unit reaches a coordinate axis according to a predetermined reference of either a back angle or a knee angle in the coordinate value of the actual target point. It is characterized in that it is determined that the target has been reached.

Further, in the electric beds of the first and second aspects according to the present invention, the drive mechanism is characterized by including an actuator driven by a motor.

Further, in the electric beds of the first and second aspects according to the present invention, the predetermined sensor is characterized by including a rotation amount detection sensor that detects the rotation amount of the motor that drives the drive mechanism.

Further, in the electric beds of the first and second aspects according to the present invention, the predetermined sensor is installed in a movable portion related to the movement of the landing portion, and includes a gyro sensor, an angle sensor, an acceleration sensor, or an impact sensor. It is characterized by consisting of a status sensor.

Further, in the electric beds of the first and second aspects according to the present invention, at least one of the state sensors is installed in the movable portion, and one axis in the vertical direction, two axes in the vertical and horizontal directions, and vertical and vertical. A state value corresponding to each axis is detected with respect to three horizontal axes or three or more absolute coordinate axes including directions other than the vertical and vertical / horizontal horizontal directions, and at least the knee angle at the movable part is detected. It is characterized by comprising a sensor capable of detecting the plumb bob angle.

According to the present invention, it is possible to construct an electric bed that realizes less expensive and highly accurate feedback control, improves usability, and enables interlocking control of the back angle and the knee angle.

It is a figure which shows the schematic structure of the electric bed of 1st Embodiment by this invention. It is a block diagram which shows the schematic structure of the functional part which realizes the operation at the time of operation of the whole electric bed of 1st Embodiment by this invention. It is a figure which shows the schematic structure of the switch of the electric bed of 1st Embodiment by this invention. It is a block diagram which shows the schematic structure of the controller in the electric bed of 1st Embodiment by this invention. It is a flowchart which shows the schematic feedback operation of the electric bed of 1st Embodiment by this invention. (A) is a coordinate plan view of a back angle and a knee angle showing an example of set values of interlocking control points when raising the back in the electric bed 1 of the first embodiment according to the present invention, and (b) is a comparative example (conventional). It is a coordinate plan view of the back angle and the knee angle which shows the back raising pattern based on the technique. (A) is a coordinate plan view of a back angle and a knee angle showing an example of set values of interlocking control points when the back is lowered in the electric bed 1 of the first embodiment according to the present invention, and (b) is a comparative example (conventional). It is a coordinate plan view of the back angle and the knee angle which shows the back lowering pattern based on the technique. It is a flowchart which shows the interlocking control of Example 1 in the electric bed of 1st Embodiment by this invention. It is a coordinate plan view of the back angle and the knee angle which shows the operation example (example 1) of the interlocking control of Example 1 in the electric bed of 1st Embodiment by this invention. It is a coordinate plan view of the back angle and the knee angle which shows the operation example (example 2) of the interlocking control of Example 1 in the electric bed of 1st Embodiment by this invention. It is a coordinate plan view of the back angle and the knee angle which shows the operation example (example 3) of the interlocking control of Example 1 in the electric bed of 1st Embodiment by this invention. It is a flowchart which shows the interlocking control of Example 2 in the electric bed of 1st Embodiment by this invention. It is a coordinate plan view of the back angle and the knee angle which shows the operation example of the interlocking control of Example 2 in the electric bed of 1st Embodiment by this invention. It is a figure which shows the schematic structure of the electric bed of the 2nd Embodiment by this invention. It is a block diagram which shows the schematic structure of the functional part which realizes the operation at the time of operation of the whole electric bed of 2nd Embodiment by this invention. It is a flowchart which shows the schematic feedback operation of the electric bed of 2nd Embodiment by this invention. It is a figure which shows the example of the electric bed of a typical 2nd type of the conventional. It is a block diagram which shows the schematic structure of the functional part which realizes the operation at the time of the whole operation of the conventional typical 2nd type electric bed.

Hereinafter, the electric bed 1 of each embodiment according to the present invention will be described with reference to the drawings.

[First Embodiment]
(Device configuration)
FIG. 1 is a diagram showing a schematic configuration of an electric bed 1 according to the first embodiment of the present invention. Further, FIG. 2 is a block diagram showing a schematic configuration of a functional unit that realizes an operation during operation of the entire electric bed 1 according to the first embodiment of the present invention. In addition, in FIGS. 1 and 2, the same reference numbers are given to the same components as the conventional electric bed 10 shown in FIGS. 17 and 18.

With reference to FIGS. 1 and 2, the electric bed 1 of the first embodiment according to the present invention has a rotation amount of an encoder, a potentiometer, or the like as compared with the conventional electric bed 10 shown in FIGS. 17 and 18. The point that the rotation amount detection sensor to detect is not provided, the point that three state sensors 20a, 20b, and 20c are provided, and the operation signal control unit 50 is provided inside the controller 12, and the operation signal control unit 50 is provided. The difference is that the feedback (FB) control unit 30 based on the sensor signals from the state sensors 20a, 20b, and 20c is provided, but the other components are the same. Here, the details of the operation signal control unit 50 will be described later, and the operation of the feedback (FB) control unit 30 will be mainly described.

More specifically, in the electric bed 1 of the first embodiment shown in FIG. 1, a controller 12, a motor 13, an actuator 14, and a link mechanism 16 are arranged below a bed frame 17 that supports a human body. In particular, a total of three sets of the motor 13, the actuator 14, and the link mechanism 16 are provided so that the back raising angle, the knee raising height, and the bed height can be adjusted almost steplessly.

A harness for driving each motor 13 is connected to the controller 12. Each actuator 14 is connected to the output shaft of each motor 13, and the cylinder of each actuator 14 is connected to each link mechanism 16.

Then, the switch 11 for operation is connected to the controller 12, and the operator uses the switch 11 to set predetermined values for the back-raising angle, the knee-raising height, and the bed height of the landing portion 18. Individual operations that make almost stepless adjustments within the range, and interlocking operations that interlock the back-raising angle and knee-raising height based on the interlocking control points whose settings can be changed, which will be described in detail later, are selectively operated. You can do it.

By the way, in the electric bed 1 of the first embodiment, three state sensors 20a, 20b, and 20c are provided at the positions of the back raising angle, the knee raising height, and the movable portion with respect to the bed height of the landing portion 18, respectively. It is provided. The state sensors 20a, 20b, and 20c can be any one of a gyro sensor, an angle sensor, an acceleration sensor, and an impact sensor for detecting a state change in one dimension or more, respectively. Each sensor signal output from the three state sensors 20a, 20b, and 20c is connected to the controller 12 via the respective signal cable shown by the broken line.

(Status sensor)
The state sensors (three state sensors 20a, 20b, 20c in this example) used for the feedback control according to the present embodiment detect one-dimensional or multiple-dimensional state changes, and detect the back-raising angle, knee-raising height, and bed. Any position may be used as long as it can detect a position corresponding to each undulating motion such as height. In particular, in order to detect the position corresponding to the undulating motion, it is preferable to use a sensor that can detect the inclination of the movable part where the state sensor is installed with respect to the absolute coordinate axis.

To be on the safe side, to explain these specific sensors, first, the gyro sensor is also called a rotation angle speed sensor, and there are various mechanisms such as vibration type, geomagnetic type, optical type, thermal type, and mechanical type. However, the ones most commonly installed in consumer equipment are IC type 1-axis (one-dimensional such as up / down, left-right, or front-back) and three-axis (three-dimensional xyz-axis such as up-down, left-right, and front-back). There is a vibrating gyro sensor, and this vibrating gyro sensor includes a capacitance method that uses silicon and a piezo method that uses crystal or other piezoelectric material. The vibration type gyro sensor is a combination of an element that mechanically operates in response to movement (state change) and an electronic circuit that processes a signal based on the operation of the element, and by detecting the rotational angular velocity. , Movement (state change) can be detected. Therefore, it can be configured as a state sensor that detects a state of a plurality of axes (multiple dimensions) by using a plurality of 3-axis gyro sensors and 1-axis gyro sensors.

Further, the angle sensor is, so to speak, a uniaxial gyro sensor, and generally, a rotating body that rotates according to movement (state change) and a magnetic field or light when passing through a slit provided in the rotating body. It processes the same principle as a rotary encoder that combines an electronic circuit that detects blocking, a capacitive film whose capacitance changes according to movement (state change), and a signal based on the change in capacitance. There is a combination with an electronic circuit that performs, and by detecting such a change in a rotating body or a change in capacitance, it is possible to detect a movement (state change). Therefore, it can be configured as a state sensor that detects a state of a plurality of axes (plural dimensions) by using a plurality of angle sensors of one axis.

In addition, there are various types of acceleration sensors such as vibration type, geomagnetic type, optical type, thermal type, mechanical type, etc., and they are sometimes treated as a kind of gyro sensor, but strictly speaking, they are uniaxial (up and down). It detects acceleration in each axial direction in three axes (one dimension such as left and right or front and back) and three axes (three dimensions of xyz axis such as up and down, left and right, and front and back). Similar to the gyro sensor. The most commonly mounted accelerometers are IC type 1-axis (one-dimensional such as up / down, left / right, or front / back) and 3 axes (up / down, left / right, and xyz-axis such as front / back). In particular, mobile phones and the like detect the tilt of the mobile phone by measuring the gravitational acceleration of the earth so that the screen is always displayed in the correct orientation. Therefore, it can be configured as a state sensor that detects a state of a plurality of axes (multiple dimensions) by using a plurality of 3-axis acceleration sensors and 1-axis acceleration sensors.

An impact sensor is sometimes treated as a type of acceleration sensor, but strictly speaking, it consists of a magnet that moves in response to movement (state change) and an electronic circuit that processes a signal that indicates acceleration based on the movement of the magnet. It is a combination and is configured to simply output the strength of the impact generated at the sensor site. A plurality of such single-axis impact sensors can be used to configure a state sensor for detecting a state of a plurality of axes (plural dimensions).

As the state sensors (three state sensors 20a, 20b, 20c in this example) used for the feedback control according to the present embodiment, one axis (one dimension such as up / down, left / right, or front / back) or three axes (up / down, left / right) Various sensors can be used as long as they can be converted into these axial state changes as well as those that output signals indicating the axial state changes (three-dimensional of the xyz axis such as front and back).

However, the above-mentioned gyro sensor, angle sensor, acceleration sensor, or impact sensor is widely used for consumer use and is advantageous from the viewpoint of cost reduction. In particular, the gyro sensor and acceleration sensor are widely used. In addition to being highly accurate, it is suitable not only for cost reduction but also for high accuracy of feedback control according to the present embodiment.

By the way, in order to enable position control corresponding to each of the undulating motions such as the back raising angle, the knee raising height, and the bed height, the angle corresponding to the undulating motion may be controlled. Therefore, the feedback control according to the present embodiment can be configured only by detecting the state change of one axis (one dimension such as up / down, left / right, or front / back).

FIG. 2 shows a schematic configuration of a functional unit that realizes an operation during operation of the entire electric bed 1 of the first embodiment. As shown in FIG. 2, an FB control unit 30 based on sensor signals from the state sensors 20a, 20b, and 20c is provided inside the controller 12.

With reference to FIG. 2, first, the operation signal is output from the switch 11 to the controller 12.

When the controller 12 receives an operation signal based on predetermined set values regarding the back-raising angle, the knee-raising height, and the bed height, the controller 12 supplies a drive signal to the motor 13 and FB in order to realize the corresponding operation. The function of the control unit 30 inputs and monitors the sensor signals from the state sensors 20a, 20b, and 20c, and feedback control is performed based on the sensor signals so that the state corresponds to the predetermined set value.

The cylinders of the actuators 14 that adjust the back-raising angle, the knee-raising height, and the bed height are respectively expanded and contracted according to the rotation of the motor 13, and are electrically driven via the respective link mechanisms 16 according to the expansion and contraction. The variable operation of the landing portion 18 on the bed 10 is performed.

Here, the state sensors 20a, 20b, and 20c are cheaper than the encoders and potentiometers used in conventional electric beds for treatment and nursing care.

Further, since the state sensors 20a, 20b, and 20c are provided at the positions of the movable parts with respect to the back raising angle, the knee raising height, and the bed height of the landing portion 18, the actual positions of the landing portion 18 are provided. Is directly detected. Therefore, even if the error between the actual position of the landing portion 18 and the rotation amount of the motor 13 is absorbed and the landing portion 18 is deformed due to aging, the detection accuracy is hardly affected. The sensor outputs of the state sensors 20a, 20b, and 20c can be highly accurate without causing a cumulative error.

(switch)
FIG. 3 shows a schematic configuration of the switch 11 of the electric bed 1 according to the first embodiment of the present invention. Although the switch 11 schematically shows only the main functions in FIG. 3, a setting value display unit 111 and an operation / setting button unit 112 are provided. In the individual operation mode, the set value display unit 111 displays the current set values for the back raising angle, the knee raising height, and the bed height on the respective setting display units 111a, 111b, 111c, and the interlocking mode is displayed. Then, the liquid crystal display is displayed in the manner of the coordinate plane shown in FIGS. 6 (a) and 7 (a), which will be described later.

Further, the operation / setting button unit 112 is provided with a setting button 112d, an individual operation button 112f, and an interlocking button 112h. When the setting button 112d is pressed, the setting mode is set and the LED display unit 112e lights up, and the individual operation button 112f When is pressed, the individual operation mode is set and the LED display unit 112g is lit, and when the interlocking button 112h is pressed, the interlocking mode is set and the LED display unit 112i is lit. The individual operation button 112f and the interlocking button 112h are switched so that only one of them can be selected.

When the individual operation button 112f is pressed to enter the individual operation mode and the setting button 112d is pressed while the LED display unit 112g is lit, the setting mode related to the individual operation is entered, and the up / down buttons 112a, 112b, 112c are operated by operating the up / down buttons 112a, 112b, 112c. The back-raising angle, knee-raising height, and bed height can be set to be desired set values, and the set values are displayed on the set value display unit 111, respectively. When the setting button 112d is pressed again while the LED display unit 112e indicating that the setting mode is set is lit, the LED display unit 112e is turned off and the mode returns to the individual operation mode in which the LED display unit 112g is lit. ..

In the individual operation mode in which the LED display unit 112e is turned off and the LED display unit 112g is lit, by operating the up and down buttons 112a, 112b, and 112c, the back-raising angle can be increased within a range that does not exceed the set value. The knee-raising height and bed height can be changed, and the feedback control allows the operation to operate without exceeding the set value.

On the other hand, when the interlocking button 112h is pressed to enter the interlocking mode and the setting button 112d is pressed while the LED display unit 112i is lit, the interlocking control setting mode regarding the back raising angle and the knee raising height is set, and the up / down buttons 112a, By operating 112b, the setting of the interlocking control regarding the back-raising angle and the knee-raising height is changed (setting of the default value set for the interlocking control point Pn shown in FIGS. 6A and 7A described later). The value of the interlocking control point Pn can be changed), and the value of the interlocking control point Pn is displayed on the liquid crystal display on the set value display unit 111 in the manner of the coordinate plane shown in FIGS. 6 (a) and 7 (a). When the setting button 112d is pressed again while the LED display unit 112e indicating that the setting mode is set is lit, the LED display unit 112e is turned off and the mode returns to the interlocking mode in which the LED display unit 112i is lit.

In the interlocking mode in which the LED display unit 112e is turned off and the LED display unit 112i is lit, the up / down buttons 112a or 112b are operated to start and end the interlocking mode when the back is raised as shown in FIG. 6A. It is possible, for example, when the up / down button 112a "Δ (rise)" is pressed, the interlocking mode at the time of raising the back is started, and when the pressing operation is stopped, it ends. Alternatively, when the up / down button 112a "▽ (down)" is pressed, the interlocking mode at the time of lowering the back is started, and when the pressing operation is stopped, the interlocking mode ends.

Regardless of whether the up / down button 112a or the up / down button 112b is operated, the operation is the same as the interlocking control regarding the back raising angle and the knee raising height, but the operation of the up / down button 112c regarding the bed height is the back raising angle and the knee raising height. It does not operate as an interlocking control related to the knee, and operates in the same manner as the individual operation mode. Further, during the operation of the interlocking mode, the liquid crystal display is displayed on the set value display unit 111 in the manner of the coordinate plane shown in FIGS. 6 (a) and 7 (a). It is preferable that the operating points of the dorsal angle and the knee angle corresponding to the above are dynamically displayed.

(controller)
FIG. 4 is a block diagram showing a schematic configuration of a controller 12 in the electric bed 1 according to the first embodiment of the present invention. The controller 12 includes an operation signal control unit 50, an operation signal reception unit 51, a first sensor signal input unit 52, a second sensor signal input unit 53, a third sensor signal input unit 54, and a motor drive control unit 55. In this example, the feedback (FB) control unit 30 is incorporated in the operation signal control unit 50.

The operation signal receiving unit 51 inputs the operation signal from the switch 11 and outputs it to the operation signal control unit 50. The operation signals are a setting signal indicating desired setting values for the back-raising angle, knee-raising height, and bed height in the individual operation mode, and setting of interlocking control points for the back-raising angle and knee-raising height in the interlocking mode. In the individual operation mode or the interlocking mode, the setting signal indicating the change (increase / decrease of the default value or the setting change of the coordinate value set for the interlocking control point Pn shown in FIGS. It is composed of a signal format that can distinguish between an execution signal indicating that it is actually operated and operated.

The first signal input unit 52, the second signal input unit 53, and the third signal input unit 54 input sensor signals from the status sensors 20a, 20b, and 20c, respectively, and output them to the operation signal control unit 50.

The motor drive control unit 55 inputs an operation instruction of the individual operation mode or the interlocking mode based on the operation signal (execution signal) from the switch 11 from the operation signal control unit 50, and operates the individual operation mode or the interlocking mode. A motor 13 including motors 13a, 13b, and 13c for operating each of the back-raising angle, the knee-raising height, and the bed height is driven so as to be performed.

In particular, the motor drive control unit 55 inputs a comparison signal from the feedback (FB) control unit 30 in the operation signal control unit 50, and performs feedback control based on the sensor signals from the state sensors 20a, 20b, and 20c. The motor 13 is driven so as to operate each of the raising angle, the knee raising height, and the bed height.

The operation signal control unit 50 includes a signal type determination unit 501, an interlocking control point setting unit 502, an individual operation setting unit 503, a storage unit 504, an individual operation / interlocking determination unit 505, an interlocking control setting value calculation unit 506, and an individual operation setting value. It includes a reading unit 507, an operation instruction unit 508, and a feedback (FB) control unit 30.

The signal type determination unit 501 inputs sensor signals from the status sensors 20a, 20b, and 20c, respectively, determines the signal type, and desires the back-raising angle, knee-raising height, and bed height in the individual operation modes, respectively. The setting signal indicating the set value of is output to the individual operation setting unit 503, and the setting change of the interlocking control point regarding the back raising angle and the knee raising height in the interlocking mode (FIGS. 6A and 7A described later). The setting signal indicating the increase / decrease of the default value or the setting change of the coordinate value set for the interlocking control point Pn shown in is output to the interlocking control point setting unit 502, and is actually operated in the individual operation mode or the interlocking mode. The execution signal indicating that the operation is to be performed is output to the individual operation / interlocking determination unit 505.

The interlocking control point setting unit 502 inputs a setting signal related to the interlocking mode from the signal type determination unit 501, and stores the interlocking control point regarding the back raising angle and the knee raising height in the interlocking mode in the storage unit 504 to be updated and set. When the storage unit 504 stores the default value for the interlocking control point or the previous value thereof, the interlocking control point is updated.

The individual operation setting unit 503 inputs a setting signal related to the individual operation mode from the signal type determination unit 501, and causes the storage unit 504 to hold the set values related to the back raising angle, the knee raising height, and the bed height in the individual mode. Remember. When the storage unit 504 stores the default value related to the set value or the previous value thereof, the set value is updated.

The storage unit 504 is composed of a non-volatile memory, and includes set values related to the back-raising angle, knee-raising height, and bed height in the individual operation mode, and interlocking control points related to the back-raising angle and knee-raising height in the interlocking mode. Memorize. Further, as will be described in detail later, the storage unit 504 uses the signal conversion unit 31 in the feedback (FB) control unit 30 to transmit the signals of the state sensors 20a, 20b, and 20c with respect to the back-raising angle, the knee-raising height, and the bed height. A table or calculation formula calibrated in advance based on the installation positions of the state sensors 20a, 20b, and 20c for conversion to the state value is held in advance. ROM or RAM can be used as the non-volatile memory.

The operation signal control unit 50 can be configured as a computer including a central processing unit (CPU), and the storage unit 504 is a program for realizing each function of the read operation signal control unit 50 by the CPU. Is stored.

The individual operation / interlocking determination unit 505 inputs an execution signal related to the individual operation mode or the interlocking mode from the signal type determination unit 501, and outputs a signal indicating that the individual operation mode is operated in the individual operation mode. It is output to 507 and the operation instruction unit 508, and a signal indicating that the operation of the interlocking mode is performed in the interlocking mode is output to the interlocking control set value calculation unit 506 and the operation instruction unit 508.

While the execution signal of the interlocking mode is input to the individual operation / interlocking determination unit 505, the individual operation / interlocking determination unit 505 sends a signal indicating that the interlocking mode operation is performed to the interlocking control set value calculation unit 506 and the operation. Although it is output to the instruction unit 508, when the execution signal of the interlocking mode is no longer input to the individual operation / interlocking determination unit 505 shown in FIG. 4, a signal indicating the end of the interlocking mode is fed back (FB) control unit. It is output to the comparison unit 32 in No. 30 (not shown).

When the interlocking control set value calculation unit 506 inputs a signal indicating that the interlocking mode operation is performed from the individual operation / interlocking determination unit 505, the status sensors 20a and 20b are transmitted from the signal conversion unit 31 in the feedback (FB) control unit 30. , Acquire the state values of the current back-raising angle and knee-raising height based on the sensor signal from 20c, and start indicating the coordinate points of the back-up angle and knee-raising angle corresponding to the current back-raising angle and knee-raising height, respectively. Calculate the reference point Ps.

Then, the interlocking control set value calculation unit 506 reads out the set interlocking control points Pn shown in FIGS. 6A and 7A described later from the storage unit 504, and operates in the operation direction with respect to the start reference point Ps. The interlocking control point Pn at the latest position is recognized as a target, and the coordinate value of the interlocking control point Pn recognized as the target is set as the target interlocking control point Po.

Then, in the first embodiment, which will be described in detail later with reference to FIGS. 8 to 11, the interlocking control set value calculation unit 506 is plus (+) with respect to the reference line connecting the start reference point Ps and the target interlocking control point Po. ) Side, minus (-) side, or both are calculated as parallel virtual lines separated by a predetermined Euclidean distance (for example, 2 ° in each axial direction), and the two virtual lines on the ± side are used as control lines. Or, a control line predetermined to use two lines of the reference line and the virtual line on the + side as control lines, or two lines of the reference line and the virtual line on the-side as control lines, and a target interlocking control point Po. Based on the above, the two control lines are located on the coordinate axis of either the back angle or the knee angle at the target interlocking control point Po and within a predetermined threshold (for example, 2 °) from the target interlocking control point Po. The actual target point Pr, which is the latest position, is calculated in the middle of the above, and the coordinate value of the actual target point Pr is output as the set value of the interlocking control to the operation instruction unit 508 and the comparison unit 31 in the feedback (FB) control unit 30. The interlocking control set value calculation unit 506 of the first embodiment compares the calculated control line information with the coordinate value information of the actual target point Pr as the interlocking control set value in the feedback (FB) control unit 30. Output to unit 31.

Further, in the second embodiment, which will be described in detail later with reference to FIGS. 12 and 13, the interlocking control set value calculation unit 506 sets the target interlocking control point Po as the actual target point Pr and interlocks the coordinate values of the actual target point Pr. The operation of outputting to the operation instruction unit 508 and the feedback (FB) control unit 30 as the control set value to the comparison unit 31 is repeated until there is an instruction to end the interlocking control from the switch 11. The interlocking control set value calculation unit 506 of the second embodiment uses a reference line connecting the start reference point Ps and the target interlocking control point Po as a control line, and uses the information of the control line as the setting value of the interlocking control. It is output to the comparison unit 31 in the feedback (FB) control unit 30 together with the information of the coordinate value of the target point Pr.

As a result, the motor drive control unit 55 operates based on the operation instruction of the operation instruction unit 508, and feedback is provided until the operation of the electric bed 1 reaches the coordinate axis of either the back angle or the knee angle in the set value. (FB) Feedback control is performed by the comparison signal from the comparison unit 32 in the control unit 30.

Then, the interlocking control set value calculation unit 506 updates the start reference point Ps indicated by the comparison unit 32 in the feedback (FB) control unit 30 when the operation of the electric bed 1 reaches the set value during the operation of the interlocking control. When the instruction is input, the start reference point Ps indicating the coordinate points of the back angle and the knee angle corresponding to the current back-raising angle and the knee-raising height, respectively, is calculated and updated, and the updated start reference point Ps is used. The actual target point Pr at the latest position in the operation direction is calculated again in the same manner as when the interlocking control is started, and the coordinate value of the calculated actual target point Pr is used as the setting value of the interlocking control in the operation instruction unit 508 and the feedback (FB). Output to the comparison unit 31 in the control unit 30. This operation is repeated until there is an instruction to end the interlocking control from the switch 11.

When the individual operation setting value reading unit 507 inputs a signal indicating that the individual operation mode operation is performed from the individual operation / interlocking determination unit 505, the storage unit 504 sets the back-raising angle, knee-raising height, and so on. And the set value regarding the bed height is read out and output to the operation instruction unit 508 and the comparison unit 31 in the feedback (FB) control unit 30. As a result, the motor drive control unit 55 operates based on the operation instruction of the operation instruction unit 508, and the feedback (FB) control unit 30 from the comparison unit 32 until the operation of the electric bed 1 reaches the set value. Feedback control is performed by the comparison signal.

When a signal indicating that the individual operation mode or the interlocking mode is to be performed is input from the individual operation / interlocking determination unit 505, the operation instruction unit 508 is the interlocking control setting value calculation unit 506 or the individual operation setting value reading unit 507. To the relevant set value (set value related to back-raising angle, knee-raising height, and bed height in individual operation mode, coordinate value of actual target point Pr related to back-raising angle and knee-raising height in interlocking mode) Is input, and the motor 13 is driven by the motors 13a, 13b, 13c for operating each of the back-raising angle, the knee-raising height, and the bed height corresponding to the set values to the motor drive control unit 55. To instruct.

Here, in the feedback control according to the present embodiment, since a rotation amount detection sensor such as an encoder or a potentiometer is not used for each motor 13, when the operation instruction unit 508 uses an induction motor as the motor 13, for example, , The rotation speed and the operating time from the current value to the target value corresponding to the set value are calculated for each motor 13, and the motor drive control unit 55 is instructed to drive the motor 13. Feedback control is performed by monitoring the comparison signal from the feedback (FB) control unit 30 and increasing / decreasing the operating time of each motor 13 by ON / OFF control. It is also possible to incorporate an operation of slowing up at the start of the operation and slowing down at the time of stopping the operation.

When a stepping motor is used as the motor 13, the rotation speed and the pulse count value from the current value to the target value corresponding to the set value are calculated, and the motor drive control unit 55 is instructed to drive the motor 13. The motor drive control unit 55 monitors the comparison signal from the feedback (FB) control unit 30 and performs feedback control by increasing or decreasing the pulse count value for each motor 13. It is also possible to incorporate an operation of slowing up at the start of the operation and slowing down at the time of stopping the operation.

The feedback (FB) control unit 30 includes a signal conversion unit 31 and a comparison unit 32.

The signal conversion unit 31 converts the sensor signals from the state sensors 20a, 20b, and 20c into state values related to the back-raising angle, the knee-raising height, and the bed height, and outputs them to the comparison unit 32. The state values related to the back raising angle, the knee raising height, and the bed height are also output to the interlocking control set value calculation unit 506 based on the sensor signals from the state sensors 20a, 20b, and 20c.

The signal conversion unit 31 performs a table or calculation calibrated in advance based on the installation positions of the state sensors 20a, 20b, and 20c in order to convert them into state values related to the back-raising angle, knee-raising height, and bed height. The formula is stored in the storage unit 504 in advance, and can be immediately converted into state values related to the back-raising angle, knee-raising height, and bed height based on the sensor signals from the state sensors 20a, 20b, and 20c. ..

The comparison unit 32 receives the set value from the interlocking control set value calculation unit 506 or the individual operation set value reading unit 507 (in the case of the individual operation mode, the set value related to the back raising angle, the knee raising height, and the bed height, and the interlocking mode). If so, the actual target point Pr coordinate values related to the back-raising angle and the knee-raising height) are input, converted into numerical values that can be compared with the state values obtained from the signal conversion unit 31, and compared. A comparison signal indicating the presence / absence is output to the motor drive control unit 55.

However, although the details will be described later with reference to FIGS. 8 to 11, in the interlocking mode related to the interlocking control of the first embodiment, the comparison unit 32 is the coordinate value of the actual target point Pr regarding the back-raising angle and the knee-raising height. At the same time, the information of the control line is input, and the switchable feedback control based on the monitoring of the knee angle and the back angle according to the two control lines is performed. Here, in the switchable feedback control based on the monitoring of the knee angle and the back angle according to the two control lines in the first embodiment, the interlocking operation of the knee angle and the back angle is changed within the two control lines, and the interlocking operation is performed. Feedback control is performed based on monitoring of both the knee angle and the back angle until the movement reaches one of the two control lines, and after reaching the one, monitoring of one of the knee angle and the back angle, which is the movement direction. This refers to a control in which the interlocking motion of the knee angle and the back angle is changed within two control lines by performing feedback control based on the above.

Further, although details will be described later with reference to FIGS. 12 and 13, in the interlocking mode related to the interlocking control of the second embodiment, the comparison unit 32 is the coordinate value of the actual target point Pr regarding the back-raising angle and the knee-raising height. Is input, and switchable feedback control is performed based on the monitoring of the knee angle and the back angle according to the control line consisting of the reference line in a predetermined time unit. Here, in the second embodiment, the switchable feedback control based on the monitoring of the knee angle and the back angle according to the control line consisting of the reference line in the predetermined time unit means both the knee angle and the back angle until the interlocking operation reaches the predetermined time. By performing feedback control based on the monitoring of the above, and after the lapse of the predetermined time, until the one control line is reached, feedback control is performed based on the monitoring of one of the knee angle and the back angle, which is the movement direction. It refers to a control that corrects and transitions the interlocking motion of the knee angle and the back angle so as to follow one control line in the predetermined time unit.

Therefore, the controller 12 feedback-controls the motor 13 by the comparison signal based on the sensor signals from the state sensors 20a, 20b, and 20c.

(Feedback control)
FIG. 5 is a flowchart showing a schematic feedback operation of the electric bed 1 according to the first embodiment of the present invention.

First, an operation signal relating to the variable operation of the landing portion 18 of the electric bed 1 is transmitted from the switch 11 to the controller 12 (step S1).

The controller 12 that receives the operation signal controls the drive of the corresponding motor 13 and drives the actuator 14 (step S2).

At this time, the controller 12 monitors the sensor signals of the state sensors 20a, 20b, and 20c based on the comparison signal of the FB control unit 30 (step S3), and the operation of the landing unit 18 of the electric bed 1 reaches the target. It is determined whether or not this has been done (step S4).

Unless the user gives an instruction to end the operation, the controller 12 continues to drive the motor 13 unless the operation of the landing portion 18 of the electric bed 1 reaches the target (step S4: No).

On the other hand, when the controller 12 determines that the operation of the landing portion 18 of the electric bed 1 has reached the target (step S4: Yes), the controller 12 stops the driving of the motor 13 in the individual operation mode, and determines the back angle and the knee angle. In the interlocking mode, the target is updated to continue driving the motor 13, but when the user gives an operation end instruction, the driving of the motor 13 is stopped and the position of the actuator 14 is held (step S5).

As described above, in the electric bed 1 of the present embodiment, less expensive and highly accurate feedback control can be realized, and easy-to-use operation corresponding to the interlocking mode and the individual operation mode is realized, and as a result, the bed The price itself can be reduced.

(Coordinate plane of back angle and knee angle indicated by interlocking control points)
Hereinafter, a method of controlling the back angle and knee angle interlocking modes in the electric bed 1 of the first embodiment according to the present invention will be described in more detail.

FIG. 6A is a coordinate plan view of the back angle and the knee angle showing an example of the set value of the interlocking control point Pn at the time of raising the back in the electric bed 1 of the first embodiment according to the present invention. Is a coordinate plan view of a back angle and a knee angle showing a comparative example (back-raising pattern based on the prior art shown in Patent Documents 2 and 3).

Further, FIG. 7A is a coordinate plan view of the back angle and the knee angle showing an example of the set value of the interlocking control point Pn when the back is lowered in the electric bed 1 of the first embodiment according to the present invention. b) is a coordinate plan view of a back angle and a knee angle showing a comparative example (back-raising pattern based on the prior art shown in Patent Documents 2 and 3).

First, in FIGS. 6 (a) and 7 (a), the back angle a, which is the lifting angle of the movable portion of the landing portion 18 related to the adjustment of the back raising angle from the horizontal state, and the adjustment of the knee raising height are adjusted. The knee angle b, which is the lifting angle of the movable portion of the landing portion 18 from the horizontal state, is shown by the coordinate planes (a, b). Here, in order to make it possible to compare with the conventional techniques shown in FIGS. 6 (b) and 7 (b), the same coordinate points as those of the conventional technique are shown as interlocking control points Pn. Also in the present invention, when the back-raising or back-lowering operation and the knee-raising or knee-lowering operation are interlocked and controlled based on the execution signal of the interlocking mode in the operation signal, the back-raising or back-lowering operation is performed. The back angle a, which is the lifting angle of the movable part of the landing portion 18 from the horizontal state, and the knee, which is the lifting angle of the movable part of the landing portion 18 from the horizontal state corresponding to the movement of raising or lowering the knee. A coordinate plane represented by an angle b is used, but the method of interlocking control is different from the conventional technique.

That is, in the techniques of Patent Documents 2 and 3 shown in FIGS. 6 (b) and 7 (b), a preset pattern connected at a plurality of points in the coordinate planes of the dorsal angle and the knee angle is stored in the storage unit. The dorsal angle and the knee angle are interlocked and controlled so as to change along the pattern, and the coordinate planes of the dorsal angle and the knee angle are divided into a plurality of areas based on the pattern, and the dorsal angle is divided into each area. The motion mode of the knee angle is predetermined and stored in the storage unit, and the back angle and the knee angle are interlockedly controlled according to the predetermined motion mode. In particular, in the techniques of Patent Documents 2 and 3, both the back angle and the knee angle are always operated, and the interlocking operation is performed along the pattern connecting the interlocking control point P3 and the interlocking control point P4.

On the other hand, in the electric bed 1 according to the present embodiment, for example, referring to FIG. 6A, the coordinate point (0,0) of the interlocking control point P1, the coordinate point (0,25) of the interlocking control point P2, and the interlocking control point P2 are linked. Coordinate point of control point P3 (40,25), coordinate point of interlocking control point P4 (47,15), coordinate point of interlocking control point P5 (60,15), coordinate point of interlocking control point P6 (75,0) Assuming that the six points are stored in the storage unit 504 shown in FIG. 4 as default values, as described above, the number of points is increased or decreased or increased or decreased depending on the operation signal (set signal in the interlocking mode) from the switch 11 operated by the user. The setting of coordinate values can be easily changed.

Further, in the electric bed 1 according to the present embodiment, as shown in FIGS. 6A and 7A, the interlocking control setting is performed by the operation instruction of the interlocking mode based on the operation signal (execution signal) from the switch 11. The value calculation unit 506 acquires the state values of the current back-raising angle and knee-raising height based on the sensor signals from the state sensors 20a, 20b, and 20c, and corresponds to each of the current back-raising angle and knee-raising height. The start reference point Ps indicating the coordinate points of the back angle and the knee angle to be performed is calculated.

Then, in the electric bed 1 according to the present embodiment, as shown in FIGS. 6A and 7A, the interlocking control set value calculation unit 506 is interlocked with the latest position in the operation direction with respect to the start reference point Ps. The control point Pn is recognized as a target, and the coordinate value of the interlocking control point Pn recognized as the target is set as the target interlocking control point Po. As will be described later, the interlocking control set value calculation unit 506 uses a reference line connecting the start reference point Ps and the target interlocking control point Po as a virtual line (Example 1) or a predetermined time unit (Example 2). In order to perform feedback control of, the actual target point Pr is determined on one of the coordinate axes of the back angle and the knee angle at the target interlocking control point Po, but is the actual target point Pr the same coordinate point as the target interlocking control point Po? , Or a coordinate point in the vicinity.

Therefore, in the electric bed 1 according to the present embodiment, as shown in FIGS. 6A and 7A, for example, the interlocking control point Pn at the latest position in the operating direction with respect to the start reference point Ps is the interlocking control point. If it is P3, the back angle and the knee angle are interlocked and controlled from the start reference point Ps toward the interlocking control point P3 with the corresponding actual target point Pr as a target. Similarly, for example, if the interlocking control point Pn at the latest position in the operating direction with respect to the start reference point Ps is the interlocking control point P4, the corresponding actual target point Pr is set from the start reference point Ps toward the interlocking control point P4. Interlocking control of the back angle and knee angle is performed on the target.

As described above, in the electric bed 1 according to the present embodiment, the interlocking control point Pn, which is the latest position in the operating direction with respect to the start reference point Ps, is targeted regardless of the position of the start reference point Ps on the coordinate plane. Works as. Further, when the coordinate axis of either the back angle or the knee angle at the coordinate point of the actual target point Pr is reached, the position at the time of reaching is updated as the start reference point Ps, and the updated start reference point Ps is updated. On the other hand, the actual target point Pr based on the interlocking control point Pn at the latest position in the operation direction is calculated again in the same manner as when the interlocking control is started, and the set value indicating the coordinate value of the calculated actual target point Pr is newly calculated. It is updated and continues to operate until the user finishes the operation of the interlocking mode by the switch 11.

Therefore, the interlocking control according to the present embodiment shown in FIGS. 6 (a) and 7 (a) controls the “pattern connected at a plurality of points” and the “operation mode for each area” as storage in the storage unit 504. Instead, only the interlocking control point Pn whose setting can be changed by the user with respect to the interlocking control is stored in the storage unit 504, and the actual target point Pr based on the interlocking control point Pn at the latest position in the operation direction with respect to the start reference point Ps. Is to be controlled as a target.

Therefore, the electric bed 1 according to the present embodiment can be used when the storage capacity of the storage unit 504 can be reduced with respect to the interlocking control and the cost is reduced, and the structure of the electric bed 1 is changed. When fine adjustment is required due to the physique of the person, when there is an error between the actual position of the landing portion 18 and the amount of rotation of the motor 13, or when the landing portion 18 is deformed due to aging. Even if a situation occurs, the settings can be easily changed, which improves usability.

Further, in the electric bed 1 according to the present embodiment, in order to continuously control the start reference point Ps with the interlocking control point Pn at the latest position in the operating direction as a target, in the conventional technique, the position of the back angle and the knee angle is used. Usability can be improved by interlocking control that suppresses the jerky movement that may occur and preferably makes the movement smoother.

Next, the details of the control method for updating the start reference point Ps and the actual target point Pr in the interlocking control of the electric bed 1 according to the present embodiment will be described. Further, in the following, the interlocking mode related to the back raising on the coordinate plane in which the interlocking control points P1, P2, ..., P5 illustrated in FIG. 6A are set will be described as a representative.

(Interlocking control of Example 1)
FIG. 8 is a flowchart showing interlocking control of the first embodiment in the electric bed 1 of the first embodiment according to the present invention.

With reference to FIG. 8, in the interlocking control of the first embodiment, at the start of the interlocking control of the interlocking mode, the interlocking control set value calculation unit 506 receives the interlocking control points P1, P2, related to the back angle and the knee angle from the storage unit 504. ..., P5 is read (step S21).

Subsequently, the interlocking control set value calculation unit 506 calculates the start reference point Ps based on the sensor signals from the state sensors 20a, 20b, and 20c (step S22).

Subsequently, the interlocking control set value calculation unit 506 recognizes the interlocking control point Pn at the latest position in the operating direction with respect to the start reference point Ps as a target, and sets the coordinate value of the interlocking control point Pn recognized as the target as the target interlocking control. Let the point Po (step S23).

Subsequently, the interlocking control set value calculation unit 506 sets a predetermined Euclidean distance on the plus (+) side, the minus (-) side, or both of the reference lines connecting the start reference point Ps and the target interlocking control point Po. Calculate parallel virtual lines separated by (for example, 2 ° in each axis direction) and use the two lines of the ± side virtual line as the control line or the two lines of the reference line and the + side virtual line as the control line. Or, based on the control line predetermined to use the reference line and the virtual line on the-side as the control line and the target interlocking control point Po, the back angle and the knee angle at the target interlocking control point Po The actual target point Pr, which is located on one of the coordinate axes and is the latest position between the two control lines within a predetermined threshold (for example, 2 °) from the target interlocking control point Po, is calculated to calculate the actual target. The coordinate value of the point Pr is output as the set value of the interlocking control to the operation instruction unit 508 and the comparison unit 31 in the feedback (FB) control unit 30 (step S24). The interlocking control set value calculation unit 506 outputs the calculated control line information to the comparison unit 31 in the feedback (FB) control unit 30 together with the coordinate value information of the actual target point Pr as the interlocking control set value. do.

Subsequently, the operation instruction unit 508 operates the motor drive control unit 55 with the coordinate value of the actual target point Pr as a target (step S25).

Here, the comparison unit 32 in the feedback (FB) control unit 30 compares the start reference point Ps with the actual target point Pr (that is, corresponds to the start reference point Ps based on the sensor signals from the state sensors 20a, 20b, 20c). The state value obtained from the signal conversion unit 31 is converted into a numerical value comparable to the actual target point Pr input as a set value and compared), and the knee angle is larger than the above-mentioned predetermined threshold value (for example, 2 °). It is determined whether or not there is a difference and the back angle is larger than the above-mentioned predetermined threshold value (for example, 2 °) (step S26).

Then, when it is determined that both the knee angle and the back angle are larger than the predetermined threshold value in the comparison between the start reference point Ps and the actual target point Pr (step S26: Yes), the feedback (FB) control unit 30 The comparison unit 32 in the above performs switchable feedback control based on monitoring of the knee angle and the back angle according to the two control lines (step S27). That is, in the comparison between the start reference point Ps and the actual target point Pr, if there is a difference larger than the predetermined threshold value for both the knee angle and the back angle, the details will be described later with three examples, but two control lines. Switchable feedback control based on monitoring of knee angle and back angle according to.

On the other hand, when it is determined that one of the knee angle and the back angle has a difference larger than the predetermined threshold value in the comparison between the start reference point Ps and the actual target point Pr (step S26: No), it is out of the predetermined threshold value. Feedback control is performed based on the monitoring of the knee angle or the back angle of the person (that is, the person with the difference) (step S28). That is, in the comparison between the start reference point Ps and the actual target point Pr, if there is a difference in only the knee angle larger than the predetermined threshold value, feedback control is performed based on monitoring only the knee angle, and only the back angle is larger than the predetermined threshold value. If there is a difference, feedback control is performed based on monitoring only the back angle.

Subsequently, in the comparison unit 32 in the feedback (FB) control unit 30, the operation of the electric bed 1 related to the interlocking control is one target coordinate axis (one of the back angle and the knee angle at the actual target point Pr). Is not reached (step S29: No), the process proceeds to step S27 or step S28, and feedback control is performed until it is reached (step S29: Yes).

While the execution signal of the interlocking mode is input to the individual operation / interlocking determination unit 505 shown in FIG. 4, the individual operation / interlocking determination unit 505 outputs a signal indicating that the operation of the interlocking mode is performed to the interlocking control set value calculation unit 506. And, although it is output to the operation instruction unit 508, when the execution signal of the interlocking mode is no longer input to the individual operation / interlocking determination unit 505 shown in FIG. 4, a signal indicating the end of the interlocking mode is fed back (FB). Output to the comparison unit 32 in the control unit 30.

Therefore, in the example shown in FIG. 4, it is shown as the process after step S29, but in the embodiment, the comparison unit 32 in the feedback (FB) control unit 30 always determines whether or not to end the interlocking control. When it is being monitored (step S30) and it is determined that a signal indicating the end of the interlocking mode has been input (step S30: Yes), the interlocking control is terminated.

On the other hand, when the interlocking control is continued (step S30: No), the comparison unit 32 in the feedback (FB) control unit 30 sets the interlocking control point Ps based on the sensor signals from the state sensors 20a, 20b, 20c. An update instruction is given to the value calculation unit 506 (step S31), and the control proceeds to the control after step S22.

Therefore, in step S29 described above, one of the coordinate axes of the back angle and the knee angle at the set value (that is, the coordinate points of the target interlocking control point Po and the actual target point Pr based on the control line) (in the first embodiment). When the coordinate axis of the back angle is reached, the interlocking control set value calculation unit 506 updates the position at the time of arrival as the start reference point Ps, and the interlocking control point Pn at the latest position in the operation direction with respect to the start reference point Ps. Is newly recognized as the target interlocking control point Po, the actual target point Pr based on the control line is calculated again, and the coordinate value of the calculated actual target point Pr is updated as the setting value of the interlocking control. The interlocking control targeting the coordinate value of the actual target point Pr updated in this way continues to operate until the user finishes the operation of the interlocking mode by the switch 11.

Three examples will be described in order as examples of control lines that realize the interlocking control of the first embodiment.

(Interlocking control of Example 1 (Example 1))
First, FIG. 9 is a coordinate plan view of a back angle and a knee angle showing an operation example (example 1) of interlocking control of the first embodiment in the electric bed 1 of the first embodiment according to the present invention.

In FIG. 9, when the start reference point Ps based on the sensor signals from the state sensors 20a, 20b, 20c is calculated at the start of the interlocking control of the interlocking mode when the back is raised, the interlocking control is shown in FIG. It is assumed that the start reference point Ps is located between the points P3 and P4. At this time, the coordinate points (47, 15) of the interlocking control point P4 are located at the latest positions in the operation direction with respect to the start reference point Ps, and become the target interlocking control point Po. Even when the start reference point Ps is located at the interlocking control point P3, the interlocking control point P4 becomes the target interlocking control point Po.

In Example 1 shown in FIG. 9, the interlocking control set value calculation unit 506 shown in FIG. 4 has a plus (+) side and a minus (-) side with respect to the reference line BL connecting the start reference point Ps and the target interlocking control point Po. Parallel virtual lines VL1 and VL2 separated from each other by a predetermined Euclidean distance (VL1 is β in the knee angle + direction and VL2 is a line shifted by α in the dorsal angle − direction, for example, α, β = 2 °) is calculated, and the two lines VL1 and VL2 on the ± side are defined as control lines, located on the coordinate axis of either the back angle or the knee angle at the target interlocking control point Po, and the target interlocking control. The actual target point Pr, which is the latest position between the two control lines within a predetermined threshold value (for example, 2 °) from the point Po, is calculated, and the coordinate value of the actual target point Pr is set as the set value of the interlocking control. In the illustrated example, the target interlocking control point Po = the actual target point Pr.

In the interlocking control of the first embodiment (example 1), as shown in FIG. 9, the interlocking control is performed by feedback control based on monitoring of both the back angle and the knee angle from the start reference point Ps toward the actual target point Pr. After the start, when the operation of the electric bed 1 transitions to the VL1 side (S1 in the figure), when the operation of the electric bed 1 reaches the top of the VL1, the back angle until the operation of the electric bed 1 reaches the top of the VL2. Is constant and the feedback control is switched to feedback control based on monitoring only the knee angle (that is, the drive of the motor 13a that variably operates the back angle in the motor drive control unit 55 by the comparison signal is stopped, and the drive of the motor 13b that variably operates the knee angle is driven. Feedback control). After that, when the operation of the electric bed 1 reaches the top of the VL2, the feedback control is switched to based on the monitoring of both the back angle and the knee angle. The switchable feedback control based on this control line is repeated until one target coordinate axis (one of the back angle and the knee angle at the actual target point Pr) is reached.

Further, in the interlocking control of the first embodiment (example 1), as shown in FIG. 9, interlocking is performed by feedback control based on monitoring of both the back angle and the knee angle from the start reference point Ps toward the actual target point Pr. After the control is started, when the operation of the electric bed 1 transitions to the VL2 side (FIG. S2), the comparison unit 32 shown in FIG. 4 of the electric bed 1 reaches the point where the operation of the electric bed 1 reaches the top of the VL2. Until the operation reaches VL1, the knee dorsal angle is kept constant and the feedback control is switched to the feedback control based on the monitoring of only the dorsal angle (that is, the drive of the motor 13b that variably operates the knee angle in the motor drive control unit 55 by the comparison signal is stopped. The drive of the motor 13a for variably operating the back angle is feedback-controlled). After that, when the operation of the electric bed 1 reaches the top of the VL1, the feedback control is switched to based on the monitoring of both the back angle and the knee angle. The switchable feedback control based on this control line is repeated until one target coordinate axis (one of the back angle and the knee angle at the actual target point Pr) is reached.

When such feedback control is performed, the coordinate point (47, 15) of the target interlocking control point Po may not be reached, but may reach the coordinate axis of either the back angle or the knee angle at the actual target point Pr. Although it is possible, this is allowed in the first embodiment according to the present embodiment.

Then, when the interlocking mode is continued after reaching the coordinate axis of either the back angle or the knee angle at the actual target point Pr without reaching the coordinate points (47, 15) of the target interlocking control point Po, The coordinate point at the time of arrival is updated as the start reference point Ps, the interlocking control point P5 located at the latest position in the operation direction with respect to the updated start reference point Ps is updated as the target interlocking control point Po, and the start reference point Ps is again. With respect to the reference line BL connecting the target interlocking control point Po and the target line BL, parallel virtual lines VL1 and VL2 separated by the predetermined Euclidean distance are calculated on both the plus (+) side and the minus (-) side, and the ± side. The two virtual lines VL1 and VL2 are defined as control lines, are located on the coordinate axis of either the back angle or the knee angle at the target interlocking control point Po, and are within a predetermined threshold value from the target interlocking control point Po (for example). At 2 °), the actual target point Pr, which is the latest position between the two control lines, is calculated, and the coordinate value of the actual target point Pr is set as the set value of the interlocking control. In Example 1, the target interlocking control point Po = the actual target point Pr, regardless of the coordinate position relationship between the start reference point Ps and the target interlocking control point Po.

That is, in Example 1 in the interlocking control of the first embodiment according to the present embodiment, the FB control is performed based on the state sensors 20a, 20b, 20c regardless of the rotation detection of the motor 13, or the interlocking control point whose setting is changed by the user. It becomes remarkable when it is configured as Pn, but for example, if a pattern connecting a plurality of interlocking control points Pn is forcibly interlocked and controlled along the pattern as in the conventional technique, it depends on the position of the back angle and the knee angle. May be jerky. Therefore, in Example 1 in the interlocking control of Example 1 according to the present embodiment, when there is a difference larger than a predetermined threshold (for example, 2 °) for both the knee angle and the back angle, the knee angle and the back according to the control line. By performing switchable feedback control based on angle monitoring, the coordinate point (47, 15) of the target interlocking control point Po is not reached, and the coordinate axis of either the back angle or the knee angle at the actual target point Pr is on. Even if it reaches, it is possible to allow this and eliminate the wobbling control that unnecessarily goes back and forth, and it is possible to realize smooth operation.

(Interlocking control of Example 1 (Example 2))
Next, FIG. 10 is a coordinate plan view of the back angle and the knee angle showing an operation example (Example 2) of the interlocking control of the first embodiment in the electric bed 1 of the first embodiment according to the present invention.

In FIG. 10, when the start reference point Ps based on the sensor signals from the state sensors 20a, 20b, 20c is calculated at the start of the interlocking control of the interlocking mode when the back is raised, the interlocking control is shown in FIG. It is assumed that the start reference point Ps is located between the points P3 and P4. At this time, the coordinate points (47, 15) of the interlocking control point P4 are located at the latest positions in the operation direction with respect to the start reference point Ps, and become the target interlocking control point Po. Even when the start reference point Ps is located at the interlocking control point P3, the interlocking control point P4 becomes the target interlocking control point Po.

In Example 2 shown in FIG. 10, the interlocking control set value calculation unit 506 shown in FIG. 4 has a predetermined Euclidean distance on the plus (+) side with respect to the reference line BL connecting the start reference point Ps and the target interlocking control point Po. Calculate the parallel virtual line VL1 (VL1 is a line shifted from BL by β in the knee angle + direction, for example β = 2 °), and draw two lines, the reference line BL and the virtual line VL1 on the + side. Calculated as a control line, located on the coordinate axis of the knee angle at the target interlocking control point Po, and within a predetermined threshold (for example, 2 °) from the target interlocking control point Po, recently in the middle of the two control lines. The actual target point Pr to be the position is calculated, and the coordinate value of the actual target point Pr is set as the set value of the interlocking control.

In the interlocking control (Example 2) of the first embodiment, as shown in FIG. 10, interlocking control is performed by feedback control based on monitoring of both the back angle and the knee angle from the start reference point Ps toward the actual target point Pr. After the start, when the operation of the electric bed 1 transitions to the VL1 side (FIG. S1), the comparison unit 32 shown in FIG. 4 starts the operation of the electric bed 1 when the operation of the electric bed 1 reaches the top of the VL1. Until it reaches the BL, the back angle is kept constant and the feedback control is switched to based on monitoring only the knee angle (that is, the drive of the motor 13a that variably operates the back angle in the motor drive control unit 55 by the comparison signal is stopped, and the knee is reached. The drive of the motor 13b that variably operates the angle is feedback-controlled). After that, when the operation of the electric bed 1 reaches the BL, the feedback control is switched to based on the monitoring of both the back angle and the knee angle. The switchable feedback control based on this control line is repeated until one target coordinate axis (coordinate axis of the back angle at the actual target point Pr) is reached.

In the interlocking control (Example 2) of the first embodiment, as shown in FIG. 10, the actual target point Pr is set on the intersection of the virtual line VL1 and the coordinate axis of the knee angle of the target interlocking control point Po. Therefore, the operation of the interlocking control is adapted to transition between the reference line BL and the virtual line VL1 on the + side (Fig. S1).

When such feedback control is performed, it may reach the coordinate axis of the knee angle at the actual target point Pr without reaching the coordinate points (47, 15) of the target interlocking control point Po, but this embodiment In Example 1 according to the above, this is allowed.

Then, when the interlocking mode is continued after reaching the coordinate axis of either the back angle or the knee angle at the actual target point Pr without reaching the coordinate points (47, 15) of the target interlocking control point Po, The coordinate point at the time of arrival is updated as the start reference point Ps, the interlocking control point P5 located at the latest position in the operation direction with respect to the updated start reference point Ps is updated as the target interlocking control point Po, and the start reference point Ps is again. With respect to the reference line BL connecting the reference line BL and the target interlocking control point Po, a parallel virtual line VL1 separated by the predetermined Euclidean distance is calculated on the plus (+) side, and 2 of the reference line BL and the + side virtual line VL1. The line is redefined as a control line, located on the coordinate axis of the knee angle at the target interlocking control point Po, and within a predetermined threshold (for example, 2 °) from the target interlocking control point Po, recently in the middle of the two control lines. The actual target point Pr to be the position is calculated, and the coordinate value of the actual target point Pr is set as the set value of the interlocking control.

That is, in Example 2 in the interlocking control of the first embodiment according to the present embodiment, the FB control is performed based on the state sensors 20a, 20b, 20c regardless of the rotation detection of the motor 13, or the interlocking control point whose setting is changed by the user. It becomes remarkable when it is configured as Pn, but for example, if a pattern connecting a plurality of interlocking control points Pn is forcibly interlocked and controlled along the pattern as in the conventional technique, it depends on the position of the back angle and the knee angle. May be jerky. Therefore, in Example 2 in the interlocking control of the first embodiment according to the present embodiment, when there is a difference larger than a predetermined threshold (for example, 2 °) for both the knee angle and the back angle, the knee angle and the back according to the control line. By performing switchable feedback control based on angle monitoring, the coordinate point (47, 15) of the target interlocking control point Po is not reached, and the coordinate axis of either the back angle or the knee angle at the actual target point Pr is on. Even if it reaches, it is possible to allow this and eliminate the wobbling control that unnecessarily goes back and forth, and it is possible to realize smooth operation.

(Interlocking control of Example 1 (Example 3))
Next, FIG. 11 is a coordinate plan view of the back angle and the knee angle showing an operation example (Example 3) of the interlocking control of the first embodiment in the electric bed 1 of the first embodiment according to the present invention.

In FIG. 11, when the start reference point Ps based on the sensor signals from the state sensors 20a, 20b, and 20c is calculated at the start of the interlocking control of the interlocking mode when the back is raised, the interlocking control is shown in FIG. It is assumed that the start reference point Ps is located between the points P3 and P4. At this time, the coordinate points (47, 15) of the interlocking control point P4 are located at the latest positions in the operation direction with respect to the start reference point Ps, and become the target interlocking control point Po. Even when the start reference point Ps is located at the interlocking control point P3, the interlocking control point P4 becomes the target interlocking control point Po.

In Example 3 shown in FIG. 11, the interlocking control set value calculation unit 506 shown in FIG. 4 has a predetermined Euclidean distance on the minus (-) side with respect to the reference line BL connecting the start reference point Ps and the target interlocking control point Po. The parallel virtual line VL2 (VL2 is a line shifted by α in the back angle − direction from BL, for example α = 2 °) is calculated, and the two lines of the reference line BL and the virtual line VL2 on the − side are calculated. Calculated as a control line, located on the coordinate axis of the knee angle at the target interlocking control point Po, and within a predetermined threshold (for example, 2 °) from the target interlocking control point Po, recently in the middle of the two control lines. The actual target point Pr to be the position is calculated, and the coordinate value of the actual target point Pr is set as the set value of the interlocking control.

In the interlocking control of the first embodiment (Example 3), as shown in FIG. 11, interlocking control is performed by feedback control based on monitoring of both the back angle and the knee angle from the start reference point Ps toward the actual target point Pr. After the start, when the operation of the electric bed 1 transitions to the VL2 side (FIG. S2), the comparison unit 32 shown in FIG. 4 starts the operation of the electric bed 1 when the operation of the electric bed 1 reaches the top of the VL2. Until it reaches the top of the BL, the knee angle is kept constant and the feedback control is switched to based on monitoring only the back angle (that is, the drive of the motor 13b that variably operates the knee angle in the motor drive control unit 55 by the comparison signal is stopped, and the back The drive of the motor 13a that variably operates the angle is feedback-controlled). After that, when the operation of the electric bed 1 reaches the BL, the feedback control is switched to based on the monitoring of both the back angle and the knee angle. The switchable feedback control based on this control line is repeated until one target coordinate axis (the coordinate axis of the knee angle at the actual target point Pr) is reached.

In the interlocking control (Example 3) of the first embodiment, as shown in FIG. 11, the actual target point Pr is set on the intersection of the virtual line VL2 and the coordinate axis of the back angle of the target interlocking control point Po. Therefore, the operation of the interlocking control is adapted to transition between the reference line BL and the virtual line VL2 on the − side (Fig. S2).

When such feedback control is performed, the coordinate point (47, 15) of the target interlocking control point Po may not be reached, but may reach the coordinate axis of the back angle at the actual target point Pr. In Example 1 according to the above, this is allowed.

Then, when the interlocking mode is continued after reaching the coordinate axis of either the back angle or the knee angle at the actual target point Pr without reaching the coordinate points (47, 15) of the target interlocking control point Po, The coordinate point at the time of arrival is updated as the start reference point Ps, the interlocking control point P5 located at the latest position in the operation direction with respect to the updated start reference point Ps is updated as the target interlocking control point Po, and the start reference point Ps is again. With respect to the reference line BL connecting the reference line BL and the target interlocking control point Po, a parallel virtual line VL2 separated by the predetermined Euclidean distance is calculated on the minus (-) side, and 2 of the reference line BL and the minus side virtual line VL2. The line is redefined as a control line, located on the coordinate axis of the knee angle at the target interlocking control point Po, and within a predetermined threshold (for example, 2 °) from the target interlocking control point Po, recently in the middle of the two control lines. The actual target point Pr to be the position is calculated, and the coordinate value of the actual target point Pr is set as the set value of the interlocking control.

That is, in Example 3 in the interlocking control of the first embodiment according to the present embodiment, the FB control is performed based on the state sensors 20a, 20b, 20c regardless of the rotation detection of the motor 13, or the interlocking control point whose setting is changed by the user. It becomes remarkable when it is configured as Pn, but for example, if a pattern connecting a plurality of interlocking control points Pn is forcibly interlocked and controlled along the pattern as in the conventional technique, it depends on the position of the back angle and the knee angle. May be jerky. Therefore, in Example 3 in the interlocking control of the first embodiment according to the present embodiment, when there is a difference larger than a predetermined threshold (for example, 2 °) for both the knee angle and the back angle, the knee angle and the back according to the control line. By performing switchable feedback control based on angle monitoring, the coordinate point (47, 15) of the target interlocking control point Po is not reached, and the coordinate axis of either the back angle or the knee angle at the actual target point Pr is on. Even if it reaches, it is possible to allow this and eliminate the wobbling control that unnecessarily goes back and forth, and it is possible to realize smooth operation.

(Interlocking control of Example 2)
FIG. 12 is a flowchart showing interlocking control of the second embodiment in the electric bed 1 of the first embodiment according to the present invention.

The interlocking control of the second embodiment shown in FIG. 12 replaces the processing of step 24 with the processing of step 24a and the processing of step 27 with the processing of step 27a, as compared with the interlocking control of the first embodiment shown in FIG. Since this is only the case and the other controls are the same, further description will be omitted.

In step 24a in the interlocking control of the second embodiment shown in FIG. 10, the interlocking control set value calculation unit 506 uses the reference line connecting the start reference point Ps and the target interlocking control point Po as the control line, and sets the target interlocking control point Po as the control line. The actual target point Pr is set, and the coordinate value of the actual target point Pr is output as the set value of the interlocking control to the operation instruction unit 508 and the comparison unit 31 in the feedback (FB) control unit 30. The interlocking control set value calculation unit 506 outputs the calculated control line information to the comparison unit 31 in the feedback (FB) control unit 30 together with the coordinate value information of the actual target point Pr as the interlocking control set value. do.

Further, in step 27a in the interlocking control of the second embodiment shown in FIG. 10, the comparison unit 32 in the feedback (FB) control unit 30 performs a switchable feedback control based on monitoring of the knee angle and the back angle according to the control line in predetermined time units. I do.

More specifically, the interlocking control of the second embodiment will be described with reference to FIG. FIG. 13 is a coordinate plan view of the back angle and the knee angle showing an operation example of the interlocking control of the second embodiment in the electric bed 1 of the first embodiment according to the present invention.

In FIG. 13, when the start reference point Ps based on the sensor signals from the state sensors 20a, 20b, 20c is calculated at the start of the interlocking control of the interlocking mode when the back is raised, the interlocking control is shown in FIG. It is assumed that the start reference point Ps is located between the points P3 and P4. At this time, the coordinate points (47, 15) of the interlocking control point P4 are located at the latest positions in the operation direction with respect to the start reference point Ps, and become the target interlocking control point Po. Even when the start reference point Ps is located at the interlocking control point P3, the interlocking control point P4 becomes the target interlocking control point Po.

In the interlocking control of the second embodiment, as shown in FIG. 13, after the interlocking control is started by the feedback control based on the monitoring of both the back angle and the knee angle from the start reference point Ps toward the actual target point Pr, the interlocking control is started. The operation of the electric bed 1 is changed until the predetermined time ta elapses. Then, when the operation of the electric bed 1 transitions to the right side (+ side) of the reference line BL at the elapse of the predetermined time ta (S1 in the figure), the comparison unit 32 shown in FIG. 4 shows that the operation of the electric bed 1 is on the BL. Is performed until the back angle is constant and the feedback control is switched to the feedback control based on the monitoring of only the knee angle (that is, the drive of the motor 13a that variably operates the back angle in the motor drive control unit 55 by the comparison signal is stopped. , Feedback control of the drive of the motor 13b that variably operates the knee angle). After the correction operation, when the operation of the electric bed 1 reaches the BL, the feedback control is switched to based on the monitoring of both the back angle and the knee angle, and the operation of the electric bed 1 is changed again until the predetermined time ta elapses. The switchable feedback control that corrects to follow one control line in a predetermined time unit is repeated until one target coordinate axis (one of the back angle and the knee angle at the actual target point Pr) is reached.

Further, in the interlocking control of the second embodiment, as shown in FIG. 13, the interlocking control was started by the feedback control based on the monitoring of both the back angle and the knee angle from the start reference point Ps toward the actual target point Pr. After that, when the operation of the electric bed 1 is transitioned until the predetermined time ta elapses, when the operation of the electric bed 1 transitions to the left side (-side) from the reference line BL at the elapse of the predetermined time ta (Fig. S2). ), The comparison unit 32 shown in FIG. 4 performs a correction operation of keeping the knee angle constant and switching to feedback control based on monitoring only the back angle until the operation of the electric bed 1 reaches the BL (that is, by the comparison signal). The drive of the motor 13b that variably operates the knee angle in the motor drive control unit 55 is stopped, and the drive of the motor 13a that variably operates the back angle is feedback-controlled). After the correction operation, when the operation of the electric bed 1 reaches the BL, the feedback control is switched to based on the monitoring of both the back angle and the knee angle, and the operation of the electric bed 1 is changed again until the predetermined time ta elapses. This switchable feedback control that corrects to follow the control line in predetermined time units is repeated until one target coordinate axis (one of the back angle and the knee angle at the actual target point Pr) is reached.

When the predetermined time ta is set longer than the time required to reach one target coordinate axis (one of the back angle and the knee angle at the actual target point Pr) from the start reference point Ps. , The transition largely deviates from the reference line BL, but the number of times the feedback control is switched can be reduced. On the other hand, when the predetermined time ta is set shorter than the time required to reach one target coordinate axis (one of the back angle and the knee angle at the actual target point Pr) from the start reference point Ps. , The transition deviating from the reference line BL becomes smaller, but the number of times the feedback control is switched increases. Therefore, the predetermined time ta can always be a constant value, but the Euclidean of the start reference point Ps and one target coordinate axis (one of the back angle and the knee angle at the actual target point Pr) It is preferable to change the Euclidean distance so that the predetermined time ta is shortened according to the distance.

The feedback control (correction operation of the knee angle or the back angle) based on the monitoring of one of the back angle and the knee angle has been described as until the movement of the electric bed 1 reaches the BL, but for example, from the BL line. When the amount of deviation is stable and known in advance, the correction motion may be controlled so as to elapse of a predetermined time tb. That is, feedback control (linkage between the knee angle and the back angle) based on monitoring of both the back angle and the knee angle operated during the predetermined time ta, and monitoring of one of the back angle and the knee angle operated between the predetermined time tb. The switchable feedback control may be configured by switching to the feedback control (correction operation of the knee angle or the back angle) based on the above.

When such feedback control is performed, the coordinate point (47, 15) of the target interlocking control point Po is not reached, but is on the coordinate axis of the back angle at the actual target point Pr (in this example, the target interlocking control point Po). Although it may reach, this is also allowed in the second embodiment according to the present embodiment.

Then, without reaching the coordinate points (47, 15) of the target interlocking control point Po, on one of the coordinate axes of the back angle and the knee angle at the actual target point Pr (in this example, the target interlocking control point Po). When the interlocking mode is continued after reaching, the coordinate point at the time of arrival is updated as the start reference point Ps, and the interlocking control point P5 located at the latest position in the operation direction with respect to the updated start reference point Ps is the target interlocking control point. It is updated as Po, and the reference line BL connecting the start reference point Ps and the target interlocking control point Po (= actual target point Pr) is calculated again, and the knee angle and dorsal angle according to the control line are calculated in predetermined time units as described above. Switchable feedback control based on the monitoring of.

That is, in the interlocking control of the second embodiment according to the present embodiment, the FB control is performed based on the state sensors 20a, 20b, 20c regardless of the rotation detection of the motor 13, or the interlocking control point Pn whose setting is changed by the user is configured. However, if the pattern connecting a plurality of interlocking control points Pn is forcibly interlocked and controlled along the pattern as in the conventional technique, it becomes jerky depending on the positions of the back angle and the knee angle. It may be an operation. Therefore, in the interlocking control of the second embodiment according to the present embodiment, when there is a difference larger than a predetermined threshold value (for example, 2 °) for both the knee angle and the back angle, the knee angle according to the control line is set in a predetermined time unit. By performing the switchable feedback control based on the back angle monitoring, the actual target point Pr (in this example, the target interlocking control point Po) does not reach the coordinate points (47, 15) of the target interlocking control point Po. Even if it reaches the coordinate axis of either the back angle or the knee angle, it can be tolerated, the feedback control can be stabilized, and the wobbling control that unnecessarily goes back and forth can be eliminated, resulting in smooth operation. It can be realized.

[Second Embodiment]
(Device configuration)
FIG. 14 is a diagram showing a schematic configuration of the electric bed 1 according to the second embodiment of the present invention. Further, FIG. 15 is a block diagram showing a schematic configuration of a functional unit that realizes an operation during operation of the entire electric bed 1 according to the second embodiment of the present invention. In FIGS. 14 and 15, the same reference numbers as those shown in FIGS. 1 and 2 are assigned the same reference numbers.

With reference to FIGS. 14 and 15, the electric bed 1 of the second embodiment according to the present invention has a rotation amount of an encoder, a potentiometer, or the like as compared with the conventional electric bed 10 shown in FIGS. 17 and 18. The point that the rotation amount detection sensor to detect is not provided, the point that three state sensors 20a, 20b, and 20c are provided, and the operation signal control unit 50 is provided inside the switch 11, and the operation signal control unit 50 is used. The difference is that the feedback (FB) control unit 30 based on the sensor signals from the state sensors 20a, 20b, 20c is provided, but the other components are the same.

More specifically, the electric bed 1 of the second embodiment shown in FIG. 14 has a controller 12, a motor 13, an actuator 14, and a link mechanism below the bed frame 17 that supports the human body, as in the first embodiment. 16 is arranged. In particular, a total of three sets of the motor 13, the actuator 14, and the link mechanism 16 are provided so that the back raising angle, the knee raising height, and the bed height can be adjusted almost steplessly.

That is, as in the first embodiment, the electric bed 1 of the second embodiment has three positions of the movable portion with respect to the back raising angle, the knee raising height, and the bed height of the landing portion 18. Status sensors 20a, 20b, 20c are provided. Each sensor signal output from the three state sensors 20a, 20b, and 20c is connected to the controller 12 via the respective signal cable shown by the broken line.

Further, as in the first embodiment, a harness for driving each motor 13 is connected to the controller 12. Each actuator 14 is connected to the output shaft of each motor 13, and the cylinder of each actuator 14 is connected to each link mechanism 16.

Then, the switch 11 for operation is connected to the controller 12, and the operator uses the switch 11 to adjust the back raising angle, the knee raising height, and the bed height of the landing portion 18 almost steplessly. Can be done.

Unlike the first embodiment, the controller 12 of the second embodiment can use the controller 12 as it is without changing the conventional controller 12 shown in FIGS. 17 and 18.

The switch 11 of the present embodiment can have the same basic configuration as that shown in FIG.

However, as shown in FIG. 15, the switch 11 of the present embodiment is provided with an FB control unit 30 based on sensor signals from the state sensors 20a, 20b, and 20c, and an operation signal control unit 50. The configuration of the operation signal control unit 50 including the FB control unit 30 in the switch 11 of the present embodiment can be the same as that shown in FIG. 4 in the first embodiment, and the FB control unit 30 shown in FIG. 4 can be used. The control line and the like related to the transmission and reception of each signal necessary for incorporating the operation signal control unit 50 including the above into the switch 11 of the present embodiment may be appropriately designed.

Referring to FIG. 15, first, a control signal relating to a variable operation of the landing portion 18 of the electric bed 1 for adjusting the back raising angle, the knee raising height, and the bed height from the switch 11 is transmitted from the controller 12. Is output to.

When the controller 12 receives the control signal, the controller 12 supplies a drive signal to the motor 13 in order to realize the corresponding operation.

The cylinders of the actuators 14 that adjust the back-raising angle, the knee-raising height, and the bed height are respectively expanded and contracted according to the rotation of the motor 13, and are electrically driven via the respective link mechanisms 16 according to the expansion and contraction. The variable operation of the landing portion 18 on the bed 10 is performed.

The switch 11 inputs and monitors the sensor signals from the state sensors 20a, 20b, and 20c by the function of the FB control unit 30, and performs feedback control based on the sensor signals so as to be in a state corresponding to the target set value. ..

As described above, the state sensors 20a, 20b, and 20c are inexpensive as compared with the encoders and potentiometers used in the conventional electric beds for treatment and nursing care.

Further, since the state sensors 20a, 20b, and 20c are provided at the positions of the movable parts with respect to the back raising angle, the knee raising height, and the bed height of the landing portion 18, the actual positions of the landing portion 18 are provided. Is directly detected. Therefore, even if the error between the actual position of the landing portion 18 and the rotation amount of the motor 13 is absorbed and the landing portion 18 is deformed due to aging, the detection accuracy is hardly affected. The sensor outputs of the state sensors 20a, 20b, and 20c can be highly accurate without causing a cumulative error.

(Feedback control)
FIG. 16 is a flowchart showing a schematic feedback operation of the electric bed 1 according to the second embodiment of the present invention.

First, a control signal corresponding to an operation signal related to the variable operation of the landing portion 18 of the electric bed 1 is transmitted from the switch 11 to the controller 12 (step S11).

The controller 12 that receives the control signal controls the drive of the corresponding motor 13 and drives the actuator 14 (step S12).

At this time, the switch 11 monitors the sensor signals of the state sensors 20a, 20b, and 20c based on the comparison signal of the FB control unit 30 (step S13), and the operation of the landing unit 18 of the electric bed 1 reaches the target. It is determined whether or not this has been done (step S14).

Unless the user gives an instruction to end the operation, the switch 11 sends a control signal for stopping the drive of the motor 13 unless the operation of the landing portion 18 of the electric bed 1 has reached the target (step S14: No). Do not transmit and continue its drive.

On the other hand, when the switch 11 determines that the operation of the landing portion 18 of the electric bed 1 has reached the target (step S14: Yes), the switch 11 outputs a control signal for stopping the driving of the motor 13 to the controller 12 in the individual operation mode. Then, in the interlocking mode of the back angle and the knee angle, the control signal that updates the target is output to the controller 12, but the control signal that stops the driving of the motor 13 is output to the controller 12 when the user gives an operation end instruction. (Step S15).

When the controller 12 receives the control signal for stopping the drive of the motor 13, the controller 12 stops the drive of the motor 13 and holds the position of the actuator 14 (step S16).

As described above, according to the electric bed 1 of the present embodiment, it is possible to realize more inexpensive and highly accurate feedback control, and as a result, the bed itself can be reduced in cost.

Further, the electric bed 1 of the second embodiment is the second type of the existing first type electric bed that does not perform feedback control, only by replacing the switch 11 and installing the status sensors 20a, 20b, 20c. It is cheaper than purchasing a new electric bed and can be transformed into a second type of electric bed.

Further, the electric bed 1 of the second embodiment replaces the switch 11 with respect to the existing second type electric bed that performs feedback control based on a rotation amount detection sensor that detects the rotation amount of an encoder, a potentiometer, or the like. By simply installing the status sensors 20a, 20b, and 20c, the bed can be transformed into a second type electric bed with higher accuracy.

Although the present invention has been described above with reference to examples of specific embodiments, the present invention is not limited to the examples of the above-described embodiments, and various modifications can be made without departing from the technical idea. For example, in the examples of the above-described embodiments, suitable examples including all the means for solving the above-mentioned various problems in the conventional technique have been described as representatives, but the present invention is designed to solve the various problems individually. The electric bed 1 of the embodiment according to the present invention can be configured.

That is, inclusively, the electric bed 1 of the embodiment according to the present invention includes the operation signal control unit 50, and the operation signal control unit 50 includes a plurality of operation signal control units 50 on the coordinate planes of the back angle and the knee angle related to the interlocking control. The coordinate points of the dorsal angle and the knee angle based on the sensor signals from the storage unit 504 that stores the interlocking control point Pn and the predetermined sensor that directly or indirectly detects the movement of the movable part related to the movement of the landing unit 18. The interlocking control set value calculation unit 506 that calculates the indicated start reference point Ps and calculates the set value for performing the interlocking control from the start reference point Ps toward the actual target point Pr calculated according to the predetermined control line, and the set value. The FB control unit 30 is provided with a switchable feedback control based on the switching of both and one of the back angle and the knee angle related to the interlocking operation based on the above.
As a result, usability can be improved by interlocking control that results in smooth operation. At this time, the drive mechanism may be configured by an actuator driven by the motor 13, and the predetermined sensor may be configured by a rotation amount detection sensor that detects the rotation amount of the motor 13, or the above-mentioned state sensors 20a and 20b. , 20c may be configured, and in any case, interlocking control that provides smooth operation is realized, and usability can be improved. Further, the operation signal control unit 50 can be provided on either the switch 11 or the controller 12, but a relay unit is provided between the switch 11 and the controller 12, and the operation signal control unit 50 is provided on the relay unit. May be good.

In the first aspect of the electric bed 1 according to the present invention, a parallel virtual line separated by a predetermined Euclidean distance from the reference line BL connecting the start reference point Ps and the target interlocking control point Po is calculated. Then, two control lines are set, the actual target point Pr that is the latest position between the two control lines within a predetermined threshold is calculated, and the back from the start reference point PS toward the actual target point Pr. When performing interlocking control of the angle and knee angle, feedback control is performed based on monitoring of both the knee angle and the dorsal angle until the interlocking operation of the knee angle and the dorsal angle reaches one of the two control lines. After reaching, feedback control is performed based on monitoring of one of the knee angle and the back angle, which is the movement direction.
In this case, the interlocking control set value calculation unit 50 is parallel to the reference line BL connecting the start reference point Ps and the target interlocking control point Po with respect to the plus side, the minus side, or both of them at a predetermined Euclidean distance. The virtual line is calculated, and the plus side and minus side virtual lines VL1 and VL2 are used as the control lines of the two lines, the reference line BL and the virtual line on the plus side are used as the control lines of the two lines, or the reference. A predetermined calculation is performed so that the line BL and the virtual line on the minus side are the control lines of the two lines. A more detailed example of the switchable feedback control in this first aspect is as described above with reference to FIGS. 9 to 11.

Further, in the second aspect of the electric bed 1 of the one embodiment according to the present invention, the reference line BL connecting the start reference point Ps and the target interlocking control point Po is set as the control line, and the target interlocking control point Po is set as the actual target point. As Pr, a set value for interlocking control of the back angle and the knee angle is calculated from the start reference point Ps toward the actual target point Pr, and the actual target point Pr is targeted with respect to the start reference point Ps based on the set value. The interlocking control is performed based on the monitoring of both the knee angle and the dorsal angle until the interlocking motion of the knee angle and the dorsal angle reaches a predetermined time, and after the elapse of the predetermined time, the one control line is reached. Until then, feedback control is performed based on monitoring of one of the knee angle and the back angle, which is the movement direction. A more detailed example of the switchable feedback control in this second aspect is as described above with reference to FIG.

Further, in the electric bed 1 of the embodiment according to the present invention, it is preferable that the plurality of interlocking control points Pn stored in the storage unit 504 can be set and changed by an external operation (for example, an operation from the switch 11). be.
As a result, when the structure of the electric bed 1 changes, when fine adjustment is required due to the physique of the user, or when there is an error between the actual position of the landing portion 18 and the rotation amount of the motor 13. In some cases, even when the landing portion 18 is deformed due to aging, the setting can be easily changed, which improves usability.

Further, in the electric bed 1 of the embodiment according to the present invention, the target is reached when the coordinate axis according to a predetermined standard of either the back angle or the knee angle in the coordinate value of the actual target point is reached. It is preferably configured to determine.
As a result, it is possible to eliminate the wobbling control that unnecessarily goes back and forth, and it is possible to realize smooth operation.

Further, in the electric bed 1 of the embodiment according to the present invention, a predetermined sensor is installed in a movable portion related to the movement of the landing portion 18, and is a state sensor including a gyro sensor, an angle sensor, an acceleration sensor, or an impact sensor. It is preferably composed of 20a, 20b, and 20c.
As a result, even if there is an error between the actual position of the landing portion 18 and the amount of rotation of the motor 13, or if the landing portion 18 is deformed due to aging, high-precision feedback control is performed. Is realized. In addition, for the first type electric bed that does not perform feedback control, feedback control is performed only by adding or changing parts that are cheaper than purchasing a new second type electric bed and that are easy to retrofit. It can be transformed into a second type of electric bed.

Further, in the example of each of the above-described embodiments, three state sensors 20a, 20b, and 20c are provided at the positions of the movable parts with respect to the back raising angle, the knee raising height, and the bed height of the landing portion 18, respectively. However, this is a preferable example, and even if only two state sensors 20a and 20b are provided at the positions of the movable parts regarding the back-raising angle and the knee-raising height of the landing portion 18, the landing portion 18 Feedback control of back-raising angle, knee-raising height, and bed height is possible. In particular, in the electric bed 1 of the embodiment according to the present invention, the state sensors 20a, 20b, 20c used for feedback control can be any of a gyro sensor, an angle sensor, an acceleration sensor, and an impact sensor. It is possible to arrange a plurality of ones that detect the one-dimensional position corresponding to each undulating motion such as the back-raising angle, the knee-raising height, and the bed height, and detect the state change related to the undulating motion in two or more dimensions. Suitable. Therefore, the present invention can be one state sensor for an electric bed that performs one type of undulating motion, or can be a common movable part for an electric bed that performs three or more types of undulating motion. Can be further reduced in cost by using one state sensor.

Therefore, at least one state sensor is installed in the movable part of the landing portion 18, and one axis in the vertical direction, two axes in the vertical and horizontal directions, three axes in the vertical direction and the horizontal direction in the vertical and horizontal directions, or the vertical direction. It is a sensor that can detect the state values corresponding to each axis with respect to three or more absolute coordinate axes including directions other than the vertical and horizontal horizontal directions, and can detect at least the knee angle and the plumb bob angle at the movable part.

Further, in the example of the above-described embodiment, the example in which the state sensors 20a, 20b, and 20c are provided on the landing portion 18 has been described. If there is, it can be installed at any place.

Further, in the example of the above-described embodiment, an example in which the actuator 14 by the motor 13 is used as the drive mechanism has been described, but this is a preferable example for performing fine interlocking control, and is a hydraulic or pneumatic actuator, or It can also be an electric bed using another drive mechanism.

Further, the electric bed of one embodiment according to the present invention may be in a form of transmitting the operation signal of the switch 11 to the controller 12 by wire or wirelessly.

According to the present invention, it is possible to construct an electric bed that realizes less expensive and highly accurate feedback control, improves usability, and enables interlocking control of the back angle and the knee angle. It is useful for the use of electric beds for nursing care.

1 Electric bed of the present invention 10 Conventional second type electric bed 11 Switch 12 Controller 13 Motor 14 Actuator 15 Rotation amount detection sensor (encoder or potentiometer)
16 Link mechanism 17 Bed frame 18 Landing unit 20a, 20b, 20c Status sensor 30 Feedback (FB) control unit 31 Signal conversion unit 32 Comparison unit 50 Operation signal control unit 51 Operation signal reception unit 52 First sensor signal input unit 53 2 Sensor signal input unit 54 3rd sensor signal input unit 55 Motor drive control unit 111 Setting value display unit 112 Operation / setting button unit 111a, 111b, 111c Setting display unit 112a, 112b, 112c Up / down button 112d Setting button 112f Individual operation button 112h interlocking button 112e, 112g, 112i LED display unit 501 signal type discrimination unit 502 interlocking control point setting unit 503 individual operation setting unit 504 storage unit 505 individual operation / interlocking judgment unit 506 interlocking control setting value calculation unit 507 individual operation setting value reading Part 508 Operation instruction part

Claims (13)

It is an electric bed that can control the undulating movement by feedback control.
The back-raising or back-lowering operation based on an operation signal for controlling a drive mechanism that executes a predetermined undulating operation including a back-raising or back-lowering operation and a knee-raising or knee-lowering operation with respect to the landing portion. And the setting value for interlocking control of the knee-raising or knee-lowering motion, and the sensor signal from a predetermined sensor that directly or indirectly detects the motion of the movable part related to the movement of the landing portion and the setting. An operation signal control unit that feedback-controls the execution of the predetermined undulating operation by the drive mechanism based on the value is provided.
The operation signal control unit is a back angle which is a lifting angle of a movable part of the landing portion from a horizontal state corresponding to the back raising or back lowering operation, and the knee raising or knee lowering operation. On the coordinate plane represented by the knee angle, which is the lifting angle of the movable part of the landing part from the horizontal state, a storage unit that stores a plurality of interlocking control points in advance, and a back angle and a knee angle based on the sensor signal. The start reference point indicating the coordinate point is calculated, the interlocking control point at the latest position in the operation direction from the start reference point is set as the target interlocking control point, and the reference line connecting the start reference point and the target interlocking control point is predetermined. Two control lines are set by calculating parallel virtual lines separated by the Euclidean distance of, and the back angle and knee at the target interlocking control point are based on the two control lines and the target interlocking control point. An actual target point that is located on one of the coordinate axes of the angle and is the latest position between the two control lines within a predetermined threshold from the target interlocking control point is calculated, and the start reference point is used as described above. The interlocking control set value calculation unit that calculates the set value that performs interlocking control of the back angle and the knee angle toward the actual target point, and the interlocking control setting value calculation unit that calculates the interlocking control with respect to the actual target point with respect to the start reference point based on the set value. The drive mechanism is controlled, and feedback control is performed based on monitoring of both the knee angle and the back angle until the interlocking operation of the knee angle and the back angle reaches one of the two control lines. The feedback control is based on the monitoring of one of the movement directions of the back angle and the back angle. When the determination is made, the start reference point is updated, the interlocking control set value calculation unit is instructed to update the set value indicating a new actual target point, feedback control is performed, and the updated start reference point and the target are set. An electric bed characterized by being provided with a feedback control unit that controls continuous operation until the end of operation in the interlocking mode, which performs interlocking control of the operating points of the back-raising angle and the knee-raising height based on the interlocking control points. The interlocking control set value calculation unit has two parallel virtual lines separated by a predetermined Euclidean distance so as to sandwich the reference line connecting the start reference point and the target interlocking control point with the reference line as the center. when assuming, said two predetermined one for the positive side of the imaginary line, one of the virtual line among virtual lines that a negative side for the other, or to calculate the virtual line of both, the plus side and whether the virtual line of the negative and control line of the two-wire, or a virtual line of the plus-side and the reference line and the control line of the two-wire, or with the reference line of the negative The electric bed according to claim 1, wherein a predetermined calculation is performed so that the virtual line becomes the control line of the two lines. The feedback control unit, by comparison with the start reference point and the actual target point, as a feedback control when there is greater than a predetermined threshold difference for both knee angle and back angle, the positive and the negative side an imaginary line when performing control line and the switchable feedback control of the two-wire, the negative when the interlocking operation of the knee angle and the back angle has reached the imaginary line of the positive side of the two control lines performs feedback control based on the monitoring of the knee angle only to the back angle constant until reaching the imaginary line side, after reaching the imaginary line of the negative side is switched to the feedback control based on the monitoring of both the knee angle and the back angle control repeated, interlock operations of the knee angle and the back angle is only back angle and the knee angle constant until reaching the imaginary line of the positive side when it reaches the virtual line of the negative side of the said two control lines The claim is characterized in that feedback control is performed based on the monitoring of the above , and after reaching the virtual line on the plus side, control for switching to feedback control based on monitoring of both the knee angle and the back angle is repeated. The electric bed according to 2. The feedback control unit, by comparison with the start reference point and the actual target point, as a feedback control when there is greater than a predetermined threshold difference for both knee angle and back angle, of the plus-side and the reference line an imaginary line when performing control line and the switchable feedback control of the two-wire, the reference when the interlocking operation of the knee angle and the back angle has reached the imaginary line of the positive side of the two control lines The back angle is kept constant until the line is reached, feedback control is performed based on monitoring only the knee angle, and after reaching the reference line, control is repeated to switch to feedback control based on monitoring of both the knee angle and back angle. The electric bed according to claim 2, wherein the electric bed is provided. The feedback control unit, by comparison with the start reference point and the actual target point, as a feedback control when there is greater than a predetermined threshold difference for both knee angle and back angle, the minus side to the reference line an imaginary line when performing control line and the switchable feedback control of the two-wire, the reference when the interlocking operation of the knee angle and the back angle has reached the imaginary line of the negative side of the said two control lines It is configured to keep the knee angle constant until it reaches the line, perform feedback control based on monitoring only the dorsal angle, and after reaching the reference line, repeat control to switch to feedback control based on monitoring both the knee angle and the dorsal angle. The electric bed according to claim 2, wherein the electric bed is provided. It is an electric bed that can control the undulating movement by feedback control.
The back-raising or back-lowering operation based on an operation signal for controlling a drive mechanism that executes a predetermined undulating operation including a back-raising or back-lowering operation and a knee-raising or knee-lowering operation with respect to the landing portion. And the setting value for interlocking control of the knee-raising or knee-lowering motion, and the sensor signal from a predetermined sensor that directly or indirectly detects the motion of the movable part related to the movement of the landing portion and the setting. An operation signal control unit that feedback-controls the execution of the predetermined undulating operation by the drive mechanism based on the value is provided.
The operation signal control unit is a back angle which is a lifting angle of a movable part of the landing portion from a horizontal state corresponding to the back raising or back lowering operation, and the knee raising or knee lowering operation. On the coordinate plane represented by the knee angle, which is the lifting angle of the movable part of the landing part from the horizontal state, a storage unit that stores a plurality of interlocking control points in advance, and a back angle and a knee angle based on the sensor signal. The start reference point indicating the coordinate point is calculated, the interlocking control point at the latest position in the operation direction from the start reference point is set as the target interlocking control point, and the reference line connecting the start reference point and the target interlocking control point is the control line. And, with the target interlocking control point as the actual target point, the interlocking control setting value calculation unit that calculates the setting value for interlocking the back angle and the knee angle from the start reference point toward the actual target point, and the above. Based on the set value, the drive mechanism is controlled with respect to the actual target point with respect to the start reference point, and both the knee angle and the back angle are monitored until the interlocking operation of the knee angle and the back angle reaches a predetermined time. Knee angle and dorsal angle, which is based on the monitoring of one of the knee angle and the dorsal angle, which is the movement direction, until the one control line is reached after the lapse of the predetermined time. The interlocking operation is corrected to follow one control line in the predetermined time unit, and the transition type feedback control is performed. When it is determined that the target has been reached, the start reference point is updated and the interlocking control set value is set. the setting value indicating the new real target point to computing unit to update the indicated feedback control, updated operating point of the start reference point and back lifting angle based on interlocking control point to the target and knee lifting height electric bed, characterized in that it comprises a feedback control section for controlling to continue operation until the end of the operation of the interlocking mode in which the interlocking control of. The feedback control unit is a virtual set of two points separated from a reference line connecting the start reference point and the target interlocking control point by a distance specified by the elapse of the predetermined time so as to sandwich the reference line as the center. Assuming points, one of the two virtual points is set to the plus side and the other is set to the minus side, and both the knee angle and the back angle are compared with the start reference point and the actual target point. for the feedback control when there is a difference greater than a predetermined threshold value, when performing the switched feedback control, the on the plus side with respect to the reference line after a linked motion of the knee angle and the back angle is the predetermined time When the transition occurs, the back angle is kept constant until the reference line is reached, feedback control is performed based on monitoring only the knee angle, and after reaching the reference line, the feedback control is switched to feedback control based on monitoring of both the knee angle and the back angle. control repeated, monitoring interlocking operation of the knee angle and the back angle is only the back angle and the knee angle is constant until a transition to the negative side with respect to the reference line after the elapse of the predetermined time to reach the reference line The electric motor according to claim 6, wherein the feedback control is performed based on the above, and after reaching the reference line, the control for switching to the feedback control based on the monitoring of both the knee angle and the back angle is repeated. bed. The electric bed according to any one of claims 1 to 7, wherein the plurality of interlocking control points stored in the storage unit are configured so that the settings can be changed by an external operation. The feedback control unit determines that the target has been reached when the coordinate axis according to a predetermined reference of either the back angle or the knee angle in the coordinate value of the actual target point is reached. The electric bed according to any one of items 1 to 8. The electric bed according to any one of claims 1 to 9, wherein the drive mechanism includes an actuator driven by a motor. The electric bed according to any one of claims 1 to 10, wherein the predetermined sensor includes a rotation amount detection sensor that detects the rotation amount of a motor that drives the drive mechanism. 13. The electric bed according to any one item. At least one of the state sensors is installed in the movable part, and one axis in the vertical direction, two axes in the vertical and horizontal directions, three axes in the vertical direction and the vertical / horizontal horizontal direction, or vertical direction and the vertical / horizontal direction. It is characterized by comprising a sensor capable of detecting state values corresponding to each axis with respect to three or more absolute coordinate axes including directions other than the horizontal direction, and detecting at least the knee angle and the plumb bob angle in the movable part. , The electric bed according to claim 12.

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