Automatic bed transport system

Abstract

This invention provides an automated bed transport system that can mitigate the impact on a person lying in a bed and reduce displacement when the bed is started and stopped. [Solution] An automatic bed transport system comprising: a bed having a bottom on which a back bottom, a knee bottom, and a foot bottom are arranged; a drive unit for driving the bed; a first control unit for automatically transporting the bed to a destination using the drive unit; and a second control unit for raising and lowering the back bottom, the knee bottom, and the foot bottom, wherein the second control unit performs a first operation to raise the back bottom when the direction of travel of the bed is toward the foot bottom, and a second operation to raise the knee bottom and the foot bottom when the direction of travel of the bed is toward the back bottom, and when the bed approaches the destination and stops, the second operation is performed when the direction of travel of the bed is toward the foot bottom, and the first operation is performed when the direction of travel of the bed is toward the back bottom.

Description

Technical Field

[0001] Embodiments of the present invention relate to a bed automatic transfer system.

Background Art

[0002] Conventionally, automatic transfer systems such as wheelchairs and automobiles have been disclosed. When information on a destination is input, these automatic transfer systems acquire route information and automatically travel to the destination.

[0003] When attempting to apply an automatic transfer system to a bed, since a person is lying on the bed, at the time of starting and stopping, an impact is applied to the person lying on the bed, and the position of the person lying on the bed may shift.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] An object of embodiments of the present invention is to provide a bed automatic transfer system capable of reducing the impact on a person lying on the bed and reducing displacement at the time of starting and stopping of the bed.

Means for Solving the Problems

[0006] An automated transport system according to an embodiment of the present invention comprises a bed having a bottom on which a back bottom, a knee bottom, and a foot bottom are arranged; a drive unit for driving the bed; a first control unit for automatically transporting the bed to a destination; and a second control unit for raising and lowering the back bottom, the knee bottom, and the foot bottom. The second control unit performs a first operation to raise the back bottom when the bed is moving toward the destination if the direction of travel of the bed is toward the foot bottom, and a second operation to raise the knee bottom and the foot bottom when the direction of travel of the bed is toward the back bottom, and when the bed approaches the destination and stops, it performs the second operation when the direction of travel of the bed is toward the foot bottom, and the first operation when the direction of travel of the bed is toward the back bottom. [Effects of the Invention]

[0007] According to embodiments of the present invention, it is possible to provide an automated bed transport system that can mitigate the impact on a person lying on the bed and reduce positional displacement when the bed is started and stopped. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a block diagram showing the main components of an automated bed transport system according to an embodiment of this system. [Figure 2] Figure 2 is a perspective view showing a bed. [Figure 3] Figure 3 is a plan view showing the bottom removed. [Figure 4] Figure 4 is a flowchart showing a series of operations of the automated bed transport system according to the embodiment. [Figure 5] Figure 5 is an illustrative image of the flat bottom of the bed as seen from the left side. [Figure 6] Figure 6 is an image showing the state when the second control unit performs the first operation when the bed is moving in the direction of the foot bottom, as viewed from the left side of the bed. [Figure 7]Figure 7 is an image showing the state when the second control unit performs the second operation when the bed is moving in the direction of the back bottom, as viewed from the right side of the bed. [Figure 8] Figure 8 is an image showing the state when the second control unit performs the second action when the bed is moving in the direction of the foot bottom, as viewed from the left side of the bed. [Figure 9] Figure 9 is an image of the state when the second control unit performs the first operation when the bed is moving in the direction of the back bottom, as viewed from the right side of the bed. [Figure 10] Figure 10 is an image diagram viewed from the left side of the bed, showing the state when the second control unit performs the first and second operations when the bed is moving in the direction of the foot bottom. [Figure 11] Figure 11 is an image showing the state when the second control unit performs the third operation when the bed is moving in the direction of the foot bottom, as viewed from the left side of the bed. [Figure 12] Figure 12 is an image showing the state when the second control unit performs the third operation when the bed is moving in the direction of the back bottom, as viewed from the right side of the bed. [Figure 13] Figure 13 is an image showing the state when the second control unit performs the fourth operation when the bed is moving in the direction of the foot bottom, as viewed from the left side of the bed. [Modes for carrying out the invention]

[0009] Embodiments of the present invention will be described below with reference to the drawings. In this specification, when a user lies supine on a bed or mattress, the direction of the head relative to the torso is called the "head side," the direction of the feet is called the "foot side," the direction of the right hand is called the "right side," the direction of the left hand is called the "left side," the direction of the floor of the room is called the "down side," and the direction of the ceiling is called the "up side." The right and left sides are collectively called the "short side," the head side and foot side are collectively called the "long side," and the up and down sides are collectively called the "up and down direction."

[0010] The bed automatic transfer system according to this embodiment will be described. The automatic transfer system according to this embodiment is used, for example, for the automatic transfer of medical beds and nursing beds. Medical beds and nursing beds are used not only in medical institutions such as hospitals but also in nursing facilities.

[0011] In addition, when the bed is automatically transferred to the destination, the bed automatic transfer system according to this embodiment causes the bottom of the bed to take a pre-crash posture according to the situation in order to mitigate the impact on the person lying on the bed when starting, stopping, and colliding with an obstacle, and to reduce misalignment. The pre-crash posture refers to a state that mitigates the impact on the person lying on the bed when the bed starts, stops, and collides with an obstacle. Hereinafter, the automatic transfer system according to this embodiment will be described with reference to the drawings.

[0012] (First Embodiment) FIG. 1 is a block diagram showing the main configuration of the bed automatic transfer system according to the embodiment. FIG. 2 is a perspective view showing the bed. FIG. 3 is a plan view showing the state where the bottom is removed. First, the configuration of the bed automatic transfer system 100 according to the embodiment will be described. The bed automatic transfer system 100 according to the embodiment includes a bed 10, a drive unit 30, a first control unit 40, an operation unit 50, and a second control unit 60.

[0013] The bed 10 has a bottom 11 on which a back bottom 12, a waist bottom 13, a knee bottom 14, and a foot bottom 15 are arranged, a bottom frame 16, a base frame 17, a lifting mechanism 19 for raising and lowering the bottom 11, casters 32, and auxiliary drive wheels 34.

[0014] The base frame 17 is formed, for example, in a frame shape. Two bottom frames 16 are provided at intervals in the short side direction of the bed 10 along the long side direction. The base frame 17 is provided below the bottom frame 16.

[0015] The back base 12 has a plurality of bottom members 11a. Each of the plurality of bottom members 11a is fixed to a back frame 12a that supports it from below. The back frame 12a is fixed to the bottom frame 16. The back base 12 is positioned at the head side of a person lying on the bed 10. The back base 12 also supports the head or back of a person lying on the bed 10. The back frame 12a moves up and down at the head end, with the foot end of the back base 12 as a pivot point 12b, by the operation of the actuator 18. This makes the back base 12 tiltable relative to the bottom frame 16.

[0016] The lumbar support base 13 is positioned closer to the feet than the back support base 12. The lumbar support base 13 has a bottom member 11a, which is fixed to a lumbar support frame 13a that supports it from below. The lumbar support frame 13a is fixed to a bottom frame 16. The lumbar support base 13 supports the lumbar region or buttocks of a person lying on the bed 10.

[0017] The knee bottom 14 is positioned closer to the foot than the hip bottom 13. The knee bottom 14 has a plurality of bottom members 11a. Each of the plurality of bottom members 11a is fixed to a knee frame 14a that supports it from below. The knee frame 14a is fixed to the bottom frame 16. The knee bottom 14 supports the thigh of a person lying on the bed 10. The knee frame 14a moves up and down at the foot end, with the head end of the knee bottom 14 as the pivot point 14b, by the operation of the actuator 18. This makes the knee bottom 14 tiltable relative to the bottom frame 16.

[0018] The foot bottom 15 is positioned further towards the foot than the knee bottom 14. The foot bottom 15 has a plurality of bottom members 11a. Each of the plurality of bottom members 11a is fixed to a foot frame 15a that supports it from below. The foot frame 15a is fixed to the bottom frame 16. The foot bottom 15 supports the lower leg of a person lying on the bed 10. The foot frame 15a moves up and down at the head end, with the foot end of the foot bottom 15 as the pivot point 15b, by the operation of the actuator 18. This makes the foot bottom 15 tiltable relative to the bottom frame 16.

[0019] The lifting mechanism 19 includes an electric cylinder 19a and a lifting frame 19b. The lifting frame 19b is supported by the base frame 17 and connected to the bottom frame 16. The lifting mechanism 19 drives a lifting motor 19c to raise and lower the bottom frame 16 via the lifting frame 19b. In other words, the lifting mechanism 19 raises and lowers the bottom 11. The lifting mechanism 19 can adjust the height dimension from the floor and the base frame 17 to the bottom 11. The height dimension by the lifting mechanism 19 can be selected from, for example, three levels: high / middle / low. The lifting mechanism 19 can also tilt the bottom frame 16 by raising the head end of the bottom frame 16 and lowering the foot end of the bottom frame 16.

[0020] The bed 10 may also further include a GPS (Global Positioning System) receiver 20, a communication unit 21, and a load sensor 22. The communication unit 21 is used when making a nurse call and transmits the information to a nurse center, etc., via a wireless network. The load sensor 22 is positioned between the bottom 11 and the bottom frame 16 and measures the weight of the person lying on the bed 10.

[0021] The casters 32 are provided at the four corners of the base frame 17. The casters 32 are swivel casters that can rotate to follow the direction of travel of the bed 10. The casters 56 may have swivel casters on the front wheels and fixed casters on the rear wheels.

[0022] The auxiliary drive wheels 34 rotate by receiving power from the motor 31. The auxiliary drive wheels 34 electrically propel the bed 10.

[0023] The drive unit 30 includes a motor 31, an auxiliary drive wheel 34, a caster 32, and a caster lock control unit 33 that locks the caster 32. The drive unit 30 drives the bed 10 with the motor 31 and the auxiliary drive wheel 34. The motor 31, caster 32, caster lock control unit 33, and auxiliary drive wheel 34 are mounted on the base frame 17. The caster lock control unit 33 is a mechanism that mechanically locks the caster 32 through human operation or electronic control.

[0024] The first control unit 40 is a computer control device that automatically controls the transport of the bed 10 to its destination using the drive unit 30. The first control unit 40 is connected to the operation unit 50 via a wired or wireless network. The operation unit 50 issues commands to the first control unit 40. The operation unit 50 is, for example, a remote controller. The first control unit 40 receives commands from the operation unit 50 and issues commands to the drive unit 30 to start the bed 10, automatically transport it to its destination, and stop it. The first control unit 40 can also accelerate and decelerate the bed 10.

[0025] The second control unit 60 is a computer control device that operates the actuator 18 to raise and lower the back bottom 12, knee bottom 14, and foot bottom 15, etc. The second control unit 60 raises and lowers the back bottom 12, knee bottom 14, and foot bottom 15 when the bed 10 starts and stops, and performs several operations.

[0026] The second control unit 60 is connected to the bottom unit 11, GPS receiver 20, communication unit 21, first control unit 40, caster lock control unit 33, and the notification unit 70 and obstacle detection unit 80, which will be described later, via a wired or wireless network.

[0027] The automated bed transport system 100 according to this embodiment further comprises a notification unit 70 and an obstacle detection unit 80. The notification unit 70 announces to the person lying on the bed 10 that the back bottom 12, knee bottom 14, and foot bottom 15 will be raised and lowered by the second control unit 60. The notification unit 70 includes an LED light 71 and a speaker 72, etc. The obstacle detection unit 80 determines the presence or absence of obstacles while the bed 10 is moving toward its destination and coming to a stop. The obstacle detection unit 80 includes a communication device 81, an image recognition camera 82, a millimeter-wave radar 83 for measuring the distance between the bed 10 and the obstacle, and a TOF (Time of Flight) sensor 84. The camera 82, millimeter-wave radar 83, and TOF sensor 84 detect obstacles. If the obstacle detection unit 80 determines that there is an obstacle, it transmits that information from the communication device 81 to the second control unit 60.

[0028] Next, a series of operations of the automated bed transport system 100 according to this embodiment will be described. Figure 4 is a flowchart showing a series of operations of the automated bed transport system according to the embodiment. First, in S1, in the bed automatic transport system 100 according to this embodiment, the first control unit 40 receives a command from the operation unit 50 and sets a destination. The destination is, for example, an operating room, examination room, patient room, or corridor. The first control unit 40 then calculates the route to the destination. The route calculation is performed by a CPU or the like in the first control unit 40. The position information of the bed 10 is obtained by a GPS receiver 20 or the like. The second control unit 60 then causes the caster lock control unit 33 to release the lock on the casters 32. Once the bed 10 is ready to move, the second control unit 60 notifies the person lying on the bed 10 and those around them via voice notification from the speaker 72 and LED lights 71 that the bed is about to start moving and that a pre-crash operation, described later, will be performed. A pre-crash operation is a movement to assume a pre-crash posture.

[0029] Subsequently, in S2, the first control unit 40 selects the direction of travel for the bed 10. Specifically, when the bed 10 starts moving toward its destination, it selects whether the direction of travel for the bed 10 is towards the foot bottom 15 side or the back bottom 12 side. Whether it is towards the foot bottom 15 side or the back bottom 12 side changes depending on the situation at the time. For example, when the bed 10 is in a hospital room and the entrance to the hospital room is on the foot bottom 15 side, the direction of travel is towards the foot bottom 15 side. Also, when the bed 10 is in a corridor and the shortest route is towards the back bottom 12 side, the direction of travel is towards the back bottom 12 side. Information on the direction of travel is transmitted from the first control unit 40 to the second control unit 60.

[0030] Subsequently, in S3, the second control unit 60, having received information on the direction of travel, raises the back bottom 12, knee bottom 14, and foot bottom 15 to mitigate the impact when starting, and selects one or more pre-crash actions from several pre-crash actions.

[0031] Subsequently, in S4, the second control unit 60 executes the selected pre-crash operation. Normally, the bottom 11 of the bed 10 is flat. When the bed 10 starts and stops, a load is applied in the opposite direction to the direction of travel, causing an impact on the person lying on the bed 10 and resulting in displacement. Also, when the bed 10 collides with an obstacle, a load is applied in the opposite direction to the direction of travel, causing an impact on the person lying on the bed 10 and resulting in displacement. Therefore, the bed automatic transport system 100 according to this embodiment raises the back bottom 12, knee bottom 14, and foot bottom 15 and performs several pre-crash operations to mitigate the impact on the person lying on the bed 10 and reduce displacement when the bed 10 starts, stops, and collides with obstacles. The specific aspects of the pre-crash operation will be described later.

[0032] Subsequently, in S5, the second control unit 60 performs a pre-crash operation and then transmits that information to the first control unit 40. Upon receiving this information, the first control unit 40 transmits a start command to the drive unit 30 in order to begin transporting the bed 10. Upon receiving the start command, the drive unit 30 starts the bed 10 toward its destination.

[0033] During automated transport, the obstacle detection unit 80 uses a camera 82, millimeter-wave radar 83, and TOF sensor 84 to sequentially acquire environmental information of the area surrounding a predetermined bed 10 at predetermined sampling intervals (for example, 0.1 to 1 second).

[0034] The obstacle detection unit 80 then determines the presence or absence of obstacles based on environmental information during automatic transport. The obstacle detection unit 80 calculates the distance between one or more obstacles and the bed 10, the relative direction of travel, and the travel speed included in the environmental information, and calculates a collision risk score based on the likelihood that the obstacle of interest will collide with the bed 10. If there is an obstacle whose collision risk score is greater than a predetermined threshold, the obstacle detection unit 80 outputs an announcement from the notification unit 70 stating, "There is a risk of collision. We will mitigate the impact," and controls the drive unit 30 and the first control unit 40 to change the transport speed of the bed 10 to a low "avoidance speed," avoid the obstacle, or bring the bed 10 to a sudden stop.

[0035] Then, in S6, the first control unit 40 determines whether the bed 10 is approaching the destination. A threshold distance to the destination is set, for example, to 3m. If the threshold exceeds 3m, the above determination is repeated; if the threshold is 3m or less, the process proceeds to the next step.

[0036] Subsequently, in S7, if the first control unit 40 determines that the bed 10 is approaching its destination, it transmits this information to the second control unit 60. Upon receiving this information, the second control unit 60 raises the back bottom 12, knee bottom 14, and foot bottom 15 to mitigate the impact when stopping, and executes one or more pre-crash actions from several options. The pre-crash actions when stopping are different from those when starting. In addition, the first control unit 40 controls the speed to mitigate the impact when stopping. Specifically, it reduces the speed of the bed 10. Furthermore, the second control unit 60 notifies the person lying on the bed 10 and those around them of the pre-crash action via voice notification from the speaker 72 and LED lights 71.

[0037] Subsequently, in S8, the first control unit 40 determines whether or not the bed 10 has arrived at its destination. If it has not arrived at its destination, the above determination is repeated, and if it has arrived at its destination, the process proceeds to the next step.

[0038] Subsequently, in S9, if the first control unit 40 determines that the bed 10 has arrived at its destination, it transmits this information to the second control unit 60. Upon receiving this information, the second control unit 60 locks the casters 32 using the caster lock control unit 33. The second control unit 60 also lowers the raised back bottom 12, knee bottom 14, and foot bottom 15 to flatten the bottom.

[0039] Then, in S10, the second control unit 60 instructs the communication unit 21 to make a nurse call. The second control unit 60 may also instruct the notification unit 70 to announce to the person lying in bed 10 and the surrounding medical staff that they have arrived at their destination.

[0040] Next, we will explain some pre-crash actions. Figure 5 is an illustrative image of the flat bottom of the bed as seen from the left side. Figure 6 is an image showing the state when the second control unit performs the first operation when the bed is moving in the direction of the foot bottom, as viewed from the left side of the bed. Figure 7 is an image showing the state when the second control unit performs the second operation when the bed is moving in the direction of the back bottom, as viewed from the right side of the bed.

[0041] If the bed 10 does not perform a pre-crash action and does not assume a pre-crash position, the bottom 11 is in a flat state, as shown in Figure 5. In other words, the back bottom 12, waist bottom 13, knee bottom 14, and foot bottom 15 are in a reclined state.

[0042] Furthermore, the bed automatic transport system 100 according to this embodiment causes the second control unit 60 to execute a pre-crash operation when the bed 10 starts moving toward the destination and when it stops. The manner of the pre-crash operation differs depending on whether the direction of travel of the bed 10 is toward the foot bottom 15 side or the back bottom 12 side when starting, and whether the direction of travel of the bed 10 is toward the foot bottom 15 side or the back bottom 12 side when stopping.

[0043] First, let's explain what happens when the bed 10 starts moving toward its destination. When the direction of travel of the bed 10 is toward the foot bottom 15, the second control unit 60 performs a first action as shown in Figure 6. The first action is to raise the back bottom 12. The waist bottom 13, knee bottom 14, and foot bottom 15 remain in a reclined position. The angle θ1 at which the back bottom 12 is raised is, for example, between 15 degrees and 30 degrees with respect to the bottom frame 16 and base frame 17.

[0044] On the other hand, when the direction of movement of the bed 10 is toward the back bottom 12, the second control unit 60 performs a second operation as shown in Figure 7. The second operation raises the knee bottom 14 and the foot bottom 15. The back bottom 12 and the waist bottom 13, other than the knee bottom 14 and the foot bottom 15, remain in a reclined state. The angles θ2 and θ3 for raising the knee bottom 14 and the foot bottom 15 are, for example, between 15 degrees and 30 degrees with respect to the bottom frame 16 and the base frame 17, respectively.

[0045] Thus, the bed automatic transport system 100 according to this embodiment can reduce the impact on the person lying on the bed 10 and reduce positional displacement when the bed 10 is moving, by having the second control unit 60 execute the first and second operations when the bed 10 is moving in the direction of travel toward the foot bottom 15 side and the back bottom 12 side.

[0046] Next, we will explain what happens when bed 10 comes to a stop as it approaches its destination. Figure 8 is an image showing the state when the second control unit performs the second action when the bed is moving in the direction of the foot bottom, as viewed from the left side of the bed. Figure 9 is an image of the state when the second control unit performs the first operation when the bed is moving in the direction of the back bottom, as viewed from the right side of the bed.

[0047] When the direction of movement of the bed 10 is toward the foot bottom 15, the second control unit 60 performs a second operation as shown in Figure 8. The second operation is as described above.

[0048] On the other hand, when the direction of travel of the bed 10 is towards the back bottom 12 side, the second control unit 60 performs the first operation as shown in Figure 9. The first operation is as described above.

[0049] Thus, the bed automatic transport system 100 according to this embodiment can reduce the impact on the person lying on the bed 10 when it stops and reduce displacement by having the second control unit 60 execute the first and second operations when the direction of travel of the bed 10 is towards the foot bottom 15 side and the back bottom 12 side.

[0050] (Second Embodiment) Figure 10 is an image diagram viewed from the left side of the bed, showing the state when the second control unit performs the first and second operations when the bed is moving in the direction of the foot bottom. In the first embodiment, the pre-crash operation was performed by the second control unit executing either the first or second operation. On the other hand, in the second embodiment, as shown in Figure 10, when the bed 10 starts moving toward the destination, the second control unit 60 executes a second operation in addition to the first operation if the direction of travel of the bed 10 is toward the foot bottom 15 side. Also, when the direction of travel of the bed 10 is toward the back bottom 12 side, the second control unit 60 may execute a first operation in addition to the second operation. In other words, when the bed 10 starts moving, the second control unit 60 may execute both the first and second operations if the direction of travel of the bed 10 is toward the foot bottom 15 side and the back bottom 12 side. By doing so, the impact on the person lying on the bed 10 during starting can be further mitigated and displacement can be further reduced compared to when only the first or second operation is performed.

[0051] Furthermore, when the bed 10 arrives at its destination and stops, the second control unit 60 may perform the first action in addition to the second action if the direction of travel of the bed 10 is toward the foot bottom 15 side. Also, when the direction of travel of the bed 10 is toward the back bottom 12 side, the second control unit 60 may perform the second action in addition to the first action. In other words, when the bed 10 stops, the second control unit 60 may perform both the first and second actions if the direction of travel of the bed 10 is toward the foot bottom 15 side and the back bottom 12 side. By doing so, the impact on the person lying on the bed 10 when it stops can be further reduced and displacement can be further minimized compared to when only the first or second action is performed.

[0052] Furthermore, the notification unit 70 may make an announcement to the person lying in the bed 10 when the second control unit 60 performs the first and second operations.

[0053] Next, the bottom configurations of the first and second embodiments during automatic transport, from when the bed 10 starts moving toward its destination until it stops, will be described.

[0054] While the bed 10 is moving towards its destination and coming to a stop, the bottom 11 may be kept flat, but it is preferable to raise the back bottom 12 in order to ensure a clear view for the person lying on the bed 10. This configuration is shown in Figure 11. Figure 11 is an image showing the state when the second control unit performs the third operation when the bed is moving in the direction of the foot bottom, as viewed from the left side of the bed. As shown in Figure 11, the second control unit 60 performs a third action from the time the bed 10 starts moving toward its destination until it stops. The third action raises the back bottom 12 higher than the first action. The third action is performed both when the bed 10 is moving toward the foot bottom 15 side and toward the back bottom 12 side. The angle θ4 at which the back bottom 12 is raised is, for example, greater than 15 degrees and less than or equal to 45 degrees relative to the bottom frame 16 and base frame 17. This ensures that the person lying on the bed 10 has a clear view during automated transport, providing a sense of security. Furthermore, by ensuring a clear view, if there is an obstacle during automated transport, the person lying on the bed can perceive that obstacle, allowing them to prepare for the impact of a collision with the obstacle. The second control unit may also perform the third action when the bed starts moving and when it stops.

[0055] Furthermore, operation by the person lying on the bed 10 may be prohibited from the time the bed 10 starts moving toward its destination until it comes to a stop. This prohibition of operation can be achieved, for example, by disabling the input of the control unit 50. In this way, unnecessary operation inputs to the control unit 50 by the bed user are not permitted, thereby avoiding situations that unintentionally interfere with the automatic transport control operation of the automatic transport system 100, and maximizing the effectiveness of the safe transport of the automatic transport system 100.

[0056] Furthermore, the lifting mechanism 19 may be positioned with the bottom 11 lowered while the bed 10 is moving towards its destination and coming to a stop. This improves the stability of the vehicle during automated transport.

[0057] Furthermore, the lifting mechanism 19 can also assume a pre-crash posture by tilting the bottom frame 16 when starting, stopping, or in the event of a collision with an obstacle. The lifting mechanism 19 can select the "low" setting from three levels (high / middle / low) when starting, stopping, or in the event of a collision with an obstacle. This allows for mitigation of the impact on a person lying on the bed 10.

[0058] Next, we will explain the pre-crash posture when the obstacle detection unit 80 determines that there is an obstacle in the direction of travel of the bed 10 while the bed 10 is moving towards the destination and coming to a stop. Figure 12 is an image showing the state when the second control unit 60 performs the third operation when the direction of bed movement is towards the back bottom 12, as viewed from the right side of the bed.

[0059] Obstacles may be present along the automated transport path. In such cases, the obstacle detection unit 80 determines whether an obstacle is present, and if it determines that an obstacle is present, the second control unit 60 executes a pre-crash operation to prepare for impact. When the direction of travel of the bed 10 is towards the back bottom 12, the second control unit 60 executes a third operation, as shown in Figure 12, which raises the back bottom 12 higher than the first operation. The angle θ4 at which the back bottom 12 is raised in the third operation is as described above. In this way, even if the bed 10 makes a sudden stop to avoid colliding with an obstacle or collides with an obstacle, the impact on the person lying on the bed 10 can be mitigated and displacement can be reduced.

[0060] Figure 13 is an image showing the state when the second control unit performs the fourth operation when the bed is moving in the direction of the foot bottom, as viewed from the left side of the bed. On the other hand, when the direction of movement of the bed 10 is toward the foot bottom 15, the second control unit 60 performs a fourth action. The fourth action raises the knee bottom 14 and the foot bottom 15 higher than the second action. The angles θ5 and θ6 for raising the knee bottom 14 and the foot bottom 15 are, for example, greater than 15 degrees and 45 degrees or less with respect to the bottom frame 16 and the base frame 17, respectively. In this way, even if the bed 10 collides with an obstacle, the impact on the person lying on the bed 10 can be mitigated and displacement can be reduced.

[0061] When the obstacle detection unit 80 determines that an obstacle is present and the vehicle assumes a pre-crash posture to prepare for impact, the second control unit 60 quickly executes the third and fourth operations described above. At this time, for example, the actuators 18 used to adjust the angle of each bottom 11 (12, 14, 15) are given the maximum rated control input. In this way, each bottom 11 (12, 14, 15) can be raised at a faster speed than when adjusting the angle during starting and stopping, thereby shortening the time until the pre-crash operation is performed. Furthermore, the bed 10 may have the actuators 18 used to adjust the angle of each bottom 11 (12, 14, 15) during starting and stopping arranged in parallel with a linear actuator or the like that can operate at a higher speed than the actuators 18. In this way, the time until the selected pre-crash operation is performed can be further shortened.

[0062] Here, the impact during starting, stopping, and collision with obstacles differs depending on the weight of the person lying on the bed 10. Therefore, the second control unit 60 may adjust the angle at which the back bottom 12, knee bottom 14, and foot bottom 15 are raised in the first, second, third, and fourth movements based on the weight obtained from the load sensor 22. Specifically, for a person weighing 90 kg, the back bottom 12, knee bottom 14, and foot bottom 15 are raised at a larger angle than for a person weighing 70 kg, within the range of angles θ1, θ2, θ3, and θ4 described above. In this way, the impact on the person lying on the bed during starting and stopping of the bed can be accurately mitigated, and displacement can be further reduced.

[0063] The bed 10 may have multiple air cells between the bed 10 and the bottom 11. The multiple air cells are connected to a pump that supplies air to the air cells. In this case, the pump is used to significantly increase the air supply rate and cause rapid inflation and deflation. This makes it possible to mitigate impacts from the right and left sides.

[0064] Furthermore, in the above-described embodiment, the case was explained in which the angle of each bottom part is automatically controlled during automatic transport operation to automatically adopt a position that mitigates the impact in the event of a collision. However, the impact mitigation position is not limited to the angle control of each bottom part. The bed automatic transport system 100 is equipped with a mechanism that allows adjustment of the height of the back bottom 12 side and the foot bottom 15 side of the bottom 11 of the bed 10. The bed automatic transport system 100 can adjust the overall inclination angle of the bottom by independently controlling the height of the back bottom 12 side and the foot bottom 15 side. For example, when the direction of travel of the bed 10 is towards the back bottom 12 side, as a pre-crash posture during automatic transport, the second control unit 60 performs an operation to raise the height of the foot bottom 15 side end of the bottom 11 higher than the back bottom 12 side end. Also, when the direction of travel of the bed 10 is towards the foot bottom 15 side, as a pre-crash posture during automatic transport, the second control unit 60 performs an operation to raise the height of the back bottom 12 side end of the bottom 11 higher than the foot bottom 15 side end. Thus, the bed automatic transport system 100 may perform an action to assume a pre-crash posture by tilting the entire bottom 11. The above action is performed by tilting the bottom frame 16 using the lifting mechanism 19.

[0065] The embodiments and their modifications described above are examples that embody the present invention, and the present invention is not limited to these embodiments and modifications. For example, the present invention also includes the addition, deletion, or modification of some components or processes in the embodiments and modifications described above. Furthermore, the embodiments and modifications described above can be implemented in combination with each other.

[0066] The present invention includes the following embodiments.

[0067] (Note 1) A bed having a base on which a back base, knee base, and foot base are positioned, A drive unit for driving the bed, The drive unit controls the automatic transport of the bed to its destination, and A second control unit that raises and lowers the back bottom, the knee bottom, and the foot bottom, Equipped with, The second control unit is: When the bed starts moving toward the aforementioned destination, if the direction of the bed's movement is toward the foot bottom, a first action is performed to raise the back bottom, and if the direction of the bed's movement is toward the back bottom, a second action is performed to raise the knee bottom and the foot bottom. When approaching the destination and the bed comes to a stop, the second operation is performed if the direction of the bed's movement is towards the foot bottom, and the first operation is performed if the direction of the bed's movement is towards the back bottom. Automatic bed transport system.

[0068] (Note 2) The second control unit is: When the bed starts moving toward the destination, the second operation is further performed if the direction of the bed is toward the foot bottom, and the first operation is further performed if the direction of the bed is toward the back bottom. When the bed arrives at the destination and stops, if the direction of travel of the bed is towards the foot bottom, the first operation is performed further, and if the direction of travel of the bed is towards the back bottom, the second operation is performed further. The automated bed transport system described in Appendix 1.

[0069] (Note 3) The second control unit performs a third operation, which raises the back bottom higher than the first operation, while the bed is moving toward the destination and coming to a stop. The automated bed transport system described in Appendix 1 or 2.

[0070] (Note 4) The bed automatic transport system according to any one of the appendices 1 to 3, wherein the second control unit prohibits the operation of the person lying on the bed from starting towards the destination and stopping.

[0071] (Note 5) The bed further includes a lifting mechanism for raising and lowering the bottom, The lifting mechanism lowers the bottom of the bed to a lowered position while the bed is moving toward the destination and coming to a stop. An automated bed transport system as described in any one of the appendices 1 to 4.

[0072] (Note 6) The second control unit further includes a notification unit that makes an announcement to the person lying on the bed when the second control unit performs the first and second operations. An automated bed transport system as described in any one of the appendices 1 to 5.

[0073] (Note 7) The aforementioned drive unit has casters, The system further includes a caster lock control unit that suppresses the rotation of the caster. An automated bed transport system as described in any one of the appendices 1 to 6.

[0074] (Note 8) It is further equipped with an obstacle detection unit, While the bed is moving toward the destination and coming to a stop, if the obstacle detection unit determines that there is an obstacle in the direction of the bed's movement, the second control unit executes a third operation to raise the back bottom higher than the first operation if the direction of the bed's movement is toward the back bottom, and executes a fourth operation to raise the knee bottom and the foot bottom higher than the second operation if the direction of the bed's movement is toward the foot bottom. An automated bed transport system as described in any one of the appendices 1 to 7.

[0075] (Note 9) The bed further includes a load sensor that measures the weight of a person lying on the bed. The second control unit adjusts the angle at which the back bottom, knee bottom, and foot bottom are raised in the first, second, third, and fourth movements based on the body weight obtained from the load sensor. The automated bed transport system described in Appendix 8. [Explanation of symbols]

[0076] 10 Bed, 11 Bottom, 12 Back bottom, 12a Back frame, 12b Pivot point, 13 Waist bottom, 13a Waist frame, 14 Knee bottom, 14a Knee frame, 14b Pivot point, 15 Foot bottom, 15a Foot frame, 15b Pivot point, 16 Bottom frame, 17 Base frame, 18 Actuator, 19 Lifting mechanism, 19a Electric cylinder, 19b Lifting frame, 19c Lifting motor, 20 GPS receiver, 21 Communication unit, 22 Load sensor, 30 Drive unit, 31 Motor, 32 Caster, 33 Caster lock control unit, 34 Auxiliary drive wheel, 40 First control unit, 50 operating units, 60 Second control unit, 70 Notification unit, 71 LED light, 72 Speaker, 80 Obstacle detection unit, 81 Communication device, 82 Camera, 83 Millimeter-wave radar, 84 TOF sensor, 100 bed automated transport system, θ1, θ2, θ3, θ4, θ5, θ6 Angle

Claims

1. A bed having a base on which a back base, knee base, and foot base are positioned, A drive unit for driving the bed, The drive unit controls the automatic transport of the bed to its destination, and A second control unit that raises and lowers the back bottom, the knee bottom, and the foot bottom, Equipped with, The second control unit is, When the bed starts moving toward the aforementioned destination, if the direction of the bed's movement is toward the foot bottom, a first action is performed to raise the back bottom, and if the direction of the bed's movement is toward the back bottom, a second action is performed to raise the knee bottom and the foot bottom. When approaching the destination and the bed comes to a stop, the second operation is performed if the direction of the bed's movement is towards the foot bottom, and the first operation is performed if the direction of the bed's movement is towards the back bottom. Automatic bed transport system.

2. The second control unit is, When the bed starts moving toward the destination, the second operation is further performed if the direction of the bed's movement is toward the foot bottom, and the first operation is further performed if the direction of the bed's movement is toward the back bottom. When the bed arrives at the destination and stops, if the direction of travel of the bed is towards the foot bottom, the first operation is performed further, and if the direction of travel of the bed is towards the back bottom, the second operation is performed further. The bed automatic transport system according to claim 1.

3. The second control unit performs a third operation, which raises the back bottom higher than the first operation, while the bed is moving toward the destination and coming to a stop. The bed automatic transport system according to claim 1.

4. The bed automatic transport system according to claim 1, wherein the second control unit prohibits the operation of the person lying on the bed from starting towards the destination and stopping.

5. The bed further includes a lifting mechanism for raising and lowering the bottom, The lifting mechanism lowers the bottom of the bed to a lowered position while the bed is moving toward the destination and coming to a stop. The bed automatic transport system according to claim 1.

6. The second control unit further includes a notification unit that makes an announcement to the person lying on the bed when the second control unit performs the first and second operations. The bed automatic transport system according to claim 1.

7. The aforementioned drive unit has casters, The system further includes a caster lock control unit that suppresses the rotation of the caster. The bed automatic transport system according to claim 1.

8. It is further equipped with an obstacle detection unit, While the bed is moving toward the destination and coming to a stop, if the obstacle detection unit determines that there is an obstacle in the direction of the bed's movement, the second control unit executes a third operation to raise the back bottom higher than the first operation if the direction of the bed's movement is toward the back bottom, and executes a fourth operation to raise the knee bottom and the foot bottom higher than the second operation if the direction of the bed's movement is toward the foot bottom. An automated bed transport system according to any one of claims 1 to 7.

9. The bed further includes a load sensor that measures the weight of a person lying on the bed. The second control unit adjusts the angle at which the back bottom, knee bottom, and foot bottom are raised in the first, second, third, and fourth movements based on the body weight obtained from the load sensor. The bed automatic transport system according to claim 8.

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