Bed equipment and transport equipment

Abstract

To provide bed equipment and other devices that offer high safety for the operator. [Solution] The bed device comprises a wheel, a drive unit that transmits driving force to the wheel, an operating unit, and a control unit that controls the drive unit in accordance with the operation of the operating unit. The control unit acquires the state of the bed device, and when the acquired state of the bed device is in a specific state, it restricts the acceptance of operations by the operating unit.

Description

Technical Field

[0001] The present disclosure relates to a bed apparatus and the like.

Background Art

[0002] For example, as disclosed in Patent Document 1, there is disclosed a patient support apparatus including powered transportation equipment such as motorized wheels or a motorized traction drive for propelling a patient support apparatus such as a hospital bed or a stretcher along the floor.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of Invention

Problem to be Solved by the Invention

[0004] The present disclosure provides a bed apparatus and the like that are highly safe for operators.

Means for Solving the Problem

[0005] The bed apparatus according to the present disclosure includes wheels, a driving unit that transmits driving force to the wheels, an operation unit, and a control unit that controls the driving unit in accordance with an operation performed on the operation unit, wherein the control unit acquires a state of the bed apparatus, and restricts acceptance of operations at the operation unit when the acquired state of the bed apparatus is a specific state.

[0006] A transport apparatus according to the present disclosure is a transport apparatus attachable to a bed apparatus including wheels, a driving unit that transmits driving force to the wheels, an operation unit, and a control unit that controls the driving unit in accordance with an operation performed on the operation unit, wherein the control unit acquires a state of the bed apparatus, and restricts acceptance of operations at the operation unit when the acquired state of the bed apparatus is a specific state.

Effect of the Invention

[0007] This disclosure makes it possible to provide bed devices and other equipment that offer high safety for operators. [Brief explanation of the drawing]

[0008] [Figure 1] This is a diagram illustrating the overall layout of the bed device in the first embodiment. [Figure 2] This is a diagram illustrating the overview of the bed device in the first embodiment. [Figure 3] This is a diagram illustrating the state of the connection part of the bed device in the first embodiment. [Figure 4] This is a diagram illustrating the outline of the first operating device in the first embodiment. [Figure 5] This is a diagram illustrating the functional configuration in the first embodiment. [Figure 6] This is a diagram illustrating the software configuration in the first embodiment. [Figure 7] This figure illustrates the state transitions of the bed device in the first embodiment. [Figure 8] This is a diagram illustrating the processing flow of the first embodiment. [Figure 9] This figure illustrates an example of operation of the first embodiment. [Figure 10] This figure illustrates an example of operation of the second embodiment. [Figure 11] This diagram illustrates the processing flow of the third embodiment. [Figure 12] This is a diagram illustrating the overview of the bed device in the fourth embodiment. [Modes for carrying out the invention]

[0009] Bed systems are known that are equipped with a self-propelled transport device that can be operated in response to the operation of a control device, or a transport device that assists the force used by staff when moving the bed system, in order to make it easier for staff to transport the bed system.

[0010] In this case, when charging the rechargeable battery for driving the transfer device in a movable bed apparatus, it is necessary to connect a power cable to an external power source. However, if the bed apparatus moves during charging, the connected power cable will be pulled, resulting in risks such as disconnection of the power cable or damage to the outlet of the external power source. In addition, since movement during charging is not expected, there is a possibility of contact with devices arranged around the bed apparatus. Furthermore, there is a risk that an operator may trip over the power cable or the like.

[0011] A bed system, a bed apparatus, a control device, and an operation device for solving one or more of such problems will be described below.

[0012] [1. First Embodiment] [1.1 Overall Configuration] FIG. 1 is a diagram schematically illustrating a bed system 1 according to the present embodiment. As shown in FIG. 1, in the bed system 1, a mattress 3 is placed on a bed apparatus 5.

[0013] Note that the mattress 3 is preferably a urethane mattress or an air mattress. The mattress 3 may also be a hybrid mattress combining urethane and air cells. Further, the mattress 3 may be an elastic body used for bedding, such as a polyester fiber structure, gel, or a spring.

[0014] The bed system 1 is used by a user P. For example, when the user P lies on the bed apparatus 5 (the mattress 3), the left side of FIG. 1 is the head side and the right side is the foot side. Further, assuming a standard size of the user P, the back of the user P is positioned at the back bottom, and the waist of the user P is positioned at the curved bottom or the waist bottom.

[0015] Herein, a user refers to a person who actually uses, for example, the bed apparatus 5 among those who use the bed system. For example, a user refers to a patient hospitalized in a hospital or facility, a person requiring care, or a person lying on the bed apparatus 5 (mattress 3) at home.

[0016] Further, in the present embodiment, the term "staff" refers to a person who supports a user. For example, staff include medical staff such as doctors and nurses in hospitals, care staff in facilities, and family members of a user at home, etc.

[0017] Further, in the present embodiment, the term "operator" refers to a person who operates the bed system 1 (bed apparatus 5). The operator is mainly a staff member, but when a user performs the operation, the user is included in the operator.

[0018] Further, the posture of the user in the present embodiment includes the position of the user and the posture of the user. The position of the user is a position (sleeping position) on the mattress 3. The posture of the user refers to a posture (sleeping posture) when the user is lying on the mattress 3. Further, the body position may also include postures when the user is not lying down, such as edge sitting position and long sitting position, for example.

[0019] [1.2 Configuration of Bed Apparatus] The configuration of the bed apparatus 5 will be described with reference to the drawings.

[0020] [1.2.1 Overview] FIG. 2 is a diagram explaining the connection of a drive unit (drive device) in the bed apparatus 5. FIG. 3 is a diagram schematically explaining the connection between a control device 10 that controls the bed apparatus 5 and an operating device that operates the bed apparatus 5. FIG. 4 is an enlarged view of the connection connector.

[0021] The bed device 5 comprises a bottom 51, an upper frame 52, and a lower frame 54 from top to bottom, and has a lifting mechanism 53 between the upper frame 52 and the lower frame 54. The lower frame 54 is also provided with wheels 55. The wheels 55 are pivotally supported on the lower frame 54 and are provided in pairs at the bottom of the lower frame 54, separated from each other in the short and long directions of the bed device 5. For example, four wheels 55 may be provided near the four corners of the lower frame 54. The wheels 55 are used to move the general bed device 5 and may be provided using any known method.

[0022] Furthermore, the bed device 5 is provided with wheels 56 that are movable in all directions, distinct from the wheels 55. A pair of wheels 56 may be provided on each side of the lower frame 54. Also, one or more wheels 56 may be provided. The wheels 56 are preferably omnidirectional wheels, for example, Mecanum wheels that can move in all directions. The wheels 56 may also be omniwheels.

[0023] Furthermore, a transport drive unit 37 is provided to drive the wheels 56. The transport drive unit 37 is a motor that transmits driving force to the wheels 56. The transport drive unit 37 may be located in a different location from the wheels 56, or it may be provided as an in-wheel motor inside the wheels 56.

[0024] Furthermore, the motor's rotation axis is connected to the wheel 56's rotation axis, and the rotational speed of the motor's rotation axis becomes the rotational speed of the wheel 56. By detecting the motor's rotational speed, the movement speed of the bed device 5 can be calculated.

[0025] As shown in Figure 2, the bottom 51 has a back bottom 51a (back section), a lumbar bottom (seat section) 51b, a knee bottom 51c (upper leg section), and a foot bottom 51d (lower leg section) extending from the head side to the foot side when the user P is lying on the bed device 5 (mattress 3). Here, each bottom of the bottom 51 can rotate individually or in conjunction with each other. Furthermore, each bottom 51 may be a single plate-shaped member, or it may be a curved member constructed in a bellows-like manner from multiple members.

[0026] For example, if the waist bottom 51b is a curved bottom, the bottom can support the user by curving as the back bottom 51a rises. Alternatively, the waist bottom 51b may be designed to expand and contract while curving as the back bottom 51a rises or falls.

[0027] Each bottom is connected to a drive unit (such as an actuator). Bottom 51 is rotatable when the drive unit operates. Note that even without connecting a drive unit to each bottom, it is possible to operate multiple bottoms with a single drive unit by using a linkage mechanism, for example. Furthermore, adjacent bottoms can be linked together to operate in conjunction.

[0028] Furthermore, the bed device 5 achieves movements such as raising the back, raising the knees, and lowering the feet by rotating each bottom. The bed device 5 may also link the back raising movement with the knee raising (or lowering) movement.

[0029] The bottom 51 is supported by the upper frame 52. The upper frame 52 only needs to have a shape that supports the bottom 51. The lower frame 54 also needs to have a shape that supports the upper frame 52 that supports the bottom 51.

[0030] The lifting mechanism 53 adjusts the height of the upper frame 52, thereby adjusting the height (floor height) of the bed unit 5. Here, the height of the bed unit 5 generally refers to the height (floor height) from the surface on which it is installed (ground surface) to the upper frame 52. However, the height of the bed unit 5 may also be the height from the ground surface to the bottom 51.

[0031] The lifting mechanism 53 is realized by a drive device (drive mechanism) such as a link mechanism or an actuator.

[0032] The drive unit can be explained using Figure 2 as an example. The back bottom drive unit 31 can raise the back bottom 51a. For example, the back bottom drive unit 31 is an actuator, and the back bottom 51a is connected to the tip of the actuator's rod via a link mechanism.

[0033] The knee bottom drive unit 33 can raise the knee bottom 51c. For example, the knee bottom drive unit 33 is an actuator, and the knee bottom 51c is connected to the tip of the actuator's rod via a link mechanism.

[0034] Furthermore, each drive unit is connected to the drive control unit 120. The drive control unit 120 functions as a bottom control unit 122 that controls the back bottom drive unit 31 and the knee bottom drive unit 33, a height control unit 124 that controls the height drive unit 35, and a transport control unit 126 that controls the transport drive unit 37.

[0035] The bottom control unit 122 controls the back bottom drive unit 31 to realize the back lifting function and raise the back bottom 51a.

[0036] The bottom control unit 122 controls the knee bottom drive unit 33 to realize the knee-raising function and raise the knee bottom 51c. When a driving force is applied, the knee bottom 51c rotates with the waist bottom 51b side as the pivot point, and the foot bottom 51d side rises. At this time, the foot bottom 51d may also rotate in conjunction with the knee bottom 51c.

[0037] Furthermore, the height control unit 124 controls the height drive unit 35 to enable the raising and lowering functions of the bed device 5, thereby raising or lowering the upper frame 52.

[0038] Furthermore, if the drive control unit 120 controls each drive unit to perform the opposite operation to the above-described operation, the operation will be reversed. That is, the drive unit performs operations such as lowering the backrest, lowering the knees, and lowering the floor height by retracting the rod of the actuator.

[0039] The transport control unit 126 controls the transport drive unit 37 to transmit driving force to the wheels 56 for moving the bed device 5 or assisting (supporting) the movement of the bed device 5. Here, the transport control unit 126 can switch between a first transport mode and a second transport mode.

[0040] In the first transport mode, when operated by the first operating device 20, the transport drive unit 37 generates driving force in response to the operation signal and drives the wheels 56. In the second transport mode, when the first operating device 20 is not operated and a staff member is pushing the bed device 5, the transport drive unit 37 generates driving force to assist the staff member's pushing force and drives the wheels 56.

[0041] In the first transport mode, the transport drive unit 37 (motor) operates to generate driving force, allowing the bed device 5 to move under its own power. This generated driving force is transmitted to the wheels 56, causing the wheels to rotate and the bed device 5 to move. In the second transport mode, the transport drive unit 37 operates to generate driving force to assist the force with which the staff member is pushing the bed device 5.

[0042] This allows, for example, when moving the bed unit 5, the bed unit 5 is heavy and difficult for the staff to move when it starts moving. By operating the operation button B20 (movement button B22) of the first operation device 20, the bed unit 5 will move on its own in the direction of the operated movement button B22. Furthermore, after the bed unit 5 has started moving, the staff can push the bed unit 5 without operating the first operation device 20, generating a driving force that assists the force applied by the staff.

[0043] Furthermore, the driving force generated by the transport drive unit 37 may differ between the first transport mode and the second transport mode, and may also differ depending on the direction of movement. For example, this may result in the following preferred range for the movement speed of the bed device 5.

[0044] First transport mode: Forward 0.5m / s~0.7m / s, Reverse 0.35m / s~0.55m / s, Left / Right 0.1~0.3m / s Second transport mode: Forward 0.9m / s~1.1m / s, Reverse 0.9m / s~1.1m / s, Left / Right 0.9m / s~1.1m / s Furthermore, the movement speed is merely an example and may be changed by the operator. Also, the movement speed of the bed device 5 may be other than the speed described above.

[0045] In the first transport mode, the staff can move the bed unit 5 in the direction of the movement button B22 simply by operating the movement button B22 on the first operating device 20. In the second transport mode, while the staff is pushing the bed unit 5, the transport drive unit 37 is activated to assist the pushing force, and the generated driving force is transmitted to the wheels 55. As a result, the staff can move the bed unit 5 with less force because the driving force from the transport drive unit 37 is added to their original force.

[0046] Furthermore, the transport drive unit 37 may also have a braking function. For example, when the brake is ON, the transport drive unit 37 may lock the wheels (or apply an excessive load to the wheels to make them difficult to rotate) to prevent the bed device 5 from moving.

[0047] In other words, the bed device 5 of this disclosure operates by switching between a first transport mode and a second transport mode, making it possible for staff to easily transport the bed device 5. Here, the second transport mode can utilize the technology of providing the bed device 5 with an assist unit or the like to assist in transport. For example, Japanese Patent Publication No. 2006-087598 (Title of Invention: Electric Bed Transport Device, Filing Date: September 22, 2004), Japanese Patent Publication No. 2006-000328 (Title of Invention: Electric Bed Transport Device and its Drive Control Method, Filing Date: June 16, 2004), and Japanese Patent Publication No. 2004-194844 (Title of Invention: Electric Transport Device in Bed and its Drive Control Method, Filing Date: December 17, 2002) are known, and the contents of the above applications may be referenced by incorporation by reference.

[0048] The drive control unit 120 may also consist of two components: a first drive control unit including a bottom control unit 122 and a height control unit 124, and a second drive control unit including a transport control unit 126. In this case, the first operating device 20, described later, can control the second drive control unit, and the second operating device 30, described later, can control the first drive control unit.

[0049] [1.2.2 Operating device] Next, the operating device will be described. In this embodiment, a control device 10 that controls the bed device 5 can be connected to a first operating device 20 for controlling the movement of the bed device 5 and a second operating device 30 for controlling the operation of the bed device 5 (for example, bottom movement, height movement, etc.).

[0050] Figure 3 is a schematic diagram illustrating the state when the first operating device 20 is connected to the connector. For example, the first connection part 140 and the second connection part 150 may have connecting members provided on the head side and foot side of the upper frame of the bed device 5, respectively. Figure 4 is a magnified view of, for example, the connecting member 151 of the second connection part 150.

[0051] Then, by connecting the connector 29, which is a connection terminal, to the connecting member 151, the first operating device 20 is connected to the bed device 5 (control device 10). This allows the operating signals from the first operating device 20 to be input to the control device 10. The connector of the first operating device 20 and the first connection part 140 or the second connection part 150 are corresponding connectors, and may be configured as, for example, a female connector and a male connector, and may be detachable.

[0052] An example of the first operating device 20 is shown in Figure 4. As shown in Figure 4(a), the first operating device 20 has an operating panel 22, a belt 24 as a mounting member, and a locking member 26. The first operating device 20 is connected to the control device 10 via a cable 28. The operating panel 22 has a plurality of operating buttons B20.

[0053] Figure 4(b) shows an example of the control panel 22. The control panel 22 has, for example, four movement buttons B22 corresponding to the movement directions of the bed device 5.

[0054] • The first control button is the forward movement button B22F, which moves the user forward. • The second control button is the backward movement button B22B, which moves the user backward. • The third control button is the right movement button B22R, which moves to the right. • The fourth control button is the left movement button B22L, which moves to the left. Here, the movement buttons B22 corresponding to the direction of movement are shown as an example of four directions, but there may be more or fewer. For example, there may be only two directions, such as forward and backward (left and right), or there may be eight directions, including diagonal directions such as up, down, left, and right.

[0055] Furthermore, it may have operation buttons other than the movement button B22 corresponding to the direction of movement. For example, in Figure 4(b), • The fifth control button is the power button B24, which is used to turn the power on and off. • The sixth control button is the brake button B26, which prevents the bed unit 5 from moving (applies the brake). It is equipped with.

[0056] Furthermore, the system may have notification means other than the operation button B20. These notification means may include, for example, sound output means such as a buzzer or voice, or means such as light, display, or sound. For example, in Figure 4(b), • As a first notification method, the power lamp D20P indicates that the power is on. • As a second notification means, the remaining battery level indicator lamp D20B of the first operating device 20 is used to indicate the remaining battery level. It is equipped with.

[0057] In this embodiment, the operation button B20 is a hardware button, designed to be easy for the operator to use (easy to understand the feel of operation). However, the operation button B20 may also be a software button using, for example, a touch panel.

[0058] Figure 4(c) illustrates an example of operation when the first operating device 20 is specifically attached to the bed device 5. For example, the case where it is attached to the frame 57 of the headboard (footboard) provided on the head side (foot side) of the bed device 5 is explained.

[0059] The first operating device 20 is placed on the frame 57. The first operating device 20 is then attached to the frame 57 by wrapping the belt 24 around the frame 57. The belt 24 is then secured by the locking member 26.

[0060] There are other possible methods for fixing the first operating device 20 to the bed unit 5. For example, dedicated mounting members may be provided on the footboard and headboard so that the first operating device 20 can be easily attached to and detached. Alternatively, the first operating device 20 may be equipped with, for example, a magnet, and fixed to the frame 57 using magnetic force.

[0061] Furthermore, the third connection section 160 can be connected to the second operating device 30. The second operating device 30 can control the back bottom drive unit 31, the knee bottom drive unit 33, and the height drive unit 35 of the bed device 5.

[0062] The second operating device 30 and the first operating device 20 may be integrated into a single unit. Alternatively, the first operating device 20 may be configured as a touch panel or the like, and may have the functions of the second operating device 30.

[0063] [1.2.3 Functional Configuration] Next, the functional configuration of the control device 10 and the first operating device 20 will be explained with reference to Figure 5.

[0064] The control unit 100 controls the entire control device 10. The control unit 100 realizes various functions by reading and executing various programs stored in the memory unit 110 (for example, storage or ROM). The control unit 100 may be realized by one or more control devices / arithmetic units (CPU (Central Processing Unit), SoC (System on a Chip)). The control unit 100 may also be composed of one or more control circuits.

[0065] The storage unit 110 stores programs, data, etc. The storage unit 110 may be composed of, for example, storage, ROM, RAM, etc. Alternatively, the storage unit 110 may include, for example, a cache memory included in other functional units (for example, the control unit 100, the drive control unit 120, etc.).

[0066] Here, storage refers to a non-volatile memory device capable of storing programs and data. For example, it may consist of a storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). Alternatively, storage may be an externally connectable USB memory stick. Furthermore, storage may be, for example, a storage area located in the cloud.

[0067] ROM is a non-volatile memory that can retain programs and data even when the power is turned off. RAM is the main memory primarily used by the control unit 100 when executing processes. RAM is a rewritable memory that temporarily holds data including programs read from storage or ROM, and the results of process execution.

[0068] The drive control unit 120 controls the drive system as explained in Figure 2. For example, the drive control unit 120 controls each of the drive units, such as the back bottom drive unit 31, the knee bottom drive unit 33, the height drive unit 35, and the transport drive unit 37.

[0069] The first connection part 140 and the second connection part 150 are connection parts to which the first operating device 20 can be connected. The third connection part 160 is a connection part to which the second operating device 30 can be connected. These connection parts can be of any type that the respective operating devices can be connected to. For example, they can be connectors that can send and receive electrical signals, or existing technologies such as USB (Universal Serial Bus) or RS-232C can be used. In Figure 5, there are two connection parts to which the first operating device 20 can be connected, but there may be one or three or more.

[0070] The power control unit 180 detects the charge state of the rechargeable battery 185, which is a secondary battery, and controls the power supply to the rechargeable battery 185 based on the detected state. The power control unit 190 can also be connected to an external power supply 9 via a power cable. In other words, the rechargeable battery 185 is charged from the external power supply 9 via the power control unit 180. The power control unit 180 functions as a charging unit that controls the charging of the rechargeable battery 185.

[0071] Furthermore, the bed device 5 operates based on power supplied from the rechargeable battery 185. Here, the rechargeable battery 185 may be any secondary battery such as a lead-acid battery, lithium-ion battery, nickel-metal hydride battery, or nickel-cadmium battery. Note that the devices driven by the first operating device 20 (e.g., the transport drive unit 37) and the devices operated by the second operating device 30 (e.g., the back bottom drive unit 31, the knee bottom drive unit 33, and the height drive unit 35) may be powered by different rechargeable batteries.

[0072] The first operating device 20, which can be connected to the first connection section 140 or the second connection section 150, may have a control unit 200, a storage unit 210, an operating unit 220, and a notification unit 230. The control unit 200 and the storage unit 210 have the same configuration as the control unit 100 and the storage unit 110.

[0073] Furthermore, the control unit 220 receives input from the operator and includes, for example, the operation button B20 described in Figure 4.

[0074] The notification unit 230 is for notifying the operator or others of various conditions, and is implemented by means of light (e.g., LED lamp), sound (e.g., buzzer or voice), vibration, etc.

[0075] Alternatively, a display unit may be provided instead of the notification unit 230. Furthermore, the display unit may be a touch panel, and the operation unit 220 and the notification unit 230 may be integrated into a single unit.

[0076] [1.2.4 Software Configuration] The software configuration is explained with reference to Figure 6.

[0077] The control unit 100 functions as an output determination unit 102 by reading and executing a program stored in the storage unit 110.

[0078] The output determination unit 102 determines the motor output included in the control signal output to the motor of the transport drive unit 37. The output determination unit 102 determines the motor output as the driving force according to the first transport mode and the second transport mode.

[0079] The output determination unit 102 determines a predetermined motor output in response to the operation button B20 when the first transport mode is selected. Note that the output can also be changed by staff to "low," "medium," or "high" levels in the first transport mode.

[0080] Furthermore, in the second transport mode, the output determination unit 102 may adjust the output so that the transport force = human operating force + motor output corresponding to the input.

[0081] The control unit 100 then generates a control signal based on the motor output value determined by the output determination unit 102, the direction of movement determined based on the input from the operation button B20 and the mounting position of the first operating device 20.

[0082] Furthermore, the memory unit 110 reserves an area for a parameter memory area 112 that stores setting values ​​and parameter values.

[0083] [1.3 State Transitions] Next, the state transitions of the bed device 5 in this embodiment will be explained with reference to Figure 7. In this embodiment, the bed device 5 has a charging state (S12), a power-off state (S14), an abnormal / fault state (S30), and a first level state (S40). The first level state is when the first operating device 20 is ready to receive commands, and the control device 10 provides assistance when the operator transports the bed device 5.

[0084] Furthermore, the first level state (S40) includes the state of operation prohibited (S16), the state of power ON (S18), and the second level state (S42). The operation prohibited state is a standby state, and the power ON state is an operable state. The second level state (S42) indicates a state in which the bed device 5 can be assisted by the control device 10.

[0085] The second level state (S42) includes the third level state (S44) and the hands-free brake state (S26). The third level state (S44) indicates that the bed device 5 is operable with the first operating device 20.

[0086] The third level state (S44) includes the first transport mode state (S20), the second transport mode state (S22), and the brake state (S24).

[0087] (1) Charging state (S12) First, when the power cable is connected and the rechargeable battery 185 is being charged by the power control unit 180, the control unit 100 enters the charging state (S12). That is, regardless of which state is included in the non-charging state (S50), when the power cable is connected and the rechargeable battery 185 is being charged by the power control unit 180, the control unit 100 transitions the state of the bed device 5 to the charging state (S12) (T140). Here, the non-charging state refers to a state in which charging is not taking place and no abnormality or malfunction has occurred. The charging state refers to a state in which charging is in progress or in charging standby mode. For example, when the rechargeable battery 185 is fully charged, charging is in standby mode, but in this embodiment, since charging is possible, it is included in the charging state.

[0088] If the power cable is disconnected and the remaining charge of the rechargeable battery is below a predetermined value (for example, less than 10%), the control unit 100 will switch the bed device 5 to the power-off state (T102). Also, if the power cable is disconnected and the remaining charge of the rechargeable battery is above a predetermined value (for example, 10% or more), the control unit 100 will switch the bed device 5 to the operation-prohibited state (S16).

[0089] Thus, when returning from a charging state (transitioning to a non-charging state), it is preferable that the state of the bed device 5 be temporarily set to an operation-prohibited state (S16) (T104). This prevents the bed device 5 from becoming self-propelled even if the operator accidentally operates it when returning from charging.

[0090] Furthermore, when the bed device 5 returns from the charging state (when it transitions to the non-charging state), the state of the bed device 5 may be the power OFF state (S14). In this case, the user will need to perform a predetermined operation to transition to the power ON state, thus providing a safer bed device 5.

[0091] Furthermore, when the bed device 5 returns from the charging state (transitions to a non-charging state), the state of the bed device 5 may be in the power-on state (S18). In this case, since the user has transitioned to the power-on state, they can immediately perform operations. Therefore, a bed device 5 that is highly convenient for the operator can be provided.

[0092] Furthermore, the operator or administrator may be able to set which state the device returns to when it resumes from a charging state (when it transitions to a non-charging state). This allows the bed device 5 to be operated with a decision on whether to prioritize safety or convenience, depending on the installation location of the bed device 5 and the operator's experience level.

[0093] (2) Power OFF state (S14) The power OFF state (S14) is the state in which the power to the bed device 5 is turned OFF. From the power OFF state, if the operator performs a predetermined operation on the power button B24, the power transitions to the power ON state (S18) (T106). Here, the predetermined operation may be, for example, pressing the power button B24 for a predetermined time (for example, 1 second, 2 seconds, etc.). Alternatively, the predetermined operation may be pressing the power button B24 multiple times (for example, pressing it twice in a short period of time, three times in a short period of time, etc.).

[0094] Furthermore, from the first level state (S40), the system transitions to the power-off state (T108) when predetermined conditions are met. Examples of these predetermined conditions include the following:

[0095] The power button B24 is selected for a predetermined time or longer. Here, the predetermined time may be longer than the time T106. For example, the predetermined time here may be 2 seconds or more.

[0096] - If there is no operation or no activity for a predetermined period of time or longer. For example, if there is no operation or no activity for 300 seconds or more, the control unit 100 may transition to the power OFF state.

[0097] - When the remaining charge of the rechargeable battery falls below a predetermined value. For example, the control unit 100 may switch to the power OFF state when the remaining charge of the rechargeable battery falls below 5%.

[0098] (3) Operation prohibited state (S16) The operation prohibited state (S16) is a state in which the bed device 5 is in a standby state. In other words, in the standby state, even if the first operating device 20 is operated, the device will not accept any operation.

[0099] Here, if, for example, operation button B20 is selected as a predetermined operation, the control unit 100 may transition from the operation prohibited state (S16) to the power ON state (S18) (T110). Here, the predetermined operation may be, for example, the operation of pressing the power button B24 once, or the operation of pressing the power button B24 twice.

[0100] Furthermore, in this embodiment, the power button B24 is used as an example of an operation button B20, but other operation buttons B20, such as an operation disable button, may be provided and operated instead of the power button B24.

[0101] (4) Power ON state (S18) The power ON state (S18) is a state in which the power to the bed device 5 is turned ON, and for example, a state in which the operator can operate the bed device 5 via the first operating device 20.

[0102] When the power is turned ON (S18) and certain conditions are met, the control unit 100 puts the bed device 5 into the first level state (S40). The conditions for transitioning from the power ON state (S18) to the first level state (S40) may include, for example, the following conditions.

[0103] • Operation button B20 (up, down, left, and right movement buttons B22) is selected. • Brake button B26 is selected Wheel 56 rotates. Furthermore, if the power button B24 is selected again while the power is ON (S18), the system will transition back to the operation-disabled state (S16) (T112). Also, the control unit 100 may transition to the operation-disabled state (S16) if no operation or activity is detected for a predetermined time (for example, 60 seconds) (T112).

[0104] (5) Second level state (S42) The second level state (S42) is a state in which the bed device 5 is self-propelled and includes the third level state (S44). In the third level state (S44), the control unit 100 can switch between the first transport mode state (S20), the second transport mode state (S22), and the brake state (S24) according to the operator's operation.

[0105] (6) First transport mode state (S20) When the operator selects the movement button B22 (up, down, left, or right movement button B22), the control unit 100 sets the state of the bed device 5 to the first transport mode state (S20). In the first transport mode state (S20), the control device 10 controls the bed device 5 as the first transport mode.

[0106] In the first transport mode state (S20), if the movement button B22 is not selected and the rotation of the wheels 56 is accelerating or the movement speed detected from the rotation of the wheels 56 is equal to or greater than a predetermined speed, the control unit 100 sets the state of the bed device 5 to the second transport mode state (S22) (T120).

[0107] Furthermore, in the first transport mode state (S20), when the brake button B26 is selected, the control unit 100 sets the state of the bed device 5 to the brake state (S24) (T122). Note that in the first transport mode state (S20), if, for example, multiple operation buttons are selected simultaneously, the control unit 100 may also set the state of the bed device 5 to the brake state (S24) in the same way as when the brake button B26 is selected (T122).

[0108] (7) Second transport mode state (S22) In the second transport mode state (S22), the control device 10 controls the bed device 5 as the second transport mode. In the second transport mode state (S22), if the move button is selected again, the control unit 100 sets the state of the bed device 5 back to the first transport mode state (S20) (T124).

[0109] Furthermore, in the second transport mode state (S22), if the brake button B26 is selected, the control unit 100 sets the state of the bed device 5 to the brake state (S24) (T126). Note that in the second transport mode state (S22), if, for example, multiple operation buttons are selected simultaneously, the control unit 100 may also set the state of the bed device 5 to the brake state (S24) in the same way as when the brake button B26 is selected (T126).

[0110] (8) Brake condition (S24) The brake state is a state in which the bed device 5 is stopped by activating the brakes by controlling the transport drive unit 37. The control unit 100 controls the transport drive unit 37 and controls it so that a load is applied to the wheels 56, thereby reducing the speed of the bed device 5. Then, when the bed device 5 has come to a complete stop, the control unit 100 maintains the stopped state of the bed device 5 by applying a load to the wheels 56.

[0111] At this point, when the brake button B26 is deselected and the movement button B22 (up, down, left, or right movement buttons B22) is selected, the control unit 100 sets the state of the bed device 5 to the first transport mode state (S20) (T128).

[0112] Furthermore, when the brake button B26 is deselected and the movement button B22 (up, down, left, or right movement buttons B22) is selected, the control unit 100 sets the state of the bed device 5 to the first transport mode state (S20) (T128).

[0113] (9) Hands off brakes (S26) If the control unit 100 detects deceleration from the wheels 56 while the brake button B26 is not selected in any of the third level states (S44), it sets the state of the bed device 5 to the release brake state (S26) (T132).

[0114] Furthermore, in the hands-free braking state (S26), the control unit 100 transitions the state of the bed device 5 to one of the third level states (S44) (T134) according to each operation and the state of the wheels 56.

[0115] In this case, when the brakes are released, for example, regenerative braking of the wheels 56 may be occurring. Also, when the brakes are released, for example, by stopping the power supply to the transport drive unit 37 (motor) that drives the wheels 56, the motor generates braking torque. This braking torque creates a braking effect that decelerates the bed device 5.

[0116] When the brakes are released, for example, in the second transport mode, by ensuring that the assist ratio of the transport drive unit 37 does not become 100% of the driving force, it is possible to detect a decrease in the wheel rotation speed when the hands are released and realize a function in which the bed device 5 stops without moving on its own.

[0117] For example, when the movement button B22 (up, down, left, or right movement button B22) is selected, the control unit 100 sets the state of the bed device 5 to the first transport mode state (S20). Also, when the control unit 100 detects acceleration of the wheels 56, it sets the state of the bed device 5 to the second transport mode state (S22). Furthermore, when the brake button B26 is selected, the control unit 100 sets the state of the bed device 5 to the brake state (S24).

[0118] Furthermore, in the hands-free braking state (S26), if none of the operation buttons B20 are selected and the wheels 56 are stopped, the control unit 100 may set the state of the bed device 5 to the power ON state (S18) (T116).

[0119] (10) Abnormal / Faulty Condition (S30) The abnormal / failure state (S30) is a state in which an abnormality or failure has occurred in the bed device 5. For example, if the control unit 100 detects any abnormality or failure in the bed device 5 in any of the states included in S50, it sets the state of the bed device 5 to the abnormal / failure state (S30) (T150).

[0120] In an abnormal or faulty state (S30), for example, the control unit 100 may notify the details of the abnormality or fault. The control unit 100 may also notify the method of dealing with the abnormality or fault.

[0121] When the abnormality or malfunction detected in the bed device 5 is resolved, the control unit 100 should return the state of the bed device 5 to the state it was in before the abnormality or malfunction occurred (T152).

[0122] Furthermore, if the control unit 100 detects an abnormality or malfunction while charging (S12), it sets the state of the bed device 5 to an abnormal / malfunction state (S30) (T154). In this case as well, if the abnormality or malfunction is detected, the control unit 100 should return the state of the bed device 5 to the state it was in before the abnormality or malfunction occurred (T156).

[0123] [1.4 Processing Flow] Next, the processing flow in this embodiment will be explained with reference to the figures. Figure 8 is an example of a flow chart illustrating the processing performed by the control unit 100 in this embodiment. The overall state transitions of the bed device 5 were explained in Figure 7, but this explanation will describe the state transitions within that explanation using a processing flow chart.

[0124] The control unit 100 waits until the power button B24 is selected (S102; No). Then, when the power button B24 is selected (S102; Yes), the control unit 100 determines whether the power cable is connected to the connector (S104). That is, the control unit 100 determines that the bed device 5 is in a specific state when the power cable is connected to the connector that supplies power to the bed device 5.

[0125] Here, the control unit 100, when it detects that the power cable is connected (S104; Yes), executes a warning process (S106) and then proceeds to S102. That is, the control unit 100 detects that the power cable is connected to the connector. Here, the warning process may include, for example, outputting an alarm sound or illuminating a warning light to alert the operator. The warning process may also include displaying a message on the display screen if the first operating device 20 is capable of displaying a display screen.

[0126] When the control unit 100 determines that the power cable is not connected (S104; No), it turns on the power to the bed device 5 and transitions to the standby state (S108). In other words, in S108, the control unit 100 should set the state of the bed device 5 to the operation prohibited state (S16) as explained in Figure 7.

[0127] Then, when the control unit 100 determines that the standby state release operation has been performed (S110; Yes), it transitions to the self-propelled state (S112). In other words, in S112, the control unit 100 should transition the state of the bed device 5 to the power ON state (S18) as explained in Figure 7, and then transition to the second level state (S42).

[0128] As shown above, the process in Figure 8 restricts the movement of the bed unit 5 when the power cable is connected to it. This prevents the operator from accidentally moving the bed unit 5 on its own, even though it is charging and the power cable is connected.

[0129] In this embodiment, the state in which the power cable is connected is determined in S104, but the control unit 100 may determine other states. For example, the control unit 100 may determine whether the rechargeable battery 185 is in a charging state.

[0130] [1.5 Example of Operation] Next, we will explain an example of operation. Figure 9 is a diagram illustrating an example of operation in this embodiment. Figure 9 illustrates an example where the first operating device 20 is a device capable of displaying a display screen.

[0131] Figure 9(a) shows an example of the display screen W100 when the power cable is not connected. For example, the charging indicator BB100 shows the current remaining charge of the rechargeable battery 185. Display screen W100 is the display screen when the power cable is disconnected and indicates an operation-prohibited state (standby state). At this time, the operator cannot operate the device, so the message "Currently locked" is displayed on the screen. This shows that the operator cannot operate the bed device 5. For example, even if the operator selects the forward movement button BW22F, the bed device 5 will not move. In the state shown in Figure 9(a), for example, the bed device 5 must be turned ON by pressing the power button BW24 once before it can be operated.

[0132] Figure 9(b) shows an example of the display screen W110 when the power cable is connected and the operation button is pressed. The charging indicator BB110 shows that charging is in progress because the power cable is connected. The control unit 100 may also notify the user of charging with a buzzer or voice in addition to the charging indicator BB110.

[0133] If the operator selects the power button BW24, the control unit 100 will execute a warning process because the power cable is connected. For example, the control unit 100 may display the message M110, "AC adapter is selected / Please check the connection!". This allows the operator to easily understand that the power cable is connected to the bed unit 5 and that the bed unit 5 cannot be moved.

[0134] Note that the text on the display screen can be changed to any desired text, or it can be changed according to the destination country. For example, Figure 9(c) is an example of the display screen W120 in the power-on state (operable state). For example, in Figure 9(c), the operation buttons are displayed in Japanese, such as "Front" and "Back".

[0135] Furthermore, since Figure 9(c) shows the power ON state (operable state), the display screen W120 displays "Please select the direction you wish to move." The operator can perform the actions corresponding to the state described in Figure 7 by selecting any operation button B20 or by manually pressing the bed device 5.

[0136] [1.6 Effects] According to this embodiment, when the power cable is connected to the bed device 5, the movement of the bed device 5 can be prohibited. This prevents accidents such as the power cable being left plugged in when the bed device 5 is moved.

[0137] In other words, when the bed device 5 is in a certain state, operation from the first control device 20 is restricted. For example, when the power cable is connected to the connector, the device is charging and does not transition to state S50 as shown in Figure 7. In this case, operation from the first control device 20 is not accepted and is restricted.

[0138] Furthermore, when a specific state is released, for example, when the power cable is disconnected from the connector and the device is no longer charging, the bed device 5 does not immediately transition to the power-on state (operable state), but instead transitions to the operation-prohibited state at T104 in Figure 7. This has the effect that when the power cable is disconnected from the connector, the operator cannot move the bed device 5 unless an operation is performed to release the standby state.

[0139] Furthermore, as a method for determining whether the power cable has been disconnected from the connector, for example, the voltage and current may be determined from an external power source, and it may be determined that the power cable has been disconnected from the connector when power is no longer supplied, or it may be determined that the physical connection of the connector has been disconnected. For example, a dedicated power cable equipped with a connection switch may be used. For example, when the dedicated power cable is plugged into an outlet, the control unit 100 acquires the state in which the connection switch is physically pressed in. Then, the control unit 100 can determine the physical connection by determining that the connection switch has been released (the pressed state has been released).

[0140] [2. Second Embodiment] In the second embodiment, the determination of a specific state in which the bed device 5 does not accept operation was made based on whether the power cable was connected. An embodiment of the bed device 5 of this embodiment will be described in which multiple states are acquired and the determination is made by combining multiple states.

[0141] Since the functions and configuration of the second embodiment are the same as those described in the first embodiment, a detailed explanation will be omitted. The following description will focus on aspects specific to this embodiment.

[0142] Figure 10 is a diagram illustrating the operation of this embodiment. In the first embodiment, the determination was made based only on whether or not the power cable was connected, but in this embodiment, the state of wheel locking is acquired as another different state, and the determination is made by combining multiple states.

[0143] Here, the control unit 100 can determine whether the wheels 56 or 55 are locked or not. Alternatively, the wheel lock may be implemented separately by a brake mechanism, independent of wheels 55 and 56. In this case, the control unit 100 may also obtain the status of the brake mechanism. That is, the control unit 100 may determine that the wheels are locked when the brake mechanism is applied, and that the wheels are unlocked when the brake mechanism is released.

[0144] This will be explained using Figure 10. In this embodiment, in addition to the condition of whether or not the power cable is connected as in the first embodiment, the conditions of "caster lock" and "caster unlock" are added to the determination.

[0145] For example, when the power cable is connected, the control unit 100 prohibits operation of the first operating device 20, regardless of whether the wheels are locked or unlocked. For example, the control unit 100 does not transition the state of the bed device 5 to the state S50 in Figure 7.

[0146] Then, when the power cable is disconnected, the control unit 100 acquires the wheel lock status. Here, the control unit 100 may display a warning if the wheels are locked. In other words, the control unit 100 does not have to transition to the state of S50 in Figure 7 or the first level state (S40). Alternatively, the control unit 100 may set the state of the bed device 5 to the operation prohibited state (S16) and then display a warning that the wheels are locked.

[0147] Furthermore, when the power cable is not connected and the wheels are unlocked, the control unit 100 sets the bed device 5 to an operation-prohibited state (S16).

[0148] Thus, according to this embodiment, multiple states can be acquired and combined to determine the state of the bed device 5, allowing for safer control of the bed device 5.

[0149] In particular, if the operator forgets to release the wheel lock (caster lock) on the wheels 56 and attempts to transport the bed device 5, this prevents the operator from mistakenly judging the reason for the bed device 5's failure to work as a malfunction of the bed device 5. It also prevents the operator from forcibly moving the bed device 5, which could cause the transport drive unit 37 (transport device) to overheat due to high load, leading the control unit 100 to mistakenly detect an overheating abnormality.

[0150] [3. Third Embodiment] A third embodiment will now be described. In the first embodiment, the case in which the power cable is connected was described as a specific state of the bed device 5. In this embodiment, an embodiment will be described in which the environment of the bed device 5 is acquired, and a specific state is determined based on the environment of the bed device 5 in which the bed device 5 is not movable is described.

[0151] Since the functions and configuration of the third embodiment are the same as those described in the first embodiment, a detailed explanation will be omitted. The following description will focus on aspects specific to this embodiment.

[0152] Figure 11 is a diagram that replaces the processing flow described in Figure 9 of the first embodiment. In this embodiment, when the power button B24 is selected, the control unit 100 acquires the environment of the bed device 5 (S102; Yes → S202).

[0153] The control unit 100 then determines from the environment of the bed device 5 whether or not the bed device 5 is in a movable state (S204). If the environment of the bed device 5 is movable, the control unit 100 turns on the power and transitions to the standby state (S204; Yes → S108). On the other hand, if the environment of the bed device 5 is not movable, the control unit 100 may display a warning (S204; No → S106). In other words, in this embodiment, the control unit 100 determines that the environment of the bed device 5 is not movable as a specific state.

[0154] Here, possible combinations of information that can be obtained as the environment of the bed device 5 and the control unit 100 determining that the environment is immobile (determining a specific state) include, for example, the following:

[0155] (1) External cable is connected For example, the control unit 100 determines whether cables other than the power cable are connected to the bed device 5. Here, the cables connected to the bed device 5 include, for example, not only the cables connected to the control device 10, but also the cables connected to the user of the bed device 5 and the cables connected to the mattress 3.

[0156] For example, when an intravenous drip tube or infusion pump is connected to the user, the control unit 100 determines that the bed device 5 is in a specific state and that the environment of the bed device 5 is not movable.

[0157] Furthermore, the control unit 100 may determine that the bed device 5 is not movable if a nurse call cable is connected around the bed device 5.

[0158] Here, "connected to the bed device 5" means not only connected to a connector, but also, for example, when it is fixed to the bed device 5 with a device, when it is tucked under the mattress 3, when it is attached to the side rail of the bed device 5, when it is held by the user, etc.

[0159] The control unit 100 then determines that the bed device 5 is in a specific state when an external cable is connected, and that it is not movable.

[0160] Furthermore, the control unit 100 may determine whether an external cable is connected by, for example, detecting a connection signal when an external cable is connected. Alternatively, the control unit 100 may determine whether an external cable is connected by taking images of the environment surrounding the bed device 5 with a camera and performing image analysis. Alternatively, the control unit 100 may determine whether an external cable is connected based on information input from the operator, staff, or user.

[0161] (2) There are other devices or equipment around the bed device 5 For example, the control unit 100 obtains whether the side table is being used in the bed unit 5. If the side table is being used in the bed unit 5, the control unit 100 determines that the bed unit 5 is in a specific state and is not movable.

[0162] Furthermore, the control unit 100 may determine that the bed is not movable if there are other devices besides the side table, such as an overbed table, a lift device, or a chamber pot.

[0163] The control unit 100 may determine whether there are other devices or equipment around the bed device 5 by, for example, taking pictures of the environment around the bed device 5 with a camera and analyzing the images. Alternatively, the control unit 100 may determine whether there are other devices or equipment around the bed device based on information entered by the operator, staff, or user.

[0164] (3) There are obstacles in the path of travel. For example, if there is an obstacle in the direction of movement, the control unit 100 determines that the bed device 5 is in a specific state and determines that it is not movable. For example, the control unit 100 may acquire information on whether there are obstacles such as chairs, wheelchairs, emergency carts, or medication carts. The control unit 100 may determine whether or not there are obstacles based on images captured by the camera or information input by the operator, as described above.

[0165] (4) Obtain the environment (status) of the bed device 5. For example, the control unit 100 acquires the environment and status of the bed device 5. For example, the control unit 100 acquires the state of the bed device 5, such as the state of the bottom (back elevation angle, knee elevation angle, etc.) and the state of the mattress 3 (for example, the internal pressure of the air mattress, whether the rolling function is being performed, etc.). The control unit 100 may then determine that the bed device 5 is movable if the bottom is flat (or nearly flat). In other words, the control unit 100 determines that a state where the bottom is not flat is a specific state. The control unit 100 can acquire the state of the bed device 5's bottom and the state of the mattress 3 by obtaining a signal indicating the state from any of the devices.

[0166] Thus, according to this embodiment, not only with respect to the power cable, but also when the bed device 5 is moved, if the environment makes it unsafe to move it, the operation from the first operating device 20 will not be accepted, thus providing a safer bed device 5.

[0167] [4. Fourth Embodiment] Next, a fourth embodiment will be described. The fourth embodiment is an embodiment in which a transport device is retrofitted to an existing bed device. Figure 12 is a diagram illustrating an example of system 2 in this embodiment. The bed device 5a of system 2 is an existing bed device and is not equipped with the control device 10 having the transport function of this disclosure.

[0168] Then, the control device 10 is retrofitted to the bed unit 5a that does not have the control device 10. For example, the control device 10 is attached to the lower frame, for example. Here, it is attached to a position where the wheels 56 connected to the control device 10 make contact with the ground. The control device 10 is also provided with a first connection part 140 and a second connection part 150 for connecting the first operating device 20, either by wire or wireless. The first connection part 140 is provided, for example, to the lower frame or upper frame on the head side of the bed unit 5a, and the second connection part 150 is provided, for example, to the lower frame or upper frame on the foot side of the bed unit 5a. Note that the number of connection parts to which the first operating device 20 can be connected is not limited to two, but may be more. Power is also supplied to the control device 10 from an external power supply 9 via a power cable, and the rechargeable battery of the control device 10 can be charged.

[0169] This makes it possible to easily implement the functions described in the above-mentioned embodiment using existing bed devices.

[0170] [5. Variant] This disclosure is not limited to the embodiments described above, and various modifications are possible. In other words, embodiments obtained by combining technical means that are appropriately modified within the scope of this disclosure are also included in the technical scope.

[0171] Furthermore, while the embodiments described above primarily explain cases where the transport device is applied to a bed device, the devices to which the transport device is applied are not limited to bed devices. For example, bed devices include not only hospital beds and nursing care beds, but also home beds and stretchers. In addition, self-propelled devices such as carts and wheelchairs can also be used.

[0172] Furthermore, although the embodiments described above are explained separately for the sake of explanation, they can be combined and implemented to the extent possible. In addition, we intend to obtain rights for any of the technologies described in this specification through amendments or divisional applications.

[0173] Furthermore, in each embodiment, the program that operates in each device is a program that controls the CPU and other components (a program that makes the computer function) in order to realize the functions of the embodiments described above. The information handled by these devices is temporarily stored in a temporary storage device (for example, RAM) during processing, and then stored in various ROMs or HDDs, and read, modified, and written by the CPU as needed.

[0174] Here, the recording medium for storing the program may be any of the following: semiconductor media (e.g., ROM or non-volatile memory card), optical recording medium or magneto-optical recording medium (e.g., DVD (Digital Versatile Disc), CD (Compact Disc), BD (Blu-ray® Disc)), magnetic recording medium (e.g., magnetic tape, flexible disk), etc.

[0175] Furthermore, when distributing the program to the market, it can be stored on a portable recording medium and distributed, or transferred to a server computer connected via a network such as the Internet. In this case, the storage device of the server device is, of course, also included in this disclosure.

[0176] Furthermore, the data mentioned above may not be stored within the device itself, but rather stored on an external device and retrieved as needed. For example, the data may be stored on a NAS (Network Attached Storage) or on the cloud.

[0177] Furthermore, each functional block or feature of the apparatus used in the embodiments described above may be implemented or executed by an electrical circuit, such as an integrated circuit or a plurality of integrated circuits. An electrical circuit designed to perform the functions described herein may include a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, discrete gates or transistor logic, discrete hardware components, or a combination thereof. The general-purpose processor may be a microprocessor, a conventional processor, controller, microcontroller, or state machine. The aforementioned electrical circuit may consist of digital circuits or analog circuits. Also, if advances in semiconductor technology lead to the emergence of integrated circuit technologies that replace current integrated circuits, one or more aspects of this disclosure may use new integrated circuits based on such technologies.

[0178] Furthermore, the scope of this disclosure is not limited to the configurations explicitly described in the specification, but also includes combinations of the technologies disclosed herein. While the configurations for which patent protection is sought are described in the attached claims, there is no intention to exclude them from the technical scope simply because they are not described in the claims.

[0179] Furthermore, the phrases "in the case of..." and "when..." in the above-mentioned specification are explained as examples only, and do not represent a configuration limited to those described. Even for configurations other than those described, we disclose information that would be obvious to a person skilled in the art, and we intend to acquire rights to such information.

[0180] Furthermore, the descriptions of the processes and data flows described in the specification are not limited to the order in which they are described. For example, configurations in which parts of the process are deleted or the order is rearranged are also disclosed, and the company intends to acquire the rights to them. [Explanation of symbols]

[0181] 1 Bed System 3 Mattress 5 Bed equipment 51 Bottom 52 Upper frame 53 Lifting mechanism 54 Lower frame 55, 56 wheels 10 Control device 20 First operating device 30 Second operating device

Claims

1. A wheel, a drive unit that transmits driving force to the wheel, an operating unit, and a control unit that controls the drive unit in accordance with the operation of the operating unit, Equipped with, The control unit, Obtain the status of the bed device, When the acquired state of the bed device is in a specific state, the acceptance of operations at the control unit is restricted. Bed equipment.

2. It also has connectors, The control unit, The state of the bed device is defined as the state in which a cable is connected to the connector. The bed device according to claim 1.

3. Rechargeable battery, Connector and The charging unit is further comprising a charging unit that receives power from an external power source via a cable connected to the connector and charges the rechargeable battery using the power supplied to the connector, The control unit acquires the state of the bed device as a specific state, namely the state in which the charging unit is charging. The bed device according to claim 1.

4. The bed device has one or more bottoms, The rotation of the bottom part enables a back-raising function or a knee-raising function. The control unit acquires the state of the bed device as a specific state, except for the state in which the bottom shape is flat. The bed device according to claim 1.

5. The bed device is further equipped with an environment acquisition unit that acquires the surrounding environment, The control unit acquires a specific state for the bed device, based on the surrounding environment acquired by the environment acquisition unit, where there is an obstacle when the bed device moves. The bed device according to claim 1.

6. A transport device that can be attached to a bed device, comprising: wheels; a drive unit that transmits driving force to the wheels; an operating unit; and a control unit that controls the drive unit in accordance with the operation of the operating unit, The control unit, The state of the bed device is acquired, When the acquired state of the bed device is in a specific state, the acceptance of operations at the control unit is restricted. Conveying device.

Images