Mobility support device, mobility support method, and mobility support program

Abstract

To provide a movement support device, a movement support method, and a movement support program which enhance stability and reliability related to body support and suppress overturning of a user when he or she transfers, walks, or the like.SOLUTION: A movement support device 100 comprises: a base 10 provided with a movable member; an elevation support part 20 which is connected to the base 10 and supports a user's body; a brake mechanism 16 which suppresses horizontal movement of the base 10; and a detection part which transmits a detection signal. The movement support device 100 further comprises a control part which causes the brake mechanism 16 to operate when the detection signal transmitted from the detection part shows reach of the base 10 to a predetermined point and / or a predetermined movement of the user's body.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a mobility support device, a mobility support method, and a mobility support program that support transfer, walking, etc. of a person requiring care. [Background technology]

[0002] A care recipient who has difficulty walking due to old age or other reasons needs support from a caregiver when going to and from destinations such as the toilet. However, the caregiver must care for the care recipient all day, from morning to night, which places a heavy burden on the caregiver. Furthermore, if the care recipient does not receive sufficient support from the caregiver, there is a risk that their dignified life will be compromised. An increase in the care burden in family caregiving can cause caregivers to quit their jobs, and an increase in the care burden in institutional care is a cost that consumes the time of caregiver staff. In either case, an increase in the care burden is a major social loss, so there is a demand for technology to help care recipients become independent in their actions.

[0003] Due to these circumstances, devices have been developed to assist the transfer and walking of people requiring care (see, for example, Patent Document 1). The trunk support device in Patent Document 1 has a straddle-type structure in which the upper body of the person requiring care is supported by an upper body support section. As a result, the weight of the person requiring care is relieved, making it possible to move to the toilet, etc., and as both hands are freed, it is possible to put on and take off underwear and wipe the buttocks. In addition, the burden on the caregiver caused by the weight of the person requiring care is reduced. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6441149 Summary of the Invention [Problem to be solved by the invention]

[0005] However, it is difficult for a caregiver to constantly monitor the behavior of a care recipient and provide care at all times. Therefore, with a device such as that of Patent Document 1, a situation may arise where the care recipient acts alone, and in such a situation, it is assumed that the care recipient may forget to apply the brakes. If the care recipient carelessly applies weight to a device that is in an unstable state due to forgetting to apply the brakes, the device may suddenly move freely, and the care recipient, unable to follow the movement, may lose balance and fall.

[0006] The present invention has been made to solve the above-mentioned problems, and aims to provide a mobility support device, a mobility support method, and a mobility support program that improve the stability and reliability of body support and prevent the user from falling when transferring, walking, etc. [Means for solving the problem]

[0007] A mobility support device according to one embodiment of the present invention has a base section having a movable member, a lifting support section connected to the base section and supporting the user's body, a braking mechanism section that suppresses horizontal movement of the base section, a detection section that transmits a detection signal, and a control section that activates the braking mechanism section when the detection signal transmitted from the detection section indicates at least one of the base section reaching a predetermined point and a predetermined movement of the user's body.

[0008] In one aspect of the present invention, a mobility assistance method includes a control unit provided in a mobility assistance device having a base unit on which a movable member is provided and a lifting support unit connected to the base unit, which receives a detection signal from a detection unit, and when the input detection signal indicates at least one of the base unit reaching a predetermined point and a predetermined movement of the user's body, activates a braking mechanism unit that suppresses horizontal movement of the base unit.

[0009] A mobility assistance program according to one embodiment of the present invention is intended to cause a computer mounted on a mobility assistance device having a base portion on which a movable member is provided and a lifting support portion connected to the base portion to function as a signal processing means that inputs a detection signal from a detection portion, and an operation processing means that activates a braking mechanism portion that suppresses horizontal movement of the base portion when the detection signal input to the signal processing means indicates at least one of the base portion reaching a predetermined point and a predetermined movement of the user's body. Effect of the Invention

[0010] In the present invention, the control unit activates the braking mechanism in response to a detection signal indicating at least one of the base unit reaching a predetermined point and a predetermined motion by the user. That is, according to the present invention, the braking mechanism is activated when a motion that may lead to the user transferring, walking, or the like is detected, and it is possible to prevent the base unit from moving unexpectedly, thereby improving the stability and reliability of the support for the body and preventing the user from falling over when transferring, walking, or the like. [Brief description of the drawings]

[0011] [Figure 1] 1 is a perspective view showing a configuration example of a movement support device according to a first embodiment of the present invention. [Diagram 2] 2 is a perspective view showing an example of the structure of a braking caster of the mobility support device of FIG. 1. [Diagram 3] 2 is a block diagram showing an example of a functional configuration of the movement support device of FIG. 1. [Figure 4] 11 is a flowchart showing an example of an operation of the mobility assistance method when the user starts moving to a destination, when the user gets into the mobility assistance vehicle. [Diagram 5] 11 is a flowchart showing an example of an operation related to a user standing up and deactivating a braking mechanism, in a movement assistance method when a user starts moving to a destination. [Figure 6] 2 is an explanatory diagram illustrating a state in which a user moves the mobility support device of FIG. 1 toward or away from the device. [Figure 7]2 is an explanatory diagram illustrating a state in which an abdominal support member of the movement support device in FIG. 1 is in contact with the abdomen of a user. [Figure 8] 2 is an explanatory diagram illustrating a state in which a user rides on the mobility support device of FIG. 1. [Figure 9] 9 is an explanatory diagram showing an example of a state in which a user riding on the mobility support device of FIG. 1 has raised a support member from the state of FIG. 8. [Figure 10] 2 is an explanatory diagram illustrating an example of a user walking while riding on the mobility support device of FIG. 1. [Figure 11] 11 is a flowchart showing an example of an operation up to the time when a user lowers a support member, in a mobility assistance method when the user arrives at a destination. [Figure 12] 11 is a flowchart showing an example of operations up to when a user takes a seat at a destination, in a mobility assistance method for when a user arrives at a destination. [Figure 13] 2 is an explanatory diagram illustrating a state in which a user is moving the mobility support device of FIG. 1 with one of the braking mechanisms in operation. FIG. [Figure 14] 10 is a flowchart showing an operation example of a movement support method according to Modification 1 of Embodiment 1 of the present invention. [Figure 15] 10 is a flowchart showing an operation example of a movement support method according to Modification 2 of Embodiment 1 of the present invention. [Figure 16] FIG. 11 is a perspective view showing a configuration example of a movement support device according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Embodiment 1 An example of the configuration of a movement support device in the first embodiment of the present invention will be described with reference to Figs. 1 to 3. As shown in Fig. 1, the x-axis direction is the front-rear direction, the y-axis direction is the left-right direction, and the z-axis direction is the up-down direction. This also applies to the following figures. That is, from the perspective of a user of the movement support device (such as a person requiring care), the positive x-axis direction is the forward direction, and the positive y-axis direction is the rightward direction. Note that in some figures, some of the reference symbols are omitted to avoid complication.

[0013] 1, the mobility support device 100 has a base unit 10 provided with a movable member, a lift support unit 20 connected to the base unit 10 and supporting the body of a user, and a braking mechanism unit 16 that inhibits horizontal movement of the base unit 10. In the present embodiment 1, the movable member enhances the mobility of the base unit 10.

[0014] The base portion 10 has a pedestal portion 11 that is formed in a rod shape and includes a pair of extending members 11a extending in the front-rear direction and a connecting member 11b that connects the front ends of the extending members 11a. The base portion 10 also has a pair of side members 12 that are erected on the left and right ends in the front of the pedestal portion 11.

[0015] The base unit 10 of the present embodiment 1 is provided with four movable members at the bottom, enabling smooth movement on the floor surface. More specifically, the mobility support device 100 has, as movable members, two braking casters 15 provided at an interval in front of the base unit 10, and two swivel casters 17 provided at the rear end of each of the pair of extension members 11a. The swivel casters 17 are configured to include wheels whose direction can be freely changed. The braking casters 15 are swivel casters with a built-in brake mechanism. In other words, the braking mechanism unit 16 of the present embodiment 1 is motorized and mounted on the braking casters 15.

[0016] The braking mechanism 16 includes a mechanism for stopping the movement of the mobility support device 100 in the forward / rearward and left / right directions, and is operated under the control of the control unit 61 described below to suppress the horizontal movement of the base unit 10. The braking mechanism 16 illustrated in FIG. 2 includes a wire pulling mechanism 16a configured to pull the brake wire by a rotation mechanism and a cam mechanism, a gear 16b provided on the wheel unit 15a, and a claw unit 16c that serves as a pawl for suppressing the movement of the wheel unit 15a. A motor, a solenoid, or the like can be used as the rotation mechanism of the wire pulling mechanism 16a. The braking mechanism 16 is operated when the rotation mechanism is driven under the control of the control unit 61 and the brake wire is pulled. As a result, the wheel unit 15a of the brake caster 15 is braked.

[0017] As shown in FIG. 1, the lifting support unit 20 has a support member 21, a handle unit 22, and a pair of relay members 23 connecting the support member 21 and the handle unit 22. The support member 21 is disposed at a position that supports the abdomen and chest of the user. The support member 21 supports the upper body of the user. The support member 21 has an abdominal support member 30 that supports the abdomen of the user at the rear, and a chest support member 40 that supports the chest of the user at the front. The abdominal support member 30 illustrated in FIG. 1 is formed in a belt shape and supports the pelvis of the user from the abdominal side. The chest support member 40 illustrated in FIG. 1 is formed including a material having cushioning properties such as urethane, and supports the sternum of the user from the abdominal side. Furthermore, the support member 21 has a pair of grips 21a that stand upright at both ends of the abdominal support member 30.

[0018] The handle portion 22 is a portion that the user grips when performing actions such as standing up or walking using the mobility support device 100. The relay member 23 has a front extension portion 23a that extends forward from the support member 21, and a lower extension portion 23b that extends downward from the front extension portion 23a toward the handle portion 22. The user may grip the front extension portion 23a or the lower extension portion 23b instead of the handle portion 22 to perform actions such as transfer or walking.

[0019] The lifting support section 20 has a pair of abdominal arms 24 connecting the side members 12 and the support member 21, and a pair of chest arms 25 connecting the base section 11 and the support member 21. One end of the abdominal arms 24 is rotatably connected to the base section 10, and the other end is connected to the rear of the support member 21. That is, the abdominal arms 24 support the rear of the support member 21, and are connected to the support member 21 in the vicinity of the abdominal support member 30. One end of the chest arms 25 is rotatably connected to the base section 10, and the other end is connected to the front of the support member 21. That is, the chest arms 25 support the front of the support member 21, and are connected to the support member 21 in the vicinity of the chest support member 40.

[0020] The abdominal arm 24 and the chest arm 25 rotate in conjunction with the operation of the lifting mechanism 28, which is driven under the control of the control unit 61, to raise and lower the support member 21. The mobility support device 100 stably supports the user with the abdominal support member 30 and the chest support member 40, and can lift the user by driving the abdominal arm 24 and the chest arm 25. The lifting mechanism 28 drives the lifting support unit 20. More specifically, the lifting mechanism 28 includes a motor and the like, and lifts and lowers the support member 20 by rotating the abdominal arm 24 and the chest arm 25.

[0021] The mobility support device 100 has a detection unit 50 (see FIG. 3) that transmits a detection signal. The detection signal is, for example, a signal indicating the user's motion. Here, the detection signal indicating the user's motion includes a motion detection signal indicating the user's body movement, as well as a position detection signal indicating the movement of the base unit 10. This is because the base unit 10 moves due to the user's pulling motion, etc. The detection unit 50 in this embodiment 1 includes a position detection unit 51, a pressing force detection unit 53, a load detection unit 54, and a distance detection unit 55.

[0022] The position detection unit 51 is a sensor that detects that a specific part of the mobility support device 100 has entered a pre-specified range. In the first embodiment, it is assumed that the mobility support device 100 is placed at a destination such as a toilet, that is, that the user of the mobility support device 100 moves to the destination, and a marker M is provided on the floor of each destination. The mobility support device 100 illustrated in FIG. 1 has two position detection units 51 that correspond to each of the two braking casters 15 and detect the marker M placed outside. Therefore, the two markers M are attached to the floor in accordance with the positions of the two position detection units 51 so that the position of the mobility support device 100 relative to the object in the destination is suitable for the user to transfer to the object. In addition to the toilet, the destination includes a bedroom (including a hospital room), a small space including a handrail for nursing care, a small space including a wheelchair, and the like. The object in the toilet is a toilet bowl, etc., and the object in the bedroom is a nursing bed, etc.

[0023] For example, if the position detection unit 51 is an RFID (Radio Frequency IDentification) reader, the marker M is formed by an RF tag. The communication distance of the RFID, that is, the detection range of the position detection unit 51, can be adjusted as appropriate. The detection range of the position detection unit 51 should be adjusted so that when the position detection unit 51 detects the marker M, the center of the position detection unit 51 and the center of the marker M coincide as closely as possible.

[0024] The pressure detection unit 53 detects the pressure applied to the abdomen support member 30, that is, the external force applied to the abdomen support member 30. In addition, when the abdomen support member 30 is formed in a belt shape, the pressure applied to the abdomen support member 30 corresponds to the tension applied to the abdomen support member 30. In other words, the pressure detection unit 53 is a switch or a sensor that detects an external force applied to the abdomen support member 30 from at least one of the horizontal direction and the vertical direction. When the pressure detection unit 53 is configured with a switch such as a lever switch, it transmits a detection signal when a certain amount of external force or more is applied, and also transmits a detection signal when the applied external force decreases and falls below a predetermined value. Here, the former corresponds to a detection signal indicating that the detected pressure has exceeded the boarding pressure threshold, and the latter corresponds to a detection signal indicating that the detected pressure has decreased to the lowering pressure threshold. The boarding pressure threshold and the lowering pressure threshold are set in advance and can be changed as appropriate. The boarding pressure threshold and the lowering pressure threshold may be the same value or different values. When the pressing force detection unit 53 is configured with a sensor, it continuously or periodically transmits a detection signal. The pressing force applied to the abdominal support member 30 corresponds to the pressure applied to the pressing force detection unit 53.

[0025] 1 shows an example in which the pressing force detection unit 53 is composed of a hinge lever 53a, a belt portion 53b, and a detection means (not shown). The belt portion 53b is wrapped around the grip portion 21a. The detection means is made up of a pressure sensor, a strain gauge, or the like, and detects a change in the fastening force of the belt portion 53b, which is linked to a change in the state of the abdominal support member 30, against the hinge lever 53a, i.e., the movement of the hinge lever 53a.

[0026] The load detection unit 54 is a switch or a sensor that detects the load applied to the chest support member 40. When the load detection unit 54 is configured as a switch, it transmits a detection signal when a load equal to or greater than a certain level is applied to the chest support member 40, and also transmits a detection signal when the applied load decreases and falls below a predetermined value. Here, the former corresponds to a detection signal indicating that the detected load exceeds the boarding load threshold, and the latter corresponds to a detection signal indicating that the detected load has decreased to the disembarking load threshold. The boarding load threshold and the disembarking load threshold are set in advance and can be changed as appropriate. The boarding load threshold and the disembarking load threshold may be the same value or different values. When the load detection unit 54 is configured as a sensor, it transmits a detection signal continuously or periodically.

[0027] The load detection unit 54 is configured, for example, by a tactile switch, and is provided at the bottom of the chest support member 40. The load detection unit 54 may be configured by pressure-sensitive conductive rubber. The load detection unit 54 may also be a pressure sensor made of semiconductor or metal, and various types of pressure sensors can be used, such as a diffusion type, a film type, or a capacitance type. The load applied to the chest support member 40 corresponds to the pressure applied to the load detection unit 54.

[0028] The distance detection unit 55 detects an opposing object and measures the distance to the object. The distance detection unit 55 can be provided at any position on the lifting support unit 20. The distance detection unit 55 in FIG. 1 is provided on the handle unit 22 and faces a space in which the head of a user in a riding position is assumed to be located. In this example, the distance detection unit 55 detects that the upper body of the user is approaching the lifting support unit 20 and is in a riding position for the mobility support device 100 or is about to be in that position. The distance detection unit 55 is composed of an ultrasonic sensor, an infrared sensor, or the like.

[0029] The mobility support device 100 has a brake operation unit 71 and an elevation operation unit 72. The brake operation unit 71 receives an operation for the braking mechanism unit 16 and transmits an operation signal indicating the content of the received operation to the control unit 61. In the present embodiment 1, the brake operation unit 71 is an operation button for activating and releasing the braking mechanism unit 16. A user can activate or release the braking mechanism unit 16 via the control unit 61 by pressing the brake operation unit 71, for example. The brake operation unit 71 should be provided in a position where the user can operate it while riding on the mobility support device 100.

[0030] The lift operation unit 72 receives an operation to instruct the lift mechanism unit 28 to be driven and an operation to instruct the lift mechanism unit 28 to stop being driven. The operation to instruct the lift mechanism unit 28 to be driven includes an operation to instruct the support member 21 to be raised and an operation to instruct the support member 21 to be lowered. In other words, the lift operation unit 72 drives or stops the drive of the lift mechanism unit 28. The lift operation unit 72 receives an operation for the lift mechanism unit 28 and transmits an operation signal indicating the content of the received operation to the control unit 61.

[0031] The lifting / lowering operation unit 72 is configured, for example, with a three-position switch that can be switched between three stages. That is, the lifting / lowering operation unit 72 has an up position for lifting the support member 21, a stop position for stopping the support member 21 or maintaining the stopped state, and a down position for lowering the support member 21. By switching the position of the lifting / lowering operation unit 72, the user can rotate the abdominal arm 24 and the chest arm 25 via the control unit 61 to lift and lower the support member 21. The lifting / lowering operation unit 72 should be provided in a position where the user can operate it while riding on the mobility support device 100.

[0032] The mobility support device 100 has an output unit 80 (see FIG. 3) that outputs various information. The output unit 80 has a function of informing a user, etc., of the operating state of the mobility support device 100. For example, the output unit 80 outputs information indicating the operating state of at least one of the braking mechanism unit 16 and the lifting mechanism unit 28. The output unit 80 may output information indicating the detection result by the detection unit 50, that is, information related to the user's operation. FIG. 3 shows an example in which the output unit 80 has a light-emitting unit 81 and a notification unit 82. The light-emitting unit 81 is configured to include a light source such as an LED (light emitting diode). The notification unit 82 is configured to include a speaker and notifies with sound or voice.

[0033] The mobility support device 100 has a control box 60 in which a control unit 61, a storage unit 62, etc. are stored. The arrangement of the control box 60 is not limited to the example in FIG. 1 and can be changed as appropriate. The control unit 61 controls the braking mechanism 16, the lifting mechanism 28, and the output unit 80.

[0034] The control unit 61 activates or releases the braking mechanism unit 16 in response to an operation signal from the brake operation unit 71. The control unit 61 drives or stops the driving of the lifting mechanism unit 28 in response to an operation signal from the lifting operation unit 72. The control unit 61 activates or releases the braking mechanism unit 16 in response to a detection signal from the detection unit 50.

[0035] 3, the control unit 61 has a signal processing means 61a, an operation processing means 61b, and an output processing means 61c. The signal processing means 61a outputs a detection signal transmitted from the detection unit 50 to the operation processing means 61b. The signal processing means 61a also outputs operation signals transmitted from the brake operation unit 71 and the lift operation unit 72 to the operation processing means 61b.

[0036] The motion processing means 61b activates the braking mechanism 16 when a detection signal transmitted from the detection unit 50 indicates at least one of the arrival of the base unit 10 at a predetermined point and a predetermined movement of the user's body. When the motion processing means 61b receives a detection signal from the position detection unit 51 indicating that the marker M has been detected, it activates the braking mechanism 16 mounted on the braking caster 15 corresponding to the position detection unit 51.

[0037] The operation processing means 61b controls the braking mechanism 16 in response to a detection signal transmitted from the pressing force detection unit 53. More specifically, when the pressing force detection unit 53 is a switch, the operation processing means 61b activates the braking mechanism 16 when a detection signal indicating that the detected pressing force has exceeded the boarding pressing force threshold is output from the pressing force detection unit 53. The operation processing means 61b activates the braking mechanism 16 when a detection signal indicating that the detected pressing force has decreased to the lowering pressing force threshold is output from the pressing force detection unit 53. When the pressing force detection unit 53 is a sensor, the operation processing means 61b activates the braking mechanism 16 when the pressing force detected by the pressing force detection unit 53 exceeds the boarding pressing force threshold. The operation processing means 61b activates the braking mechanism 16 when the pressing force detected by the pressing force detection unit 53 becomes equal to or less than the lowering pressing force threshold.

[0038] The operation processing means 61b controls the braking mechanism 16 in response to a detection signal transmitted from the load detection unit 54. More specifically, when the load detection unit 54 is a switch, the operation processing means 61b activates the braking mechanism 16 when a detection signal indicating that the detected load has exceeded the boarding load threshold is output from the load detection unit 54. The operation processing means 61b activates the braking mechanism 16 when a detection signal indicating that the detected load has decreased to the dismounting load threshold is output from the load detection unit 54. When the load detection unit 54 is a sensor, the operation processing means 61b activates the braking mechanism 16 when the load detected by the load detection unit 54 exceeds the boarding load threshold. The operation processing means 61b activates the braking mechanism 16 when the load detected by the load detection unit 54 becomes equal to or lower than the dismounting load threshold.

[0039] The operation processing means 61b controls the braking mechanism unit 16 in response to a detection signal transmitted from the distance detection unit 55. More specifically, the operation processing means 61b activates the braking mechanism unit 16 when the distance measured by the distance detection unit 55 is less than the boarding distance threshold. The operation processing means 61b activates the braking mechanism unit 16 when the distance measured by the distance detection unit 55 is equal to or greater than the dismounting distance threshold. The boarding distance threshold and the dismounting distance threshold are set in advance and can be changed as appropriate. The boarding distance threshold and the dismounting distance threshold may be the same value or different values.

[0040] The operation processing means 61b executes activation or deactivation of the braking mechanism 16 in response to an operation signal output from the brake operation unit 71 and input via the signal processing means 61a. The operation processing means 61b executes driving or stopping of the lifting mechanism 28 in response to an operation signal output from the lifting operation unit 72 and input via the signal processing means 61a.

[0041] When operating the braking mechanism 16, the operation processing means 61b may output to the output processing means 61c an operation signal which is a control signal indicating the operation of the braking mechanism 16. When releasing the operation of the braking mechanism 16, the operation processing means 61b may output to the output processing means 61c a release signal which is a control signal indicating the release of the operation of the braking mechanism 16. When driving the lifting mechanism 28, the operation processing means 61b may output to the output processing means 61c a drive signal which is a control signal indicating the start of driving the lifting mechanism 28. When stopping the lifting mechanism 28, the operation processing means 61b may output to the output processing means 61c a stop signal which is a control signal indicating the stop of driving the lifting mechanism 28.

[0042] The output processing means 61c controls the operation of the output unit 80 in response to a control signal output from the operation processing means 61b. That is, the output processing means 61c has a function of making the light-emitting unit 81 emit light in various modes and making the notification unit 82 notify with sound or voice.

[0043] For example, the output processing means 61c may light or blink the light emitting unit 81 in response to an actuation signal or a drive signal. The output processing means 61c may change the lighting color or blinking frequency of the light emitting unit 81 depending on whether the drive signal indicates the rise or fall of the support member 21. The output processing means 61c may turn off the light emitting unit 81 in response to a release signal or a stop signal. In this way, not only the user but also the caregiver of the user can compare the usage status of the mobility support device 100 with the lighting status of the light emitting unit 81. Therefore, the caregiver can find a situation that may lead to the user's fall, such as a situation where the brake is not applied even though the brake should be applied, even from a remote position, thereby improving safety.

[0044] The output processing means 61c may cause the notification unit 82 to output a sound or voice in response to an activation signal or a release signal. An example of the voice in response to an activation signal may be a voice such as "The brakes have been applied," and an example of the voice in response to a release signal may be a voice such as "The brakes have been released." The output processing means 61c may cause the notification unit 82 to output a sound such as a beep in response to an activation signal or a release signal.

[0045] The output processing means 61c may output a sound or voice from the notification unit 82 in response to the drive signal or the stop signal. The output processing means 61c may change the sound or voice output from the notification unit 82 depending on whether the drive signal indicates the rise of the support member 21 or the fall of the support member 21. For example, voices corresponding to a drive signal indicating the rise of the support member 21 may be "starting to rise" or "rising", and voices corresponding to a drive signal indicating the fall of the support member 21 may be "starting to fall" or "falling". Voices corresponding to a stop signal may be, for example, "stopping the ascent and descent". The output processing means 61c may output a sound such as a beep from the notification unit 82 in response to the drive signal or the stop signal.

[0046] The signal processing means 61a may output a detection signal transmitted from the detection unit 50 to the output processing means 61c. The output processing means 61c may control the operation of the output unit 80 in response to the detection signal output from the signal processing means 61a. The signal processing means 61a may output operation signals transmitted from the brake operation unit 71 and the lift operation unit 72 to the output processing means 61c. The output processing means 61c may control the operation of the output unit 80 in response to the operation signal output from the signal processing means 61a. The output processing means 61c may compare the output status of the signal from the signal processing means 61a with the output status of the signal from the operation processing means 61b, and when a discrepancy occurs between the two, cause the output unit 80 to output information indicating an error.

[0047] The memory unit 62 stores various information in addition to the operation programs of the control unit 61, such as a movement assistance program 62P. The memory unit 62 can be configured with a RAM (Random Access Memory) and a ROM (Read Only Memory), or a PROM (Programmable ROM) such as a flash memory. The control unit 61 can be configured with a calculation device such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), and a movement assistance program 62P that cooperates with the calculation device to realize the various functions described above.

[0048] That is, the movement assistance program 62P is a program for making a computer mounted on the movement assistance device 100 having a base unit 10 on which movable members (15, 17) are provided and a lift support unit 20 connected to the base unit 10 function as a signal processing means 61a and a motion processing means 61b. The movement assistance program 62P may also make the computer function as an output processing means 61c. That is, the control unit 61 may be configured without providing the output processing means 61c, in which case the output unit 80 is not necessary.

[0049] Next, the operation and processing when the user U gets into the mobility support device 100 in the mobility support method will be described with reference to FIGS. 6 to 10 together with the flowcharts of FIGS. 4 and 5. Here, to explain the scene where the user U starts moving from a certain location to a destination, FIGS. 6 to 10 will be referred to in this order. Two markers M are provided on the floor at appropriate positions taking into consideration the ease of getting in for the user U. Note that while FIGS. 6 to 10 assume the case where the user U leaves the toilet, the same applies when moving from a bed or the like to another destination.

[0050] First, an example of the operation of the movement support method when the user U starts moving to a destination and gets into the movement support device will be described with reference to the flowchart in Fig. 4. The user pulls the movement support device 100 placed at an arbitrary location to position it (see the white arrow in Fig. 6). At that time, the two position detection units 51 provided in the movement support device 100 do not communicate with the control unit 61 until they detect the marker M provided on the floor (step S101 / No, step S103 / No).

[0051] When one of the position detection units 51 detects the marker M provided below, it transmits a detection signal to the control unit 61. When the control unit 61 receives a detection signal from one of the position detection units 51 (step S101 / Yes), it activates the braking mechanism unit 16 corresponding to that position detection unit 51 to brake one of the braking casters 15. At this time, the mobility support device 100 is in a state in which only one of the two braking casters 15 is fixed, and the other is in a rotatable state but cannot move in the left-right direction (step S102).

[0052] Next, the user U rotates the mobility support device 100 around one of the brake casters 15 as the center of rotation, and moves the other position detection unit 51 closer to the second marker M. As illustrated in FIG. 7, when the other position detection unit 51 moves to above the marker M and detects the marker M, it transmits a detection signal to the control unit 61. When the control unit 61 receives a detection signal from the other position detection unit 51 (step S103 / Yes), it activates the braking mechanism unit 16 corresponding to that position detection unit 51 to brake the other brake caster 15. As a result, the mobility support device 100 is in a state in which both of the two brake casters 15 are fixed and cannot move horizontally. In this state, as shown in FIG. 7, the abdomen support member 30 of the mobility support device 100 contacts the abdomen of the user U, and the mobility support device 100 is fixed in a position suitable for the user U to ride on (step S104).

[0053] Even if the user U pulls the mobility support device 100 toward the user U, the control unit 61 does not process the braking mechanism unit 16 until the pressing force detected by the pressing force detection unit 53 exceeds the boarding pressing force threshold (step S105 / No). When the abdominal support member 30 is pressed against the abdomen of the user U and the pressing force detected by the pressing force detection unit 53 exceeds the boarding pressing force threshold (step S105 / Yes), the control unit 61 activates the two braking mechanism units 16 and brakes the two braking casters 15 (step S106 / Yes, step S107). In this state, the abdominal support member 30 of the mobility support device 100 is in close contact with the abdomen of the user U and is fixed in a position suitable for the user U to board. However, if the operation of the two braking mechanism units 16 is not released in the above state (step S106 / No), the control unit 61 does not process the braking mechanism unit 16 and maintains the state in which the brakes are applied to the two braking casters 15.

[0054] Next, the user U gets on the mobility support device 100 so as to reach a state as shown in FIG. 8. At that time, if the distance measured by the distance detection unit 55 is equal to or greater than the boarding distance threshold, the control unit 61 does not perform any processing (step S108 / No). If the distance measured by the distance detection unit 55 becomes less than the boarding distance threshold (step S108 / Yes), the control unit 61 activates the two braking mechanisms 16 to brake the two braking casters 15 (step S109 / Yes, step S110). In this way, the mobility support device 100 is configured to fix the two braking casters 15 when the distance detection unit 55 detects that the upper body of the user U has approached the support member 21. However, if the operation of the two braking mechanisms 16 is not released in the above state (step S109 / No), the control unit 61 does not perform processing on the braking mechanisms 16 and maintains the state in which the two braking casters 15 are braked.

[0055] Furthermore, even if the user U approaches the support member 21 and his / her chest comes into contact with the chest support member 40, the control unit 61 does not process the braking mechanism unit 16 until the load detected by the load detection unit 54 exceeds the boarding load threshold (step S111 / No). When the chest of the user U is pressed against the chest support member 40 and the load detected by the load detection unit 54 exceeds the boarding load threshold (step S111 / Yes), the control unit 61 activates the two braking mechanism units 16 and applies the brakes to the two braking casters 15 (step S112 / Yes, step S113). In this way, the mobility support device 100 is configured to fix the two braking casters 15 when the load detection unit 54 detects that the chest of the user U is pressed against the chest support member 40. However, if the operation of the two braking mechanism units 16 is not released in the above state (step S112 / No), the control unit 61 does not perform any processing on the braking mechanism units 16, and maintains the state in which the brakes are applied to the two braked casters 15.

[0056] In reality, when the user U gets on from the state shown in Fig. 7 to the state shown in Fig. 8, the brakes are already applied to the mobility support device 100 and the device is stably fixed. Therefore, the user U should lean his / her upper body forward with force and get on the mobility support device 100 in one go. In this way, the abdominal support member 30 and the chest support member 40 fit the upper body of the user U and can stably support the user U.

[0057] Next, with reference to the flowchart of FIG. 5, an example of the operation of the movement support method when the user U starts moving to the destination, relating to the standing up of the user U and the deactivation of the brake mechanism unit 16, will be described. In the state as shown in FIG. 8, the user U operates the lifting operation unit 72 to raise the support member 21, and becomes in a standing state as shown in FIG. 9. That is, the control unit 61 waits until an operation signal is transmitted from the lifting operation unit 72 (step S114 / No). When the control unit 61 receives an operation signal indicating the raising of the support member 21 from the lifting operation unit 72 (step S114 / Yes), it drives the lifting mechanism unit 28 to rotate the abdominal arm 24 and the chest arm 25 upward and raise the support member 21 (step S115). Here, FIG. 8 illustrates a state in which the user U is sitting on the toilet bowl T, and FIG. 9 illustrates a state in which the user U's buttocks are separated from the toilet bowl T. In the state shown in FIG. 9, the user U can get ready by wiping the buttocks and putting on underwear.

[0058] Next, the user U operates the brake operation unit 71 to release the operation of the two braking mechanisms 16, thereby making the mobility support device 100 ready to travel. That is, the control unit 61 waits until an operation signal is transmitted from the brake operation unit 71 (step S116 / No). When the control unit 61 receives an operation signal from the brake operation unit 71 (step S116 / Yes), it releases the operation of the two braking mechanisms 16, making the two braking casters 15 movable freely (step S117). This allows the user U to move forward by rowing the mobility support device 100 as shown in FIG. 10, and to leave the toilet or the like (see the white arrow in FIG. 10).

[0059] In the process of the user U putting his / her weight on the chest support member 40, if the mobility support device 100 moves forward, the user U may be left behind and fall forward. In this regard, the mobility support device 100 is configured such that the control unit 61 operates the braking mechanism unit 16 in response to a detection signal from at least one of the position detection unit 51, the pressing force detection unit 53, the load detection unit 54, and the distance detection unit 55, and brakes the brake caster 15. In other words, when the user U gets on the mobility support device 100, the brake caster 15 is automatically fixed and cannot move freely. Therefore, the user U can safely get on the mobility support device 100. In other words, when the user U takes a riding position, the mobility support device 100 is in a state where it can stably support the entire weight of the user U, so that it can prevent the user U from falling over.

[0060] Here, the operation and processing when getting on the mobility support device 100 from the handrail for care will be explained in more detail. First, the user U walks using the handrail for care and moves to the transfer point to the mobility support device 100. The mobility support device 100 is stopped in the state when the user U moved to the handrail for care with the brake mechanism unit 16 activated. However, if the brake mechanism unit 16 is deactivated for some reason, the user U pulls the mobility support device 100 toward himself in order to transfer. When the pressing force detection unit 53 detects that the abdomen support member 30 is pressed against the abdomen of the user U, the control unit 61 activates the two brake mechanisms 16. As a result, the mobility support device 100 is fixed in place. Then, the user U transfers to the mobility support device 100 by the same operation as in steps S101 to S117 described above. The actions when standing up from a seated position on a nursing bed or wheelchair are the same as those when leaving the toilet described above, except that there is no need to get ready after using the toilet. Note that the order of the actions shown in Figures 4 and 5 is merely an example, and can be changed by adjusting the thresholds of each of the various sensors, for example.

[0061] Next, the operation and processing of the mobility support method when the user U reaches an object within a destination will be described with reference to Figures 6 to 10 and 13 together with the flowcharts of Figures 11 and 12. Here, to describe the scene in which the user U reaches the object, Figures 6 to 10 and 13 will be referred to in the order of Figures 10, 13, and 9 to 6. Note that Figures 6 to 10 show an example in which the destination of the user U is a toilet, but the same applies to the case of other destinations.

[0062] First, referring to the flowchart in Fig. 11, an example of the operation of the mobility support method when the user U arrives at a destination, up to the time when the user U lowers the support member 21, will be described. The user U riding on the mobility support device 100 enters the toilet by paddling the mobility support device 100. As shown in Fig. 10, the user U approaches the toilet seat facing backwards. That is, the user U moves in the direction of the hatched arrow in Fig. 10 with his / her back facing the toilet seat, and approaches the toilet bowl T. At that time, the two position detection units 51 do not communicate with the control unit 61 until they detect a marker M provided on the floor (step S201 / No, step S203 / No).

[0063] When one of the position detection units 51 detects the marker M, it transmits a detection signal to the control unit 61. When the control unit 61 receives a detection signal from one of the position detection units 51 (step S201 / Yes), it activates the braking mechanism unit 16 corresponding to that position detection unit 51. This causes the mobility support device 100 to enter a state in which it can only rotate about one of the fixed braking casters 15, that is, it cannot move in the left-right direction (step S202).

[0064] Fig. 13 is an explanatory diagram showing a specific example of the state in step S202. Fig. 13 shows a state in which the marker M on the left side as seen from the user U is within the detection range 51R of the position detection unit 51 provided on the left side. Next, the user U rotates the mobility support device 100 around one of the braking casters 15 as the center of rotation (see the white arrow in Fig. 13) and brings the other position detection unit 51 closer to the second marker M.

[0065] When the second marker M enters the detection range 51R of the other position detection unit 51, resulting in a state as shown in FIG. 9, the other position detection unit 51 detects the lower marker M and transmits a detection signal to the control unit 61. When the control unit 61 receives a detection signal from the other position detection unit 51 (step S203 / Yes), it activates the braking mechanism unit 16 corresponding to that position detection unit 51. This fixes the mobility support device 100 in a position suitable for sitting on the toilet seat of the toilet bowl T. In this state, the user U can remove his or her underwear (step S204).

[0066] Next, the user U, in a standing state as shown in FIG. 9, operates the lifting operation unit 72 to lower the support member 21, and sits on the seat of the toilet bowl T as shown in FIG. 8. That is, the control unit 61 waits until an operation signal is transmitted from the lifting operation unit 72 (step S205 / No). When the control unit 61 receives an operation signal indicating the lowering of the support member 21 from the lifting operation unit 72 (step S205 / Yes), it drives the lifting mechanism unit 28 to rotate the abdominal arm 24 and the chest arm 25 downward, and lower the support member 21. At this time, the user U can move the mobility support device 100 while lowering the support member 21 and adjust the seating position by operating the brake operation unit 71 to appropriately release the operation of at least one braking mechanism unit 16 (step S206). Of course, the user U can also adjust the seating position by operating the brake operating unit 71 to release the operation of at least one braking mechanism unit 16 in the state shown in FIG. 8 or FIG.

[0067] Next, referring to the flowchart of FIG. 12, an example of the movement support method when the user U arrives at the destination, up to when the user U sits down at the destination, will be described. When the user U sits down on the toilet seat as shown in FIG. 8, the weight of the user U is transferred to the toilet seat, and the pressing force acting on the abdominal support member 30 that has been lifting the pelvis of the user U is reduced. Furthermore, the user U raises his / her upper body from the posture as shown in FIG. 8 to that as shown in FIG. 7. The control unit 61 does not perform processing on the brake mechanism unit 16 until the pressing force detected by the pressing force detection unit 53 becomes equal to or less than the descending pressing force threshold (step S207 / No). When the pressing force detected by the pressing force detection unit 53 becomes equal to or less than the descending pressing force threshold (step S207 / Yes), the control unit 61 activates the two brake mechanism units 16 (step S208 / Yes, step S209). In this way, the mobility assistance device 100 is configured to lock the two brake casters 15 when the pressure detection unit 53 detects that the tension on the abdominal support member 30 has been relaxed. However, if the operation of the two brake mechanisms 16 has not been released (step S208 / No), the control unit 61 does not process the brake mechanisms 16 and maintains the two brake casters 15 in a braked state.

[0068] When the user U raises his / her upper body, the load applied to the chest support member 40 gradually decreases. If the load detected by the load detection unit 54 is less than the lowering load threshold, the control unit 61 does not process the braking mechanism unit 16 (step S210 / No). If the load detected by the load detection unit 54 becomes equal to or greater than the lowering load threshold (step S210 / Yes), the control unit 61 activates the two braking mechanism units 16 (step S211 / Yes, step S212). In this way, when the load detection unit 54 provided on the chest support member 40 detects that the user U is leaving, the movement support device 100 fixes the two braking casters 15. However, if the operation of the two braking mechanism units 16 is not released (step S211 / No), the control unit 61 does not process the braking mechanism unit 16 and maintains the state in which the two braking casters 15 are braked.

[0069] If the distance measured by the distance detection unit 55 is less than the dismounting distance threshold, the control unit 61 does not perform any processing (step S213 / No). However, if the user U further raises his / her upper body and the distance measured by the distance detection unit 55 becomes equal to or greater than the dismounting distance threshold (step S213 / Yes), the control unit 61 activates the two braking mechanism units 16 (step S214 / Yes, step S215). In this manner, when the distance detection unit 55 detects that the user U has risen, the mobility support device 100 locks the two braking casters 15. However, if the operation of the two braking mechanism units 16 is not released in the above state (step S214 / No), the control unit 61 does not perform processing on the braking mechanism units 16 and maintains the state in which the two braking casters 15 are braked.

[0070] Next, the user U operates the brake operation unit 71 as necessary to release the operation of the two braking mechanisms 16 and move the mobility support device 100 away from his / her body. That is, the control unit 61 does not perform processing on the braking mechanisms 16 unless an operation signal is transmitted from the brake operation unit 71 (step S216 / No). When the control unit 61 receives an operation signal from the brake operation unit 71 (step S216 / Yes), it releases the operation of the two braking mechanisms 16 and allows the two brake casters 15 to move freely (step S217). This allows the user U to move the mobility support device 100 to a position that does not interfere with his / her own movements, etc. (see the hatched arrow in FIG. 6).

[0071] The user U can relieve himself / herself in the state shown in Fig. 6 or Fig. 7. The user U, who is assumed to be a person requiring care, may lose his / her balance and fall from the toilet seat while excreting. In this regard, the mobility support device 100 in the state shown in Fig. 7 cannot move horizontally due to the operation of the two braking mechanisms 16, so the user U can hold onto it like a toilet table, which is a type of care equipment. Therefore, even if the user U suddenly loses his / her balance, the user U can be prevented from falling.

[0072] When the mobility support device 100 has a brake operation unit 71 provided near the abdominal support member 30, the user U can apply the brakes to the mobility support device 100 even in a situation such as that shown in Fig. 6. This makes it possible to prevent the mobility support device 100 from moving unintentionally. Furthermore, even if the mobility support device 100 is manually released from the locked state by the brake operation unit 71 and is locked at a slightly distant location as shown in Fig. 6, the mobility support device 100 can be held by the user U, thereby preventing the user U from falling.

[0073] Here, the operation and processing of the user U riding on the mobility support device 100 transferring to the nursing handrail will be explained. First, the user U riding on the mobility support device 100 moves to a transfer point to the nursing handrail such as a corridor by rowing the mobility support device 100. At the transfer point, two markers M are attached to the floor in advance so as to match the positions of the two position detection units 51. At that time, one of the position detection units 51 provided on the mobility support device 100 detects the marker M provided on the floor, and the control unit 61 activates the braking mechanism unit 16 corresponding to one of the position detection units 51 at an appropriate position. As a result, the mobility support device 100 is placed in a state in which it cannot move in the left or right direction. The user U rotates the mobility support device 100 around the braking caster 15 on which the braking mechanism unit 16 is activated, and when the other position detection unit 51 approaches the second marker M, the control unit 61 activates the braking mechanism unit 16 corresponding to the other position detection unit 51. As a result, the mobility support device 100 is fixed in a position suitable for transferring onto the nursing handrail.

[0074] Then, the user U changes his / her hands from the gripping portion 21a of the mobility support device 100 to the nursing handrail and starts to move onto the nursing handrail. When the user U releases his / her chest from the chest support member 40, if the braking mechanism unit 16 is not activated, the load detection unit 54 detects that the user U has left, and the control unit 61 activates the two braking mechanism units 16. When the user U raises his / her upper body from the mobility support device 100, if the braking mechanism unit 16 is not activated, the distance detection unit 55 detects that the user U has risen, and the control unit 61 activates the two braking mechanism units 16. Then, the user stands on his / her own feet while holding on to the mobility support device 100 and the nursing handrail. If the braking mechanism unit 16 is not activated, the pressing force detection unit 53 detects that the tension in the abdominal support member 30 has been relaxed, and the control unit 61 activates the two braking mechanism units 16.

[0075] There is no risk of the user U falling while the user U is putting his / her weight on the abdominal support member 30. However, the user U who is standing on his / her own feet may lose balance and fall. In this regard, as described above, even when transferring to the nursing handrail, the control unit 61 activates the brake mechanism unit 16 based on the detection signal from the detection unit 50, and the movement support device 100 is in a braked and non-looping state. Therefore, when transferring to the nursing handrail, the user U can use the movement support device 100 in a stable braked state in addition to the nursing handrail to stand up. Therefore, the safety and reliability of the user U can be improved. In addition, by stopping the movement support device 100 at the transfer point to the nursing handrail with the brake mechanism unit 16 activated, the user U can safely transfer from the nursing handrail to the movement support device 100. The action of sitting on a nursing bed or wheelchair is the same as that of entering the toilet described above, except that it is not necessary to take off underwear. It should be noted that the order of operations shown in FIGS. 11 and 12 is merely an example, and may be changed by adjusting the threshold values ​​of the various sensors, for example.

[0076] As described above, in the mobility support device 100, the control unit 61 activates the braking mechanism 16 in response to a detection signal indicating at least one of the base unit 10 reaching a predetermined point and a predetermined action by the user. That is, according to the mobility support device 100, by activating the braking mechanism 16 when an action leading to the user transferring, walking, or the like is detected, it is possible to prevent unexpected movement of the base unit 10, i.e., unexpected movement of the entire mobility support device 100. This can increase the stability and reliability of the support for the body and prevent the user from falling over when transferring, walking, or the like.

[0077] For example, the detection unit 50 includes a position detection unit 51 that detects a marker M arranged outside, and the control unit 61 activates the brake mechanism unit 16 when receiving a detection signal indicating that the marker M has been detected from the position detection unit 51. Here, the marker M is arranged on the premise that the mobility support device 100 is arranged in front of an object in the destination. Therefore, even if the user forgets to brake when the user arrives at the destination and sits down on the object, the mobility support device 100 automatically brakes. Therefore, the user can sit down on the object with peace of mind. Also, even when the user pulls the mobility support device 100 to get in, the mobility support device 100 automatically brakes. Therefore, the user can get in the mobility support device 100 with peace of mind.

[0078] Here, in the above description, an example in which the mobility support device 100 has two position detection units 51 has been shown, but the present invention is not limited thereto, and the mobility support device 100 may have one position detection unit 51. In this case, it is sufficient that one marker M is provided for each destination. Even in this case, the mobility support device 100 approaches the object and automatically brakes, so that the user can sit down on the object or get on the mobility support device 100 with peace of mind. However, in a configuration in which the position detection unit 51 corresponds to the braking caster 15 as in FIG. 1, it is also assumed that the base unit 10 is fixed in a state in which it is inclined with respect to the destination (object). Therefore, it is preferable to arrange the position detection unit 51 in the center in the left-right direction of the base unit 11 (for example, the connecting member 11b).

[0079] The detection unit 50 includes a pressure detection unit 53 that detects the pressure applied to the abdominal support member 30, and the control unit 61 controls the brake mechanism unit 16 in response to a detection signal transmitted from the pressure detection unit 53. That is, the mobility support device 100 automatically applies the brakes when the pressure applied to the pressure detection unit 53 exceeds the boarding pressure threshold, that is, at the early stage of the boarding action. Furthermore, the mobility support device 100 also automatically applies the brakes when the pressure applied to the pressure detection unit 53 becomes equal to or less than the boarding pressure threshold as the user tries to dismount. This increases the reliability of getting on and off the mobility support device 100, and can prevent problems when the user stands up, sits down, etc.

[0080] The detection unit 50 includes a load detection unit 54 that detects the load applied to the chest support member 40, and the control unit 61 controls the brake mechanism unit 16 in response to a detection signal transmitted from the load detection unit 54. That is, the movement support device 100 automatically applies the brakes when the load applied to the load detection unit 54 exceeds the boarding load threshold, that is, when the user places his / her weight on the chest support member 40. Furthermore, the movement support device 100 automatically applies the brakes when the pressing force applied to the load detection unit 54 becomes equal to or less than the boarding load threshold when the user tries to get off. This increases the reliability when getting on and off the movement support device 100, and can prevent problems when the user stands up, sits down, etc.

[0081] The detection unit 50 includes a distance detection unit 55 that detects an oncoming object and measures the distance to the object, and the control unit 61 controls the braking mechanism unit 16 in response to a detection signal transmitted from the distance detection unit 55. That is, the mobility support device 100 automatically applies the brakes when the distance detected by the distance detection unit 55 becomes less than the boarding distance threshold. Furthermore, the mobility support device 100 automatically applies the brakes when the distance detected by the distance detection unit 55 becomes equal to or greater than the disembarking distance threshold. This increases the reliability of getting on and off the mobility support device 100, and can prevent problems when the user stands up, sits down, etc.

[0082] In the first embodiment, the braking mechanism 16 is mounted on the braking caster 15, which is a movable member. That is, the braking mechanism 16 is integrally configured with the wheel portion 15a that controls the horizontal movement of the mobility support device 100 in the braking caster 15, for example, as shown in FIG. 2. Therefore, the mobility support device 100 can be efficiently fixed without providing a separate braking mechanism that suppresses the horizontal movement of the base portion 10.

[0083] The mobility support device 100 has two brake casters 15 with brake mechanism units 16 mounted thereon and spaced apart from each other. The detection unit 50 includes a position detection unit 51 that corresponds to each of the two brake casters 15 and detects a marker M disposed outside. When the control unit 61 receives a detection signal indicating that the marker M has been detected from the position detection unit 51, it activates the brake mechanism unit 16 mounted on the brake caster 15 corresponding to the position detection unit 51. That is, when the base unit 10 is inclined with respect to the object, the mobility support device 100 applies brakes to the two brake casters 15 one by one in sequence, and suppresses horizontal movement when the orientation of the base unit 10 and the object is appropriate. That is, when one of the brake casters 15 is appropriately positioned, the mobility support device 100 can prevent further unnecessary movement, and can perform rapid and accurate positioning by the minimum movement of the other brake caster 15.

[0084] It is difficult for elderly people or other people who require care to remember to apply the brakes every time, and the movement of the mobility support device when getting on and off can lead to the user falling over. In this regard, the mobility support device 100 has various sensors, such as a position detection unit 51, a pressure detection unit 53, a load detection unit 54, and a distance detection unit 55, and predicts the user's actions that will lead to getting on and off from the detection signal of any of the sensors, and automatically applies the brakes according to the prediction result. In other words, the mobility support device 100 automatically applies the brakes according to the user's actions that will lead to getting on and off, so that stability is increased when getting on and off, and troubles such as the user falling over can be prevented in advance.

[0085] <Variation 1> First, a configuration of a movement support device 100 according to a first variation of the first embodiment will be described. The movement support device 100 according to the first variation has a braking safety function that limits the driving of the lifting mechanism 28 based on the operating state of the braking mechanism 16. The braking safety function is a function that allows the lifting mechanism 28 to be driven only when the brake is applied.

[0086] That is, when an operation signal instructing the driving of the lifting mechanism unit 28 is transmitted from the lifting operation unit 72, if the brake mechanism unit 16 is in operation, the control unit 61 drives the lifting mechanism unit 28. Here, the operation signal instructing the driving of the lifting mechanism unit 28 is also referred to as a "drive request." That is, when a drive request is transmitted from the lifting operation unit 72, the control unit 61 is configured not to drive the lifting mechanism unit 28 unless the brake mechanism unit 16 is in operation. When a drive request is transmitted from the lifting operation unit 72, if the brake mechanism unit 16 is not in operation, the control unit 61 may cause the output unit 80 to output warning information indicating an error. Note that the output unit 80 of this modified example 1 has at least a function of outputting information indicating the operating state of the brake mechanism unit 16.

[0087] More specifically, when the operation processing means 61b receives a drive request transmitted from the lifting operation unit 72 via the signal processing means 61a, the operation processing means 61b does not drive the lifting mechanism unit 28 unless the brake mechanism unit 16 is operated. When the operation processing means 61b receives a drive request from the lifting operation unit 72 and does not operate the brake mechanism unit 16, the operation processing means 61b may output an error signal to the output processing means 61c. When an error signal is output from the operation processing means 61b, the output processing means 61c may output warning information to the output unit 80. For example, the output processing means 61c may output a sound such as "the brake is not operating" from the notification unit 82 as the warning information. The output processing means 61c may output a sound such as a beep from the notification unit 82, or may output light from the light emitting unit 81 as the warning information.

[0088] Next, an operation example of the movement support method in the present modified example 1 will be described with reference to the flowchart in Fig. 14. If a drive request is not transmitted from the lift operation unit 72, the control unit 61 does not perform processing on the lift mechanism unit 28 (step S301 / No). If a drive request is transmitted from the lift operation unit 72 (step S301 / Yes), the control unit 61 determines whether the brake mechanism unit 16 is operating or not, that is, whether the brake mechanism unit 16 is being operated or not (step S302). Note that the situation of "step S301 / Yes" also includes situations such as "step S114 / Yes" in Fig. 5 and "step S205 / Yes" in Fig. 11.

[0089] If the braking mechanism 16 is in operation (step S302 / Yes), the control unit 61 drives the lifting mechanism 28 to lift the support member 21 (step S303). On the other hand, if the braking mechanism 16 is not in operation (step S302 / No), the control unit 61 causes the output unit 80 to output warning information (step S304).

[0090] As described above, the control unit 61 of the present modified example 1 drives the lifting mechanism unit 28 only if the brake mechanism unit 16 is in operation when a drive request is transmitted from the lifting operation unit 72. This makes it possible to avoid a situation in which the support member 21 moves up and down when the brake is not in operation due to some unexpected reason, thereby preventing unexpected loose movement of the base unit 10 when the support member 21 moves up and down, and further improving the safety of the user.

[0091] Furthermore, the control unit 61 may be configured to cause the output unit 80 to output warning information if the brake mechanism unit 16 is not in operation when a drive request is transmitted from the lift operation unit 72. In this way, when the user issues an instruction to lift or lower the support member 21 via the lift operation unit 72, the user can be informed that the brake is not applied. This allows the user to take measures to ensure safety, such as operating the brake operation unit 71 or calling a caregiver, and thus prevents accidents such as falls from occurring.

[0092] Here, the control unit 61 may execute the braking safety function only for either one of the drive request instructing the support member 21 to rise and the drive request instructing the support member 21 to fall. The movement support device 100 may also have a braking changeover switch for switching between an ON state in which the braking safety function is activated and an OFF state in which the braking safety function is not activated. The control unit 61 may execute the braking safety function in the ON state. By adopting such a configuration, it is possible to avoid unnecessary driving stop of the lifting mechanism unit 28 in a situation where safety is ensured, such as when a caregiver is present near the user.

[0093] <Variation 2> First, the configuration of the mobility support device 100 according to Variation 2 of the present embodiment 2 will be described. The mobility support device 100 according to Variation 2 has a detection safety function that limits the driving of the lifting mechanism 28 based on a detection signal from the detector 50. The detection safety function is a function that allows the lifting mechanism 28 to be driven only when the user's posture is appropriate. Whether the user's posture is appropriate is determined based on the safety of the user when the support member 21 is raised and lowered.

[0094] For example, the control unit 61 is configured to drive the lifting mechanism unit 28 if the pressure detected by the pressure detection unit 53 is equal to or greater than the pressure threshold when a drive request is transmitted from the lifting operation unit 72. Here, the pressure detected by the pressure detection unit 53 is also referred to as the "detected pressure". In other words, the control unit 61 is configured not to drive the lifting mechanism unit 28 if the detected pressure is less than the pressure threshold when a drive request is transmitted from the lifting operation unit 72. The control unit 61 may cause the output unit 80 to output warning information indicating an error if the detected pressure is less than the pressure threshold when a drive request is transmitted from the lifting operation unit 72. Note that the output unit 80 of this modified example 2 has at least a function of outputting information indicating the operating state of the brake mechanism unit 16. The pressure threshold is set in advance based on the safety of the user. The pressure threshold may be equal to or different from the boarding pressure threshold or the dismounting pressure threshold. Furthermore, as the pressing force threshold, a value corresponding to the upward movement of the support member 21 and a value corresponding to the downward movement of the support member 21 may be set separately.

[0095] The control unit 61 may be configured to drive the lifting mechanism unit 28 if the load detected by the load detection unit 54 is equal to or greater than the load threshold when a drive request is transmitted from the lifting operation unit 72. Here, the load detected by the load detection unit 54 is also referred to as the "detected load". That is, the control unit 61 may be configured not to drive the lifting mechanism unit 28 if the detected load is less than the load threshold when a drive request is transmitted from the lifting operation unit 72. The control unit 61 may cause the output unit 80 to output warning information indicating an error if the detected load is less than the load threshold when a drive request is transmitted from the lifting operation unit 72. The load threshold is set in advance based on the safety of the user. The load threshold may be equal to or different from the boarding load threshold or the dismounting load threshold. As for the load threshold, a value corresponding to the rise of the support member 21 and a value corresponding to the descent of the support member 21 may be set separately.

[0096] More specifically, when the operation processing means 61b receives a drive request transmitted from the lift operation unit 72 via the signal processing means 61a during operation of the detection safety function, the operation processing means 61b does not drive the lift mechanism unit 28 unless the detection signal transmitted from the detection unit 50 satisfies a predetermined condition. For example, when the operation processing means 61b receives a drive request from the lift operation unit 72, if the detected pressing force is below the pressing force threshold, the operation processing means 61b is configured not to drive the lift mechanism unit 28. Also, when the operation processing means 61b receives a drive request from the lift operation unit 72, if the detected load is below the load threshold, the operation processing means 61b is configured not to drive the lift mechanism unit 28.

[0097] When the operation processing means 61b receives a drive request from the lift operation unit 72, if the detected pressure is below the pressure threshold, the operation processing means 61b may output an error signal to the output processing means 61c. When the operation processing means 61b receives a drive request from the lift operation unit 72, if the detected load is below the load threshold, the operation processing means 61b may output an error signal to the output processing means 61c. When an error signal is output from the operation processing means 61b, the output processing means 61c may cause the output unit 80 to output warning information indicating an error. For example, the output processing means 61c may cause the notification unit 82 to output a sound such as "Please use the device after placing your body close to it." As the warning information, the output processing means 61c may cause the notification unit 82 to output a sound such as a beep, or may cause the light emitting unit 81 to output light.

[0098] Next, an example of operation of the movement support method in the present modified example 2 will be described with reference to the flowchart in Fig. 15. If a drive request is not transmitted from the lift operation unit 72, the control unit 61 does not perform processing on the lift mechanism unit 28 (step S301 / No). If a drive request is transmitted from the lift operation unit 72 (step S301 / Yes), the control unit 61 determines whether the detected pressure is less than the pressure threshold (step S401). If the detected pressure is less than the pressure threshold (step S401 / Yes), the control unit 61 causes the output unit 80 to output warning information (step S304).

[0099] On the other hand, if the detected pressure is equal to or greater than the pressure threshold (step S401 / No), the control unit 61 determines whether the detected load is less than the load threshold (step S402). If the detected load is less than the load threshold (step S402 / Yes), the control unit 61 causes the output unit 80 to output warning information (step S304). If the detected load is equal to or greater than the load threshold (step S402 / No), the control unit 61 drives the lifting mechanism unit 28 to lift the support member 21 (step S303).

[0100] Incidentally, in FIG. 15, an example is shown in which the control unit 61 performs both the pressing force determination process (step S401) by comparing the detected pressing force with the pressing force threshold value, and the load determination process (step S402) by comparing the detected load with the load threshold value, but this is not limiting. The control unit 61 may perform either the pressing force determination process or the load determination process. In addition, the control unit 61 may perform the processes of steps S401 and S402 in an interchangeable order. Furthermore, the control unit 61 may execute each step related to the movement support method by incorporating a distance determination process by comparing the distance (detected distance) detected by the distance detection unit 55 with the detection threshold value.

[0101] As described above, the control unit 61 can be configured to drive the lifting mechanism unit 28 by the detection safety function only when the detected pressure is equal to or greater than the pressure threshold when a drive request is transmitted from the lifting operation unit 72. Alternatively, the control unit 61 can be configured to drive the lifting mechanism unit 28 by the detection safety function only when the detected load is equal to or greater than the load threshold when a drive request is transmitted from the lifting operation unit 72. Therefore, when the user attempts to use the vehicle in an incorrect riding position, the movement of the support member 21 can be prevented, thereby further improving the safety of the user.

[0102] In addition, the control unit 61 may be configured to cause the output unit 80 to output warning information if the detected pressure is below the pressure threshold value when a drive request is transmitted from the lift operation unit 72 by the detection safety function. Alternatively, the control unit 61 may be configured to cause the output unit 80 to output warning information if the detected load is below the load threshold value when a drive request is transmitted from the lift operation unit 72 by the detection safety function. In this way, when the user is in an incorrect posture and instructs the lift operation unit 72 to lift the support member 21, the user's attention can be drawn by voice, sound, light, or the like. Therefore, the user can take measures to ensure safety, such as correcting his / her posture, and thus troubles such as falling can be prevented in advance.

[0103] Here, the control unit 61 may execute the detection safety function only for either a drive request instructing to raise the support member 21 or a drive request instructing to lower the support member 21. The movement support device 100 may also have a detection changeover switch for switching between an ON state in which the detection safety function is activated and an OFF state in which the detection safety function is not activated. The control unit 61 may execute the detection safety function in the ON state. By adopting such a configuration, it is possible to avoid unnecessary drive stop of the lifting mechanism unit 28 in a situation where safety is ensured, such as when a caregiver is present near the user.

[0104] Embodiment 2 With reference to Fig. 16, a configuration example of a mobility support device 200 according to the second embodiment of the present invention will be described. Components equivalent to those of the mobility support device 100 according to the first embodiment described above will be given the same reference numerals and will not be described again. The structure of the braking caster 15 is the same as in the example of Fig. 2, and the functional configuration of the mobility support device 200 is the same as in the example of Fig. 3. In Fig. 16 as well, the x-axis direction is the front-rear direction, the y-axis direction is the left-right direction, and the z-axis direction is the up-down direction.

[0105] As shown in FIG. 16, the mobility support device 200 includes a base unit 110 provided with a movable member, a lift support unit 120 connected to the base unit 110 and supporting the user's body, and a brake mechanism unit 16 that prevents the horizontal movement of the base unit 110. The base unit 110 includes components having a different shape from the base unit 10, but the basic configuration is the same as that of the base unit 10. That is, the base unit 110 includes a base unit 11 that is formed in a rod shape and includes a pair of extension members 11a extending along the front-rear direction, and a connecting member 11b that connects the front ends of the extension members 11a. The base unit 10 also includes a pair of side members 12 that are erected at the left and right ends in front of the base unit 11.

[0106] The side member 12 has a first member extending upward from the front end of the base 11, a second member extending rearward from the upper end of the first member, and a third member extending downward from the rear end of the second member. In the mobility support device 200 illustrated in Fig. 16, a position detector 151 constituting the detector 50 is provided on the first member. The position detector 151 is a camera having an image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), and is disposed facing upward.

[0107] In the second embodiment, a ceiling marker (not shown) made of reflective tape or the like is provided on the ceiling of a destination such as a toilet. The ceiling marker corresponds to a marker placed outside. The ceiling marker is placed in association with the position detection unit 151 so that the mobility assistance device 200 is placed in an optimal position according to the destination. The position detection unit 151 transmits a detection signal to the control unit 61 when it detects the ceiling marker. When the control unit 61 receives a detection signal from the position detection unit 151 indicating that the ceiling marker has been detected, it activates the braking mechanism unit 16 to apply the brakes to the braking casters 15.

[0108] The position detection unit 151 may be provided on both of the pair of side members 12. In this case, two ceiling markers may be arranged corresponding to each position detection unit 151. In this way, the two braking casters 15 can be braked sequentially, similar to the control of the braking mechanism unit 16 using two position detection units 51. Alternatively, two ceiling markers may be captured by one position detection unit 151, and the control unit 61 may operate the braking mechanism unit 16 when a predetermined angle of the mobility support device 200 and the angle of a line segment connecting the two ceiling markers approximately match.

[0109] The lifting support part 120 has components with a different shape from the lifting support part 20, but the basic configuration is the same as that of the lifting support part 20. That is, the lifting support part 120 has a support member 21 arranged at a position to support the abdomen and chest of the user, a handle part 22 that the user grasps when walking, etc., and a pair of relay members 23 that connect the support member 21 and the handle part 22.

[0110] The support member 21 is provided at its rear with an abdomen support member 30 that supports the abdomen of the user. In FIG. 16, a thin belt-like member is illustrated as the abdomen support member 30. However, the abdomen support member 30 may be composed of a plurality of belt-like members. The support member 21 is provided at its front with a chest support member 40 that supports the chest of the user. In FIG. 16, three thin belt-like members are illustrated as the chest support member 40. However, the chest support member 40 may be composed of one, two, or four or more belt-like members.

[0111] A pressure detection unit 53 consisting of, for example, a strain gauge is provided in the vicinity of the abdominal support member 30 in the support member 21. That is, the pressure detection unit 53 measures changes in pressure applied to the abdominal support member 30 attached across the rear ends of the pair of support members 21. The pressure detection unit 53 may continuously or periodically transmit a detection signal indicating the detected pressure to the control unit 61. The pressure detection unit 53 may be configured to transmit a detection signal to the control unit 61 when the detected pressure exceeds the boarding pressure threshold and when the detected pressure becomes equal to or less than the boarding pressure threshold.

[0112] The relay member 23 has a lower extension 123a extending downward from the support member 21, and a front extension 123b extending forward from the lower extension 123a toward the handle portion 22. A load detection unit 54, for example, made of a strain gauge, is provided in the relay member 23 near the chest support member 40, i.e., above the lower extension 123a. That is, the load detection unit 54 measures a change in load applied to the chest support member 40 attached across the front ends of the pair of support members 21. The load detection unit 54 may continuously or periodically transmit a detection signal indicating the detected load to the control unit 61. The load detection unit 54 may be configured to transmit a detection signal to the control unit 61 when the detected pressure exceeds the boarding pressure threshold and when the detected pressure becomes equal to or less than the boarding pressure threshold.

[0113] The lifting support part 20 has a pair of abdominal arms 24 that connect the side members 12 and the support member 21, and a pair of chest arms 25 that connect the base part 11 and the relay member 23. One end of the abdominal arms 24 is rotatably connected to the side members 12, and the other end is connected to the rear of the support member 21. One end of the chest arms 25 is rotatably connected to the base part 11, and the other end is connected to the relay member 23. The abdominal arms 24 and the chest arms 25 rotate in conjunction with the operation of the lifting mechanism part 28 that is driven by instructions from the control part 61, and lift the support member 21.

[0114] FIG. 16 shows an example in which the distance detection unit 55 is attached to one of the relay members 23. The movement support device 200 is provided with a photoelectric sensor as the distance detection unit 55 for detecting the passage of a human body or the like. That is, the distance detection unit 55 of the second embodiment detects whether an object facing the lift support unit 20 has entered within a certain distance, that is, whether the object is present within a certain range in front of the movement support device 200. Other configurations and alternative configurations of the movement support device 200 are the same as those of the movement support device 100 of the first embodiment. Also, the steps of the movement support method when the user starts moving to the destination and when the user arrives at the destination are the same as those described with reference to FIGS. 4 to 13.

[0115] As described above, in the mobility support device 200, the control unit 61 activates the braking mechanism unit 16 in response to a detection signal indicating at least one of the arrival of the base unit 110 at a predetermined point and a predetermined action by the user. That is, according to the mobility support device 200, the braking mechanism unit 16 is activated when an action leading to the user transferring, walking, or the like is detected, thereby making it possible to prevent the base unit 110 from moving unexpectedly. This increases the stability and reliability of the support for the body, and makes it possible to prevent the user from falling over when transferring, walking, or the like.

[0116] In addition, in the second embodiment, the mobility support device 200 has a position detection unit 151 arranged facing upward, on the premise that a ceiling marker is provided on the ceiling of the destination. Then, the control unit 61 activates the brake mechanism unit 16 when it receives a detection signal indicating that the ceiling marker has been detected from the position detection unit 151. Therefore, when the user approaches the object, the mobility support device 200 is automatically braked. Also, when the user pulls the mobility support device 200 to get on, the mobility support device 200 is automatically braked. Therefore, it is possible to improve stability and reliability when the user transfers from the mobility support device 200 to the object and when the user gets on the mobility support device 200. Other effects and the like are the same as those in the first embodiment.

[0117] Here, the above-mentioned embodiments are preferred specific examples of the mobility support device, the mobility support method, and the mobility support program, and the technical scope of the present invention is not limited to these embodiments. For example, the structure of the brake caster 15 (braking mechanism unit 16) is not limited to the example of FIG. 2, and various well-known structures such as an electromagnetic clutch brake that controls power using electromagnetic force can be adopted. In addition, the positional relationship between the two brake casters 15 and the two swivel casters 17 is not limited to the examples of FIG. 1 and FIG. 16. The two brake casters 15 and the two swivel casters 17 may be arranged diagonally, and the arrangement of the two brake casters 15 and the two swivel casters 17 may be interchanged.

[0118] It should be noted that the detection range 51R of the position detection unit 51 shown in Fig. 13 is merely an example and can be adjusted as appropriate. The two braked casters 15 may be configured such that when the brake mechanism unit 16 of one braked caster 15 is activated as shown in Fig. 13, the brake mechanism unit 16 of the other braked caster 15 moves only in a direction toward the target object (see the outlined arrow in Fig. 13). In this case, when the control unit 61 receives a detection signal from one position detection unit 51, it also transmits a control signal to the brake mechanism unit 16 of the other position detection unit 51, thereby suppressing the movement of a part of the brake mechanism unit 16.

[0119] In each embodiment, an example having two braked casters 15 has been shown, but this is not limiting. For example, the mobility support devices 100 and 200 may have one braked caster 15 and three swivel casters 17. However, even if one braked caster 15 is braked, the remaining swivel caster 17 moves, so from the viewpoint of stability, it is preferable to have two braked casters 17.

[0120] The combination of the brake casters 15 and the swivel casters 17 is not limited to the above example and can be changed as appropriate. For example, the mobility support devices 100 and 200 may have four brake casters 15 and no swivel casters 17. In this case, omni wheels may be used as the brake casters 15. The mobility support devices 100 and 200 may have three brake casters 15 and no swivel casters 17, and even in this case, omni wheels can be used as the brake casters 15. In addition, at least one of the brake casters 15 and the swivel casters 17 may be a ball caster.

[0121] In each embodiment, an example in which the braking mechanism unit 16 is provided on the movable member is shown, but this is not limited thereto. The movement support device 100 and 200 may be provided with two swivel casters 17 instead of the two braking casters 15, and a braking mechanism unit 16 for suppressing horizontal movement of the base unit 10 may be provided separately. In this case, the braking mechanism unit 16 may be configured by various well-known mechanisms, such as a mechanism for lowering an anchor on the floor surface. The movement support device 100 and 200 may have, for example, two braking mechanism units 16 provided at an interval. In this case, the detection unit 50 may include a position detection unit 51 or a position detection unit 151 that is associated with each of the two braking mechanism units 16 and detects a marker M placed outside. Then, when the control unit 61 receives a detection signal indicating that the marker M has been detected from the position detection unit 51 or 151, it may operate the braking mechanism unit 16 corresponding to the position detection unit 51 or 151.

[0122] The mounting positions of the operation unit and various sensors of the mobility support devices 100 and 200 are not limited to the positions shown in the figures. For example, although Fig. 1 and Fig. 16 show an example in which the brake operation unit 71 is provided on the handle unit 22, the present invention is not limited to this. The brake operation unit 71 may be provided at a position where a user who is not riding on the device can operate it, or at a position where a caregiver can operate it. The mobility support devices 100 and 200 may also have multiple brake operation units 71. In this case, each brake operation unit 71 may be appropriately provided at a position where a user can operate it while riding on the mobility support devices 100 and 200, a position where a user who is not riding on the device can operate it, a position where a caregiver can easily operate it, or the like.

[0123] 16 shows an example in which the movement support device 200 has both the position detection unit 51 and the position detection unit 151, but the movement support device 200 may have either the position detection unit 51 or the position detection unit 151. In addition, the movement support device 100 of the first embodiment may have the position detection unit 151 together with the position detection unit 51 or instead of the position detection unit 51.

[0124] In the above description, the mobility support devices 100 and 200 have the pressing force detection unit 53, the load detection unit 54, and the distance detection unit 55, and at least one of the position detection unit 51 and the position detection unit 151, but are not limited to this. The mobility support devices 100 and 200 only need to have at least one of the position detection unit 51, the position detection unit 151, the pressing force detection unit 53, the load detection unit 54, and the distance detection unit 55. However, the mobility support devices 100 and 200 can be configured to have a plurality of sensors to more reliably activate the braking mechanism unit 16 when the user gets on and off the device, thereby improving safety.

[0125] The mobility support device 100 in FIG. 1 and the mobility support device 200 in FIG. 16 are merely examples, and the shape and arrangement of each component may be appropriately changed according to the usage situation. For example, the configuration and mounting location of the pressing force detection unit 53 and the load detection unit 54 may be appropriately changed within a range where the respective functions can be exerted. In addition, the number and arrangement of the brake operation unit 71 and the lift operation unit 72 may be appropriately changed according to the expected usage situation of the mobility support devices 100 and 200. For example, the brake operation unit 71 and the lift operation unit 72 may be provided in the front or the side, taking into consideration the operation by a caregiver. In particular, it is preferable to provide a plurality of brake operation units 71 at positions that are easy to operate in association with several postures of the user. The brake operation unit 71 may be configured to be able to operate one brake mechanism unit 16 and the other brake mechanism unit 16 separately.

[0126] In addition, a new mobility support device may be configured by appropriately replacing some of the components of mobility support device 100 with some of the components of mobility support device 200. For example, distance detection unit 55 attached to mobility support device 200 may be an ultrasonic sensor or an infrared sensor. Similarly, distance detection unit 55 attached to mobility support device 100 may be a photoelectric sensor.

[0127] Incidentally, the mobility support devices 100 and 200 may have a pressure sensor arranged at the same position as the marker M, instead of the marker M and the position detection unit 51, which transmits a detection signal to the control unit 61 when pressed from above with a certain force or more. The control unit 61 may then operate the brake mechanism unit 16 when a detection signal is transmitted from the pressure sensor arranged on the floor surface. Even in this case, when the user reaches a target and sits down, or when the user pulls the mobility support device 100 or 200 to get on, the device is automatically braked. Therefore, the user can get on and off the mobility support device 100 or 200 with peace of mind. In this configuration, a combination of the mobility support device 100 or 200 and the pressure sensor is called a mobility support system.

[0128] The marker M may be configured by an RF tag or the like having the identification information of the user, and the marker M for each user may be arranged on the floor. In this case, the storage unit 62 of the mobility support device 100 or 200 may be configured to store the identification number of the user in advance, and the position detection unit 51 may be configured to transmit the identification information of the marker M to the control unit 61 together with the detection signal. Then, the control unit 61 may operate the brake mechanism unit 16 when the identification information transmitted together with the detection signal matches the identification number in the storage unit 62. In this way, the position of the marker M can be adjusted for each user, and it is possible to realize getting on and off the mobility support device 100 or 200 at a more appropriate position. The marker M may be a barcode such as a one-dimensional barcode or a two-dimensional barcode. In this case, the position detection unit 51 is configured by a barcode reader. [Explanation of symbols]

[0129] 10, 110 base portion, 11 pedestal portion, 11a extension member, 11b connecting member, 12 side member, 15 braking caster, 15a wheel portion, 16 braking mechanism portion, 16a wire pulling mechanism, 16b gear, 16c claw portion, 17 swivel caster, 20, 120 lifting support portion, 21 support member, 21a grip portion, 22 handle portion, 23 relay member, 23a front extension portion, 23b lower extension portion, 24 abdominal arm, 25 chest arm, 28 lifting mechanism portion, 30 abdominal support member, 40 chest support member, 50 detection portion, 51, 151 position detection portion, 51R detection range, 53 pressing force detection portion, 53a hinge lever, 53b belt portion, 54 load detection portion, 55 distance detection portion, 60 Control box, 61 control unit, 61a signal processing means, 61b operation processing means, 61c output processing means, 62 memory unit, 62P mobility assistance program, 71 brake operation unit, 72 lift operation unit, 80 output unit, 81 light-emitting unit, 82 notification unit, 100, 200 mobility assistance device, 123a lower extension unit, 123b front extension unit.

Claims

1. A base portion provided with a movable member; A lift support part connected to the base part and supporting a user's body; a braking mechanism for stopping the horizontal movement of the base portion; A detection unit that transmits a detection signal; A control unit that activates the braking mechanism when the detection signal transmitted from the detection unit indicates that a part of the user's body other than the limbs is approaching the lifting support unit.

2. A base portion provided with a movable member; A lift support part connected to the base part and supporting a user's body; a braking mechanism for stopping the horizontal movement of the base portion; A detection unit that transmits a detection signal; a control unit that activates the braking mechanism unit when the detection signal transmitted from the detection unit indicates a predetermined movement of the user's body; An abdominal support member provided on the lift support portion, The detection unit is A pressure detection unit detects a pressure applied to the abdominal support member, The control unit is A movement assistance device that controls the braking mechanism in response to the detection signal transmitted from the pressing force detection unit.

3. a lift mechanism for driving the lift support; a lifting operation unit that receives an operation for instructing the lifting mechanism unit to be driven and transmits a drive request indicating the content of the received operation, The control unit is A mobility assistance device as described in any one of claims 2, wherein when a drive request is sent from the lifting / lowering operation unit, if the pressure detected by the pressure detection unit is equal to or greater than a pressure threshold value, the lifting / lowering mechanism unit is driven.

4. An output unit that outputs various information, The control unit is A mobility support device as described in claim 3, which, when a drive request is sent from the lifting operation unit, causes the output unit to output warning information indicating an error if the pressure detected by the pressure detection unit is below the pressure threshold value.

5. A base portion provided with a movable member; A lift support part connected to the base part and supporting a user's body; a braking mechanism for stopping the horizontal movement of the base portion; A detection unit that transmits a detection signal; a control unit that activates the braking mechanism unit when the detection signal transmitted from the detection unit indicates a predetermined movement of the user's body; a chest support member provided on the lift support section, The detection unit is a load detection unit that detects a load applied to the chest support member, The control unit is A movement assistance device that controls the braking mechanism in response to the detection signal transmitted from the load detection unit.

6. a lift mechanism for driving the lift support; a lifting operation unit that receives an operation for instructing the lifting mechanism unit to be driven and transmits a drive request indicating the content of the received operation, The control unit is The mobility support device according to claim 5 , wherein when a drive request is transmitted from the lifting operation unit, if the load detected by the load detection unit is equal to or greater than a load threshold, the lifting mechanism unit is driven.

7. An output unit that outputs various information, The control unit is The mobility support device according to claim 6, wherein when a drive request is transmitted from the lifting / lowering operation unit, if the load detected by the load detection unit is below the load threshold value, the output unit is caused to output warning information indicating an error.

8. A base portion provided with a plurality of movable members; A lift support part connected to the base part and supporting a user's body; Two braking mechanisms mounted on different movable members to stop horizontal movement of the movable members; A detection unit that transmits a detection signal; a control unit that activates the braking mechanism unit when the detection signal transmitted from the detection unit indicates that the base unit has reached a predetermined point, The detection unit is a position detection unit that detects markers that indicate stop positions of the movable member and are provided on a floor or a ceiling in association with each of the two braking mechanisms, The control unit is When the detection signal indicating that the marker has been detected is received from the position detection unit, the brake mechanism unit corresponding to the position detection unit is actuated, A mobility assistance device that realizes rotational movement around the movable member on which the braking mechanism unit is mounted during operation in response to an artificial external force.

9. A base portion provided with a movable member; A lift support part connected to the base part and supporting a user's body; a braking mechanism for stopping the horizontal movement of the base portion; A detection unit that transmits a detection signal; a control unit that activates the braking mechanism unit when the detection signal transmitted from the detection unit indicates a predetermined movement of the user's body, The detection unit is A distance detection unit is provided on the lift support unit and measures a distance between the lift support unit and a user's head or a portion around the head, The control unit is A mobility assistance device that activates the braking mechanism when the distance measured by the distance detection unit becomes less than a boarding distance threshold.

10. A control unit provided in a movement support device having a base unit on which a movable member is provided and a lift support unit connected to the base unit, Receives a detection signal from the detector, A mobility assistance method, comprising: activating a braking mechanism that stops horizontal movement of the base part when the input detection signal indicates that a part of the user's body other than the limbs is approaching the lifting support part.

11. a control unit provided in a movement support device having a base unit on which a plurality of movable members are provided, a lift support unit connected to the base unit, two braking mechanisms mounted on different movable members and stopping horizontal movement of the movable members, and a position detection unit associated with each of the two braking mechanisms and detecting markers provided on a floor or a ceiling, when a detection signal indicating that the marker has been detected is received from one of the position detection units, the braking mechanism unit corresponding to the one of the position detection units is actuated to realize a rotational movement around the movable member on which the braking mechanism unit is mounted in response to an artificial external force; When the detection signal is received from the other of the position detection units, the braking mechanism unit corresponding to the other of the position detection units is activated.

12. A computer mounted on a mobility support device having a base part on which a movable member is provided and a lift support part connected to the base part, A signal processing means for receiving a detection signal from the detection unit; and a mobility assistance program for causing the signal processing means to function as an action processing means for activating a braking mechanism that suppresses horizontal movement of the base part when the detection signal input to the signal processing means indicates that any part of the user's body other than the limbs is approaching the lifting support part.

13. A computer is mounted on a movement support device having a base on which a plurality of movable members are provided, a lift support connected to the base, two braking mechanisms mounted on different movable members and stopping horizontal movement of the movable members, and a position detection unit associated with each of the two braking mechanisms and detecting markers provided on a floor or a ceiling, when receiving a detection signal indicating that the marker has been detected from the position detection unit, the brake mechanism unit is caused to function as an operation processing unit that operates the brake mechanism unit corresponding to the position detection unit; The operation processing means includes: A mobility assistance program which activates one of the braking mechanism units in response to a detection signal from one of the position detection units indicating that the marker has been detected, thereby realizing rotational movement around the movable member on which the one of the braking mechanism units is mounted in response to an artificial external force, and activates the braking mechanism unit corresponding to the other of the braking mechanism units in response to the detection signal from the other position detection unit.

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