Nursing diapers, nursing robots and nursing equipment

Abstract

To provide a nursing diaper that can be changed by a robot. [Solution] The diaper 38 is, for example, an open-type diaper in which a waist-side overlapping element 39, a crotch-side overlapping element 40, and a belly-side overlapping element 41 are integrally connected, and auxiliary means are provided on the inner surface or outer surface of the diaper 38 to facilitate changing the diaper by a robot. The auxiliary functional part is, for example, a detectable part that can be detected by an optical sensor or the like. The detectable part is center lines 49a, 49b along a center line 48, or sensing cells 51-54, 56, 57 arranged in large numbers on the inner surface or outer surface of the diaper 38. A thickened gripping piece 47c of a side tape 47 can also be an auxiliary functional part that facilitates gripping with the fingers of a robot 3, 75. Since changes in the shape and posture of the diaper 38 can be accurately grasped, changing the diaper can be performed accurately.

Description

[Technical field]

[0001] The present invention relates to a nursing diaper, a nursing robot, and a nursing facility. Here, a robot refers to a device that is equipped with at least a part (hand) equivalent to a human hand. , it does not necessarily have to be a doll with a head, torso and limbs. [Background technology]

[0002] The aging of the population is progressing in many countries, including Japan, and the number of people requiring nursing care is also increasing. There are stages in the level of care required, but the level of caregiver and care recipient The most difficult task for both parties is changing diapers when the person being cared for is bedridden.

[0003] Diapers for bedridden people are generally open-type diapers that are secured with tape on both sides. The caregiver can position the care recipient on their back, right side, or left side. While changing the sleeping position and posture, remove the old diaper and put on a new one, The patient then undergoes a series of washings of the genitals, etc.

[0004] Changing diapers for bedridden people requires a series of detailed tasks and is therefore done by hand. During the exchange, the care recipient exposes their private parts and leaves the job to the caregiver, which is very tiring for the caregiver. Not only is it hard work, but it also causes embarrassment for the care recipient and emotional pain for the caregiver, making it difficult for both the care recipient and the caregiver to There is also the problem of feeling a psychological burden on both the caregiver and the patient. Most of the care is provided at home, but care at home requires sacrifices on the part of certain people. Therefore, this is an issue that must be addressed in welfare policy in particular.

[0005] Therefore, the physical and psychological burden of changing diapers is reduced for both the caregiver and the person being cared for. In order to meet this demand, the applicant of the present application has In the patent document 1, we developed a robot system that enables changing diapers of bedridden people. showed. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent No. 7349038 Summary of the Invention [Problem to be solved by the invention]

[0007] If the robot in Patent Document 1 is realized, it will reduce the physical and psychological burden on both the caregiver and the person being cared for. This will make it possible to change diapers with less hassle, greatly improving the harsh conditions surrounding caregivers. However, the current diapers are designed to be changed by hand, so robots are expected to Therefore, there is concern that it may be difficult to change diapers efficiently using robots. There is a demand for improvements that would make it easier to achieve these goals.

[0008] The present invention has been made to meet this demand. [Means for solving the problem]

[0009] The present invention includes many configurations, typical examples of which are specified in each claim. The invention of claim 1 is directed to a nursing diaper, "A waist-side overlapping element that overlaps the waist and the back of the pelvis of the care recipient, and a waist-side overlapping element that is integrally connected to the waist-side overlapping element. A crotch overlapping element that is continuous with the crotch overlapping element and overlaps the crotch of the care recipient, The abdominal overlapping element overlaps the abdomen of the care recipient, and the left and right waist overlapping elements are integrally formed with the waist overlapping element. side flaps, and side tapes for fixing provided on the left and right waist flaps; The waist overlapping element, the crotch overlapping element, the abdominal overlapping element, and the waist flap constitute the present invention. The body is composed of The main body and the side tape are recognized by capturing images with a camera and processing the images. The system is arranged with cells for carrying out mounting operations based on image data of the cells. The stripping process is now possible. In nursing diapers, a: The cells of the main body portion include an inner body cell arranged on the inner surface facing the care recipient; and an outer surface side main body cell arranged on an outer surface facing away from the care recipient. b) The inner surface side body cell and the outer surface side body cell are recognized as different images from each other. At the same time, the inner surface side body cell and the outer surface side body cell each have a unique address. In this way, c) The side tape is attached to the robot both before and after the side tape is attached to the care recipient. "The stencil has a picking piece that can be picked up by hand." It has the following characteristics:

[0010] The invention of claim 2 is an example of the development of claim 1. "The inner and outer surfaces of the tab of the side tape are provided with cells of the side tape. "The tape cells are arranged in a The structure is as follows.

[0011] The invention of claim 3 is an example of the development of claim 1 or 2, The side tape has a structure in which an adhesive layer and the tab are provided on a tape-shaped base material, The gripping piece is formed to be thicker than the material thickness of the base material. The structure is as follows.

[0012] The invention of claim 4 is the same as claim 1 or 2, "The cells of the main body are arranged in a large number in a dot pattern at a predetermined density throughout the main body. It is being done." The structure is as follows.

[0013] The invention of claim 5 is also an example of the development of claim 1 or 2. "The group of inner surface side main body cells and the group of outer surface side main body cells are arranged so as to overlap each other inside and outside. There are many pairs of them. The structure is as follows.

[0014] The invention of claim 6 is also an example of the development of claim 1 or 2. The inner and outer surfaces of the waist overlapping element, the crotch overlapping element, and the abdominal overlapping element are photographed by the camera. Each has a center line that can be recognized by imaging and processing the image. The structure is as follows.

[0015]

[0016]

[0017]

[0018]

[0019] In claim 3, in addition to the thickened portion, embossing or forming an engagement hole is also possible. It is Noh.

[0020]

[0021]

[0022]

[0023]

[0024]

[0025] The invention of claim 7 is directed to a robot that performs the diaper changing task described in claims 1 to 6. This robot is: "The robot is equipped with the camera, left and right hands for operation, and a control device, and the control device is a first program for recognizing the size, sex, and posture of a person being cared for; a second program for executing an action of removing clothes from the care recipient to expose the diaper being worn; a third program for capturing an image of the diaper being worn by a care recipient using a camera and recognizing a three-dimensional shape of the diaper being worn; a fourth program for executing an action of spreading the replacement diaper in a predetermined position; a fifth program for executing an action of placing the replacement diaper spread out in the predetermined position under the care recipient; a sixth program for performing an action of cleaning a soiled part of the care recipient while removing the diaper being worn from the care recipient; and a seventh program for rolling up and removing a diaper worn by the care recipient; and an eighth program for executing putting the replacement diaper on the care recipient, The fourth program is ,end The method includes the steps of: recognizing the position of the side tape based on image data of a part cell; and then gripping the left and right gripping pieces with the hands and moving the left and right hands. the fifth program includes an action of pinching the left and right gripping pieces to spread the diaper and moving the left and right hands below the care recipient, The sixth program is Edge the act of recognizing the internal cell by the camera, and then picking up the left and right picking pieces with the hand and spreading them left and right to release the fixation of the care recipient from the fixed state; the act of peeling back the abdominal overlapping element toward the user to expose the crotch area of ​​the care recipient; and the act of cleaning the crotch area of ​​the care recipient with the hand. the seventh program is configured to move the hand while grasping a change in a three-dimensional shape of the diaper by continuously reading a group of cells of the main body portion with the camera, The eighth program includes an act of recognizing an image of an end cell of the replacement diaper with the camera and then picking up the pick piece with a hand." The structure is as follows.

[0026] The invention of claim 8 is a development of claim 7, "Like a human being, it has a torso, limbs, and a head and can walk independently. The head is equipped with the camera. La is placed there. The invention of claim 9 is also an example of the development of claim 7, "The stand is equipped with casters and has sections that correspond to a human torso, hands, and head." The structure is as follows.

[0027] The invention of claim 10 is directed to a nursing care facility. That is, the nursing care facility comprises: "A robot according to any one of claims 7 to 9 and a person being cared for lying in bed can be photographed. It has an indoor camera, The control device of the robot receives an image of the care recipient and a diaper taken by the indoor camera. Image data is set to be sent. The structure is as follows. Effect of the Invention

[0028] According to the present invention, the diaper is provided with a detection cell as an auxiliary functional part, This is a big step forward towards the realization of robotic exchange. This is good news for both parties.

[0029] In diaper changing tasks using a robot, the robot can recognize the shape of the person being cared for and the diaper (changes in shape). It is essential to grasp the cell three-dimensionally. By providing this function, the robot can easily recognize changes in the shape of the diaper and This will make a significant contribution to making diaper changing easier.

[0030] In addition, when changing diapers, it is not possible to recognize the posture and other morphology of the person being cared for in three dimensions. Although it is necessary to have a camera installed on the robot, the robot can recognize the three-dimensional image of the care recipient. It is also possible to use data captured by an indoor camera installed on the ceiling of the room. It is also possible to provide a pressure sensor on the bed to recognize the posture of the person being cared for. do.

[0031] As mentioned above, diapers for bedridden care recipients are generally made from the viewpoint of ease of changing. In this regard, the present invention also employs a swing-out type. When the center line is provided as in claim 6, the waist side polymerization element and the abdominal side polymerization element of the opening type are On the other hand, if the gather detection part is provided, the crotch The robot can accurately cover the absorbent body arranged in the partially overlapping element with gathers. This prevents the absorbent from spilling out and causing bodily waste to seep out. It is preferable to provide both the detection unit and the sensor unit.

[0032] The detected part can be arranged in various forms. As in claim 4, the detected part is arranged in a dot pattern. This allows the robot to accurately detect the three-dimensional shape of the diaper. This encourages accuracy and improves the satisfaction of the person receiving care.

[0033] The detection part can be provided integrally on the surface of the diaper, or it can be provided later. The retrofit method has the advantage that the current diapers can be used as is. For example, conductive ink or conductive paint can be applied or impregnated and read by a magnetic sensor. By combining this with optical detection, it is possible to detect differences in the physical build of the care recipient. This allows for detailed replacement work to be carried out in response to the needs of the customer.

[0034] When putting on a diaper of the open type, the crotch overlapping element is placed on the care recipient from the unfolded state. The abdominal side polymerizing element is wrapped around the crotch of the abdomen, and the abdominal side polymerizing element and the waist side polymerizing element are overlapped. The flap is taped over the side of the person being cared for, so that the unfolded state and the If the shape of the diaper can be recognized from the state where it is placed on the caregiver, it can be put on accurately. The same applies when removing the diaper.

[0035] In addition, when the detection part is provided on the front side and the back side of the diaper as in the present invention, This allows accurate detection of changes in shape from the unwrapped state to the worn state, and vice versa. This is advantageous because it allows the diaper to be put on and taken off accurately.

[0036] When removing and putting on a diaper in a series, the robot In this regard, it is necessary to be able to distinguish between old and used diapers by optical imaging and image processing. It is also possible to recognize old and new diapers.

[0037] If time has passed since the person receiving care defecates, it is not only uncomfortable for the person receiving care, The process of replacing the mask is also time-consuming. Therefore, it is possible to quickly change the diaper. Therefore, it is possible to suppress the discomfort of the person receiving care. It can also help reduce the effort of changing diapers. By placing odor and moisture sensors on the bed, The same effect can be obtained by a configuration in which excretion can be detected by the above.

[0038] When changing diapers with a robot, the robot must pick up the diaper with its hands, just like when changing diapers by hand. Picking power Just like a human fingertip To It is very difficult to adjust the gripping force. In this regard, by making the gripping piece thicker as in claim 3, it is possible to firmly grip the diaper while preventing the fingertips from slipping, without having to finely control the fingertips of the robot or to use excessively large gripping force. This can therefore contribute to the realization of diaper changing using a robot. Furthermore, by providing a thick gripping piece as in claim 3 as the gripping facilitation section, it is possible to accurately grip the diaper with the fingertips of the robot without having to significantly change the current configuration. This is therefore highly realistic.

[0039] Current open-type diapers have flaps on the left and right sides where the care recipient's waist is placed. The left and right waist flaps are folded and secured with side tape, and the side tape has a tab. However, in the present invention, the waist side overlapping element and It is possible to provide a tab at an appropriate location such as the crotch overlapping element or the abdominal overlapping element. By providing a gripping piece for the robot, it is possible to work without being limited by existing work patterns. This could bring progress towards making diaper changing by robots a reality.

[0040] It is difficult to make a robot perform the same movements as a human at present, so we need to consider adaptability to the current situation. Even with the robot's awkward hand and finger movements, the person receiving care can still interact with it without feeling uncomfortable. In this regard, the structure of the diaper is assumed to be such that it can be changed easily by simply pulling the fixing member. By adopting a structure that can release the diaper that is fixed in place, the robot can greatly improve diaper changing. It can be promoted.

[0041] Changing a diaper involves removing the old diaper from the person being cared for and putting on a new one. It comes as a set, but if the diaper is treated to make it easier to slide off the bed, The old diaper can be quickly removed. This improves workability and reduces the burden on the care recipient. It is also advantageous for the patient as it allows them to quickly escape from an uncomfortable situation.

[0042] As mentioned at the beginning, the current manual diaper changing process is very stressful for the person being cared for. The patient is asked to change positions between lying on his / her back and lying on his / her side. The caregiver places his / her hands on the waist of the person being cared for to change the position to side or back, but Changing the posture requires delicate adjustment of the force applied, which is very difficult for a robot to do. Therefore, it is not possible to change diapers while the person is lying on their back. This is ideal for making great strides in robotic tasks, and is also beneficial for the care recipient's physical and mental well-being. This is advantageous as it reduces the physical burden.

[0043] In this respect, as in the embodiment, a part of the bed is lowered to a position below a part of the body of the care recipient. This can be achieved by forming a space in the diaper. When the diaper is removed, the space created under the body can be used to put on and take off the diaper on the person being cared for. This makes it easier to handle diapers, thus making it possible to change diapers using a robot. can contribute to.

[0044] The inventions of claims 7 to 9 are directed to robots, but they are also intended to make effective use of improved diapers. This will be a major step forward towards making diaper changing by robots a reality. When an indoor camera is used in combination as in claim 10, it becomes possible to recognize the shape of the diaper and the posture of the person being cared for. This will allow for a dramatic improvement in accuracy, further advancing the robotization of diaper changing. Cut. [Brief description of the drawings]

[0045] [Figure 1] FIG. 1A is a plan view of a bed to which the embodiment can be applied, and FIG. 1B is a schematic diagram of a nursing care site in which the robot of the first embodiment is typically displayed. [Diagram 2] FIG. 1A is a plan view (outer view) of the diaper of the first embodiment in a state where the diaper is unfolded to expose the inner surface, and FIG. 1B is a cross-sectional view seen from the BB direction of FIG. [Diagram 3] FIG. 1 is a plan view (rear view) of a diaper according to a first embodiment in a state where the diaper is unfolded and an outer surface is exposed. [Figure 4] FIG. 2 is a plan view showing a first stage of folding the diaper of the first embodiment. [Diagram 5] FIG. 4 is a plan view showing second to fourth stages of folding the diaper of the first embodiment. [Figure 6] FIG. 2 is a plan view of the bed showing its relationship with the skeleton of a care recipient. [Figure 7] FIG. 1A is a side view of the bed, FIG. 1B is a side view showing an example of a driving means for the liftable support, FIG. 1C is a cross-sectional view showing an example of the structure of the support, and FIG. [Figure 8] 1A to 1C are side views showing the process of removing trousers in preparation for changing a diaper, and 1D and 1E are plan views showing the process of unfolding the diaper in order to remove it. [Figure 9] FIG. 2 is a side view showing the first to third steps of removing and washing a diaper. [Figure 10] FIG. 11 is a side view showing the fourth and fifth steps of removing the diaper. [Figure 11] FIG. 2 is a side view showing how to remove the diaper by rolling it up from the back. [Figure 12] FIG. 2 is a side view showing the first to fourth steps of putting on a diaper. [Figure 13] FIG. 11 is a side view showing a fifth step of putting on the diaper. [Figure 14] FIG. 11 is a schematic diagram of a robot according to a second embodiment. [Figure 15] FIG. 11 is a control block diagram when the robot of the second embodiment is used. [Figure 16] FIG. 2 is a perspective view of a diaper according to a reference example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0046] Next, an embodiment of the present invention and related technologies will be described. In this case, the top and bottom directions are used to refer to the head side of the person being cared for as the top, and the foot side as the bottom. The left and right sides are defined as the left and right sides of the person receiving care. The wording "outer" is used, but the inner side refers to the side that overlaps with the person receiving care, and the outer side refers to the side that is exposed to the outside of the person receiving care. This is the side that is presented.

[0047] (1) Overview of the site Figure 1 shows a schematic diagram of an example of a nursing care site. The care recipient 1 is assumed to be a bedridden person, and only the skeleton is shown. The figure shows the skeleton of care recipient 1 lying on bed 2, but the figure shows the skeleton of care recipient 1. It is intended to contrast with the structure of bed 2.

[0048] The nursing robot 3 shown in Figure 1 is a humanoid robot with multiple joints and walks autonomously, and can move in the same way as a human. The robot has a skeleton and can move like a human. The eyes of the robot 3 are camera 4 (eye camera). The mouth is a speaker 5 and the ears are a microphone 6. The human hand has five fingers and can grasp, lift, and move objects just like a human hand. In Fig. 1, only the skeleton of the robot 3 is shown, but the robot can also be used to communicate with the care recipient 1. In order to ensure a sense of closeness, the robot was given flesh and clothing to create an android-like appearance. It is good. It is good to give the robot 3 a name.

[0049] If the care recipient 1 is able to converse, a conversation program is inserted into the control device to enable the care recipient 1 to converse. It is preferable to set it so that the conversation has a learning effect. The information should be updated daily. Even if the care recipient 1 cannot speak, The system is set up to call out to users as appropriate.

[0050] A stand 7 is attached to the side of the bed 2, and an indoor camera 8 is attached to the stand 7. The indoor camera 8 is used to recognize the posture of the care recipient 1, and the robot 3 is equipped with an eye Unlike camera 4, it is fixed, so it has excellent functions such as recognizing the posture of the care recipient 1. The indoor camera 8 can be fixedly installed on the ceiling or wall of the room. From the viewpoint of respecting privacy, it is preferable to use a retrofit system that is used only when changing diapers. .

[0051] A mobile auxiliary stand 9 is placed next to the bed 2. The auxiliary stand 9 holds diapers for changing. A trash can can be used to put in used diapers, wipes, and other waste. The box is installed inside the auxiliary stand 9. The box contains accessories such as cleaning solution spray, wipes, and trays. The assistive devices can be placed on the auxiliary stand 9. Drying the cleaning area with hot air is comfortable for the care recipient 1. It is understood that this is a good idea, and as a means of achieving this, it is possible to equip the robot 3 with a hot air blowing function. However, in order to respect the dignity of the person being cared for, the actions of the robot 3 are to be as humane as possible. It is preferable to dry the material using a dryer placed on the auxiliary stand 9, similar to the drying method described above.

[0052] Now, the care recipient 1 has the left and right arms 10, the left and right hands (fingers) 11, the head 12, the back (shoulder blades and spine) vertebrae, torso) 13, lumbar region (lumbar vertebrae) 14, pelvis 15, thigh (femur) 16, foot 17, shin On the other hand, the bed 2 has a base 21 supported by legs 20 and a foot 19 that is in contact with the ground. and a bed plate 22 disposed thereon via a support member (not shown). The bed plate 22 is divided into several parts.

[0053] That is, the bed plate 22 is arranged in the following order from the head 12 side of the care recipient 1: ◎ A head support 23 for supporting the head 12 of the care recipient 1; A back support 24 for supporting the back 13 of the care recipient 1; A lumbar support 25 that mainly supports the lumbar region 14 of the care recipient 1; A pelvis upper support 26 for supporting the upper part of the pelvis 15 of the care recipient 1; A pelvis middle support 27 for supporting the upper and lower middle parts of the pelvis 15 of the care recipient 1 at the left and right middle parts of the bed 2; A pair of first side supports 28 are positioned on both the left and right sides of the pelvic middle support 27. A pelvis lower support 29 for supporting the lower part of the pelvis 15 of the care recipient 1 at the left-right intermediate part of the bed 2; A pair of second side supports 30 are positioned on both the left and right sides of the pelvis lower support 29. A thigh upper support 31 for supporting the upper part of the thigh 16 of the care recipient 1 at the left-right intermediate part of the bed 2; A pair of third side supports 32 located on both the left and right sides of the thigh upper support 31; A thigh lower support 33 that generally supports the lower part of the thigh 16 of the care recipient 1; ◎ Care recipient 1 Ankle 17 and a shin support 34 supporting the shin 18; ◎ A foot support 35 for supporting the foot 19 of the care recipient 1; Each of these supports 23 to 35 can be moved independently or as a set of a plurality of supports. The details of the movement (control) will be described later.

[0054] In this embodiment, the support is divided into three parts on the left and right at the pelvis 15 and thighs 16 of the care recipient 1. However, it may be configured so that the light falls as a whole without being divided into left and right parts. The pelvis middle support 27 and the first side support 28 are integrated, and the pelvis lower support 29 and the second The side support 30 is integrated, and the thigh upper support 31 and the third side support 32 are integrated. It may be embodied.

[0055] (2) Diaper structure and how to put on and take off The shape and structure of the diaper of the first embodiment are shown in Figures 2 and 3. This diaper 38 is open. A waist overlapping element 39 overlaps the back part of the waist 14 and the pelvis 15 of the care recipient; A crotch overlapping element 40 overlaps the crotch of the care recipient 1 (the lower surface of the pelvis 15) and the abdomen of the care recipient 1. and a ventral overlapping element 41 overlapping the ventral overlapping element 42, which are integrally continuous.

[0056] The inner surface of the crotch overlapping element 40 (the surface facing the care recipient 1) is made of a cotton-like material with a water-absorbent polymer. The absorbent body 42 is held in an inseparable manner (the absorbent body 42 is shown by solid diagonal lines in FIG. 2). 3, the absorbent body 42 is formed by the crotch overlapping element 40. The upper and lower middle parts of the waist side overlapping element 39 and the ventral side overlapping element 40 are located on the inside of the left and right side edges of the waist side overlapping element 39. The inner surface of the absorbent body 42 is stretched to the middle of the upper and lower parts of the absorbent body 41. The inner gathers 43 are arranged on the left and right sides of the crotch overlapping element 40. -Gathers 44 are arranged.

[0057] The waist side overlapping element 39 has rectangular waist side flaps 45 integrally connected to both the left and right edges thereof. The left and right side edges of the overlapping element 41 are integrally connected to rectangular abdominal flaps 46. The width of the flap 45 is slightly smaller than the width of the waist side overlapping element 39. The left and right width of the pad 46 is slightly smaller than the left and right width of the ventral overlapping element 41.

[0058] Two side tapes 47 are arranged on the top and bottom of both ends of the left and right waist flaps 45. As shown in FIG. 2(B), the side tape 47 is a base material fixed to the waist flap 45 by welding or the like. The base material 47a, an adhesive layer 47b (or a hook-and-loop fastener layer) provided on the base material 47a, and the adhesive layer 47b The tab 47c is folded in half to make it thicker. is.

[0059] The waist overlapping element 39, the crotch overlapping element 40, and the abdominal overlapping element 41 are a base sheet extending continuously. The flaps 45 and 46 are formed by extending the base sheet. That is, the diaper 38 has a base sheet having flaps 45, 46 that defines its appearance. The absorbent body 42 and gathers 43, 44 are arranged on the base sheet. It has a structure in which all components are fixed.

[0060] 4 and 5 show an example of a procedure for putting on a diaper 38 on the care recipient 1. That is, as shown in FIG. 4, first, the device is placed under the care recipient 1 (not shown) in an unfolded state. Then, the ventral flap 46 of the ventral overlapping element 41 is folded, and then, as shown in FIG. Then, the abdominal overlapping element 41 with the abdominal flap 46 folded is folded back toward the abdomen of the care recipient 1. Then, as shown in FIG. 5(B), one of the waist flaps 45 is folded onto the abdominal overlapping element 41. These are then overlapped and secured with side tapes 47, and finally, the other waist flap 45 is attached to the other waist flap 45. It is folded over the flap 45 and secured with side tape 47 .

[0061] In Fig. 5(B) and (C), the side tape 47 is shown fixed in a simple horizontal position. However, in order to improve the fit to the care recipient 1, the lower side tape 4 7 extends obliquely upward, and the upper side tape 47 extends obliquely downward. When removing the diaper 38, the procedure is basically the reverse of that for putting it on. It is rolled or folded to accommodate the load, and never returns to its unfolded state.

[0062] (3) Detectable part The diaper 38 is provided with a plurality of types of detection target parts. First, as shown in FIG. The inner surface of 38 is divided into a waist side overlapping element 39, a crotch overlapping element 40, and a belly side overlapping element 41 into left and right. An inner center line 49a is formed along the center line 48. As shown in FIG. 1, the outer surface of the diaper 38 has an outer center line 49 extending along the center line 48. b is formed.

[0063] The inside and outside center lines 49a, 49b are photographed by, for example, the eye camera 4 and the interior camera 8. This is an example of an optically detected part that can be imaged, and the background color of the diaper 38 (base sheet) is The center lines 49a and 49b are displayed in different colors. The marking can be formed by printing using a printing means such as ink or adhesive, or by welding or adhering a belt-shaped member. It is considered that it is preferable to use paint. In particular, the inner center line 49a is also applied to the absorbent body 42. This may impair the function of the absorbent body 42 or cause discomfort to the care recipient 1. It is necessary to take care not to cause any damage to the surface of the ink. Therefore, it is preferable to form the ink by printing. The jet method is preferred.

[0064] In the figure, the center lines 49a and 49b are shown as a continuous line, but they may extend intermittently. Alternatively, the diaper 38 may be provided as a special item to be changed by the robot 3. If the mark is to be used, it must be printed with ink that is visible to an infrared camera and not visible to the naked eye. When the caregiver replaces the device, the center line 48 is clearly indicated. Therefore, the center lines 49a and 49b are made of a color that can be easily seen by humans. It may be said that it is preferable to display the center line 49b on the outer surface. (Adhesion, etc.) is also acceptable.

[0065] As shown in FIG. 3, the outer center line 49b is a reference line (for example, a center line) of the bed 2. In order to determine the position and orientation of the outer center line 49b relative to the center line (the auxiliary center line), The auxiliary center sensing cell 51 is made of, for example, gold. The metal part is covered with fine metal foil such as aluminum foil or coated with metal-containing paint (conductive paint). These auxiliary center sensing cells 51 are arranged in the bed 2. The center detection sensor (metal sensor, proximity sensor) 50 detects the temperature of the bed 2. From a comparison with a reference line (for example, a center line), the outer center line 49b of the bed 2 Posture is recognized.

[0066] On the other hand, the relationship between the reference line of the bed 2 and the posture of the care recipient 1 is obtained from the image captured by the indoor camera 8. Therefore, the center lines 49a, 49b of the diaper 38 overlap with the body axis of the care recipient 1. The diaper 38 can be arranged so that the center lines 49a and 49b are aligned with the The object 1 is made of a thin thread that does not feel strange when touched, and the thread is lit by a person and a camera 4, 8. It is also possible to set the color to something that is clearly visible (in this case, at least the outer center line If a metal wire is twisted into the thread constituting the in 49b as an auxiliary center sensing cell 51, good.).

[0067] As shown in FIG. 2, the inner surface of the diaper 38 is provided with a detection cell as an example of the detection cell described in the claims. , a group of inner peripheral sensing cells 52 extending along the outer periphery, and an inner peripheral sensing cell 52 located inside the outer periphery. 3, the diaper 38 has a group of side internal sensing cells 53. The outer surface of the detection cell may also include an outer peripheral edge extending along the outer periphery as an example of the detection cell described in the claims. A group of sensing cells 54 and a group of outer surface side internal sensing cells 55 located inside the outer periphery. Therefore, a large number of sensing cells 52 to 55 are provided on the inner and outer surfaces of the diaper 38. The groups are arranged in a dot pattern.

[0068] In this case, the shape of the inner sensing cells 52, 53 and the outer sensing cells 54, 55 By changing the shape, the inside and outside of the diaper 38 can be easily distinguished. The diaper 38 has outer peripheral sensing cells 52 and 54 and inner sensing cells 5 It is preferable to distinguish between the peripheral sensing cells 52, 55, for example. This can be achieved by making the size of the sensing cell 54 different from that of the internal sensing cells 53 and 55.

[0069] Furthermore, the inner sensing cells 52 and 53 and the outer sensing cells 54 and 55 It is preferable to address each of the sensing cells 52, 53. This can be achieved by displaying figures with different shapes, sizes, etc. in each of the cells 52 to 55. As shown in FIG. 2(A), the side tape 47 has a tab. The inner and outer surfaces of the piece 47c are provided with tape cells 56, 57 that are detected by the cameras 4, 8. The inner and outer tape cells 56 and 57 are, for example, colored differently on the front and back of the tab 47c. By changing the configuration, different configurations can be achieved.

[0070] As shown in FIG. 3, a left-hand side sensor is provided inside the absorbent body 42 as an example of a detection target portion for detecting an excretory state. The right-hand sensing cord 58 is arranged in multiple rows. It is a water-absorbent resin thread with a strong stiffness, and metal threads are intertwined. The sensing cord 58 is made of water-absorbent thread. Since the sensing cord 58 contains metal, it becomes magnetic when it is vibrated. A magnetic or electric field is generated.

[0071] When the sensing cord 58 absorbs excrement and its weight increases, it becomes less likely to vibrate. Since the strength of the magnetic or electric field also decreases, a specific A minute vibration of a predetermined intensity is applied to the sensing cord 58, and the magnetic field or The strength of the electric field is measured by a sensor (magnetometer or ammeter) installed on bed 2, In this case, it is possible to detect the degree of dirt on the sensing cord 58. Depending on whether the code 58 is dirty, you can determine the type of excretion. The amount of weight increase differs depending on whether the feces is in the urine or not, so the excretion can be recognized. It is best to do it intermittently, such as at 0 minute intervals.

[0072] As an example of a gather detection part, the inner gather 43 has a different color at its edge from the base material. The inner gather cells 43a are intermittently formed with different colors. The outer gather cell 44a is also provided with an outer gather cell 44a having a different color from the base material. Although the cells 43a of the inner gather 43 are formed intermittently, the color of the cells 43a of the outer gather The color of the cell 44a in the cell 44 is different from that of the cell 44a in the cell 44. - Gathers 43 and outer gathers 44 can be clearly distinguished, and changes in shape can be easily grasped. can.

[0073] As shown by the dashed line in FIG. 2, as an example of an auxiliary functional part, a side edge of the abdominal flap 46 is provided with a sizing member. A lower auxiliary gripping piece 38b is provided at the lower end of the abdominal overlapping element 41. Although not shown, an auxiliary gripping piece can be attached to the upper end of the waist side overlapping element 39. Alternatively, auxiliary gripping pieces may be provided on the left and right side edges of the crotch overlapping element 40.

[0074] (4) Bed structure FIG. 6 clearly shows the relationship between the bed 2 and the skeleton of the care recipient 1. This is the same as Figure 1(A).

[0075] As described above, the bed plate 22 is divided into a plurality of supports 23 to 35. As shown in FIG. 7(A), a head support 23, a back support 24, a lumbar support 25 and a pelvic upper The support 26 and the pelvis middle support 27 are connected as a whole and can be raised upward and rotated. Furthermore, the head support 23 can be raised and rotated relative to the back support 24. do.

[0076] For this reason, the first support 23 to the pelvis middle support 27 is supported and can be raised and rotated. The tilting body 61 is rotatably connected to the base 21 (or the machine frame, not shown), and The second tilting body 62 to which the part support 23 is attached is rotatably connected to the first tilting body 61. The tilting bodies 61 and 62 can be driven individually by a motor, or can be connected to each other by a wire or a ring. It is also possible to drive them by a common motor (not shown) via an interlocking member such as a drive shaft.

[0077] Each of the supports from the lumbar support 25 to the foot support 35 can be lowered individually. An example of the structure is shown in FIG. 7(B). In this example, the lift-up type supports 25 to 35 are guide shafts. 63 and a guide tube 64, the base 21 (or a machine frame, not shown) is supported so as to be freely raised and lowered. The cam 65 is configured to raise and lower the cam 65 in conjunction with a pinion 66. The racks 67 rotate along the front and rear of the racks. The motor 68 is driven by the rack 67. Therefore, the rotation of the common motor 68 is transmitted to an arbitrary rack 67. A clutch mechanism is provided separately.

[0078] The head support 23 to the pelvis middle support 27 can be raised and rotated, and the lifting supports 25 to 35 can be raised and lowered. The lifting and lowering can be performed by a single common motor 68. 35 can be biased upward by a spring (not shown). Alternatively, it can be lowered by pulling a wire. Or it can be driven by a hydraulic cylinder. They can also be raised and lowered individually using motors.

[0079] The supports 23 to 35 are made by attaching a cushioning material 70 to a base plate 69 and covering it with a covering 71. As shown in FIG. 7(C), the cushioning material 70 is made up of a lower layer 70a and an upper layer 70b. For example, the lower layer 70a may be made of a material made of a number of resin fibers intertwined and engaged. A three-dimensional mesh can be used, and a soft nonwoven fabric can be used as the upper layer 70b. A suction machine can be installed to prevent this, but the cushion material 70 is made of a three-dimensional mesh and nonwoven fabric. By doing so, it is possible to ensure the absorption of moisture from the skin surface of the care recipient 1.

[0080] When changing the diaper 38, for example, as shown in FIG. 12, the care recipient 1 is temporarily placed on the knees. It is necessary to keep it in an upright (bent) position, as shown by the dashed line in Figure 12. It is preferable to use a support 71 that holds the knees in an upright position as shown in FIG. It is made of a sturdy material and can be placed stably on bed 2.

[0081] (5) Removal and cleaning of old diapers Next, an example of a procedure for changing a diaper 38 will be described. The procedure for changing the diaper involves removing the old diaper 38, putting on a new diaper 38, and washing the soiled part. The current manual method involves removing old diapers38 and cleaning the diapers at the same time. There are two methods: one is to wash the diaper first and then put on a new diaper 38. 8 to 10 show an example of the latter procedure, in which an old diaper 38 is removed. is doing.

[0082] In this example (and other examples as well), the care recipient 1 is wearing a pair of pajamas. This is based on the premise that the pajama pants 72 must be removed. Therefore, as shown in FIG. 8(B), each of the supports from the lumbar support 25 to the foot support 35 is The bodies 25 to 35 are lowered in order to form a working space 74 at the lowered positions, The pants 72 are removed from the care recipient 1 by sliding down the pants 72.

[0083] The bed plate 22 is composed of a number of supports 23 to 35, so that the care recipient can 1 can have his / her pants 72 removed while lying on his / her back. The trousers 72 can be removed without imposing a physical burden on the caregiver 1. While rolling up the bottom of the pants 72, the lift-up supports 25 to 35 are lowered in order. It is preferable to move the pants 72 in an inchworm-like manner while pushing the pants 72 in. This is done in the reverse order.

[0084] Now, when a person lies on his back and the pelvis 15 is suspended in the air, a large strain is placed on the abdominal muscles. This tension puts a lot of physical strain on people. In particular, people who are bedridden have almost no abdominal muscles. Since the pelvis 15 is in a non-existent position, support of the pelvis 15 is essential. Whether it is putting on or taking off the diaper 38 or the diaper 72, it is important that at least one part of the pelvis 15 The key point is that the part is always supported from below.

[0085] After removing the pants 72, the care recipient 1 is placed in a kneeling position as shown in FIG. 8(C). Then, the waist flap 45 of the diaper 38 is opened, and then the abdominal overlapping element 41 and the crotch overlapping element 42 are opened. The ventral flap 46 may remain folded. As shown in FIG. 9(F), a pelvis middle support 27, a pelvis lower support 29 and a thigh upper support The body 31 is lowered, and the abdominal overlapping element 41 and the crotch overlapping element 40 of the diaper 38 are folded upward. Then, the pelvis is placed under the pelvic middle support 27. A tray 73 is placed between the support 29 and the thigh upper support 31 to wash the pubic area. The tray 73 has a flange 73a formed on the edge of its opening.

[0086] Cleaning should be done according to the situation, such as wiping with wet tissue or dry tissue. If necessary, a cleaning liquid such as hot water can be used. In this embodiment, a void is formed in the bed 2. A tray 73 can be placed in the basin, making it easy to use hot water. In the case of subject 1, the skin is weak and may peel off if rubbed strongly. In this case, you can place the tray 73 and use hot water or cleaning solution freely, so that the waste does not stick to the Even if the skin is dirty, the waste can be washed away without damaging the skin. Therefore, it can be said that the satisfaction level of care recipient 1 is high.

[0087] In a series of operations such as taking off the trousers 72, the operator may perform the operations shown in FIG. As shown by the dashed line in FIG. 1, the upper body of the care recipient 1 can be raised at a slight angle. It is also possible to raise only the head 12. The genitals are exposed and the excrement is disposed of. Although there is a strong psychological resistance to this, at least you should be able to raise your head and see how the work is going. It is believed that being able to recognize this will alleviate feelings of shame and fear to some extent.

[0088] After you have finished disposing of the excrement, press a dry tissue or use a hair dryer to blow hot air on the Then, as shown in FIG. 9(G), the moisture (humidity) is removed from the surface of the genital area. While raising the entire upper body in an inclined state, the pelvic middle support 27 is lowered and the pelvic lobe is supported. The upper thigh support 29 and the upper thigh support 31 are raised, and then the pelvis upper support 26 and The lumbar support 25 is lowered.

[0089] Therefore, in this state, the lumbar support 25, the upper pelvis support 26, and the middle pelvis support 2 In this state, if excrement adheres to the waist of the care recipient 1, In this case, a special tray can be used.

[0090] Between the pelvis lower support 29 and the care recipient 1, there is a folded crotch overlapping element 40 and a ventral overlapping element 41 are interposed, when the pelvis lower support 29 is raised to the original position, the care recipient 1 Therefore, the amount of lift of the pelvis lower support 29 is It is preferable to set the dimension so as to subtract the thickness of the joining element 40 and the ventral overlap element 41 . A pressure sensor is provided on the pelvis lower support 29, etc., so that the value of the pressure sensor does not become excessive. It is also possible to control the amount of rise in this way.

[0091] Also, the lumbar support 25 and bones By lowering the upper base support 26 and the middle pelvis support 27, a working space 74 is formed below the person's waist, but since this working space 74 is shaded by the person and difficult to see from above, a mirror may be placed on the base 21 at a location below the care recipient 1, making it possible to visually check the physical condition of the care recipient 1. The mirror may be fixed in place, or may be placed only when working.

[0092] After the cleaning of the waist of the care recipient 1 is completed, the waist side weight of the diaper 38 is removed as shown in FIG. With the joint element 39 folded upward, the lumbar support 25 and the pelvis upper support 26 are raised. Then, as shown in FIG. 10(I), the pelvis is supported by the pelvis middle support 27 while being lowered. The lower support 29 is lowered to attach the waist overlapping element 39 of the diaper 38 to the crotch overlapping element 40 and the abdominal overlapping element 41. Then, as shown in FIG. 10(J), the pelvis lower support 29 is placed on the side overlapping element 41. While keeping the pelvis middle support 27 lowered, the thigh upper support 31 is lowered. In this state, the old diaper 38 is removed.

[0093] In this way, the old diaper 38 can be removed and the dirt on the care recipient 1 can be cleaned. In the above description, the crotch overlapping element 40 and the abdominal overlapping element 41 are first rolled up to wash the genital area. Then, the lumbar region was cleaned. As shown in FIG. 11, the lumbar support 25 and the The pelvis upper support 26 is lowered to cleanse the lumbar region of the care recipient 1, and then the crotch region It is also possible to move on to cleaning.

[0094] (6) Procedures for putting on a new diaper and other changing procedures The procedure for removing the old diaper 38 and putting on the new diaper 38 is shown in FIG. That is, first, the pelvis lower support 29 and the thigh upper support 31 are lowered, and then A folded diaper 38 is placed in the space. In this case, the second side support 30 and the third side support The support 32 may also be lowered.

[0095] Next, the thigh upper support 31 is raised to stretch the abdominal overlapping element 41 downward, The pelvis middle support 27 is lowered, and the waist side overlapping element 39 is sent upward. Then, as shown in FIG. As shown in (C), the pelvis lower support 29 is raised to connect the pelvis upper support 26 and the lumbar support The body 25 is lowered to spread it over the waist overlapping element 39, and then the waist support 25 and the pelvis upper support 26 are lowered, and then the abdominal overlapping element 41 is rolled up and the waist side flaps are The wraps 46, 45 are folded and fixed.

[0096] The above explanation is for the procedure of first removing the old diaper 38 and then putting on the new diaper 38. However, as shown in FIG. 13, the new diaper was put on while the old diaper 38 was still on. The diaper 38 is placed under the care recipient 1 in an open state, and then the old diaper 38 is removed. In other words, it is possible to carry out the same procedure as the current manual replacement work. Can be adopted.

[0097] In this case, removing the old diaper 38 and washing the genital area are performed in the same manner as shown in Figs. As shown in Figure 11, you can start by washing the genital area and then move upwards. As shown in FIG. 1, the lower back area may be cleaned first and then the cleaning may proceed downward.

[0098] (7) Other examples of robots: Control mechanisms In Fig. 1, a walking doll robot 3 is shown, but in Fig. 14, the upper body is multi-jointed. The robot 75 is a stand-type robot. Both of them have a head 76 and a back (spine) like a human. and lumbar vertebrae 77, left and right arms 78 (hands) and a pelvis 79. It has 80 fingers.

[0099] In the robot 3 in FIG. 1, the pelvis 79 is supported by the left and right walking legs 81. The pelvis 79 of the bot 75 is fixed to a support 83 provided on a stand 82. The stand 82 is mounted so as to be movable up and down and to the left and right. 2 is a four-legged type, and casters 85 are provided at the bottom ends of each leg 84. The robot 75 in Fig. 14 is equipped with a locking mechanism. Therefore, the robot 75 in Fig. 14 cannot walk or move by itself, but it can move. It is possible to use a stationary type.

[0100] In FIG. 14, the back 77 of the robot 75 can tilt forward and backward with respect to the pelvis 79. Both of them can rotate horizontally. Therefore, they can perform the same movements as the humanoid robot 3 in FIG. The fixed robot 75 is more stable than the humanoid robot 3 shown in FIG. Since the robot can be moved freely, it can be said that washing the waist of the care recipient 1 can be done without difficulty. Therefore, the structure is simple and advantageous in terms of cost.

[0101] FIG. 15 shows a control block diagram of the robot 3 and the bed 2. The target is 14 robots 75. As shown in the figure, the control device is the central control U (Central Processing Unit), a group of robot-related sensors and a group of bed-related sensors as input systems, and an output The robot drive system and the bed drive system are included as the power system (drive system). The signal from the sensor is used as an input variable, and the output is calculated based on the program. As a result, the members of the drive system are driven in a preset sequence.

[0102] The robot sensor group includes the eye camera 4, a sensor for detecting the height of the support 83, and a robot A right hand flexion sensor detects the flexion and extension state of the right hand of the robot 75, and detects the movement of the right fingers of the robot 75. A left hand flexion sensor detects the flexion and extension state of the left hand of the robot 75. The left finger sensor group detects the movement of the right finger of 75. The sensors shown in the figure are only a part of the sensor group. In addition, the robot sensor group includes sensors that detect the left and right positions of the support posts, sensors that detect the tilt of the back and water It is equipped with a large number of sensors, including a sensor that detects a horizontal position and the microphone 6 mentioned above.

[0103] The bed-related sensors include the above-mentioned indoor camera 8 and odor sensor 59 (see FIG. 7(A)). A center detection sensor 50, a group of elevation sensors for detecting the height of each support 23 to 35, A group of pressure sensors for detecting the pressure acting on the bodies 23 to 35, and a group of pressure sensors for detecting the angles of the tilting bodies 61 and 62 Although a group of angle sensors is shown as an example, many other sensors such as tray detection sensors may be used. can be used.

[0104] The robot drive system includes a drive unit that moves the robot 75 left and right, and a unit that drives the support 83 up and down. , a drive device for tilting the support 83 back and forth, a speaker 5, a right arm bending and stretching drive device, a right hand (right fingers ) flexion and extension drive devices, a left arm flexion and extension drive device, and a left finger flexion and extension drive device group.

[0105] The bed drive system includes a drive device for the first tilting body 61, a drive device for the second tilting body 62, and a head support. Lifting device, waist support lifting device...shin support lifting device, foot support lifting device, etc. As mentioned above, when each part is driven by one common motor 68, the power transmission In this case, a power transmission device is required to keep the multiple supports in the lowered state. Since it is necessary to maintain the power transmission, multiple power transmission devices are required.

[0106] (8) Summary This embodiment has the above configuration. The robot 3, 75 and the bed 2 are incorporated into the control device. Based on the program, the input signals detected by the sensors are used as variables to calculate the output. The force signal is generated to drive the actuator. The diaper is moved by a series of movements. 38 exchanges can be performed.

[0107] In the diaper 38 of this embodiment, the detection parts such as the center lines 49a and 49b are Therefore, when the diaper 38 is changed by the robot 3,75, The shape and posture of the 38 and its changes are accurately recognized by sensors such as cameras 4 and 8, and the old Accurately remove diapers 38, wash the care recipient 1, and put on new diapers 38. The diaper 38 of this embodiment can also be used for manual changing, but the center line 49 The presence of a and 49b is preferable because it allows accurate alignment.

[0108] In this manner, in this embodiment, by providing the detection means in the diaper 38, the robot 3 ,75 can move in the same way as a human, and it can be used to treat care recipients with different physiques and postures. This provides a comfortable diaper changing experience. This reduces the psychological burden on caregivers and caregivers.

[0109] In this embodiment, the inner gather 43 is provided with a detection cell 43a that can optically detect the inner gather 43. Therefore, the absorbent body 42 is not exposed to the outside of the inner gather 43. By tracing the inner circumference of the inner gather 43 with the fingertips of the pad 3,75, The absorbent body 42 can be covered with the filter 43. This prevents bodily waste from leaking out. can.

[0110] As in the embodiment, the bed 2 and the diaper 3 are composed of a number of movable supports 23 to 35. When used in combination with 8, the care recipient 1 can be diapered while lying on his / her back without having to turn to his / her side. This allows for easy diaper changing, further reducing the physical and psychological burden on the care recipient. The same applies when the replacement is done manually.

[0111] In addition, as in the embodiment, an odor sensor 86 may be provided on the bed 2, or a sensor may be provided on the diaper 38. By providing an excrement detection means such as a gcode 58, the diaper 38 can be changed promptly when excrement is detected. This not only contributes to improving the comfort of the person receiving care 1, but also reduces the effort required for disposal. can also contribute to

[0112] In addition, the detection of the detection target part such as a cell provided in the diaper 38 is performed by the indoor camera 8 and the sensor of the bed 2. When sensing is performed using the same type of sensor, the shape and This can remarkably improve the accuracy of recognition of the posture of the care recipient 1. This will allow us to further advance the digitalization of our business.

[0113] In the above embodiment, the task of changing the diaper 38 of the care recipient 1 lying on the bed 2 has been described. However, the person in care 1 was asked to move to the seated cleaning device, where the diaper 38 was changed and For example, the care recipient 1 is basically in a standing position. After washing, the baby is dried with warm air and then the diaper is put on. The diaper can be put on while being held by the backboard. In this case, it is roughly the same as putting on an unfolded diaper. First, place the device on the back of the care recipient 1, then raise the abdominal overlapping element upwards and tape the device. In this case, the auxiliary grip 38 shown in FIG. By pinching a and 38b with the fingers of the robot, the diaper 38 is smoothly placed on the care recipient 1. It is possible.

[0114] In other words, when putting on a diaper 38 by hand, a person can delicately move their fingertips, so While holding the edge of the diaper 38 with the fingers, the diaper 38 is pulled down on the care recipient 1 without touching the fingertips to the care recipient 1. 1 can be placed on the human body, whereas in the case of a robot, the fingertip control is imperfect. If the fingertips are placed on the hands, there is a risk that the fingertips may come into contact with the body of the person receiving care, causing discomfort to the person receiving care. If the diaper 38 is provided with auxiliary tabs 38a, 38b protruding from its edge, the robot The diaper 38 is placed on the body of the care recipient 1 without touching the fingertips of the care recipient to the body of the care recipient. Therefore, it can be said that the satisfaction of the care recipient can be improved.

[0115] The fingertips of the robot 3,75 are made of urethane resin to give them a softness similar to that of human fingers. However, it is difficult to control the gripping force, and there is a risk of the diaper slipping even when gripping it. However, if the grip is set too strong, problems such as diaper tears may occur. There is a possibility that this may occur, and in the first place, it may be difficult to set it to pinch hard.

[0116] In this regard, in the embodiment, the gripping piece 47c is thickened, and the gripped portion is thickened. When it becomes fleshy, it is easy to hold even if the fingertips are weak. As a means for achieving this, in addition to or instead of thickening, embossing may be performed. Alternatively, a number of projections or recesses or both may be provided, a number of holes may be formed, or the like may be formed as shown in FIG. 4, an engagement hole 38c is formed as shown by the dashed line in FIG. Various structures have been implemented, such as thickening only the edges of the gripping piece 47 to improve the grip of the fingertips. Can be adopted.

[0117] It is also preferable that the gripped portion is made of a material with a high coefficient of friction, such as urethane resin. Alternatively, the fingertips of the robots 3 and 75 are formed into hooks so that they can be engaged with engagement holes provided in the parts to be picked. It is also possible.

[0118] FIG. 16 shows a reference example in which the present invention is applied to a pants-type diaper 86. The outer appearance of the 86 is that of a normal pants type, but the left and right sides are provided with connecting threads 87 as fixing members. The connecting thread 87 is a waist side overlapping element 88 (back body) and a ventral side overlapping element 89 (front body). ) and connect them together by sewing them together. When pulled upwards or downwards with a certain amount of force, The connection between the joining element 88 (back body) and the abdominal overlapping element 89 (front body) is released, and the opening type is the same. Naturally, the waist overlapping element 88 and the abdominal overlapping element 89 are connected to the crotch overlapping element 9 They are connected via 0.

[0119] When the pants-type diaper 86 is worn, the opening edge is rolled outward. Then, the supports constituting the bed 2 are lowered one by one to return the roundness to its original shape. It can be attached to the care recipient 1 by

[0120] On the other hand, when removing the garment, the inside is soiled with excrement and the care recipient 1 needs to be washed. Taking this into consideration, the diaper 86 is opened by pulling the connecting thread 87 while it is being worn, and the diaper 86 is opened in the same manner as in the mold. Then, for example, in the same manner as in Fig. 8(C) to Fig. 10(J), roll it back. Therefore, the pants-type diapers are easy to put on and have no leaks. Without compromising the benefits of the device, such as the reliability of the device, it can also be used by bedridden people, and it is now possible to use the device without compromising the benefits of the device, such as the reliability of the device. The Mutsu 86 can be removed and cleaned.

[0121] Although not shown in the figure, in this reference example, at least the outer surface of the diaper 86 is provided with a cellular or other detectable material. In order to make it easier to recognize when unfolding and removing the cover, there is also a detection part on the inside. It is preferable to provide an end (an engagement portion, a grip portion) of the connecting thread 87. It can also be made into a thick, soft tape to provide a firm hold. .

[0122] Although the embodiment of the present invention has been described above, the present invention can be embodied in various other ways. For example, it is possible to add a coagulant to the diaper to solidify the feces. It is also possible to use activated charcoal as a deodorizer. If you use dried extract residue from the process, you can enjoy a high deodorizing effect using waste materials, which is a good thing. Coffee grounds generated during the manufacture of instant coffee are also worthy of consideration.

[0123] It is also possible to configure the diaper so that dirt on the skin can be wiped off by pulling it. Old diapers are removed by rolling or folding, but a folding or rolling aid is used. It is also possible to incorporate a tape-like member into the diaper or provide it separately.

[0124] When rolling up a diaper, a long and thin tool is used to clamp the edge of the diaper. Rotating to roll up used diapers and rewind new diapers This jig can be attached to the hand of a robot to rotate the jig and raise and lower the bed support. By controlling the system, it is also possible to roll up used diapers and put on new diapers. It is Noh.

[0125] In addition, since the number of times that care recipients urinate is greater than the number of times that they defecate, urine pads are used. However, the present invention can also be applied to diapers that can be fitted with urine pads. In order to facilitate the replacement of urine absorption pads by the user, the abdominal overlapping element and the crotch overlapping element of the diaper are It is possible to provide a mark to indicate the position of the urine pad. [Industrial Applicability]

[0126] The present invention can be embodied in a diaper and a diaper changing robot. Cut. [Explanation of symbols]

[0127] 1. Person receiving care 2 beds 3.75 Robot 4 Eye Camera (Eye) 5 Speaker (mouth) 6. Microphone (ear) 8. Indoor Camera 12 Head of the person receiving care 13 Back of the person receiving care 14 Lower back of care recipient 15 Pelvis of the care recipient 16 Thigh of care recipient 17 Foot joint of the care recipient 18. The shins of the person receiving care 19 Feet of the person receiving care 21 Bed Base 22 Bed Plate 23~35 Supports constituting the bed plate 38 Open diapers 39 Waist side polymer element 40 Crotch overlapping element 41 Ventral polymeric element 42 Absorber 43 Inner Gather 43a Inner gather cell to be detected 44 Outer gather 44a Outer Gather Cell 45 Waist flap 46 Ventral flap 47 Side Tape 47c Thickened knob 48 Center line 49a, 49b Center line as an example of a center detection part 51~55 Main body cells 56,57 Tape Cell 61,62 Bed tilting body 68 Bed drive motor 74 Working Space 78 Arms that make up the hand 80 Arms that make up the hand 86 Pants-type diaper according to the second embodiment 89 Connecting thread as an example of a fixing member

Claims

1. A waist side overlapping element that overlaps the waist and the back part of the pelvis of the care recipient, and a seat that is integrally connected to the waist side overlapping element. A crotch overlapping element that is continuous with the crotch overlapping element and overlaps the crotch of the care recipient, The abdominal overlapping element overlaps the abdomen of the care recipient, and the left and right waist overlapping elements are integrally formed with the waist overlapping element. side flaps, and side tapes for fixing provided on the left and right waist flaps; The waist overlapping element, the crotch overlapping element, the abdominal overlapping element, and the waist flap constitute the present invention. The body is composed of The main body and the side tape are recognized by capturing images with a camera and processing the images. The system is arranged with cells for carrying out mounting operations based on image data of the cells. The stripping process is now possible. A nursing diaper, a: The cells of the main body portion include an inner body cell arranged on the inner surface facing the care recipient; and an outer surface side main body cell arranged on an outer surface facing away from the care recipient. b) The inner surface side body cell and the outer surface side body cell are recognized as different images from each other. At the same time, the inner surface side body cell and the outer surface side body cell each have a unique address. In this way, c) The side tape is attached to the robot both before and after the side tape is attached to the care recipient. and a gripping piece that can be gripped by a hand. Nursing diapers.

2. The side tape has cells on the inner and outer surfaces of the tab. The tape cells are arranged in a 2. The nursing diaper according to claim 1.

3. The side tape has a structure in which an adhesive layer and the tab are provided on a tape-shaped base material, The gripping piece is formed to be thicker than the material thickness of the base material.

3. The nursing diaper according to claim 1 or 2.

4. The cells of the main body are arranged in a large number in a dot pattern at a predetermined density over the entire main body. It has been said that 3. The nursing diaper according to claim 1 or 2.

5. The group of inner surface side main body cells and the group of outer surface side main body cells are arranged so as to overlap each other inside and outside. There are many pairs of 3. The nursing diaper according to claim 1 or 2.

6. The inner and outer surfaces of the waist-side overlapping element, the crotch-side overlapping element, and the abdominal-side overlapping element are photographed by the camera. Each of the vehicles has a center line that can be recognized by imaging and processing the image.

3. The nursing diaper according to claim 1 or 2.

7. A robot capable of performing a diaper changing task according to any one of claims 1 to 6, The robot is equipped with the camera, left and right hands for working, and a control device, and the control device is a first program for recognizing the size, sex, and posture of a person being cared for; a second program for executing an action of removing clothes from the care recipient to expose the diaper being worn; a third program for capturing an image of the diaper being worn by a care recipient using a camera and recognizing a three-dimensional shape of the diaper being worn; a fourth program for executing an action of spreading the replacement diaper in a predetermined position; a fifth program for executing an action of placing the replacement diaper spread out in the predetermined position under the care recipient; and a sixth program for executing an action of cleaning a soiled part of the care recipient while removing the diaper being worn from the care recipient; and a seventh program for rolling up and removing a diaper worn by the care recipient; and an eighth program for executing putting the replacement diaper on a care recipient, the fourth program includes an action of recognizing a position of the side tape based on image data of an end cell, and then gripping the left and right gripping pieces with the hands and moving the left and right hands, the fifth program includes an action of pinching the left and right gripping pieces to spread the diaper and moving the left and right hands below the care recipient, the sixth program includes an action of recognizing the outer end cell by the camera, and then picking up the left and right picking pieces with the hand and spreading them left and right to release the fixation of the care recipient from the care recipient, an action of peeling back the ventral overlapping element toward the user to expose the crotch of the care recipient, and an action of cleaning the crotch of the care recipient by the hand, the seventh program is configured to move the hand while grasping a change in a three-dimensional shape of the diaper by continuously reading a group of cells of the main body portion with the camera, The eighth program includes an action of recognizing an image of an end cell of the replacement diaper with the camera and then picking up the picking piece with a hand. Nursing care robot.

8. The robot has a torso, limbs, and a head like a human and can walk independently. The la is placed The nursing robot according to claim 7.

9. The stand with casters is equipped with parts that correspond to a human torso, hands, and head. The nursing robot according to claim 7.

10. The robot according to any one of claims 7 to 9 and a care recipient lying in bed can be photographed. It has an indoor camera, The control device of the robot receives an image of the care recipient and a diaper taken by the indoor camera. Image data is set to be transmitted, Nursing care facilities.

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