Control device and bed device

Abstract

To provide a control device and a bed device for properly controlling a height and an inclination of a bed.SOLUTION: A control device 90 includes a control section 40. The control section 40 controls a speed of extension / contraction of a shaft of a first actuator 71 on the basis of a first change amount of extension / contraction of a shaft of the first actuator 71 for moving a first movable part 71M of a bed device 110, and controls a second actuator 72 on the basis of a third change amount of a movement of the second actuator 72 for moving a second movable part 72M of the bed device 110 and a fourth change amount of a movement of the second movable part 72M.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] Embodiments of the present invention relate to a control device and a bed device.

Background Art

[0002] For example, there is a bed whose height of the bed frame is variable. It is desirable to control the bed properly.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The embodiment provides a control device and a bed device capable of properly controlling the bed.

Means for Solving the Problems

[0005] According to the embodiment, the control device includes a control unit. The control unit controls the speed of the expansion and contraction of the shaft of the first actuator of the bed device based on a first change amount of the expansion and contraction of the shaft of the first actuator.

Effects of the Invention

[0006] According to the embodiment, a control device and a bed device capable of properly controlling the bed can be provided.

Brief Description of the Drawings

[0007]

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[0008] Hereinafter, each embodiment of the present invention will be described with reference to the drawings. In this specification and each figure, elements that are the same as those described above with respect to the previously presented figures are denoted by the same reference numerals, and detailed descriptions thereof are omitted as appropriate.

[0009] (First Embodiment) FIGS. 1(a), 1(b) and 2 are schematic diagrams illustrating a control device and a bed apparatus according to the first embodiment. FIGS. 1(a) and 1(b) are side views illustrating a plurality of states of the bed apparatus. FIG. 2 is a bottom view as seen from arrow AA in FIGS. 1(a) and 1(b).

[0010] As shown in FIGS. 1(a) and 1(b), a control device 90 according to the embodiment is used together with a bed 70. For example, a bed apparatus 110 includes a bed 70 and a control device 90.

[0011] For example, the control device 90 is connected to the bed 70 by any method such as wired or wireless. The control device 90 may be a mobile terminal such as a smartphone.

[0012] The control device 90 includes a control unit 40. In this example, the control unit 40 is fixed to the bed 70.

[0013] The bed device 110 includes, for example, a base frame 75B and a bed frame 70B. For example, the bed frame 70B is located above the base frame 75B. In this example, casters 75c are provided on the base frame 75B.

[0014] For example, a back bottom 70a, a knee bottom 70b, a foot bottom 70c, and a waist bottom 70e are provided on the bed frame 70B. A mattress 78M is provided on the back bottom 70a, the knee bottom 70b, the foot bottom 70c, and the waist bottom 70e. A user of the bed 70 can lie on the mattress 78M. In the bed 70, a headboard 78A, a footboard 78B, etc. may be provided. Further, side rails 78C and 78D, etc. may be provided. As will be described later, the angles of the back bottom 70a, the knee bottom 70b, the foot bottom 70c, etc. may be variable.

[0015] In the bed 70, the direction from the head side to the foot side is defined as the X-axis direction. The left-right direction is defined as the Y-axis direction. The height direction is defined as the Z-axis direction.

[0016] As shown in FIGS. 1(a) and 1(b), the height of the bed 70 is variable. The height of the bed 70 is, for example, the distance in the Z-axis direction between the position of the floor surface (the lower end of the caster 75c) in the Z-axis direction and the position of the upper surface of the bed frame 70B in the Z-axis direction.

[0017] In this example, the height of the head-side portion of the bed frame 70B and the height of the foot-side portion of the bed frame 70B can be changed independently of each other. For example, the bed frame 70B can be tilted. The overall height of the bed frame 70B can be changed.

[0018] For example, one part on the head side of the bed frame 70B is defined as the first movable part 71M, and one part on the foot side of the bed frame 70B is defined as the second movable part 72M.

[0019] In one example, the first movable part 71M is the head-side movable part, and the second movable part 72M is the foot-side movable part. It is also possible that the first movable part 71M is the foot-side movable part and the second movable part 72M is the head-side movable part. Hereinafter, an example in the case where the first movable part 71M is the head-side movable part and the second movable part 72M is the foot-side movable part will be described.

[0020] As shown in FIG. 2, a first actuator 71 and a second actuator 72 are provided. The first actuator 71 is capable of moving the first movable part 71M. The second actuator 72 is capable of moving the second movable part 72M.

[0021] As shown in FIGS. 1(a) and 1(b), in this example, a first connecting part 71R and a second connecting part 72R are provided. The first connecting part 71R is connected to the first movable part 71M and the first actuator 71. The first connecting part 71R causes the first movable part 71M to move according to the movement of the first actuator 71. The second connecting part 72R is connected to the second movable part 72M and the second actuator 72. The second connecting part 72R causes the second movable part 72M to move according to the movement of the second actuator 72. These connecting parts are, for example, a "link mechanism".

[0022] One part of the first connecting part 71R is fixed to the base frame 75B. Another part of the first connecting part 71R is fixed to the first movable part 71M of the bed frame 70B. The state of the first connecting part 71R is changed by the first actuator 71. Thereby, the first height H1 of the first movable part 71M can be changed.

[0023] One part of the second connecting portion 72R is fixed to the base frame 75B. Another part of the second connecting portion 72R is fixed to the second movable portion 72M of the bed frame 70B. The state of the second connecting portion 72R is changed by the second actuator 72. Thereby, the second height H2 of the second movable portion 72M can be changed.

[0024] In the embodiment, the connecting portion may be omitted. Or, the connecting portion may be included in the actuator. Hereinafter, an example in the case where the connecting portion is provided separately from the actuator will be described.

[0025] The control unit 40 of the control device 90 controls the first actuator 71. For example, due to the movement of the first actuator 71, the state of the first connecting portion 71R changes, and the first movable portion 71M moves. Thereby, the first height H1 changes. The control unit 40 controls the second actuator 72. For example, due to the movement of the second actuator 72, the state of the second connecting portion 72R changes, and the second movable portion 72M moves. Thereby, the second height H2 changes.

[0026] The first actuator 71 expands and contracts or rotates. The state of the first connecting portion 71R can be changed by the expansion and contraction or rotation of the first actuator 71. Thereby, the first movable portion 71M moves. The second actuator 72 expands and contracts or rotates. The state of the second connecting portion 72R can be changed by the expansion and contraction or rotation of the second actuator 72. Thereby, the second movable portion 72M moves. Hereinafter, the case where the first actuator 71 expands and contracts and the second actuator 72 expands and contracts will be described.

[0027] There is a defined relationship between the change amount (first change amount) of the movement (for example, expansion and contraction) of the first actuator 71 and the second change amount of the movement of the first movable portion 71M (change of the first height H1). The information regarding this relationship is referred to as first relationship information. This relationship is based on, for example, the structure of the first actuator 71, the structure of the first connecting portion 71R, and the position where the first connecting portion 71R is fixed.

[0028] Similarly, there is a defined relationship between the amount of change (the third change amount) in the movement (e.g., expansion and contraction) of the second actuator 72 and the fourth change amount in the movement (change in the second height H2) of the second movable part 72M. Information regarding this relationship is referred to as the second relationship information. This relationship is based on, for example, the structure of the second actuator 72, the structure of the second connecting part 72R, and the position where the second connecting part 72R is fixed.

[0029] For example, when the speed of expansion and contraction of the first actuator 71 is constant, the speed of change in the first height H1 is not necessarily constant.

[0030] In the embodiment, the control unit 40 controls the speed of expansion and contraction of the shaft of the first actuator 71 based on the first change amount of expansion and contraction of the shaft of the first actuator 71. For example, the control unit 40 controls the speed of expansion and contraction of the first actuator 71 based on the amount of expansion and contraction of the first actuator 71. Thereby, a control device and a bed device that can more appropriately control the movement of the movable part can be provided. For example, the speed of expansion and contraction of the first actuator 71 when the first actuator 71 has a first length is different from the speed of expansion and contraction of the first actuator when the first actuator 71 has a second length. For example, the speed of movement (change in length) of the first movable part 71M corresponding to the expansion and contraction of the first actuator 71 becomes substantially constant. The first actuator 71 can move the first movable part 71M. The second change amount of the first movable part 71M moved by a predetermined change of the first actuator 71 is a predetermined change amount.

[0031] For example, based on the first change amount of the movement of the first actuator 71, the control unit 40 controls the first actuator so that the speed of the movement of the first movable part 71M during the period excluding the start and end of the movement is substantially constant. For example, the control unit 40 controls the first actuator 71 based on, for example, the first relationship information. For example, based on the first relationship information, the control unit 40 controls (for example, changes) the expansion and contraction speed of the first actuator 71 so that the speed of change of the first height H1 is constant. For example, based on the first relationship information, the control unit 40 controls (for example, changes) the expansion and contraction speed of the first actuator 71 so that the change of the first height H1 reaches a desired state. Thereby, a control device and a bed device that can more appropriately control the movement of the movable part can be provided.

[0032] The control unit 40 may control the second actuator 72 based on, for example, the second relationship information. For example, based on the second relationship information, the control unit 40 controls (for example, changes) the expansion and contraction speed of the second actuator 72 so that the speed of change of the second height H2 is constant. For example, based on the second relationship information, the control unit 40 controls (for example, changes) the expansion and contraction speed of the second actuator 72 so that the change of the second height H2 reaches a desired state.

[0033] The control unit 40 may control the first actuator 71 and the second actuator 72 based on at least one of the first relationship information and the second relationship information. For example, the first actuator 71 and the second actuator 72 may be controlled so that the speed of change of the first height H1 is substantially the same as the speed of change of the second height H2. For example, while the bed frame 70B (the first movable part 71M and the second movable part 72M) maintains a desired "posture", the height of the bed frame 70B can be changed. For example, while maintaining the desired "posture", the speed of change of the height of the bed frame 70B can be made substantially constant. The "posture" is, for example, "horizontal". In the "horizontal" state, the angle of the bed frame 70B with respect to the X-Y plane is, for example, ±3 degrees or less. The angle may be, for example, ±2 degrees or less. The angle may be, for example, ±1 degree or less.

[0034] Hereinafter, an example of the control device 90 (or the control unit 40) will be described.

[0035] FIG. 3 is a schematic diagram illustrating the control device and the bed device according to the first embodiment. As shown in FIG. 3, the control device 90 (or the bed device 110) may include a storage unit 40M. The storage unit 40M stores the first relationship information. The storage unit 40M may further store the second relationship information. The storage unit 40M may be included in the control unit 40. The storage unit 40M may be provided separately from the control unit 40.

[0036] The control device 90 (or the bed device 110) may include an acquisition unit 40I. The acquisition unit 40I acquires, for example, the first relationship information from the storage unit 40M. The acquisition unit 40I may further acquire, for example, the second relationship information from the storage unit 40M. The acquisition unit 40I may be included in the control unit 40. The acquisition unit 40I may be provided separately from the control unit 40.

[0037] The control unit 40 controls, for example, the first actuator 71 based on the first relationship information acquired by the acquisition unit 40I. The control unit 40 may control, for example, the second actuator 72 based on the second relationship information acquired by the acquisition unit 40I.

[0038] The control unit 40 includes, for example, a control circuit 40A. A control signal (for example, the first to fourth control signals S1 to S4, etc.) is output from the control circuit 40A. The control signal is, for example, an electrical signal (for example, voltage).

[0039] For example, the first control signal S1 is supplied from the control unit 40 to the first actuator 71. By the first control signal S1, the first actuator 71 moves and the first movable part 71M moves. In FIG. 3, the first connecting part 71R is omitted.

[0040] For example, a second control signal S2 is supplied from the control unit 40 to the second actuator 72. By the second control signal S2, the second actuator 72 moves, and the second movable part 72M moves. In FIG. 3, the second connecting part 72R is omitted.

[0041] The first movable part 71M and the second movable part 72M are included in the movable part 70M. The movable part 70M may include, for example, a back bottom 70a and a knee bottom 70b. The angle of the back bottom 70a is controlled by, for example, the back actuator 73a. The angle of the knee bottom 70b is controlled by, for example, the knee actuator 73b.

[0042] A third control signal S3 is supplied from the control unit 40 (for example, the control circuit 40A) to the back actuator 73a. By the third control signal S3, the back actuator 73a is controlled, and the angle of the back bottom 70a is controlled.

[0043] A fourth control signal S4 is supplied from the control unit 40 (for example, the control circuit 40A) to the knee actuator 73b. By the fourth control signal S4, the knee actuator 73b is controlled, and the angle of the knee bottom 70b is controlled.

[0044] Third relationship information regarding the change amount of the movement (for example, the expansion / contraction amount or the rotation amount) of the back actuator 73a and the change amount of the movement (angle) of the back bottom 70a may be provided. The control unit 40 may control the back actuator 73a based on the third relationship information. For example, the change in the angle of the back bottom 70a with respect to the movement (for example, the expansion / contraction amount) of the back actuator 73a may be different between when the angle of the back bottom 70a is large and when it is small. By controlling the back actuator 73a based on the third relationship information, the angle of the back bottom 70a may be controlled at a desired angular velocity. The desired angular velocity is, for example, a substantially constant angular velocity.

[0045] Fourth relationship information may be provided regarding the amount of change in the movement of the knee actuator 73b (e.g., the amount of expansion / contraction or rotation) and the amount of change in the movement (angle) of the knee bottom 70b. The control unit 40 may control the knee actuator 73b based on the fourth relationship information. For example, the change in the angle of the knee bottom 70b with respect to the movement of the knee actuator 73b (e.g., the amount of expansion / contraction) may differ between when the angle of the knee bottom 70b is large and when it is small. By controlling the knee actuator 73b based on the fourth relationship information, the angle of the knee bottom 70b may be controlled at a desired angular velocity. The desired angular velocity is, for example, a substantially constant angular velocity.

[0046] The "first movable part" may be either the back bottom 70a or the knee bottom 70b. The "second movable part" may be the other of the back bottom 70a and the knee bottom 70b.

[0047] As shown in FIG. 3, a first detection unit 71S may be provided. The first detection unit 71S detects the expansion / contraction or rotation state of the first actuator 71. When the first actuator 71 expands and contracts, the length of the first actuator 71 in the shortest state is defined as the shortest width, and the length of the first actuator 71 in the longest state is defined as the longest width. For example, the shortest width is set to 0% and the longest width is set to 100%. The first detection unit 71S detects the current width (length) of the first actuator 71. The width (length) detected by the first detection unit 71S is x1% (0 ≤ x1 ≤ 100). The width (length) detected by the first detection unit 71S corresponds to the first state information. The control unit 40 may control the first actuator 71 based on the first state information and the first relationship information.

[0048] For example, the speed of the first movable part 71M may be calculated from the first state information (e.g., position information). The control unit 40 may control the first actuator 71 so as to achieve the target speed. The control unit 40 adjusts, for example, the voltage of the first control signal S1 so as to achieve the target speed. For example, the control unit 40 may change the target speed according to the first state information (e.g., position information).

[0049] As shown in FIG. 3, a second detection unit 72S may be provided. The second detection unit 72S detects the expansion / contraction or rotation state of the second actuator 72. The second detection unit 72S detects the current width (length) of the second actuator 72. The width (length) detected by the second detection unit 71S is x2% (0 ≦ x2 ≦ 100). The width (length) detected by the second detection unit 72S corresponds to the second state information. The control unit 40 may control the second actuator 72 based on the second state information and the second relationship information.

[0050] For example, the speed of the second movable part 72M may be calculated from the second state information (for example, position information). The control unit 40 may control the second actuator 72 so as to achieve a target speed. The control unit 40 adjusts the voltage of the second control signal S2 so as to achieve the target speed, for example. For example, the control unit 40 may change the target speed according to the second state information (for example, position information).

[0051] As shown in FIG. 3, a backrest detection unit 73aS may be provided. The backrest detection unit 73aS detects the expansion / contraction or rotation state of the backrest actuator 73a. The width (length) detected by the backrest detection unit 73aS corresponds to the third state information. The control unit 40 may control the backrest actuator 73a based on the third state information and the third relationship information.

[0052] As shown in FIG. 3, a knee detection unit 73bS may be provided. The knee detection unit 73bS detects the expansion / contraction or rotation state of the knee actuator 73b. The width (length) detected by the knee detection unit 73bS corresponds to the fourth state information. The control unit 40 may control the knee actuator 73b based on the fourth state information and the fourth relationship information.

[0053] Hereinafter, an example of the relationship between the change amount of the movement of the actuator and the change amount of the movement of the movable part 70M will be described.

[0054] FIGS. 4(a) and 4(b) are graph diagrams illustrating the characteristics of the bed device according to the first embodiment. Figure 4(a) corresponds to the first actuator 71 and the first movable part 71M. Figure 4(b) corresponds to the second actuator 72 and the second movable part 72M.

[0055] The horizontal axis of Fig. 4(a) represents the state R1 (%) of the first actuator 71. In this example, the state R1 corresponds to the length (width) of the expansion and contraction of the first actuator 71. When the state R1 is 0%, the first actuator 71 is the shortest. When the state R1 is 100%, the first actuator 71 is the longest. The vertical axis of Fig. 4(a) represents the change amount ΔH1 of the first height H1 of the first movable part 71M. As shown in Fig. 4(a), the change amount ΔH1 of the first height H1 has a specific relationship with respect to the change of the state R1. This specific relationship corresponds to the first relationship information.

[0056] The horizontal axis of Fig. 4(b) represents the state R2 (%) of the second actuator 72. In this example, the state R2 corresponds to the length (width) of the expansion and contraction of the second actuator 72. When the state R2 is 0%, the second actuator 72 is the shortest. When the state R2 is 100%, the second actuator 72 is the longest. The vertical axis of Fig. 4(b) represents the change amount ΔH2 of the second height H2 of the second movable part 72M. As shown in Fig. 4(b), the change amount ΔH2 of the second height H2 has a specific relationship with respect to the change of the state R2. This specific relationship corresponds to the second relationship information.

[0057] The characteristics (curves) of the second relationship information may not match the characteristics (curves) of the first relationship information.

[0058] As can be seen from Fig. 4(a), for example, when the state R1 is changed at a constant speed and the first actuator 71 is expanded and contracted at a constant speed, the change amount ΔH1 of the first height H1 does not change at a constant speed.

[0059] In an embodiment, the control unit 40 controls the first actuator 71 based on the first relationship information. For example, the control unit 40 changes the state R1 (length) of the first actuator 71 so that the change amount ΔH1 of the first height H1 changes at a substantially constant speed. The first height H1 of the first movable part 71M can be changed to a desired state (for example, at a constant speed).

[0060] As can be seen from FIG. 4(b), for example, when the state R2 is changed at a constant speed and the second actuator 72 is expanded and contracted at a constant speed, the change amount ΔH2 of the second height H2 does not change at a constant speed.

[0061] In an embodiment, the control unit 40 controls the second actuator 72 based on the second relationship information. For example, the control unit 40 changes the state R2 (length) of the second actuator 72 so that the change amount ΔH2 of the second height H2 changes at a substantially constant speed. The second height H2 of the second movable part 72M can be changed to a desired state (for example, at a constant speed).

[0062] For example, the speed of the first movable part 71M when the state R1 (for example, the elongation amount) is 0% can be determined. The speed of the first movable part 71M when the state R1 (for example, the elongation amount) is 100% can be determined. For example, the speed of the first movable part 71M when the state R1 (for example, the elongation amount) is an arbitrary value from 1% to 99% can be determined based on the first relationship information.

[0063] For example, the speed of the second movable part 72M when the state R2 (for example, the elongation amount) is 0% can be determined. The speed of the second movable part 72M when the state R2 (for example, the elongation amount) is 100% can be determined. For example, the speed of the second movable part 72M when the state R2 (for example, the elongation amount) is an arbitrary value from 1% to 99% can be determined based on the second relationship information.

[0064] FIGS. 5(a) and 5(b) are graph diagrams illustrating the operations of the control device and the bed device according to the first embodiment. FIG. 5(a) corresponds to the first movable part 71M, and FIG. 5(b) corresponds to the second movable part 72M. The horizontal axis of these figures is the time tm. The vertical axis of FIG. 5(a) is the speed SM of the change in the first height H1 of the first movable part 71M. The vertical axis of FIG. 5(b) is the speed SM of the change in the second height H2 of the second movable part 72M. These figures are examples of control by the control unit 40.

[0065] As shown in FIG. 5(a), the first actuator 71 is controlled by the control unit 40, and the first movable part 71M starts to move at the first time t1. At the second time t2, the movement of the first movable part 71M ends. The period p1 from the first time t1 to the third time t3 after the first time t1 is the starting period of movement. The period p3 from the fourth time t4 to the second time t2 is the ending time of movement. In the period p2 from the third time t3 to the fourth time t4, for example, the first movable part 71M moves at a substantially constant speed SM.

[0066] By controlling the first movable part 71M by the control unit 40 based on the first relationship information, for example, the operation illustrated in FIG. 5(a) can be obtained. For example, in the starting period p1 of movement, the speed SM gradually increases. For example, in the ending period p3 of movement, the speed SM gradually decreases. By such an operation, the discomfort of the user can be reduced.

[0067] In the embodiment, for example, the control unit 40 controls the first actuator 71 so that the speed SM (first speed) of the movement of the first movable part 71M in the period (period p2) excluding the start and end of movement of the first movable part 71M becomes substantially constant.

[0068] As shown in FIG. 5(b), for example, the second movable part 72M starts to move from the first time t1. At the second time t2, the movement of the second movable part 72M ends. In the period p2 from the third time t3 to the fourth time t4, for example, the second movable part 72M moves at a substantially constant speed SM.

[0069] In an embodiment, for example, the control unit 40 controls the second actuator 72 such that the speed SM (second speed) of the movement of the second movable part 72M during a period (period p2) excluding the start and end of the movement of the second movable part 72M becomes substantially constant.

[0070] In an embodiment, the control unit 40 may control the first movable part 71M and the second movable part 72M with a profile different from the examples in FIGS. 5(a) and 5(b).

[0071] The control unit 40 may control the first actuator 71 and the second actuator 72 simultaneously.

[0072] FIG. 6 is a graph illustrating the operations of the control device and the bed device according to the first embodiment. The horizontal axis in FIG. 6 represents the state R (%) of the actuator. The state R of the actuator is the state R1 of the first actuator 71 or the state R2 of the second actuator 72. The vertical axis in FIG. 6 represents the speed SA of the expansion and contraction of the actuator. FIG. 6 shows the control characteristics of the first actuator 71 and the control characteristics of the second actuator 72.

[0073] In this example, the speed SA of the expansion and contraction of the second actuator 72 is constant. In this case, the second height H2 of the second movable part 72M changes according to the characteristic (change amount ΔH2) shown in FIG. 4(b).

[0074] As shown in FIG. 6, the speed SA of the expansion and contraction of the first actuator 71 is changed according to the state R (state R1). The change (control) of the speed SA is performed by the control unit 40. By changing the first control signal S1 (for example, voltage) supplied from the control unit 40, the speed SA of the expansion and contraction of the first actuator 71 changes.

[0075] The expansion and contraction speed SA of the first actuator 71 is changed (controlled) so that, for example, the change speed SM of the first height H1 that changes according to the expansion and contraction of the first actuator 71 substantially matches the change speed SM of the second height H2 that changes according to the expansion and contraction of the second actuator 72. Thereby, for example, while maintaining a horizontal state, the height of the bed frame 70B can be changed.

[0076] Figs. 7(a) to 7(c) are schematic diagrams illustrating the operations of the control device and the bed device according to the first embodiment. Fig. 7(a) is a graph. The horizontal axis of Fig. 7(a) is the state R (%) of the actuator. The vertical axis of Fig. 7(a) is the expansion and contraction speed SA of the actuator. The control characteristics of the first actuator 71 and the control characteristics of the second actuator 72 are shown in Fig. 7(a). Fig. 7(b) illustrates the actuator when the state R is 0%. Fig. 7(c) illustrates the actuator when the state R is 100%. In the first actuator 71, the length difference between when the state R is 0% and when it is 100% is the difference 71d. In the second actuator 72, the length difference between when the state R is 0% and when it is 100% is the difference 72d. As shown in Figs. 7(b) and 7(c), in this example, the difference 71d is different from the difference 72d.

[0077] In this example, the expansion and contraction speed SA of the first actuator 71 and the expansion and contraction speed SA of the second actuator 72 are changed according to the state R of the actuator. For example, the control unit 40 changes the expansion and contraction speed SA of the first actuator 71 based on the first relationship information. For example, the control unit 40 changes the expansion and contraction speed SA of the second actuator 72 based on the second relationship information. For example, by changing the first control signal S1 (for example, voltage) and the second control signal S2 (for example, voltage) supplied from the control unit 40, the expansion and contraction speed SA in the first actuator 71 and the second actuator 72 changes.

[0078] For example, the speed SM of the change in the first height H1 of the first movable part 71M can be made substantially the same as, for example, the speed SM of the change in the second height H2 of the second movable part 72M. For example, while maintaining the horizontal state, the height of the bed frame 70B can be changed.

[0079] For example, the lowest height of the bed frame 70B is designed to be low. Thereby, for example, a user-friendly bed 70 can be provided. In this case, in the bed 70 with the lowest height designed to be low, the constraints on the elevating part of the bed frame 70B become severe. For this reason, it becomes difficult to raise and lower the bed frame 70B while keeping it horizontal.

[0080] In the embodiment, for example, by controlling the first actuator 71 based on the first relationship information, even when the lowest height is low, the bed frame 70B can be raised and lowered while keeping it horizontal.

[0081] (Second Embodiment) The second embodiment relates to the bed device 110. The bed device 110 includes the above-described control device 90, the above-described first movable part 71M, and the above-described first actuator 71. The bed device 110 may further include the above-described second movable part 72M and the above-described second actuator 72. The bed device 110 may further include the above-described first connecting part 71R and the above-described second connecting part 72R. According to the bed device 110 according to the second embodiment, a bed device that can more appropriately control the movement of the movable part 70M can be provided.

[0082] In the first embodiment and the second embodiment, the movable part 70M may be the back bottom 70a. The movable part 70M may be the knee bottom 70b.

[0083] Hereinafter, an example of the bed device according to the embodiment will be described. FIG. 8 is a schematic perspective view illustrating a bed device according to an embodiment. As shown in FIG. 8, the bed device 310 includes a right head side rail 320, a right foot side rail 330, a left head side rail 340, a left foot side rail 350, a headboard 360, and a footboard 370.

[0084] These side rails are provided, for example, on the frame 390F of the bed 310B. A bottom (not shown in FIG. 8) is provided on the frame 390F of the bed 310B, and a mattress 390M is provided thereon. A user of the bed 310B can lie on the mattress 390M. The bed device 310 is used, for example, in a hospital, a nursing facility, or a home.

[0085] The bed device 310 is, for example, an electric bed. The bed device 310 can be operated by a user of the bed 310B or a caregiver.

[0086] The angles of the right head side rail 320 and the left head side rail 340 (for example, the angles with respect to the horizontal plane) can be changed. For example, it is possible to raise the back or lower the back. For example, when the angle of the back bottom 70a (see FIG. 16(b)) changes, the angles of the right head side rail 320 and the left head side rail 340 attached to the back bottom 70a change following the back bottom 70a.

[0087] The heights of the right foot side rail 330 and the left foot side rail 350 can be changed. When the right foot side rail 330 and the left foot side rail 350 are in a high position, for example, it is possible to prevent the user from falling off the bed 310B. When the right foot side rail 330 and the left foot side rail 350 are in a low position, for example, it is easier for the user to get out of the bed 310B from above the right foot side rail 330 and the left foot side rail 3,50.

[0088] The right head side rail 320 includes an outer surface 320F and an inner surface 320G. The right foot side rail 330 includes an outer surface 330F and an inner surface 330G. The left head side rail 340 includes an outer surface 340F and an inner surface 340G. The left head side rail 340 includes an outer surface 350F and an inner surface 350G.

[0089] On the outer surface 320F and the inner surface 320G of the right head side rail 320, and on the outer surface 340F and the inner surface 340G of the left head side rail 340, various switches and the like are provided. The switches on the outer surface are designed to be convenient for operation by a caregiver or a medical worker (e.g., a doctor, a nurse, or a physical therapist, etc.). Various switches and the like are also provided on these inner surfaces. The switches on the inner surface are designed to be convenient for operation by the user of the bed 310B. Examples of these switches will be described later.

[0090] On the upper portions of the right head side rail 320, the right foot side rail 330, the left head side rail 340, and the left foot side rail 350, handrails 325g, 335g, 345g, and 355g are provided. The vertical width of these handrails is narrower on the inner side than on the outer side. Thereby, for example, it is easier for the user to grasp these handrails.

[0091] In each of the right foot side rail 330 and the left foot side rail 350, the width of the upper surface of the handrails 335g and 355g is designed to be wide. The user can sit on these upper surfaces (sitting upright). Thereby, for example, when the user is sitting upright, the back of the thigh does not become painful.

[0092] Recesses are provided on the outer surface 320F of the right head side rail 320 and the outer surface 340F of the left head side rail 340. It is possible to attach the bed operation device 380 to this recess. Furthermore, it is possible to attach the bed operation device 380 to the outer surface of the footboard 370F. The bed operation device 380 will be described later.

[0093] Hereinafter, an example of a side rail will be described.

[0094] Figs. 9(a) to 9(c) are schematic diagrams illustrating a part of the bed apparatus according to the embodiment. As shown in Fig. 9(a), a through-hole 325h is provided in the upper portion of the head right side rail 320. The handrail 325g is formed by the through-hole 325h.

[0095] In the upper portion of the head right side rail 320, a convex portion 325a, a concave portion 325b, a head-side convex portion 325c, and a head-side concave portion 325d are further provided. The convex portion 325a can be used, for example, as a support portion for supporting the user's body. When the head right side rail 320 rises (in the back-lifting state), the concave portion 325b can be used, for example, as a support portion for supporting the user's body.

[0096] The user can easily grasp the head-side convex portion 325c. For example, when lifting or lowering the back, it is easy to support the user's body by the head-side convex portion 325c. A through-hole is provided in the head-side convex portion 325c. Thereby, the head-side convex portion 325c can be used as a handrail.

[0097] Various medical lines can be placed in the head-side concave portion 325d. The various lines are likely to be stable. The various medical lines include, for example, cables or tubes such as a ventilator and various ME devices. By passing the various lines through the head-side concave portion 325d, for example, it is possible to suppress entanglement of these lines.

[0098] On the outer surface 320F of the right side rail 320 of the head, a switch section 323, an angle meter 324, a through hole 325e (for example, a hook section), and a lower through hole 325f (for example, a halon bag hook) are provided. The bed operation device 380 can be suspended from the through hole 325e. A halon bag can be suspended from the lower through hole 325f. A dustbin or the like can be suspended from the lower through hole 325f. For example, a hole 328h is provided below the through hole 325e. The cable of the bed operation device 380 can pass through the hole 328h. The cable is electrically connected to a connector provided in the bed device 310 via the hole 328h. It is possible to prevent the cable from attaching to the floor. The cable can be shortened.

[0099] FIG. 9(b) illustrates the switch section 323. The switch section 323 is, for example, a membrane switch (for example, a membrane switch for medical staff). The switch section 323 includes switches 323a to 323q.

[0100] When switch 323a is pressed, "Cardiac Up" is performed. When switch 323b is pressed, "Cardiac Down" is performed. By "Cardiac Up", the bed 310B assumes the cardiac position (see Fig. 16(b)). As the bed 310B operates while maintaining the state where the angle between the back bottom 70a and the knee bottom 70b does not become extremely small and the knee bottom 70b is raised above the horizontal angle toward the cardiac position in "Cardiac Up". In the state where the angle between the back bottom 70a and the knee bottom 70b does not become extremely small, the angle is less than 90 degrees. In the state where the angle between the back bottom 70a and the knee bottom 70b does not become extremely small, it prevents the user from applying excessive abdominal pressure while maintaining a comfortable posture. For example, if the bed is tilted without raising the knees, the user may slide down. By setting the knee bottom 70b to a state where it is raised above the horizontal angle, the user's sliding down is suppressed. By "Cardiac Down", the bed 310B operates while maintaining the state where the angle between the back bottom 70a and the knee bottom 70b does not become extremely small and the knee bottom 70b is raised above the horizontal angle toward the state where the back angle is 0 degrees, the knee angle is 0 degrees, and the tilt angle is 0 degrees.

[0101] When switch 323c is pressed, "Reverse Extension" is performed. When switch 323h is pressed, "Extension" is performed. In "Extension", the head goes down. In "Reverse Extension", the feet go down.

[0102] When the switch 323d is pressed, "Kind up" is performed. In "Kind up", the angles of the back bottom 70a and the knee bottom 70b change in conjunction with each other. When the switch 323i is pressed, "Kind down" is performed. In "Kind down", the angles of these bottoms change in conjunction with each other. For example, when the angles of the back bottom 70a and the knee bottom 70b increase in conjunction with each other, first the angle of the knee bottom 70b increases, and then the angles of the other bottoms increase. Thereby, it is possible to prevent the patient (user) from shifting. In "Kind up", the state where the angle of the back bottom 70a is 70 degrees corresponds to the operation completion angle. The angle of the knee bottom 70b becomes an angle following the angle of the back bottom 70a.

[0103] In "Kind up", initially, the back angle is 0 degrees and the knee angle is 0 degrees. Next, the back angle becomes 5 degrees and the knee angle becomes 0 degrees. Next, the back angle becomes 15 degrees and the knee angle becomes 10 degrees. Further, the back angle becomes 30 degrees and the knee angle becomes 25 degrees, the back angle becomes 50 degrees and the knee angle becomes 25 degrees. Thereafter, the back angle becomes 70 degrees and the knee angle becomes 0 degrees. In "Kind up", until midway, the back angle and the knee angle increase in conjunction with each other. When the back angle exceeds a certain angle, the knee angle decreases toward 0 degrees.

[0104] In "Kind down", initially, the back angle is 70 degrees and the knee angle is 0 degrees. Next, the back angle becomes 50 degrees and the knee angle becomes 25 degrees. Further, the back angle becomes 30 degrees and the knee angle becomes 25 degrees. Further, the back angle becomes 15 degrees and the knee angle becomes 20 degrees. Further, the back angle becomes 0 degrees and the knee angle becomes 5 degrees. Thereafter, the back angle becomes 0 degrees and the knee angle becomes 0 degrees.

[0105] When the switch 323e is pressed, "Back up" is performed. When the switch 323j is pressed, "Back down" is performed.

[0106] When the switch 323f is pressed, "Knee up" is performed. When the switch 323k is pressed, "Knee down" is performed.

[0107] When the switch 323g is pressed, "raising the height" is performed. When the switch 323l is pressed, "lowering the height" is performed. When the bed 310B is in an inclined state and the height is raised, the height increases while maintaining the inclination angle. The same applies to "lowering". Furthermore, when the maximum floor height is reached while remaining in the inclined state, the bed 310B stops once. After the bed 310B stops, if the height increase button (switch 323g) is pressed again, the height of the bed 310B takes precedence and the height increases while setting the inclination angle to 0 degrees. The same applies to "lowering".

[0108] The switches 323c to 323g for "raising" are located above the switches 323h to 323l for "lowering". For example, there is a possibility that a user of the bed 310B may accidentally touch the switches of the switch unit 323. At this time, the user of the bed 310B is more likely to touch the upper part than the lower part. Since the switches 323c to 323g for "raising" are located on the upper side, even if the user accidentally touches the upper part, the risk can be more suppressed compared to the case where the switches 323h to 323l are touched.

[0109] When the switch 323m is pressed, "CPR Lowering" is performed. In "CPR Lowering", the bed is set to a state suitable for CPR (Cardio Pulmonary Resuscitation). In the state of "CPR Lowering", the knee bottom 70b and the foot bottom 70c become flat. In "CPR Lowering", the floor height of the bed 310B is lowered. In the case of an inclined state, the inclination angle also becomes 0 degrees. For example, the operation sequence is as follows. Set the back angle to 0 degrees (while moving the back bottom 70a, also bring the knee bottom closer to 0 degrees). Next, set the inclination angle to 0 degrees. Next, lower the height. Next, set the knee angle to 0 degrees. For example, the bed 310B may be in the state of the lowest floor height. For example, in the bed 310B, a once-stop position (once-stop height) may be provided by the operation of "height lowering". If the height is higher than this once-stop height in the state before "CPR Lowering", the height of the bed 310B is set to the once-stop height by "CPR Lowering". At the once-stop height, the distance from the floor to the upper surface of the bottom is about 42 cm.

[0110] For example, in one example, when the switch 323m is "long-pressed", "CPR Lowering" is performed. The time of "long-pressing" is, for example, 2 seconds or more. In another example, when the switch 323m is "pressed twice", "CPR Lowering" is performed. When the switch 323m is "pressed twice", the time between the "first press" and the "second press" is within 5 seconds.

[0111] For operations other than the CPR operation, the operation starts when the button is pressed. For the CPR operation, in order to make it operate quickly in an emergency, the person operating the CPR operation button (switch 323m) may hesitate to press the CPR operation button. As described above, for example, when the switch 323m is "long-pressed" or "pressed twice", the CPR operation is performed. Thereby, the CPR operation can be performed without hesitation.

[0112] "CPR Lowering" is an electric CPR operation. In addition, a manual CPR operation may be performed.

[0113] The switch 323n is a "nurse call". When the switch 323n is pressed, a nurse call is made and information is transmitted to the nurse call system.

[0114] When the switch 323o is pressed, the operation of a switch (described later) provided on the inner surface 320G of the right head side rail 320 becomes "disabled". When the switch 323p is pressed, all operations related to the movement (actuator) of the bed 310B become "disabled". In this case, the "nurse call" and the footlights etc. are operable.

[0115] When the switch 323q is pressed, the footlights provided on the bed 310B etc. light up.

[0116] In this example, the switch section 323 includes displays 323r to 323t. The display 323r shows the remaining battery level. The display 323s lights up (for example, in orange) when the bed height is not at the lowest. The display 323s goes off when the bed height is at the lowest.

[0117] The display 323t performs an error display. Normally, the display 323t disappears. In the case of "U - system abnormality", it lights up for 1 second and then goes off for 1 second, repeating this cycle. In the case of "H - system abnormality", it lights up for 0.2 seconds and then goes off for 0.2 seconds, repeating this cycle.

[0118] Operations by the switch section 323 (for example, a membrane switch for medical staff) on the outer surface 320F have priority over operations by a switch section (for example, a membrane switch for users) provided on the inner surface 320G which will be described later. For example, if the outer and inner switches are pressed simultaneously, neither operation is performed. For example, if the back is being raised on the outside and the knee - raising button is pressed on the inside, the bed 310B stops. When both buttons are released and pressed again, the bed 310B moves.

[0119] Figure 9(c) illustrates a clinometer 324 provided on the outer surface 320F of the right head side rail 320. A recess is provided in the right head side rail 320, and a sphere (for example, a metal sphere) provided with the recess serves as a goniometer 324. When the back bottom rises, the sphere rolls in the recess. According to the position of the sphere, the angle display on the display portion 324a of the goniometer 324 changes. The goniometer 324 allows the outline of the back angle to be known.

[0120] FIG. 10(a) and FIG. 10(b) are schematic views illustrating a part of the bed device according to the embodiment. As shown in FIG. 10(a), a recess 328 is provided on the inner surface 320G of the right head side rail 320. The recess 328 can be used as a hook. A hole 328h is provided below the recess 328. Further, a switch portion 327 is provided on the inner surface 320G. The switch portion 327 is, for example, a membrane switch (for example, a membrane switch for the user or a membrane switch for the patient).

[0121] As shown in FIG. 10(b), the switch portion 327 includes switches 327a to 327d. The switch portion 327 may include a switch 327n.

[0122] When the switch 327a is pressed, "raising the feet" is performed. When the switch 327c is pressed, "lowering the feet" is performed.

[0123] When the switch 327b is pressed, "raising the back" is performed. When the switch 327d is pressed, "lowering the back" is performed.

[0124] A switch 327n is provided on the inner surface 320G. The switch 327n is a "nurse call".

[0125] A USB terminal 327u is provided on the inner surface 320G. A USB plug can be inserted into the USB terminal 327u, and charging and the like can be performed.

[0126] The configuration of the right head side rail 320 as described above is also applied to the left head side rail 340.

[0127] Figs. 11(a) to 11(c) are schematic diagrams illustrating a part of the bed device according to the embodiment. Figs. 11(a) and 11(b) illustrate the switch section 343 and the angle meter 344 provided on the outer surface 340F of the head left side rail 340. As shown in Fig. 11(a), the switch section 343 includes switches 343a to 343q. The switches 343a to 343q have the same functions as the switches 323a to 323q. In this example, the switch section 343 includes displays 343r to 343t. The displays 343r to 343t have the same functions as the displays 323r to 323t.

[0128] Fig. 11(b) illustrates the angle meter 344. The angle meter 344 has the same structure and function as the angle meter 324. The general outline of the back angle can be known from the display section 344a of the angle meter 344.

[0129] As shown in Fig. 11(c), a switch section 347 is provided on the inner surface 340G (see Fig. 8) of the head left side rail 340. The switch section 347 has the same structure and function as the switch section 327. The switch section 347 includes switches 347a to 347d. The switches 347a to 347d have the same functions as the switches 327a to 327d. A switch 347n and a USB terminal 347u are provided on the inner surface 320G. The USB terminal 347u may be omitted.

[0130] Figs. 12(a) and 12(b) are schematic diagrams illustrating a part of the bed device according to the embodiment. As shown in Fig. 12(a), a handrail 335g is provided on the foot right side rail 330. The handrail 335g is formed by a through hole 335h. A lower through hole 335f (for example, a halun bag hook) is provided at the lower part of the foot right side rail 330. A halun bag or the like can be hung on the lower through hole 335f.

[0131] An inclinometer 334 is provided on the outer surface 330F of the right foot side rail 330 (see Fig. 12(b)). The inclinometer 334 has the same structure as the inclinometer 324. The display unit 334a of the inclinometer 334 allows an overview of the angle to be known.

[0132] Fig. 13 is a schematic diagram illustrating a part of the bed device according to the embodiment. As shown in Fig. 13, a handrail 335g is obtained by a through hole 335h formed in the right foot side rail 330.

[0133] Fig. 14 is a schematic diagram illustrating a part of the bed device according to the embodiment. Fig. 14 illustrates an inclinometer 354 provided on the outer surface 350F of the left foot side rail 350. The inclinometer 354 has the same structure as the inclinometer 324. The display unit 354a of the inclinometer 354 allows an overview of the angle to be known.

[0134] Figs. 15(a) and 15(b) are schematic diagrams illustrating a part of the bed device according to the embodiment. As shown in Fig. 15(a), a through hole 375e (for example, a hook portion) is provided on the outer surface 370F of the footboard 370. The bed operation device 380 can be suspended from the through hole 375e. As shown in Fig. 15(b), the through hole 375e penetrates the inner surface 370G of the footboard 370.

[0135] In the bed operation device 380, various settings regarding the bed 310B and the display of the user's weight are possible. A "home button" is provided as a "physical button" in the bed operation device 380. An example of the bed operation device 380 will be described later.

[0136] Figs. 16(a) to 16(c) are schematic perspective views illustrating the operation of the bed device according to the embodiment. These figures illustrate the state when the mattress 390M is not provided.

[0137] As shown in Fig. 16(a), in the bed 310B, a frame 390F is attached to the base frame 390B. On the frame 390F, a back bottom 70a (back section), a knee bottom 70b (upper leg section), a foot bottom 70c (lower leg section), etc. are provided. In this example, a lumbar bottom 70e is provided. Casters 390C may be provided on the base frame 390B.

[0138] As shown in Fig. 16(a), in the bed device 310, the angle (tilt) of the frame 390F can be changed. The tilt may include the left - right tilt in addition to the front - back tilt.

[0139] As shown in Fig. 16(b), in the bed device 310, the respective angles of the back bottom 70a, the knee bottom 70b, and the foot bottom 70c can be changed. The angles of the head right - hand side rail 320 and the head left - hand side rail 340 change according to the change in the angle of the back bottom 70a. The head right - hand side rail 320 and the head left - hand side rail 340 are follow - type side rails. The state in Fig. 16(b) corresponds to the cardiac position.

[0140] In the example of Fig. 16(b), the foot right - hand side rail 330 and the foot left - hand side rail 350 are in the "upper state".

[0141] As shown in Fig. 16(c), the foot right - hand side rail 330 and the foot left - hand side rail 350 can be set to the "lower state".

[0142] As shown in Figs. 16(b) and 16(c), the height of the bed 310B can be changed. The height corresponds to, for example, the distance between the upper surface of the bed 310B (for example, the upper surface of the bottom) and the floor surface.

[0143] Figs. 17(a) and 17(b) are schematic perspective views illustrating the usage states of the bed device according to the embodiment. FIG. 17(a) illustrates the state where the bed 310B is in the lowered position. At this time, a caregiver 398 (e.g., a caregiver or a medical staff member, etc.) can operate the bed operation device 380 with it removed from the hook portion (e.g., the through hole 325e in the right head side rail 320).

[0144] FIG. 17(b) illustrates the state where the bed 310B is in the raised position. At this time, a caregiver 399, etc., can operate the bed operation device 380 with it attached to the hook portion. The bed operation device 380 is attached to, for example, three hook portions. The three hook portions are the through hole 325e in the right head side rail 320, the through hole 345e in the left head side rail 340, and the through hole 375e in the footboard 370.

[0145] Hereinafter, examples of electrical components in the bed device 310 will be described.

[0146] FIG. 18 is a schematic diagram illustrating the bed device according to the embodiment. As shown in FIG. 18, in the bed device 310, a control box 410 is provided. In addition, in the bed device 310, various devices are provided. The various devices include a junction box 420, a membrane switch 430, a footlight 440, a side rail sensor 450 (SR sensor), a caster lock sensor 455 (CL sensor), a nurse call 457a, a nurse call 457b, a nurse call relay unit 458, a scale unit 460, a load cell 465, an actuator 470, and a battery 475, etc. Some of the various devices may be omitted.

[0147] The control box 410 can be connected to various devices. The connection between the control box 410 and the various devices is made directly or via the junction box 420. The control box 410 controls the bed operation and various functions. The control box 410 serves as the master of the serial communication in the bed device 310.

[0148] The control box 410 is provided with a plug 410P (for example, a 3-pin plug). Power is supplied from the plug 410P to the control box 410. Power is supplied from the control box 410 to various devices.

[0149] The junction box 420 relays the connection between the control box 410 and various other devices.

[0150] The membrane switch 430 includes membrane switches 430a and 430b for medical staff. These membrane switches correspond to the switch units 323 and 343. The membrane switch 430 includes membrane switches 430c and 430d for patients. These membrane switches correspond to the switch units 327 and 347. The membrane switches 430a for medical staff and 430c for patients are connected to the junction box 420 via a relay unit 431a. The membrane switches 430b for medical staff and 430d for patients are connected to the junction box 420 via a relay unit 431b.

[0151] The membrane switches 430a and 430b for medical staff are provided with bed operation buttons (switches). As already described, the bed operation buttons include a cardiac operation button (for example, an interlocking operation button), an extension / reverse extension button, a kind motion operation button (for example, another interlocking operation button), a CPR button, a nurse call button, a patient membrane switch prohibition button, and an all-switch prohibition button, etc. From these bed operation buttons, the operations described with respect to the switch units 323 and 343 are performed.

[0152] The membrane switches 430c and 430d for patients are provided with bed operation buttons. As already described, the bed operation buttons include a back bottom operation button, a knee bottom operation button, and a nurse call button. The membrane switches 430c and 430d for patients may include charging terminals and the like.

[0153] In the medical staff - use membrane switches 430a and 430b, and the patient - use membrane switches 430c and 430d, the bed operation buttons are provided at the middle position in the vertical direction. If the bed operation buttons are at the lower part, they are difficult to operate. If the bed operation buttons are at the upper part, they may be accidentally operated. By having the bed operation buttons at the middle position in the vertical direction, the operation becomes easier and accidental operation can be suppressed.

[0154] The foot - area light buttons correspond to the switches 323q and 343q. When the foot - area light buttons are pressed, the foot - area lights 440 light up. The foot - area lights 440 illuminate from the end of the bed 310B to the floor surface. The foot - area lights 440 are provided, for example, one on each side of the bed 310B. The foot - area lights 440 are provided, for example, at the left and right ends on the back (lower side) of the waist bottom 70e. The foot - area lights 440 may be provided at other parts such as the back bottom 70a, the knee bottom 70b, and the foot bottom 70c (see Fig. 16(b), etc.). For example, each time the foot - area light buttons (switches 323q and 343q) are pressed, the foot - area lights 440 repeat turning off → dim lighting → bright lighting → turning off. For example, the foot - area lights 440 are lit by medical staff. For example, when the frequency of the user going to the toilet is high, etc., before the user goes to bed, the medical staff lights the foot - area lights 440. For example, when getting out of bed is detected, or when a nurse call occurs, etc., the medical staff lights the foot - area lights 440.

[0155] For example, when the user of the bed 310B leaves the bed at night for the toilet or the like, the foot - area lights 440 are lit. At this time, the room is often dark. If the foot - area lights 440 suddenly light up brightly, it will cause inconvenience to the people sleeping around. By lighting dimly first, the inconvenience is suppressed.

[0156] The side rail sensor 450 detects whether each side rail is raised or not. Four side rail sensors 450 are provided. The four side rail sensors 450 include a right head side rail sensor, a left head side rail sensor, a right foot side rail sensor, and a left foot side rail sensor. The detection result is displayed, for example, on the terminal of the nurse station. The detection result may also be displayed on the bed operation device 380. Based on the detection result, a warning sound may be generated. As the side rail sensor 450, for example, a magnetic sensor or a pneumatic sensor is used. Other sensors may be used as the side rail sensor 450.

[0157] The caster lock sensor 455 detects whether the caster 390C is locked or not. As the caster lock sensor 455, for example, a magnetic sensor is used. For example, in the caster 390C, a bar or the like that interlocks with the locking or unlocking of the caster 390C is provided. By detecting the state of the bar, the locked state of the caster 390C can be detected. The detection result by the caster lock sensor 455 is displayed, for example, on the terminal of the nurse station. The detection result may also be displayed on the bed operation device 380. Based on the detection result by the caster lock sensor 455, a warning sound may occur.

[0158] The nurse call 457a is connected to the junction box 420. The nurse call 457b is connected to the nurse call relay unit 458. The nurse call relay unit 458 can cooperate with the nurse calls provided in the hospital and the facility (for example, the nurse call 457b). The nurse calls 457a and 457b are domestic or foreign-made nurse calls. For example, the nurse call 457a is foreign-made. For example, the nurse call 457b is domestic-made.

[0159] The load cells 465 are provided at the four corner portions of the bed 310B. Four load cells 465 are used. The load cells 465 and the scale unit 460 can measure the weight of the user.

[0160] The actuator 470 includes an actuator 470a for height adjustment ("HLACT"), an actuator 470b for the knee bottom 70b ("knee ACT"), an actuator 470c for the back bottom 70a ("back ACT" with CPR), and an actuator 470d for height adjustment ("HLACT"), etc. The actuators 470a and 470d include load sensors.

[0161] In one example, the actuator 470c for the back bottom 70a includes a mechanical mechanism for manually performing a lowering operation (hereinafter referred to as a manual CPR mechanism). With the manual CPR mechanism, the back bottom 70a can be manually lowered in an emergency. For example, a dedicated lever or the like is provided, and by operating this lever, the back bottom 70a can be manually lowered to obtain a posture for CPR. For example, the brake plate of the actuator 470c for the back bottom 70a can be manually shifted. As a result, the brake of the actuator 470c is released, and the back bottom 70a drops by its own weight.

[0162] The actuator 470 serves as a drive source for adjusting the movable parts included in the bed 310B. The actuator 470 operates the movable parts via a connecting part or the like by the operation of the telescopic rod. A position sensor is provided for each actuator. The control box 410 reads the position information. The load sensor of the actuator 470 may be used to determine the movement of a user (such as a patient) on the bed 310B (including getting out of bed, for example).

[0163] The battery 475 supplies power during a power outage or when the bed 310B is being transported, etc. Desired operations can be obtained even in a situation where there is no power supply. A switch for switching whether to charge the battery 475 may be provided. If the bed 310B is supplied with power (AC power), charging may be possible regardless of the state of the switch.

[0164] For example, when the bed device 310 is driven by an AC power supply, power is supplied from the control box 410 to the battery 475, the air mattress control unit 482, and the USB charger 488 (see FIG. 18). When power is not supplied from the AC power supply, power is supplied from the battery 475 to the control box 410, the air mattress control unit 482, and the USB charger 488. When power is not supplied from the AC power supply and also not from the battery 475, the bed 310B does not operate.

[0165] As shown in FIG. 18, in the bed device 310, a sleep sensor 481, an air mattress control unit 482, and a bed operation device 380 are provided. In the bed device 310, a hand switch 483 may be provided.

[0166] The sleep sensor 481 measures the sleep status of the user (such as a patient) of the bed 310B. When the bed operation device 380 is provided, the measurement result of the sleep status and the sleep history may be output (for example, displayed) to the bed operation device 380.

[0167] For example, a connector for the air mattress control unit 482 is provided in the control box 410. In the air mattress, an interlocking operation according to the posture of the bed 310B may be performed. The interlocking operation may vary depending on the type of air mattress. The operation settings and changes of the air mattress may be performed by the bed operation device 380.

[0168] In the bed device 310, auxiliary outlets 485 are further provided. In this example, two auxiliary outlets 485 are provided. The auxiliary outlet 485 is a plug receptacle device. The auxiliary outlet 485 includes a plug 485P. The plug 485P is a plug that meets medical standards. The plug 485P is a three-pin plug. The plug 485P is provided separately from the plug 410P of the control box 410.

[0169] The bed device 310 may include a USB charger 488 (see FIG. 18). The USB charger 488 corresponds to the USB terminal 327u (or 347u). The USB charger 488 supplies power to a device compatible with USB charging. The number of ports of the USB charger 488 may be 1. The output rating of the USB charger 488 is DC5V / 1A. The port is provided on the patient membrane switch 430c on the right side rail.

[0170] The bed device 310 may include an error display LED. The error display LED corresponds to the displays 323t and 343t.

[0171] In the bed device 310, the getting out of bed of the user of the bed 310B may be detected. For example, the getting out of bed is detected by the load cell 465. For example, the getting out of bed is detected by a load sensor built in the actuator. Information regarding the getting out of bed is transmitted to the nurse call system and output to the terminal at the nurse station. Information regarding the getting out of bed may be output to the bed operation device 380. The output of information regarding the getting out of bed may include, for example, a visual stimulus such as a lamp or an auditory stimulus such as a warning sound.

[0172] Hereinafter, an example of the bed operation device 380 will be described. The bed operation device 380 is connected to the bed 310B. In the bed operation device 380, settings regarding the bed 310B can be made and displays are made. The switching of the display language in the bed operation device 380 is possible. For example, display in Japanese, English, Chinese, or Portuguese is possible. The bed operation device 380 is attached to, for example, the left and right side rails or the footboard 370.

[0173] The maximum number of bed operation devices 380 provided in the bed device 310 is, for example, 3. In one example, one bed operation device 380, or one hand switch 483 (described later), is connected to the bed 310B. In another example, one bed operation device 380 and one hand switch 483 are connected to the bed 310B. In another example, two bed operation devices 380 are connected to the bed 310B. In another example, two bed operation devices 380 and one hand switch 483 are connected to the bed 310B. In another example, three bed operation devices 380 are connected to the bed 310B.

[0174] FIGS. 19(a) and 19(b) are schematic diagrams illustrating a part of the bed device according to the embodiment. FIG. 19(a) illustrates a bed operation device 380 mainly provided on the head side side rail (the head right side rail 320 or the head left side rail 340). The bed operation device 380 includes a display input unit 380D. The bed operation device 380 is provided with a home button 380h.

[0175] As shown in FIG. 19(b), various displays are possible on the display input unit 380D. The posture of the bed 310B and the weight of the user can be displayed by the display input unit 380D. The setting of the out-of-bed sensor can be performed by the display input unit 380D. A display regarding the sleep sensor 481 can be made by the display input unit 380D. The operation of the air mattress can be performed by the display input unit 380D. An error can be displayed by the display input unit 380D.

[0176] FIGS. 20(a) and 20(b) are schematic diagrams illustrating a part of the bed device according to the embodiment. FIG. 20(a) illustrates a bed operation device 380 mainly provided on a footboard 370. The bed operation device 380 includes a display input unit 380D. In addition to a home button 380h, an up button 380a, a down button 380b, and a CPR button 380c are provided on the bed operation device 380. By operating the up button 380a or the down button 380b, the movable part of the bed 310B is raised or lowered. By operating the CPR button 380c, the posture for CPR is assumed.

[0177] As shown in FIG. 20(b), various displays are possible on the display input unit 380D. The bed 310B can be operated using the display input unit 380D. Bed operations include, for example, cardiac operations, tilting operations, interlocking operations (kind operations), raising and lowering of the backrest, raising and lowering of the knees, and raising and lowering of the height. The user's weight can be displayed using the display input unit 380D. The off-bed sensor can be set using the display input unit 380D. Displays related to the sleep sensor 481 can be made using the display input unit 380D. The air mattress can be operated using the display input unit 380D. Errors can be displayed using the display input unit 380D.

[0178] Hereinafter, an example of the hand switch 483 will be described. FIG. 21 is a schematic diagram illustrating a part of the bed device according to the embodiment. FIG. 21 illustrates a hand switch 483. The hand switch 483 includes switch pairs 483a to 483d. The switch pair 483a includes switches for raising or lowering related to the "interlocking" operation. The switch pair 483b includes switches for raising or lowering related to the "backrest raising" operation. The switch pair 483c includes switches for raising or lowering related to the "foot raising" operation. The switch pair 483d includes switches for raising or lowering related to the "height" change operation.

[0179] An angle or height may be displayed on the display unit 483D of the hand switch 483. The hand switch 483 is connected to, for example, the control box 410 by a cable 483e or the like.

[0180] Hereinafter, an example of the auxiliary socket 485 will be described. FIG. 22 is a schematic perspective view illustrating a part of the bed apparatus according to the embodiment. FIG. 22 illustrates the auxiliary socket 485 (for example, a plug receptacle device). Plugs of electronic devices used around the bed 310B can be connected to the auxiliary socket 485. As already described, the plug 485P of the auxiliary socket 485 is provided separately from the plug 410P of the control box 410. The auxiliary socket 485 has two sets of plug receptacles (plug insertion holes). The two sets of plug receptacles are arranged side by side, left and right.

[0181] FIG. 23 is a schematic diagram illustrating a part of the bed apparatus according to the embodiment. FIG. 23 illustrates the back bottom 70a, the knee bottom 70b, the foot bottom 70c, and the waist bottom 70e. The angles of the back bottom 70a, the knee bottom 70b, and the foot bottom 70c can be changed. Control is performed so that the angle between the bottoms does not become less than a determined value (for example, 90 degrees). For example, control is performed so that the angle between the line connecting the lower end of the back bottom 70a and the upper end of the knee bottom 70b (the broken line in FIG. 23) and the back bottom 70a is less than a determined value (for example, 90 degrees). For example, by controlling (interlocking) the movement of any of the plurality of bottoms, the angle is made less than the determined value.

[0182] The operating angle of the back bottom 70a is, for example, 0 degrees to 70 degrees. The operating angle of the knee bottom 70b is 0 degrees or more and 25 degrees or less. The operating range of the "height" is, for example, 43 cm. The floor height may vary depending on the bed frame. The range of the floor height is, for example, 30 cm to 73 cm, 32.5 cm to 75.5 cm, or 35 cm to 78 cm.

[0183] The operating angle of the inclination of the bottom is -15 degrees to 15 degrees. For example, in order to avoid interference within the bed frame, the inclination operation is performed after adjusting the height to a height of "the lowest floor height + 3 cm".

[0184] The operations to the cardiac position and bottom flat involve tilting operations. In these operations, an operation sequence considering the user's slipping down is applied.

[0185] In the electric CPR operation, the operations are performed in the following order. At that time, if simultaneous operations are possible, simultaneous operations may be performed. In the electric CPR operation, first, the stroke of the actuator 470c for the back bottom 70a ("back ACT") is operated to the lower limit. Within 30 seconds after the button for the electric CPR operation is pressed, it reaches the lower limit of the actuator 470c. Then, a tilting operation is performed and the tilting angle becomes 0 degrees. Then, height adjustment is performed and the height becomes the lowest floor height. The lowest floor height is, for example, the "once stopped height". Then, the knee bottom 70b is operated to 0 degrees.

[0186] In the bed device 310, by operating the bed operation device 380, the button operations regarding various operations can be set to the "operation prohibited" state.

[0187] FIG. 24(a) and FIG. 24(b) are schematic diagrams illustrating a part of the bed device according to the embodiment. These figures illustrate the display input unit 380D of the bed operation device 380. FIG. 24(a) illustrates the case where the display input unit 380D is the bed operation screen 381. FIG. 24(b) illustrates the case where the display input unit 380D is the actuator individual operation prohibition screen 383 (bed setting screen).

[0188] As shown in FIG. 24(a), for example, buttons 382a to 382f are provided. These buttons are, for example, input reception areas in a touch input device. By touching these buttons, bed operations are performed. The cardiac operation is performed by button 382a. The tilt operation is performed by button 382b. The interlocking operation ("kind operation") is performed by button 382c. The back operation (changing the back angle) is performed by button 382d. The knee operation (changing the knee angle) is performed by button 382e. The height operation (changing the height) is performed by button 382f. For example, when raising the back of bed 310B, if button 382d is pressed and then the up button 380a is pressed, bed 310B moves. Bed 310B moves during the period when the up button 380a is pressed. For example, when lowering the height of the bed, if button 382f is pressed and then the down button 380b is pressed, the height of bed 310B decreases during the period when the down button 380b is pressed.

[0189] As shown in FIG. 24(b), the display input unit 380D can shift to the actuator individual operation prohibition screen 383 (bed setting screen). By operating the display input area 383a, each of the back operation, knee operation, height operation, and tilt operation can be individually prohibited from being operated. By operating the display input area 383b, all operations can be prohibited or the prohibition of operations can be released. By operating the display input area 383c, the operation of the hand switch 483 can be prohibited or the prohibition of the operation can be released.

[0190] For example, when the back operation is prohibited from being operated, the cardiac operation, interlocking operation, and back operation are prohibited. For example, when the knee operation is prohibited from being operated, the cardiac operation, interlocking operation, and knee operation are prohibited. For example, when the height operation is prohibited from being operated, the cardiac operation, tilt operation, and height operation are prohibited. For example, when the tilt operation is prohibited from being operated, the cardiac operation and tilt operation are prohibited.

[0191] In one example, "all operations prohibited" is possible. In another example, the actuator 470 (such as 470a to 470d (see FIG. 18)) may be selectively (individually) "operationally prohibited". The release of the "operation prohibition" of the actuator 470 is released by the bed operation device 380.

[0192] When the bed operation device 380 is removed from the bed 310B, or when the cable connecting the bed operation device 380 is disconnected, etc., the selective "operation prohibition" of the actuator 470 cannot be released. At this time, by releasing the "all operations prohibited", the "operation prohibition" of the actuator 470 can be released.

[0193] The operation prohibition of the actuator 470, the operation prohibition of the hand switch 483, or the "all operations prohibited" are managed independently. For example, when the actuator 470 is individually operationally prohibited, if it is set as "all operations prohibited" and then the "all operations prohibited" is released, the individual operation prohibition of the actuator 470 remains.

[0194] When a prohibited button is pressed, a buzzer sounds and the prohibited LEDs of the membrane switch (for example, displays 323t and 343t, etc.) blink. If the buzzer does not sound, it is not known whether the button is prohibited or broken. By the buzzer sounding, it can be known that the button is prohibited.

[0195] When a button prohibited on the hand switch 483 is pressed, the hand switch 483 sounds. When a button prohibited on the membrane switch is pressed, for example, the junction box 420 sounds.

[0196] By operating the medical staff membrane switch or the bed operation device 380, the patient membrane switch and the hand switch 483 can be put into an operation prohibited state. The operation prohibition can be released if the medical staff membrane switch or the bed operation device 380 is connected.

[0197] By operating the membrane switch for medical staff or the bed operation device 380, all operations can be prohibited ("all operations prohibited"). Regarding this operation prohibition, if either the membrane switch for medical staff or the bed navigator is connected, it can be canceled.

[0198] For example, when the bed operation device 380 is not connected to the bed 310B, or in cases such as partial failure (communication failure), the "all operations prohibited" is canceled. In this case, for example, it can be operated by the local switch 483. If the user is not to be allowed to operate, the local switch 483 can be removed. When a prohibited button is pressed, a buzzer sounds and the prohibition LED of the membrane switch blinks.

[0199] When the "all operations prohibited" button is pressed while the local switch 483 is in the operation prohibited state, "all operations prohibited" is set. After that, when the "all operations prohibited" button is pressed again, the operation prohibition of the local switch 483 and the all operations prohibition are canceled. Even in the case of "all operations prohibited", the CPR operation is performed. In any case of "operation prohibited", "local switch operation prohibited", and "all operations prohibited", the CPR operation is performed.

[0200] For example, in the "current settings", when the local switch 483 is not operation prohibited and not "all operations prohibited", if the operation prohibition button of the local switch 483 is pressed, the local switch 483 becomes operation prohibited, and "all operations" is not operation prohibited (released state).

[0201] For example, in the "current settings", when the local switch 483 is not operation prohibited and not "all operations prohibited", if the "all operations prohibited" button is pressed, the local switch 483 and all operations become prohibited.

[0202] For example, in the "current settings", when the local switch 483 is operation prohibited and not "all operations prohibited", if the operation prohibition button of the local switch 483 is pressed, the local switch 483 is not operation prohibited (released state), and "all operations" is not operation prohibited (released state).

[0203] For example, in the "current settings", when the local switch 483 is prohibited from being operated and the "total operation prohibited" button is pressed when it is not "total operation prohibited", the local switch 483 and all operations are prohibited.

[0204] For example, in the "current settings", when the local switch 483 is prohibited from being operated and it is "total operation prohibited", when the button for prohibiting the operation of the local switch 483 is pressed, the local switch 483 and all operations are prohibited.

[0205] For example, in the "current settings", when the local switch 483 is prohibited from being operated and it is "total operation prohibited", when the "total operation prohibited" button is pressed, the local switch 483 is no longer prohibited from being operated (released state), and all operations are no longer prohibited (released state).

[0206] The operation speed can be changed by operating the display input area 383d illustrated in FIG. 24(b). For example, the speeds of various operations can be changed in a plurality of steps (for example, two steps, etc.).

[0207] The history regarding various operations of the bed device 310 may be saved. For example, the history is saved in a memory such as the control box 410. The memory in which the history is saved may be provided in the junction box 420, the local switch 483, etc. The memory in which the history is saved may be provided in the bed operation device 380. The information regarding the history is not reset by turning the power on / off. The information regarding the history includes, for example, the operation history of the control box 410, the operation history of the actuator 470, the operation history of the local switch 483, the operation content history, the failure history, and the getting in and out of bed history.

[0208] According to the embodiment, a control device and a bed device that can more appropriately control the movement of the movable part can be provided.

[0209] The embodiments of the present invention have been described above with reference to specific examples. However, the present invention is not limited to these specific examples. For example, regarding the specific configurations of each element such as the control device, control unit, acquisition unit, storage unit, movable unit, actuator, and detection unit included in the bed device, those skilled in the art can appropriately select from the known range to implement the present invention in the same manner, and as long as the same effects can be obtained, it is included in the scope of the present invention.

[0210] Also, combinations of any two or more elements of each specific example within the technically possible range are included in the scope of the present invention as long as they encompass the gist of the present invention.

[0211] In addition, based on the bed device described above as an embodiment of the present invention, all bed devices that can be appropriately designed and modified by those skilled in the art also belong to the scope of the present invention as long as they encompass the gist of the present invention.

[0212] In addition, within the scope of the idea of the present invention, those skilled in the art can conceive of various modification examples and correction examples, and it is understood that those modification examples and correction examples also belong to the scope of the present invention.

Description of Reference Numerals

[0213] 40…Control unit, 40A…Control circuit, 40I…Acquisition unit, 40M…Memory unit, 70…Bed, 70B…Bed frame, 70M…Movable part, 70a…Back bottom, 70b…Knee bottom, 70c…Foot bottom, 70e…Waist bottom, 71, 72…First, second actuator, 71M, 72M…First, second movable part, 71R, 72R…First, second connecting part, 71S, 72S…First, second detection part, 71d, 72d…Difference, 73a…Back actuator, 73aS…Back detection part, 73b…Knee actuator, 73bS…Knee detection part, 75B…Base frame, 75c…Caster, 78A…Headboard, 78B…Footboard, 78C, 78D…Side rail, 78M…Mattress, 90…Control device, ΔH1, ΔH2…Change amount, 110…Bed device, AA…Arrow, H1, H2…First, second height, R, R1, R2…State, S1~S4…First~fourth control signal, SA, SM…Speed, p1~p3…Period, t1~t4…First~fourth time, tm…Time, 310…Bed device, 310B…Bed, 320…Head right side rail, 320F…Outer surface, 320G…Inner surface, 323…Switch part, 323a~323q…Switch, 323r~323t…Display, 324…Goniometer, 324a…Display part, 325a…Convex part, 325b…Concave part, 325c…Head side convex part, 325d…Head side concave part, 325e…Through hole, 325f…Lower through hole, 325g…Handrail, 325h…Through hole, 327…Switch part, 327a~327d…Switch, 327n…Switch, 327u…USB terminal, 328…Concave part, 328h…Hole, 330…Foot right side rail, 330F…Outer surface, 330G…Inner surface, 334…Goniometer, 334a…Display part, 335f…Lower through hole, 335g…Handrail, 335h…Through hole, 340…Head left side rail, 340F…Outer surface, 340G…Inner surface, 343…Switch part, 343a~343q…Switch, 343r~343t…Display, 344…Goniometer, 344a…Display part, 345e…Through hole, 347…Switch part, 347a~347d…Switch, 347n…Switch, 347u…Terminal,354a…Display unit, 355g…Handrail, 360…Headboard, 370…Footboard, 370F…Outer surface, 370G…Inner surface, 375e…Through hole, 380…Bed operation device, 380D…Display input section, 380a…Raise button, 380b…Lower button, 380c…CPR button, 380h…Home button, 381…Bed operation screen, 382a~382f…Buttons, 383…Individual actuator operation prohibition screen, 383a~383d…Display input areas, 390B…Base frame, 390C…Caster, 390F…Frame, 390M…Mattress, 398…Caregivers etc., 410…Control box, 410P…Plug, 420…Junction box, 430…Membrane switch, 430a, 430b…Medical staff membrane switches, 430c, 430d…Patient membrane switches, 431a, 431b…Relay units, 440…Footlight, 450…Side rail sensor, 455…Caster lock sensor, 457a, 457b…Nurse call linkage, 458…Nurse call relay unit, 460…Scale unit, 465…Load cell, 470…Actuator, 470a~470d…Actuators, 475…Battery, 481…Sleep sensor, 482…Air mattress control unit, 483…Hand switch, 483D…Display section, 483a~483d…Switch pairs, 483e…Cable, 485…Auxiliary outlet, 485P…Plug, 488…Charger

Claims

1. A base frame, a bed frame provided above the base frame and including a first movable part and a second movable part, a first actuator that connects and expands or contracts the base frame and the first movable part to change the height of the first movable part, a second actuator that connects and expands or contracts the base frame and the second movable part to change the height of the second movable part, a control device including a control unit that controls the expansion and contraction speed of the first actuator based on the length of the first actuator and controls the expansion and contraction speed of the second actuator based on the length of the second actuator, comprising, the difference between the maximum length and the minimum length of the first actuator is different from the difference between the maximum length and the minimum length of the second actuator, the control unit controls the expansion and contraction speed of the first actuator so that a first speed of change in the height of the first movable part during a period excluding the start and end of movement of the first movable part is substantially constant, the control unit controls the expansion and contraction speed of the second actuator so that a second speed of change in the height of the second movable part during a period excluding the start and end of movement of the second movable part is substantially constant, the first speed is substantially the same as the second speed, a bed device, wherein the expansion and contraction speed of the first actuator is different from the expansion and contraction speed of the second actuator at least in a part between the minimum length and the maximum length of the first actuator.

2. At least in a part between the minimum length and the maximum length of the first actuator, the control characteristics of the first actuator are different from the control characteristics of the second actuator, The bed device according to claim 1, wherein the control characteristics are control characteristics defined by the speed of the actuator with respect to the expansion and contraction ratio of the actuator.

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