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1. WO2016143039 - DETECTION DEVICE AND NURSING-CARE ROBOT

Publication Number WO/2016/143039
Publication Date 15.09.2016
International Application No. PCT/JP2015/056849
International Filing Date 09.03.2015
IPC
G01D 5/249 2006.01
GPHYSICS
01MEASURING; TESTING
DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED BY A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; TRANSFERRING OR TRANSDUCING ARRANGEMENTS NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
5Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
12using electric or magnetic means
244influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
249using pulse code
A61G 5/00 2006.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
5Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
CPC
A61G 2203/30
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS
2203General characteristics of devices
30characterised by sensor means
A61G 5/00
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS
5Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
A61G 7/1017
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS
7Beds specially adapted for nursing; Devices for lifting patients or disabled persons
10Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
1013Lifting of patients by
1017Pivoting arms, e.g. crane type mechanisms
B25J 11/009
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
008Manipulators for service tasks
009Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
G01D 5/2457
GPHYSICS
01MEASURING; TESTING
DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
5Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
12using electric or magnetic means
244influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
245using a variable number of pulses in a train
2454Encoders incorporating incremental and absolute signals
2455with incremental and absolute tracks on the same encoder
2457Incremental encoders having reference marks
G01D 5/249
GPHYSICS
01MEASURING; TESTING
DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
5Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
12using electric or magnetic means
244influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
249using pulse code
Applicants
  • 富士機械製造株式会社 FUJI MACHINE MFG. CO., LTD. [JP]/[JP]
Inventors
  • 野村 英明 NOMURA Hideaki
  • 五十棲 丈二 ISOZUMI Joji
Agents
  • 小林 脩 KOBAYASHI Osamu
Priority Data
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) DETECTION DEVICE AND NURSING-CARE ROBOT
(FR) DISPOSITIF DE DÉTECTION ET ROBOT DE SOINS INFIRMIERS
(JA) 検出装置及び介助ロボット
Abstract
(EN)
Provided is a detection device that can quickly detect the state of a moving member such as the origin position of the moving member. The detection device (1, 2, 3, 4) comprises: a dog (16) provided with a plurality of slits (S) in which at least one of the clearance between adjacent slits (S) and the gap width of each slit (S) is formed in a plurality of types; a sensor (17) that detects the presence of a slit (S); a count position acquisition unit (30) that acquires the count start position (Ps) and the count end position (Pe) corresponding to the clearance of adjacent slits (S) or the gap width of each slit (S) on the basis of the detection result of the sensor (17); and a state detection unit (40, 50, 85) that acquires the increase or decrease of the count value from the count start position (Ps) to the count end position (Pe) and detects the state of the moving member (12) on the basis of the acquired increase or decrease of the count value.
(FR)
L'invention concerne un dispositif de détection qui peut rapidement détecter l'état d'un élément mobile telle que la position d'origine de l'élément mobile. Le dispositif de détection (1, 2, 3, 4) comprend : une griffe de serrage (16) comprenant une pluralité de fentes (S) dans lesquelles au moins l'un des espacements entre des fentes adjacentes (S) et la largeur d'intervalle de chaque fente (S) est formée dans une pluralité de types ; un capteur (17) qui détecte la présence d'une fente (S) ; une unité d'acquisition de position de comptage (30) qui acquiert la position de début de comptage (Ps) et la position de comptage de fin (Pe) correspondant à l'espacement de fentes adjacentes (S) ou à la largeur d'intervalle de chaque fente (S) sur la base du résultat de détection du capteur (17) ; et une unité de détection d'état (40, 50, 85) qui acquiert l'augmentation ou la diminution de la valeur de comptage entre la position de début de comptage (Ps) et la position de comptage de fin (Pe) et détecte l'état de l'élément mobile (12) sur la base de l'augmentation ou de la diminution acquise de la valeur de comptage.
(JA)
 移動部材の原点位置などの移動部材の状態を短時間で検出できる検出装置を提供する。 検出装置(1,2,3,4)は、隣り合うスリット(S)の離間距離及びスリット(S)自身の隙間幅の少なくとも一方を複数種に形成される複数のスリット(S)を備えるドッグ(16)と、スリット(S)の有無を検出するセンサ(17)と、センサ(17)の検出結果に基づいて、隣り合うスリット(S)の離間距離又はスリット(S)自身の隙間幅に対応するカウント開始位置(Ps)及びカウント終了位置(Pe)を取得するカウント位置取得部(30)と、カウント開始位置(Ps)からカウント終了位置(Pe)までのカウント値の増減数を取得し、取得したカウント値の増減数に基づいて移動部材(12)の状態を検出する状態検出部(40,50,85)とを備える。
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