Development of Voluntary Mobile Support Equipment by Centroid Detection

産業応用工学会論文誌 Pub Date : 2019-09-15 DOI:10.12792/jjiiae.7.2.47

田中陽平, 阿部あすか, 田村和輝, 宍戸道明

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Abstract

In recent years, an increasing number of care recipients and a shortage of caregivers, by acceleration of declining birthrate and aging, are getting worse. From such social background, the application of the mechatronics technology was expected to reduce the burden on caregivers and the independence of the people requiring nursing care. Therefore, omni-directional moving system that operates intuitively by moving the centroid was developed by this research group. In this study, evaluated, the transient response characteristics and centroid acquisition accuracy of the centroid detection-type movement equipment were evaluated. In addition, the cancellation condition of the boarding standby state for safe boarding was considered. Assuming a load of 60 kg on this equipment, the servo system can be accurately controlled in the range of 2538 to 6345 rpm. At 60 kg load condition, the maximum error distance was only 49 mm. Therefore, the omni-directional mobile system can operate accurately. As the cancellation condition of the boarding standby state, the rest time is necessary to set to 2 sec or more. Moreover, when targeting senior citizens which have low dynamic balance, the rest time is necessary to set still time longer.

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基于质心检测的志愿机动支援装备研制

近年来，由于出生率下降和老龄化的加速，接受照顾的人越来越多，照顾者的短缺越来越严重。在这样的社会背景下，人们期望机电一体化技术的应用能够减轻照顾者的负担，提高被照顾者的独立性。因此，本课题组开发了通过移动质心直观操作的全向移动系统。本文对质心检测式移动设备的瞬态响应特性和质心采集精度进行了评价。此外，为了安全登机，还考虑了登机待机状态的取消条件。假设此设备负载为60 kg，伺服系统可以精确控制在2538至6345 rpm的范围内。在60 kg载荷条件下，最大误差距离仅为49 mm。因此，该全向移动系统能够准确运行。作为登机待机状态的取消条件，休息时间需要设置为2秒以上。此外，当针对动态平衡能力较差的老年人时，休息时间需要设置更长的静止时间。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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産業応用工学会論文誌

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