Bed apparatus and bed apparatus control method

The present invention relates to a bed apparatus as well as a control method for controlling a bed apparatus.

There have been known bed apparatus equipped with a lifting mechanism (e.g. Patent Document 1). The lifting mechanism can move up and down a top frame relative to the floor to adjust the height of the top frame.

There have been also known bed apparatus equipped with a mechanical unit that perform back-raising operation and knee-raising operation (e.g., Patent Document 2). In the back-raising operation, the back bottom placed on the top frame is actuated to raise the back of the user on the back bottom and thereby move the user lying (face upward) in bed to their sitting position. In the knee-raising operation, the knee bottom placed on the top frame is actuated to raise the user's knees.

The bed apparatus of this kind is used at home by the user who is physically handicapped, for example. The user can set themself into their preferable position by actuating the bed apparatus to perform back-raising and knee-raising operations.

Alternatively, the caregiver causes the bed apparatus to perform back-raising and knee-raising operations, to thereby make it easy to care the user. In this way, the bed apparatus not only helps the user who uses the bed at home to move, but also helps the caregiver who nurses the user to work.

Patent Documents

Patent Document 1:

Japanese Patent Application Laid-open 2009-207642

Patent Document 2:

Japanese Patent Application Laid-open 2009-240583

Problems to be Solved by the Invention

For example, to take a meal or for other purposes, the user can move from a lying position into a sitting position by causing the bed apparatus to perform a back-raising operation. However, in the back-raising operation, since the user's knees are unbent at the final position after back-raising, some users may feel uncomfortable.

On the other hand, in Patent Document 2, the back-raising operation is performed in linkage with the knee-raising operation in order to reduce user's feeling of being pressed on the back or in the belly or in order to prevent user's significant body slippage. However, this cannot be said to be a good enough measure for some users.

In view of the above circumstances, it is therefore an object of the present invention to provide a bed apparatus, as well as a bed apparatus control method, that can make the user take a comfortable posture close to sitting position in the final position after back-raising, and that can reduce user's feeling of being pressed on the back or in the belly and prevent user's significant body slippage.

Means for Solving the Problems

A bed apparatus according to the first aspect of the present invention comprises:

a bottom driver capable of performing knee-raising operation for raising the knees of a user by actuating a knee bottom placed on a top frame;

a head-side driver and foot-side driver that can move up and down the head side and foot side of the top frame relative to the floor, respectively;

a bottom controller that controls the bottom driver so as to perform the knee-raising operation in accordance with a tilt and back-raising command; and,

a height controller for controlling the head-side driver and the foot-side driver so as to perform tilting operation for making the head-side height of the top frame higher than the foot-side height of the top frame, after execution of the knee-raising operation.

According to the second aspect of the invention, the bed apparatus having the first aspect of the invention is further characterized in that the bottom controller controls the bottom driver so as to perform back-raising operation for raising the back of the user and the knee-raising operation by actuating a back bottom placed on the top frame, before execution of the tilting operation.

According to the third aspect of the invention, the bed apparatus having the first aspect of the invention is further characterized in that the bottom controller controls the bottom driver so as to perform back-raising operation for raising the back of the user by actuating a back bottom placed on the top frame, after execution of the tilting operation.

According to the fourth aspect of the invention, the bed apparatus having the first aspect of the invention is further characterized in that the bottom controller controls the bottom driver so as to perform a first back-raising operation for raising the back of the user and the knee-raising operation by actuating a back bottom placed on the top frame, before execution of the tilting operation, and controls the bottom driver so as to perform a second back-raising operation for further raising the back of the user by actuating the back bottom, after execution of the tilting operation.

According to the fifth aspect of the invention, the bed apparatus having any one of the first to fourth aspects of the invention is further characterized in that the bottom controller controls the bottom driver so as to perform knee-lowering operation for lowering the knees of the user by actuating the knee bottom, after execution of the tilting operation, and the angle of the knee bottom formed relative to the ground by the knee-lowering operation performed after the tilting operation is equal to or greater than 0°.

According to the sixth aspect of the invention, the bed apparatus having t having any one of the first to fourth aspects of the invention is further characterized in that the bottom controller controls the bottom driver so as to perform the knee-raising operation after execution of the tilting operation.

A bed apparatus control method of the present invention comprises:

a bottom control step of performing knee-raising operation for raising the knees of a user by actuating a knee bottom placed on a top frame, in accordance with a tilt and back-raising command; and,

a height control step of performing tilting operation for making the head-side height of the top frame higher than the foot-side height of the top frame by moving up and down the head side and the foot side of the top frame relative to the floor, after execution of the knee-raising operation.

Effect of the Invention

According to the present invention, in accordance with a tilt and back-raising command, the back-raising operation and knee-raising operation are performed. After execution of the back-raising operation and knee-raising operation, the aforementioned tilting operation is performed. In the back-raising operation, in the final position in which the user' back has been raised, since the user's knees are unbent, some users may feel uneasy. However, in the case where the tilting operation is performed after the back-raising operation and the knee-raising operation, the knee bottom serves as the seat of a chair while the back bottom serves as the hip rest of the chair, so that the user will feel a sensation just like experiencing transition from the supine position in bed to the sitting position in a chair. In the above way, according to the present invention, since the tilting operation is performed after execution of the back-raising operation and the knee-raising operation, the user can take a comfortable position just like sitting in the final position after the user's back has been raised. Further, it is possible to reduce user's feeling of being pressed on the back and in the belly and prevent user's significant body slippage.

According to the present invention, since the knee-raising operation is performed before the tilting operation, it is possible to prevent the user in the tilted state from falling.

FIG. 1 An overall perspective view of a frame on which bottoms are mounted in a bed apparatus 1 according to the present invention.

FIG. 2 A perspective view of a lift unit 14 (head-side lift unit 14 H) in FIG. 1 .

FIG. 3 A block diagram showing a configuration of a control system of the bed apparatus 1 according to the present invention.

FIG. 4 A block diagram showing control targets to be controlled by a drive controller 110 in FIG. 3 .

FIG. 5 A diagram showing parameters used in the bed apparatus 1 according to the present invention.

FIG. 6 A flow chart for illustrating a tilt and back-raising process performed by the drive controller 110 of the bed apparatus 1 according to the present invention.

FIG. 7 A flow chart for illustrating a tilt-release and back-lowering process performed by the drive controller 110 of the bed apparatus 1 according to the present invention.

FIG. 8 A diagram showing parameters used in a 4-drive control bed apparatus as the bed apparatus 1 according to the present invention (example).

FIG. 9 A block diagram showing a configuration of an operation display portion 150 of a 4-drive control bed apparatus (example).

FIG. 10 A flow chart for illustrating the operation of a state detector 120 and an angle calculator 130 in the 4-drive control bed apparatus (example).

FIG. 11 A flow chart for illustrating a tilt and back-raising process performed by the drive controller 110 of the 4-drive control bed apparatus (example).

FIG. 12 A flow chart for illustrating a tilt and back-raising process performed by the drive controller 110 of the 4-drive control bed apparatus (example).

FIG. 13 A flow chart for illustrating a tilt and back-raising process performed by the drive controller 110 of the 4-drive control bed apparatus (example).

FIG. 14 A flow chart for illustrating a tilt and back-raising process performed by the drive controller 110 of the 4-drive control bed apparatus (example).

FIG. 15 A flow chart for illustrating a tilt-lease and back-lowering process performed by the drive controller 110 of the 4-drive control bed apparatus (example).

FIG. 16 A flow chart for illustrating a tilt-lease and back-lowering process performed by the drive controller 110 of the 4-drive control bed apparatus (example).

FIG. 17 A flow chart for illustrating a tilt-lease and back-lowering process performed by the drive controller 110 of the 4-drive control bed apparatus (example).

Next, the embodiments of the present invention will be described with reference to the accompanying drawings.

FIG. 1 is an overall perspective view of a frame on which bottoms are mounted in a bed apparatus 1 according to the present invention. In FIG. 1 , in the bed apparatus, the head side to which the user's head is oriented when the user is lying is indicated by “H” and the foot side to which the user's feet are oriented when the user is lying is indicated by “F”. FIG. 2 is a perspective view of a lift unit 14 (head-side lift unit 14 H) in FIG. 1 .

As shown in FIG. 1 , the bed apparatus 1 according to the present invention is essentially comprising: a top frame 10 having an approximate ladder structure with its length oriented along the direction from the head side end to the foot side end and its short side oriented in the width direction, a bottom placed on the top frame 10 ; and a head-side lift unit 14 H and a foot-side lift unit 14 F that are arranged on the head and foot sides under the top frame 10 , respectively, to support the top frame 10 so as to be raised and lowered relative to the floor.

Approximately rectangular support frames 16 H and 16 F, longer in the width direction of the bed apparatus, are fixed at the head side and foot side to the underside of the top frame, in order to set the top frame on top of the lift units 14 H and 14 F.

The lower ends of the lift units 14 H and 14 F are detachably connected to each other by a connecting frame 18 . The connecting frame 18 has a paired pipe frame structure, which is arranged with its length oriented to the head and foot sides.

The lift units 14 H and 14 F include actuators 32 and 34 , respectively, so that the drive force of each actuator 32 and 34 is controlled separately. Drive control of each actuator 32 and 34 makes it possible to perform a tilting operation of producing height difference between the head side and foot side of the top frame 10 .

The top frame 10 is also equipped with a back-raising linkage 20 on the head side and a knee-raising linkage 22 around the center. Further, actuators 36 and 38 for driving these linkages are also provided. A back-raising operation can be achieved by actuating the back-raising linkage 20 with the bottom mounted on the top frame 10 , whereas a knee-raising operation can be achieved by actuating the knee-raising linkage 22 .

FIG. 3 is a block diagram showing a configuration of a control system of the bed apparatus 1 of the present invention.

The bed apparatus 1 according to the present invention further includes a controller 100 , a drive controller 110 , a state detector 120 , an angle actuator 130 , a storage 140 and an operation display portion 150 . The controller 100 controls the drive controller 110 , the state detector 120 , the angle calculator 130 , the storage 140 and the operation display portion 150 . The controller 100 is formed of, for example, a CPU (Central Processing Unit) and the like.

FIG. 4 is a block diagram showing control targets to be controlled by the drive controller 110 of FIG. 3 . FIG. 5 is a diagram showing parameters used in the bed apparatus 1 according to the present invention.

The drive controller 110 includes a bottom controller 111 and a height controller 112 . The bottom controller 111 controls a back bottom driver 210 and a knee bottom driver 220 . The height controller 112 controls a head-side driver 230 and a foot-side driver 240 . The back bottom driver 210 corresponds to the actuator 36 for driving the back-raising linkage 20 mentioned above. The knee bottom driver 220 corresponds to the actuator 38 for driving the knee-raising linkage 22 mentioned above. The head-side driver 230 corresponds to the actuator 32 for the aforementioned head-side lift unit 14 H. The foot-side driver 240 corresponds to the actuator 34 for the aforementioned foot-side lift unit 14 F.

The bottoms placed on the top frame 10 include a back bottom 12 a , a hip bottom 12 b , a knee bottom 12 c and a foot bottom 12 d.

The top of the back bottom 12 a is the surface in contact with the back of the user who is lying supine. One end of the back bottom 12 a is the side to which the user's head is oriented. The end of the back bottom 12 a will be called hereinbelow the head-side end EPback.

The top of the hip bottom 12 b is the surface in contact with the hips of the user who is lying supine. The other end of the back bottom 12 a is coupled with one end of the hip bottom 12 b by means of a joint FPback. The back bottom 12 a is supported by the back-raising linkage 20 so as to be rotated up and down on the joint FPback as a pivot relative to the top frame 10 .

The top of the knee bottom 12 c is the surface in contact with the thighs of the user who is lying supine. The other end of the hip bottom 12 b is coupled with one end of the knee bottom 12 c by means of a joint FPknee. The knee bottom 12 c is supported by the knee-raising linkage 22 so as to be rotated up and down on the joint FPknee as a pivot relative to the top frame 10 .

The top of the foot bottom 12 d is the surface in contact with the calves of the user who is lying supine. The other end of the knee bottom 12 c is coupled with one end of the foot bottom 12 d by means of a joint CPknee. The foot bottom 12 d is rotatably coupled with the knee bottom 12 c.

The back-raising linkage 20 is attached to the undersurface of the back bottom 12 a . The back bottom driver 210 can perform back-raising operation and back-lowering operation. In the back-raising operation, with the bottom placed on the top frame 10 , the back-raising linkage 20 (back bottom 12 a ) is actuated to thereby raise the user's back being in contact with the back bottom 12 a so that the user is moved from the lying position (lying supine) to the sitting position. For example, when taking a meal, the user can cause the bed apparatus 1 to perform a back-raising operation to move themself from the lying position to the sitting position. In the back-lowering operation, the back-raising linkage 20 (back bottom 12 a ) is actuated to thereby lower the user's back being in contact with the back bottom 12 a so that the user is moved from the sitting position to the laying position (lying supine).

The knee-raising linkage 22 is attached to the undersurface of the knee bottom 12 c . The knee bottom driver 220 can perform knee-raising operation and knee-lowering operation. In the knee-raising operation, with the bottom placed on the top frame 10 , the knee-raising linkage 22 (knee bottom 12 c ) is actuated to thereby raise the user's knees being in contact with the knee bottom 12 c so that the user's legs are moved from the unbent position to a bent position. In the knee-lowering operation, the knee-raising linkage 22 (knee bottom 12 c ) is actuated to thereby lower the user's knees being in contact with the knee bottom 12 c so that the user's legs are moved from the bent position to the unbent position.

The head-side driver 230 and foot-side driver 240 can move up and down the head-side end EPh of the top frame 10 and the foot-side end EPf of the top frame 10 , relative to the floor, respectively. The head-side driver 230 and foot-side driver 240 adjust the height of the top frame 10 (the bed height for the user) by moving up and down the top frame 10 relative to the floor.

In the present invention, the user or the caregiver of the user can make the bed apparatus 1 perform an aftermentioned tilt and back-raising process by giving a tilt and back-raising command via the operation display portion 150 . Also, after the tilt and back-raising process, the user or the caregiver can make the bed apparatus 1 perform an aftermentioned tilt-release and back-lowering process by giving a tilt-release and back lowering command via the operation display portion 150 .

FIG. 6 is a flow chart for illustrating a tilt and back-raising process performed by the drive controller 110 of the bed apparatus 1 according to the present invention.

Now, a tilt and back-raising process is started in accordance with a tilt and back-raising command (Step S 1 —Yes). In this case the bottom controller 111 of the drive controller 110 controls the back bottom driver 210 so as to perform a back-raising operation (the first back-raising operation) for raising the user's back by actuating the back bottom 12 a and also controls the knee bottom driver 220 so as to perform a knee-raising operation for raising user's knees by actuating the knee bottom 12 c (Step S 2 ).

At Step S 2 , when the back-raising operation has been performed, the back bottom 12 a is positioned at an angle ° back with the top frame 10 . Further, when the knee-raising operation has been performed, the knee bottom 12 c is positioned at an angle θknee with the top frame 10 .

After Step S 2 , or specifically, after the back-raising operation and knee-raising operation, the height controller 112 of the drive controller 110 controls the head-side driver 230 and foot-side driver 240 so as to perform a tilting operation for setting the head-side end of the top frame 10 higher than the foot-side end of the top frame 10 (Step S 3 ).

At Step S 3 , when the tilting operation has been performed, the height Hh of the head-side end EPh of the top frame 10 from the floor is higher than the height Hf of the foot-side end EPf of the top frame 10 from the floor, so that the top frame 10 is positioned at an angle θbed with the floor.

After Step S 3 , or specifically, after the tilting operation, the bottom controller 111 of the drive controller 110 controls the back bottom driver 210 so as to perform a back-raising operation (the second back-raising operation) for further raising the user's back by actuating the back bottom 12 a and also controls the knee bottom driver 220 so as to perform a knee-lowering operation for lowering user's knees by actuating the knee bottom 12 c or perform a knee-raising operation for further raising user's knees by actuating the knee bottom 12 c (when the knee-raising operation before the tilting operation is called the first knee-raising operation, the knee-raising operation after the tilting operation is called the second knee-raising operation) (Step S 4 ).

At this stage, when the specification of the bed apparatus 1 is such that the angle θknee of the knee bottom 12 c has been made greater by the knee-raising operation (Step S 2 ) performed before the tilting operation (Step S 3 ), than the previously determined, preset knee bottom angle at tilting, at Step S 4 , the bottom controller 111 of the drive controller 110 controls the knee bottom driver 220 so as to perform a knee-lowering operation by actuating the knee bottom 12 c until the angle θknee of the knee bottom 12 c lowers to the preset knee bottom angle at tilting. The angle θknee of the knee bottom 12 c set by the knee-lowering operation after the tilting operation, or the preset knee bottom angle at tilting, is equal to or greater than 0° relative to the ground, and smaller than the maximum angle of the knee bottom 12 c set by the knee-raising operation before the tilting operation. Thereby, in the bed apparatus 1 , in the tilt and back-raising process, the knee bottom 12 c works as a seat of a chair or bearing surface so as to prevent user' slippage from the top frame 10 .

On the other hand, when the specification of the bed apparatus 1 is such that the angle θknee of the knee bottom 12 c has not been made to reach the aforementioned preset knee bottom angle at tilting, by the first knee-raising operation (Step S 2 ) performed before the tilting operation (Step S 3 ), at Step S 4 , the bottom controller 111 of the drive controller 110 controls the knee bottom driver 220 so as to perform the second knee-raising operation by actuating the knee bottom 12 c until the angle θknee of the knee bottom 12 c reaches the preset knee bottom angle at tilting.

When the tilt and back-raising process has been done, the head-side driver 230 and foot-side driver 240 support the top frame 10 relative to the floor, to keep the tilt state that the height of the head-side end is higher than the height of the foot-side end. Further, the bottom drivers (back bottom driver 210 and knee bottom driver 220 ) support the user's back and knees by use of the back bottom 12 a and the knee bottom 12 c placed on the top frame 10 as the seat of a chair and the hip rest of the chair, respectively, to keep the back-raised state for raising the user's back by the back bottom 12 a and keep the knee-raised state for raising the user's knees by the knee bottom 12 c , relative to the top frame 10 kept in the tilt state.

FIG. 7 is a flow chart for illustrating a tilt-release and back-lowering process performed by the drive controller 110 of the bed apparatus 1 according to the present invention.

From the state after the tilt and back-raising process has been performed, a tilt-release and back-lowering process is started in accordance with a tilt-release and back-lowering command (Step S 11 —Yes). In this case the bottom controller 111 of the drive controller 110 controls the back bottom driver 210 so as to perform a back-lowering operation by actuating the back bottom 12 a . In order to prevent the user in the tilted state from falling, the bottom controller 111 also controls the knee bottom driver 220 so as to perform a knee-raising operation for further raising user's knees by actuating the knee bottom 12 c (Step S 12 ).

After Step S 12 , or specifically, after the back-lowering operation and knee-raising operation, the height controller 112 of the drive controller 110 controls the head-side driver 230 and foot-side driver 240 so as to perform a tilt-releasing operation for setting the head-side end of the top frame 10 equal in height to the foot-side end of the top frame 10 (Step S 13 ).

After Step S 13 , or specifically, after the tilt-releasing operation, the bottom controller 111 of the drive controller 110 controls the back bottom driver 210 so as to perform a back-lowering operation by actuating the back bottom 12 a and also controls the knee bottom driver 220 so as to perform a knee-lowering operation by actuating the knee bottom 12 c (Step S 14 ).

At this stage, when the specification of the bed apparatus 1 is such that the back bottom 12 a has not been set into the horizontal state relative to the top frame 10 by the first back-lowering operation, that is, the back-lowering operation performed before the tilt-releasing operation (Step S 14 ), the bottom controller 111 of the drive controller 110 controls the back bottom driver 210 so as to perform the second back-lowering operation for further lowering the user's back by actuating the back bottom 12 a until the back bottom 12 a is set horizontal relative to the top frame 10 .

As described above, the bed apparatus 1 according to the present invention realizes the following effect when the tilt and back-raising process is performed in accordance with a tilt and back-raising command.

In the bed apparatus 1 according to the present invention, the bottom controller 111 controls the bottom drivers (back bottom driver 210 and knee bottom driver 220 ) so as to perform the above-described back-raising operation and knee-raising operation while the height controller 112 controls the head-side driver 230 and foot-side driver 240 so as to perform the above-described tilting operation after execution of the back-raising operation and knee-raising operation in accordance with a tilt and back-raising command. In the back-raising operation, in the final position in which the user' back has been raised, since the user's knees are unbent, some users may feel uneasy. However, in the case where the tilting operation is performed after the back-raising operation and the knee-raising operation by the tilt and back-raising process, the knee bottom 12 c serves as the seat of a chair while the back bottom 12 a serves as the hip rest of the chair, so that the user will feel a sensation just like experiencing transition from the supine position in bed to the sitting position in a chair. In the above way, according to the bed apparatus 1 of the present invention, since the tilting operation is performed after execution of the back-raising operation and the knee-raising operation, the user can take a comfortable position just like sitting in the final position after the user's back has been raised. Further, it is possible to reduce user's feeling of being pressed on the back and in the belly and prevent user's significant body slippage.

Further, according to the bed apparatus 1 of the present invention, as another effect of the tilt and back-raising process, it is possible to prevent the user in the tilted state from falling because the knee-raising operation is performed before the tilting operation.

In the bed apparatus 1 according to the present invention, when the tilt-release and back-lowering process is performed in accordance with a tilt-release and back-lowering command after the tilt and back-raising process has been done, the following effects can be obtained.

In the bed apparatus 1 according to the present invention, the bottom controller 111 controls the bottom drivers (back bottom driver 210 and knee bottom driver 220 ) so as to perform the above-described back-lowering operation and knee-raising operation while the height controller 112 controls the head-side driver 230 and foot-side driver 240 so as to perform the above-described tilt-releasing operation after execution of the back-lowering operation and knee-raising operation. When the tilt-releasing operation is performed after execution of the back-lowering operation and knee-raising operation by the tilt-release and back-lowering process, the user feels a sensation just like experiencing transition from the sitting position in a chair to the supine position with knees raised in bed. In this way, according to the bed apparatus 1 of the present invention, the tilt-releasing operation is performed after execution of the back-lowering operation and knee-raising operation, further the back-lowering operation and the knee-lowering operation are performed, whereby it is possible to transition the user's position from sitting on a chair to lying in bed.

Further, according to the bed apparatus 1 of the present invention, as another effect of the tilt-release and back-lowering process, it is possible to prevent the user in the tilted state from falling because the knee-lowering operation is performed after the tilt-releasing operation has been done.

As the order of the back-raising operation and the knee-raising operation at Step S 2 in the tilt and back raising process, as long as this step is performed before the tilting operation (Step S 3 ), the back-raising operation may be performed after the knee-raising operation (see the example described below), the knee-raising operation may be performed after the back-raising operation, or the back-raising operation and the knee-raising operation may be performed at the same time, as in Patent Document 2.

Further, at Step S 2 of the tilt and back-raising process, as long as the knee-raising operation is performed before the tilting operation (Step S 3 ), it may be performed alone without performing the back-raising operation. Also in this case, the bed apparatus 1 of the present invention can achieve the above effect of the tilt and back-raising process.

As the order of the back-lowering operation and the knee-lowering operation at Step S 14 in the tilt-release and back lowering process, as long as this step is performed after the tilt-releasing operation (Step S 13 ), the back-lowering operation may be performed after the knee-lowering operation, the knee-raising operation may be performed after the back-raising operation (see the example described below), or the back-lowering operation and the knee-lowering operation may be performed at the same time, as in Patent Document 2.

Further, at Step S 14 of the tilt-release and back-raising process, as long as the knee-lowering operation is performed after the tilt-releasing operation (Step S 13 ), it may be performed alone. Also in this case, the bed apparatus 1 of the present invention can achieve the above effect of the tilt-release and back-lowering process.

Next, as a specific example of the bed apparatus 1 according to the present invention, a 4-drive control bed apparatus will be described. FIG. 8 is a diagram showing parameters used in the 4-drive control bed apparatus.

FIG. 9 is a block diagram showing a configuration of an operation display portion 150 of a 4-drive control bed apparatus. The operation display portion 150 includes a tilt and back position adjustment raising command button 1501 , a tilt and back position adjustment lowering command button 1502 , a back position adjustment raising command button 1503 , a back position adjustment lowering command button 1504 , a knee position adjustment raising command button 1505 , a knee position adjustment lowering command button 1506 , a height adjustment raising command button 1507 and a height adjustment lowering command button 1508 . The above-described tilt and back-raising command corresponds to user or caregiver's continuous pressing of the tilt and back position adjustment raising command button 1501 .

FIG. 10 is a flow chart for illustrating the operation of the state detector 120 and the angle calculator 130 in the 4-drive control bed apparatus. When any one of the buttons on the operation display portion 150 is pressed down (Step S 1001 —Yes), the following operation is started.

To begin with, the state detector 120 detects the height Hh of the head-side end EPh of the top frame 10 from the floor (Step S 1002 ). For example, the head-side driver 230 (the actuator 32 of the head-side lift unit 14 H) is equipped with an inner sensor for detecting the control value when the actuator 32 performs a stretching/contacting operation. The storage 140 stores a top frame head-side height conversion table for giving multiple correlations between the control value of the actuator 32 and the height Hh of the head-side end EPh of the top frame 10 from the floor. The state detector 120 converts the control value detected by the inner sensor of the actuator 32 into the height Hh of the head-side end EPh of the top frame 10 from the floor, referring to the top frame head-side height conversion table.

The state detector 120 also detects the height Hf of the foot-side end EPf of the top frame 10 from the floor (Step S 1003 ). For example, the foot-side driver 230 (the actuator 34 of the foot-side lift unit 14 F) is equipped with an inner sensor for detecting the control value when the actuator 34 performs a stretching/contacting operation. The storage 140 stores a top frame foot-side height conversion table for giving multiple correlations between the control value of the actuator 34 and the height Hf of the foot-side end EPf of the top frame 10 from the floor. The state detector 120 converts the control value detected by the inner sensor of the actuator 34 into the height Hf of the foot-side end EPf of the top frame 10 from the floor, referring to the top frame foot-side height conversion table.

Next, the angle calculator 130 calculates the angle (tilt angle) θb of the top frame 10 relative to the floor, based on the heights Hh and Hf detected by the state detector 120 (Step S 1004 ). Specifically, the angle calculator 130 calculates the tilt angle θbed from the difference between the height Hh and the height Hf.

The state detector 120 also detects the angle θknee of the knee bottom 12 c relative to the top frame 10 (Step S 1005 ). For example, the knee bottom driver 220 (the actuator 38 for driving a knee-raising frame 22 ) is equipped with an inner sensor for detecting the control value when the actuator 38 performs a stretching/contacting operation. The storage 140 stores a knee bottom angle conversion table for giving multiple correlations between the control value of the actuator 38 and the angle θknee of the knee bottom 12 c relative to the top frame 10 . The state detector 120 converts the control value detected by the inner sensor of the actuator 38 into the angle θknee of the knee bottom 12 c relative to the top frame 10 , referring to the knee bottom angle conversion table.

The angle calculator 130 calculates the tilt angle θbed while the state detector 120 detects the angle θknee of the knee bottom 12 c , whereby the angle of the knee bottom 12 c relative to the floor is determined by θbed+θknee.

The state detector 120 also detects the angle θback of the back bottom 12 a relative to the top frame 10 (Step S 1006 ). For example, the back bottom driver 210 (the actuator 36 for driving the back-raising linkage 20 ) is equipped with an inner sensor for detecting the control value when the actuator 36 performs a stretching/contacting operation. The storage 140 stores a back bottom angle conversion table for giving multiple correlations between the control value of the actuator 36 and the angle θback of the back bottom 12 a relative to the top frame 10 . The state detector 120 converts the control value detected by the inner sensor of the actuator 36 into the angle θback of the back bottom 12 a relative to the top frame 10 , referring to the back bottom angle conversion table.

The angle calculator 130 calculates the tilt angle θbed while the state detector 120 detects the angle θback of the back bottom 12 a , whereby the angle of the back bottom 12 a with the floor is determined by θbed+θback.

Next, the operation of the drive controller 110 of the 4-drive control bed apparatus will be described.

The drive controller 110 will not perform the following process until one of buttons on the operation display portion 150 is pressed down by the user, so as to prevent the bed apparatus 1 from operating (in order to prevent malfunction) when the user is not having any intention to make control. Further, even though one of the buttons on the operation display portion 150 is pressed down by the user, in order to prevent malfunction, the drive controller 110 will not start the following process until the button has been pressed down for a predetermined period of time.

When the height adjustment raising command button 1507 on the operation display portion 150 has been pressed down for the predetermined period of time by the user, the height controller 112 of the drive controller 110 moves up the top frame 10 relative to the floor.

On the other hand, when the height adjustment lowering command button 1508 on the operation display portion 150 has been pressed down for the predetermined period of time by the user, the height controller 112 of the drive controller 110 moves down the top frame 10 relative to the floor.

When the knee position adjustment raising command button 1505 on the operation display portion 150 has been pressed down for the predetermined period of time by the user, the bottom controller 111 of the drive controller 110 performs the above-described knee-raising operation.

On the other hand, when the knee position adjustment lowering command button 1506 on the operation display portion 150 has been pressed down for the predetermined period of time by the user, the bottom controller 111 of the drive controller 110 performs the above-described knee-lowering operation.

When the back position adjustment raising command button 1503 on the operation display portion 150 has been pressed down for the predetermined period of time by the user, the bottom controller 111 of the drive controller 110 performs the above-described back-raising operation.

On the other hand, when the back position adjustment lowering command button 1504 on the operation display portion 150 has been pressed down for the predetermined period of time by the user, the bottom controller 111 of the drive controller 110 performs the above-described back-lowering operation.

When the tilt and back position adjustment raising command button 1501 on the operation display portion 150 has been pressed down for the predetermined period of time by the user, the bottom controller 111 and the height controller 112 of the drive controller 110 perform an aftermentioned tilt and back-raising process.

On the other hand, when the tilt and back position adjustment lowering command button 1502 on the operation display portion 150 has been pressed down for the predetermined period of time by the user, the bottom controller 111 and the height controller 112 of the drive controller 110 perform an aftermentioned tilt and back-lowering process.

FIGS. 11 to 14 are flow charts for illustrating the drive controller 110 of the 4-drive control bed apparatus to perform a tilt and back-raising process. The tilt and back-raising process is performed when the tilt and back position adjustment raising command button 1501 on the operation display portion 150 has been pressed down for the predetermined period of time by the user.

The bottom controller 111 of the drive controller 110 confirms whether or not the angle θknee of the knee bottom 12 c relative to the top frame 10 coincides with the previously determined, preset knee bottom angle θkneemax (Step S 1011 ).

As a result of confirmation of the angle θknee of the knee bottom 12 c , the angle θknee coincides with the aforementioned preset knee bottom angle θkneemax (Step S 1011 —Yes). In this case, the drive controller 110 performs Step S 1015 described below.

As a result of confirmation of the angle θknee of the knee bottom 12 c , the angle θknee does not coincide with the aforementioned preset knee bottom angle θkneemax (Step S 1011 —No). In this case, the bottom controller 111 of the drive controller 110 controls the knee bottom driver 220 so that the angle θknee of the knee bottom 12 c increases by a unit knee bottom angle Δθknee (Step S 1012 ).

At this point, when the button (the tilt and back position adjustment raising command button 1501 ) has been continuously pressed down (Step S 1013 —Yes), the bottom controller 111 confirms whether or not the current angle θknee of the knee bottom 12 c relative to the top frame 10 coincides with the aforementioned preset knee bottom angle θkneemax (Step S 1014 ). On the other hand, the button has not been continuously pressed down (Step S 1013 —No), the drive controller 110 ends the tilt and back-raising process.

As a result of confirmation of the angle θknee of the knee bottom 12 c , when the aforementioned angle θknee does not coincide with the preset knee bottom angle θkneemax (Step S 1014 —No), the drive controller 110 performs the above-described Step S 1012 .

As a result of confirmation of the angle θknee of the knee bottom 12 c , the aforementioned angle θknee coincides with the preset knee bottom angle θkneemax (Step S 1014 —Yes). In this case, the bottom controller 111 confirms whether or not the current angle θback of the back bottom 12 a relative to the top frame 10 is equal to a previously determined, preset back bottom angle θbackmid (0<θkneemax<θback mid) (Step S 1015 ).

As a result of confirmation of the angle θback of the back bottom 12 a , the angle θback coincides with the preset back bottom angle θbackmid (Step S 1015 —Yes). The drive controller 110 performs Step S 1019 described below.

As a result of confirmation of the angle θback of the back bottom 12 a , the angle θback does not coincide with the aforementioned preset back bottom angle θbackmid (Step S 1015 —No). In this case, the bottom controller 111 of the drive controller 110 controls the back bottom driver 210 so that the angle θback of the back bottom 12 a increases by a unit back bottom angle Δθback (Step S 1016 ).

At this point, the button (the tilt and back position adjustment raising command button 1501 ) has been continuously pressed down (Step S 1017 —Yes). The bottom controller 111 confirms whether or not the current angle θback of the back bottom 12 a relative to the top frame 10 coincides with the aforementioned preset back bottom angle θbackmid (Step S 1018 ). On the other hand, the button has not been continuously pressed down (Step S 1017 —No), the drive controller 110 ends the tilt and back-raising process.

As a result of confirmation of the angle θback of the back bottom 12 a , when the aforementioned angle θback does not coincide with the preset back bottom angle θbackmid (Step S 1018 —No), the drive controller 110 performs the above-described Step S 1016 .

As a result of confirmation of the angle θback of the back bottom 12 a , the aforementioned angle θback coincides with the preset back bottom angle θbackmid (Step S 1018 —Yes). In this case, the height controller 112 of the drive controller 110 confirms whether or not the current angle (tilt angle) θbed of the top frame 10 relative to the floor is equal to a previously determined, preset tilt angle θbedmax (0<θbedmax<θkneemax<θbackmid<θbackmax) (Step S 1019 ).

As a result of confirmation of the tilt angle θbed of the top frame 10 , when the tilt angle θbed coincides with the preset tilt angle θbedmax (Step S 1019 —Yes), the drive controller 110 performs an Step S 1027 described below.

As a result of confirmation of the tilt angle θbed of the top frame 10 , the tilt angle θbed does not coincide with the aforementioned preset tilt angle θbedmax (Step S 1019 —No). In this case, the height controller 112 confirms whether or not the current height Hf of the foot-side end EPf of the top frame 10 from the floor is the previously determined, preset minimum value Hmin (Step S 1020 ).

As a result of confirmation of the height Hf of the foot-side end EPf of the top frame 10 , the height Hf coincides with the aforementioned, preset minimum value Hmin (Step S 1020 —Yes). In this case, the height controller 112 controls the head-side driver 230 so that the height Hh of the end EPh of the top frame 10 moves up by a unit height ΔH (Step S 1021 ).

As a result of confirmation of the height Hf of the foot-side end EPf of the top frame 10 , the height Hf does not coincide with the aforementioned, preset minimum value Hmin (Step S 1020 —No). In this case, the height controller 112 confirms whether or not the current height Hh of the head-side end EPh of the top frame 10 from the floor coincides with the previously determined, preset maximum value Hmax (Step S 1022 ).

As a result of confirmation of the height Hh of the head-side end EPh of the top frame 10 , the height Hh coincides with the aforementioned, preset maximum value Hmax (Step S 1022 —Yes). In this case, the height controller 112 controls the foot-side driver 240 so that the height Hf of the foot-side end EPf of the top frame 10 moves down by the unit height ΔH (Step S 1023 ).

As a result of confirmation of the height Hh of the head-side end EPh of the top frame 10 , the height Hh does not coincide with the aforementioned, preset maximum value Hmax (Step S 1022 —No). In this case, the height controller 112 controls the foot-side driver 240 so that the height Hh of the head-side end EPh of the top frame 10 moves up by half the unit height ΔH and controls the foot-side driver 240 so that the height Hf of the foot-side end EPf of the top frame 10 moves down by half the unit height ΔH (Step S 1024 ).

At this point, when the button (the tilt and back position adjustment raising command button 1501 ) has been continuously pressed down (Step S 1025 —Yes), the height controller 112 confirms whether or not the current angle (tilt angle) θbed of the bed frame 10 relative to the floor coincides with the aforementioned preset tilt angle θbedmax (Step S 1026 ). On the other hand, when the button has not been continuously pressed down (Step S 1025 —No), the drive controller 110 ends the tilt and back-raising process.

As a result of confirmation of the tilt angle θbed of the top frame 10 , the aforementioned tilt angle θbed does not coincide with the preset tilt angle θbedmax (Step S 1026 —No), the drive controller 110 performs the above-described Step S 1020 .

As a result of confirmation of the tilt angle θbed of the frame 10 , the aforementioned tilt angle θbed coincides with the preset tilt angle θbedmax (Step S 1026 —Yes). In this case, the bottom controller 111 of the drive controller 110 controls the knee bottom driver 220 so as to decrease the angle θknee of the knee bottom 12 c by the unit knee bottom angle Δθnee in order to reduce the user's feeling of being pressed on the chest and in the belly, and then controls the back bottom driver 210 so as to increase the angle θback of the back bottom 12 a by the unit back bottom angle Δθback (Step S 1027 ).

At this point, when the button (the tilt and back position adjustment raising command button 1501 ) has been continuously pressed down (Step S 1028 —Yes), the bottom controller 111 confirms whether or not the current angle θback of the back bottom 12 a relative to the top frame 10 coincides with the aforementioned preset back bottom angle θbackmax (Step S 1029 ).

As a result of confirmation of the angle θback of the back bottom 12 a , the aforementioned angle θback does not coincide with the preset back bottom angle θbackmax (Step S 1029 —No). In this case, the drive controller 110 performs the above-described Step S 1027 .

As a result of confirmation of the angle θback of the back bottom 12 a , the aforementioned angle θback coincides with the preset back bottom angle θbackmax (Step S 1029 —Yes). In this case, the drive controller 110 ends the tilt and back-raising process. The angle θknee of the knee bottom 12 c at this stage, or the angle θknee of the knee bottom 12 c after the knee-lowering operation (S 1027 to S 1029 ) preceded by the tilting operation (Steps S 1019 to S 1026 ), is set at the previously determined, preset knee bottom angle at tilting. The preset knee bottom angle at tilting is, for example equal to or greater than 0° relative to the ground, and smaller than the preset knee bottom angle θkneemax.

FIGS. 15 to 17 are flow charts for illustrating a tilt-release and back-lowering process performed by the drive controller 110 of the 4-drive control bed apparatus. The tilt-release and back-lowering process is performed when the tilt and back position adjustment lowering command button 1502 on the operation display portion 150 has been pressed down for a predetermined period of time by the user.

The bottom controller 111 of the drive controller 110 confirms whether or not the current angle θback of the back bottom 12 a relative to the top frame 10 coincides with the aforementioned, preset back bottom angle θbackmid (Step S 1111 ).

As a result of confirmation of the angle θback of the back bottom 12 a , the angle θback coincides with the aforementioned preset back bottom angle θbackmid (Step S 1111 —Yes). In this case, the drive controller 110 performs Step S 1115 described below.

As a result of confirmation of the angle θback of the back bottom 12 a , the angle θback does not coincide with the preset back bottom angle θbackmid (Step S 1111 —No). In this case, in order to prevent the user in the tilted state from falling, the bottom controller 111 of the drive controller 110 controls the back bottom driver 210 so as to decrease the angle θback of the back bottom 12 a by the unit back bottom angle Δθback, and then controls the knee bottom driver 220 so as to increase the angle θknee of the knee bottom 12 c by the unit knee bottom angle Δθknee (Step S 1112 ).

At this point, when the button (the tilt and back position adjustment lowering command button 1502 ) has been continuously pressed down (Step S 1113 —Yes), the bottom controller 111 confirms whether or not the current angle θback of the back bottom 12 a relative to the top frame 10 coincides with the aforementioned preset back bottom angle θbackmid (Step S 1114 ). On the other hand, the button has not been continuously pressed down (Step S 1113 —No), the drive controller 110 ends the tilt-release and back-lowering process.

As a result of confirmation of the angle θback of the back bottom 12 a , when the angle θback does not coincide with the preset back bottom angle θbackmid (Step S 1114 —No), the drive controller 110 performs the above-described Step S 1112 .

As a result of confirmation of the angle θback of the back bottom 12 a , the angle θback coincides with the aforementioned preset back bottom angle θbackmid (Step S 1114 —Yes). In this case, the height controller 112 of the drive controller 110 confirms whether or not the top frame 10 is tilted relative to the floor (Step S 1115 ).

As a result of the tilt confirmation, the top frame 10 is not tilted. That is, the height Hh of the head-side end EPh of the top frame 10 from the floor is equal to the height Hf of the foot-side end EPf of the top frame 10 from the floor (Step S 1115 —No). In this case, the drive controller 110 performs Step S 1123 described below.

As a result of the tilt confirmation, the top frame 10 is tilted. That is, the height Hh of the head-side end EPh of the top frame 10 from the floor is higher than the height Hf of the foot-side end EPf of the top frame 10 from the floor (Step S 1115 —Yes). In this case, the height controller 112 of the drive controller 110 confirms whether or not the height Hf of the foot-side end EPf of the top frame 10 from the floor coincides with the aforementioned, preset minimum value Hmin (Step S 1116 ).

As a result of confirmation of the height Hf of the foot-side end EPf of the top frame 10 , the height Hf coincides with the aforementioned, preset minimum value Hmin (Step S 1116 —Yes). In this case, the height controller 112 controls the head-side driver 230 so that the height Hh of the end EPh of the top frame 10 lowers by the unit height ΔH (Step S 1117 ).

As a result of confirmation of the height Hf of the foot-side end EPf of the top frame 10 , the height Hf does not coincide with the aforementioned, preset minimum value Hmin (Step S 1116 —No). In this case, the height controller 112 confirms whether or not the current height Hh of the head-side end EPh of the top frame 10 from the floor coincides with the previously determined, preset maximum value Hmax (Step S 1118 ).

As a result of confirmation of the height Hh of the head-side end EPh of the top frame 10 , the height Hf coincides with the aforementioned, preset maximum value Hmax (Step S 1118 —Yes). In this case, the height controller 112 controls the foot-side driver 240 so that the height Hf of the foot-side end EPf of the top frame 10 moves up by the unit height ΔH (Step S 1119 ).

As a result of confirmation of the height Hh of the head-side end EPh of the top frame 10 , the height Hh does not coincide with the aforementioned, preset maximum value Hmax (Step S 1118 —No). In this case, the height controller 112 controls the foot-side driver 240 so that the height Hh of the head-side end EPh of the top frame 10 moves up by half the unit height ΔH and controls the foot-side driver 240 so that the height Hf of the foot-side end EPf of the top frame 10 moves down by half the unit height ΔH (Step S 1120 ).

At this point, when the button (the tilt and back position adjustment lowering command button 1502 ) has been continuously pressed down (Step S 1121 —Yes), the height controller 112 confirms whether or not the top frame 10 is currently tilted relative to the floor (Step S 1122 ). On the other hand, when the button has not been continuously pressed down (Step S 1121 —No), the drive controller 110 ends the tilt-release and back-lowering process.

As a result of the tilt confirmation, the top frame 10 is tilted. That is, the height Hh of the head-side end EPh of the top frame 10 from the floor is higher than the height Hf of the foot-side end EPf of the top frame 10 from the floor (Step S 1122 —Yes). In this case, the drive controller 110 performs Step S 1116 described above.

As a result of the tilt confirmation, the top frame 10 is not tilted. That is, the height Hh of the head-side end EPh of the top frame 10 from the floor is equal to the height Hf of the foot-side end EPf of the top frame 10 from the floor (Step S 1122 —No). In this case, the bottom controller 111 of the drive controller 110 controls the back bottom driver 210 so as to decrease the angle θback of the back bottom 12 a by the unit back bottom angle Δθback (Step S 1123 ).

At this point, when the button (the tilt and back position adjustment lowering command button 1502 ) has been continuously pressed down (Step S 1124 —Yes), the bottom controller 111 confirms whether or not the back bottom 12 a is horizontal relative to the top frame 10 (Step S 1125 ). On the other hand, when the button has not been continuously pressed down (Step S 1124 —No), the drive controller 110 ends the tilt-release and back-lowering process.

As a result of confirmation of the angle θback of the back bottom 12 a , the back bottom 12 a is not horizontal. That is, the angle θback of the back bottom 12 a relative to the top frame 10 is equal to or greater than the unit back bottom angle Δθback (Step S 1125 —No). In this case, the drive controller 110 performs Step S 1123 described above.

As a result of confirmation of the angle θback of the back bottom 12 a , the angle θback is horizontal. That is, the angle θback of the back bottom 12 a relative to the top frame 10 is 0° (Step S 1125 —Yes). In this case, the bottom controller 111 of the drive controller 110 controls the knee bottom driver 220 so as to decrease the angle θknee of the knee bottom 12 c by the unit knee bottom angle Δθknee (Step S 1126 ).

At this point, the button (the tilt and back position adjustment lowering command button 1502 ) has been continuously pressed down (Step S 1127 —Yes). The bottom controller 111 confirms whether or not the knee bottom 12 c is currently horizontal relative to the top frame 10 (Step S 1128 ). On the other hand, the button has not been continuously pressed down (Step S 1127 —No), the drive controller 110 ends the tilt-release and back-lowering process.

As a result of confirmation of the angle θknee of the knee bottom 12 c , the angle θknee is not horizontal. That is, the angle θknee of the knee bottom 12 c relative to the top frame 10 is equal to or greater than the unit knee bottom angle Δθknee (Step S 1128 —No). In this case, the drive controller 110 performs Step S 1126 described above.

As a result of confirmation of the angle θknee of the knee bottom 12 c , the angle θknee is horizontal. That is, the angle θknee of the knee bottom 12 c relative to the top frame 10 is 0° (Step S 1128 —Yes). In this case, the drive controller 110 ends the tilt-release and back-lowering process.

As described heretofore, in the 4-drive control bed apparatus (example), when the tilt and back-raising process illustrated in FIGS. 11 to 14 is performed in accordance with a tilt and back-raising command, the bottom controller 111 controls the bottom drivers (back bottom driver 210 and knee bottom driver 220 ) as the knee-raising operation (S 1011 to S 1014 ) and the back-raising operation (S 1015 to 1018 ) so that the angle θback of the back bottom 12 a with the top frame 10 coincides with the previously determined, preset back bottom angle (in this case, the preset back bottom angle θbackmid) and that the angle θknee of the knee bottom 12 c with the top frame 10 coincides with the previously determined, preset knee bottom angle θkneemax. Then, the height controller 112 controls the head-side driver 230 and the foot-side driver 240 as the tilting operation (S 1019 to S 1026 ) so that the angle θbed of the top frame 10 relative to the floor coincides with the previously determined, preset tilt angle θbedmax. In the back-raising operation, in the final position in which the user' back has been raised, since the user's knees are unbent, some users may feel uneasy. However, in the case where the tilting operation (S 1019 to S 1026 ) is performed after the knee-raising operation (S 1011 to S 1014 ) and the back-raising operation (S 1015 to S 1018 ) by the tilt and back-raising process, the knee bottom 12 c serves as the seat of a chair while the back bottom 12 a serves as the hip rest of the chair, so that the user will feel a sensation just like experiencing transition from the supine position in bed to the sitting position in a chair. Further, the preset back bottom angles θbackmax and θbackmid can be made smaller by the amount of the preset tilt angle θbedmax, compared to the case where the tilting operation (S 1019 to S 1026 ) is not performed. In this way, according to the 4-drive control bed apparatus 1 , since the tilting operation (S 1019 to S 1026 ) is performed after execution of the knee-raising operation (S 1011 to S 1014 ) and the back-raising operation (S 1015 to S 1018 ), the user can take a comfortable position just like sitting in the final position after the user's back has been raised. Further, it is also possible to reduce user's feeling of being pressed on the back and in the belly and prevent user's significant body slippage.

Further, according to the 4-drive control bed apparatus 1 , because the knee-raising operation is performed together with the back-raising operation before start of the tilting operation in the tilt and back-raising process illustrated in FIGS. 11 to 14 , it is possible to prevent the user in the tilted state from falling.

Further, in the 4-drive control bed apparatus, after the tilt and back-raising process, when the tilt-release and back-lowering process illustrated in FIGS. 15 to 17 is performed in accordance with a tilt-release and back-lowering command, the bottom controller 111 controls the bottom drivers (back bottom driver 210 and knee bottom driver 220 ) as the back-lowering operation (S 1111 to S 1114 ) and the knee-raising operation (S 1112 ) so that the angle θback of the back bottom 12 a with the top frame 10 coincides with the previously determined, preset back bottom angle (in this case, the preset back bottom angle θbackmid) and that the angle θknee of the knee bottom 12 c with the top frame 10 coincides with the previously determined, preset knee bottom angle θkneemax. Then, the height controller 112 controls the head-side driver 230 and the foot-side driver 240 as the tilt-releasing operation (S 1115 to S 1122 ) so that the angle θbed of the top frame 10 relative to the floor becomes equal to 0. When the tilt-releasing operation (S 1115 to S 1122 ) is performed after execution of the back-lowering operation (S 1111 to S 1114 ) and the knee-raising operation (S 1112 ) by the tilt-release and back-lowering process, the user feels a sensation just like experiencing transition from the sitting position in a chair to the supine position with knees raised in bed. In the above way, according to the bed apparatus 1 of the present invention, the tilt-releasing operation (S 1115 to S 1122 ) is performed after execution of the back-lowering operation (S 1111 to S 1114 ) and the knee-raising operation (S 1112 ), then the back-lowering operation (S 1123 to S 1125 ) and the knee-lowering operation (S 1126 to S 1128 ) are performed, whereby it is possible to transition the user's position from sitting on a chair to lying in bed.

Further, in the present invention, when the tilting operation (S 3 , S 1019 to S 1026 ) and the tilt-releasing operation (S 13 , S 1115 to S 1122 ) are effected, the drive controller 110 may be adapted to give a warning sound.

Though the embodied modes of the present invention have been detailed with reference to the drawings, the specific configuration should not be limited to the embodiments. Designs and others that do not depart from the gist of this invention should also be included in the scope of claims.

The bed apparatus of the present invention can be applied to various kinds of bed apparatus such as in-home care nursing bed apparatus, facility care nursing bed apparatus, hospital bed apparatus and the like.

1 . . . bed apparatus

10 . . . top frame

12 a . . . back bottom

12 b . . . hip bottom

12 c . . . knee bottom

12 d . . . foot bottom

14 H . . . head-side lift unit

14 F . . . foot-side lift unit

16 H . . . support frame

16 F . . . support frame

18 . . . joint frame

20 . . . back-raising linkage

22 . . . knee-raising linkage

32 . . . actuator

34 . . . actuator

36 . . . actuator

38 . . . actuator

100 . . . controller

110 . . . drive controller

111 . . . bottom controller

112 . . . height controller

120 . . . state detector

130 . . . angle calculator

140 . . . storage

150 . . . operation display portion

210 . . . back bottom driver

220 . . . knee bottom driver

230 . . . head-side driver

240 . . . foot-side driver

1501 . . . tilt and back position adjustment raising command button

1502 . . . tilt and back position adjustment lowering command button

1503 . . . back position adjustment raising command button

1504 . . . back position adjustment lowering command button

1505 . . . knee position adjustment raising command button

1506 . . . knee position adjustment lowering command button

1507 . . . height adjustment raising command button

1508 . . . height adjustment lowering command button