Bed apparatus
A bed apparatus including, at least, two drivers or a first driver and a second driver, the first driver being in linkage with the second driver, comprises: a calculating means for calculating a calculated bed state value, based on the first driver and the second driver; an error detecting means for detecting error between the calculated bed state value and a designated bed state value designated by the user; and, an error correcting means for correcting the detected error when an error is detected by the error detecting means. As a result, it is possible to provide a bed apparatus that can coincide the designated state of the bed apparatus with the actual state of the bed apparatus by appropriately correcting the error between the drivers.
1. A bed apparatus comprising:
a lift configured to support a top frame and to raise and lower the top frame, comprising:
a head-side lift unit having a first driver arranged to a head side of the bed apparatus; and
a foot-side lift unit having a second driver arranged to a foot side of the bed apparatus,
a bottom driver configured to raise a back bottom segment that is placed on the top frame to raise a back of a user;
a state detector configured to calculate a height difference between a height of the head-side lift unit and a height of the foot-side lift unit, as a calculated bed state value;
an error correcting portion configured to detect that there is an error when the calculated bed state value exceeds an error threshold as a value that can be permitted as an error, and configured to correct the error by controlling the first driver and/or the second driver in a first timing, the first timing being when the bottom driver is restarted after stopping the bottom driver; and
a controller configured, in response to a tilt and back-raising command, to control the bottom driver so as to raise the back bottom segment and control the head-side lift unit and/or the foot-side lift unit so as to tilt the top frame such that a head-side height of the top frame is higher than a foot-side height of the top frame;
wherein the height difference is calculated after a completion of the control in response to the tilt and back-raising command, whereby after completion of the control in response to the tilt and back-raising command the error correcting portion waits to correct the error until the bottom driver is restarted after stopping the bottom driver.
2. The bed apparatus according to claim 1 , wherein the error threshold is set based on an operational input from the user or a state of the bed apparatus.
3. The bed apparatus according to claim 1 , wherein the first driver is a first actuator,
the second driver is a second actuator, and
the state detector calculates the calculated bed state value based on a rod state of the first actuator and a rod state of the second actuator.
4. The bed apparatus according to claim 2 , wherein the first driver is a first actuator,
the second driver is a second actuator, and
the state detector calculates the calculated bed state value based on a rod state of the first actuator and a rod state of the second actuator.
5. The bed apparatus according to claim 1 , wherein the height difference is calculated in a situation that the first driver and the second driver stop.
6. The bed apparatus according to claim 5 , wherein the height difference is calculated in response to the first driver and the second driver being stopped.
7. The bed apparatus according to claim 1 , wherein the error threshold is the value that can be permitted as the error from a designated bed state value, and the designated bed state value is based on a non-zero difference between a predetermined height of the head-side lift unit and a predetermined height of the foot-side lift unit, whereby a predetermined angle of the top frame relative to a horizontal position of the top frame is non-zero.
8. The bed apparatus according to claim 1 , further comprising:
a user input portion for receiving a user input that initiates the tilt and back-raising command.
9. The bed apparatus according to claim 1 , wherein the tilt and back-raising command is based on a user input indicating a desired difference between a predetermined height of the head-side lift unit and a predetermined height of the foot-side lift unit;
wherein the height difference is calculated as the calculated bed state value in response to the completion of the control in response to the tilt and back-raising command;
wherein the error threshold is a value that can be permitted as an error from a designated bed state value, wherein the designated bed state value is based on the user input indicating the desired difference between the predetermined height of the head-side lift unit and the predetermined height of the foot-side lift unit; and
whereby the error correcting portion is configured to correct the error in response to the calculated bed state value exceeding the error threshold, when the calculated bed state value exceeds the error threshold as a result of tilting of the top frame in response to the tilt and back-raising command.
10. The bed apparatus according to claim 2 , wherein the error threshold is based on the operational input from the user.