JP6425265B2 - Sitting position boarding device - Google Patents

Description

The present invention, rider rides in a state of sitting on seat, but about the locus boarding equipment with a drive target driven by the driving source.

  As this type of sitting position boarding device, a moving object such as an electric wheelchair, a powered moving toy, a moving object for sports, a moving object such as a vehicle, a ship or an aircraft, or a driven object such as a manipulator without moving from the place Non-moving objects such as work robots may be mentioned. In a typical electric wheelchair as such a sitting position boarding device, generally, an operating lever is installed at an elbow portion of the seating chair, and a passenger sitting on the seating chair operates the operating lever back and forth with his / her hand By doing this, control is performed to move the electric wheelchair back and forth or to change the direction of the electric wheelchair.

  Patent Document 1 includes user motion measurement means such as an acceleration sensor, a magnetic direction sensor, a pressure sensor, and a pulse sensor that measures the motion of a user (passenger), and based on the measurement results of these sensors Discloses an electric wheelchair that performs drive control of two drive wheels. This electric wheelchair drives and controls the two left and right drive wheels of the electric wheelchair in conjunction with the swing motion of the user in order to realize a smooth and strong swing motion of the user who sits there and plays tennis. Specifically, the pressure sensors of the user motion measurement means are installed at four locations of the user's seat frame, and the measurement results of these pressure sensors indicate the position of the center of gravity of the user sitting in a seat. measure. As a result, a change in the position of the center of gravity of the user is detected, and drive control of the two drive wheels is performed according to a predetermined operation pattern corresponding to the detection result to realize the movement of the electric wheelchair supporting the tennis swing operation. Do.

Unexamined-Japanese-Patent No. 11-198075 gazette

  However, in order to detect changes in the position of the center of gravity of the passenger sitting on the seat with the four pressure sensors, four pressure sensors are installed for the distribution of pressure applied by the passenger sitting on the seat. It is necessary to reflect the force of the seat frame being pushed. At this time, if the seating surface is soft, the pressure applied to the seating surface by the passenger added to the center of gravity spreads over the seating surface and is dispersed, and the four pressure sensors installed in the seat frame detect the center of gravity of the occupant. It becomes difficult. Therefore, in the electric wheelchair described in Patent Document 1, it is necessary to make the seat surface pressed by the passenger stiff. However, if the seating surface is hard, the comfort of the person sitting on the seat is not comfortable, which causes many negative effects such as difficulty in maintaining the sitting state for a long time. Therefore, even with a soft seat, a new detection method is desired that can detect the position of the center of gravity of the passenger sitting on the seat, in other words, the pressing action of the passenger pressing the seat.

  The above description is for detecting the pressing operation of pressing the seat surface, but for example, detecting the pressing operation of the passenger pressing the backrest, elbow placement, and other places of the seat on which the passenger sits. Even in this case, if the place is hard, the comfort of the passenger sitting on the seat and the operation feeling when pressing the place become poor. Therefore, also in such a case, since it is preferable to make the part soft, it is desirable to have a detection method that can detect the pressing action of the passenger who presses the part even if the part is soft.

The present invention has been made in view of the above background, and an object of the present invention is to provide a point at which a passenger boarding a sitting position boarding device provided with a driving object presses to control the operation of the driving object. even soften, and to provide a properly detectable loci boarding equipment for the pressing operation.

In order to achieve the above object, the invention according to claim 1 is a sitting position boarding device provided with a drive target driven by a drive source controlled by a drive control means, with the passenger sitting on a seat and getting in a seat. A fluid sealing member deformable by pressing by a passenger, pressing operation detection means for detecting a pressing motion by the passenger by deformation of the fluid sealing member, and an instruction for accepting an instruction operation of the sitting position boarding device by the passenger Operation control means for controlling any one of operation receiving means, moving operation for moving the sitting position boarding device according to the instruction operation received by the instruction operation receiving means, and direction changing operation for changing the direction of the sitting position boarding device has the door, the drive control means controls the drive source based on a detection result of the pressing operation detecting means, one of the movement and the orientation change operation It is characterized in that to control the other.
In the present invention, the pressing operation by the passenger is detected by the deformation of the fluid sealing member disposed at the position where the pressing operation is performed by the pressing of the passenger. The deformation of the fluid sealing member can be grasped by detecting the internal pressure of the fluid sealing member, the movement of the sealing fluid, or the change in shape of the fluid sealing member. Moreover, since the portion pressed by the passenger can be a flexible fluid sealing member, it is possible for the passenger to sit in the seat, as compared to the case where the portion is not deformed by pressing by the passenger. It is possible to improve sitting comfort and comfort, and to improve the feeling of operation when the passenger presses the portion.
In addition, when the sitting position boarding device is a mobile body such as an electric wheelchair, at least control of a movement operation for moving the sitting position boarding device and control of a direction changing operation for changing the direction of the sitting position boarding device are required. At this time, to realize both the control of the movement operation and the control of the direction change operation by the pressing operation detected by the pressing operation detection means may impair the operability (controllability) by the passenger. This is because a passenger sitting in a seat often performs a pressing operation using his or her weight, and normally, only one pressing detection portion can perform the pressing operation at one time. This is because it is difficult to control two or more different motions by pressing motions.
According to the present invention, one of the moving operation and the direction changing operation is controlled by the moving instruction operation received by the moving instruction operation receiving unit, and the other is controlled by the pressing operation detected by the pressing operation detecting unit. As a result, the operability (controllability) by the passenger can be improved as compared with the case where both the movement operation and the direction change operation are controlled by the pressing operation detected by the pressing operation detection means.

The invention according to claim 2 is characterized in that, in the sitting position boarding device according to claim 1, the fluid sealing member is disposed on a seat surface of the seat.
According to this, it is possible to control the drive target by pressing the seating surface on the seating surface so that the passenger sitting on the seating surface changes the position of the center of gravity. As a result, the passenger can control the drive target without using a hand, and therefore, it is possible to perform another operation or work using the hand in parallel with the control of the drive target.

The invention according to claim 3 is the sitting position boarding device according to claim 1 or 2, wherein the fluid sealing members are individually disposed at a plurality of pressing detection locations that can be pressed by a passenger, and the pressing The motion detection means detects the pressing motion by the rider for each of the fluid sealing members disposed at the respective pressure sensing portions, and the drive control means is configured to detect the pressure sensing portions of each pressure sensing portion detected by the pressure motion detecting means. The drive source is controlled based on the detection result.
When the fluid sealing member is arranged at only one pressing detection location, the driving target is controlled by the pressing operation of the passenger on the pressing detection location, but the type of operation of the driving target that can be controlled by this is 1 Only one. According to the present invention, it is possible to individually detect the pressing motions of the rider with respect to a plurality of pressing detection locations, so that it becomes possible to control different operations of the driving target depending on the difference in pressing detection locations. Can be controlled.

According to the fourth aspect of the present invention, in the sitting position boarding device according to the third aspect, the pressing operation detecting means detects the internal pressure of each fluid sealing member to detect the pressing force of the rider against each pressing detection location. The drive control means is based on the detection results of the pressing detection portion where the pressing force of the passenger detected by the pressing operation detecting means is increased and the pressing detection portion where the pressing force of the passenger is decreased. And controlling the drive source.
When it is intended to control the operation of the drive target by the pressing operation on one pressing detection portion, the pressing detection portion is pressed other than the pressing operation of the passenger or responds to the pressing operation not intended by the passenger. As a result, there is a possibility that the drive target operates against the passenger's will. Here, since the passenger sitting in the seat often performs the pressing operation using his own weight, when one pressing detection location is pressed, another location is not pressed in conjunction with this. Or, it is normal that the pressure decreases. For example, when the rider shifts the center of gravity to the right and applies a weight to the pressing detection location on the right side of the seating surface, the weight of the pressing detection location on the left side of the seating surface is released.
According to the present invention, control is performed using not only the pressing detection portion where the pressing operation is performed and the pressing force is increased but also the detection result of the pressing detection portion where the pressing force is lowered by the pressing operation. As a result, when a pressing force increase at one pressing detection portion is detected, the pressing force at other pressing detection portions that would normally decrease the pressing force interlocking with the pressing operation does not decrease. It is possible to take measures such as not controlling. This makes it possible to suppress the malfunction of the drive target when the pressing detection portion is pressed other than the pressing operation of the passenger. Further, not only the pressing detection portion where the pressing operation is performed and the pressing force is increased, but also the detection result of the pressing detection portion where the pressing force is lowered by the pressing operation is used to detect the pressing detection portion where the pressing operation is performed. The detection sensitivity of the pressing operation is higher than in the case where only the result is used, and it is possible to suppress a situation in which the user responds to the pressing operation which the user does not intend.

The invention according to claim 5 is the sitting-position boarding device according to any one of claims 1 to 4 , wherein the instruction operation receiving means is an inclination detecting means for detecting an inclination of the front and back of the seat. The operation control means controls the movement operation in the front and back direction based on the front and back inclination of the seat detected by the inclination detection means.
According to this, the movement operation of the sitting position boarding device in the back and forth direction is controlled by the movement of the passenger inclining the sitting seat back and forth, and the pressing operation detection means detects the direction changing operation of the sitting position boarding device. It can control by pressing operation. Such movement operation control can be realized by known inverted pendulum control.

  According to the present invention, it is possible to properly detect the pressing operation while the passenger riding on the sitting position boarding device provided with the driving object softens the portion pressed to control the operation of the driving object. The excellent effect of being able to

It is a perspective view showing an electric wheelchair concerning an embodiment typically. It is the top view which showed the electric wheelchair schematically. It is the top view which showed typically the sensor-equipped cushion mounted on the seat surface of the same electric wheelchair. It is a block diagram in connection with drive control of the right-and-left drive motor by the controller of the electric wheelchair. It is a flowchart which shows the flow of the drive control.

Hereinafter, an embodiment will be described in which the sitting position boarding device according to the present invention is applied to an electric wheelchair that can be moved or changed in direction by driving of two left and right driving wheels (driving targets).
FIG. 1 is a perspective view schematically showing an electric wheelchair according to the present embodiment.
FIG. 2 is a plan view schematically showing the electric wheelchair.

  The electric wheelchair 1 of the present embodiment includes a seat 2, a backrest 3, an elbow holder 4, a footstep 5, a right driving wheel 10A and a left driving wheel 10B coaxially mounted with a hand rim 11, and the like. The seat 2, the backrest 3, the elbow rest 4, and the foot step 5 are attached to the body frame 6 to constitute a seat. The hubs 12 of the right drive wheel 10A and the left drive wheel 10B are rotatably supported with respect to the main body frame 6, and the right drive motor 13A and the left drive motor 13B are drive sources supported by the main body frame 6. Each is fixed to the motor shaft. The right driving wheel 10A and the left driving wheel 10B can be rotationally driven by the driving force of the driving motors 13A and 13B. The right drive motor 13A and the left drive motor 13B are supplied with power from a battery 14 as a power source supported by the main body frame 6, and are drive-controlled by a controller 20 as drive control means and operation control means.

  In the present embodiment, a gyro sensor as tilt detection means for detecting the tilt of the seat back and forth is provided directly below the center of the seat surface, and the detection result of the gyro sensor is output to the controller 20. In the electric wheelchair 1 of the present embodiment, the controller 20 controls the right drive motor 13A and the left drive motor 13B according to the front-back inclination of the seat detected by the gyro sensor, and the right drive wheel 10A and the left drive wheel 10B. The inverted pendulum control is performed to maintain the inverted state with the two wheels.

FIG. 3 is a plan view schematically showing the sensor-equipped cushion 30 in the present embodiment.
In the present embodiment, on the upper surface of the seat 2 of the electric wheelchair 1, a sensor-equipped cushion 30 as a cushion-type pressing operation detection device is placed. The sensor-equipped cushion 30 is provided with air bladders 32A and 32B as fluid sealing members on the left and right portions of the base cushion 31, respectively. The material and the like of the air bags 32A and 32B are not particularly limited as long as the air bags 32A and 32B have flexibility that can be easily deformed by the weight when the passenger sits in a seat. Although air as the enclosed fluid is enclosed in the inside of the air bladders 32A and 32B, the enclosed fluid may be gas or liquid.

  Air pressure sensors 33A and 33B are attached to fluid inlets and outlets of the air bags 32A and 32B, respectively. The air pressure sensors 33A and 33B are fixed to the base cushion 31, and the pressure detection units of the air pressure sensors 33A and 33B are installed so as to close the fluid inlet / outlet of the air bags 32A and 32B. The detection results of the air pressure sensors 33A and 33B are output from the output interface 34 as output means attached to the base cushion 31 to the controller 20 of the electric wheelchair 1.

  In the present embodiment, when the passenger sits on the sensor-equipped cushion 30 on the seat 2, the weight of the passenger is applied to the air bladders 32A and 32B to deform so that the air bladders 32A and 32B are crushed. As a result, the air bags 32A and 32B are reduced in volume. Since the air bags 32A and 32B are sealed, the internal pressure of the air bags 32A and 32B is increased by the volume reduction of the air bags 32A and 32B, which is detected by the air pressure sensors 33A and 33B. Be

FIG. 4 is a block diagram related to drive control of the right drive motor 13A and the left drive motor 13B by the controller 20. As shown in FIG.
The controller 20 includes a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), a communication interface, and the like. The controller 20 controls the various operations of the electric wheelchair 1, mainly the operations of the right drive motor 13A and the left drive motor 13B, by executing the control program stored in the ROM in the CPU.

  The controller 20 receives front-to-back tilt information (tilt angle of the seat and the like) output from the gyro sensor 15. Based on the front-back inclination information, the controller 20 generates a drive command necessary for maintaining the upside-down state with the two wheels of the right drive wheel 10A and the left drive wheel 10B, and outputs the drive command to each drive motor 13A, 13B. Execute inverted pendulum control.

  In the controller 20, the air pressure information in the air bladders 32A and 32B output from the air pressure sensors 33A and 33B provided on the sensor-equipped cushion 30 (the two right and left air bladders 32A and 32B on the seat 2 are carried The pressing force that the person applies weight and presses on each is input. Based on the air pressure information, the controller 20 corrects the drive command generated by the inverted pendulum control, and controls the turning operation which is the direction changing operation for changing the direction of the electric wheelchair 1.

  Further, encoders 16A and 16B are attached to motor shafts of the right drive motor 13A and the left drive motor 13B, respectively, and rotation information (rotation angle and rotation speed) of the right drive motor 13A and the left drive motor 13B from the respective encoders 16A and 16B. , Rotational angular velocity etc.). The controller 20 also receives rotation information of the right drive motor 13A and the left drive motor 13B from the encoders 16A and 16B. Based on the rotation information, the controller 20 generates a drive command to make the rotational operation of each of the drive motors 13A and 13B follow the target value, and executes feedback control to output the drive command to each of the drive motors 13A and 13B.

FIG. 5 is a flowchart showing a flow of drive control of the right drive motor 13A and the left drive motor 13B by the controller 20.
When the controller 20 is activated (Yes in S1), first, the controller 20 acquires longitudinal inclination information indicating an anteroposterior inclination of the seat from the gyro sensor 15 (S2). Then, the controller 20 generates drive commands to both drive motors 13A and 13B in order to realize the inverted pendulum control based on the acquired front and rear tilt information (S3).

  If each drive command generated to realize this inverted pendulum control is output as it is to both drive motors 13A and 13B, the seat surface of the seat 2 of the seat will start from the home position where it is substantially parallel to the horizontal plane. When the passenger is sitting without tilting the chair in the front-rear direction, the electric wheelchair 1 is maintained in the inverted state by the two drive wheels 10A and 10B without moving from the place. In addition, when the passenger sitting in the seat moves the center of gravity forward and inclines the seat forward with respect to the home position, the electric wheelchair 1 is moved forward to maintain the inverted state. A drive command for rotationally driving both drive motors 13A and 13B is generated. Thus, the two drive wheels 10A and 10B rotate, and the electric wheelchair 1 moves forward while maintaining the inverted state. Similarly, when the occupant sitting in the seat moves the center of gravity to the rear so as to lean on the backrest 3 and inclines the seat to the rear than the home position, the electric wheelchair 1 is maintained to maintain the inverted state. A drive command is generated to rotationally drive both drive motors 13A and 13B in the direction of moving the drive backward. Thus, the two drive wheels 10A and 10B rotate, and the electric wheelchair 1 moves rearward while maintaining the inverted state.

  In addition, the controller 20 applies weight to the left and right two air bags 32A and 32B on the seat 2 from the left and right air pressure sensors 33A and 33B of the sensor-equipped cushion 30 on the seat 2 and applies pressure to them. Air pressure information indicating the pressing force to be pressed is acquired (S4). Then, the controller 20 corrects the drive command generated by the inverted pendulum control based on the acquired air pressure information, and executes the turning operation control of the electric wheelchair 1.

  Specifically, the controller 20 calculates a difference value obtained by subtracting the air pressure of the left air bag 32B from the air pressure of the right air bag 32A based on the acquired air pressure information (S5). According to this difference value, the pressing force on the left and right air bags 32A, 32B by the passenger sitting in the seat is recognized, and each driving command is made to cause the electric wheelchair 1 to make a turning operation according to the pressing operation. to correct.

  For example, when a passenger sitting in a seat is sitting so that the center of gravity is located near the center of the sensor-equipped cushion 30 in the left-right direction, the two left and right air bags 32A and 32B have approximately even weight on the passenger. Join in As a result, the left and right air bladders 32A, 32B are pressed with substantially the same pressure, and the left and right air pressure sensors 33A, 33B output air pressure information indicating substantially the same air pressure. In this case, the difference between the left and right air pressures indicates a value near zero, which is between the left turn threshold (negative value) and the right turn threshold (positive value) (No in S6, S8 No). In this case, as the drive commands output to the drive motors 13A and 13B, the drive commands based on the inverted pendulum control generated in the processing step S3 are output as they are (S10). Thus, the electric wheelchair 1 moves in the stationary or back and forth direction according to the inverted pendulum control.

  On the other hand, when the passenger sitting in the seat moves the center of gravity to the left to increase the pressing force of the left air bag 32B of the sensor-equipped cushion 30 on the seat 2, the left air pressure sensor 33B Air pressure information corresponding to the pressing force is input to the controller 20. At this time, the pressing force of the right air bladder 32A of the sensor-equipped cushion 30 on the seat 2 decreases, and air pressure information corresponding to the pressing force is input from the right air pressure sensor 33A to the controller 20. At this time, the air pressure of the left air bag 32B becomes larger than the air pressure of the right air bag 32A, and the difference value of the air pressure calculated in the processing step S5 indicates a negative value.

  If this difference value is equal to or less than the left turn threshold (Yes in S6), the controller 20 determines that the passenger sitting in the seat has performed a pressing operation on the left air bag 32B. Thereby, the controller 20 performs plus correction on the drive command to the right drive motor 13A generated in the processing step S3, and performs minus correction on the drive command to the left drive motor 13B (S7). Here, the plus correction means that the motor rotation speed in the forward driving direction for moving the electric wheelchair 1 forward is determined according to a predetermined fixed correction value or the difference value calculated in the processing step S5. The motor rotation speed in the reverse drive direction for increasing the speed by the value or for moving the electric wheelchair 1 backward is reduced by such a correction value. Similarly, the negative correction is to reduce the motor rotational speed in the forward drive direction by the correction value as described above, or accelerate the motor rotational speed in the reverse drive direction by such a correction value. It is.

  By outputting the drive commands corrected in this manner to the drive motors 13A and 13B (S10), when the passenger sitting in the seat presses the left air bag 32B, the electric operation is performed. The wheelchair 1 turns to the left. As a result, for example, when a drive command for stopping the electric wheelchair 1 is generated by the inverted pendulum control, the right drive motor 13A is rotationally driven in the forward drive direction, and the left drive motor 13B is rotationally driven in the reverse drive direction. As a result, the electric wheelchair 1 turns left on the spot. Also, for example, when an operation command to move the electric wheelchair 1 forward is generated by the inverted pendulum control, the motor rotation speed in the forward drive direction is relatively faster in the right drive motor 13A than in the left drive motor 13B. The electric wheelchair 1 turns left while advancing. Further, for example, when an operation command for moving the electric wheelchair 1 backward is generated by the inverted pendulum control, the motor rotation speed in the reverse drive direction is relatively faster in the left drive motor 13B than in the right drive motor 13A. The electric wheelchair 1 turns left while moving backward.

  On the other hand, when the occupant sitting in the seat moves the center of gravity to the right to increase the pressing force of the right air bladder 32A of the sensor-equipped cushion 30 on the seat 2, the right air pressure sensor 33A Air pressure information corresponding to the pressing force is input to the controller 20. At this time, the pressing force of the left air bladder 32B of the sensor-equipped cushion 30 on the seat sheet 2 decreases, and air pressure information corresponding to the pressing force is input from the left air pressure sensor 33B to the controller 20. At this time, the air pressure of the right air bag 32A becomes larger than the air pressure of the left air bag 32B, and the difference value of the air pressure calculated in the processing step S5 indicates a positive value.

  When this difference value is equal to or greater than the right turn threshold (S6 No, S8 Yes), the controller 20 determines that the passenger sitting in the seat has performed the pressing operation on the right air bag 32A. Do. Thereby, the controller 20 performs the negative correction on the drive command for the right drive motor 13A generated in the processing step S3, and performs the positive correction on the drive command for the left drive motor 13B (S9).

  By outputting the drive commands corrected in this manner to the drive motors 13A and 13B (S10), when the passenger sitting in the seat presses the right air bag 32A, the motor is electrically driven. The wheelchair 1 turns to the right. As a result, for example, when a drive command for stopping the electric wheelchair 1 is generated by the inverted pendulum control, the right drive motor 13A is rotationally driven in the reverse drive direction, and the left drive motor 13B is rotationally driven in the forward drive direction. The electric wheelchair 1 turns right on the spot. Also, for example, when an operation command to move the electric wheelchair 1 forward is generated by the inverted pendulum control, the motor rotation speed in the forward drive direction is relatively faster in the left drive motor 13B than in the right drive motor 13A. The electric wheelchair 1 turns right while advancing. Also, for example, when an operation command for moving the electric wheelchair 1 backward is generated by the inverted pendulum control, the motor rotation speed in the reverse drive direction is relatively faster in the right drive motor 13A than in the left drive motor 13B. The electric wheelchair 1 turns to the right while moving backward.

  The above control is repeatedly executed at predetermined control intervals, whereby the passenger sitting in the seat can move forward and backward of the electric wheelchair 1 by the action of tilting the seat back and forth. By controlling the left and right center of gravity and changing the left and right air bladders 32A and 32B on the seat 2, the turning operation of the electric wheelchair 1 to the left and right can be controlled. Therefore, the passenger can control the traveling direction, moving speed, and turning direction of the electric wheelchair by weight shift without using a hand. Even a handicapped person can easily perform the desired operation, or can perform the desired operation while performing another operation or work using a hand. In particular, if the correction value of the drive command is determined in accordance with the magnitude of the pressure applied to the left and right air bags 32A and 32B by the passenger based on the left and right air pressure information, the turning speed can be controlled. is there.

  Moreover, in the present embodiment, the portion of the sensor-equipped cushion 30 placed on the seat 2 to detect the pressing action of the passenger includes the base cushion 31 having cushioning properties and the flexible air bladder 32A, It is 32B. Therefore, compared to the case of a hard seat, the comfort and comfort of the passenger sitting in the seat are improved, and the burden of maintaining the sitting state for a long time is reduced.

  Further, in the present embodiment, the pressing operation performed by the passenger with respect to the right air bladder 32A or the left air bladder 32B is determined based on the differential value of the air pressure of the left and right air bladders 32A, 32B. It is also possible to judge from the air pressure of the air bladders 32A, 32B. However, for example, in the case where the pressing operation to the right air bladder 32A is determined based only on the air pressure of the right air bladder 32A, a malfunction easily occurs when the right air bladder 32A is pressed by other than the occupant's pressing operation. Further, in this case, it is difficult to determine whether the pressing operation has been performed due to the difference in the weight of the passenger or the like, and a malfunction may easily occur in response to the pressing operation not intended by the passenger. On the other hand, if it judges based on the air pressure difference value of air bag 32A, 32B on either side like this embodiment, such a malfunctioning will decrease.

  Further, in the present embodiment, although the electric wheelchair is taken as an example, any sitting position boarding device can be used as long as the passenger is seated in a seat and equipped with a drive target driven by a drive source. Applicable to That is, the output result of the air pressure sensor 33 of the sensor-equipped cushion 30 can be used for control for controlling the movement of various driving targets provided in the sitting position boarding device. Not limited to the two-wheeled electric wheelchair in which the two drive wheels 10A and 10B maintain the inverted state by the inverted pendulum control as in the present embodiment, an electric wheelchair traveling with three or more wheels including an auxiliary wheel may be used. In addition, the drive motors 13A and 13B described above may be used as auxiliary power for a manual wheelchair.

  Moreover, in this embodiment, although the press detection location which detects a passenger | crew's press operation was two examples on the right and left on the seat sheet 2, the number and the position of a press detection location are not limited to this, It can be decided. For example, if two front and back locations on the seat 2 are also used as pressure detection locations, and an air bag is additionally disposed there, instead of the above-described inverted pendulum control, these air bags are transferred by weight transfer to the front and back of the passenger It is also possible to control forward and backward movement of the electric wheelchair 1 by pressing operation. In this case, it is possible to control the traveling direction, the moving speed, the turning direction, the turning speed and the like of the electric wheelchair 1 only by the pressing operation of the sensor-equipped cushion 30 against each air bag. Further, the pressing detection portion may be disposed not only on the seat 2, but also on the backrest 3, the elbow rest 4, the foot step 5, or the like.

  Further, in the present embodiment, the pressing operation on the air bladders 32A and 32B is detected based on the air pressure (internal pressure) in the air bladders 32A and 32B, but the pressing motion is detected by the deformation of the air bladders 32A and 32B. The pressing operation detection means to detect is not limited to this. For example, even if the left and right air bladders 32A and 32B are communicated by the communicating portion and the pressing motion detecting means detects the movement of the air flowing through the communicating portion when pressed against any of the air bladders. Good. In addition, if another portion of the air bag is inflated as much as the air bag is pressed and crushed, the pressing operation detection means detects the displacement amount of the detection needle displaced by the other swelling. It may be. In this case, it is possible to use an air bladder that is not reduced in volume when pressed, ie, an air bladder that does not change in volume when pressed.

  Further, in the present embodiment, the sensor-equipped cushion 30 is configured separately from the electric wheelchair 1, but the function of the sensor-equipped cushion 30 is added to the seat 2 of the electric wheelchair 1 The face sheet 2 and the sensor-equipped cushion 30 may be integrally configured.

Further, in the present embodiment, the movement operation in the front and back direction is controlled by detecting the inclination of the back and forth of the seat, but the elbow rest 4 is provided with an operation member such as an operation lever and the instruction operation for the operation member The movement operation in the front and back direction may be controlled accordingly.

Reference Signs List 1 electric wheelchair 2 seat 3 backrest 4 elbow 5 footstep 6 body frame 10A, 10B drive wheel 11 hand rim 12 hub 13A, 13B drive motor 14 battery 15 gyro sensor 16A, 16B encoder 20 controller 30 controller cushion 31 base cushion 32A, 32B Air bag 33A, 33B Air pressure sensor 34 Output interface

Claims (5)

A sitting position boarding device comprising a drive target driven by a drive source controlled by a drive control means, with a passenger sitting on a seat,
A fluid sealing member that can be deformed by pressing by a passenger;
Pressing operation detecting means for detecting a pressing operation by a passenger by deformation of the fluid sealing member ;
Instruction operation receiving means for receiving an instruction operation of the sitting position boarding device by the passenger;
Operation control means for controlling one of a moving operation for moving the sitting position boarding device and a direction changing operation for changing the direction of the sitting position boarding device in accordance with the instruction operation received by the instruction operation receiving means ;
The sitting position boarding device, wherein the drive control means controls the drive source based on the detection result of the pressing operation detection means to control the other of the moving operation and the direction changing operation . In the sitting position boarding device according to claim 1,
The sitting position boarding device, wherein the fluid sealing member is disposed on a seating surface of the seat. In the sitting position boarding device according to claim 1 or 2,
The fluid sealing members are individually disposed at a plurality of pressing detection locations that can be pressed by a passenger,
The pressing operation detection means detects the pressing operation by the passenger for each of the fluid sealing members disposed at each pressing detection location,
The seat position riding apparatus characterized in that the drive control means controls the drive source based on detection results of each pressing detection portion detected by the pressing operation detecting means. In the sitting position boarding device according to claim 3,
The pressing operation detecting means detects an internal pressure of each fluid sealing member to detect a pressing force of a passenger on each pressing detection portion.
The drive control means is configured to generate the drive source based on detection results of a pressing detection location where the pressing force of the passenger detected by the pressing motion detecting means is increased and a pressing detection location where the pressing force of the passenger is decreased. A sitting boarding device characterized in that it controls. In the sitting position boarding device according to any one of claims 1 to 4 ,
The instruction operation receiving means is an inclination detecting means for detecting an inclination of the seat back and forth.
The sitting position boarding device according to claim 1, wherein the operation control means controls the movement operation in the front-rear direction based on the front-back inclination of the seat detected by the inclination detection means.

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