JP2018013396A - Wheelchair moving environment measurement instrument and its method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a wheelchair moving environment measurement instrument and its method capable of evaluating easiness of moving on a road on the basis of existence of a step and an inclination angle of a slope when a wheelchair is moved outdoors, and also evaluating an accumulated amount of solar radiation to be received by a wheelchair user during movement.SOLUTION: A wheelchair moving environment measurement instrument 10 is the instrument for measuring a moving environment of a wheelchair and includes a vehicle 14 having measurement means 12 for measuring a moving environment. The measurement means 12 includes: a motion sensor 34 for measuring a step and inclination angle of a road surface; and a pyranometer 36 for measuring an amount of solar radiation.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a wheelchair moving environment measuring apparatus and method for measuring and evaluating a moving environment such as ease of movement of a wheelchair.

  Conventionally, when an elderly person or a handicapped person uses a wheelchair to move, a large road step or a steep slope has become an obstacle to the movement. In recent years, the thermal environment of cities has deteriorated due to the progress of global warming and the heat island phenomenon, and it is considered that the thermal surface becomes an obstacle in the case of outdoor movement in summer.

  For this reason, when traveling outdoors with a wheelchair, the ease of movement of the road is evaluated by the presence or absence of steps and the inclination angle of the slope, and the accumulated amount of solar radiation that the wheelchair user receives during movement There has been a demand for a technique that can present an easy route.

  On the other hand, as conventional techniques for measuring road surface unevenness, elevation, and inclination, techniques as disclosed in Patent Documents 1 to 3, for example, are known.

JP-A-6-94445 JP-A-7-208984 JP-A-2006-45063

  The present invention has been made in view of the above, and when moving outdoors with a wheelchair, the ease of movement of the road is evaluated by the presence or absence of a step or the inclination angle of a slope, and a wheelchair user moves. It is an object of the present invention to provide a wheelchair moving environment measuring apparatus and method capable of evaluating the amount of accumulated solar radiation received therein.

  In order to solve the above-described problems and achieve the object, a wheelchair moving environment measuring device according to the present invention is a wheelchair moving environment measuring device for measuring the moving environment of a wheelchair, and measuring means for measuring the moving environment The measuring means includes a motion sensor for measuring a road level difference and an inclination angle, and a pyranometer for measuring the amount of solar radiation.

  Another wheelchair moving environment measuring device according to the present invention is the above-described invention, wherein the vehicle is a wheelchair including wheels and electric driving means for driving the wheels, and acquires a measurement position. An acquisition means, a data recording means for recording data relating to the measured values measured and the obtained measurement positions, and / or a data record transmission means for sending data relating to the measured values measured and the obtained measurement positions to the outside, and the respective means It further comprises power supply means for supplying power.

  Further, another wheelchair moving environment measuring device according to the present invention displays, in the above-described invention, evaluation means for evaluating the measured road surface step, inclination angle, and solar radiation amount in association with the measurement position, and the evaluated evaluation result. And a display means.

  The wheelchair moving environment measuring method according to the present invention is a method for measuring the moving environment of a wheelchair using the wheelchair moving environment measuring device described above, and the road surface by running the vehicle along the route to be measured. It has the measurement step which measures the level | step difference, inclination angle, and solar radiation amount of this invention.

  According to the wheelchair moving environment measuring device according to the present invention, the wheelchair moving environment measuring device for measuring the moving environment of the wheelchair includes a vehicle including measuring means for measuring the moving environment, and the measuring means includes a road surface. Since it has the motion sensor for measuring the level | step difference and inclination angle of this, and the solar radiation meter for measuring the amount of solar radiation, the level | step difference, inclination angle, and solar radiation amount of a road surface can be measured. Therefore, it is possible to provide a wheelchair movement environment measuring device that can evaluate the ease of movement of the road by the presence or absence of a step or the inclination angle of the slope and can evaluate the accumulated amount of solar radiation received during movement. Play.

  Further, according to another wheelchair moving environment measuring device according to the present invention, the vehicle includes a wheelchair including a wheel and an electric driving unit that drives the wheel, and a position acquisition unit that acquires a measurement position; A data recording means for recording data relating to the measured value and the acquired measurement position and / or a data recording transmission means for transmitting the data relating to the measured value and the acquired measurement position to the outside, and supplying power to each means Since the power supply means is further provided, the moving environment of the wheelchair can be accurately evaluated regardless of the presence or absence of power.

  Further, according to another wheelchair moving environment measuring device according to the present invention, the evaluation means for evaluating the measured road surface step, inclination angle, and solar radiation amount in association with the measurement position, and the display means for displaying the evaluated evaluation result Therefore, by displaying the evaluation result on a map or the like, there is an effect that it is possible to present a route that is easy to move to a wheelchair user.

  Further, according to the wheelchair moving environment measuring method according to the present invention, the wheelchair moving environment measuring device described above is used to measure the wheelchair moving environment, and the vehicle is caused to travel along the route to be measured. Since there is a measurement step for measuring the road surface level difference, inclination angle, and solar radiation amount, the road surface level difference, inclination angle, and solar radiation amount of the route to be measured can be measured. Therefore, it is possible to provide a wheelchair movement environment measurement method that can evaluate the ease of movement of a road by the presence or absence of a step or the inclination angle of a hill and the amount of accumulated solar radiation received during movement. Play.

FIG. 1 is a schematic perspective view showing an embodiment of a wheelchair moving environment measuring apparatus and method according to the present invention. FIG. 2 is a diagram showing an example of the evaluation result of the mobile environment by the wheelchair mobile environment measuring device and method according to the present invention.

  DESCRIPTION OF EMBODIMENTS Embodiments of a wheelchair moving environment measuring device and method according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

  As shown in FIG. 1, a wheelchair moving environment measuring device 10 according to the present invention is a device for measuring the moving environment of a wheelchair, and includes a wheelchair 14 (vehicle) including measuring means 12 for measuring the moving environment. Consists of.

  The wheelchair 14 is an electric wheelchair having a front wheel 16, a rear wheel 18 (wheel), a seat 20, a backrest 22, a foot plate 24, a frame 26, and a handle 28. Below the seat 20, an electric drive mechanism 30 (drive means) for driving the rear wheel 18 and a battery 32 (power supply means) are provided. The battery 32 is for supplying power to wheelchair-mounted devices such as the drive mechanism 30 and the measuring means 12, a data logger 44, and a GPS receiver 46 described later.

  The measuring means 12 includes a 6-axis motion sensor 34 (motion sensor), a pyranometer 36, a front photographing camera 38, a sky surface photographing camera 40, and a road surface photographing camera 42.

  The 6-axis motion sensor 34 is for measuring a road level difference and an inclination angle, and is provided in a box above the frame 26 on the right side of the seat 20. The 6-axis motion sensor 34 includes an acceleration sensor and a gyro sensor that detect 3-axis acceleration and 3-axis angular velocity. The acceleration sensor detects the inclination angle of the wheelchair 14 by detecting the acceleration in the front-rear direction, the left-right direction, and the vertical direction of the wheelchair 14 in which the acceleration sensor is arranged. The gyro sensor detects a roll rate around the front-rear axis of the wheelchair 14, a pitch rate around the left-right axis, and a yaw rate around the vertical axis. The 6-axis motion sensor 34 measures the road surface level difference and the inclination angle based on the detected data, and outputs the measured value to a data logger 44 described later.

  The pyranometer 36 is for measuring the amount of solar radiation applied to the moving wheelchair 14 and is fixed to a box above the frame 26 on the right side of the seat 20. The pyranometer 36 outputs measurement values to a data logger 44 described later.

  The front photographing camera 38 is for photographing the front front of the wheelchair 14, and the sky surface photographing camera 40 is for photographing the sky surface. Each camera 38 and 40 is fixed to the upper part of the support provided near the left side of the handle 28. The road surface photographing camera 42 is for photographing the road surface on which the wheelchair 14 travels, and is fixed to the front lower side of the seat 20. Each camera 38-42 is comprised by the video camera which can acquire a still image and a moving image.

  The wheelchair 14 further includes a data logger 44 (data recording means), a GPS receiver 46 (position acquisition means) for acquiring its own position, and a small computer (not shown). The data logger 44 is provided on the back surface of the backrest 22, and the GPS receiver 46 is provided on the left side of the seat 20.

  The data logger 44 collects and records data such as measurement values and photographing data acquired by the measuring means 12 and position information (longitude and latitude) acquired by the GPS receiver 46. Measurement values such as road surface steps, inclination angles, and solar radiation, and shooting data such as still images and moving images are recorded in association with acquisition positions and times. Here, the data logger 44 may have a data transmission function using, for example, a 3G line. In this way, the collected data can be transmitted to the outside in real time. In this case, the data logger 44 has a function of collecting and associating data such as measurement values and photographing data acquired by the measuring means 12 and position information (longitude and latitude) acquired by the GPS receiver 46, and the recording function is It does not have to be. The small computer has an arithmetic processing function for performing various arithmetic processing using data recorded in the data logger 44. Data relating to the processing result is recorded in the data logger 44. In the case where the data logger 44 has a data transmission function and various arithmetic processes are performed by an external arithmetic device, there is no need for a small computer.

  A weight 48 is placed on the seat 20 of the wheelchair 14. The weight 48 can be composed of a heavy object having a weight equivalent to a human body weight (for example, 60 kg). When measuring a moving environment such as ease of movement with the wheelchair 14, the measurer holds the handle 28 of the wheelchair 14 and measures the maneuvering direction of the wheelchair 13 along the measurement target route. It is also possible to perform measurement with a person getting on without putting the weight 48. Alternatively, the wheelchair 14 may be configured to be remotely controlled using a wired or wireless controller.

The operation and action of the above configuration will be described.
While driving the wheelchair 14 along the measurement target route, the six-axis motion sensor 34 measures the road level difference and the inclination angle, and the solar radiation meter 36 measures the accumulated solar radiation amount. In addition, each camera 38 to 42 acquires the measurement environment of each moving environment on the front, sky, and road surface by the GPS receiver 46. By doing so, it is possible to measure information relating to the moving environment, such as which position on the moving route has a step or slope that becomes a problem, and how much accumulated solar radiation is received when moving.

  As described above, according to the present embodiment, the ease of movement of the wheelchair can be quantitatively and accurately evaluated by measuring the road surface step, the inclination angle, and the amount of solar radiation with the wheelchair 14 in advance. Moreover, since the evaluation including the thermal environment can be performed by measuring the amount of solar radiation, the risk of wheelchair users such as heat stroke in summer can be reduced. Of course, in winter, it is possible to provide a warm recommended route with sunlight.

  In addition, for example, by measuring all possible travel routes in the block with the wheelchair 14, it is possible to evaluate the level difference of each travel route, the inclination of the slope, the amount of solar radiation received, and the like. This also makes it possible to present a recommended route that is optimal for wheelchair users.

  Further, by looking at data such as moving images taken by the cameras 38 to 42, it is possible to confirm problems on the road surface (steps and slopes), problems on the sky surface (whether there is solar shading), and the like.

  Further, since the measurement position is acquired by the GPS receiver 46, it is easy to display the measurement result on the map.

  In addition, since the battery 32 is mounted, it is possible to measure the mobile environment regardless of the presence or absence of a power source.

  In the above-described embodiment, the wheelchair moving environment measuring device 10 is an evaluation unit that evaluates the ease of movement of the wheelchair based on the measured road surface step, inclination angle, and amount of solar radiation associated with the measurement position. Display means for displaying the evaluated evaluation result may be further provided. In this case, the evaluation means may be included in the arithmetic processing function in the small computer. Alternatively, an evaluation unit may be provided in a computer at a location away from the wheelchair 14 and evaluation may be performed based on data transmitted from the data logger 44. Then, for example, as shown in FIG. 2, the evaluation result may be displayed on a map drawn on a display means such as a display, and a recommended route that is easy to move may be presented to the wheelchair user.

  FIG. 2 is an example of the evaluation result of the moving environment of the route to be measured by the wheelchair moving environment measuring device 10, and shows an image displayed on the display means. In the upper part of the figure, the steps on the route from the starting point to the goal point and the steepness of the slope are shown on the map. The lower part of the figure shows the route and the height of the road surface. The difference is shown. In the example of the figure, the level difference of the route and the unevenness of the road surface were evaluated by symbols such as the number of stars, and the number of level differences was 23.

  In the wheelchair moving environment measurement method according to the present embodiment, first, the wheelchair 14 is caused to travel along the measurement target route, and the road surface level difference, the inclination angle, and the solar radiation amount in the measurement target route are measured. Next, the road surface step, the inclination angle, and the amount of solar radiation obtained by measurement are evaluated by the above-mentioned evaluation means, and the evaluation results are displayed on a map drawn on a display means such as a display as shown in FIG. Such a display may be used to present a recommended route that is easy to move for wheelchair users.

  In this way, the ease of movement of the road can be evaluated by the presence or absence of a step or the inclination angle of the slope, and the integrated solar radiation amount received during the movement can be evaluated.

  As described above, according to the wheelchair moving environment measuring device according to the present invention, the wheelchair moving environment measuring device for measuring the moving environment of the wheelchair comprises a vehicle equipped with measuring means for measuring the moving environment, Since the measurement means has a motion sensor for measuring a road level difference and an inclination angle and a solar radiation meter for measuring an amount of solar radiation, the road surface level difference, an inclination angle and an solar radiation amount can be measured. Therefore, it is possible to provide a wheelchair movement environment measuring device that can evaluate the ease of movement of a road by the presence or absence of a step or the inclination angle of a hill and the amount of accumulated solar radiation received during movement.

  Further, according to another wheelchair moving environment measuring device according to the present invention, the vehicle includes a wheelchair including a wheel and an electric driving unit that drives the wheel, and a position acquisition unit that acquires a measurement position; A data recording means for recording data relating to the measured value and the acquired measurement position and / or a data recording transmission means for transmitting the data relating to the measured value and the acquired measurement position to the outside, and supplying power to each means Since the power supply means is further provided, the movement environment of the wheelchair can be accurately evaluated regardless of the presence or absence of power.

  Further, according to another wheelchair moving environment measuring device according to the present invention, the evaluation means for evaluating the measured road surface step, inclination angle, and solar radiation amount in association with the measurement position, and the display means for displaying the evaluated evaluation result Since the evaluation result is displayed on a map or the like, a route that is easy to move can be presented to the wheelchair user.

  Further, according to the wheelchair moving environment measuring method according to the present invention, the wheelchair moving environment measuring device described above is used to measure the wheelchair moving environment, and the vehicle is caused to travel along the route to be measured. Since there is a measurement step for measuring the road surface level difference, inclination angle, and solar radiation amount, the road surface level difference, inclination angle, and solar radiation amount of the route to be measured can be measured. Therefore, it is possible to provide a wheelchair moving environment measuring method capable of evaluating the ease of movement of the road by the presence or absence of a step or the inclination angle of a slope and evaluating the amount of accumulated solar radiation received during movement.

  As described above, the wheelchair movement environment measuring device and method according to the present invention are useful for measuring and evaluating the movement environment of a wheelchair, and in particular, when moving outdoors with a wheelchair, it is easy to move the road. It is suitable for evaluating the amount of solar radiation received while a wheelchair user is moving while evaluating the height by the presence or absence of a step or the inclination angle of a slope.

DESCRIPTION OF SYMBOLS 10 Wheelchair movement environment measuring device 12 Measuring means 14 Wheelchair (vehicle)
16 Front wheel 18 Rear wheel (wheel)
20 Seat Seat 22 Backrest 24 Foot Plate 26 Frame 28 Handle 30 Drive Mechanism (Drive Unit)
32 Battery (Power supply means)
34 6-axis motion sensor (motion sensor)
36 Pyrometer 38 Front view camera 40 Sky view camera 42 Road view camera 44 Data logger (data recording means)
46 GPS receiver (position acquisition means)
48 Weight

Claims (4)

A wheelchair moving environment measuring device for measuring a wheelchair moving environment,
It consists of a vehicle with measuring means for measuring the moving environment,
The wheelchair moving environment measuring device, wherein the measuring means includes a motion sensor for measuring a road level difference and an inclination angle, and a pyranometer for measuring the amount of solar radiation.   The vehicle includes a wheelchair including a wheel and an electric drive unit that drives the wheel, and a position acquisition unit that acquires a measurement position, a data record that records data regarding the measured value and the acquired measurement position. 2. The apparatus according to claim 1, further comprising: a data recording / transmission unit that transmits the data relating to the means and / or the measured value and the acquired measurement position to the outside; and a power supply unit that supplies power to each unit. The wheelchair moving environment measuring device described.   The wheelchair according to claim 1, further comprising: an evaluation unit that evaluates the measured road surface step, inclination angle, and solar radiation amount in association with the measurement position; and a display unit that displays the evaluated evaluation result. Mobile environment measurement device. A method for measuring a moving environment of a wheelchair using the wheelchair moving environment measuring device according to claim 1,
A wheelchair moving environment measuring method comprising a measuring step of measuring a road surface step, an inclination angle, and an amount of solar radiation by causing the vehicle to travel along a measurement target route.

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