JP2022126825A - Electric wheelchair, wheelchair control device, electric wheelchair control method, and electric wheelchair control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid a dangerous state of an electric wheelchair.

SOLUTION: A wheelchair control device 100 of an electric wheelchair 1 includes, as its functions: a signal reception section 131 for receiving a ranging detection signal by a sensor section 200; a relative distance calculation section 132 for acquiring a detection distance to a peripheral object from the sensor section 200 based on a detection result; a collision time calculation section 133 for calculating a relative speed of the electric wheelchair 1 with respect to the peripheral object from a relative distance at a different time; and a control signal output section 134 for outputting a control signal to perform speed control of the electric wheelchair 1 based on a calculated collision time to an electric wheelchair drive section 300.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2022,JPO&INPIT

Description

Application for application of Article 30, Paragraph 2 of the Patent Act is filed ・August 1, 2020 At the research institute of the applicant, an electric wheelchair (hereinafter referred to as "xMove") was invited as a guest to give a demonstration.・August 20, 2019 A driving experiment was conducted on xMove at the nursing home "Ginki Saihashi".・On August 27, 2019, a test-ride event was held for xMove at the nursing home "Mazaas Minamikashiwa".・August 28, 2019 We demonstrated xMove at the nursing home "Mother's Minami Kashiwa".・September 16, 2019 A test-ride event was held for xMove at the nursing home "Mazaas Minamikashiwa".・September 20, 2019 A briefing on xMove was held at the nursing care facility “Sompo Care La vie Re Kawasaki”.・September 26, 2019 At the research institute of the applicant, a guest was invited to give a demonstration of xMove.・From October 15th to 18th, 2019, the actual xMove machine was exhibited at CEATEC 2019 held at Makuhari Messe.・October 17, 2019 At the applicant's head office, we invited a guest and held a briefing session on xMove.・On November 11, 2019, a briefing session on xMove was held at Tomakomai College of Technology.・November 19, 2019 We invited a guest to give a demonstration of xMove at the applicant's laboratory.・December 16, 2019 We had a meeting and a driving experiment about xMove at the nursing care facility "Ginki Saihashi".・December 17, 2019 We demonstrated xMove at the nursing home "Mother's Minami Kashiwa".・December 24, 2019 We held a briefing session on xMove at the nursing home "Inanosato".・December 24, 2019 We held a briefing session on xMove at the nursing home "Nukumoriso".・December 24, 2019 We held a briefing session on xMove at the nursing home "Masou".

The present disclosure relates to an electric wheelchair, a wheelchair control device that controls the operation of the electric wheelchair, an electric wheelchair control method, and an electric wheelchair control program.

2. Description of the Related Art In recent years, an electric wheelchair operated by a user sitting in the wheelchair has become popular in place of a conventional manual wheelchair. An electric wheelchair is operated by a user operating an operation unit at hand or the like. It also has limited motor function, making it an essential means of transportation for patients who are unable to operate a manual wheelchair on their own.

In order to prevent a user using an electric wheelchair from colliding with an obstacle or overturning the electric wheelchair, techniques have been developed to improve the safety of the user. For example, Patent Literature 1 below describes a self-leveling function for maintaining a seat system of an electric wheelchair horizontally. US Pat. No. 5,300,000 describes that cameras, lasers, laser detection, or ranging (LADAR) can be used to optimize gravity distribution control for power wheelchairs.

Since such an electric wheelchair is a means of transportation, it is also used in facilities where an unspecified number of people come and go, such as hospitals and nursing homes, and outdoors. Therefore, while the use of an electric wheelchair is convenient for the user, an accident may occur.

In recent years, research and development have been conducted on automatic driving of electric wheelchairs.

Japanese Patent Application Publication No. 2018-528037

Due to the structure of the wheelchair, the user's body is exposed in front of the vehicle body, so there is a large restriction on the position where a device for detecting peripheral objects such as a sensor is installed in order to detect peripheral objects in front of the wheelchair. .

Moreover, it is desired to avoid the dangerous situation of the electric wheelchair by simply configuring devices such as sensors. However, although the electric wheelchair described in Patent Document 1 describes maintaining the seat system horizontally based on the detection result of the sensor device, there is no specific method for detecting a dangerous situation using a sensor or the like. No specific configuration is disclosed.

In order to enable automatic driving of an electric wheelchair, various additional parts (eg, distance measurement sensor, battery, controller, etc.) are required for conventional manual wheelchairs. Such additional parts may interfere with the assistance of the occupant.

Accordingly, a first object of the present disclosure is to provide an electric wheelchair, a wheelchair control device, an electric wheelchair control method, and an electric wheelchair control program capable of avoiding dangerous situations of the electric wheelchair.

A second object of the present disclosure is to provide an electric wheelchair that facilitates assistance to the occupant.

An electric wheelchair according to one aspect of the present disclosure is an electric wheelchair whose operation is controlled by a control signal, is provided above the position of the user's head when the user is seated on the electric wheelchair, and is located at a distance to surrounding objects. and a control unit that controls the movement of the electric wheelchair in response to the measurement of the distance to the surrounding object by the distance sensor.

1 is a functional block configuration diagram showing an electric wheelchair according to an embodiment of the present disclosure; FIG. Fig. 2 is a perspective view showing an example of the appearance of the electric wheelchair 1 of Fig. 1; 2 is a schematic diagram showing an example of relative distance calculation in a relative distance calculation unit 132 of FIG. 1; FIG. 1. It is a schematic diagram which shows an example of the input-output information at the time of showing the process of the wheelchair control apparatus 100 of FIG. 1 as a transfer function. 2 is a flow chart showing the operation of the wheelchair control device 100 of FIG. 1; 1 is a functional block configuration diagram showing an electric wheelchair according to an embodiment of the present disclosure; FIG. 7 is a schematic diagram showing an example of input/output information when processing of the wheelchair control device 100 of FIG. 6 is shown as a transfer function; FIG. FIG. 4 is a schematic diagram showing an example of input/output information when processing of the wheelchair control device 100 according to the embodiment of the present disclosure is indicated as a transfer function; FIG. 4 is a schematic diagram showing an example of input/output information when processing of the wheelchair control device 100 according to the embodiment of the present disclosure is indicated as a transfer function; FIG. 4 is a schematic diagram showing an example of input/output information when processing of the wheelchair control device 100 according to the embodiment of the present disclosure is indicated as a transfer function; FIG. 4 is a schematic diagram showing an example of input/output information when processing of the wheelchair control device 100 according to the embodiment of the present disclosure is indicated as a transfer function; 7 is a functional block configuration diagram showing a computer 700 according to an embodiment of the present disclosure; FIG. FIG. 12 is a block diagram showing the configuration of an electric wheelchair according to Embodiment 8; FIG. 21 is a perspective view showing the appearance of an electric wheelchair according to Embodiment 8; FIG. 22 is a rear view showing the appearance of the electric wheelchair of Embodiment 8; FIG. 14 is an explanatory diagram of the arrangement of the LIDAR in FIG. 13; 8 is a rear view of a hypothetical example power wheelchair 801. FIG. 19 is a flowchart illustrating peripheral object avoidance processing according to the eighth embodiment; Fig. 10 is a rear view showing the appearance of the electric wheelchair of Modification 1 when the pole is in the first state; FIG. 11 is a rear view showing the appearance of the electric wheelchair of Modification 1 when the pole is in the second state; 10 is a flowchart illustrating control processing according to modification 2; FIG. 11 is a rear view showing the appearance of the electric wheelchair of Modification 3 when the pole is in the first state; FIG. 11 is a rear view showing the appearance of the electric wheelchair of Modification 3 when the pole is in the second state; 13 is a flowchart illustrating control processing according to Modification 4; 14 is a flowchart illustrating control processing according to modification 5; FIG. 12 is a rear view showing the appearance of the electric wheelchair of modification 6 when the pole is moved to the right end of the back.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. It should be noted that the embodiments described below do not unduly limit the content of the present disclosure described in the claims. Also, not all the components shown in the embodiments are essential components of the present disclosure.

(Embodiment 1)
<Configuration>
FIG. 1 is a functional block configuration diagram showing an electric wheelchair 1 according to Embodiment 1 of the present disclosure. This electric wheelchair 1 is mainly operated by a seated user. A user who uses the electric wheelchair 1 is, for example, a patient who has limited motor function in the upper and lower limbs and cannot operate a manual wheelchair by himself/herself. The electric wheelchair 1 is used as a means of transportation for patients in facilities such as hospitals and nursing homes, or outdoors. The electric wheelchair 1 further avoids collision with surrounding objects such as obstacles when a sensor unit, such as LIDAR (Light Detection and Ranging), installed in the wheelchair detects a surrounding object such as an obstacle in front of the wheelchair. to control the movement of the electric wheelchair. In the following embodiments, LIDAR is described as using 2D-LIDAR, which is relatively inexpensive compared to 3D-LIDAR, but is not limited to this.

The electric wheelchair 1 has a wheelchair control device 100 , a sensor section 200 and an electric wheelchair driving section 300 . The wheelchair control device 100, the sensor section 200, and the electric wheelchair drive section 300 are interconnected. The wheelchair control device 100, the sensor unit 200, and the electric wheelchair driving unit 300 may be directly connected by a cable such as a USB (Universal Serial Bus) cable, for example and not limitation. The present invention can be applied even if the electric wheelchair 1 is a self-driving wheelchair that does not require an operation unit 320 to be described later. The self-driving wheelchair moves by setting a movement route for moving to a destination designated by the user or a predetermined position, etc., without the user performing an operation to move the electric wheelchair with a joystick or the like. is.

The wheelchair control device 100 is a device for controlling the movement of the electric wheelchair driving section 300 . The wheelchair control device 100 receives a ranging detection signal when a surrounding object is detected by the sensor unit 200, calculates a relative distance to the surrounding object from the received signal, and performs a process until a possible collision with the surrounding object. and calculating a collision time based on the relative distance. The wheelchair control device 100 controls movement of the electric wheelchair 1 based on the calculated collision time. The wheelchair control device 100 may be, for example and not limitation, a device mounted on the electric wheelchair 1, a computer (desktop, laptop, tablet, etc.) that provides various web services, a device including a server device, and the like. It may be configured by In this case, the wheelchair control device 100 is connected to a network (a network is a communication network for communication, and non-limiting examples include the Internet, an intranet, a LAN (Local Area Network), a WAN (Wide Area Network), and a wireless LAN). (Wireless LAN: WLAN), Wireless WAN (WWAN), Virtual Private Network (VPN), etc.). be. Note that the server device is not limited to a server device that operates alone, and may be a distributed server system or a cloud server that operates cooperatively by communicating via a network.

As a non-limiting example, the sensor unit 200 emits pulsed laser light in the direction of an object or irradiates visible light, and the photodetector detects scattered light corresponding to the irradiation of these light beams. . The sensor unit 200 may be an optical scanning sensor that measures the distance to the object by measuring the time from irradiation of light to detection of reflected light (scattered light) over a certain range. The sensor unit 200 may be any device as long as it is a distance measuring device.

The electric wheelchair driving unit 300 is a driving device that actually operates a wheelchair that is used as a means of transportation by a patient whose locomotor function is restricted due to illness, injury, or the like. In this embodiment, the electric wheelchair drive unit 300 is particularly configured by an actuator or the like as an example and not as a limitation.

FIG. 2 is a perspective view showing an example of the appearance of the electric wheelchair 1 of FIG. As shown in FIG. 2, the sensor unit 200 is provided on a member M that extends substantially vertically upward from the rear surface of the electric wheelchair 1 . The sensor unit 200 is provided so as to be positioned above the head of the user seated on the electric wheelchair 1, and is a device for detecting whether there is a surrounding object in front of the user at that position. Therefore, the sensor section 200 is attached facing downward so that the irradiation direction of light such as a laser is downward from a horizontal plane including the sensor section 200 . The downward inclination angle of the sensor section 200 may be fixed or may be movable by the operation of the sensor section 200 .

The member M to which the sensor unit 200 is attached is composed of a rod-shaped member as shown in FIG. For example, it may be a plate-shaped member that can be attached to the back surface or the side surface. Alternatively, the back portion of the electric wheelchair 1 may be formed so as to extend upward.

The electric wheelchair 1 is provided with a seating surface 310 on which the user sits. An operation unit 320 is provided on the front side of a position that serves as an armrest when the user sits on the seating surface 310 . The operation unit 320 receives an operation for moving the electric wheelchair 1 from the user, and is provided in a configuration like a joystick, for example. The user can instruct the speed of the electric wheelchair 1 according to the amount of tilting the joystick, for example. In addition, the user can instruct the direction in which the electric wheelchair 1 is to travel according to the direction in which the joystick is tilted. For example, when the user tilts the joystick forward or backward, the electric wheelchair 1 is moved forward or backward. When the user tilts the joystick in the left-right direction, the user can instruct the amount to turn the electric wheelchair 1 . When the user performs an operation using the operation unit 320, the casters 330 are driven in response to the operation. Accordingly, the electric wheelchair driving unit 300 controls the electric wheelchair 1 to move in the direction and speed indicated by the user with a joystick or the like. Therefore, the drive shaft of the caster 330 (not shown) is attached with an actuator, a servomotor, or the like that operates according to the operation of the operation unit 320 . Although not shown, the wheelchair control device 100 may be attached to the electric wheelchair 1 .

As shown in FIG. 1 , the wheelchair control device 100 includes a communication section 110 , a storage section 120 and a control section 130 .

The communication unit 110 is a communication interface for the wheelchair control device 100 to perform wired or wireless communication with the sensor unit 200 and the electric wheelchair driving unit 300 via a network. A communication protocol may be used. The communication unit 110 performs communication using a communication protocol such as TCP/IP (Transmission Control Protocol/Internet Protocol) as an example and not a limitation.

The storage unit 120 stores programs for executing various control processes and functions in the control unit 130, input data, and the like. The storage unit 120 includes, for example and not limitation, memory including RAM (Random Access Memory), ROM (Read Only Memory), etc., HDD (Hard Disk Drive), SSD (Solid State Drive), storage including flash memory, etc. consists of The storage unit 120 also stores a wheelchair specification information DB 121 . Further, the storage unit 120 temporarily stores data obtained through communication with the sensor unit 200 and the electric wheelchair driving unit 300, and data generated by each process described later.

The wheelchair specification information DB 121 stores information on specifications of the electric wheelchair 1, information for controlling movement of the electric wheelchair 1, and other information. The specification information of the electric wheelchair 1 includes specification information of the electric wheelchair 1 (for example, total length, total height, caster diameter, maximum allowable acceleration/deceleration, maximum speed, maximum allowable step height, and other information). Information on the specifications of the electric wheelchair 1 includes information on the drive system and the like. Information on the drive system includes whether the electric wheelchair 1 is two-wheel drive, four-wheel drive, front-wheel drive, middle-wheel drive, or rear-wheel drive, and whether it is omnidirectional. It includes information such as whether it is possible to For example, when the electric wheelchair 1 is equipped with wheels that can move in all directions, the electric wheelchair 1 can be moved laterally in parallel with the user using the electric wheelchair 1 . Further, the information on the specifications of the electric wheelchair 1 may include information on the electric wheelchair driving unit 300 . Information for controlling the movement of the electric wheelchair 1 includes various set values of the sensor unit 200 and the electric wheelchair driving unit 300 (which will be described later, for example, an inclination angle when the sensor unit 200 is inclined downward with respect to the horizontal plane). θ information) is included. Further, when the wheelchair control device 100 is configured as a server device in a state separated from the electric wheelchair driving unit 300, or when configured to be attachable to another electric wheelchair driving unit 300, the electric wheelchair 1 of another type can be used. Specification information may be stored. In this case, the wheelchair specification information DB 121 stores identifiable information such as a model number for identifying a type such as a vehicle type of the electric wheelchair 1, for example. Moreover, the specification information of the electric wheelchair 1 stored in the wheelchair specification information DB 121 is used by the relative distance calculation unit 132, which will be described later.

The control unit 130 controls the overall operation of the wheelchair control device 100 by executing programs stored in the storage unit 120 . The control unit 130 includes, for example and not limitation, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, a processor core, a multiprocessor. , ASIC (Application-Specific Integrated Circuit), and FPGA (Field Programmable Gate Array). The control unit 130 includes, as functions of the control unit 130, a signal reception unit 131, a relative distance calculation unit 132, a collision time calculation unit 133, and a control signal output unit . The signal receiving section 131 , the relative distance calculating section 132 , the collision time calculating section 133 , and the control signal output section 134 are activated by a program stored in the storage section 120 and executed by the wheelchair control device 100 .

The signal receiving unit 131 receives the scattered light detection result (distance measurement detection signal) from the sensor unit 200 from the sensor unit 200 via the communication unit 110 . This detection result includes, by way of example and not limitation, image data from the photodetectors of the sensor unit 200 . Further, when the downward tilt angle of the sensor unit 200 is movable by the operation of the sensor unit 200, the tilt angle is also transmitted from the sensor unit 200 as a parameter (or the wheelchair control device 100 detects the tilt angle of the sensor unit 200). may be set, and the sensor unit 200 may be driven so as to achieve the set tilt angle). Since the sensor unit 200 is scanned in the horizontal direction (horizontal direction as viewed from the user), it is movable in the horizontal direction, and the scanning angle with respect to the front direction is also transmitted as a parameter. That is, the scanning angle is defined as an angle parameter based on the z-axis (yaw axis) perpendicular to the plane defined by the x-axis and y-axis when the ground on which the electric wheelchair 1 travels is regarded as a plane. be done.

Further, the signal receiving unit 131 performs signal processing such as transmission wave phase modulation on the detection result of the sensor unit 200 .

The relative distance calculation unit 132 acquires the detection distance from the sensor unit 200 to the surrounding object based on the detection result of the sensor unit 200 . From the detected distance and the angle of the scanning direction of the sensor unit 200 with respect to the vertical direction, the relative distance of the wheelchair to the surrounding objects is calculated.

FIG. 3 is a schematic diagram showing an example of relative distance calculation by the relative distance calculator 132 of FIG. A process of calculating the relative distance between the peripheral objects of the electric wheelchair 1 and the electric wheelchair 1 by the relative distance calculation unit 132 will be described with reference to FIG. 3 . As described above, the sensor section 200 is arranged tilted downward with respect to the horizontal plane. As shown in FIG. 3, the sensor unit 200 is arranged at an angle of inclination .theta. there is For example, when the downward tilt angle of the sensor unit 200 is fixed, the value of this tilt angle is stored as a known value in the wheelchair specification information DB 121 . When the tilt angle of the sensor unit 200 is movable, the value of the tilt angle is output from the sensor unit 200 and acquired by the signal receiving unit 131 (or the wheelchair control device 100 sets the tilt angle of the sensor unit 200). , the sensor unit 200 may perform scanning according to the set tilt angle). The sensor unit 200 detects a surrounding object O. As shown in FIG. The signal receiving unit 131 acquires a signal indicating the distance D<b>1 from the sensor unit 200 to the surrounding object O from the sensor unit 200 . From these values, the distance from the position of the back surface of the electric wheelchair 1 in the horizontal direction (substantially equal to the position of the sensor unit 200) to the surrounding object O can be calculated as D1 sin θ.

Further, the total length D2 of the electric wheelchair 1 shown in FIG. 3 is a value stored in the wheelchair specification information DB 121 and is a known value. Therefore, the relative distance D3 of the electric wheelchair 1 with respect to the surrounding object O can be calculated by subtracting the total length D2 from the aforementioned distance D1 sin θ. In FIG. 3, the relative distance D3 is illustrated as the distance from the peripheral object O to the position of the user's feet, but as shown in FIG. , approximately equal to the distance to the front tip of the electric wheelchair 1 .

Further, although the peripheral object O shown in FIG. 3 is illustrated as a fixed object, it may be a movable object. For example, when the electric wheelchair 1 is used in a facility such as a hospital or a nursing facility, the stationary object is fixed so as not to move substantially, such as a building wall in the hospital or nursing facility or a chair in a waiting room. Examples of movable objects include people passing through corridors, carts used by staff members of such facilities, and the like.

The collision time calculator 133 calculates a collision time during which the electric wheelchair 1 can collide with a surrounding object. As described above, the relative distance calculation unit 132 calculates the relative distance of the electric wheelchair 1 to the surrounding objects a plurality of times (for example, 10 times per second). The collision time calculation unit 133 calculates the relative velocity of the electric wheelchair 1 with respect to surrounding objects based on the temporal change in the relative distance calculated at different times. The collision time calculator 133 calculates the collision time until the electric wheelchair 1 collides with the surrounding object from the calculated relative speed and relative distance. If the surrounding object is moving away from the electric wheelchair 1, or if the surrounding object is no longer detected at the most recent time and the relative distance cannot be calculated at this time, the collision time is negative. calculated as a value. In this case, there is no risk of collision between the surrounding objects and the electric wheelchair 1 .

The control signal output section 134 outputs a control signal for controlling the speed of the electric wheelchair 1 to the electric wheelchair drive section 300 based on the collision time calculated by the collision time calculation section 133 . For example, when the surrounding object and the electric wheelchair 1 are approaching over time, the control signal output unit 134 decelerates the electric wheelchair 1 before the collision time calculated by the collision time calculation unit 133 arrives. That is, the electric wheelchair 1 is stopped. This makes it possible to avoid collisions with surrounding objects. Alternatively, in addition to deceleration, control may be performed to move the electric wheelchair 1 so as to avoid collisions with surrounding objects (for example, control the direction in which the electric wheelchair 1 travels).

Further, the control signal output unit 134 controls the electric wheelchair 1 based on the collision time calculated by the collision time calculation unit 133 regardless of whether or not the user gives an instruction to move the electric wheelchair 1 using a joystick or the like. may be performed. That is, when the user is moving the electric wheelchair 1 with a joystick or the like, it is possible to avoid the electric wheelchair 1 from colliding with surrounding objects. Note that, when the user gives an instruction to move the electric wheelchair 1 using a joystick or the like, the control signal output unit 134 can be set by the user while the collision time calculated by the collision time calculation unit 133 exceeds a predetermined time. The electric wheelchair 1 may be controlled with priority given to the instruction, and in response to the fact that the predetermined time is exceeded, the electric wheelchair 1 may be controlled regardless of the user's instruction. As a result, when the risk of collision with a surrounding object is relatively small (when the collision time is relatively long), the user can use the joystick or the like to decelerate or instruct the direction of movement. The electric wheelchair 1 can be automatically controlled as the risk of collision with surrounding objects increases (when the collision time is relatively short). Therefore, regardless of the distance at which the sensor unit 200 can detect surrounding objects, it is possible to improve safety while moving the electric wheelchair 1 along the user's intention to some extent.

FIG. 4 is a schematic diagram showing an example of input/output information when the processing of the wheelchair control device 100 of FIG. 1 is shown as a transfer function. The acceleration/deceleration control function B(x) shown in FIG. 4 is expressed by regarding a series of processes of the wheelchair control device 100 as the acceleration/deceleration control function B(x), which is a transfer function. The input signal IN1 is a signal that is input to the wheelchair control device 100, and specifically is the detection result of the sensor section 200 that the signal receiving section 131 receives. The output signal OUT1 is a signal output by the wheelchair control device 100, specifically, a control signal for the electric wheelchair drive unit 300 output by the control signal output unit 134. FIG. As shown in FIG. 4, if the processing of the wheelchair control device 100 is regarded as one function, it can be seen that the relationship is such that the detection result of the sensor unit 200 is received and the control signal of the electric wheelchair driving unit 300 is output. .

<Process flow>
A process flow of an example of a wheelchair control method executed by the electric wheelchair 1 and the wheelchair control device 100 will be described with reference to FIG. FIG. 5 is a flow chart showing the operation of the wheelchair control device 100 of FIG.

As the process of step S<b>101 , the sensor unit 200 transmits the detection result detected by the sensor unit 200 to the wheelchair control device 100 . The signal receiving section 131 of the wheelchair control device 100 receives the detection result via the communication section 110 . Further, the signal receiving unit 131 performs signal processing such as transmission wave phase modulation as necessary. The signal receiving unit 131 sequentially receives detection results from the sensor unit 200 and stores them in a memory or the like.

As the process of step S102, the relative distance calculation unit 132 acquires the detection distance from the sensor unit 200 to the surrounding object based on the detection result of the sensor unit 200 received in step S101. Also, the relative distance calculator 132 calculates the relative distance of the wheelchair to the surrounding objects from the detected distance and the inclination angle θ (see FIG. 3) with respect to the scanning direction of the sensor unit 200 with respect to the vertical direction.

As the process of step S103, the collision time calculation unit 133 performs the calculation of the relative distance of step S102 a plurality of times, and calculates the relative speed of the electric wheelchair 1 with respect to surrounding objects from the relative distances at different times. The collision time calculator 133 calculates the collision time until the peripheral object and the electric wheelchair 1 collide from the calculated relative speed and relative distance. For example, if the relative distance is x1 meter at time t1 and the relative distance is x2 meters at time t2, which is one second after time t1, the relative speed is (x1-x2) meters/second and the object is approaching the surrounding object. . Therefore, in this case, it is estimated that the vehicle will collide with the surrounding object {x2/(x1-x2)} seconds after time t2.

As the process of step S104, the collision time calculation unit 133 determines whether or not the collision time calculated in step S103 is a positive value. As described above, when there is no danger of collision between the surrounding object and the electric wheelchair 1, such as when the surrounding object is moving away from the electric wheelchair 1, the collision time is calculated as a negative value. be. Therefore, it is determined that there is a risk of collision when the collision time is a positive value. If the collision time is greater than 0, the process of step S105 is performed, otherwise the series of processes is terminated.

As the process of step S105, the control signal output unit 134 outputs a control signal for controlling the speed of the electric wheelchair 1 to the electric wheelchair driving unit 300 based on the collision time calculated in step S103. Thereby, speed control (an example of "movement control") of the electric wheelchair 1 is realized.

It should be noted that the relative distance calculator 132 calculates the relative distance between the electric wheelchair 1 and surrounding objects in step S102. Here, the sensor section 200 is scanned in the horizontal direction (horizontal direction as seen from the user), and this scanning angle is also transmitted from the sensor section 200 to the wheelchair control device 100 as a parameter. That is, the scanning angle is an angle parameter (scanning angle θy). Therefore, the relative distance calculator 132 may calculate the relative distance to the surrounding object according to the range of the scanning angle θy. That is, if a peripheral object is detected when the scanning angle θy is the angle θy1, the wheelchair control device 100 calculates the relative distance to the peripheral object in association with the angle θy1. When this relative distance decreases with time, it appears as if the peripheral object is approaching relatively from the direction of the angle θy1 from the user's viewpoint. Thus, relative distances are expressed as components of vectors. Therefore, the wheelchair control device 100 can control the movement of the electric wheelchair 1 so as to avoid surrounding objects relatively approaching from that angle.

Further, when a surrounding object is detected, it may be assumed that the surrounding object passes around the electric wheelchair 1 in response to a change in the scanning angle θy at which the surrounding object is detected by a predetermined amount within a certain period of time. . For example, peripheral objects may pass on the left and right sides of the electric wheelchair 1 without obstructing the traveling direction of the electric wheelchair 1 . In this case, the wheelchair control device 100 may move the electric wheelchair 1 in accordance with the user's instruction to move the electric wheelchair 1 with a joystick or the like, assuming that the risk of collision is small.

Further, when a peripheral object is detected, it may be determined whether or not the peripheral object crosses the moving direction of the electric wheelchair 1 based on the time change of the scanning angle θy at which the peripheral object is detected. For example, when a peripheral object crosses the traveling direction of the electric wheelchair 1, the electric wheelchair 1 is controlled to decelerate even if the collision time calculated by the collision time calculation unit is relatively long, with an emphasis on safety. You can do it.

<effect>
As described above, in the electric wheelchair, the wheelchair control device, and the electric wheelchair control method according to the present embodiment, the LIDAR is provided above the position of the user's head, and the presence of surrounding objects is detected substantially in front of the electric wheelchair. detect. When detected, the relative distance of the electric wheelchair to the surrounding object is calculated, and the collision time until the electric wheelchair collides with the surrounding object is calculated from the relative distances at different times. Based on this collision time, the speed of the electric wheelchair is controlled. As a result, the surrounding objects of the electric wheelchair are detected and the movement of the electric wheelchair is controlled, so that the dangerous situation of the electric wheelchair can be avoided.

In addition, when an expensive device such as 3D-LIDAR is not used as a component, it is possible to avoid the dangerous situation of an electric wheelchair with an inexpensive configuration such as 2D-LIDAR.

In addition, since the LIDAR is provided on a member extending upward from the rear surface of the wheelchair and detects surrounding objects substantially in front of the electric wheelchair, the surrounding objects can be detected without being blocked by the user sitting on the electric wheelchair. becomes possible.

(Embodiment 2)
FIG. 6 is a functional block configuration diagram showing an electric wheelchair 1A according to Embodiment 2 of the present disclosure. This electric wheelchair 1A controls the movement of the wheelchair in order to avoid a collision with the surrounding object when the LIDAR installed in the wheelchair detects a surrounding object such as an obstacle substantially in front of the wheelchair. Although it is the same as the electric wheelchair 1 according to Embodiment 1, it differs from the electric wheelchair 1 according to Embodiment 1 in that a user detection sensor (sitting state detection unit) 400 is provided.

In this embodiment, the electric wheelchair drive unit 300 is controlled based not only on the detection of surrounding objects by the sensor unit 200 but also on the user state information by the user detection sensor 400 attached to the electric wheelchair 1A. The user detection sensor 400 is a sensor that detects the seated state of the user on the electric wheelchair 1A, and is composed of, for example, a load sensor. The user detection sensor 400 detects the user's load on the seating surface 310, and thereby determines whether the user is seated on the electric wheelchair 1A, for example, whether the user is leaning forward, whether the user is seated to the back, or the like. determine the state.

The signal reception unit 131 in this embodiment receives the seating detection signal from the user detection sensor 400 via the communication unit 110 . In addition, the control signal output unit 134 outputs a control signal for controlling the speed of the electric wheelchair 1A to the electric wheelchair driving unit 300 with reference to the seated state of the user. This process is performed because, depending on the state of the user on the electric wheelchair 1A, deceleration of the electric wheelchair 1A may cause the user to fall forward of the electric wheelchair 1A. This is because there are cases in which you suddenly stand up.

FIG. 7 is a schematic diagram showing an example of input/output information when the processing of the wheelchair control device 100 of FIG. 6 is shown as a transfer function. Input signal IN2 of acceleration/deceleration control function B(x) shown in FIG. It is a seating detection signal from the detection sensor 400 that indicates the user's state. The output signal OUT2 is a signal output by the wheelchair control device 100, and more specifically, a control signal for the electric wheelchair drive unit 300 output by the control signal output unit 134. Other configurations and processing flows are the same as in the first embodiment.

According to this embodiment, in addition to the effects of the first embodiment, the seated state of the user on the wheelchair is detected, and the speed of the wheelchair is controlled with reference to the seated state of the user. This prevents the dangerous control of the wheelchair, which would cause the user to fall out of the wheelchair, and enables safer control.

(Embodiment 3)
FIG. 8 is a schematic diagram showing an example of input/output information when processing of the wheelchair control device 100 according to Embodiment 3 of the present disclosure is shown as a transfer function. The input signal IN3 of the acceleration/deceleration control function B(x) shown in FIG. be. Further, the output signal OUT3 is a control signal for the electric wheelchair drive unit 300 output by the control signal output unit 134, and together with the speed control signal for controlling the speed of the electric wheelchair 1, the user's impact on the electric wheelchair 1 is alleviated. A signal is sent to take action.

This embodiment shows an example in which the electric wheelchair 1 is provided with a shock absorbing portion. The shock absorbing part is composed of a shock absorbing device for the user, more specifically, a device such as an airbag, or a device for fixing the user from the seating surface 310 so as not to move, and reduces the shock to the user in the electric wheelchair 1. Control (an example of "operation control for the impact mitigation device") is realized by the impact mitigation signal for. This makes it possible to keep the user safe. Other configurations and processing flows are the same as those of the second embodiment.

According to this embodiment, in addition to the effects of Embodiments 1 and 2, a control signal is transmitted to the wheelchair for alleviating the user's impact, and the impact mitigation device is operated. This makes it possible to keep the user safe.

(Embodiment 4)
FIG. 9 is a schematic diagram showing an example of input/output information when processing of the wheelchair control device 100 according to Embodiment 4 of the present disclosure is shown as a transfer function. The input signal IN4 of the acceleration/deceleration control function B(x) shown in FIG. Structures such as facilities where 1 is used, for example, the detection result (second ranging detection signal) when detecting the walls of the facility building, the chairs installed, etc., and the pre-stored facility information of the facility building is. The output signal OUT4 is a control signal for the electric wheelchair driving unit 300 output by the control signal output unit 134. The output signal OUT4 is a speed control signal for controlling the speed of the electric wheelchair 1, and a traveling direction for controlling the traveling direction of the electric wheelchair 1. A direction control signal is transmitted.

Acquisition of the detection result of the structure such as the facility where the electric wheelchair 1 is used and the pre-stored facility information as the input signal IN4 is because acquisition of the facility information enables more accurate surroundings. This is to enable detection. This is because, in particular, facility buildings such as hospitals and nursing care facilities are provided with windows and mirrors, and the sensor unit 200 is likely to malfunction. Further, the reason why the traveling direction control signal for controlling the traveling direction of the electric wheelchair 1 is output as the output signal OUT4 is that it is difficult to keep the user safe only by controlling the speed of the electric wheelchair 1. This is to avoid collisions with surrounding objects by realizing the traveling direction control (an example of "movement control") of No. 1. Other configurations and processing flows are the same as those of the third embodiment.

Further, when the wheelchair control device 100 controls the movement of the electric wheelchair 1 using pre-stored facility building structure information, each time a peripheral object is detected in the facility, the history is stored in the storage unit 120 or the like. It may be stored. Thereby, a heat map can be drawn based on the frequency of detecting surrounding objects in a facility, and for example, areas where people frequently come and go can be specified. In such a specific range, the wheelchair control device 100 controls the electric wheelchair driving unit 300 to move the electric wheelchair 1 at a low speed in order to avoid collision between the surrounding objects detected by the sensor unit 200 and the electric wheelchair 1. It is also assumed to move. Therefore, in response to the electric wheelchair 1 approaching a specific range, the inclination angle θ of the sensor unit 200 may be changed in order to detect surrounding objects within a range close to the electric wheelchair 1 (see FIG. 3). In the example, the inclination angle θ is reduced when the electric wheelchair 1 reaches a specific range). Further, in a range in which the frequency of detecting peripheral objects is relatively low, the inclination angle θ of the sensor unit 200 may be changed so that peripheral objects in a wide range around the electric wheelchair 1 can be detected. As described above, the wheelchair control device 100 may change the tilt angle θ based on the detection result of the sensor section 200 .

According to this embodiment, in addition to the effects of Embodiments 1 to 3, it is possible to detect surrounding objects with higher accuracy by acquiring facility information. Also, by controlling the direction of movement of the wheelchair, it is possible to avoid collisions with surrounding objects while maintaining the user's safety. Further, when the wheelchair control device 100 according to the present embodiment is applied to an automatic driving wheelchair, the electric wheelchair 1 uses the information on the structure of the facility building stored in advance, and the user can move from the current location to the inside of the building or the like. After setting the movement route to the destination specified as the destination, it will automatically run. When the sensor unit 200 detects a person in a building or the like during the process of causing the electric wheelchair 1 to reach the destination, the electric wheelchair 1 changes the moving route based on the relative distance between the person and the electric wheelchair 1. Decide whether or not For example, when a collision with a person is predicted, the movement route is reset so as to avoid the collision. As a result, even when a person or the like around the electric wheelchair 1 is detected, the electric wheelchair 1 is moved without resetting the moving route if it is determined that there is no risk of collision based on the relative distance. be able to.

(Embodiment 5)
FIG. 10 is a schematic diagram showing an example of input/output information when processing of the wheelchair control device 100 according to Embodiment 5 of the present disclosure is shown as a transfer function. The input signal IN5 of the acceleration/deceleration control function B(x) shown in FIG. In addition to the stored facility information, operation information (operation signal) indicating that the user is operating the electric wheelchair 1 and specification information of the electric wheelchair 1 stored in the wheelchair specification information DB 121 in advance. An output signal OUT5 is a speed control signal for the electric wheelchair drive unit 300 output by the control signal output unit 134 .

Acquiring the operation information indicating that the user is operating the electric wheelchair 1 and the specification information of the electric wheelchair 1 stored in advance in the wheelchair specification information DB 121 as the input signal IN5 is because abrupt speed control would rather hinder the user. Therefore, by acquiring the operation information, safer control is performed based on the operation information, and by acquiring the specification information of the electric wheelchair 1, the control that is reasonable for the electric wheelchair 1 is performed. It's for. Other configurations and processing flows are the same as in the fourth embodiment.

According to this embodiment, in addition to the effects of Embodiments 1 to 4, it is possible to perform safer control based on the operation information by acquiring the operation information of the user. In addition, by acquiring the specification information of the wheelchair, it is possible to perform control that is reasonable for the wheelchair.

(Embodiment 6)
FIG. 11 is a schematic diagram showing an example of input/output information when processing of the wheelchair control device 100 according to Embodiment 6 of the present disclosure is shown as a transfer function. An input signal IN6 of the acceleration/deceleration control function B(x) shown in FIG. In addition to the speed control signal of the electric wheelchair driving unit 300 output by the control signal output unit 134 and the signal for mitigating the impact of the user on the electric wheelchair 1, the output signal OUT6 is a notification device for the user, such as a danger signal. It is a control signal for a device that notifies by light, sound, or the like that a is approaching.

As the output signal OUT6, a control signal for a notification device for the user, for example, a device that notifies the user of impending danger by light or sound is used when the electric wheelchair 1 suddenly controls its speed. This is to alleviate the user's psychological shock, for example, by realizing control (an example of "operation control for the notification device") that notifies that the control has been performed. Other configurations and processing flows are the same as those of the fifth embodiment.

According to this embodiment, in addition to the effects of Embodiments 1 to 5, a notification device for the user is provided, and when the speed is suddenly controlled, by notifying that such control has been performed, the user's It makes it possible to reduce the psychological shock.

(Embodiment 7 (program))
FIG. 12 is a functional block diagram showing an example of the configuration of a computer (electronic calculator) 700. As shown in FIG. A computer 700 includes a CPU 701 , a main memory device 702 , an auxiliary memory device 703 and an interface 704 .

Here, a control program (wheelchair control program) for realizing each function constituting the signal reception unit 131, the relative distance calculation unit 132, the collision time calculation unit 133, and the control signal output unit 134 according to Embodiments 1 to 6 will be described in detail. These functional blocks are implemented in computer 700 . The operations of these components are stored in the auxiliary storage device 703 in the form of programs. The CPU 701 reads out the program from the auxiliary storage device 703, develops it in the main storage device 702, and executes the above processing according to the program. Further, the CPU 701 secures a storage area corresponding to the above-described storage unit in the main storage device 702 according to the program.

Specifically, in the computer 700, the program includes a signal receiving step of receiving a ranging detection signal output when the optical scanning sensor detects a peripheral object, and a signal receiving step from the optical scanning sensor based on the ranging detection signal. a relative distance calculation step of obtaining a detection distance to a surrounding object, calculating a relative distance of the wheelchair to the surrounding object from the detected distance and an angle of the scanning direction of the optical scanning sensor with respect to the vertical direction; A collision time calculation step of calculating the relative speed of the wheelchair with respect to the surrounding object from the distance and calculating the collision time, which is the time until the wheelchair collides with the surrounding object, and control for controlling the speed of the wheelchair based on the collision time. and a control signal output step of outputting a signal to the wheelchair.

Note that the auxiliary storage device 703 is an example of a non-temporary tangible medium. Other examples of non-transitory tangible media include magnetic disks, magneto-optical disks, CD-ROMs, DVD-ROMs, semiconductor memories, etc. that are connected via interface 704 . Further, when this program is distributed to the computer 700 via a network, the computer 700 receiving the distribution may develop the program in the main storage device 702 and execute the above process.

Also, the program may be for realizing part of the functions described above. Further, the program may be a so-called difference file (difference program) that implements the above-described functions in combination with another program already stored in the auxiliary storage device 703 .

(Embodiment 8)
In the following description, with the wheels of the electric wheelchair in contact with the horizontal plane, the front side is forward (F direction), the back side is backward (R direction), and the left side is left, based on the direction of the body of the occupant of the electric wheelchair. The direction (SL direction), the right side as the right direction (SR direction), the upper side as the upper side (U direction), and the lower side as the lower side (D direction) are defined respectively.

(1) Configuration of Electric Wheelchair The configuration of the electric wheelchair will be described. FIG. 13 is a block diagram showing the configuration of an electric wheelchair according to Embodiment 8. FIG. 14 is a perspective view showing the appearance of the electric wheelchair of Embodiment 8. FIG. 15 is a rear view showing the appearance of the electric wheelchair of Embodiment 8. FIG. FIG. 16 is an explanatory diagram of the LIDAR arrangement in FIG.

The electric wheelchair 801 can be driven automatically. Being able to drive automatically means that at least one of steering, acceleration, and braking of the electric wheelchair 801 is controlled by a computer without being operated by a human (for example, an occupant (also referred to as a “user”)). means
As shown in FIG. 13 , the electric wheelchair 801 includes a wheelchair control device (also called “controller”) 810 , an ultrasonic sensor 821 , a LIDAR (Light Detection and Ranging) 822 and a movement mechanism 831 .

As shown in FIG. 14, the electric wheelchair 801 includes a wheelchair control device 810, an ultrasonic sensor 821FL, an ultrasonic sensor 821FR, an operation unit (also referred to as a "keypad") 823, wheels 831FL, and wheels 831FR. , wheels 831RL, wheels 831RR, a seat portion 832, a back portion 833, a footrest 834FL, a footrest 834FR, a pole 835, a sensor housing portion 836, and a battery 837.

The wheelchair control device 810 is arranged at the rear (R direction) with respect to the back 833 in the front-rear direction, and at the end in one direction (the left direction (SL direction) in the example of FIG. 14) in the left-right direction. It is placed in a close position. As a result, as shown in FIG. 15 , a space SP is formed in the vertical direction in the right direction (SR direction) of the wheelchair control device 810 .
The wheelchair control device 810 is configured to enable automatic operation of the electric wheelchair 801 by controlling the electric wheelchair 801 .

Specifically, the wheelchair controller 810 is operable in multiple driving modes, including a manual driving mode and an automatic driving mode.
In the automatic driving mode, the wheelchair control device 810 controls the movement mechanism 831 based on the distance measurement result obtained by at least one of the ultrasonic sensor 821 and the LIDAR 822, so that the operation of a human (for example, a passenger, an assistant) is controlled. The power wheelchair 801 is configured to steer, accelerate, and/or brake the power wheelchair 801 without leaning. For example, the wheelchair control device 810 can drive the electric wheelchair 801 along the route to the destination set based on the user's instructions while avoiding contact with surrounding objects such as obstacles.

As shown in FIG. 13, the wheelchair control device 810 includes a storage unit (also called a “storage device”) 811, a control unit (also called a “processor”) 812, an input/output interface 813, and a communication unit (a “communication interface ) 814 .

The storage unit 811 is configured to store programs and data. The storage unit 811 is, for example, a combination of ROM (Read Only Memory), RAM (Random Access Memory), and storage (eg, flash memory or hard disk).

Programs include, for example, the following programs.
・OS (Operating System) program ・Application for executing information processing (for example, automatic driving application for electric wheelchair 801) program

The data includes, for example, the following data.
・Databases referenced in information processing ・Data obtained by executing information processing (that is, execution results of information processing)

The control unit 812 is configured to implement the functions of the wheelchair control device 810 by activating the program stored in the storage unit 811 . Control unit 812 is an example of a computer.

Input/output interface 813 is configured to obtain signals (e.g., user commands) from input devices connected to wheelchair controller 810 and to output signals to output devices connected to wheelchair controller 810 . be.
The input device is, for example, an ultrasonic sensor 821, a LIDAR 822, an operation unit 823, a keyboard, a pointing device, a touch panel, or a combination thereof.
An output device is, for example, a moving mechanism 831, a display, a speaker, a lamp, or a combination thereof.

Communications unit 814 is configured to control communications between wheelchair controller 810 and an external device (eg, a server, not shown).

The power wheelchair 801 can be equipped with one or more ultrasonic sensors 821 . In the following description, the electric wheelchair 801 is assumed to have an ultrasonic sensor 821FL and an ultrasonic sensor 821FR as shown in FIG.

The ultrasonic sensor 821FL is arranged in the left direction (SL direction) with respect to the footrest 834FL. The ultrasonic sensor 821FR is arranged in the right direction (SR direction) with respect to the footrest 834FR.

The ultrasonic sensor 821FL is configured to measure the distance from surrounding objects in the range from the front (F direction) to the left front (SL direction and F direction) of the electric wheelchair 801. FIG. The ultrasonic sensor 821FR is configured to measure the range of surrounding objects in the range from the front (F direction) to the right front (SR direction and F direction) of the electric wheelchair 801. FIG. For example, it is possible to detect whether or not there is a surrounding object in the blind spot of the LIDAR 822 from the distance measurement results of the ultrasonic sensors 821FL and 821FR.

The ultrasonic sensor 821 emits ultrasonic waves in accordance with a control signal from the wheelchair control device 810, and receives the reflected waves that are returned when the ultrasonic waves are reflected by surrounding objects. The distance from the ultrasonic sensor 821 to the surrounding object is calculated based on the time difference (also called "ToF: Time Of Flight") from when the ultrasonic wave is emitted until the reflected wave returns, and on the propagation speed of the ultrasonic wave. can be measured.

The surroundings can include various objects. For example, the surroundings can be at least one of other power wheelchairs, people, animals, walls, pillars, stairs, doors, windows, objects, and the like. Compared to the LIDAR 822, the ultrasonic sensor 821 is more suitable for distance measurement of surrounding objects made of a material with high light transmittance such as glass.

Ultrasonic sensor 821 can emit ultrasonic waves encoded using a code sequence according to a control signal from wheelchair controller 810 . In this case, the ultrasonic sensor 821 can detect the reception of the reflected ultrasonic wave emitted by itself based on the correlation between the received signal and the code sequence.

LIDAR 822 is housed in sensor housing 836 . A sensor housing portion 836 is attached to the upper end of the pole 835 . The pole 835 is arranged upward (in the U direction) with the back 833 as a reference. Specifically, the pole 835 extends substantially vertically from the upper end of the back portion 833 . That is, the LIDAR 822 is arranged upward (U direction) with respect to the pole 835 and supported by the pole 835 .

As shown in FIG. 16, an angle ( The LIDAR 822 is arranged such that φ is less than 90 degrees (hereinafter referred to as “illumination angle”).
The reference plane BP is, for example, a plane passing through the center of the moving mechanism (wheel) 831 (eg, the wheel 831RL and the wheel 831RR).
For example, the LIDAR 822 extends from the top (U direction) of the pole 835 to the bottom (D direction) of the electric wheelchair 801, from the left front (SL direction and F direction) to the front (F direction) to the right front (SR direction). and the F direction) is configured to perform distance measurement targeting peripheral objects. As an example, the LIDAR 822 is installed at a position higher than the head of the occupant seated in the electric wheelchair 801, and is configured to detect whether there is a peripheral object in front of the electric wheelchair 801 (direction F). That is, the laser irradiation direction of the LIDAR 822 is directed from the left front (SL direction and F direction) to the front (F direction) to the right front (SR direction and F direction) of the electric wheelchair 801, and a horizontal plane passing through the mounting position of the LIDAR 822 It should be oriented downward (in the D direction). Therefore, the LIDAR 822 is attached so as to be inclined downward (direction D) from the horizontal plane (in other words, inclined with respect to the running surface of the electric wheelchair 801). The tilt angle of the LIDAR 822 may be fixed, or may be electrically (eg, actuator) or manually variable.

The LIDAR 822 emits pulsed laser light in accordance with a control signal from the wheelchair controller 810, and the photodetector detects the light returned by the laser scattered by surrounding objects. The distance from the LIDAR 822 to the surrounding object can be measured based on the time difference between the irradiation of the laser and the return of the scattered light and the propagation speed of the laser. LIDAR 822 is described as using relatively inexpensive 2D LIDAR versus 3D LIDAR, but is not so limited.

The operation unit 823 is arranged above (in the U direction) with respect to the armrests of the electric wheelchair 801 . The operation unit 823 may be fixed to either the left or right armrest, or may be configured to be attachable to either the left or right armrest depending on the occupant's physical function (eg, dominant arm, presence or absence of motor impairment). .

The operation unit 823 is an example of an input device for inputting instructions to the wheelchair control device 810 by a passenger or a caregiver. The operation unit 823 can be configured to receive at least one of the following instructions, for example.
・Setting a destination ・Selecting a route ・Starting automatic driving ・Ending automatic driving ・Switching between automatic driving mode and manual driving mode ・Decelerate, stop, start, call an assistant

The moving mechanism 831 moves the electric wheelchair 801 according to the control signal from the wheelchair control device 810 . The configuration of the movement mechanism 831 depends on the movement system required for the electric wheelchair 801. As an example, the movement mechanism 831 includes, in addition to the wheels 831FL, 831FR, 831RL, and 831RR shown in FIG. may include transmissions and axles.

The wheels 831FL are arranged downward (D direction) with respect to the seat portion 832 and to the left (SL direction) with respect to the wheels 831FR. Wheel 831FL is configured to be rotatable.
The wheel 831FR is arranged downward (D direction) with respect to the seat portion 832 and rightward (SR direction) with respect to the wheel 831FL. Wheel 831FR is configured to be rotatable.
The wheel 831RL is arranged downward (D direction) with respect to the seat portion 832 and leftward (SL direction) with respect to the wheel 831RR. Wheel 831RL is configured to be rotatable.
The wheel 831RR is arranged downward (D direction) with respect to the seat portion 832 and rightward (SR direction) with respect to the wheel 831RL. Wheel 831RR is configured to be rotatable.

The seat portion 832 is arranged downward (direction D) and forward (direction F) with respect to the back portion 833 . The seat portion 832 is configured to support the buttocks of the occupant.
The back portion 833 is arranged upward (in the U direction) and rearward (in the R direction) with respect to the seat portion 832 . The back 833 can support the back of the occupant.
The footrest 834FL is arranged downward (D direction) with respect to the seat portion 832 and leftward (SL direction) with respect to the footrest 834FR. The footrest 834FL can support the occupant's left foot.
The footrest 834FR is arranged downward (D direction) with respect to the seat portion 832 and rightward (SR direction) with respect to the footrest 834FL. The footrest 834FR can support the occupant's right foot.

The pole 835 is arranged upward (in the U direction) with the back surface of the back portion 833 as a reference. Specifically, the pole 835 extends along an axis different from the center line (vertical line) in the width direction (that is, the lateral direction (SL-SR axis direction)) of the back portion 833 to the height of the top end of the pole 835 ( The height of the wheels 831FL, 831FR, 831RL, and 831RR from the horizontal surface when they are in contact with the horizontal surface (ground clearance) is higher than the upper end of the back 833 (“reference height”). deferred. The reference height can be set higher than the height of the head of the passenger sitting on the electric wheelchair 801, for example. Specifically, as shown in FIG. 15, the pole 835 is a straight line (vertical line) that is substantially parallel to the widthwise center line (vertical line) CL of the back portion 833 and passes through the left or right side of the center line CL. vertical line) PL. As an example, the straight line PL may be a straight line (vertical line) whose distance to the left end of the back portion 833 is smaller than the distance to the center line CL, or a straight line (vertical line) whose distance to the right end of the back portion 833 is shorter than the distance to the center line CL. It may be a straight line (vertical line) with a small distance. More preferably, straight line PL is a straight line (vertical line) passing through the left end or right end of back portion 833 .

The pole 835 is configured such that the sensor housing portion 836 can be attached to the upper end of the pole 835 .

The sensor housing portion 836 is arranged above (in the U direction) with respect to the pole 835 . Specifically, the sensor housing portion 836 is attached to the top end of the pole 835 . Sensor housing 836 is configured to house LIDAR 822 . Sensor housing 836 may house at least one of a lamp and a speaker in addition to LIDAR 822 .

The battery 837 is arranged backward (R direction) with respect to the back surface of the back portion 833 in the front-rear direction, is arranged downward (D direction) with respect to the wheelchair control device 810 in the vertical direction, and is arranged at the wheelchair control device in the left-right direction. It is arranged in the right direction (SR direction) with reference to 810 . As a result, a space SP (FIG. 15) is formed above the battery 837 (U direction). The battery 837 is configured to be detachable from the electric wheelchair 801 along the vertical direction. For example, the user can remove the battery 837 from the electric wheelchair 801 by pulling the battery 837 upward (U direction) using the space SP. The user can attach the battery 837 to the electric wheelchair 801 by pushing the battery 837 downward (direction D) using the space SP.
Battery 837 is configured to power electronic devices including wheelchair controller 810 , locomotion mechanism 831 , ultrasonic sensor 821 , and LIDAR 822 .

(2) Outline of Embodiment An outline of the eighth embodiment will be described. FIG. 17 is a rear view of a hypothetical example power wheelchair 801 .

The electric wheelchair 801 of Embodiment 8 includes a pole 835 for supporting a LIDAR 822 as a distance measuring sensor. Suppose that the pole 835 extends along the center line CL in the width direction of the back portion 833, as shown in FIG. In the example of FIG. 17, when the caregiver stands behind the electric wheelchair 801 (direction R), the pole 835 blocks the center of the caregiver's field of view, making it difficult to see the situation ahead (direction F). In addition, in order to appropriately support the occupant's body when assisting in getting on and off, it is preferable that the arm of the helper can be freely moved above the back 833 (in the U direction). If the pole 835 were to extend along the center line CL, the pole 835 would limit the range of motion of the caregiver's arm during assistance in getting on and off. That is, in the example of FIG. 17 , the pole 835 can interfere with assistance (for example, movement assistance, getting on and off assistance, etc.) for the occupant of the electric wheelchair 801 by the caregiver.

The pole 835 of the electric wheelchair 801 of Embodiment 8 extends along an axis different from the center line CL in the width direction of the back portion 833, as shown in FIG. In the example of FIG. 15, compared to the example of FIG. 17, the center of the field of view of the caregiver standing behind the electric wheelchair 801 (direction R) is open, so the caregiver can easily see the situation in front (direction F). After confirming, the electric wheelchair 801 can be operated. In addition, the caregiver assists in getting on and off the electric wheelchair 801 from either the left side or the right side farther from the pole 835 , thereby avoiding the restriction of the range of motion of the caregiver's arm by the pole 835 . In other words, the caregiver can assist the occupant in getting on and off the wheelchair in the same manner as a conventional manual wheelchair without being conscious of the presence of the pole 835 . Therefore, the safety of the occupant can be ensured, and an increase in physical burden due to the caregiver taking an unnatural posture for assistance can be avoided.

(3) Peripheral Object Avoidance Processing Peripheral object avoidance processing of the eighth embodiment will be described. The surrounding object avoidance process can be repeatedly executed during automatic operation of the electric wheelchair 801 . FIG. 18 is a flowchart illustrating peripheral object avoidance processing according to the eighth embodiment.

Wheelchair controller 810 performs a distance measurement (S810).
Specifically, the control unit 812 causes the distance sensor (at least one of the ultrasonic sensor 821 and the LIDAR 822) to measure the distance from the distance sensor to the surrounding object.

The wheelchair controller 810 controls the movement mechanism (S811).
Specifically, the control unit 812 controls the moving mechanism 831 based on the distance measurement result in step S810.

In a first example of movement mechanism control, the control unit 812 causes the electric wheelchair 801 to decelerate or stop when any of the measurement results falls below the threshold. This threshold may be fixed or may be variable according to at least one of the scanning direction, the traveling direction of the electric wheelchair 801 and the speed of the electric wheelchair 801 . The threshold may be common among the ranging sensors, or may be determined individually for each ranging sensor.

In a second example of control of the movement mechanism, the control unit 812 changes the traveling direction of the electric wheelchair 801 when any of the measurement results is below the threshold. This threshold may be fixed or may be variable according to at least one of the scanning direction, the traveling direction of the electric wheelchair 801 and the speed of the electric wheelchair 801 . The threshold may be common among the ranging sensors, or may be determined individually for each ranging sensor. The changed traveling direction may be determined by the control unit 812 or may be determined by an external device (for example, a server not shown). The changed traveling direction can be determined based on the direction of the surrounding object.

In a third example of control of the movement mechanism, the control unit 812 causes the electric wheelchair 801 to travel normally when all measurement results are equal to or greater than the threshold. This threshold may be fixed or variable depending on at least one of the scanning direction and the speed of the power wheelchair 801 . The threshold may be common among the ranging sensors, or may be determined individually for each ranging sensor.

In a fourth example of control of the movement mechanism, the controller 812 accelerates the electric wheelchair 801 when the measurement result obtained by scanning in the direction opposite to the traveling direction of the electric wheelchair 801 is below the threshold value. For example, when a peripheral object is approaching from behind when viewed from the traveling direction of the electric wheelchair 801, the electric wheelchair 801 may be accelerated to avoid contact or to mitigate the impact at the time of contact. This threshold may be fixed, or may be variable according to at least one of the radiation direction of the ultrasonic waves, the traveling direction of the electric wheelchair 801 and the speed of the electric wheelchair 801 . The threshold may be common among the ranging sensors, or may be determined individually for each ranging sensor.

The wheelchair control device 100 may perform various processes described in Embodiments 1 to 6 instead of the surrounding object avoidance process described with reference to FIG. Various processes described in the first to sixth embodiments may be combined.

(4) Summary of Embodiment 8 As described above, the pole of the electric wheelchair of Embodiment 8 extends to a position higher than the upper end of the back along an axis different from the center line in the width direction of the back. be. Therefore, according to this electric wheelchair, since the center of the field of vision of the caregiver standing behind the electric wheelchair (R direction) is open, the caregiver can easily confirm the situation in front (F direction) and use the electric wheelchair. can be operated. In addition, the caregiver assists in getting on and off the electric wheelchair from either the left side or the right side of the electric wheelchair farther from the pole, thereby avoiding the limitation of the range of motion of the caregiver's arm due to the pole. In other words, the caregiver can assist the occupant in getting on and off the wheelchair in the same manner as a conventional manual wheelchair without being conscious of the existence of the pole. Therefore, the safety of the occupant can be ensured, and an increase in physical burden due to the caregiver taking an unnatural posture for assistance can be avoided.

(5) Modification A modification of the eighth embodiment will be described.

(5-1) Modification 1
Modification 1 will be described. In Modified Example 1, the pole 835 is configured to be extendable along the extension direction (that is, the vertical direction (UD axis direction)) so that the height of the top end of the pole 835 is lower than the reference height. . FIG. 19 is a rear view showing the appearance of the electric wheelchair of Modification 1 when the pole is in the first state. FIG. 20 is a rear view showing the appearance of the electric wheelchair of Modification 1 when the pole is in the second state.

The pole 835 can include, for example, a mechanism (eg, a slide extension mechanism, an actuator, an elastic mechanism, a folding mechanism, etc.) for realizing expansion and contraction and a mechanism (eg, a lock mechanism) for maintaining the expansion and contraction state. Pole 835 may be configured to be electrically retractable (ie, under control from wheelchair controller 810) or manually retractable.

As shown in FIG. 19, while the wheelchair control device 810 is automatically driving the electric wheelchair 801, the pole 835 is in a state where the height of the top end of the pole 835 matches the reference height (first state )It is in. As a result, the LIDAR 822 can perform distance measurement in the same manner as the electric wheelchair 801 of FIG. can run to

As shown in FIG. 20 , while the wheelchair control device 810 is not automatically driving the electric wheelchair 801 (for example, while the caregiver is pushing the electric wheelchair 801 ), the pole 835 is positioned at the top end of the pole 835 . is lower than the reference height (second state). In the example of FIG. 20, the field of view of the caregiver standing behind the electric wheelchair 801 (direction R) is wider than in the example of FIG. 17, so the caregiver can easily check the situation in front (direction F). The electric wheelchair 801 can be operated by In addition, the helper can avoid restriction of the range of motion of the helper's arm by the pole 835 by assisting getting on and off when the pole 835 is in the second state. In other words, the caregiver can assist the occupant in getting on and off the wheelchair in the same manner as a conventional manual wheelchair without being conscious of the presence of the pole 835 . Therefore, the safety of the occupant can be ensured, and an increase in physical burden due to the caregiver taking an unnatural posture for assistance can be avoided.

As shown in FIG. 20, a transition from the first state to the second state is possible by contracting the pole 835 . As shown in FIG. 19, a transition from the second state to the first state is possible by extending the pole 835 .

According to the modified example 1, when the caregiver assists the occupant, the pole 835 is set to the second state so that the occupant can be assisted without being hindered by the pole 835 .

(5-2) Modification 2
Modification 2 will be described. Modification 2 is an example in which the pole 835 of Modification 1 is electrically extendable (that is, according to control from the wheelchair control device 810).

The pole 835 is electrically telescopic. The pole 835 may include an actuator (eg, linear actuator) that allows the pole 835 to extend and contract. In this case, the wheelchair controller 810 can control the actuators.

The control processing of Modification 2 will be described. FIG. 21 is a flowchart illustrating a control process according to modification 2;

As shown in FIG. 21, the wheelchair control device 810 starts automatic driving (S820).
Specifically, the control unit 812 receives a destination setting and an automatic driving start instruction from a passenger or an assistant via the input/output interface 813 or the communication unit 814 . For example, the operation unit 823 is provided with buttons corresponding to, for example, a plurality of places in the facility (for example, a cafeteria, a restroom, and private rooms for crew members). Automatic driving to the destination may start. Control unit 812 refers to the current location data and map data stored in storage unit 811 to determine the route to the destination.

After step S820, the wheelchair controller 810 executes pole control (S821).
Specifically, the control unit 812 controls the pole 835 so that the upper end of the pole 835 matches the reference height (that is, the pole 835 is in the first state (FIG. 19)). As a result, the pole 835 is in the first state when the automatic operation of the electric wheelchair 801 is started.

After step S821, the wheelchair control device 810 executes automatic driving processing (S822).
Specifically, the control unit 812 moves the electric wheelchair 801 from the starting point to the destination by repeatedly controlling at least one of acceleration, steering, and braking along the route determined in step S820. . Peripheral object avoidance processing (FIG. 18) may be executed during the automatic driving processing (S822).

After step S822, the wheelchair control device 810 executes the automatic driving end determination (S823).
Specifically, the control unit 812 can determine to end the automatic operation when at least one of the following conditions is satisfied.
・The electric wheelchair 801 has arrived at the destination. ・The passenger, caregiver, or other administrator has instructed the end of automatic driving. ・The passenger, caregiver, or other administrator has switched to the manual operation mode. was instructed ・It was determined that it would be difficult to continue autonomous driving based on factors such as failure, battery status, and road surface conditions.

When it is determined in step S823 not to end the automatic driving, the wheelchair control device 810 executes the automatic driving process (S822) again.

When it is determined in step S823 to end the automatic driving, the wheelchair control device 810 executes pole control (S824).
Specifically, the control unit 812 controls the pole 835 so that the top end of the pole 835 is lower than the reference height (that is, the pole 835 is in the second state (FIG. 20)). Thus, when the automatic operation of the electric wheelchair 801 ends, the pole 835 is in the second state.

According to Modified Example 2, the wheelchair control device 810 puts the pole 835 in the second state except during the automatic operation of the electric wheelchair 801, so that the caregiver can assist the occupant without being hindered by the pole 835. can.

(5-3) Modification 3
Modification 3 will be described. In Modified Example 3, the pole 835 is rotatably configured such that the height of the top end of the pole 835 is lower than the reference height. FIG. 22 is a rear view showing the appearance of the electric wheelchair of Modification 3 when the pole is in the first state. FIG. 23 is a rear view showing the appearance of the electric wheelchair of Modification 3 when the pole is in the second state.

The pole 835 is rotatable around a rotation axis defined at a position lower than the reference height. The rotation axis may be provided at a position higher than the upper end of the back portion 833 as shown in FIG. . The pole 835 may include, for example, a mechanism (eg, rotating shaft, bearing, actuator, etc.) for realizing rotation and a mechanism (eg, locking mechanism) for holding the expanded state. Pole 835 may be configured to be electrically rotatable (ie, under control from wheelchair controller 810) or manually rotatable.

As shown in FIG. 22, while the wheelchair control device 810 is automatically driving the electric wheelchair 801, the pole 835 is in a state where the height of the top end of the pole 835 matches the reference height (first state )It is in. As a result, the LIDAR 822 can perform distance measurement in the same manner as the electric wheelchair 801 of FIG. can run to

As shown in FIG. 23, while the wheelchair control device 810 is not automatically driving the electric wheelchair 801 (for example, while the caregiver is pushing the electric wheelchair 801), the pole 835 is positioned at the height of the upper end of the pole 835. is lower than the reference height (second state). In the example of FIG. 23, the field of view of the caregiver standing behind the electric wheelchair 801 (direction R) is wider than in the example of FIG. 17, so the caregiver can easily check the situation in front (direction F). The electric wheelchair 801 can be operated by In addition, the helper can avoid restriction of the range of motion of the helper's arm by the pole 835 by assisting getting on and off when the pole 835 is in the second state. In other words, the caregiver can assist the occupant in getting on and off the wheelchair in the same manner as a conventional manual wheelchair without being conscious of the presence of the pole 835 . Therefore, the safety of the occupant can be ensured, and an increase in physical burden due to the caregiver taking an unnatural posture for assistance can be avoided.

As shown in FIG. 23, a transition from the first state to the second state is possible by rotating the pole 835 . As shown in FIG. 22, a transition from the second state to the first state is possible by rotating the pole 835 .

According to Modified Example 3, when the caregiver assists the passenger, setting the pole 835 to the second state allows the caregiver to assist the passenger without being hindered by the pole 835 .

(5-4) Modification 4
Modification 4 will be described. Modification 4 is an example in which the pole 835 of Modification 3 is electrically rotatable (that is, according to control from the wheelchair control device 810).

The pole 835 is electrically rotatable. The pole 835 may include an actuator (eg, a rotary actuator) that allows the pole 835 to rotate. In this case, the wheelchair controller 810 can control this actuator.

The control processing of Modification 4 will be described. 24 is a flowchart illustrating control processing according to Modification 4. FIG.

As shown in FIG. 24, the wheelchair control device 810 starts automatic driving (S820) as in FIG.

After step S820, the wheelchair controller 810 executes pole control (S821a).
Specifically, the control unit 812 controls the pole 835 so that the upper end of the pole 835 matches the reference height (that is, the pole 835 is in the first state (FIG. 22)). For example, the controller 812 can control the pole 835 such that the rotation angle of the pole 835 about the rotation axis matches the first angle. As a result, the pole 835 is in the first state when the automatic operation of the electric wheelchair 801 is started.

After step S821a, the wheelchair control device 810 executes the automatic driving process (S822) to the automatic driving end determination (S823) in the same manner as in FIG.

When it is determined in step S823 that the automatic driving is terminated, the wheelchair control device 810 executes pole control (S824a).
Specifically, the control unit 812 controls the pole 835 so that the top end of the pole 835 is lower than the reference height (that is, the pole 835 is in the second state (FIG. 23)). For example, the controller 812 can control the pole 835 such that the rotation angle of the pole 835 about the rotation axis matches the second angle. Thus, when the automatic operation of the electric wheelchair 801 ends, the pole 835 is in the second state.

According to Modification 4, the wheelchair control device 810 puts the pole 835 in the second state except during the automatic operation of the electric wheelchair 801, so that the caregiver can assist the occupant without being hindered by the pole 835. can.

(5-5) Modification 5
Modification 4 will be described. Modification 5 is an example of restricting movement by automatic operation when it is found that the pole 835 is not in the first state when the automatic operation of the electric wheelchair 801 of Modifications 1 and 3 is started.

Wheelchair controller 810 can determine whether the height of the top of pole 835 is at a first height (ie, pole 835 is in a first state). For example, the wheelchair control device 810 detects one of the following using a sensor, and determines whether the pole 835 is in the first state based on the detection result.
・The telescopic state of the pole 835 ・The rotation angle of the pole 835 ・The state of the locking mechanism of the pole 835 ・The distance from the LIDAR 822 to the road surface

The control processing of modification 5 will be described. 25 is a flowchart illustrating a control process according to modification 5. FIG.

As shown in FIG. 25, the wheelchair control device 810 starts automatic driving (S820), as in FIG.

After step S820, the wheelchair controller 810 performs pole state determination (S830).
Specifically, control unit 812 determines whether pole 835 is in the first state.

When it is determined in step S830 that the pole 835 is in the first state, the wheelchair control device 810 executes the automatic driving process (S822) to the automatic driving end determination (S823) in the same manner as in FIG.

If it is determined in step S830 that the pole 835 is not in the first state, the wheelchair control device 810 locks automatic driving (S831).
For example, the control unit 812 keeps the moving mechanism 831 in a stopped state. If the movement mechanism 831 has a physical lock mechanism, the controller 812 may activate this lock mechanism so that the movement mechanism 831 does not function.

After step S831, the wheelchair control device 810 outputs an alarm (S832).
Specifically, the control unit 812 may output at least one of the following warnings.
- Make the occupant's assistant or surrounding people output at least one of text, voice, and image prompting the height adjustment of the pole 835 to the output device (for example, display, speaker, etc.) provided in the electric wheelchair 801 A signal for outputting at least one of text, voice, and image for calling the helper of the occupant to an external device (for example, a terminal of the caregiver not shown) or an output device provided in the electric wheelchair 801 ・At least one of text, sound, and image is sent to an external device (e.g., a caregiver's terminal, not shown) or a motorized A signal for outputting to the output device provided in the wheelchair 801 A signal for lighting the lamp provided in the electric wheelchair 801 in a lighting pattern that conveys the need to adjust the height of the pole 835 An external device (for example, not shown server) to output at least one of text, voice, and image telling the pole 835 that height adjustment is required.

For example, text prompting height adjustment of the pole 835 may be, for example, "stretch the pole until it stops", "rotate the pole until it stops", and so on.

After step S832, the wheelchair controller 810 re-executes step S830. That is, until the height of the top end of the pole 835 coincides with the reference height, the wheelchair control device 810 repeats locking of automatic operation (S831), so the electric wheelchair 801 does not start.

In this way, when the automatic operation of the electric wheelchair 801 of Modification 5 is started, the wheelchair control device 810 determines whether the pole 835 is in the first state, and if the pole 835 is not in the first state, the automatic operation is started. Limit movement. Therefore, according to Modification 5, the automatic operation can be started after the height of the LIDAR 822 is adjusted correctly. That is, in addition to the advantages described in Modifications 1 and 3, it is possible to appropriately measure the distance to surrounding objects during automatic driving and avoid surrounding objects based on the measurement results.

(5-6) Modification 6
Modification 6 will be described. In Modified Example 6, the pole 835 is configured to be slidable in the horizontal direction (SL-SR axial direction). FIG. 26 is a rear view showing the appearance of the electric wheelchair of Modification 6 when the pole is moved to the right end of the back.

The pole 835 may include, for example, a mechanism (eg, slide rail) for realizing slide and a mechanism (eg, lock mechanism) for maintaining the slide state. Pole 835 may be configured to be electrically slidable (ie, under control from wheelchair controller 810) or manually slidable.

When an occupant is riding in an electric wheelchair 801 that is difficult to hear with the right ear but can be heard with the left ear, a caregiver standing behind the electric wheelchair 801 (in the direction R) is on the left side of the occupant. It is necessary to call out from As shown in FIG. 15, if the pole 835 is arranged at the left end of the back portion 833, the caregiver may find it difficult to call out to the occupant from the left side because the pole 835 is in the way.

According to the electric wheelchair 801 according to Modification 6, as shown in FIG. 26, by sliding the pole 835 to the right end of the back portion 833, the caregiver can speak to the occupant from the left side without being hindered by the pole 835. be able to.

On the other hand, when the occupant is riding in the electric wheelchair 801, which is difficult to hear with the left ear but can be heard with the right ear, a caregiver standing behind the electric wheelchair 801 (in the R direction) is the occupant. It is necessary to call out from the right side of As shown in FIG. 26, if the pole 835 is arranged at the right end of the back 833, the caregiver may find it difficult to call out to the occupant from the right side because the pole 835 is in the way.

According to the electric wheelchair 801 according to Modification 6, as shown in FIG. 15, by sliding the pole 835 to the left end of the back portion 833, the caregiver can call out to the occupant from the right side without being blocked by the pole 835. It can be carried out.

The wheelchair control device 810 may control the orientation of the LIDAR 822 in the left-right direction (SL-SR axis direction) according to the position of the pole 835 in the left-right direction (SL-SR axis direction). For example, when the pole 835 slides leftward (SL direction), the wheelchair controller 810 may rotate the LIDAR 822 rightward (SR direction) around the UD axis. For example, when the pole 835 slides to the right (SR direction), the wheelchair controller 810 may rotate the LIDAR 822 to the left (SL direction) around the UD axis.

When the pole 835 is configured to be electrically slidable, the wheelchair control device 810 receives the attribute information of the occupant (eg, left and right hearing ability, dominant arm) and the attributes of the caregiver (eg, left and right hearing ability, dominant arm). ), the placement of the pole 835 may be determined and the pole 835 may be slid.

(6) Other modified examples

Storage unit 811 may be connected to wheelchair control device 810 via network NW.

Although the electric wheelchair 801 has the ultrasonic sensor 821 and the LIDAR 822 in the description of the embodiment, the electric wheelchair 801 does not have to have one or both of the ultrasonic sensor 821 and the LIDAR 822 . The power wheelchair 801 may be equipped with a ranging sensor different from the ultrasonic sensor 821 and LIDAR 822 . The electric wheelchair 801 may be equipped with sensors other than the distance measuring sensor.

In the description of the embodiment, the pole 835 is assumed to extend substantially vertically, but it may extend along a straight line different from the vertical line, or may extend along a curved line. , may extend along a polygonal line or along a combination of straight and curved lines.

In the description of the embodiment, the pole 835 has been described as a separate element from the back portion 833, but both may be integrated. The pole 835 may be part of the body of the electric wheelchair 801 instead of the back 833 .

In the description of the embodiment, the LIDAR 822 is supported by the pole 835 while being housed in the sensor housing 836, but the LIDAR 822 may be supported by the pole 835 in a different manner. As an example, LIDAR 822 may be supported by pole 835 in a bare state.

The wheelchair control device 810 may change the orientation of the LIDAR 822 according to the running environment of the electric wheelchair 801 .
For example, the wheelchair controller 810 may change the orientation of the LIDAR 822 when the power wheelchair 801 travels indoors and outdoors. Whether the power wheelchair 801 is traveling indoors or outdoors can be determined based on at least one of location information and user input. The position information is, for example, GPS information acquired by a GPS (Global Positioning System) receiver installed in the electric wheelchair 801, position information assigned to a camera that photographs the electric wheelchair 801, and transmission of beacons received by the electric wheelchair 801. and/or location information assigned to the receiver that received the beacon transmitted by the powered wheelchair 801 .
Wheelchair controller 810 may change the orientation of LIDAR 822 such that the range of measurable distance of LIDAR 822 shifts farther when traveling outdoors than when traveling indoors. For example, the wheelchair control device 810 may change the orientation of the LIDAR 822 so that the illumination angle φ is smaller when traveling outdoors than when traveling indoors. In this way, by shifting the range of the measurable distance of the LIDAR 822 to the far side, peripheral objects can be detected early. Early detection of surrounding objects is useful, for example, for collision avoidance with fast-moving surrounding objects and avoidance of steps (eg, stairs, ditches, rivers). Even when the vehicle is traveling outdoors, the wheelchair control device 810 may set the direction of the LIDAR 822 to be the same as when traveling indoors when the vehicle is traveling in a narrow passage such as a courtyard.

In Modifications 1 to 5, the height of the top end of the pole 835 is set lower than the reference height, so that the caregiver can assist the occupant without being hindered by the pole 835 . Such an effect can be obtained even if the axis of the pole 835 is aligned with the widthwise centerline of the back. Therefore, in Modifications 1 to 5, the axis of the pole 835 may be determined arbitrarily.

Although the disclosed embodiments have been described above, they can be implemented in various other forms, and can be implemented with various omissions, substitutions, and modifications. These embodiments, modifications, omissions, substitutions and modifications are included within the technical scope of the claims and their equivalents.

(Appendix)
Matters described in the embodiments will be added below.

(Appendix 1)
An electric wheelchair (1) whose operation is controlled by a control signal,
a distance measuring sensor (200) that is provided above the position of the user's head when the user is seated on the electric wheelchair and measures the distance to surrounding objects;
a control unit (130) for controlling the movement of the electric wheelchair in response to the ranging sensor measuring the distance to the surrounding object.

According to (Appendix 1), since the movement of the electric wheelchair is controlled by detecting the surrounding objects of the electric wheelchair, it is possible to avoid the dangerous situation of the electric wheelchair.

(Appendix 2)
The electric wheelchair according to appendix 1, wherein the distance measuring sensor is provided so as to face downward relative to the horizontal direction so as to detect an area substantially in front of the user.

According to (Appendix 2), since the movement of the electric wheelchair is controlled by detecting the surrounding objects of the electric wheelchair, it is possible to avoid the dangerous situation of the electric wheelchair.

(Appendix 3)
2. The electric wheelchair according to appendix 2, wherein the controller controls the electric wheelchair when the range sensor detects a surrounding object (S105).

According to (Appendix 3), since the movement of the electric wheelchair is controlled by detecting the surrounding objects of the electric wheelchair, it is possible to avoid the dangerous situation of the electric wheelchair.

(Appendix 4)
The control unit
When the distance sensor detects a surrounding object, the relative distance calculation calculates the relative distance of the electric wheelchair to the surrounding object from the distance to the surrounding object measured by the distance sensor and the orientation angle of the distance measurement sensor with respect to the vertical direction. a part (132);
A collision time calculation unit (133) that calculates the relative speed of the electric wheelchair with respect to the surrounding object from the relative distances of the electric wheelchair at a plurality of different times, and calculates the collision time, which is the time until the electric wheelchair collides with the surrounding object. and
3. The electric wheelchair according to any one of appendices 1 to 3, wherein speed control of the electric wheelchair is performed based on the collision time (S104, S105).

According to (Appendix 4), since the movement of the electric wheelchair is controlled by detecting the surrounding objects of the electric wheelchair, it is possible to avoid the dangerous situation of the electric wheelchair.

(Appendix 5)
The electric wheelchair includes a seating state detection unit (400) that detects the seating state of the user,
The electric wheelchair according to appendix 4, wherein the control unit controls the movement state of the electric wheelchair based on the collision time and the seating state of the user.

According to (Appendix 5), it is possible to prevent the dangerous control of the wheelchair, which would cause the user to fall from the wheelchair, and enable safer control.

(Appendix 6)
The electric wheelchair has a shock absorbing part that absorbs the user's shock,
The electric wheelchair according to appendix 4 or appendix 5, wherein the control unit controls the speed of the electric wheelchair and controls the operation of the shock absorbing unit.

According to (Appendix 6), it is possible to keep the safety of the user.

(Appendix 7)
When the distance measuring sensor detects a structure different from the surrounding objects, the control unit, based on the collision time, the relative distance of the structure, and predetermined information on the facility where the electric wheelchair is used, 7. The electric wheelchair according to any one of appendices 4 to 6, wherein movement control of the electric wheelchair is performed.

According to (Appendix 7), it is possible to detect surrounding objects with higher accuracy.

(Appendix 8)
8. The electric wheelchair according to appendix 7, wherein the control unit controls the traveling direction of the electric wheelchair based on the collision time, the relative distance of the structure, and the facility information.

According to (Appendix 8), it is possible to avoid collisions with surrounding objects while keeping the safety of the user.

(Appendix 9)
The relative distance calculator calculates the relative distance of the electric wheelchair based on the detected distance to the surrounding object measured by the distance sensor, the angle of the orientation of the distance sensor with respect to the vertical direction, and predetermined specification information of the electric wheelchair. calculate the distance,
The control unit stores the collision time, the relative distance between the structures, the operation information indicating the state in which the user is operating the electric wheelchair, the specification information of the electric wheelchair, and the predetermined facility information. The electric wheelchair according to appendix 7 or appendix 8, wherein movement control of the electric wheelchair is performed based on the electric wheelchair.

According to (Appendix 9), by acquiring user operation information, safer control can be performed based on the operation information. In addition, by acquiring the specification information of the wheelchair, it becomes possible to perform control that is reasonable for the wheelchair.

(Appendix 10)
The control unit performs speed control of the electric wheelchair, operation control of a user notification device provided in the electric wheelchair, and operation control of a shock mitigation device provided in the electric wheelchair for alleviating the user's impact. , Supplementary Note 4 to Supplementary Note 9, any one of the electric wheelchairs.

According to (Appendix 10), when the speed is suddenly controlled, it is possible to reduce the psychological shock of the user by notifying that such control has been performed.

(Appendix 11)
An electric wheelchair (801),
a seat (832) capable of supporting the buttocks of the occupant of the power wheelchair;
a back (833) capable of supporting the back of the occupant;
a moving mechanism (831) capable of moving the electric wheelchair;
A pole (35) extending to a standard height higher than the upper end of the back along an axis (PL) different from the center line (CL) of the back in the width direction and a state of being inclined with respect to the running surface of the electric wheelchair. a ranging sensor (22) supported by a pole at
An electric wheelchair, comprising: a control unit (10) for controlling a moving mechanism based on a measurement result of a range sensor.

According to (Appendix 11), the caregiver can easily confirm the situation ahead and operate the electric wheelchair. In addition, the caregiver can assist the occupant in getting on and off the wheelchair in the same manner as a conventional manual wheelchair without being conscious of the existence of the pole. Therefore, the safety of the occupant can be ensured, and an increase in physical burden due to the caregiver taking an unnatural posture for assistance can be avoided.

(Appendix 12)
12. The electric wheelchair according to appendix 11, wherein the pole extends to the reference height along a straight line passing through the left or right side of the centerline.

According to (Appendix 12), the caregiver can easily confirm the situation ahead and operate the electric wheelchair. In addition, the caregiver can assist the occupant in getting on and off the wheelchair in the same manner as a conventional manual wheelchair without being conscious of the existence of the pole. Therefore, the safety of the occupant can be ensured, and an increase in physical burden due to the caregiver taking an unnatural posture for assistance can be avoided.

(Appendix 13)
13. The electric wheelchair according to appendix 12, wherein the pole extends to the reference height along a straight line passing through the widthwise left or right end of the back.

According to (Appendix 13), the caregiver can easily confirm the situation ahead and operate the electric wheelchair. In addition, the caregiver can assist the occupant in getting on and off the wheelchair in the same manner as a conventional manual wheelchair without being conscious of the existence of the pole. Therefore, the safety of the occupant can be ensured, and an increase in physical burden due to the caregiver taking an unnatural posture for assistance can be avoided.

(Appendix 14)
14. The electric wheelchair according to any one of appendices 11 to 13, wherein the pole is extendable along the extension direction of the pole so that the height of the top end of the pole is lower than the reference height.

According to (Appendix 14), by retracting the pole so that the height of the top end of the pole is lower than the reference height, the caregiver can easily check the situation in front and operate the electric wheelchair. In addition, the caregiver can assist the occupant in getting on and off the wheelchair in the same manner as a conventional manual wheelchair without being conscious of the existence of the pole. Therefore, the safety of the occupant can be ensured, and an increase in physical burden due to the caregiver taking an unnatural posture for assistance can be avoided.

(Appendix 15)
The pole can be extended and contracted along the extension direction of the pole according to control by the control unit,
The control unit controls the pole so that the height of the top end of the pole matches the reference height at the start of automatic operation of the electric wheelchair (S821).
The electric wheelchair according to Appendix 14.

According to (Appendix 15), by extending the pole at the start of automatic operation of the electric wheelchair, the distance to surrounding objects can be appropriately measured during automatic operation, and surrounding object avoidance can be performed based on the measurement results.

(Appendix 16)
The pole can be extended and contracted along the extension direction of the pole according to control by the control unit,
The control unit controls the pole so that the height of the top end of the pole becomes lower than the reference height when the automatic operation of the electric wheelchair ends (S824).
The electric wheelchair according to appendix 14 or appendix 15.

According to (Appendix 16), by retracting the pole when the automatic operation of the electric wheelchair ends, the helper can assist the occupant without being hindered by the pole.

(Appendix 17)
17. The electric wheelchair according to any one of appendices 11 to 16, wherein the pole is rotatable such that the height of the top end of the pole is lower than the reference height.

According to (Appendix 17), by rotating the pole so that the height of the top end of the pole is lower than the reference height, the caregiver can easily check the situation ahead and operate the electric wheelchair. . In addition, the caregiver can assist the occupant in getting on and off the wheelchair in the same manner as a conventional manual wheelchair without being conscious of the existence of the pole. Therefore, the safety of the occupant can be ensured, and an increase in physical burden due to the caregiver taking an unnatural posture for assistance can be avoided.

(Appendix 18)
The pole is rotatable so that the height of the top end of the pole is lower than the reference height according to control by the control unit,
At the start of automatic operation of the electric wheelchair, the control unit rotates the pole so that the height of the top end of the pole matches the reference height (S821a).
17. The power wheelchair according to Appendix 17.

According to (Appendix 18), by matching the height of the top of the pole to the reference row when the automatic operation of the electric wheelchair starts, the distance to the surrounding objects can be measured appropriately during automatic operation, and based on the measurement results Peripheral object avoidance can be performed.

(Appendix 19)
The pole is rotatable so that the height of the top end of the pole is lower than the reference height according to control by the control unit,
When the automatic operation of the electric wheelchair ends, the control unit rotates the pole so that the height of the top end of the pole is lower than the reference height (S824a).
18. The power wheelchair according to appendix 17 or appendix 18.

According to (Appendix 19), by setting the height of the top end of the pole lower than the reference height when the automatic operation of the electric wheelchair ends, the caregiver can assist the occupant without being hindered by the pole.

(Appendix 20)
19. The electric wheelchair according to any one of appendices 14 to 19, wherein the control unit determines whether or not the height of the top end of the pole is the reference height (S830) when automatic operation of the electric wheelchair is started.

According to (Appendix 20), it is possible to confirm whether or not the height of the range sensor is correctly adjusted at the start of automatic driving.

(Appendix 21)
21. The electric wheelchair according to appendix 20, wherein the control unit locks the automatic operation by the moving mechanism (S831) when determining that the height of the top end of the pole is not the reference height.

According to (Appendix 21), automatic operation can be locked when the height of the range sensor is not adjusted correctly.

(Appendix 22)
22. The electric wheelchair according to appendix 21, wherein when automatic operation by the moving mechanism is locked, the control unit presents an alarm indicating that automatic operation is locked (S832).

According to (Appendix 22), it is possible to urge a caregiver or the like to correctly adjust the height of the ranging sensor when automatic driving is locked.

(Appendix 23)
23. The electric wheelchair according to any one of appendices 20 to 22, wherein the controller does not start the electric wheelchair when determining that the height of the top end of the pole is not the reference height.

According to (Appendix 23), it is possible to prevent the electric wheelchair from starting without correct adjustment of the height of the distance measuring sensor.

(Appendix 24)
24. The electric wheelchair according to any one of appendices 1 to 23, wherein the ranging sensor is a two-dimensional LIDAR (Light Detection and Ranging).

According to (Appendix 24), the cost of the distance measuring sensor can be reduced compared to the three-dimensional LIDAR.

(Appendix 25)
A wheelchair control device for controlling the operation of an electric wheelchair by a control signal,
Indicates the distance from the distance sensor to the peripheral object, which is measured when the distance sensor provided above the position of the user's head while the user is seated in the electric wheelchair detects the peripheral object of the electric wheelchair. a signal receiver that receives a ranging detection signal;
a relative distance calculation unit that calculates the relative distance of the electric wheelchair to the surrounding object from the distance from the distance measuring sensor to the surrounding object obtained from the distance detection signal and the orientation angle of the distance measuring sensor with respect to the vertical direction;
a collision time calculation unit that calculates the relative speed of the electric wheelchair with respect to the surrounding object from the relative distances of the electric wheelchair at a plurality of different times, and calculates the collision time that is the time until the electric wheelchair collides with the surrounding object;
A wheelchair control device, comprising: a control signal output unit for outputting a control signal for controlling the speed of the electric wheelchair to the electric wheelchair based on the collision time.

According to (Appendix 25), since the movement of the electric wheelchair is controlled by detecting the surrounding objects of the electric wheelchair, it is possible to avoid the dangerous situation of the electric wheelchair.

(Appendix 26)
An electric wheelchair control method for controlling the operation of an electric wheelchair by a control signal,
When a distance sensor provided above the position of the user's head when the user is seated in the electric wheelchair detects an object around the electric wheelchair, the distance from the distance sensor to the surroundings is measured by the signal receiving unit. a signal receiving step of receiving a ranging detection signal indicating a distance to an object;
The relative distance calculation unit calculates the relative distance of the electric wheelchair to the surrounding object from the distance from the distance measurement sensor to the surrounding object obtained from the distance measurement detection signal and the orientation angle of the distance measurement sensor with respect to the vertical direction. a distance calculation step;
The collision time calculation unit calculates the relative speed of the electric wheelchair with respect to the surrounding object from the relative distances of the electric wheelchair at a plurality of different times, and calculates the collision time, which is the time until the electric wheelchair collides with the surrounding object. a collision time calculation step;
A control signal output step of outputting a control signal for speed control of the electric wheelchair to the electric wheelchair based on the collision time, performed by the control signal output unit.

According to (Appendix 26), since the movement of the electric wheelchair is controlled by detecting the surrounding objects of the electric wheelchair, it is possible to avoid the dangerous situation of the electric wheelchair.

(Appendix 27)
An electric wheelchair control program for controlling the operation of an electric wheelchair by a control signal,
Indicates the distance from the distance sensor to the peripheral object, which is measured when the distance sensor provided above the position of the user's head while the user is seated in the electric wheelchair detects the peripheral object of the electric wheelchair. a signal receiving step of receiving a ranging detection signal;
a relative distance calculation step of calculating the relative distance of the electric wheelchair to the surrounding object from the distance from the distance measuring sensor to the surrounding object obtained from the distance detection signal and the orientation angle of the distance measuring sensor with respect to the vertical direction;
a collision time calculation step of calculating the relative speed of the electric wheelchair with respect to the surrounding object from the relative distances of the electric wheelchair at a plurality of different times, and calculating the collision time, which is the time until the electric wheelchair collides with the surrounding object;
an electric wheelchair control program for causing a computer to execute a control signal output step of outputting a control signal for speed control of the electric wheelchair to the electric wheelchair based on the time of collision;

According to (Appendix 27), since the movement of the electric wheelchair is controlled by detecting the surrounding objects of the electric wheelchair, it is possible to avoid the dangerous situation of the electric wheelchair.

Reference Signs List 1, 1A electric wheelchair, 100 wheelchair control device, 110 communication unit, 120 storage unit, 121 usage environment information DB, 130 control unit, 131 signal reception unit, 132 relative distance calculation unit, 133 collision time calculation unit, 134 control signal output Section 200 Sensor Section 300 Electric Wheelchair Driving Section 400 User Detection Sensor 801 Electric Wheelchair 810 Wheelchair Control Device 811 Storage Section 812 Control Section 813 Input/Output Interface 814 Communication Section 821 Ultrasonic Sensor 823 Operation Part 831 Moving Mechanism 832 Seat 833 Back 835 Pole 836 Sensor Housing 837 Battery

Claims (24)

a first detection means for detecting an object existing in front of the seat surface of the moving body using a first sensor installed above the seat surface;
a second detection means for detecting an object existing in front of the seat surface using a second sensor installed below the seat surface;
A control device comprising movement control means for controlling movement of the moving object based on a result of detection by the first detection means and a result of detection by the second detection means. The first sensor is
a light emitting means for emitting light;
a detection means for detecting light,
The first detection means detects an object based on a result of detection of light by the detection means in response to light emitted by the light emission means.
A control device according to claim 1 . 3. The control device according to claim 2, wherein said first sensor emits light forward of said seat surface in a direction downward from a horizontal direction. The control device according to any one of claims 1 to 3, wherein the first sensor is a two-dimensional LIDAR (Light Detection and Ranging) sensor. a first detection means for detecting an object existing in front of the seat surface of the moving body using a first sensor installed above the seat surface;
movement control means for controlling movement of the moving object based on the result of detection by the first detection means;
A control device having
The first sensor is a two-dimensional LIDAR sensor that emits light downward from the horizontal direction forward of the seat surface,
Control device. A second detection means for detecting an object existing in front of the seat surface using a second sensor installed below the seat surface,
6. The control device according to claim 5, wherein said movement control means controls movement of said moving object based on a result of detection by said first detection means and a result of detection by said second detection means. The control device according to any one of claims 1 to 6, wherein the first sensor is installed behind the seat surface. The control device according to any one of claims 1 to 7, wherein the first sensor is installed above the back of the moving body. The control device according to any one of claims 1 to 8, wherein the first sensor is installed on the right or left side of the center of the seat surface. Said 2nd detection means is any one of Claims 1-4 or Claim 6-9 which detects the object which exists in the blind spot of said 1st sensor. Control device. The control device according to any one of claims 1 to 4 or 6 to 10, wherein the second sensor is installed forward of the seat surface. The control device according to any one of claims 1 to 4 or 6 to 11, wherein said second sensor is installed below a footrest of said moving body. 5. Any one of claims 1 to 4, wherein the second sensor is installed at a first position on the right side of the center of the seat surface and a second position on the left side of the center of the seat surface, or A control device according to any one of claims 6 to 12. The second detection means is
using the second sensor installed at the first position to detect an object existing in front of the seat surface and an object existing to the right of the seat surface;
Using the second sensor installed at the second position, an object existing in front of the seat surface and an object existing to the left of the seat surface are detected.
14. Control device according to claim 13. The second sensor is
a transmitting means for emitting ultrasonic waves;
a receiving means for receiving ultrasonic waves,
The second detection means detects an object based on a result of reception of ultrasonic waves by the reception means in response to transmission of the ultrasonic waves by the transmission means.
15. The control device according to any one of claims 1 to 4 or any one of claims 6 to 14. The first sensor measures a distance between an object present in front of the seat surface and the first sensor,
16. Any one of Claims 1 to 4 or Claims 6 to 15, wherein the second sensor measures a distance between an object present in front of the seat surface and the second sensor. 1. The control device according to claim 1. The movement control means performs first control for decelerating the moving body in response to detection of an object existing in front of the seat surface by at least one of the first detection means and the second detection means. and a second control to stop the moving body, and a third control to control the moving direction of the moving body. A control device according to any one of claims 6 to 16. The movement control means detects, by at least one of the first detection means and the second detection means, an object existing in front of the seat surface and having a distance from the moving body that is less than a predetermined value. At least one of a first control for decelerating the moving body, a second control for stopping the moving body, and a third control for controlling the moving direction of the moving body is executed in response to the detection. 18. A control device according to any one of claims 1 to 4 or any one of claims 6 to 17, wherein an electric wheelchair,
a seat capable of supporting the buttocks of an occupant of the electric wheelchair;
a back portion capable of supporting the back of an occupant of the electric wheelchair;
a moving mechanism for moving the electric wheelchair;
a first sensor installed above the seat, the first sensor measuring a distance between an object present in front of the seat and the first sensor;
a second sensor installed below the seat, the second sensor measuring a distance between the second sensor and an object present in front of the seat;
and a controller that controls the moving mechanism based on the result of measurement by the first sensor and the result of measurement by the second sensor. an electric wheelchair,
a seat capable of supporting the buttocks of an occupant of the electric wheelchair;
a back portion capable of supporting the back of an occupant of the electric wheelchair;
a moving mechanism for moving the electric wheelchair;
a two-dimensional LIDAR sensor installed above the seat, the two-dimensional LIDAR sensor emitting light forward of the electric wheelchair in a downward direction rather than in a horizontal direction;
and a controller that controls the moving mechanism based on the result of measurement by the two-dimensional LIDAR sensor. a first detection step of detecting an object existing in front of the seat surface of the moving object using a first sensor installed above the seat surface;
a second detection step of detecting an object existing in front of the seat surface using a second sensor installed below the seat surface;
A control method comprising a movement control step of controlling movement of the moving body based on a result of detection in the first detection step and a result of detection in the second detection step. In the movement control step, in response to detection of an object present in front of the seat surface by at least one of the first detection step and the second detection step, a first movement control step is performed to decelerate the moving body. 22. The control method according to claim 21, wherein at least one of control, second control for stopping said moving body, and third control for controlling a moving direction of said moving body is executed. 23. The control method according to claim 21 or 22, wherein an object existing in a blind spot of said first sensor is detected in said second detection step. A program for causing a computer to function as each means of the control device according to any one of claims 1 to 18.

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