JP6064255B2 - Operation state measurement system, operation state measurement method, and program - Google Patents

Description

  The present invention relates to an operation state measurement system, an operation state measurement method, and a program for measuring an operation state of an electric wheelchair.

  In general, an electric wheelchair that can control a traveling direction and a traveling speed by a user operating an operation unit such as a joystick is known (for example, see Patent Document 1). In such an electric wheelchair, it is useful to measure the operation history of the electric wheelchair by the user when evaluating the operability and the user's operation skill.

JP 2009-233082 A

  In order to introduce a system for measuring an operation history in an electric wheelchair as described in Patent Document 1, a method of adding an analog voltage measuring instrument to a part of a circuit from an operation unit to a control microcomputer of the operation unit, There is a method of providing a digital output function for causing the control microcomputer of the operation unit to output a signal representing the operation amount. However, in these methods, since the electric system of the electric wheelchair is modified, not only is it troublesome and expensive, but the safety after modification is not guaranteed, and there is a problem that long-term use in a real life environment is difficult. .

  The present invention has been made in view of such problems, and an object thereof is to provide an operation state measurement system, an operation state measurement method, and a program that can easily measure the operation state of an electric wheelchair. .

In order to achieve the above object, an operation state measurement system according to the first aspect of the present invention includes:
An operation state measurement system that includes an operation unit whose inclination is changed by a user's operation and measures an operation state of the electric wheelchair controlled according to the inclination of the operation unit,
An operation acceleration detection unit that is detachable from the operation unit and detects acceleration in a predetermined direction of the operation unit;
An operation state acquisition unit that acquires an operation state of the operation unit by the user based on the acceleration detected by the operation acceleration detection unit;
A timekeeping section that measures the current time,
A position information acquisition unit for acquiring position information of the electric wheelchair;
The operation state acquired by the operation state acquisition unit, the acquisition time of the operation state acquired by the timing unit, and the position information at the acquisition time acquired by the position information acquisition unit are associated with each other. An operation history storage unit for storing
It is characterized by providing.

  The operation state acquisition unit may acquire an operation direction of the operation unit and an operation amount in the operation direction as the operation state of the operation unit.

A vehicle body acceleration detector for detecting acceleration in the predetermined direction of the electric wheelchair;
The operation state acquisition unit may acquire an operation state of the operation unit by the user based on the acceleration detected by the operation acceleration detection unit and the acceleration detected by the vehicle body acceleration detection unit. .

  The vehicle body acceleration detection unit may be provided in the vicinity of the operation unit.

In order to achieve the above object, an operation state measuring method according to a second aspect of the present invention includes:
An operation state measuring method comprising an operation unit whose inclination is changed by a user operation and measuring an operation state of an electric wheelchair controlled according to the inclination of the operation unit,
An operation acceleration acquisition step of acquiring an acceleration in a predetermined direction of the operation unit from an operation acceleration detection unit detachable from the operation unit;
An operation state acquisition step of acquiring an operation state of the operation unit by the user based on the acceleration acquired in the operation acceleration acquisition step;
The operation state acquired in the operation state acquisition step, acquired from the timekeeping unit that times the current time, acquired from the acquisition time of the operation state, and the position information acquisition unit that acquires the position information of the electric wheelchair, A history storage control step of associating the position information at the acquisition time with each other and recording it in the operation history storage unit;
It is characterized by providing.

In order to achieve the above object, a program according to the third aspect of the present invention provides:
Computer
An operation unit whose inclination changes according to a user's operation is acquired, and an acceleration in a predetermined direction of the operation unit is acquired from an operation acceleration detection unit that can be attached to and detached from the operation unit of the electric wheelchair controlled according to the inclination of the operation unit Operation acceleration acquisition means for
An operation state acquisition unit that acquires an operation state of the operation unit by the user based on the acceleration acquired by the operation acceleration acquisition unit;
The operation state acquired by the operation state acquisition means, acquired from the timekeeping unit that measures the current time, acquired from the acquisition time of the operation state, and the position information acquisition unit that acquires the position information of the electric wheelchair, History storage control means for associating position information at the acquisition time with each other and recording it in the operation history storage unit;
To function as.

  According to the present invention, the operation state of the electric wheelchair can be easily measured.

1 is a block diagram illustrating a schematic configuration of an operation state measurement system according to an embodiment. 1 is an external perspective view of an electric wheelchair in which an operation state measurement system according to an embodiment is introduced. It is a vertical direction sectional view showing a schematic structure of an operation acceleration detection part. It is a block diagram showing the hardware constitutions of an operation state measuring device. It is a block diagram showing the functional structure of the control part of an operation state measuring device. (A) And (b) is a figure showing an example of the data stored in the operation state history table. It is a flowchart which shows an example of the flow of the operation state measurement process which the control part of an operation state measurement apparatus performs.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is a block diagram showing a schematic configuration of an operation state measurement system 1 according to the present embodiment, and FIG. 2 is an external perspective view of an electric wheelchair 2 into which the operation state measurement system 1 is introduced. As shown in FIGS. 1 and 2, the operation state measurement system 1 is a system for measuring an operation history by a user of the electric wheelchair 2, and includes an operation acceleration detection unit 100, a vehicle body acceleration detection unit 200, A / D conversion device 300, operation state measurement device 400, and information processing device 500.

  The electric wheelchair 2 is a wheelchair that travels by driving an electric motor using a battery as a power source. The electric wheelchair 2 includes a seat portion 210 on which a user is seated, an armrest portion 220 provided on the left and right sides of the seat portion 210, and an operation portion 230 provided on one front end of the armrest portion 220.

  The operation unit 230 is a device operated by the user when driving the electric wheelchair 2. Specifically, the operation unit 230 includes a joystick 231 whose inclination changes according to a user operation, and outputs an operation signal indicating an operation direction and an operation amount of the joystick 231 to a control circuit (not shown) of the electric wheelchair 2. To do. The control circuit of the electric wheelchair 2 controls the traveling of the electric wheelchair 2 based on the operation signal.

  The operation acceleration detection unit 100 detects the acceleration of the operation unit 230. FIG. 3 is a vertical sectional view showing a schematic configuration of the operation acceleration detection unit 100. Specifically, as shown in FIG. 3, the operation acceleration detection unit 100 includes an acceleration sensor 110 and a cap unit 120 for detachably holding the acceleration sensor 110 on the operation unit 230.

  The acceleration sensor 110 is an acceleration sensor that detects the acceleration in the triaxial direction of the joystick 231. The acceleration sensor 110 is connected to the A / D conversion device 300 by wiring (not shown), and the output signal of the acceleration sensor 110 is converted from an analog signal to a digital signal by the A / D conversion device 300, and the operation state measurement device. 400 is input.

  The cap part 120 is formed in a cap shape that covers the upper surface and the side surface of the joystick 231, and is configured to be detachable from the joystick 231. An acceleration sensor 110 is fixed to the inner upper end portion of the cap portion 120. Therefore, the acceleration sensor 110 can be detachably held on the joystick 231 by covering the joystick 231 with the cap portion 120. The cap unit 120 may be screwed to the joystick 231 in order to prevent the cap unit 120 from being detached from the joystick 231 by a user operation.

  The vehicle body acceleration detection unit 200 detects the acceleration of the electric wheelchair 2. Specifically, the vehicle body acceleration detection unit 200 includes an acceleration sensor that detects the acceleration in the triaxial direction of the electric wheelchair 2. The vehicle body acceleration detection unit 200 is connected to the A / D conversion device 300 by wiring (not shown), and an output signal thereof is converted from an analog signal to a digital signal by the A / D conversion device 300, and the operation state measurement device 400. Is input.

  Here, the acceleration detected by the operation acceleration detection unit 100 is affected by the gravitational acceleration and the acceleration generated by the movement of the electric wheelchair 2. Therefore, in order to remove the influence of these accelerations and acquire the acceleration of the joystick 231 by the operation of the user, that is, the acceleration of the joystick 231 relative to the main body of the electric wheelchair 2, in this embodiment, the operation acceleration detection unit By subtracting the acceleration detected by the vehicle body acceleration detection unit 200 from the acceleration detected by 100, the acceleration of the joystick 231 by the user's operation is acquired.

  The vehicle body acceleration detection unit 200 is provided in the armrest unit 220 in the vicinity of the operation unit 230. If the positions where the operation acceleration detection unit 100 and the vehicle body acceleration detection unit 200 are provided are separated from each other, due to deformation of the electric wheelchair 2 itself, the acceleration generated by the movement of the conductive wheelchair 2 affected by the operation acceleration detection unit 100 and the vehicle acceleration A difference arises with the acceleration which arises by the movement of the conductive wheelchair 2 to which the detection part 200 is affected. Therefore, the vehicle body acceleration detection unit 200 is preferably provided in the vicinity of the operation unit 230 to such an extent that the influence of this difference can be ignored.

  The A / D converter device 300 converts analog signals from the operation acceleration detection unit 100 and the vehicle body acceleration detection unit 200 into digital signals and outputs the digital signals to the operation state measurement device 400. The A / D conversion device 300 includes a battery such as a lithium ion battery, and can supply power to the operation acceleration detection unit 100, the vehicle body acceleration detection unit 200, and the operation state measurement device 400.

  The operation state measurement device 400 acquires the operation state of the operation unit 230 by the user based on the acceleration detected by the operation acceleration detection unit 100 and the vehicle body acceleration detection unit 200. Specifically, the operation state measuring device 400 includes an information processing device that can be mounted on the electric wheelchair 2 such as a notebook PC (Personal Computer), a tablet terminal device, a mobile phone, and a smartphone. In addition, the operation state measuring device 400 can communicate with the information processing device 500 including a PC and a server via the network 600 and can transmit the acquired operation state to the information processing device 500. Further, the operation state measuring device 400 may be configured to be able to communicate with the information processing device 500 without going through the network 600.

  Next, a hardware configuration of the operation state measuring device 400 according to the present embodiment will be described.

  As shown in FIG. 4, the operation state measuring apparatus 400 includes a control unit 410, a ROM (Read Only Memory) 420, a RAM (Random Access Memory) 430, a display unit 440, a communication unit 450, an external interface ( I / F) 460, an operation unit 470, and a time measuring unit 480.

  The control unit 410 includes, for example, a CPU (Central Processing Unit), and performs overall control of the operation state measurement device 400.

  The ROM 420 is a non-volatile memory that stores programs and data for the control unit 410 to control the entire operation state measuring apparatus 400. For example, the ROM 420 stores a program for the control unit 410 to execute an operation state measurement process described later, and an operation state history table 421 described later.

  The RAM 430 is composed of a nonvolatile memory such as a flash memory. The control unit 410 loads the program stored in the ROM 420 into the RAM 430 and uses it as a work area.

  The display unit 440 includes a display device such as an LCD (Liquid Crystal Display). The display unit 440 displays the measured operation state and information to be notified to the user under the control of the control unit 410.

  The communication unit 450 includes, for example, a wireless communication unit or the like, and connects to a predetermined network as necessary to communicate with the information processing apparatus 500.

  The external interface 460 is an interface for connecting the external device and the operation state measuring device 400. In the present embodiment, the external interface 460 is connected to the A / D conversion device 300, and receives an input of a digital signal representing the acceleration detected by the operation acceleration detection unit 100 and the vehicle body acceleration detection unit 200 from the A / D conversion device 300. Accept.

  The operation unit 470 includes an input device such as a touch panel, buttons, and keys for the user to operate the operation state measurement device 400. The operation unit 470 receives, for example, an input operation for starting or ending measurement of the operation state from the user, and inputs the input operation to the control unit 410.

  The time measuring unit 480 measures the current time, and includes, for example, a timer.

  Next, a functional configuration of the control unit 410 of the operation state measuring device 400 will be described. FIG. 5 is a block diagram illustrating a functional configuration of the control unit 410 of the operation state measurement device 400 according to the present embodiment. As illustrated in FIG. 5, the control unit 410 functions as an operation acceleration acquisition unit 411, a vehicle body acceleration acquisition unit 412, an operation state acquisition unit 413, a history storage control unit 414, and a communication control unit 415.

  The operation acceleration acquisition unit 411 acquires the acceleration detected by the operation acceleration detection unit 100. Specifically, the operation acceleration acquisition unit 411 acquires a digital signal representing the acceleration detected by the operation acceleration detection unit 100 from the A / D conversion device 300 via the external I / F 460 at a predetermined sampling interval. .

  The vehicle body acceleration acquisition unit 412 acquires the acceleration detected by the vehicle body acceleration detection unit 200. Specifically, the vehicle body acceleration acquisition unit 412 acquires a digital signal representing the acceleration detected by the vehicle body acceleration detection unit 200 from the A / D conversion device 300 via the external I / F 460 at a predetermined sampling interval. .

  The operation state acquisition unit 413 acquires the operation state of the operation unit 230 by the user based on the acceleration detected by the operation acceleration acquisition unit 411 and the acceleration detected by the vehicle body acceleration acquisition unit 412. Specifically, the operation state acquisition unit 413 acquires, as the operation state, the operation direction (front-rear direction and left-right direction) of the joystick 231 by the user and the operation amount (inclination angle of the joystick 231) in each operation direction.

  The history storage control unit 414 stores the operation state acquired by the operation state acquisition unit 413 in the operation state history table 421 in association with the time when the operation state is acquired.

  FIG. 6 shows an example of data stored in the operation state history table 421. In the example illustrated in FIG. 6, the operation state acquired by the operation state acquisition unit 413 and the acquisition time of the operation state when the operation start time is t = 0 [sec] are respectively represented as a vertical axis and a horizontal axis. This is represented by a line graph. FIG. 6A is a graph in a case where an operation angle (a positive value in the left direction and a negative value in the right direction) is acquired as the operation state when the user operates the joystick 231 in the left-right direction. FIG. 6B is a graph in a case where an operation angle (a positive value in the front direction and a negative value in the rear direction) in the operation in the front-rear direction of the joystick 231 by the user is acquired as the operation state. Thus, the operation state history table 421 stores data representing the time history of the operation state (specifically, the operation angles in the front-rear direction and the left-right direction) acquired by the operation state acquisition unit 413.

  The communication control unit 415 enters the operation state history table 421 in response to a data transmission request stored in the operation state history table 421 from an external device such as the information processing device 500 via the communication unit 450 or the external interface 460. Send memorized data.

  Next, the operation of the operation state measuring apparatus 400 according to the present embodiment will be described with reference to the drawings. FIG. 7 is a flowchart illustrating an example of a flow of an operation state measurement process executed by the control unit 410 of the operation state measurement device 400 according to the present embodiment. This operation state measurement process is stored in advance as a program in the ROM 420 described above, and the actual process is performed when the control unit 410 reads and executes the program.

  For example, the control unit 410 of the operation state measurement device 400 starts the operation state measurement process illustrated in FIG. 7 when the user operates the operation unit 470.

  First, the operation acceleration acquisition unit 411 acquires a detection signal representing the acceleration output from the operation acceleration detection unit 100 at a predetermined sampling interval (step S11).

  The vehicle body acceleration acquisition unit 412 acquires a detection signal representing the acceleration output from the vehicle body acceleration detection unit 200 at a predetermined sampling interval (step S12).

  Next, the operation state acquisition unit 413 acquires the operation state of the joystick 231 by the user based on the acceleration acquired by the operation acceleration acquisition unit 411 in step S11 and the acceleration acquired by the vehicle body acceleration acquisition unit 412 in step S12. (Step S13).

  Specifically, the operation state acquisition unit 413 acquires the acceleration of the joystick 231 by the user's operation by subtracting the acceleration detected by the vehicle body acceleration acquisition unit 412 from the acceleration acquired by the operation acceleration acquisition unit 411. . Then, the operation state acquisition unit 413 calculates the operation direction and the operation amount of the joystick 231 as the operation state based on the acquired acceleration of the joystick 231.

  The history storage control unit 414 acquires the time when the operation state is acquired in step S13 from the time measuring unit 480, and stores it in the operation state history table 421 in association with the operation state (step S14). Then, the process returns to step S11.

  Control unit 410 repeatedly executes the processes of steps S11 to S14 described above. For example, when receiving an input indicating the end of the operation state measurement process from the user via the operation unit 470, the control unit 410 ends the operation state measurement process.

  According to the operation state measurement system 1 configured as described above, the operation state of the operation unit 230 by the user can be measured by attaching the detachable operation acceleration detection unit 100 to the operation unit 230. Therefore, the operation state of the operation unit 230 can be easily acquired without modifying the control circuit itself of the operation unit 230.

  As mentioned above, although embodiment of this invention was described, this invention is not limited by said embodiment.

  For example, the operation state measurement system 1 according to the above embodiment may further include a GPS (Global Positioning System) device that acquires position information of the electric wheelchair 2. In such a configuration, the operation state measurement device 400 acquires acceleration from the operation acceleration detection unit 100 and the vehicle body acceleration detection unit 200, acquires position information from the GPS device, and associates the operation state with the position information. It can be recorded in the operation state history table 421. Therefore, not only the operation state but also the position information can be used for evaluating the usability and safety of the electric wheelchair 2 and the operation skill of the user.

  In the operation state measurement system 1 according to the above-described embodiment, the operation acceleration detection unit 100 and the vehicle body acceleration detection unit 200 may further include a gyro sensor that detects angular acceleration. With such a configuration, it is possible to acquire a history of rotation operations of the operation unit 230.

  Further, the operation state measuring device according to the present invention can be realized by using a normal computer system without using a dedicated device. For example, a program for executing the above operation is stored in a computer-readable recording medium (CD-ROM, MO, etc.) and distributed to a computer connected to a network, and the program is distributed to the computer system. You may comprise the operation state measuring device which performs the above-mentioned process by installing.

  Further, the method for providing the program to the computer is arbitrary. For example, the program may be uploaded to a bulletin board (BBS) on a communication line and distributed to a computer via the communication line. The program may be transmitted by a modulated wave obtained by modulating a carrier wave with a signal representing the program, and a device that receives the modulated wave may demodulate the modulated wave to restore the program. Then, the computer activates this program and executes it in the same manner as other applications under the control of the OS. Accordingly, the computer functions as an operation state measuring device that executes the above-described processing.

DESCRIPTION OF SYMBOLS 1 Operation state measurement system 100 Operation acceleration detection part 110 Acceleration sensor 120 Cap part 200 Car body acceleration detection part 300 A / D converter 400 Operation state measurement apparatus 410 Control part 411 Operation acceleration acquisition part 412 Car body acceleration acquisition part 413 Operation state acquisition part 414 History storage control unit 415 Communication control unit 420 ROM
421 Operation state history table 430 RAM
440 Display unit 450 Communication unit 460 External I / F
470 Operation unit 480 Timekeeping unit 500 Information processing device 600 Network 2 Electric wheelchair 210 Seat unit 220 Armrest unit 230 Operation unit 231 Joystick

Claims (6)

An operation state measurement system that includes an operation unit whose inclination is changed by a user's operation and measures an operation state of the electric wheelchair controlled according to the inclination of the operation unit,
An operation acceleration detection unit that is detachable from the operation unit and detects acceleration in a predetermined direction of the operation unit;
An operation state acquisition unit that acquires an operation state of the operation unit by the user based on the acceleration detected by the operation acceleration detection unit;
A timekeeping section that measures the current time,
A position information acquisition unit for acquiring position information of the electric wheelchair;
The operation state acquired by the operation state acquisition unit, the acquisition time of the operation state acquired by the timing unit, and the position information at the acquisition time acquired by the position information acquisition unit are associated with each other. An operation history storage unit for storing
An operation state measuring system comprising: The operation state acquisition unit acquires an operation direction of the operation unit and an operation amount in the operation direction as an operation state of the operation unit.
The operation state measuring system according to claim 1. A vehicle body acceleration detector for detecting acceleration in the predetermined direction of the electric wheelchair;
The operation state acquisition unit acquires an operation state of the operation unit by the user based on the acceleration detected by the operation acceleration detection unit and the acceleration detected by the vehicle body acceleration detection unit.
The operation state measuring system according to claim 1 or 2, wherein The vehicle body acceleration detection unit is provided in the vicinity of the operation unit.
The operation state measuring system according to claim 3. An operation state measuring method comprising an operation unit whose inclination is changed by a user operation and measuring an operation state of an electric wheelchair controlled according to the inclination of the operation unit,
An operation acceleration acquisition step of acquiring an acceleration in a predetermined direction of the operation unit from an operation acceleration detection unit detachable from the operation unit;
An operation state acquisition step of acquiring an operation state of the operation unit by the user based on the acceleration acquired in the operation acceleration acquisition step;
The operation state acquired in the operation state acquisition step, acquired from the timekeeping unit that times the current time, acquired from the acquisition time of the operation state, and the position information acquisition unit that acquires the position information of the electric wheelchair, A history storage control step of associating the position information at the acquisition time with each other and recording it in the operation history storage unit;
An operation state measuring method characterized by comprising: Computer
An operation unit whose inclination changes according to a user's operation is acquired, and an acceleration in a predetermined direction of the operation unit is acquired from an operation acceleration detection unit that can be attached to and detached from the operation unit of the electric wheelchair controlled according to the inclination of the operation unit Operation acceleration acquisition means for
An operation state acquisition unit that acquires an operation state of the operation unit by the user based on the acceleration acquired by the operation acceleration acquisition unit;
The operation state acquired by the operation state acquisition means, acquired from the timekeeping unit that measures the current time, acquired from the acquisition time of the operation state, and the position information acquisition unit that acquires the position information of the electric wheelchair, History storage control means for associating position information at the acquisition time with each other and recording it in the operation history storage unit;
Program to function as.

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