JP6709684B2 - Electric wheelchair - Google Patents

Description

The present invention relates to an autonomous electric wheelchair.

A command speed of the electric vehicle is generated based on the operation input of the operator, and the generated command speed of the electric vehicle is set to a predetermined value according to the distance to the obstacle detected by the obstacle sensor mounted on the vehicle body. There has been proposed an electric wheelchair provided with a means for limiting the above (for example, refer to Patent Document 1).

FIG. 12 is a diagram showing a conventional electric wheelchair disclosed in Patent Document 1. The electric wheelchair 10 limits the command speed of the operator of the electric wheelchair 10 as the distance to the obstacle detected by the obstacle sensor 12 mounted on the vehicle body 11 becomes smaller. By limiting in this way, the closer the electric wheelchair 10 approaches an obstacle, the more the command speed generated based on the operation input of the operator is limited, and the collision with an obstacle or the like approaching without being noticed by the operator is limited. It can be avoided.

JP-A-3-86005

2. Description of the Related Art In recent years, with the development and popularization of robot technology, people are increasingly using electric vehicles such as electric wheelchairs. For example, the same electric wheelchair may be used alternately by a healthy man and a frail elderly person, such as cognitive functions such as the judgment of the user, or physical characteristics such as skin irritation resistance or core stability. There are more and more situations in which there is a large difference. However, as shown in Patent Document 1, the behavior (running motion) of the conventional electric wheelchair is uniform without depending on the user, such as the maximum speed being limited according to the distance of the obstacle. However, it is not in a state of being able to fully satisfy the different purposes of different users. For example, while older people tend to want behavior that emphasizes safety, young people tend to want behavior that emphasizes movement efficiency, but avoidance behavior or acceleration of obstacles on the electric wheelchair side And the behavior of deceleration and stop is the same. As a result, the user may not be fully satisfied with the behavior of the electric wheelchair.

The present invention solves these conventional problems, and an object thereof is to provide an electric wheelchair capable of changing the traveling operation of the electric wheelchair in accordance with the physical information of the user.

In order to achieve the above object, an electric wheelchair according to one aspect of the present invention includes a wheelchair body having a seat on which a user sits,
A pair of drive wheels at least rotatably attached to the wheelchair body;
An electric motor that is provided in the wheelchair body and rotates the drive wheels,
A battery provided in the wheelchair body and connected to the electric motor;
A sitting posture holding position, which is provided in the wheelchair main body, holds the user on the seat when the user sits on the seat, and retracts from the sitting posture holding position so that the user can detach from the seat. A sitting posture holding member that moves between the retracted position and
An environment sensor that is provided in the wheelchair body, acquires the physical information of the user before traveling in an electric wheelchair, and detects environmental information around the wheelchair body when traveling in an electric wheelchair,
Based on the relationship information between the body information and the travel control information, a travel control information acquisition unit that acquires travel control information from the physical information acquired by the environment sensor before traveling in the wheelchair,
Based on the environmental information around the wheelchair body detected by the environment sensor, with and a wheelchair controller for controlling the driving of the electric motor based on the acquired driving control information in the running control information obtaining section ,
Further comprising a pair of left and right armrests arranged on both sides of the wheelchair body,
The seated posture maintaining member has a base end rotatably attached to a front end portion of one armrest of the pair of armrests, and a tip end thereof engages with a front end portion of the other armrest of the pair of armrests. The seating posture holding position to be fitted, and a coupling bar that is rotatable between the retracted position standing above the front end of the one armrest,
The environmental sensor is attached to the tie bar,
A seating sensor for determining whether or not the user is seated in the seat is provided in the seat,
When the seating sensor does not detect the seating of the user and the joining bar is located at the retracted position, the joining bar is locked so as not to rotate, while the joining bar is detected when the sitting of the user is detected. And a coupling bar lock mechanism that allows rotation from the retracted position to the seated posture holding position .

As described above, according to the above aspect of the present invention, the environmental sensor that detects the environmental information around the wheelchair body during traveling of the electric wheelchair obtains the user's physical information before traveling in the electric wheelchair to obtain the physical information and the electric information. The maximum speed of the electric wheelchair can be acquired from the acquired physical information based on the relationship information with the maximum speed of the wheelchair, and the running operation of the wheelchair can be controlled by the wheelchair control unit within the acquired maximum speed of the electric wheelchair. As a result, it is possible to provide the user with a customized electric wheelchair capable of autonomous movement.

The left side view which shows the outline|summary of the electric wheelchair concerning Embodiment 1 of this invention in the disengaged position of a coupling bar, and the state which left side armrest was removed. The left side view which shows the outline of the electric wheelchair concerning this Embodiment 1 in the engaging position of a joining bar. The front view which shows the outline of the electric wheelchair concerning this Embodiment 1 in the disengagement position of a coupling bar. The front view which shows the outline of the electric wheelchair concerning this Embodiment 1 in the engaging position of a joining bar. In the electric wheelchair according to the first embodiment, an enlarged view of the vicinity of the front end of the other armrest immediately before the engagement of the connecting bar. In the electric wheelchair according to the first embodiment, an enlarged view of the vicinity of the front end portion of the other armrest in the engagement state of the coupling bar. In the electric wheelchair according to the first embodiment, an enlarged view of the vicinity of the front end of one armrest. An enlarged view of the vicinity of the front end of one armrest in an electric wheelchair according to a modification of the first embodiment. The top view which shows the detection area of an environment sensor in the electric wheelchair concerning this Embodiment 1. Block diagram of the electric wheelchair according to the first embodiment Operation flow diagram showing operation steps in the electric wheelchair according to the first embodiment A schematic front view of an electric wheelchair according to a modified example of the first embodiment, In the electric wheelchair according to the modified example of the first embodiment, a schematic front view of a state in which the coupling bar and the environment sensor rotate around the longitudinal axis at the disengagement position. In the electric wheelchair according to the modification of the first embodiment, a schematic front view of a state in which the coupling bar and the environment sensor rotate around the longitudinal axis at the engagement position. A perspective view explaining prior art of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the same components are given the same reference numerals, and description thereof may be omitted. Further, the drawings are schematically shown mainly with the respective components for easy understanding.

(Embodiment 1)
1 to 4 are a schematic side view and a front view of an electric wheelchair 100 according to Embodiment 1 of the present invention at a disengagement position and an engagement position of a coupling bar.

As shown in FIG. 1, an electric wheelchair 100 according to the first embodiment includes at least a main frame 101 as an example of a wheelchair body, a pair of left and right drive wheels 102, an electric motor 103, a battery 104, and a sitting posture. The holding member 201, the environment sensor 144, the traveling control information acquisition unit 230, and the wheelchair control unit 209 are provided.

At least a pair of left and right drive wheels 102 are individually attached to the main frame 101 so as to be able to rotate forward and backward individually. More specifically, as shown in FIG. 1, a pair of left and right drive wheels 102 are rotatably attached to a rear portion of the main frame 101, and a pair of left and right auxiliary wheels 112 are rotatably attached to the front portion as steering wheels. It is attached to and freely swingable.

In the main frame 101, an electric motor 103 for driving the drive wheels 102 forward and backward, a battery 104 for driving the electric motor 103, and a motor control unit 221 for driving and controlling the electric motor 103 are provided. ..

A chair support mechanism 105 is supported above the main frame 101.

The chair support mechanism 105 includes a seat frame 107 that supports a sitting seat 106 that supports the buttocks and thighs of a user, a seat back frame 109 that supports a backrest 108 that supports the back of the user, and a foot of the user. And a footrest frame 111 that supports the footrest 110 that supports the seat, and forms a seat 152 on which a user 222 sits.

The seating seat 106 has a built-in seating sensor 214 including a pressure sensor and the like. To confirm that the user 222 has boarded the electric wheelchair 100, the seating of the user 222 on the seating seat 106 is confirmed. It can be detected by the sensor 214. Information detected by the seating sensor 214 is output to the wheelchair control unit 209.

As shown in FIGS. 1 and 2, a pair of left and right armrests 141L and 141R of the seat frame 107 are provided via a pair of left and right armrest support columns 141s which are erected obliquely upward and forward from the lower end of the seatback frame 109. It is provided on both sides. A controller case 142 is built in near the front end of one armrest (for example, the right armrest 141R in FIG. 2) of the pair of left and right armrests 141L and 141R. On the upper surface of the controller case 142, for example, a joystick lever 143, which allows the user to control the traveling direction and traveling speed of the electric wheelchair 100, is provided in an upright state so as to be tiltable, and the remaining amount of the battery 104 or the travelable time. A display unit 219 for displaying is also provided.

3 and 4 are front views of the electric wheelchair 100. As shown in FIGS. 3 and 4, the front end portions of the left and right armrests 141 are connected to each other by the quadrangular prismatic rod-shaped connecting bar 201 so that the front end portions of the left and right armrests 141L and 141R are connected to each other and the user 222 is seated on the seat 152. It is coupled so as to hold the user 222 to the seat 152 (hold the sitting posture of the user 222) when seated. Therefore, the joining bar 201 functions as an example of a sitting posture holding member. As shown in FIGS. 4 and 6A , the coupling bar 201 rotatably supports the rotary shaft 215a at the front end of one of the left and right armrests 141 (for example, the right armrest 141R in FIG. 2), With the rotation shaft 215a as a fulcrum, the electric wheelchair 100 can be rotated clockwise and counterclockwise when viewed from the front side.

Also, as shown in FIGS. 3, 4, 5A, and 5B , the other armrest (for example, the left armrest 141L in FIG. 2) has a front end portion that receives and supports the tip of the coupling bar 201. It has a recess 223. As an example of the coupling bar engagement detection unit 218, a detection light emitting unit 218a and a light receiving unit 218b are arranged in the engagement recess 223, and the coupling bar 201 is provided between the detection light emitting unit 218a and the light receiving unit 218b. When the tip of the light enters and the detection light such as laser light from the detection light emitting unit 218a to the light receiving unit 218b is blocked, it is detected that the coupling bar 201 is located at the engagement position B, while the detection light emitting unit 218a receives light. When the detection light to the portion 218b is received, the joining bar engagement detecting portion 218 can detect that the joining bar 201 is located at a position other than the engaging position.

As shown in FIG. 6A , a coupling bar rotational position detector 216 such as an encoder is connected to the rotary shaft 215a to detect the rotational position of the coupling bar 201. Therefore, as shown in FIGS. 3 and 6A , the disengaged state and the engaged state can be detected by the coupling bar rotational position detection unit 216. Here, the disengaged state is a state in which the coupling bar 201 is located at the disengaged position (an example of the open position or the retracted position) A which is vertically erected. As shown in FIG. 4, the engaged state means that the joint bar 201 is laterally rotated by 90 degrees from the disengaged position A, and the front end portions of the left and right armrests 141L and 141R are joined to each other to join the join bar. The engagement detection unit 218 is in a state in which the joining bar 201 is located at the engagement position (closed position or an example of the sitting posture holding position) B.

Further, as shown in FIG. 6A , the coupling bar lock mechanism 217 is coupled to the rotating shaft 215a, and under the control of the wheelchair control unit 209, the coupling bar lock mechanism 217 is coupled to the rotating shaft 215a, for example. It is possible to operate in a locked state in which the rotation is blocked by locking the locking claw to the lock and in a lock released state in which the locking is released to allow free rotation. Therefore, for example, when the seating sensor 214 does not detect the seating and when the joining bar rotational position detecting unit 216 detects that the joining bar 201 is located at the engagement release position A, the joining bar lock mechanism 217 is provided. Thus, the joining bar 201 can be locked to prevent the user 222 from accidentally rotating the joining bar 201. For example, when the user 222 is not seated on the seat 152 (when seating is not detected by the seating sensor 214), the coupling bar 201 at the disengagement position A can be rotated to be engaged at the engagement position B. I'm trying not to. On the other hand, when the seating sensor 214 detects the seating, the lock of the joining bar 201 by the joining bar lock mechanism 217 is released, and the user 222 can rotate the joining bar 201.

In addition, here, the case where the coupling bar 201 is manually rotated has been described, but as shown in FIG. 6B , one armrest (for example, the right armrest 141R in FIG. 2) is connected to the rotating shaft 215a, A motor 215b may be arranged as an example of the joining bar rotating device, and the joining bar 201 may be automatically rotated in the normal and reverse directions by the forward and reverse rotation driving of the motor 215b.

An environment sensor 144 having two functions is arranged on the front surface of the central portion of the joining bar 201.

The first function of the environment sensor 144 is to irradiate a laser to detect a peripheral object at least on the front side and both sides in the traveling direction of the electric wheelchair 100 while the electric wheelchair 100 is traveling, and measures the distance from the surroundings. To do. That is, as shown in FIG. 7, the environment sensor 144 uses semi-circular fields (detection region 145) on the front side and both sides in the traveling direction of the electric wheelchair 100 by the infrared laser light when the electric wheelchair 100 is running. For example, about 240 degrees is scanned at a fine pitch such as 0.36 degrees, and the distance from the environment sensor 144 to the surrounding object is detected based on the time until the reflected light is observed to acquire the environment information. . FIG. 7 shows a detection area 145 of the environment sensor 144. However, in FIG. 7, a partially cut circular solid line indicates the planar shape of the vertically elongated cylindrical detection region 145B that is partially cut out of the environment sensor 144 when the joining bar 201 is located at the engagement position B. Showing. The rectangular dash-dotted line indicates the planar shape of the horizontally long cylindrical detection region 145A of the environment sensor 144 when the joining bar 201 is located at the engagement release position A. The rectangular dash-dotted line in FIG. 3 shows the front shape of the horizontally long cylindrical detection region 145A of the environment sensor 144 when the joining bar 201 is located at the engagement release position A. The rectangular dash-dot line in FIG. 4 shows the front shape of the vertically elongated cylindrical detection region 145B, which is a partial cutout of the environment sensor 144 when the joining bar 201 is located at the engagement position B. As the environment information obtained from the environment sensor 144, for example, when the position information of the wall around the electric wheelchair 100 before traveling is acquired and the current position of the electric wheelchair 100 is estimated as described later, it is registered in advance. It can be used, for example, when detecting an obstacle such as a person or an object that is not operated and generating traveling motion information for avoiding the obstacle.

The second function of the environment sensor 144 is, for example, 0.36 degrees by the infrared laser light in the detection area 145 for the user 222 standing by the electric wheelchair 100 before the electric wheelchair 100 travels. About 240 degrees is scanned at a fine pitch such as, and the distance to the user 222 is detected based on the time until the reflected light is observed, and the physical information of the user 222 is acquired. Examples of the body information may include face information of the user 222, body shape, fingerprint information, biometric information such as hand vein information, and the like. The physical information can be used for roughly identifying the user, personal authentication, etc. as described later. The user 222 stands in front of the electric wheelchair 100, for example, and is positioned within the detection area 145 of the environment sensor 144 when boarding. Therefore, for example, the electric wheelchair 100 cannot travel unless the travel preparation start switch 213 is arranged on one of the front ends of the pair of armrests 141L and 141R and the travel preparation start switch 213 is pressed to turn it on. In this way, the user 222 can be devised so as to naturally stand on the front side of the electric wheelchair 100.

The arrangement position of the environment sensor 144 is not limited to the front surface of the central portion of the joining bar 201, but may be the end portion of the joining bar 201, or the front end of one of the pair of armrests 141L and 141R. It may be a department. The number of environment sensors 144 is not limited to one, either.

The traveling control information acquisition unit 230, based on the relationship information between the physical information of at least a plurality of users 222 and the traveling control information such as the maximum speed of the electric wheelchair, from the physical information acquired by the environment sensor 144 before traveling in the wheelchair, the electric wheelchair. Get travel control information such as maximum speed. The relationship information between the physical information and the traveling control information such as the maximum speed of the electric wheelchair is stored in, for example, the database unit 210 described later, and the plurality of users 222 use the plurality of traveling control information such as the maximum speed, which are different from each other. Person 222. The acquired traveling control information is output from the traveling control information acquisition unit 230 to the wheelchair control unit 209.

More specifically, as shown in FIG. 8, the electric wheelchair 100 can further include a database unit 210, and the traveling control information acquisition unit 230 can be configured by a matching unit 211 and a traveling control information determination unit 212.

In the database unit 210, body information such as face information or body shape information for each user acquired by the environment sensor 144, and a reaction indicating different response capabilities of each user 222 at the time of danger (such as sudden stop). Cognitive characteristic information such as time, or body characteristic information such as bone density, abdominal muscle strength, or back muscle strength indicating body load tolerance during sudden start and sudden stop is stored in advance in a state of being associated with each other. There is. That is, the physical information is associated with the cognitive characteristic information or the physical characteristic information for each user. The cognitive characteristic information or the physical characteristic information is information indicating the adaptability of the user 222 at the time of sudden stop. As an example, physical information, cognitive characteristic information, and physical characteristic information are associated with each user. The database unit 210 is not limited to the one provided in the electric wheelchair 100, and may be provided in a portable electronic device or a server separately from the electric wheelchair 100. The database unit 210 can perform cloud cooperation with a mobile electronic device and the like, and the database unit 210 can be accessed from the mobile electronic device such as a smartphone by using an ID and a password assigned to each user to perform input and correction. Can be able to Further, the display unit 219 to be described later may be provided with an input unit such as a touch panel so that the database unit 210 can be accessed using the input unit to input and correct the above-mentioned information.

The traveling control information acquisition unit 230 acquires traveling control information from at least the physical information based on the relationship information between the physical information and the traveling control information stored in advance in the database unit 210.

As an example, when the traveling control information acquisition unit 230 is configured by the matching unit 211 and the traveling control information determination unit 212, first, the matching unit 211 is an example of the physical information acquired by the environment sensor 144 and a storage unit. The physical characteristic information of the user 222 and/or the physical characteristic information of the user 222 associated with the matched physical information is acquired by performing the matching with the physical information stored in advance in the database unit 210 as a general identification of the user. Or, perform personal authentication. The matching operation is to determine the match between the acquired physical information and the stored physical information to roughly identify the user or perform personal authentication.For example, in the case of body shapes, the head of the body shape is compared. The determination can be made based on the ratio of the parts, the body, and the legs, the degree of matching of curved lines by pattern matching (for example, 70% or more). The matching unit 211 outputs the cognitive characteristic information or/and the physical characteristic information acquired through the matching operation to the traveling control information determination unit 212.

Next, the traveling control information determination unit 212 acquires traveling control information such as maximum speed from the cognitive characteristic information and/or the physical characteristic information acquired by the matching unit 211, and outputs it to the wheelchair control unit 209. As an example, the traveling control information determination unit 212 acquires the cognitive characteristic information or/and the body characteristic information based on the relationship information in which the cognitive characteristic information or/and the body characteristic information and the traveling control information such as the maximum speed are associated with each other. The driving control information such as the maximum speed is determined from. This relation information may be stored in advance in the database unit 210, or the travel control information acquisition unit 230 may have a storage unit in which the relation information is stored in a table format or the like. Instead of the table format, an arithmetic expression may be provided and the relational information may be obtained by an arithmetic operation using the arithmetic expression. The traveling control information associated with the cognitive characteristic information and/or the physical characteristic information is not limited to the maximum speed of the electric wheelchair 100, but the maximum acceleration, the maximum deceleration of the electric wheelchair 100, and/or the traveling distance of the electric wheelchair 100. It may be associated with the travel control information for controlling the operation, in other words, the value of the control parameter. The travel control information acquired by the travel control information determination unit 212 is output to the wheelchair control unit 209. In this way, the traveling control information acquisition unit 230 can determine (acquire) traveling control information from the physical information.

The wheelchair control unit 209 controls traveling of the electric wheelchair 100 based on the traveling control information acquired by the traveling control information acquisition unit 230. For example, when the traveling control information is the maximum speed, the wheelchair control unit 209 drives the electric motor 103 (for example, the rotation speed or the rotation speed) so that the electric wheelchair 100 travels at a speed within the maximum speed. It controls and changes the running operation of the electric wheelchair 100 according to the physical information of the user 222.

More specifically, as shown in FIG. 8, the electric wheelchair 100 can further include a current position acquisition unit 231 and a traveling motion generation unit 220 in addition to the wheelchair control unit 209.

The current position acquisition unit 231 stores the environment information acquired by the environment sensor 144 and a wall that is stored in the database unit 210 in advance before the electric wheelchair 100 travels and that exists near the route on which the electric wheelchair 100 autonomously travels. The current position of the electric wheelchair 100 is estimated and acquired by comparing and matching the environmental information of 1. Further, the current position acquisition unit 231 compares the environmental information acquired by the environmental sensor 144 with the environmental information of the route that is stored in the database unit 210 in advance and travels autonomously, and the unregistered person or thing, etc. Detect obstacles. The current position acquisition unit 231 outputs the information detected by the current position acquisition unit 231 to the traveling motion generation unit 220.

Based on the information detected by the current position acquisition unit 231, the traveling motion generation unit 220 generates a traveling motion including a traveling route from the acquired current position to the destination to avoid an obstacle. The generated traveling operation is output to the motor control unit 221 and the motor control unit 221 controls the driving of the electric motor 103. For example, when the electric wheelchair 100 is used in a specific commercial facility or the like, the travel route is generated in advance based on the map information of the travel area and stored in the database unit 210 in advance. Alternatively, an optimum traveling route may be selected from a plurality of traveling routes according to the current position and the destination and used to generate the traveling motion.

Therefore, in the electric wheelchair 100, the wheelchair control unit 209 (motor control unit 221) is controlled from the traveling control information acquisition unit 230 in consideration of the control information (for example, maximum speed) acquired from the physical information in the traveling control information acquisition unit 230. To a command such as the rotation speed or rotation speed of the electric motor 103. For example, when the user 222 is identified as a young healthy person based on the physical information, it is generally considered that the ability of the cognitive characteristic information or the physical characteristic information is high, and thus the reference is used as an example of the traveling control information. The maximum speed is faster than the value (for example, 6km/h), the maximum acceleration is large, the maximum deceleration is large, and the stop distance is short, so that the electric wheelchair 100 maximizes the movement efficiency by sudden acceleration/deceleration. The movement can be realized. On the other hand, if the user 222 is identified as an elderly person whose judgment function is deteriorated due to dementia or the like and the body is weakened based on the physical information, the ability of the cognitive characteristic information or the physical characteristic information is generally low. Therefore, as an example of the traveling control information, the maximum speed is slower than the reference value (for example, 2 km/h), the maximum acceleration is small, the maximum deceleration is small, and the stopping distance is long, so that the safety can be improved. It is possible to achieve movement with minimal physical and physical load.

As described above, by roughly identifying an individual or performing personal authentication based on the physical information, acquiring the traveling control information of the electric wheelchair 100 from the physical information, and controlling the traveling of the electric wheelchair 100 based on the traveling control information. Thus, it becomes possible to provide the electric wheelchair 100 adapted to the user 222.

Here, the operation of the electric wheelchair 100 can be configured in, for example, a manual operation mode and an automatic traveling mode.

In the manual operation mode, the user 222 tilts the joystick 143 to drive the electric motor 103 forward and backward through the wheelchair control unit 209 to move the electric wheelchair 100 in an intended direction. However, even in the manual operation mode, when the traveling control information obtained based on the physical information indicates that the traveling control information is the maximum speed, the vehicle can travel within the maximum speed, and the maximum speed is exceeded. Even if an instruction is input from the joystick 143, it is ignored.

In the automatic traveling mode, the traveling motion generation unit 220 uses the map information of the traveling area registered in advance in the database unit 210 or the like for the destination registered in advance in the database unit 210 or the like to determine the current position. Based on the current position information acquired by the acquisition unit 231 and the environmental information obtained by the environmental sensor 144, a traveling motion is generated, and the motor control unit 221 avoids an obstacle based on the generated traveling motion. The electric wheelchair 100 can be automatically driven to the ground. At this time, when the user 222 operates the joystick 143, the movement direction is determined in consideration of the movement direction input by the joystick 143. By using this automatic traveling mode, even a severely disabled person or the like who cannot operate the joystick 143 by the user 222 can travel to the destination. In addition, even if the user 222 is a person who can operate the joystick 143, if the automatic driving mode is set, it is possible to reach the destination while automatically detecting and avoiding an obstacle, which is easier. And it can drive safely.

Next, FIG. 9 shows operation steps in the electric wheelchair 100 according to the embodiment of the present invention.

First, the user 222 enters the detection area 145 of the environment sensor 144, and the environment sensor 144 acquires physical information for roughly specifying or authenticating an individual (step S01A).

Next, based on the physical information obtained by the environment sensor 144, the traveling control information acquisition unit 230 (specifically, the matching unit 211) refers to the database unit 210 to refer to the cognitive characteristic information of the user 222 or/and the physical body. Characteristic information is acquired (step S01B).

Next, in the traveling control information acquisition unit 230 (specifically, the traveling control information determination unit 212), the traveling control regarding the traveling operation of the electric wheelchair 100 is performed based on the acquired cognitive characteristic information and/or the physical characteristic information of the user 222. Information is acquired (step S01C).

Next, the user 222 confirms whether or not the user sits on the seat 106 by boarding the electric wheelchair 100 by checking whether or not the seat sensor 214 is turned on (step S02). A seat sensor 214 for determining whether the user 222 has boarded the electric wheelchair 100 is provided on the seat frame 107 of the electric wheelchair 100.

Next, after the seating sensor 214 is turned on, the left and right armrests 141L and 141R are joined by the joining bar 201 (step S02). At this time, unless the seating sensor 214 built in the seating seat 106 confirms that the user 222 has boarded the vehicle, the coupling bar lock mechanism 217 locks the coupling bar rotational position detector 216 to release the engagement position A. The joining bar 201, which is detected to be in the position, is prevented from rotating from the disengagement position A. Further, after the seating sensor 214 detects ON, the left and right armrests 141L and 141R are completely coupled, that is, the coupling bar 201 is rotated and its tip is engaged with the engagement recess 223 to engage the engagement position B. The electric wheelchair 100 is prevented from traveling until the engagement state is detected by the coupling bar engagement detection unit 218. The safety of the operation of the electric wheelchair 100 is ensured by confirming the detection of the two points of the seating sensor 214 and the coupling bar engagement detection portion 218.

Then, the user 222 selects the manual operation mode or the automatic travel mode as the traveling mode with the joystick 143 and inputs it to the wheelchair control unit 209, and displays the selected mode on the display unit 219 of the joystick 143 to confirm ( Step S04).

Next, according to the selected mode, the user 222 travels to the destination by joystick operation or autonomous movement by the traveling control information acquisition unit 230 and the wheelchair control unit 209 (step S05).

Next, after the electric wheelchair 100 arrives at the destination, the user 222 disconnects the joining bar 201 and engages the joining bar engagement detection unit 218 to release the joining bar 201 from the engagement position B. Rotate to position A. As a result, when the joining bar 201 is positioned in a state other than the engaged state, the joining bar engagement detecting unit 218 detects it, and the joining bar rotation position detecting unit 216 detects that the joining bar 201 is in the disengagement position A. Is detected (step S06).

Finally, the user 222 dismounts from the electric wheelchair 100, and the seating sensor 214 detects OFF (step S07).

According to the above-described embodiment, the environment sensor 144 that detects the environment information around the wheelchair main body 101 during traveling of the electric wheelchair acquires the physical information of the user 222 before traveling in the electric wheelchair to obtain the physical information and the maximum speed of the electric wheelchair. Based on the relationship information with the traveling control information such as, the traveling control information such as the maximum speed of the electric wheelchair is acquired from the acquired physical information, and the traveling control information acquired, for example, within the maximum speed of the electric wheelchair, is controlled by the wheelchair control unit 209. 100 running motions can be controlled. As a result, the user 222 can be provided with the electric wheelchair 100 capable of customized autonomous movement.

The present invention is not limited to the above embodiment, and can be implemented in various other modes. For example, the seated posture holding member is not limited to the rod-shaped rigid coupling bar 201, and as shown in FIG. 10, it is sufficient if the seated posture of the user 222 at the seat 152 can be held. A flexible member such as 201g may be used. The environment sensor 144 may be attached to a buckle-like portion of the seat belt 201g so as to detect the front, or the environment sensor 144 may be attached to the front ends of the pair of armrests.

Further, for example, in the electric wheelchair 100, when the joining bar 201 is located at the disengagement position A, as shown in FIG. 11A, the first rotation mechanism 240 allows the first rotating mechanism 240 to move the longitudinal axis 201c of the joining bar 201. It may be configured to rotate around, that is, to the seat side. The first rotation mechanism 240 includes a first support portion 242 that rotatably supports the joining bar 201 in the disengagement position A around the longitudinal axis 201c of the joining bar 201 at the front end portion of the right armrest 141R, It is configured with a first rotation driving device 241 such as a motor that rotates the joining bar 201 supported by the first support portion 242 and located at the disengagement position A about the longitudinal axis 201c of the joining bar 201.

As a result, the general identification or individual authentication of the user 222 by the environment sensor 144 is performed in steps S01A to S01C, but these operations are performed after the user 222 boarded the electric wheelchair 100 (seated on the seat 152). This can be performed after step S02 of (later), and the labor of the user 222 can be saved.

As shown in FIG. 11B, the environment sensor 144 uses the second rotation mechanism 245 after the user 222 gets on the electric wheelchair 100 to engage the joining bar 201 at the engagement position B. The electric wheelchair 100 may be configured to rotate around the longitudinal axis 201c, that is, to the user side. The second rotation mechanism 245 includes a second support portion that rotatably supports the joining bar 201 at the engagement position B around the longitudinal axis 201c of the joining bar 201 at the front ends of the left and right armrests 141L and 141R. 246 and a second rotation driving device 247 such as a motor that rotates the joining bar 201 supported by the second support portion 246 and located at the engagement position B around the longitudinal axis 201c of the joining bar 201.

As a result, the personal authentication by the environment sensor 144 was performed in steps S01A to S01C, but after the user has boarded the electric wheelchair 100 (after sitting on the seat 152) (step S02), the coupling bar 201 is coupled. This can be performed after step S03 when the vehicle is positioned at the engagement position B, and the user 222 can save time and effort.

A TOF sensor of the range image sensors may be used as the environment sensor 144. In this case, the cost of the electric wheelchair 100 can be reduced as compared with the case where the laser sensor is used.

A stereo camera may be used as the environment sensor 144. In this case, color information and the like can be acquired in addition to the depth information, and therefore more detailed information can be acquired for the user 222 or the obstacle, and highly accurate personal recognition or accurate obstacle avoidance can be realized.

By properly combining the arbitrary embodiments or modifications of the various embodiments or modifications, the effects possessed by them can be produced. Further, a combination of the embodiments or a combination of the examples or a combination of the embodiment and the example is possible, and a combination of features in different embodiments or examples is also possible.

The electric wheelchair according to the above aspect of the present invention makes it possible to change the traveling motion of the electric wheelchair in accordance with the physical information of the user, and in the field of nursing care or welfare, including public facilities such as commercial facilities or airport facilities. It is useful in areas that require indoor and outdoor movement.

100 Electric wheelchair 101 Main frame (wheelchair body)
102 Drive Wheel 103 Electric Motor 104 Battery 105 Chair Support Mechanism 106 Seating Seat 107 Seat Frame 108 Backrest 109 Seat Back Frame 110 Footrest 111 Footrest Frame 141L, 141R Left and Right Armrests 141s Armrest Post 142 Controller Case 143 Joystick Lever 144, Environmental Sensor 145 145A, 145B Environment sensor detection area 152 Seat 201 Coupling bar 201c Longitudinal axis 209 Wheelchair control section 210 Database section 211 Matching section 212 Travel control information determination section 213 Travel preparation start switch 214 Seating sensor 215 Coupling bar Rotating device 215a Rotation axis 215b Coupling Bar rotation motor 216 Bonding bar rotation position detector 217 Bonding bar lock mechanism 218 Bonding bar engagement detector 219 Display 220 Traveling motion generator 221 Motor controller 222 User 223 Bonding bar engaging recess 230 Traveling control information acquirer 231 Current position acquisition part 240 1st rotation mechanism 241 1st rotation drive device 242 1st support part 245 2nd rotation mechanism 246 2nd support part 247 2nd rotation drive device

Claims (6)

A wheelchair body having a seat on which a user sits;
A pair of drive wheels at least rotatably attached to the wheelchair body;
An electric motor that is provided in the wheelchair body and rotates the drive wheels,
A battery provided in the wheelchair body and connected to the electric motor;
A sitting posture holding position, which is provided in the wheelchair main body, holds the user on the seat when the user sits on the seat, and retracts from the sitting posture holding position so that the user can detach from the seat. A sitting posture holding member that moves between the retracted position and
An environment sensor that is provided in the wheelchair body, acquires the physical information of the user before traveling in an electric wheelchair, and detects environmental information around the wheelchair body when traveling in an electric wheelchair,
Based on the relationship information between the body information and the travel control information, a travel control information acquisition unit that acquires travel control information from the physical information acquired by the environment sensor before traveling in the wheelchair,
Based on the environmental information around the wheelchair body detected by the environment sensor, with and a wheelchair controller for controlling the driving of the electric motor based on the acquired driving control information in the running control information obtaining section ,
Further comprising a pair of left and right armrests arranged on both sides of the wheelchair body,
The seated posture maintaining member has a base end rotatably attached to a front end portion of one armrest of the pair of armrests, and a tip end thereof engages with a front end portion of the other armrest of the pair of armrests. The seating posture holding position to be fitted, and a coupling bar that is rotatable between the retracted position standing above the front end of the one armrest,
The environmental sensor is attached to the tie bar,
A seating sensor for determining whether or not the user is seated in the seat is provided in the seat,
When the seating sensor does not detect the seating of the user and the joining bar is located at the retracted position, the joining bar is locked so as not to rotate, while the joining bar is detected when the sitting of the user is detected. The electric wheelchair further including a coupling bar lock mechanism that allows the rotation of the vehicle from the retracted position to the seated posture holding position . The traveling control information is at least one of a maximum speed, a maximum acceleration, a maximum deceleration, and a stop distance of the electric wheelchair,
The electric wheelchair according to claim 1. The traveling control information acquisition unit,
A matching unit that performs matching between physical information acquired by the environment sensor and physical information stored in advance in a storage unit, and acquires cognitive characteristic information or physical characteristic information of the user associated with the matched physical information. ,
From the cognitive characteristic information or the physical characteristic information acquired by the matching unit, a traveling control information determining unit that determines the traveling control information and outputs the traveling control information to the wheelchair control unit.
The electric wheelchair according to claim 1 or 2. Further comprising a coupling bar engagement detection unit that detects that the coupling bar is located at an engagement position in which the coupling bar is engaged with the front end portion of the other armrest,
When the seating sensor detects the seating of the user and the connecting bar engagement detecting unit detects that the connecting bar is located at the engaging position, the wheelchair control unit controls the electric wheelchair. Allow running,
The electric wheelchair according to claim 1 . The joining bar includes a first support portion that supports the joining bar in the retracted position at a front end portion of the one armrest so as to be rotatable about a longitudinal axis of the joining bar.
A first rotation driving device that is driven by the first support portion and that drives the coupling bar in the retracted position to rotate about a longitudinal axis;
The environment sensor is arranged on the joining bar,
The first rotation drive device rotates about the longitudinal axis of the coupling bar, and the environment sensor acquires the physical information of the user seated on the seat.
The electric wheelchair according to any one of claims 1 to 4 . A second support portion that supports the joining bar at the seating posture holding position rotatably around a longitudinal axis of the joining bar at a front end portion of the one armrest;
A second rotation drive device that is driven by the second support portion and that rotationally drives the coupling bar in the seating posture holding position about a longitudinal axis;
The environment sensor is arranged on the joining bar,
The second rotation drive device rotates about the longitudinal axis of the coupling bar, and the environment sensor acquires the physical information of the user seated on the seat.
The electric wheelchair according to any one of claims 1 to 4 .

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