JP6709989B2 - Electric wheelchair - Google Patents

Description

The present invention relates to an autonomous electric wheelchair.

In order to allow the user to take a comfortable posture, the electric wheelchair can be transformed into a plurality of sitting positions such as a reclining form and a tilting form by using an actuator and a link mechanism. (For example, refer to Patent Document 1).

JP, 2007-209687, A

In recent years, with the development of robot technology, it has been increasing that an electric wheelchair is autonomously moved without being driven by a joystick or the like. When moving an electric wheelchair autonomously, a person is not always on board. For example, considering moving a person from the point A to the point B, a person gets on from the point A to the point B, and the electric wheelchair moves to the destination point B by manual operation using a joystick or the like. In some cases, the person boarding at the point B gets off and only the electric wheelchair moves autonomously toward the point A without returning the person to the board and returns to the point A. However, as can be seen from the above-mentioned conventional example, the existing electric wheelchair takes into consideration the deformation of the form when the person is on board, but does not consider the form when the person is not on the electric wheelchair. .. As a result, it is possible for a person to get into a moving electric wheelchair even when the person is autonomously moving without being in the electric wheelchair, and if a person accidentally tries to board. It also leads to an accident.

The present invention solves these conventional problems, and an object of the present invention is to provide an electric wheelchair that can be deformed so that no one can board when moving the electric wheelchair autonomously.

The electric wheelchair in the present invention for achieving the above object, a seat frame that supports a seating seat that supports the buttocks of a user, a seat back frame that supports a backrest that supports the back of the user, and the user's back An electric wheelchair comprising: a footrest frame that supports a footrest that supports a foot portion; a first connecting portion that rotates the footrest frame toward the seat frame; and drive wheels.

An electric wheelchair includes, for example, an electric drive unit having an electric motor for driving drive wheels in a main frame, and a chair device arranged above the electric drive unit, and a seat frame for supporting a seat and a backrest. An actuator that changes the angle between the seat back frame and the seat frame, and an actuator that changes the angle between the seat back frame and the seat frame, together with the chair device including the seat back frame that supports the seat portion and the footrest frame that supports the footrest. And a seating position conversion controller for controlling these two actuators, and by independently controlling the two actuators, the seatback frame and the footrest frame are deformed so that they can be combined, and the seatback frame and the footrest frame are combined. It is configured to include a coupling portion for fixing.

According to the present invention, it is possible to provide an electric wheelchair capable of safe autonomous movement by transforming so that a person cannot board during autonomous driving.

Schematic diagram of an electric wheelchair according to an embodiment of the present invention The figure which shows the state which combined the footrest frame and the seat back frame in the electric wheelchair concerning embodiment of this invention. FIG. 3 is an enlarged view showing a joint portion that joins a footrest frame and a seat back frame in an electric wheelchair according to an embodiment of the present invention. Figure of when Schematic diagram of the vicinity of an armrest in an electric wheelchair according to an embodiment of the present invention The figure which shows the detection area of a side area sensor in the electric wheelchair concerning embodiment of this invention. The figure which shows the operation step in the electric wheelchair concerning embodiment of this 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. In addition, the drawings schematically show the respective constituent elements as main components for easy understanding.

(Embodiment)
FIG. 1 is a schematic diagram of an electric wheelchair 100 according to an embodiment of the present invention.

As shown in FIG. 1, an electric wheelchair 100 of the present embodiment includes a pair of left and right drive wheels 102 rotatably supported by a shaft, a pair of left and right auxiliary wheels 112 provided as steered wheels, and a drive wheel 102. An electric drive that includes a main frame 101 supported by an auxiliary wheel 112, an electric motor 103 for driving the drive wheel 102 in the main frame 101, and a battery (not shown) for driving the electric motor 103. It is configured to include a unit 104 and a chair device 105 arranged above the main frame 101.

The chair device 105 includes a seat frame 107 that supports a sitting seat 106 that supports the buttocks and thighs of the user, a seat back frame 109 that supports a backrest 108 that supports the back of the user, and a foot of the user. A footrest frame 111 that supports the supporting footrest 110, a first connecting portion 122 that connects the footrest frame 111 at one end side of the seat frame 107, and a first connecting portion 122 that connects the seatback frame 109 at the other end side of the seat frame 107. And two connecting portions 121. More specifically, the first connecting portion 122 is a connecting mechanism that connects the footrest frame 111 and the seat frame 107, and rotates the footrest frame 111 so as to cover the upper portion of the seat frame 107. The second connecting portion 121 is a connecting mechanism that connects the seat back frame 109 and the seat frame 107, and rotates the seat back frame 109 so as to cover the upper portion of the seat frame 107.

Here, each of the first connecting portion 122 and the second connecting portion 121 is a general connecting mechanism such as a pin joint provided with an actuator. Then, the first connecting portion 122 rotates the footrest frame 111 with the position of the first connecting portion 122 as the rotation center by the operation of the actuator, and changes the angle between the footrest frame 111 and the seat frame 107. Similarly, the second connecting portion 121 rotates the seatback frame 109 around the position of the second connecting portion 121 by the operation of the actuator, and changes the angle between the seatback frame 109 and the seat frame 107. Let Then, the first connecting portion 122 and the second connecting portion 121 are independently controlled by the sitting position conversion controller 123 provided in the chair device 105, so that the seatback frame 109 and the footrest frame as shown in FIG. It is characterized in that it is modified so that 111 can be combined. 2 shows a state in which the second connecting portion 121 rotates the footless frame 111 to the seat frame 107 side, and the first connecting portion 122 rotates the seat back frame 109 to the seat frame 107 side. It is shown (hereinafter, also referred to as “folding operation”).

FIG. 3A shows a state in which the joint portion 131 that joins the footrest frame 111 and the seatback frame 109 is viewed from the rear side of the electric wheelchair 100. Further, FIG. 3B shows a state in which the coupling portion 131 is viewed from the side surface direction of the electric wheelchair 100. The coupling portion 131 is installed on the back side of the seat back frame 109, and in a state where the seat back frame 109 and the footrest frame 111 are rotated so as to cover the upper portion of the seat frame 110, respectively, the seatback frame 109 and the footrest frame 111. Is a fixing member that can fix the. The joint portion 131 is rotatably installed at one end of the seatback frame 109 with one end as a rotation center, and the arrow in FIG. 3B indicates that the joint portion 131 covers the footrest frame 111. It represents the rotated state. Further, the coupling portion 131 has a fixed detection sensor 132 capable of detecting that the seatback frame 109 and the footrest frame 111 are fixed.

When the electric wheelchair 100 moves autonomously when no person is boarding, the footrest frame 111 and the seat back frame 109 are folded as shown in FIG. The footrest frame 111 and the seatback frame 109 that are folded at this time are fixed by the joint portion 131. As described above, even when a person moves autonomously when he/she is not boarding, since the footrest frame 111 and the seatback frame 109 are fixed by the connecting portion 131, a person can get into the electric wheelchair 100. Can be disabled. Note that it is possible to prevent a person from getting into the electric wheelchair 100 even by rotating at least the footless frame 111 toward the seat frame 107 side.

As shown in FIG. 4, a pair of left and right armrests 141 are provided forward from a substantially lower portion of the backrest portion. A controller case 142 is attached to the front ends of the left and right armrests 141. On the upper surface of the controller case 142, for example, a joystick 143, which allows the user to control the traveling direction and traveling speed of the electric wheelchair, is provided in an upright state, and a display unit (not shown) for displaying the remaining amount of the battery, the remaining travel time, etc. Is also provided. The controller built in the controller case 142 is to perform data communication with the joystick lever 143, the electric drive unit 104, the sitting position conversion controller 123, the fixed detection sensor 132, the range sensor 144, which will be described later, and the display 151, which the electric wheelchair has. So, they are in control.

Below the left and right armrests 141, there is provided a range sensor 144 that measures the distance from the surroundings by irradiating a laser to detect a peripheral object of the electric wheelchair. The range sensor 144 scans a semicircular field with infrared laser light at a fine pitch such as 0.36 degrees for about 240 degrees, and based on the time until the reflected light is observed, up to surrounding objects. To detect the distance. FIG. 5 shows a detection area of the range sensor 144 (a combination of the detection areas of the two range sensors 144 arranged below the left and right armrests 141). The range sensor 144 matches the environmental information about the wall around the electric wheelchair 100 obtained from the range sensor 144 with the environmental information about the wall near the autonomously traveling route registered in advance. Then, it is used to estimate the current position of the electric wheelchair 100. Further, the range sensor 144 can also be used to detect an obstacle such as a person or an object that is not registered in a previously registered autonomously traveling route and avoid the obstacle.

The driving modes of the electric wheelchair 100 include a manually-operated driving mode, a human-riding automatic driving mode, and an automatic human-riding mode.

In the manual operation traveling mode, the passenger operates the joystick 143 to move the electric wheelchair 100 in an intended direction.

In the human-riding automatic traveling mode, the map information of the traveling area registered in advance is used for the destination set in advance, based on the current position information and the environmental information obtained by the range sensor 144. Thus, the electric wheelchair 100 can be automatically moved to the destination while avoiding obstacles. At this time, when the passenger operates the joystick 143, the movement direction is determined in consideration of the movement direction input by the joystick 143. By using this mode, even a severely disabled person who cannot operate the joystick 143 can move to the destination. Further, even a user who can operate the joystick 143 can reach the destination while detecting and avoiding obstacles, so that the user can move more easily and safely.

In the automatic traveling mode without passengers, the map information of the traveling area registered in advance is used for the destination set in advance to obtain the current position information and the environmental information obtained by the range sensor 144. Thus, the electric wheelchair 100 can be automatically moved to the destination while avoiding obstacles. In the passengerless automatic traveling mode, the actuator of the first connecting portion 122 and the actuator of the second connecting portion 121 are driven before the movement is started, and the seatback frame 109 and the footrest frame 111 are fixed by the connecting portion 131. That is, it can be used when the fixed detection sensor 132 detects it. In this way, even when a person moves autonomously when he/she is not boarding, the person cannot safely get into the electric wheelchair 100, and thus can move safely. Further, when the seat back frame 109 and the footrest frame 111 are fixed by the joint portion 131, a display 151 that can be operated by people around is provided in the footrest frame 111. The display 151 is provided on the surface opposite to the footrest 110 supported by the footrest frame 111, and when the footrest frame 111 is rotated so as to cover the upper portion of the seat frame 107, its display screen is displayed. Are oriented outwards (see Figure 2). By using the display 151, it is possible to set a moving destination of the electric wheelchair and display a warning (for example, a warning indicating that boarding is dangerous) to people in the vicinity during automatic movement.

Next, FIG. 6 shows an example of operation steps in the electric wheelchair 100 of the present invention. In the processing shown here, in response to the user operating the joystick 143, the controller built in the controller case 142 controls each part of the electric wheelchair 100 based on the operation signal.

First, the joystick 143 is used to select a traveling mode from a manually operated traveling mode, an automatic passenger traveling mode, and an automatic traveling mode without passenger (step 1). In the manual operation traveling mode, the passenger of the electric wheelchair 100 operates the joystick 143 to move the electric wheelchair 100 to the destination (step 2). When the passenger riding automatic traveling mode is selected in step 1, the destination is continuously set by the joystick 143 or the like (step 3). Then, the electric wheelchair 100 safely and autonomously moves to the destination while estimating its own position and avoiding obstacles based on the information of the side area sensor 144 and the MAP information (step 9). ).

On the other hand, when the automatic traveling mode without passengers is selected in step 1, the footrest frame 111 is rotated toward the seat frame 107 side and folded to a predetermined position (step 4). Then, the seat back frame 109 is rotated toward the seat frame 107 side and folded to a predetermined position (step 5). After that, the footrest frame 111 and the seatback frame 109 are fixed at the joint portion 131, and the electric wheelchair 100 is deformed so that no one can board (step 6). When the fixing detection sensor 132 detects that the footrest frame 111 and the seat back frame 109 are fixed (step 7: YES), the purpose is set by the display 151 installed on the footrest frame 111 (step 8). Then, the electric wheelchair 100 autonomously moves (automatically travels) in accordance with the destination being set (step 9). Note that the controller built in the controller case 142 may detect a person because there is a risk that a person may board until the fixation detection sensor 132 detects that the footrest frame 111 and the seatback frame 109 are fixed. Wait until (step 7: NO).

As described above, even when a person moves autonomously when he/she is not boarding, the electric wheelchair 100 is deformed so that the person cannot board, and the side area sensor 144 and the information of the MAP information are used. Thus, the vehicle can safely and autonomously move to the destination while estimating its own position and avoiding obstacles.

The folding operation of the footrest frame 111 and the seatback frame 109 may be performed manually without using the actuator. In this case, the cost of the electric wheelchair 100 can be reduced as compared with the case of automatically folding.

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

A stereo camera may be used as the side area sensor 144. In this case, since color information and the like can be acquired in addition to the depth information, more detailed information about the obstacle can be acquired and accurate obstacle avoidance can be realized.

INDUSTRIAL APPLICABILITY The electric wheelchair of the present invention is useful in areas requiring indoor/outdoor movement such as in the fields of care and welfare.

100 Electric Wheelchair 101 Main Frame 102 Drive Wheel 103 Electric Motor 104 Electric Drive Unit 105 Chair Device 106 Seat Seat 107 Seat Frame 108 Backrest 109 Seat Back Frame 110 Footrest 111 Footrest Frame 112 Auxiliary Wheel 121 Second Connection 122 122 First Connection part 123 Sit-position conversion controller 131 Coupling part 132 Fixed detection sensor 141 Armrest 142 Controller case 143 Joystick 144 Range measurement sensor 151 Display

Claims (8)

A seat frame that supports a sitting seat that supports the buttocks of the user,
A seatback frame that supports a backrest that supports the back of the user,
A footrest frame that supports a footrest that supports the foot of the user,
Rotating the footrest frame toward the seat frame by connecting one end of the seat frame and one end of the footrest frame, and changing the angle between the footrest frame and the seat frame with the connecting position as a rotation center. A first connecting part to
By connecting the other end of the seat frame and one end of the seat back frame, and changing the angle between the seat back frame and the seat frame with the connecting position as the center of rotation, the seat back frame is moved to the seat frame. A second connecting portion that is rotated to the side,
Drive wheels,
An electric wheelchair comprising: a connecting portion that fixes the seatback frame and the footrest frame in a state where both the seatback frame and the footrest frame are rotated toward the seat frame side . Electric wheelchair according to claim 1, characterized in that the fixed sensor which detects that the seat back frame and said footrest frame is fixed by the coupling unit further comprises. The electric wheelchair according to claim 1 or 2 , wherein the footrest frame is autonomously moved to a destination while being rotated toward the seat frame. The electric wheelchair according to claim 2 , wherein the seatback frame and the footrest frame are autonomously moved to a destination while being fixed by the connecting portion. The footrest frame supports a display on a surface opposite to a surface supporting the footrest, the display receiving the setting of the destination when the footrest frame is rotated to the seat frame side. The electric wheelchair according to claim 4, which is characterized in that. The display, the fixed detecting sensor, when said seat back frame and the footrest frame is detected to be secured by the bond portion, in claim 5, characterized in that accepts the setting of the destination The electric wheelchairs listed. The electric wheelchair according to claim 5 or 6 , wherein the display displays a warning indicating that boarding is dangerous while autonomously moving to the destination. Wherein the first connecting portion, when the mode for moving the electric wheelchair autonomously is selected, claims 1 to 7, characterized in that it comprises an actuator for rotating said footrest frame to the side of the seat frame The electric wheelchair according to any one of items.

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