JP6936668B2

JP6936668B2 - Wheelchair stair lift

Info

Publication number: JP6936668B2
Application number: JP2017174439A
Authority: JP
Inventors: 鈴木　栄二; 栄二鈴木; 政志長塚; 陽一仲田; 紘典秋田; 憲昭澤出; 清二土田; 唯之関戸
Original assignee: Daido Kogyo Co Ltd; East Japan Railway Co
Current assignee: Daido Kogyo Co Ltd; East Japan Railway Co
Priority date: 2017-09-12
Filing date: 2017-09-12
Publication date: 2021-09-22
Anticipated expiration: 2037-09-12
Also published as: JP2019048581A

Description

本発明は、車椅子を搭載して階段を昇降する車椅子用階段昇降機に関する。 The present invention relates to a wheelchair stair lift that carries a wheelchair to move up and down stairs.

従来、ベルトクローラを備えて階段を走行可能な走行装置に車椅子搭載部が枢設されている車椅子用階段昇降機が知られている（例えば、特許文献１参照。）。
この車椅子用階段昇降機は、車椅子搭載部に車椅子を搭載する際や、階段に向かって平地を移動する際には、走行装置に対して車椅子搭載部が略平行の配置にある。
そして、車椅子用階段昇降機が階段を昇降する際には、階段を走行する走行装置に対して車椅子搭載部の角度を切り替え、車椅子搭載部に搭載されている車椅子の姿勢が略水平となるようにしている。 Conventionally, there is known a wheelchair stair lift in which a wheelchair mounting portion is pivotally provided in a traveling device provided with a belt crawler and capable of traveling on stairs (see, for example, Patent Document 1).
In this wheelchair stair lift, the wheelchair mounting portion is arranged substantially parallel to the traveling device when the wheelchair is mounted on the wheelchair mounting portion or when moving on a flat ground toward the stairs.
Then, when the wheelchair stair lift moves up and down the stairs, the angle of the wheelchair mounting portion is switched with respect to the traveling device traveling on the stairs so that the posture of the wheelchair mounted on the wheelchair mounting portion is substantially horizontal. ing.

特許第２５５１８６２号公報Japanese Patent No. 2551862

ところで、上記特許文献１の車椅子用階段昇降機の場合、左右一対のベルトクローラが駆動軸で連結されており、左右のベルトクローラが同一速度で回転するため、車椅子用階段昇降機は直進しかできないようになっている。
そのため、車椅子用階段昇降機の移動方向を変える際には介助者が人力で昇降機の向きを変えるしかなかったが、車椅子用階段昇降機に車椅子と車椅子の搭乗者を加えた重量は重く、その向きを変えることは困難であった。特に、車椅子用階段昇降機が階段を昇降する際に、その向きを変えることは困難であった。 By the way, in the case of the wheelchair stair lift of Patent Document 1, a pair of left and right belt crawlers are connected by a drive shaft, and the left and right belt crawlers rotate at the same speed, so that the wheelchair stair lift can only go straight. It has become.
Therefore, when changing the moving direction of the wheelchair stairlift, the caregiver had to manually change the direction of the elevator. It was difficult to change. In particular, it was difficult for a wheelchair stair lift to change its direction when going up and down stairs.

本発明の目的は、好適に階段を昇降することができる車椅子用階段昇降機を提供することである。 An object of the present invention is to provide a wheelchair stair lift capable of preferably raising and lowering stairs.

上記目的を達成するため、この発明は、
それぞれ独立して回転駆動される左右一対のクローラを備えて階段を走行可能な走行装置と、前記走行装置に枢設されている車椅子搭載部とを具備し、前記車椅子搭載部に車椅子を搭載して階段を昇降する車椅子用階段昇降機であって、
当該車椅子用階段昇降機は、左右方向に並んだ配置に設けられ、前記階段の蹴込板までの距離を測定する一対の測距センサと、
当該車椅子用階段昇降機を駆動制御する制御部と、
を備え、
前記制御部は、
当該車椅子用階段昇降機が少なくとも前記階段を走行する際、前記一対の測距センサがそれぞれ測定した距離の差分に基づき、前記階段の昇降方向に対する当該車椅子用階段昇降機の走行方向の傾きの程度を判断する傾き判断手段と、
前記傾き判断手段が、当該車椅子用階段昇降機の走行方向の傾きが所定角度以上であると判断した場合に、当該車椅子用階段昇降機が昇降方向に対し遅れて傾いた側のクローラの回転速度を相対的に上げるように、少なくとも一方のクローラの回転速度を切り替える傾き修正用クローラ制御手段と、
を備えるようにした。 In order to achieve the above object, the present invention
A traveling device capable of traveling on stairs equipped with a pair of left and right crawler that are independently rotationally driven, and a wheelchair mounting portion pivotally installed in the traveling device are provided, and the wheelchair is mounted on the wheelchair mounting portion. It is a wheelchair stair lift that goes up and down stairs.
The wheelchair stair lift is provided with a pair of distance measuring sensors that are arranged side by side in the left-right direction and measure the distance to the riser plate of the stairs.
A control unit that drives and controls the stair lift for wheelchairs,
With
The control unit
When the stair lift for wheelchairs travels at least on the stairs, the degree of inclination of the stair lift for wheelchairs in the traveling direction with respect to the ascending / descending direction of the stairs is determined based on the difference in distances measured by the pair of distance measuring sensors. Inclination judgment means and
When the inclination determining means determines that the inclination of the stairlift for wheelchair in the traveling direction is equal to or greater than a predetermined angle, the rotation speed of the crawler on the side where the stairlift for wheelchair is inclined behind the elevating direction is relative to each other. Crawler control means for tilt correction that switches the rotation speed of at least one crawler so as to raise it
I tried to prepare.

かかる構成の車椅子用階段昇降機であれば、一対の測距センサがそれぞれ測定した階段の蹴込板までの距離の差分に基づき、階段の昇降方向に対する車椅子用階段昇降機の走行方向の傾きの程度を判断することができる。
そして、車椅子用階段昇降機の走行方向の傾きが所定角度以上であるとの判断に基づき、その車椅子用階段昇降機が階段の昇降方向に対し遅れて傾いた側のクローラの回転速度を相対的に上げるように切り替えることで、車椅子用階段昇降機の走行方向を階段の昇降方向に合わせるように、昇降機の傾きを修正することができる。
こうして車椅子用階段昇降機は、走行方向の傾きを修正しつつ階段を走行することで、好適に階段を昇降することができる。 In the case of a wheelchair stair lift having such a configuration, the degree of inclination of the wheelchair stair lift in the traveling direction with respect to the stair climbing direction is determined based on the difference in the distances to the stair riser measured by each pair of distance measuring sensors. can do.
Then, based on the judgment that the inclination of the wheelchair stairlift in the traveling direction is equal to or greater than a predetermined angle, the rotation speed of the crawler on the side where the wheelchair stairlift is inclined behind the elevating direction of the stairs is relatively increased. By switching in this way, the tilt of the stairlift for wheelchairs can be corrected so as to match the traveling direction of the stairlift for wheelchairs with the elevating direction of the stairs.
In this way, the wheelchair stair lift can preferably move up and down the stairs by traveling on the stairs while correcting the inclination in the traveling direction.

また、望ましくは、
前記階段のいずれか一方の側壁までの距離を測定する側方測距センサを備え、
前記制御部は、
前記側方測距センサが測定した前記側壁までの距離が、第１閾値よりも近いか否かを判断するとともに、前記第１閾値よりも大きな値の第２閾値よりも遠いか否かを判断する側壁距離判断手段と、
前記側壁距離判断手段が、前記側方測距センサが測定した前記側壁までの距離が第１閾値よりも近いと判断した場合には、当該車椅子用階段昇降機の前記側壁側のクローラの回転速度を相対的に上げるように、少なくとも一方のクローラの回転速度を切り替え、前記側方測距センサが測定した前記側壁までの距離が第２閾値よりも遠いと判断した場合には、当該車椅子用階段昇降機の前記側壁とは反対側のクローラの回転速度を相対的に上げるように、少なくとも一方のクローラの回転速度を切り替える側壁距離修正用クローラ制御手段と、
を備えるようにする。 Also, preferably
A side distance measuring sensor for measuring the distance to one of the side walls of the stairs is provided.
The control unit
It is determined whether or not the distance to the side wall measured by the lateral distance measuring sensor is closer than the first threshold value and whether or not it is farther than the second threshold value having a value larger than the first threshold value. Side wall distance determination means and
When the side wall distance determining means determines that the distance to the side wall measured by the side distance measuring sensor is closer than the first threshold value, the rotation speed of the crawler on the side wall side of the wheelchair stairlift is determined. If the rotation speed of at least one crawler is switched so as to increase the relative speed, and the distance to the side wall measured by the lateral distance measuring sensor is determined to be longer than the second threshold value, the stair lift for wheelchair is used. A crawler control means for correcting the side wall distance that switches the rotation speed of at least one of the crawlers so as to relatively increase the rotation speed of the crawler on the side opposite to the side wall.
To be prepared.

かかる構成を備えている車椅子用階段昇降機が、階段の側壁に沿うように走行する際、所定の範囲を越えて側壁に近付いた場合、その車椅子用階段昇降機の側壁側のクローラの回転速度を相対的に上げるように切り替えることで、その車椅子用階段昇降機が側壁から離れるように調整することができる。
同様に、階段の側壁に沿うように走行する車椅子用階段昇降機が、所定の範囲を越えて側壁から離れた場合、その車椅子用階段昇降機の側壁とは反対側のクローラの回転速度を相対的に上げるように切り替えることで、その車椅子用階段昇降機が側壁に近付くように調整することができる。
こうすることで、車椅子用階段昇降機が側壁に近寄り過ぎず、側壁から遠ざかり過ぎずに、側壁と好適な距離を保ちつつ階段を走行することが可能になる。 When a wheelchair stairlift equipped with such a configuration travels along the side wall of a staircase and approaches the side wall beyond a predetermined range, the rotation speed of the crawler on the side wall side of the wheelchair stairlift is relative. By switching to raise the wheelchair, the wheelchair stairlift can be adjusted to move away from the side wall.
Similarly, when a wheelchair stairlift that travels along the side wall of a staircase moves away from the side wall beyond a predetermined range, the rotation speed of the crawler on the side opposite to the side wall of the wheelchair stairlift is relatively high. By switching to raise, the wheelchair stairlift can be adjusted to approach the side wall.
By doing so, the wheelchair stair lift can travel on the stairs while maintaining a suitable distance from the side wall without being too close to the side wall and not too far from the side wall.

また、望ましくは、
前記側壁距離判断手段は、前記側方測距センサが測定した前記側壁までの距離が、前記第１閾値よりも小さな値の第３閾値よりも近いか否かを判断する処理を実行する機能を有し、
前記制御部は、
前記側壁距離判断手段が、前記側方測距センサが測定した前記側壁までの距離が第３閾値よりも近いと判断した場合には、当該車椅子用階段昇降機の走行を止めるように前記一対のクローラの回転駆動を停止するクローラ停止制御手段を備えるようにする。 Also, preferably
The side wall distance determining means has a function of executing a process of determining whether or not the distance to the side wall measured by the lateral distance measuring sensor is closer than the third threshold value, which is smaller than the first threshold value. Have and
The control unit
When the side wall distance determining means determines that the distance to the side wall measured by the lateral distance measuring sensor is closer than the third threshold value, the pair of crawlers so as to stop the running of the wheelchair stair lift. A crawler stop control means for stopping the rotational drive of the vehicle is provided.

かかる構成を備えている車椅子用階段昇降機が、階段の側壁に沿うように走行する際、側壁に近付き過ぎたり、側壁から離れ過ぎたりした場合に、車椅子用階段昇降機を緊急停止させることができる。 When the wheelchair stair lift having such a configuration travels along the side wall of the stairs, the wheelchair stair lift can be stopped urgently when the side wall is too close to or too far from the side wall.

また、望ましくは、
前記側壁距離判断手段は、前記側方測距センサが測定した前記側壁までの距離が、前記第２閾値よりも大きな値の第４閾値よりも遠いか否かを判断する処理を実行する機能を有し、
前記制御部は、
前記側壁距離判断手段が、前記側方測距センサが測定した前記側壁までの距離が第４閾値よりも遠いと判断した場合には、当該車椅子用階段昇降機の走行を止めるように前記一対のクローラの回転駆動を停止するクローラ停止制御手段を備えるようにする。 Also, preferably
The side wall distance determining means has a function of executing a process of determining whether or not the distance to the side wall measured by the lateral distance measuring sensor is farther than a fourth threshold value having a value larger than the second threshold value. Have and
The control unit
When the side wall distance determining means determines that the distance to the side wall measured by the lateral distance measuring sensor is farther than the fourth threshold value, the pair of crawlers so as to stop the running of the wheelchair stair lift. A crawler stop control means for stopping the rotational drive of the vehicle is provided.

本発明によれば、好適に階段を昇降することができる車椅子用階段昇降機が得られる。 According to the present invention, a wheelchair stair lift capable of ascending and descending stairs can be obtained.

本実施形態の車椅子用階段昇降機を示す概略側面図（ａ）と、その要部を示す概略上面図（ｂ）である。It is a schematic side view (a) which shows the stair lift for a wheelchair of this embodiment, and the schematic top view (b) which shows the main part thereof. 平地を走行する車椅子用階段昇降機を示す概略側面図である。It is a schematic side view which shows the stair lift for a wheelchair running on a flat ground. 車椅子用階段昇降機の制御系を示すブロック図である。It is a block diagram which shows the control system of the stair lift for a wheelchair. 本実施形態の車椅子用階段昇降機が階段を走行する際の動作制御の一例を示す説明図である。It is explanatory drawing which shows an example of the operation control at the time of traveling the stairs by the stair lift for wheelchair of this embodiment.

以下、図面を参照して、本発明に係る車椅子用階段昇降機の実施形態について詳細に説明する。但し、以下に述べる実施形態には、本発明を実施するために技術的に好ましい種々の限定が付されているが、本発明の範囲を以下の実施形態及び図示例に限定するものではない。 Hereinafter, embodiments of the wheelchair stair lift according to the present invention will be described in detail with reference to the drawings. However, although the embodiments described below are provided with various technically preferable limitations for carrying out the present invention, the scope of the present invention is not limited to the following embodiments and illustrated examples.

車椅子用階段昇降機１００は、図１（ａ）（ｂ）、図２、図３に示すように、左右一対のクローラ１１を備えて階段Ｓを走行可能な走行装置１０と、走行装置１０に枢設されている車椅子搭載部２０とを具備しており、車椅子搭載部２０に車椅子Ｃを搭載して階段Ｓを昇降することが可能な機器である。 As shown in FIGS. 1 (a), 1 (b), 2 and 3, the wheelchair stair lift 100 includes a traveling device 10 having a pair of left and right crawlers 11 and capable of traveling on the stairs S, and a traveling device 10 centered on the traveling device 10. It is a device provided with a wheelchair mounting portion 20 provided, and a wheelchair C can be mounted on the wheelchair mounting portion 20 to move up and down stairs S.

本実施形態の車椅子用階段昇降機１００は、左右方向に並んだ配置に設けられ、階段Ｓの蹴込板Ｐの板面（蹴込面）までの距離を測定する一対の測距センサ３０と、階段Ｓのいずれか一方の側壁Ｗまでの距離を測定する側方測距センサ４０と、走行装置１０に対する車椅子搭載部２０の角度を切り換える車椅子搭載部用駆動部５０と、昇降機を操作するコントローラー６０と、昇降機の各部を制御する制御部１と、バッテリー等を備えて構成されている。 The wheelchair stair lift 100 of the present embodiment is provided in an arrangement arranged in the left-right direction, and is a pair of distance measuring sensors 30 for measuring the distance to the plate surface (raising surface) of the rise plate P of the stair S, and the stair S. A side distance measuring sensor 40 that measures the distance to one of the side walls W, a wheelchair mounting part drive unit 50 that switches the angle of the wheelchair mounting part 20 with respect to the traveling device 10, a controller 60 that operates an elevator, and the like. It is configured to include a control unit 1 that controls each part of the elevator, a battery, and the like.

走行装置１０は、クローラ１１の駆動輪１１ａを回転させ、クローラ１１を回転駆動するクローラ駆動モーター１２を備えている。
クローラ駆動モーター１２は、左右一対のクローラ１１にそれぞれ設けられており、左右一対のクローラ１１がそれぞれ独立して回転駆動されるようになっている。
なお、クローラ１１における駆動輪１１ａの反対側には従動輪１１ｂが配設されており、クローラ１１は、駆動輪１１ａと従動輪１１ｂの間で少なくとも階段Ｓの２段に跨る長さを有している。 The traveling device 10 includes a crawler drive motor 12 that rotates the drive wheels 11a of the crawler 11 and rotationally drives the crawler 11.
The crawler drive motor 12 is provided on each of the pair of left and right crawlers 11, and the pair of left and right crawlers 11 are independently rotationally driven.
A driven wheel 11b is arranged on the opposite side of the driving wheel 11a in the crawler 11, and the crawler 11 has a length extending at least two steps of the stairs S between the driving wheel 11a and the driven wheel 11b. ing.

また、走行装置１０のフレーム１０ａに側方測距センサ４０が配設されている。側方測距センサ４０は、周知の距離センサであり、レーザー式、超音波式、反射光式などのセンサを用いることができる。
本実施形態の車椅子用階段昇降機１００には、４つの側方測距センサ４０が設けられている。
具体的には、昇降機左側のフレーム１０ａに２つの側方測距センサ４０が設けられ、その一方の側方測距センサ４０が駆動輪１１ａの近傍に設けられ、他方が従動輪１１ｂの近傍に設けられている。同様に、昇降機右側のフレーム１０ａに２つの側方測距センサ４０が設けられ、その一方の側方測距センサ４０が駆動輪１１ａの近傍に設けられ、他方が従動輪１１ｂの近傍に設けられている。
なお、側方測距センサ４０は、昇降機の左側の前後に各１つ又は昇降機の右側の前後に各１つの計２つが設けられた構成であってもよい。
車椅子用階段昇降機１００は、例えば、階段Ｓの両側にある側壁Ｗのいずれかに寄せられた位置を走行するので、その側壁Ｗ寄りのフレーム１０ａに設けられている側方測距センサ４０を使用するように切り替えて、階段Ｓ側方の側壁Ｗまでの距離を測定する。
特に、フレーム１０ａに設けられている２つの側方測距センサ４０のうち、進行方向前方の側方測距センサ４０を使用するように切り替える。本実施形態では、階段Ｓを昇る方向に走行する際には、従動輪１１ｂ側の側方測距センサ４０を使用するように切り替え、階段Ｓを降りる方向に走行する際には、駆動輪１１ａ側の側方測距センサ４０を使用するように切り替える。
なお、階段Ｓの片側にのみ側壁Ｗがある場合、その側壁Ｗに寄せた位置で車椅子用階段昇降機１００を走行させ、側壁Ｗ寄りのフレーム１０ａに設けられている側方測距センサ４０のうち、進行方向前方の側方測距センサ４０を使用するようにすればよい。 Further, a side distance measuring sensor 40 is arranged on the frame 10a of the traveling device 10. The side distance measuring sensor 40 is a well-known distance sensor, and a laser type, ultrasonic type, reflected light type or the like can be used.
The wheelchair stair lift 100 of the present embodiment is provided with four side distance measuring sensors 40.
Specifically, two side distance measuring sensors 40 are provided on the frame 10a on the left side of the elevator, one side distance measuring sensor 40 is provided near the drive wheel 11a, and the other is near the driven wheel 11b. It is provided. Similarly, the frame 10a on the right side of the elevator is provided with two lateral distance measuring sensors 40, one of which is provided in the vicinity of the drive wheel 11a and the other in the vicinity of the driven wheel 11b. ing.
The side distance measuring sensor 40 may be provided with one each on the front and rear on the left side of the elevator or one on the front and back on the right side of the elevator.
Since the wheelchair stair lift 100 travels at a position close to any of the side walls W on both sides of the stairs S, for example, the side distance measuring sensor 40 provided on the frame 10a near the side wall W is used. The distance to the side wall W on the side of the stairs S is measured.
In particular, of the two side distance measuring sensors 40 provided on the frame 10a, the side distance measuring sensor 40 in front of the traveling direction is switched to be used. In the present embodiment, when traveling in the direction of going up the stairs S, the side distance measuring sensor 40 on the driven wheel 11b side is switched to be used, and when traveling in the direction of descending the stairs S, the driving wheels 11a are used. Switch to use the lateral ranging sensor 40 on the side.
If there is a side wall W on only one side of the stairs S, the wheelchair stair lift 100 is run at a position close to the side wall W, and among the side distance measuring sensors 40 provided on the frame 10a near the side wall W. , The lateral ranging sensor 40 in front of the traveling direction may be used.

車椅子搭載部２０は、例えば、略箱型である有底籠状のコンテナであり、車椅子Ｃが車椅子搭載部２０に乗り降りする際に使用するスロープや、車椅子Ｃを車椅子搭載部２０に固定するロック機構などを有している。 The wheelchair mounting portion 20 is, for example, a substantially box-shaped bottomed basket-shaped container, such as a slope used when the wheelchair C gets on and off the wheelchair mounting portion 20, and a lock for fixing the wheelchair C to the wheelchair mounting portion 20. It has a mechanism and so on.

また、車椅子搭載部２０には、一対の測距センサ３０が配設されている。一対の測距センサ３０は、周知の距離センサであり、レーザー式、超音波式、反射光式などのセンサを用いることができる。
本実施形態では、車椅子搭載部２０の底面寄りの外面に一対の測距センサ３０が左右方向に並んだ配置に設けられている。
具体的には、階段Ｓの昇降方向と車椅子用階段昇降機１００の走行方向とが一致している場合、左右一対の測距センサ３０がそれぞれ測定した階段Ｓの蹴込板Ｐまでの距離が同じ値になる配置に、一対の測距センサ３０が車椅子搭載部２０に配設されている。
なお、左右一対の測距センサ３０はそれぞれ、走行装置１０の従動輪１１ｂの近傍側の面に配設されている。 Further, the wheelchair mounting portion 20 is provided with a pair of distance measuring sensors 30. The pair of distance measuring sensors 30 are well-known distance sensors, and sensors such as a laser type, an ultrasonic type, and a reflected light type can be used.
In the present embodiment, a pair of ranging sensors 30 are provided on the outer surface of the wheelchair mounting portion 20 near the bottom surface in an arrangement arranged in the left-right direction.
Specifically, when the elevating direction of the stairs S and the traveling direction of the wheelchair stair lift 100 match, the distances to the riser plate P of the stairs S measured by the pair of left and right distance measuring sensors 30 are the same value. A pair of distance measuring sensors 30 are arranged in the wheelchair mounting portion 20 in such an arrangement.
The pair of left and right ranging sensors 30 are arranged on the surface of the traveling device 10 on the vicinity side of the driven wheel 11b, respectively.

車椅子搭載部用駆動部５０は、例えば、シリンダ装置であり、一端が走行装置１０のフレーム１０ａに繋がれ、他端が車椅子搭載部２０に繋がれている。
この車椅子搭載部用駆動部５０は、車椅子用階段昇降機１００が階段Ｓに向かって平地を移動する際（図２参照）にはシリンダを縮めるように作動して、走行装置１０に対して車椅子搭載部２０が略平行の配置になるように、走行装置１０に対する車椅子搭載部２０の角度を切り換える。また、椅子用階段昇降機１００が階段Ｓを昇降する際にはシリンダを伸ばすように作動して、車椅子搭載部２０に搭載されている車椅子Ｃの姿勢が略水平となるように、走行装置１０に対する車椅子搭載部２０の角度を切り換える。
なお、車椅子搭載部用駆動部５０は、シリンダ装置であることに限らず、他の駆動機構を採用してもよい。 The wheelchair mounting portion drive unit 50 is, for example, a cylinder device, one end of which is connected to the frame 10a of the traveling device 10 and the other end of which is connected to the wheelchair mounting portion 20.
The drive unit 50 for the wheelchair mounting portion operates so as to contract the cylinder when the stair lift 100 for wheelchair moves toward the stairs S on a flat ground (see FIG. 2), and mounts the wheelchair on the traveling device 10. The angle of the wheelchair mounting portion 20 with respect to the traveling device 10 is switched so that the portions 20 are arranged substantially in parallel. Further, when the stair lift 100 for chairs moves up and down the stairs S, the cylinder is extended so that the posture of the wheelchair C mounted on the wheelchair mounting portion 20 is substantially horizontal with respect to the traveling device 10. The angle of the wheelchair mounting portion 20 is switched.
The drive unit 50 for the wheelchair mounting portion is not limited to the cylinder device, and other drive mechanisms may be adopted.

コントローラー６０は、車椅子用階段昇降機１００と有線接続あるいは無線接続されている操作部であり、車椅子Ｃの介助者が操作する。
例えば、各種センサの測定結果を利用して昇降機を走行させるセミ自動モードでは、主に車椅子用階段昇降機１００の前進・後退に関する操作がコントローラー６０によって行われる。また、４つの側方測距センサ４０のうち、使用する側方測距センサ４０の切り替えをコントローラー６０によって行ってもよい。
また、各種センサの測定結果を利用しないで昇降機を走行させる手動モードでは、車椅子用階段昇降機１００の前進・後退および左右の方向指示の操作と、停止に関する操作がコントローラー６０によって行われる。 The controller 60 is an operation unit that is wired or wirelessly connected to the wheelchair stair lift 100, and is operated by a caregiver of the wheelchair C.
For example, in the semi-automatic mode in which the elevator is driven by using the measurement results of various sensors, the controller 60 mainly performs operations related to forward / backward movement of the wheelchair stair lift 100. Further, of the four side distance measuring sensors 40, the side distance measuring sensor 40 to be used may be switched by the controller 60.
Further, in the manual mode in which the elevator is driven without using the measurement results of various sensors, the controller 60 performs operations related to forward / backward movement, left / right direction instruction, and stop of the wheelchair stair lift 100.

制御部１は、例えば、各種の演算処理等を行うＣＰＵと、ＣＰＵにより実行される各種制御プログラムや各種データ等が格納されているＲＯＭ等を備えて構成されており、装置各部を統括制御するようになっている。
制御部１のＲＯＭには、後述する閾値（第１閾値Ｄ１、第２閾値Ｄ２、第３閾値、第４閾値Ｄ４）や、車椅子用階段昇降機１００の走行方向の傾きに関する角度の基準値（第１基準値、第２基準値）が格納されている。
なお、閾値（第１閾値Ｄ１、第２閾値Ｄ２、第３閾値、第４閾値Ｄ４）に関するデータは、車椅子用階段昇降機１００が走行する階段Ｓの幅などに応じて、コントローラー６０を介して入力設定するようにしてもよい。 The control unit 1 is configured to include, for example, a CPU that performs various arithmetic processes and a ROM that stores various control programs and various data executed by the CPU, and controls each unit of the device in an integrated manner. It has become like.
The ROM of the control unit 1 contains threshold values (first threshold value D1, second threshold value D2, third threshold value, fourth threshold value D4), which will be described later, and reference values of angles related to the inclination of the wheelchair stairlift 100 in the traveling direction (first threshold value D1). 1 reference value, 2nd reference value) are stored.
The data related to the threshold values (first threshold value D1, second threshold value D2, third threshold value, fourth threshold value D4) is input via the controller 60 according to the width of the stairs S on which the wheelchair stair lift 100 travels. You may set it.

例えば、制御部１は、一対の測距センサ３０がそれぞれ測定した蹴込板Ｐまでの距離の差分に基づき、階段Ｓの昇降方向に対する当該車椅子用階段昇降機１００の走行方向の傾きの程度を判断する傾き判断手段としての処理を実行する。
上述したように、階段Ｓの昇降方向と車椅子用階段昇降機１００の走行方向とが一致している場合、左右一対の測距センサ３０がそれぞれ測定した階段Ｓの蹴込板Ｐまでの距離は同じ値になるので、一対の測距センサ３０がそれぞれ測定した蹴込板Ｐまでの距離が異なる値であるとき、階段Ｓの昇降方向に対して車椅子用階段昇降機１００の走行方向が傾いている状態であると判定できる。 For example, the control unit 1 determines the degree of inclination of the stair lift 100 for wheelchairs in the traveling direction with respect to the elevating direction of the stairs S, based on the difference in the distances to the riser plates P measured by the pair of distance measuring sensors 30 respectively. Performs processing as a tilt determination means.
As described above, when the elevating direction of the stairs S and the traveling direction of the stair lift 100 for wheelchairs match, the distances to the riser plate P of the stairs S measured by the pair of left and right distance measuring sensors 30 are the same value. Therefore, when the distances to the riser plates P measured by the pair of distance measuring sensors 30 are different values, the traveling direction of the stair lift 100 for wheelchairs is tilted with respect to the elevating direction of the stairs S. Can be determined.

例えば、一対の測距センサ３０がそれぞれ測定した蹴込板Ｐまでの距離の差分が第１基準値に満たない場合、傾き判断手段として機能する制御部１は、階段Ｓの昇降方向に対する車椅子用階段昇降機１００の走行方向の傾きは３°未満の誤差範囲であり、その車椅子用階段昇降機１００の走行方向の傾きはないものと判断する。
また、一対の測距センサ３０がそれぞれ測定した蹴込板Ｐまでの距離の差分が第１基準値よりも大きく、第１基準値よりも大きな値の第２基準値よりも小さい場合、傾き判断手段として機能する制御部１は、階段Ｓの昇降方向に対する車椅子用階段昇降機１００の走行方向の傾きが３°以上１０°未満であり、その車椅子用階段昇降機１００の走行方向に小さな傾きがあると判断する。
また、一対の測距センサ３０がそれぞれ測定した蹴込板Ｐまでの距離の差分が第２基準値を超える場合、傾き判断手段として機能する制御部１は、階段Ｓの昇降方向に対する車椅子用階段昇降機１００の走行方向の傾きが１０°以上であり、その車椅子用階段昇降機１００の走行方向に大きな傾きがあると判断する。
なお、一対の測距センサ３０がそれぞれ測定した蹴込板Ｐまでの距離の差分に関する基準値は、一対の測距センサ３０の間隔に応じて異なるので、昇降機の設計に応じて設定される。 For example, when the difference in the distances to the riser plates P measured by the pair of distance measuring sensors 30 is less than the first reference value, the control unit 1 functioning as the inclination determining means is a stair for a wheelchair in the ascending / descending direction of the stairs S. It is determined that the inclination of the elevator 100 in the traveling direction is within an error range of less than 3 °, and that the stairlift 100 for wheelchairs is not inclined in the traveling direction.
Further, when the difference in the distances to the riser plate P measured by the pair of distance measuring sensors 30 is larger than the first reference value and smaller than the second reference value having a value larger than the first reference value, the inclination determining means. The control unit 1 functions as do.
Further, when the difference in the distances to the riser plates P measured by the pair of distance measuring sensors 30 exceeds the second reference value, the control unit 1 functioning as the inclination determining means is a stair lift for wheelchairs with respect to the elevating direction of the stairs S. It is determined that the inclination of 100 in the traveling direction is 10 ° or more, and that the stairlift 100 for wheelchairs has a large inclination in the traveling direction.
Since the reference value regarding the difference in the distance to the riser plate P measured by the pair of distance measuring sensors 30 differs depending on the distance between the pair of distance measuring sensors 30, it is set according to the design of the elevator.

また、制御部１は、傾き判断手段として機能する制御部１が、当該車椅子用階段昇降機１００の走行方向の傾きが所定角度以上であると判断した場合に、当該車椅子用階段昇降機１００が階段Ｓの昇降方向に対し遅れて傾いた側のクローラ１１の回転速度を相対的に上げるように、少なくとも一方のクローラ１の回転速度を切り替える傾き修正用クローラ制御手段としての処理を実行する。
例えば、傾き判断手段として機能する制御部１が、車椅子用階段昇降機１００の走行方向の傾きが３°以上であると判断した場合、車椅子用階段昇降機１００が階段Ｓの昇降方向に対し遅れて傾いた側のクローラ１１の回転速度を上げるように切り替えるか、その反対側のクローラ１１の回転速度を下げるように切り替えるか、またその両方のクローラ１１の回転速度を切り替えるかして、階段Ｓの昇降方向に対し遅れて傾いた側のクローラ１１の回転速度を相対的に上げて、車椅子用階段昇降機１００の走行方向を階段Ｓの昇降方向に合わせるように、昇降機の傾きを修正する。 Further, when the control unit 1 functioning as the inclination determining means determines that the inclination of the wheelchair stairlift 100 in the traveling direction is equal to or more than a predetermined angle, the wheelchair stairlift 100 determines the stairs S. The process as the tilt correction crawler control means for switching the rotation speed of at least one of the crawler 1 is executed so as to relatively increase the rotation speed of the crawler 11 on the side tilted behind the elevating direction of.
For example, when the control unit 1 functioning as an inclination determining means determines that the inclination of the wheelchair stairlift 100 in the traveling direction is 3 ° or more, the wheelchair stairlift 100 tilts behind the ascending / descending direction of the stairs S. Elevating the stairs S by switching to increase the rotation speed of the crawler 11 on the other side, switching to decrease the rotation speed of the crawler 11 on the opposite side, or switching the rotation speed of both crawler 11s. The inclination of the elevator is corrected so that the rotation speed of the crawler 11 on the side inclined behind the direction is relatively increased so that the traveling direction of the stairlift 100 for wheelchairs is aligned with the ascending direction of the stairs S.

また、制御部１は、側方測距センサ４０が測定した側壁Ｗまでの距離が、第１閾値Ｄ１よりも近いか否かを判断するとともに、第１閾値Ｄ１よりも大きな値の第２閾値Ｄ２よりも遠いか否かを判断する側壁距離判断手段としての処理を実行する。
また、制御部１は、側壁距離判断手段として機能する制御部１が、側方測距センサ４０が測定した側壁Ｗまでの距離が第１閾値Ｄ１よりも近いと判断した場合には、当該車椅子用階段昇降機１００の側壁Ｗ側のクローラ１１の回転速度を相対的に上げるように、少なくとも一方のクローラ１１の回転速度を切り替え、側方測距センサ４０が測定した側壁Ｗまでの距離が第２閾値Ｄ２よりも遠いと判断した場合には、当該車椅子用階段昇降機１００の側壁Ｗとは反対側のクローラ１１の回転速度を相対的に上げるように、少なくとも一方のクローラ１１の回転速度を切り替える側壁距離修正用クローラ制御手段としての処理を実行する。 Further, the control unit 1 determines whether or not the distance to the side wall W measured by the lateral distance measuring sensor 40 is closer than the first threshold value D1, and the second threshold value having a value larger than the first threshold value D1. A process is executed as a side wall distance determining means for determining whether or not the distance is farther than D2.
Further, when the control unit 1 functioning as the side wall distance determining means determines that the distance to the side wall W measured by the lateral distance measuring sensor 40 is closer than the first threshold value D1, the control unit 1 determines that the wheelchair The rotation speed of at least one of the crawlers 11 is switched so as to relatively increase the rotation speed of the crawler 11 on the side wall W side of the stair lift 100, and the distance to the side wall W measured by the side distance measuring sensor 40 is the second. When it is determined that the distance is farther than the threshold value D2, the side wall that switches the rotation speed of at least one of the crawlers 11 so as to relatively increase the rotation speed of the crawler 11 on the side opposite to the side wall W of the wheelchair stairlift 100. Performs processing as a distance correction crawler control means.

例えば、側壁距離判断手段として機能する制御部１が、側方測距センサ４０が測定した側壁Ｗまでの距離が２０ｃｍ（第１閾値Ｄ１）よりも近いと判断した場合には、側壁Ｗ側のクローラ１１の回転速度を上げるように切り替えるか、側壁Ｗとは反対側のクローラ１１の回転速度を下げるように切り替えるか、またその両方のクローラ１１の回転速度を切り替えるかして、車椅子用階段昇降機１００の側壁Ｗ側のクローラ１１の回転速度を相対的に上げて、車椅子用階段昇降機１００が側壁Ｗから離間するように調整する。
また、側壁距離判断手段として機能する制御部１が、側方測距センサ４０が測定した側壁Ｗまでの距離が３０ｃｍ（第２閾値Ｄ２）よりも遠いと判断した場合には、側壁Ｗとは反対側のクローラ１１の回転速度を上げるように切り替えるか、側壁Ｗ側のクローラ１１の回転速度を下げるように切り替えるか、またその両方のクローラ１１の回転速度を切り替えるかして、車椅子用階段昇降機１００の側壁Ｗとは反対側のクローラ１１の回転速度を相対的に上げて、車椅子用階段昇降機１００が側壁Ｗに近付くように調整する。
こうすることで、車椅子用階段昇降機１００が側壁Ｗに近寄り過ぎず、側壁Ｗから遠ざかり過ぎずに、側壁Ｗと好適な距離を保ちつつ階段Ｓを走行することが可能になる。 For example, when the control unit 1 functioning as the side wall distance determining means determines that the distance to the side wall W measured by the side distance measuring sensor 40 is closer than 20 cm (first threshold value D1), the side wall W side A stair lift for wheelchairs by switching to increase the rotation speed of the crawler 11, to decrease the rotation speed of the crawler 11 on the opposite side of the side wall W, or to switch the rotation speed of both crawlers 11. The rotation speed of the crawler 11 on the side wall W side of 100 is relatively increased so that the wheelchair stairlift 100 is separated from the side wall W.
Further, when the control unit 1 functioning as the side wall distance determining means determines that the distance to the side wall W measured by the lateral distance measuring sensor 40 is longer than 30 cm (second threshold D2), the side wall W is referred to as the side wall W. A stair lift for wheelchairs by switching to increase the rotation speed of the crawler 11 on the opposite side, switching to decrease the rotation speed of the crawler 11 on the side wall W side, or switching the rotation speed of both crawlers 11. The rotation speed of the crawler 11 on the side opposite to the side wall W of 100 is relatively increased so that the wheelchair stairlift 100 approaches the side wall W.
By doing so, the wheelchair stair lift 100 can travel on the stairs S while maintaining a suitable distance from the side wall W without being too close to the side wall W and not too far from the side wall W.

また、側壁距離判断手段として機能する制御部１は、側方測距センサ４０が測定した側壁Ｗまでの距離が、第１閾値Ｄ１よりも小さな値の第３閾値Ｄ３よりも近いか否かを判断するとともに、第２閾値Ｄ２よりも大きな値の第４閾値Ｄ４よりも遠いか否かを判断する処理を実行するように構成されている。
そして、制御部１は、側壁距離判断手段として機能する制御部１が、側方測距センサ４０が測定した側壁Ｗまでの距離が第３閾値Ｄ３よりも近いと判断した場合には、当該車椅子用階段昇降機１００の走行を止めるように一対のクローラ１１の回転駆動を停止し、側方測距センサ４０が測定したＷ側壁までの距離が第４閾値Ｄ４よりも遠いと判断した場合には、当該車椅子用階段昇降機１００の走行を止めるように一対のクローラ１１の回転駆動を停止するクローラ停止制御手段としての処理を実行する。 Further, the control unit 1 functioning as the side wall distance determining means determines whether or not the distance to the side wall W measured by the side distance measuring sensor 40 is closer than the third threshold D3, which is a value smaller than the first threshold D1. It is configured to execute a process of determining whether or not the value is larger than the second threshold value D2 and is greater than the fourth threshold value D4.
Then, when the control unit 1 functioning as the side wall distance determining means determines that the distance to the side wall W measured by the lateral distance measuring sensor 40 is closer than the third threshold value D3, the control unit 1 said the wheelchair. When the rotational drive of the pair of crawler 11s is stopped so as to stop the running of the stairlift 100, and the distance to the W side wall measured by the lateral distance measuring sensor 40 is determined to be longer than the fourth threshold value D4, A process is executed as a crawler stop control means for stopping the rotational drive of the pair of crawlers 11 so as to stop the traveling of the wheelchair stairlift 100.

例えば、側壁距離判断手段として機能する制御部１が、側方測距センサ４０が測定した側壁Ｗまでの距離が１０ｃｍ（第３閾値Ｄ３）よりも近いと判断した場合には、一対のクローラ１１の回転駆動を停止して車椅子用階段昇降機１００の走行を止める。
また、側壁距離判断手段として機能する制御部１が、側方測距センサ４０が測定した側壁Ｗまでの距離が４０ｃｍ（第４閾値Ｄ４）よりも遠いと判断した場合には、一対のクローラ１１の回転駆動を停止して車椅子用階段昇降機１００の走行を止める。
こうすることで、車椅子用階段昇降機１００に何らかの異常が発生し、側壁Ｗに沿う走行ができなくなった場合に、緊急停止することができる。 For example, when the control unit 1 functioning as the side wall distance determining means determines that the distance to the side wall W measured by the lateral distance measuring sensor 40 is closer than 10 cm (third threshold value D3), the pair of crawlers 11 The rotation drive of the wheelchair stair lift 100 is stopped.
Further, when the control unit 1 functioning as the side wall distance determining means determines that the distance to the side wall W measured by the lateral distance measuring sensor 40 is longer than 40 cm (fourth threshold value D4), the pair of crawlers 11 The rotation drive of the wheelchair stair lift 100 is stopped.
By doing so, when some abnormality occurs in the wheelchair stair lift 100 and it becomes impossible to travel along the side wall W, an emergency stop can be made.

次に、本実施形態の車椅子用階段昇降機１００が階段Ｓをセミ自動モードで走行する際の動作制御の一例として、車椅子用階段昇降機１００が階段Ｓを昇る場合の動作制御について説明する。
ここでは、車椅子用階段昇降機１００が階段Ｓを昇る方向に対し、左側の側壁Ｗに沿って走行する場合を例に説明する。
なお、車椅子用階段昇降機１００をセミ自動モードで階段Ｓを昇る方向に走行させる際、例えば、介助者はコントローラー６０の「昇」スイッチを押下すればよい。 Next, as an example of the operation control when the wheelchair stair lift 100 of the present embodiment travels on the stairs S in the semi-automatic mode, the operation control when the wheelchair stair lift 100 climbs the stairs S will be described.
Here, a case where the wheelchair stair lift 100 travels along the left side wall W with respect to the direction of climbing the stairs S will be described as an example.
When the wheelchair stair lift 100 is driven in the direction of climbing the stairs S in the semi-automatic mode, for example, the caregiver may press the "rise" switch of the controller 60.

［車椅子用階段昇降機と側壁との距離が第１閾値Ｄ１と第２閾値Ｄ２の間にある場合］
図４に示す「Ａ欄」のように、車椅子用階段昇降機１００の走行方向に傾きがなく、側壁Ｗとの距離が第１閾値Ｄ１と第２閾値Ｄ２の間にある場合、車椅子用階段昇降機１００がそのまま直進するよう、左右一対のクローラ１１が回転駆動される。 [When the distance between the wheelchair stair lift and the side wall is between the first threshold D1 and the second threshold D2]
As shown in "Column A" shown in FIG. 4, when the wheelchair stair lift 100 is not tilted in the traveling direction and the distance from the side wall W is between the first threshold D1 and the second threshold D2, the wheelchair stair lift A pair of left and right crawler 11s are rotationally driven so that the 100 travels straight.

そして、図４に示す「Ｂ欄」のように、側壁Ｗとの距離が第１閾値Ｄ１と第２閾値Ｄ２の間にある車椅子用階段昇降機１００の走行方向が階段Ｓの昇降方向に対して傾き、その走行方向右側が遅れて傾いた角度が、例えば３°以上である場合、側壁Ｗとは反対側のクローラ１１の回転速度を相対的に上げる動作制御がなされ、車椅子用階段昇降機１００の走行方向を階段Ｓの昇降方向に合わせるように、昇降機の傾きが修正される。
同様に、図４に示す「Ｃ欄」のように、側壁Ｗとの距離が第１閾値Ｄ１と第２閾値Ｄ２の間にある車椅子用階段昇降機１００の走行方向が階段Ｓの昇降方向に対して傾き、その走行方向左側が遅れて傾いた角度が、例えば３°以上である場合、側壁Ｗ側のクローラ１１の回転速度を相対的に上げる動作制御がなされ、車椅子用階段昇降機１００の走行方向を階段Ｓの昇降方向に合わせるように、昇降機の傾きが修正される。 Then, as shown in "column B" shown in FIG. 4, the traveling direction of the wheelchair stair lift 100 whose distance from the side wall W is between the first threshold D1 and the second threshold D2 is relative to the ascending / descending direction of the stairs S. When the tilt, the right side of the traveling direction is delayed and the tilt angle is, for example, 3 ° or more, the operation control is performed to relatively increase the rotation speed of the crawler 11 on the side opposite to the side wall W, and the stair lift 100 for wheelchairs. The inclination of the elevator is corrected so that the traveling direction is aligned with the ascending / descending direction of the stairs S.
Similarly, as shown in "column C" shown in FIG. 4, the traveling direction of the wheelchair stair lift 100 whose distance from the side wall W is between the first threshold D1 and the second threshold D2 is relative to the ascending direction of the stair S. When the angle at which the left side of the stair lift is delayed and tilted is, for example, 3 ° or more, the operation control is performed to relatively increase the rotation speed of the crawler 11 on the side wall W side, and the stair lift 100 for wheelchairs travels. The inclination of the elevator is corrected so that the stairs S are aligned with the ascending / descending direction of the stairs S.

［車椅子用階段昇降機と側壁との距離が第１閾値Ｄ１よりも近い場合］
図４に示す「Ｄ欄」のように、車椅子用階段昇降機１００と側壁Ｗとの距離が第１閾値Ｄ１よりも近い場合、車椅子用階段昇降機１００が側壁Ｗから離間するように、側壁Ｗ側のクローラ１１の回転速度を相対的に上げる動作制御がなされる。
具体的には、車椅子用階段昇降機１００の走行方向に傾きがなく、側壁Ｗとの距離が第１閾値Ｄ１よりも近い場合、側壁Ｗ側のクローラ１１の回転速度を相対的に上げる動作制御がなされ、車椅子用階段昇降機１００が側壁Ｗから離間するように調整される。
また、側壁Ｗとの距離が第１閾値Ｄ１よりも近くにあって、車椅子用階段昇降機１００の走行方向が階段Ｓの昇降方向に対して傾き、その走行方向左側が遅れて傾いた角度が、例えば３°以上である場合、側壁Ｗ側のクローラ１１の回転速度を相対的に上げる動作制御がなされ、車椅子用階段昇降機１００の走行方向を階段Ｓの昇降方向に合わせつつ、椅子用階段昇降機１００が側壁Ｗから離間するように（椅子用階段昇降機１００が側壁Ｗに近付かないように）調整される。 [When the distance between the wheelchair stair lift and the side wall is closer than the first threshold value D1]
As shown in "Column D" shown in FIG. 4, when the distance between the wheelchair stair lift 100 and the side wall W is closer than the first threshold value D1, the wheelchair stair lift 100 is separated from the side wall W on the side wall W side. Operation control is performed to relatively increase the rotation speed of the crawler 11.
Specifically, when the wheelchair stair lift 100 is not tilted in the traveling direction and the distance to the side wall W is closer than the first threshold value D1, the operation control for relatively increasing the rotation speed of the crawler 11 on the side wall W side is performed. Then, the wheelchair stair lift 100 is adjusted so as to be separated from the side wall W.
Further, the distance to the side wall W is closer than the first threshold value D1, the traveling direction of the wheelchair stairlift 100 is tilted with respect to the ascending / descending direction of the stairs S, and the left side of the traveling direction is delayed and tilted. For example, when the temperature is 3 ° or more, the operation is controlled to relatively increase the rotation speed of the crawler 11 on the side wall W side, and the stairlift 100 for chairs is adjusted to the elevating direction of the stairs S while the traveling direction of the stairlift 100 for wheelchairs is adjusted to the elevating direction of the stairs S. Is adjusted so as to be separated from the side wall W (so that the chair stairlift 100 does not approach the side wall W).

一方、図４に示す「Ｅ欄」のように、側壁Ｗとの距離が第１閾値Ｄ１よりも近くにあって、車椅子用階段昇降機１００の走行方向が階段Ｓの昇降方向に対して傾き、その走行方向右側が遅れて傾いた角度が、例えば３°以上１０°未満である場合、車椅子用階段昇降機１００が側壁Ｗから離間するように、車椅子用階段昇降機１００がそのまま直進するよう、左右一対のクローラ１１が回転駆動される。
また、図４に示す「Ｆ欄」のように、側壁Ｗとの距離が第１閾値Ｄ１よりも近くにあって、車椅子用階段昇降機１００の走行方向が階段Ｓの昇降方向に対して傾き、その走行方向右側が遅れて傾いた角度が、例えば１０°以上である場合、まずは、車椅子用階段昇降機１００の走行方向を階段Ｓの昇降方向に合わせる傾き修正のために、側壁Ｗとは反対側のクローラ１１の回転速度を相対的に上げる動作制御がなされる。 On the other hand, as shown in "column E" shown in FIG. 4, the distance from the side wall W is closer than the first threshold value D1, and the traveling direction of the wheelchair stairlift 100 is tilted with respect to the ascending / descending direction of the stairs S. When the right side of the traveling direction is delayed and tilted, for example, 3 ° or more and less than 10 °, a pair of left and right so that the wheelchair stairlift 100 goes straight as it is so that the wheelchair stairlift 100 separates from the side wall W. Crawler 11 is driven to rotate.
Further, as shown in "column F" shown in FIG. 4, the distance from the side wall W is closer than the first threshold value D1, and the traveling direction of the wheelchair stairlift 100 is tilted with respect to the ascending / descending direction of the stairs S. When the right side of the traveling direction is tilted with a delay of, for example, 10 ° or more, first, in order to correct the inclination to match the traveling direction of the stairlift 100 for wheelchairs with the ascending / descending direction of the stairs S, the side opposite to the side wall W Operation control is performed to relatively increase the rotation speed of the crawler 11.

［車椅子用階段昇降機と側壁との距離が第２閾値Ｄ２よりも遠い場合］
図４に示す「Ｇ欄」のように、車椅子用階段昇降機１００と側壁Ｗとの距離が第２閾値Ｄ２よりも遠い場合、車椅子用階段昇降機１００が側壁Ｗに近付くように、側壁Ｗとは反対側のクローラ１１の回転速度を相対的に上げる動作制御がなされる。
具体的には、車椅子用階段昇降機１００の走行方向に傾きがなく、側壁Ｗとの距離が第２閾値Ｄ２よりも遠い場合、側壁Ｗとは反対側のクローラ１１の回転速度を相対的に上げる動作制御がなされ、車椅子用階段昇降機１００が側壁Ｗに近付くように調整される。
また、側壁Ｗとの距離が第２閾値Ｄ２よりも遠くにあって、車椅子用階段昇降機１００の走行方向が階段Ｓの昇降方向に対して傾き、その走行方向右側が遅れて傾いた角度が、例えば３°以上である場合、側壁Ｗとは反対側のクローラ１１の回転速度を相対的に上げる動作制御がなされ、車椅子用階段昇降機１００の走行方向を階段Ｓの昇降方向に合わせつつ、椅子用階段昇降機１００が側壁Ｗに近付くように（椅子用階段昇降機１００が側壁Ｗから離間しないように）調整される。 [When the distance between the wheelchair stair lift and the side wall is longer than the second threshold D2]
As shown in "Column G" shown in FIG. 4, when the distance between the wheelchair stair lift 100 and the side wall W is longer than the second threshold value D2, the side wall W is so that the wheelchair stair lift 100 approaches the side wall W. Operation control is performed to relatively increase the rotation speed of the crawler 11 on the opposite side.
Specifically, when the wheelchair stair lift 100 is not tilted in the traveling direction and the distance from the side wall W is longer than the second threshold value D2, the rotation speed of the crawler 11 on the side opposite to the side wall W is relatively increased. The operation is controlled, and the wheelchair stair lift 100 is adjusted so as to approach the side wall W.
Further, the distance from the side wall W is farther than the second threshold value D2, the traveling direction of the wheelchair stairlift 100 is tilted with respect to the ascending / descending direction of the stairs S, and the right side of the traveling direction is delayed and tilted. For example, when the temperature is 3 ° or more, the operation is controlled to relatively increase the rotation speed of the crawler 11 on the side opposite to the side wall W, and the traveling direction of the stairlift 100 for wheelchairs is adjusted to the elevating direction of the stairs S for chairs. The stair lift 100 is adjusted so as to approach the side wall W (so that the chair stair lift 100 does not separate from the side wall W).

一方、図４に示す「Ｈ欄」のように、側壁Ｗとの距離が第２閾値Ｄ２よりも遠くにあって、車椅子用階段昇降機１００の走行方向が階段Ｓの昇降方向に対して傾き、その走行方向左側が遅れて傾いた角度が、例えば３°以上１０°未満である場合、車椅子用階段昇降機１００が側壁Ｗに近付くように、車椅子用階段昇降機１００がそのまま直進するよう、左右一対のクローラ１１が回転駆動される。
また、図４に示す「Ｉ欄」のように、側壁Ｗとの距離が第２閾値Ｄ２よりも遠くにあって、車椅子用階段昇降機１００の走行方向が階段Ｓの昇降方向に対して傾き、その走行方向左側が遅れて傾いた角度が、例えば１０°以上である場合、まずは、車椅子用階段昇降機１００の走行方向を階段Ｓの昇降方向に合わせる傾き修正のために、側壁Ｗ側のクローラ１１の回転速度を相対的に上げる動作制御がなされる。 On the other hand, as shown in the "H column" shown in FIG. 4, the distance from the side wall W is farther than the second threshold value D2, and the traveling direction of the wheelchair stairlift 100 is tilted with respect to the ascending / descending direction of the stairs S. When the left side of the traveling direction is delayed and tilted, for example, 3 ° or more and less than 10 °, a pair of left and right stair lifts 100 are left and right so that the wheelchair stair lift 100 approaches the side wall W and the wheelchair stair lift 100 goes straight as it is. The crawler 11 is rotationally driven.
Further, as shown in "Column I" shown in FIG. 4, the distance from the side wall W is farther than the second threshold value D2, and the traveling direction of the stair lift 100 for wheelchairs is tilted with respect to the ascending / descending direction of the stairs S. When the angle at which the left side of the traveling direction is delayed and tilted is, for example, 10 ° or more, first, the crawler 11 on the side wall W side is used to correct the inclination so that the traveling direction of the stair lift 100 for wheelchairs is aligned with the ascending / descending direction of the stairs S. Operation control is performed to relatively increase the rotation speed of the.

［車椅子用階段昇降機が緊急停止する場合］
図４に示す「Ｊ欄」のように、車椅子用階段昇降機１００と側壁Ｗとの距離が第３閾値Ｄ３よりも近い場合、車椅子用階段昇降機１００の走行方向の傾きによらず、椅子用階段昇降機１００の走行を止めるために、一対のクローラ１１の回転駆動を停止する動作制御がなされる。こうすることで、車椅子用階段昇降機１００が側壁Ｗに衝突してしまうトラブルを防ぐことができる。
また、図４に示す「Ｋ欄」のように、車椅子用階段昇降機１００と側壁Ｗとの距離が第４閾値Ｄ４よりも遠い場合、車椅子用階段昇降機１００の走行方向の傾きによらず、椅子用階段昇降機１００の走行を止めるために、一対のクローラ１１の回転駆動を停止する動作制御がなされる。こうすることで、車椅子用階段昇降機１００が階段Ｓの中央側へ寄り過ぎてしまうトラブルを防ぐことができる。 [When the wheelchair stair lift stops urgently]
When the distance between the wheelchair stairlift 100 and the side wall W is closer than the third threshold value D3 as shown in the "J column" shown in FIG. 4, the chair stairs are not affected by the inclination of the wheelchair stairlift 100 in the traveling direction. In order to stop the running of the elevator 100, operation control is performed to stop the rotational drive of the pair of crawler 11. By doing so, it is possible to prevent the trouble that the wheelchair stair lift 100 collides with the side wall W.
Further, as shown in "column K" shown in FIG. 4, when the distance between the wheelchair stairlift 100 and the side wall W is longer than the fourth threshold value D4, the chair does not depend on the inclination of the wheelchair stairlift 100 in the traveling direction. In order to stop the running of the stair lift 100, operation control is performed to stop the rotational drive of the pair of crawler 11. By doing so, it is possible to prevent the trouble that the wheelchair stair lift 100 is too close to the center side of the stairs S.

このような制御によって、車椅子用階段昇降機１００は走行方向の傾きを修正しつつ走行するので、階段Ｓを昇る方向に車椅子用階段昇降機１００を好適に走行させることができる。
なお、クローラ１１の従動輪１１ｂが階段Ｓの最上段を越えると、一対の測距センサ３０は蹴込板Ｐまでの距離を測定できなくなるので、一対の測距センサ３０が遠方の壁などを測定するようになった後は、車椅子用階段昇降機１００がそのまま直進するよう、左右一対のクローラ１１が回転駆動される。
そして、車椅子用階段昇降機１００が階段Ｓを昇り切った後、介助者がコントローラー６０の操作スイッチを放すことで、車椅子用階段昇降機１００を停止させるようにする。 By such control, the wheelchair stair lift 100 travels while correcting the inclination in the traveling direction, so that the wheelchair stair lift 100 can be suitably traveled in the direction of ascending the stairs S.
When the driven wheel 11b of the crawler 11 exceeds the uppermost step of the stairs S, the pair of distance measuring sensors 30 cannot measure the distance to the riser plate P, so that the pair of distance measuring sensors 30 measure a distant wall or the like. After that, the pair of left and right crawlers 11 are rotationally driven so that the stair lift 100 for wheelchairs goes straight as it is.
Then, after the wheelchair stair lift 100 has climbed the stairs S, the caregiver releases the operation switch of the controller 60 to stop the wheelchair stair lift 100.

また、側方測距センサ４０の誤作動などに起因して、車椅子用階段昇降機１００が緊急停止してしまった場合には、手動モードに切り替えて、介助者がコントローラー６０を操作して、車椅子用階段昇降機１００を階段Ｓの上や下まで移動させるようにする。 If the wheelchair stair lift 100 is urgently stopped due to a malfunction of the side distance measuring sensor 40 or the like, the mode is switched to the manual mode, and the caregiver operates the controller 60 to operate the wheelchair. The stair lift 100 is moved to the top or bottom of the stairs S.

上述した動作制御の一例では、車椅子用階段昇降機１００が階段Ｓを昇る方向に対して左側の側壁Ｗに沿って走行する場合を例に説明したが、右側の側壁Ｗに沿って走行する場合や、椅子用階段昇降機１００が階段Ｓを降りる方向に走行する場合も、同様の制御によって、車椅子用階段昇降機１００を好適に走行させることができる。 In the above-mentioned example of the motion control, the case where the wheelchair stairlift 100 travels along the left side wall W with respect to the direction of ascending the stairs S has been described as an example, but the case where the wheelchair stairlift 100 travels along the right side wall W or Even when the chair stair lift 100 travels in the direction of descending the stair S, the wheelchair stair lift 100 can be suitably traveled by the same control.

以上のように、本実施形態の車椅子用階段昇降機１００は、一対の測距センサ３０による測定結果（階段Ｓの蹴込板Ｐまでの距離）や、側方測距センサ４０による測定結果（階段Ｓの側壁Ｗまでの距離）を利用して、走行方向の傾きなどを修正しつつ、好適に階段を昇降することができる。 As described above, in the stair lift 100 for wheelchairs of the present embodiment, the measurement result by the pair of distance measurement sensors 30 (distance to the riser plate P of the stairs S) and the measurement result by the side distance measurement sensor 40 (stairs S). The distance to the side wall W of the stairs) can be used to appropriately ascend and descend the stairs while correcting the inclination in the traveling direction.

なお、以上の実施の形態においては、車椅子用階段昇降機１００が階段Ｓの側壁Ｗに沿って走行する場合について説明したが、階段Ｓに側壁Ｗがない場合には、側方測距センサ４０を使用せず、一対の測距センサ３０による測定結果を利用して、車椅子用階段昇降機１００が階段Ｓの昇降方向に対し遅れて傾いた側のクローラ１１の回転速度を相対的に上げる動作制御を実行するようにすればよい。
つまり、制御部１が、側壁距離修正用クローラ制御手段としての処理を実行せずに、傾き修正用クローラ制御手段としての処理を実行することでも、車椅子用階段昇降機１００は、好適に階段を昇降することができる。 In the above embodiment, the case where the wheelchair stair lift 100 travels along the side wall W of the stairs S has been described, but when the stairs S does not have the side wall W, the side distance measuring sensor 40 is used. By using the measurement results of the pair of distance measuring sensors 30 without using the stairs, the operation control for increasing the rotation speed of the crawler 11 on the side where the stair lift 100 for wheelchairs is delayed with respect to the elevating direction of the stairs S is relatively increased. You just have to do it.
That is, even if the control unit 1 executes the process as the tilt correction crawler control means without executing the process as the side wall distance correction crawler control means, the wheelchair stair lift 100 preferably raises and lowers the stairs. can do.

また、車椅子用階段昇降機１００の走行方向が階段Ｓの昇降方向に対して傾いている場合、一対の測距センサ３０のうち、一方のセンサ３０が階段Ｓ下段側の蹴込板Ｐまでの距離を測定し、他方のセンサ３０が階段Ｓ上段側の蹴込板Ｐまでの距離を測定するタイミングがある。
このタイミングでは、一対の測距センサ３０がそれぞれ測定した距離の差分が急激に変化するので、このタイミングでの測定データをマスキングする処理を実行することで、車椅子用階段昇降機１００の走行を安定させることができる。 When the traveling direction of the stair lift 100 for wheelchairs is tilted with respect to the ascending / descending direction of the stairs S, one of the pair of distance measuring sensors 30 determines the distance to the riser plate P on the lower side of the stairs S. There is a timing at which the other sensor 30 measures the distance to the riser plate P on the upper side of the stairs S.
At this timing, the difference in the distances measured by the pair of distance measuring sensors 30 changes abruptly. Therefore, by executing the process of masking the measurement data at this timing, the running of the wheelchair stair lift 100 is stabilized. be able to.

なお、本発明の適用は上述した実施形態に限定されることなく、本発明の趣旨を逸脱しない範囲で適宜変更可能である。 The application of the present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the spirit of the present invention.

１制御部（傾き判断手段、傾き修正用クローラ制御手段、側壁距離判断手段、側壁距離修正用クローラ制御手段、クローラ停止制御手段）
１０走行装置
１０ａフレーム
１１クローラ
１１ａ駆動輪
１１ｂ従動輪
１２クローラ駆動モーター
２０車椅子搭載部
３０測距センサ（一対の測距センサ）
４０側方測距センサ
５０車椅子搭載部用駆動部
６０コントローラー
１００車椅子用階段昇降機
Ｃ車椅子
Ｓ階段
Ｐ蹴込板
Ｗ側壁
Ｄ１第１閾値
Ｄ２第２閾値
Ｄ３第３閾値
Ｄ４第４閾値 1 Control unit (tilt determination means, tilt correction crawler control means, side wall distance determination means, side wall distance correction crawler control means, crawler stop control means)
10 Traveling device 10a Frame 11 Crawler 11a Drive wheel 11b Driven wheel 12 Crawler drive motor 20 Wheelchair mount 30 Distance measurement sensor (pair of distance measurement sensor)
40 Side ranging sensor 50 Drive unit for wheelchair mount 60 Controller 100 Wheelchair stair lift C Wheelchair S Stairs P Rise board W Side wall D1 1st threshold D2 2nd threshold D3 3rd threshold D4 4th threshold

Claims

A traveling device capable of traveling on stairs equipped with a pair of left and right crawler that are independently rotationally driven, and a wheelchair mounting portion pivotally installed in the traveling device are provided, and the wheelchair is mounted on the wheelchair mounting portion. It is a wheelchair stair lift that goes up and down stairs.
The wheelchair stair lift is provided with a pair of distance measuring sensors that are arranged side by side in the left-right direction and measure the distance to the riser plate of the stairs.
A control unit that drives and controls the stair lift for wheelchairs,
With
The control unit
When the stair lift for wheelchairs travels at least on the stairs, the degree of inclination of the stair lift for wheelchairs in the traveling direction with respect to the ascending / descending direction of the stairs is determined based on the difference in distances measured by the pair of distance measuring sensors. Inclination judgment means and
When the inclination determining means determines that the inclination of the stairlift for wheelchair in the traveling direction is equal to or greater than a predetermined angle, the rotation speed of the crawler on the side where the stairlift for wheelchair is inclined behind the elevating direction is relative to each other. Crawler control means for tilt correction that switches the rotation speed of at least one crawler so as to raise it
A stair lift for wheelchairs, which is characterized by being equipped with.

A side distance measuring sensor for measuring the distance to one of the side walls of the stairs is provided.
The control unit
It is determined whether or not the distance to the side wall measured by the lateral distance measuring sensor is closer than the first threshold value and whether or not it is farther than the second threshold value having a value larger than the first threshold value. Side wall distance determination means and
When the side wall distance determining means determines that the distance to the side wall measured by the side distance measuring sensor is closer than the first threshold value, the rotation speed of the crawler on the side wall side of the wheelchair stairlift is determined. If the rotation speed of at least one crawler is switched so as to increase the relative speed, and the distance to the side wall measured by the lateral distance measuring sensor is determined to be longer than the second threshold value, the stair lift for wheelchair is used. A crawler control means for correcting the side wall distance that switches the rotation speed of at least one of the crawlers so as to relatively increase the rotation speed of the crawler on the side opposite to the side wall.
The stair lift for a wheelchair according to claim 1, wherein the stair lift for a wheelchair is provided.

The side wall distance determining means has a function of executing a process of determining whether or not the distance to the side wall measured by the lateral distance measuring sensor is closer than the third threshold value, which is smaller than the first threshold value. Have and
The control unit
When the side wall distance determining means determines that the distance to the side wall measured by the lateral distance measuring sensor is closer than the third threshold value, the pair of crawler so as to stop the running of the wheelchair stair lift. The stair lift for a wheelchair according to claim 2, further comprising a crawler stop control means for stopping the rotational drive of the vehicle.

The side wall distance determining means has a function of executing a process of determining whether or not the distance to the side wall measured by the lateral distance measuring sensor is farther than a fourth threshold value having a value larger than the second threshold value. Have and
The control unit
When the side wall distance determining means determines that the distance to the side wall measured by the lateral distance measuring sensor is farther than the fourth threshold value, the pair of crawler so as to stop the running of the wheelchair stair lift. The wheelchair stair lift according to claim 2 or 3, further comprising a crawler stop control means for stopping the rotational drive of the vehicle.