JPWO2014041683A1 - Electric wheelchair with auxiliary power, control terminal device and computer program - Google Patents

Abstract

For the auxiliary power applied to each wheel of the electric wheelchair, fine adjustment is easily performed for each user. Based on the first rotation information and the second rotation information detected when the user operates the first hand rim and the second hand rim and makes a trial run, a first adaptive gain and a second adaptive gain suitable for the user are obtained, respectively. It is set as the first gain and the second gain.

Description

  The present invention relates to a technique for operating a wheelchair by applying auxiliary power corresponding to the human power to each wheel when human power is applied to a pair of wheels.

  A wheelchair with auxiliary power has been proposed as an intermediate between a manual wheelchair and an electric wheelchair. For example, in a wheelchair with auxiliary power described in Patent Document 1, when a user sitting in the wheelchair operates left and right hand rims to apply torque to the left and right wheels, auxiliary power corresponding to them is applied to each wheel. As a result, the user can operate as a manual wheelchair.

Japanese Patent No. 3703544

  The electric wheelchair with auxiliary power may have different power characteristics of the auxiliary power system for each vehicle type. In addition, the weight of each user varies, and depending on the user, a medical device such as an oxygen cylinder may be mounted on the wheelchair. For this reason, the weight loaded on a wheelchair changes for every user. Furthermore, the weight distribution applied to the left wheel and the right wheel due to the holding posture of the user and the mounting of medical equipment often varies from user to user. Therefore, it is conceivable to control the left and right balance by adjusting the auxiliary power applied to each wheel according to the vehicle type, the loaded weight, the holding posture, and the like.

  However, at present, a technique for rationally performing the above adjustment is not provided, and it is difficult to easily perform fine adjustment for each user.

  1st aspect of this invention is a wheelchair with auxiliary power, Comprising: The 1st drive part which provides auxiliary power with a 1st gain with respect to the 1st wheel rotated by operation of a 1st hand rim, and rotation by operation of a 2nd hand rim A second drive unit that provides auxiliary power with a second gain to the second wheel, a first detection unit that detects first rotation information related to rotation of the first wheel, and second rotation information related to rotation of the second wheel. A second detection unit that detects the above and an auxiliary power control unit that adjusts at least one of the first gain and the second gain to control the balance of the auxiliary power applied to each wheel, and the auxiliary power control unit includes: A first adaptive gain and a second adaptive gain suitable for the user, which are obtained based on the first rotation information and the second rotation information detected when the user operates the first hand rim and the second hand rim and makes a trial run. Respectively set as the first gain and second gain.

  Further, according to the second aspect of the present invention, auxiliary power is applied to the first wheel rotating by the operation of the first hand rim with the first gain and the second gain is applied to the second wheel rotating by the operation of the second hand rim. A control terminal device for controlling a wheelchair with auxiliary power that is operated by applying auxiliary power in the first hand rim, wherein the user receives the first rotation information about the rotation of the first wheel and the second rotation information about the rotation of the second wheel. And a rotation information acquisition unit that receives from the wheelchair with auxiliary power when operating the second hand rim, and obtains a first adaptive gain and a second adaptive gain suitable for the user based on the first rotation information and the second rotation information A vehicle with auxiliary power using the gain deriving unit and the first adaptive gain and the second adaptive gain obtained by the gain deriving unit as the first gain and the second gain, respectively. And a gain information output unit to provide the child.

  Further, according to the third aspect of the present invention, auxiliary power is applied to the first wheel rotating by the operation of the first hand rim with the first gain and the second gain is applied to the second wheel rotating by the operation of the second hand rim. A computer program for controlling a wheelchair with auxiliary power that is operated by applying auxiliary power in the first, the first rotation information about the rotation of the first wheel and the second rotation information about the rotation of the second wheel, the first Rotation information acquisition function received from a wheelchair with auxiliary power when operating the hand rim and the second hand rim, and a first adaptation gain and a second adaptation gain adapted to the user based on the first rotation information and the second rotation information The gain derivation function to be obtained and the first adaptive gain and the second adaptive gain obtained by the gain derivation unit are respectively set to the first gain and the second gain Providing an auxiliary powered wheelchair to realize the gain information output function to the computer as.

  In the present invention, based on the first rotation information and the second rotation information detected during the trial run of the wheelchair with auxiliary power, the first adaptive gain and the second adaptive gain that match the user are obtained. The first adaptive gain and the second adaptive gain are set as the first gain and the second gain, respectively. As described above, the auxiliary power suitable for the user can be adjusted only by trial running the wheelchair with auxiliary power.

It is a side view which shows one Embodiment of the wheelchair with auxiliary power concerning this invention. It is a top view of the wheelchair with auxiliary power of FIG. It is a block diagram which shows the electric constitution of the wheelchair with auxiliary power of FIG. 1, and the control terminal device of the wheelchair. It is a flowchart which shows the adjustment operation of assist gain. It is a flowchart which shows the operation | movement which derives | leads out a suitable gain. It is a graph which shows the time change of the rotation information of each wheel accompanying hand rim operation. It is a figure which shows an example of the database which linked | related key and the correction value used when performing gain correction. It is a flowchart which shows the operation | movement which produces the database of FIG. It is a figure which shows typically the operation content which produces the database of FIG. It is a figure which shows typically the operation content which produces the database of FIG. It is a figure which shows typically the operation content which produces the database of FIG.

  FIG. 1 is a side view showing an embodiment of a wheelchair with auxiliary power according to the present invention. FIG. 2 is a plan view of the wheelchair with auxiliary power of FIG. FIG. 3 is a block diagram showing an electrical configuration of the auxiliary power wheelchair of FIG. 1 and the control terminal device of the wheelchair. A wheelchair with auxiliary power (hereinafter simply referred to as “wheelchair”) 1 according to the present invention is an existing foldable manual wheelchair equipped with an auxiliary power device (Power Assist System). The wheelchair 1 has a pair of left and right wheels 2L and 2R, a pipe frame-like frame 3, and a pair of left and right casters 4L and 4R.

  A cloth seat 5 (FIG. 2) is stretched at the center of the frame 3, and a user can sit on the seat 5. The frame 3 has a plurality of arms. Among them, the pair of left and right handle arms 3 b are erected at the rear part of the frame 3. The upper end portion of each handle arm 3b is bent rearward, and an assistant's grip 7 is attached to the bent portion.

  An arm 3c extends horizontally forward of the vehicle body from the intermediate height position of each handle arm 3b. The front end portions of the pair of left and right arms 3c provided in this way are bent substantially at right angles and extend vertically downward. The casters 4L and 4R are rotatably supported by the lower ends of the left and right arms 3c.

  A pair of left and right arms 3d are disposed below the left and right arms 3c. A front portion of each arm 3d extends obliquely downward toward the front of the vehicle body, and a step 9 is attached to each extending end (front end). Thus, a pair of left and right steps 9 is provided, which functions as a footrest for the user.

  On the rear side of the casters 4L and 4R, the wheels 2L and 2R are detachably attached to the left and right portions of the frame 3, respectively, and support the frame 3 movably in cooperation with the casters 4L and 4R. Although not shown, the wheels 2L, 2R are rotatably supported on the axles supported by the bosses welded to the frame 3 via ball bearings.

  A ring-shaped hand rim 13L is provided outside the wheel 2L to allow the user to manually operate the wheel 2L. Further, a torque sensor 14L is provided for detecting torque applied to the wheel 2L when the user operates the left hand rim 13L, and a signal corresponding to the torque value is output to the left wheel controller 30L (FIG. 3) for controlling the wheel 2L. Is done. On the other hand, inside the wheel 2L, a drive motor (auxiliary power source) 21L for providing auxiliary power to the wheel 2L and a left wheel controller 30L are provided. The left wheel controller 30L controls the drive motor 21L to adjust auxiliary power given to the wheels 2L. Similarly to the wheel 2L, the wheel 2R is also provided with a hand rim 13R on the outside to allow the user to manually operate the wheel 2L, and on the inside, the drive motor 21R and the right wheel controller 30R (FIG. 3). Is provided so that auxiliary power to the wheel 2R can be adjusted. When the user manually operates the hand rim 13R, the torque sensor 14R detects the torque applied to the wheel 2R, and a signal corresponding to the detected value is output to the right wheel controller 30R. The details of the structure for attaching the hand rim and the drive motor to the wheel are described in detail in Patent Document 1, and therefore the description of the structure is omitted here.

  A battery 22 is mounted on the wheelchair 1 to supply power to the drive motors 21L and 21R and the controllers 30L and 30R. In the present embodiment, the battery 22 is detachably attached at a position near the wheel 2R, and directly supplies power to the drive motor 21R and the right wheel controller 30R. A wire harness 23 is installed on the vehicle body (frame) 3 from the wheel 2R side to the wheel 2L side, and the battery 22 supplies power to the drive motor 21L and the left wheel controller 30L via the wire harness 23.

  Next, the configuration of the left wheel controller 30L and the right wheel controller 30R will be described with reference to FIG. Here, after describing the configuration of the left wheel controller 30L, the right wheel controller 30R will be described. Note that reference numeral 200 in FIG. 3 is a control terminal device for adjusting gains in the controllers 30L and 30R from the outside as will be described later, and will be described following the controllers 30L and 30R.

  The left wheel controller 30L communicates with the main control unit 31, the nonvolatile memory 32, the motor output I / F 33, the encoder I / F 34, the torque sensor I / F 35, and the right wheel controller 30R. And a communication I / F 36. The main control unit 31 is configured by a computer having a CPU and the like, and operates the drive motor 21L with an assist gain for the left wheel suitable for the user based on programs and data stored in the nonvolatile memory 32. That is, the left wheel controller 30L sets a left wheel assist gain based on gain information (adapted gain) obtained by the control terminal device 200 as will be described later, and via the motor output I / F 33 so as to obtain the assist gain. To control the drive motor 21L. In the present embodiment, the main controller 31 receives a signal output from the encoder 24L attached to the drive motor 21L via the encoder I / F 34, and can control the drive motor 21L with high accuracy. The encoder 24L may be a built-in type incorporated in the drive motor 21L or an external type. In this manner, the main control unit 31 functions as the left wheel gain setting unit 311L that sets the left wheel assist gain.

  In the present embodiment, the main control unit 31 can detect the speed of the wheel 2L, that is, the wheel speed based on the signal from the encoder 24L, but directly detects the rotation of the wheel 2L. A sensor that outputs a signal may be provided separately, and the wheel speed may be obtained based on the signal from the sensor.

  The main control unit 31 receives a signal output from the torque sensor 14L via the torque sensor I / F 35, and can accurately detect the torque applied to the wheel 2L by operating the left hand rim 13L. And the main control part 31 produces the information regarding rotation of the wheel 2L about the torque and the wheel speed, that is, the left wheel rotation information. In this manner, the main control unit 31 also functions as the left wheel rotation information creation unit 312L that creates left wheel rotation information. In addition, the code | symbol 37L in the figure is a switch for left-wheel controller 30L.

  The right wheel controller 30R basically has the same configuration as the left wheel controller 30L except that a communication I / F 38 for performing communication with the control terminal device 200 is additionally provided. That is, the main control unit 31 of the right wheel controller 30R sets the assist gain for the right wheel based on the gain information (adapted gain) given from the control terminal device 200 via the communication I / F 38, and the assist gain is obtained. The drive motor 21R is controlled as described above. The main control unit 31 detects the torque applied to the wheel 2R by operating the right hand rim 13R based on the signal output from the torque sensor 14R, and detects the wheel speed of the wheel 2R based on the signal from the encoder 24R. To do. As described above, the main control unit 31 of the right wheel controller 30R functions as the right wheel gain setting unit 311R that sets the assist gain for the right wheel, and also serves as the right wheel rotation information creation unit 312R that creates the right wheel rotation information. Function. In addition, the code | symbol 37R in the figure is a switch for right wheel controller 30R.

  Further, the right wheel controller 30R and the left wheel controller 30L have a communication I / F 36, and bidirectional communication is possible. Furthermore, the right wheel controller 30R is capable of bidirectional communication with the control terminal device 200 via the communication I / F 38. Therefore, the left wheel rotation information created by the left wheel rotation information creation unit 312L is sent to the control terminal device 200 via the right wheel controller 30R, and the right wheel rotation information created by the right wheel rotation information creation unit 312R is directly Are sent to the control terminal device 200. The control terminal device 200 derives a left wheel assist gain and a right wheel assist gain based on the rotation information as described below. The left wheel assist gain is sent to the left wheel controller 30L via the right wheel controller 30R, and the right wheel assist gain is sent directly to the right wheel controller 30R.

  The control terminal device 200 can be a personal computer (PC), a mobile phone, a smartphone, or the like. The control terminal device 200 includes a main control unit 210, a nonvolatile memory 220, a communication I / F 230, an operation input / output I / F 240, and an operation panel 250 such as a touch panel. The main control unit 210 is configured by a computer having a CPU and the like, and executes the following operation according to a program stored in the nonvolatile memory 220. The main control unit 210 acquires the left wheel rotation information and the right wheel rotation information transmitted from the right wheel controller 30R of the wheelchair 1 via the communication I / F 230. Based on the rotation information, the main control unit 210 calculates a left wheel assist gain and a right wheel assist gain suitable for the user, and transmits them to the right wheel controller 30R via the communication I / F 230. Thus, the main control unit 210 functions as a rotation information acquisition unit 211 that acquires rotation information, a gain derivation unit 212 that calculates an assist gain, and a gain information output unit 213 that outputs a calculation result. Various messages are given to the operation panel 250 via the operation input / output I / F 240 according to the program and displayed. Further, when the operator operates the operation panel 250 according to these messages to input a selection result, a numerical value, or the like, input information is given to the main control unit 210 via the operation input / output I / F 240. In addition, the operator here means the expert for performing gain adjustment and changing the running performance of the wheelchair 1.

  Next, an operation in which an operator uses the control terminal device 200 configured as described above to set an assist gain suitable for the user of the wheelchair 1 to the wheelchair 1 will be described with reference to FIGS. 4 to 7.

  FIG. 4 is a flowchart showing the assist gain adjustment operation. FIG. 5 is a flowchart showing the operation for deriving the adaptive gain. In the present embodiment, the user tries a predetermined place (for example, a straight path), and the control terminal device 200 derives an assist gain suitable for the user based on the rotation information of each wheel 2L, 2R at that time. To do. More specifically, the following communication is executed between the control terminal device 200 and the wheelchair 1, and predetermined processing is executed between the control terminal device 200 and the wheelchair 1.

  When adjusting the assist gain, the control terminal device 200 transmits an adjustment start command to the wheelchair 1 (step S1), and waits for rotation information described below to be returned from the wheelchair 1. The subsequent operation of the control terminal device 200 (steps S9 to S11) will be described later.

  The adjustment start command is received by the right wheel controller 30R (step S2). Then, the right wheel controller 30R sets the assist gain for the right wheel to the temporary gain value and transmits a temporary gain setting command for the assist gain to the left wheel controller 30L. Then, the left wheel controller 30L sets the left wheel assist gain to a temporary gain value. Thus, the left wheel assist gain and the right wheel assist gain are set to the same value (step S3). Here, as the temporary gain value, a fixed value stored in advance in the nonvolatile memory 32 may be used. Alternatively, the right wheel assist gain at the adjustment start command point may be set as a temporary gain value, and only the left wheel assist gain may be changed and set. Of course, step S3 may not be executed, that is, the test run may be performed with the current set value set before the test run. In this case, rotation information is transmitted from the wheelchair 1 to the control terminal device 200 as described later. It is preferable to transmit the current set values of the left wheel assist gain and the right wheel assist gain when transmitting.

When the user seated in the wheelchair 1 runs a predetermined place, the start trigger is turned on at the timing of reaching the place (step S4), while the end trigger is turned on immediately after passing the place (step S4). S5). Then, between the start trigger and the end trigger, the wheelchair 1 detects and stores the rotation information of each wheel 2L, 2R for a certain sampling time. That is, until it is determined in step S6 that the sampling time has elapsed, the left wheel controller 30L stores the torque applied to the wheel 2L and the wheel speed of the wheel 2L as rotation information by the user operating the left hand rim 13L. Specifically, the rotation information of the torque and the wheel speed is detected at a preset short time interval timing, and the detected rotation information is stored. Similarly to the left wheel controller 30L, the right wheel controller 30R stores the torque applied to the wheel 2R and the wheel speed of the wheel 2R as rotation information (step S7). If the rotation information of the torque and the wheel speed stored in this way is represented by a continuous line graph with the passage of time as the horizontal axis, for example, the result shown in FIG. 6 is obtained. “Wheel speed” means the moving speed of the wheel.
Wheel speed = (Motor rotation speed / reduction ratio) × (Wheel circumference)
Is defined by

  When the user trial run is completed by passing through the above place (“YES” in step S5), the left wheel controller 30L transmits the rotation information of the wheel 2L to the control terminal device 200 via the right wheel controller 30R and the right wheel. The controller 30R transmits the rotation information of the wheel 2R to the control terminal device 200 (step S8).

  When receiving the rotation information (step S9), the control terminal device 200 derives an assist gain suitable for the user, that is, an appropriate gain based on the torque information in the rotation information (step S10). Specifically, the process shown in FIG. That is, when the user manually operates the hand rims 13R and 13L, the torque applied to the hand rims 13R and 13L changes with time as shown in FIG. 6, for example. Here, the maximum torque value input by the user to the right hand rim 13R is extracted from the rotation information as a physical quantity indicating the torque input state applied to the hand rim 13R (step S101). Further, as with the right side, the maximum torque value input by the user to the left hand rim 13L is extracted from the rotation information for the left side as a physical quantity indicating the torque input state applied to the hand rim 13L (step S102).

When the left and right maximum torque values are compared, generally, the value on the user's dominant arm side tends to increase. In addition, the user's holding posture and whether or not the medical device is mounted on the wheelchair 1 are one of the main factors that cause the maximum torque value to differ between the left and right. Therefore, in the present embodiment, the left and right assist gains corresponding to the user are calculated by the main control unit 210 based on the ratio of the left and right maximum torque values (step S103). That is, the following formula (maximum right torque value) / (maximum left torque value) = (left assist gain) / (right assist gain)
The main control unit 210 calculates a right assist gain and a left assist gain that satisfy the above.

  In the next step S104, the main control unit 210 displays the calculation result on the display unit (not shown) of the operation panel 250 and an inquiry message as to whether correction is necessary (step S105). The operator who sees this display operates the operation unit (not shown) of the operation panel 250 to select whether correction is necessary. In this operation unit, buttons and keys are arranged.

Here, when correction is not requested (“NO” in step S105), the calculation result in step S103 is set as an adaptive gain, that is,
Left adaptive gain = left assist gain,
The right adaptive gain is set to the right assist gain (step S106).

  On the other hand, when correction is requested, the main control unit 210 executes the following correction-related processing (steps S107 to S112). That is, when the main control unit 210 confirms that the correction is selected (“YES” in step S105), the main control unit 210 displays a selection message as to whether or not to use the database on the display unit of the operation panel 250. For example, as shown in FIG. 7, the “database” uses the vehicle type, the weight mounted on the wheelchair 1 and the holding posture as keys, and stores the right gain correction value and left gain correction value corresponding to these combinations in a table format. These are created in advance and stored in the nonvolatile memory 220.

  Then, when the main control unit 210 confirms selection of database use by the operator (“YES” in step S107), the main control unit 210 displays, for example, the database shown in FIG. 7 on the display unit of the operation panel 250 (step S108). In the present embodiment, each gain correction value is obtained in advance and stored in the nonvolatile memory 220 in a tabular format.

  Then, when the operator inputs the corresponding item of each key using the vehicle type, the loaded weight and the holding posture as keys, the main control unit 210 obtains the right gain correction value and the left gain correction value corresponding to the input key from the database. Obtain (step S109).

  On the other hand, when the operator does not select use of the database (“NO” in step S107), the main control unit 210 prompts the display unit of the operation panel 250 to manually input the right gain correction value and the left gain correction value. A message is displayed (step S110). When the operator inputs each correction value via the operation unit of the operation panel 250, the main control unit 210 acquires the input value as a right gain correction value and a left gain correction value (step S111).

When each gain correction value is obtained, the main control unit 210 adds the gain correction value to the value calculated in step S103, that is, the following formula: left adaptive gain = left assist gain + left gain correction value right adaptive gain = right assist An adaptive gain suitable for the user is derived according to the gain + right gain correction value (step S112). When there is a correction request as described above, the above-described correction-related processing (steps S107 to S112) is performed, and as a result, the accuracy of deriving the adaptive gain can be increased.

  Next, returning to FIG. When the assist gain (left adaptive gain and right adaptive gain) suitable for the trial run is derived (step S10), the control terminal device 200 transmits the adaptive gain to the right wheel controller 30R of the wheelchair 1 (step S11). .

  When the right wheel controller 30R receives the adaptive gain (step S12), the right wheel assist gain is rewritten to the right adaptive gain (step S13), and the left adaptive gain is transmitted to the left wheel controller 30L. Then, the left wheel controller 30L rewrites the left wheel assist gain to the left adaptive gain (step S13).

  As described above, according to the present embodiment, the user tries the wheelchair 1 and adapts to the user based on the rotation information (the right side maximum torque value and the left side maximum torque value) detected during the test run. Finding the appropriate gain. Then, the left-wheel assist gain and the right-wheel assist gain of the wheelchair 1 are rewritten to appropriate gains, respectively, and are changed to new assist gains. Thus, the adjustment suitable for the said user can be performed only by a user running the wheelchair 1. Therefore, the same adjustment can be performed for a user different from the above user, and fine adjustment can be easily performed for each user.

  Further, in the above embodiment, since the test run is performed with the left and right gains set to be the same, the rotation information is detected in a manner that reflects the circumstances of each user such as the vehicle type, loading weight, and holding posture. Can do. Therefore, the gain suitable for the user can be derived more accurately by using the rotation information.

  In the above embodiment, the adaptive gain can be derived by adding the gain correction value to the assist gain obtained by the calculation based on the rotation information. By performing such gain correction, a gain suitable for the user can be derived with higher accuracy.

  Further, in the above embodiment, the gain correction value can be obtained based on the database. Therefore, the adaptive gain can be derived with higher accuracy by using such a database.

  By the way, each gain correction value in the database may be derived from simulations or experiments, but as described below, it is possible to construct a database based on the difference between the automatic calculation result and the actual adjustment. More preferred. Hereinafter, a second embodiment of the present invention will be described with reference to FIGS.

  FIG. 8 is a flowchart showing an example of the operation of creating the database of FIG. 7, and corresponds to the second embodiment of the present invention. 9 to 11 are diagrams schematically showing the operation contents for creating the database of FIG. The second embodiment is greatly different from the first embodiment in a database creation method, and the other points are the same as those in the first embodiment. Accordingly, the same components are denoted by the same or corresponding reference numerals and description thereof is omitted.

  When gain adjustment with gain correction is executed in the first embodiment, not only an automatic calculation result (assist gain) based on rotation information is obtained, but also an adaptive gain obtained by adding a gain correction value thereto is obtained. That is, there are two types of adjustment results: an adjustment result based only on automatic calculation and an adjustment result obtained by adding a gain correction value to the automatic calculation by an operator. These two types of adjustment results are obtained for each user.

  Therefore, in the second embodiment, two types of adjustment results required for each user are stored in the nonvolatile memory 220 in association with keys (vehicle type, loading weight, and holding posture). When gain adjustment is performed for a sufficient number of users for creating a database, the control terminal device 200 creates a database according to the operation procedure shown in FIG. Of course, the database creation operation may be executed every time gain adjustment is performed without waiting for the number of users to reach a predetermined value.

  First, the main control unit 210 of the control terminal device 200 executes steps S201 to S204, and reads out the adjustment results for N users from the nonvolatile memory 220 together with the key information. An example of the data for N people read in this way is as shown in FIG.

  The main control unit 210 calculates the difference (= AJ2−AJ1) between the adjustment result (AJ1) based only on automatic calculation and the adjustment result (AJ2) accompanied by gain correction for each user based on the read data (step S205). ). For example, the difference calculation result for the data shown in FIG. 9 is as shown in FIG.

  In the next step S206, the main control unit 210 classifies the difference results according to the key contents. For example, when the difference results shown in FIG. 10 are classified by key contents, a plurality of categories are obtained. Each section includes at least one difference result as shown in FIG. 11, for example. Then, the main control unit 210 obtains the difference average of the right wheel and the difference average of the left wheel for each classified section (step S207), and sets these difference averages as the right gain correction value and the left gain correction value, respectively (step S208). . A database is thus created.

  As described above, in the second embodiment, a gain correction value is obtained from adjustment data (adjustment result only by automatic calculation and adjustment result with gain correction) obtained by gain adjustment of N users, and these are converted into a database. Yes. Therefore, a database with higher accuracy than the database used in the first embodiment can be obtained. Since the gain correction value is obtained using the database and added to the automatic calculation result, gain adjustment can be performed with higher accuracy.

  Thus, in the first embodiment and the second embodiment, the wheel 2L, the hand rim 13L, the drive motor 21L, and the torque sensor 14L are the “first wheel”, “first hand rim”, and “first drive unit” of the present invention, respectively. "And" first detector ". The maximum value of torque detected by the torque sensor 14L, that is, the maximum left torque value corresponds to the “first rotation information” of the present invention. On the other hand, the wheel 2R, the hand rim 13R, the drive motor 21R, and the torque sensor 14R correspond to the “second wheel”, “second hand rim”, “second drive unit”, and “second detection unit” of the present invention, respectively. The maximum torque value detected by the torque sensor 14R, that is, the right-side maximum torque value corresponds to the “second rotation information” of the present invention. The communication I / F 38 functions as an output unit that outputs the rotation information from the wheelchair 1 and an input unit that receives the adaptive gain from the control terminal device 200. The operation unit of the operation panel 250 functions as the “correction instruction unit” of the present invention. Furthermore, the left wheel controller 30L and the right wheel controller 30R function as the “auxiliary power control unit” of the present invention, and the left wheel assist gain (corresponding to the “first gain” of the present invention) and the right wheel assist gain (of the present invention). The balance of the auxiliary power given to each wheel 2L, 2R is controlled by adjusting “corresponding to“ second gain ”).

  In the second embodiment, the main control unit 210 of the control terminal device 200 has a function of creating a database corresponding to an example of “reference data” of the present invention. It corresponds. Further, the nonvolatile memory 220 for storing the database corresponds to the “storage medium” of the present invention, but the type of the storage medium is not limited to this, and conventionally provided storage means can be used. .

  The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit of the present invention. For example, in the above embodiment, the maximum value of the torque detected by the torque sensors 14L and 14R is used as the rotation information, but other physical quantities may be used as the rotation information. For example, the amount of change in the angular momentum of the wheel 2L can be obtained from the time product of torque input to the wheel 2L. Therefore, the integrated value of the torque applied to the wheel 2L during the trial run can be used as “first rotation information” of the present invention. The same applies to the wheel 2R, and the integrated value of the torque applied to the wheel 2R during the trial run can be used as the “second rotation information” of the present invention. By using the torque integrated value in this way, the adaptive gain can be derived with higher accuracy than in the first embodiment and the second embodiment.

  Further, the wheel speeds of the wheels 2L and 2R may be used as the rotation information instead of the torque. For example, the maximum wheel speeds of the wheels 2L and 2R during the trial run may be used as “first rotation information” and “second rotation information” of the present invention, respectively, or the wheel speeds of the wheels 2L and 2R during the trial run may be used. The time products may be used as “first rotation information” and “second rotation information” of the present invention, respectively.

  In the above embodiment, single rotation information (maximum torque value) is used as the rotation information of each wheel, but the above-described torque integrated value, wheel speed, and time product of wheel speed may be combined. Good. That is, at least one of the torque applied to the wheels 2L and 2R and the speed of the wheels 2L and 2R can be used as the “rotation information” in the present invention.

  Further, in the above embodiment, the control terminal device 200 is provided separately from the wheelchair 1, and the control terminal device 200 operates according to a program stored in advance in the nonvolatile memory 220 so that the three functions are performed as described above. Demonstrating. That is, a rotation information acquisition function for receiving rotation information of each wheel 2L, 2R during the trial run from the wheelchair 1, a gain derivation function for obtaining a suitable gain suitable for the user based on the rotation information, and each suitable gain for each left wheel The gain information output function given to the wheelchair 1 as the assist gain for the wheel (first gain) and the assist gain for the right wheel (second gain) is exhibited. On the other hand, the program may be stored in the nonvolatile memory 32 of the wheelchair 1 so that the function is exhibited by at least one of the controllers 30L and 30R of the wheelchair 1. Thereby, the gain accuracy can be improved by deriving and correcting the assist gain based on the rotation information, without using the control terminal device, as in the first embodiment. In this case, the gain adjustment is performed by the user himself or by the operator while attending to the wheelchair 1, but considering the operability at that time, the wheelchair 1 is equipped with a configuration corresponding to the operation panel 250. Is desirable. Further, a database creation function may be added to the controllers 30L and 30R.

  Moreover, in the said embodiment, although the user makes a trial run of the straight path is used as the start and end triggers of the adjustment operation, the present invention is not limited to this. For example, when the user operates one of the switch 37L for the left wheel controller 30L or the switch 37R for the right wheel controller 30R once as a start trigger, and when the switch is further operated as an end trigger. Also good. The start trigger may be that the user has operated the hand rims 13L and 13R once, and the end trigger may be that the user has operated the hand rims 13L and 13R. Further, the control terminal device 200 and the controllers 30L and 30R automatically recognize that the user on the wheelchair 1 travels in a predetermined place, for example, a narrow alley, samples the rotation information of the wheels 2L and 2R, and adjusts the gain. You may comprise so that it may perform. In this case, the left side assist gain and the right side assist gain in the wheelchair 1 are automatically adjusted to gains suitable for the user while spending daily life without being particularly aware of the trial run for gain adjustment. Is done. Here, the reason why a narrow alley or the like is suitable is that the user is very likely to go straight in such a place, and gain adjustment can be performed stably and with high accuracy. For automatic recognition, position measuring means such as GPS (Global Positioning System) can be used.

  Furthermore, a program that achieves the above functions is stored in a storage medium such as a CD-ROM, optical disk, magneto-optical disk, or non-volatile memory card, and is read as a code from the storage medium or downloaded using a communication function. However, it may be executed by the controllers 30L and 30R and the control terminal device 200. That is, the computer program itself is also included in one embodiment of the present invention.

  The present invention can be applied to a technique in which, when human power is applied to a pair of wheels by a user's hand rim operation, auxiliary power corresponding to the human power is applied to each wheel.

DESCRIPTION OF SYMBOLS 1 ... Electric wheelchair with auxiliary power 2L ... (1st) wheel 2R ... (2nd) wheel 13L ... Left hand rim (1st hand rim)
13R ... Right hand rim (second hand rim)
14L ... Torque sensor (first detector)
14R ... Torque sensor (second detector)
21L ... Drive motor (first drive unit)
21R ... Drive motor (second drive unit)
30L ... Left wheel controller (auxiliary power controller)
30R ... Right wheel controller (auxiliary power controller)
31 ... Main control part (auxiliary power control part)
DESCRIPTION OF SYMBOLS 200 ... Control terminal device 210 ... Main control part 211 ... Rotation information acquisition part 212 ... Gain derivation part 213 ... Gain information output part 220 ... Non-volatile memory (storage medium)
250. Operation panel (display unit, correction instruction unit)

1st aspect of this invention is a wheelchair with auxiliary power, Comprising: The 1st drive part which provides auxiliary power with a 1st gain with respect to the 1st wheel rotated by operation of a 1st hand rim, and rotation by operation of a 2nd hand rim A second drive unit that provides auxiliary power with a second gain to the second wheel, a first detection unit that detects first rotation information related to rotation of the first wheel, and second rotation information related to rotation of the second wheel. A second detection unit that detects the above and an auxiliary power control unit that adjusts at least one of the first gain and the second gain to control the balance of the auxiliary power applied to each wheel, and the auxiliary power control unit includes: the second reed with respect to the first assist gain and the second wheel against the first wheel on the basis of the first rotation information and the second rotation information detected when a user trial run by operating the first hand rim and second hand rim Calculates the Togein obtained by correcting further the first assist gain and the second assist gain respectively, to set the first adaptation gain and the second fit gain conforms to the user as a first gain and second gain, respectively.

Further, according to the second aspect of the present invention, auxiliary power is applied to the first wheel rotating by the operation of the first hand rim with the first gain and the second gain is applied to the second wheel rotating by the operation of the second hand rim. A control terminal device for controlling a wheelchair with auxiliary power that is operated by applying auxiliary power in the first hand rim, wherein the user receives the first rotation information about the rotation of the first wheel and the second rotation information about the rotation of the second wheel. And a rotation information acquisition unit that receives from the wheelchair with auxiliary power when operating the second hand rim, and a first assist gain for the first wheel and a second for the second wheel based on the first rotation information and the second rotation information . calculates the assist gain further first adaptation gain and a compatible first assist gain and the second assist gain to the user corrected respectively Comprising a gain deriving unit for determining the suitability gain, a gain information output unit providing a first adaptation gain and a second adaptation gain determined by the gain deriving unit each wheelchair with auxiliary power as the first gain and second gain.

Further, according to the third aspect of the present invention, auxiliary power is applied to the first wheel rotating by the operation of the first hand rim with the first gain and the second gain is applied to the second wheel rotating by the operation of the second hand rim. A computer program for controlling a wheelchair with auxiliary power that is operated by applying auxiliary power in the first, the first rotation information about the rotation of the first wheel and the second rotation information about the rotation of the second wheel, the first The rotation information acquisition function received from the wheelchair with auxiliary power when operating the hand rim and the second hand rim, and the first assist gain for the first wheel and the second assist for the second wheel based on the first rotation information and the second rotation information . 2 assist gain is calculated, the further adapted first assist gain and the second assist gain to the user corrected respectively A gain deriving function for obtaining the adaptation gain and a second adaptation gain, the gain information output function of giving the wheelchair with auxiliary power the first adaptation gain and second adaptation gain a first gain and second gain, respectively obtained by the gain deriving function And make it happen on a computer.

1st aspect of this invention is a wheelchair with auxiliary power, Comprising: The 1st drive part which provides auxiliary power with a 1st gain with respect to the 1st wheel rotated by operation of a 1st hand rim, and rotation by operation of a 2nd hand rim A second drive unit that provides auxiliary power with a second gain to the second wheel, a first detection unit that detects first rotation information related to rotation of the first wheel, and second rotation information related to rotation of the second wheel. A first detection gain for the first wheel based on the first rotation information and the second rotation information detected when the user operates the first hand rim and the second hand rim and makes a trial run. the results of calculation of the second assist gain for 2 wheels, auxiliary power system for controlling the balance of the auxiliary power applied to each wheel by adjusting at least one of the first gain and second gain It comprises a section, a display section for displaying an operation result, and a correction instruction unit for receiving an instruction from whether the operator to correct the first assist gain and the second assist gain which is displayed on the display unit, the auxiliary power control When the correction instructing unit receives an instruction to correct, the first correction gain and the second suitable for the user are correction results obtained by correcting the first assist gain and the second assist gain obtained by calculation, respectively . The adaptive gain is set as the first gain and the second gain, respectively, and reference data for correction is created and stored based on the difference between the first assist gain and the second assist gain obtained by calculation and the correction result.

Further, according to the second aspect of the present invention, auxiliary power is applied to the first wheel rotating by the operation of the first hand rim with the first gain and the second gain is applied to the second wheel rotating by the operation of the second hand rim. A control terminal device for controlling a wheelchair with auxiliary power that is operated by applying auxiliary power in the first hand rim, wherein the user receives the first rotation information about the rotation of the first wheel and the second rotation information about the rotation of the second wheel. And a rotation information acquisition unit that receives from the wheelchair with auxiliary power when operating the second hand rim, and a first assist gain for the first wheel and a second for the second wheel based on the first rotation information and the second rotation information. the results of calculation of the assist gain, a gain deriving unit for determining a first adaptation gain and the second fit gain conforms to the user, prompted by the gain deriving unit And the gain information output unit providing a first adaptation gain and the second fit gains each wheelchair with auxiliary power as the first gain and second gain, and a display unit for displaying the calculation results, first assist displayed on the display unit A correction instruction unit that receives an instruction from an operator as to whether or not to correct the gain and the second assist gain, a database creation unit, and a storage medium, and the gain deriving unit provides an instruction that the correction instruction unit corrects When received, the first adaptive gain and the second adaptive gain, which are correction results obtained by correcting the first assist gain and the second assist gain obtained by calculation, are set as the first gain and the second gain, respectively , and a database is created. Based on the difference between the correction result and the first assist gain and the second assist gain obtained by calculation. Create a positive reference data, the storage medium stores the reference data created by the database creation portion.

Further, according to the third aspect of the present invention, auxiliary power is applied to the first wheel rotating by the operation of the first hand rim with the first gain and the second gain is applied to the second wheel rotating by the operation of the second hand rim. A computer program for controlling a wheelchair with auxiliary power that is operated by applying auxiliary power in the first, the first rotation information about the rotation of the first wheel and the second rotation information about the rotation of the second wheel, the first The rotation information acquisition function received from the wheelchair with auxiliary power when operating the hand rim and the second hand rim, and the first assist gain for the first wheel and the second assist for the second wheel based on the first rotation information and the second rotation information. 2 results the assist gain computed, and the gain derived function of obtaining a first adaptation gain and the second fit gain conforms to the user And gain information output function of providing a first adaptation gain and a second adaptation gain determined by the gain deriving function to each wheelchair with auxiliary power as the first gain and second gain, and a display function of displaying the calculation result, the display function and correction instruction function of receiving an instruction from whether the operator to correct the first assist gain and the second assist gain displayed, is realized with the database creation function, a storage function in a computer, the gain deriving function is corrected When the instruction function receives an instruction to correct, the first adaptive gain and the second adaptive gain, which are correction results obtained by correcting the first assist gain and the second assist gain obtained by calculation , are respectively set to the first gain and It is set as a second gain, the database creation function, first obtained by computing 1 Create a reference data for correction based on the difference between the Shisutogein and second assist gain correction result, storage function stores the reference data created in the database creation function.

Claims (15)

A first drive unit for providing auxiliary power with a first gain to a first wheel rotated by an operation of the first hand rim;
A second drive unit for providing auxiliary power with a second gain to the second wheel rotated by the operation of the second hand rim;
A first detector for detecting first rotation information related to rotation of the first wheel;
A second detector for detecting second rotation information relating to the rotation of the second wheel;
An auxiliary power control unit that adjusts at least one of the first gain and the second gain to control the balance of auxiliary power applied to each wheel;
The auxiliary power control unit is adapted to the user, which is obtained based on the first rotation information and the second rotation information detected when the user operates the first hand rim and the second hand rim and makes a trial run. A wheelchair with auxiliary power that sets a first adaptive gain and a second adaptive gain as a first gain and a second gain, respectively. A wheelchair with auxiliary power according to claim 1,
The auxiliary power control unit is a wheelchair with auxiliary power that sets the first gain and the second gain to the same value during the trial run. A wheelchair with auxiliary power according to claim 1 or 2,
The wheelchair with auxiliary power, wherein the first rotation information and the second rotation information are at least one of information on torque applied to wheels and information on wheel speed. A wheelchair with auxiliary power according to any one of claims 1 to 3,
An output unit for outputting the first rotation information and the second rotation information detected during the trial run;
An input unit for receiving the first adaptive gain and the adaptive second gain obtained based on the first rotation information and the second rotation information output from the output unit;
The auxiliary power control unit is a wheelchair with auxiliary power that sets the first gain and the second gain to the first adaptive gain and the second adaptive gain received by the input unit, respectively. A wheelchair with auxiliary power according to any one of claims 1 to 3,
The auxiliary power control unit is a wheelchair with auxiliary power for obtaining the first adaptive gain and the second adaptive gain by calculation based on the first rotation information and the second rotation information detected during the trial run. A wheelchair with auxiliary power according to claim 5,
A display unit for displaying the calculation result;
A correction instruction unit that receives an instruction as to whether or not to correct the calculation result displayed on the display unit;
The auxiliary power control unit, when receiving an instruction for correction by the correction instruction unit, displays a correction result obtained by correcting the calculation result obtained by the calculation as the first adaptive gain and the second adaptive gain. Set as a wheelchair with auxiliary power. A wheelchair with auxiliary power according to claim 6,
The auxiliary power control unit is a wheelchair with auxiliary power that creates and stores reference data for the correction based on a difference between a calculation result obtained by the calculation and a correction result. A wheelchair with auxiliary power according to any one of claims 1 to 7,
The first rotation information is a maximum value of torque applied to the first wheel during the test run,
The second rotation information is a maximum value of torque applied to the second wheel during the test run,
The auxiliary power control unit is a wheelchair with auxiliary power that calculates the first gain and the second gain based on a ratio of the first rotation information and the second rotation information. A wheelchair with auxiliary power according to any one of claims 1 to 7,
The first rotation information is an integrated value of torque applied to the first wheel during the trial run,
The second rotation information is an integrated value of torque applied to the second wheel during the test run,
The auxiliary power control unit is a wheelchair with auxiliary power that calculates the first gain and the second gain based on a ratio of the first rotation information and the second rotation information. A wheelchair with auxiliary power according to any one of claims 1 to 7,
The first rotation information is a maximum speed of the first wheel in the test run,
The second rotation information is a maximum speed of the second wheel in the test run,
The auxiliary power control unit is a wheelchair with auxiliary power that calculates the first gain and the second gain based on a ratio of the first rotation information and the second rotation information. A wheelchair with auxiliary power according to any one of claims 1 to 7,
The first rotation information is a time product of the speed of the first wheel in the test run,
The second rotation information is a time product of the speed of the second wheel in the test run,
The auxiliary power control unit is a wheelchair with auxiliary power that calculates the first gain and the second gain based on a ratio of the first rotation information and the second rotation information. Auxiliary power is applied to the first wheel rotating by the operation of the first hand rim with the first gain and the second wheel rotating by the operation of the second hand rim is operated by applying the auxiliary power with the second gain. A control terminal device for controlling an attached wheelchair,
The first rotation information related to the rotation of the first wheel and the second rotation information related to the rotation of the second wheel are obtained from the wheelchair with auxiliary power when the user makes a trial run by operating the first hand rim and the second hand rim. A rotation information acquisition unit to receive;
A gain deriving unit that obtains a first adaptive gain and a second adaptive gain suitable for the user based on the first rotation information and the second rotation information;
A control terminal device comprising: a gain information output unit that applies the first adaptive gain and the second adaptive gain obtained by the gain deriving unit to the wheelchair with auxiliary power as the first gain and the second gain, respectively. The control terminal device according to claim 12,
A display unit for displaying the first adaptive gain and the second adaptive gain obtained by the gain deriving unit;
A correction instruction unit that receives an instruction as to whether or not to correct the first adaptive gain and the second adaptive gain displayed on the display unit,
The gain deriving unit, when receiving an instruction to correct by the correction instructing unit, displays correction results obtained by correcting the first adaptive gain and the second adaptive gain displayed on the display unit, respectively. A control terminal device that is set as the first adaptive gain and the second adaptive gain. The control terminal device according to claim 13,
A database creation unit that creates reference data for the correction based on the difference between the calculation result and the correction result obtained by the calculation;
A control terminal device further comprising: a storage medium for storing reference data created by the database creation unit. Auxiliary power is applied to the first wheel rotating by the operation of the first hand rim with the first gain and the second wheel rotating by the operation of the second hand rim is operated by applying the auxiliary power with the second gain. A computer program for controlling an attached wheelchair,
The first rotation information related to the rotation of the first wheel and the second rotation information related to the rotation of the second wheel are obtained from the wheelchair with auxiliary power when the user makes a trial run by operating the first hand rim and the second hand rim. Receive rotation information acquisition function,
A gain derivation function for obtaining a first adaptive gain and a second adaptive gain adapted to the user based on the first rotation information and the second rotation information;
A computer program for causing a computer to realize a gain information output function for giving the first adaptive gain and the second adaptive gain obtained by the gain deriving unit to the wheelchair with auxiliary power as the first gain and the second gain, respectively. .

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