KR20170015774A - Electric Wheelchair Control Method and System for Safety Driving based on Sensor - Google Patents

Electric Wheelchair Control Method and System for Safety Driving based on Sensor Download PDF

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Publication number
KR20170015774A
KR20170015774A KR1020150108814A KR20150108814A KR20170015774A KR 20170015774 A KR20170015774 A KR 20170015774A KR 1020150108814 A KR1020150108814 A KR 1020150108814A KR 20150108814 A KR20150108814 A KR 20150108814A KR 20170015774 A KR20170015774 A KR 20170015774A
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KR
South Korea
Prior art keywords
wheel chair
electric wheel
electric wheelchair
electric
terrain
Prior art date
Application number
KR1020150108814A
Other languages
Korean (ko)
Inventor
김진술
박상현
Original Assignee
전남대학교산학협력단
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Publication date
Application filed by 전남대학교산학협력단 filed Critical 전남대학교산학협력단
Priority to KR1020150108814A priority Critical patent/KR20170015774A/en
Publication of KR20170015774A publication Critical patent/KR20170015774A/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories

Abstract

Provided are a method and a system for controlling an electric wheelchair for sensor-based safe driving. A method for controlling an electric wheelchair for sensor-based safe driving according to an embodiment of the present invention drives an electric wheelchair and controls a speed of the electric wheelchair when a change in terrain is detected. Thereby, the present invention guarantees safe driving with respect to obstacles and road surface changes that the disabled, the elderly, patients, and others with sickness encounter when using the electric wheelchair, and minimizes occurrence of accidents.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an electric wheelchair control method and system for a safety-

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric wheelchair, and more particularly, to a method and system for controlling the running of an electric wheelchair on the basis of a sensor in order to secure the safety of the disabled, the elderly, and the like.

Electric wheelchairs are often used by persons with disabilities, seniors, patients, and other people with limited mobility, who are unable to move quickly or with low cognitive abilities. Therefore, a collision or rollover occurs due to the obstacles that may occur during the running of an electric wheelchair and the risk factors due to changes in terrain (slopes, bumps, etc.).

In addition, electric wheelchairs do not have the same shock absorbers as automobiles, so that accidents occur due to shocks and leanings that occur when passing through bumps, uphill slopes, and downhill slopes at the same speed.

Since the electric wheelchair normally maneuvers the traveling using the joystick, a fine manipulation technique is required. Therefore, the operation of the electric wheelchair is not immature or finely controlled, so that an obstacle collision or various types of accidents may occur.

In addition, since the conventional obstacle detection technology uses an image sensor, there is a problem that a lot of electric power is consumed and the recognition rate is low at night and at night.

On the other hand, although the status is displayed using the LED in the electric wheelchair joystick module, it is very difficult to check the condition of the electric wheelchair, which makes it difficult to cope with the problems occurring while driving.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems, and it is an object of the present invention to provide a motor control apparatus and a motor control method of an electric wheelchair which adaptively adjusts a motor of an electric wheelchair according to an obstacle, a terrain change And to provide an electric wheelchair control method and system for controlling an electric wheelchair.

It is another object of the present invention to provide a method and system for allowing an inexperienced user to easily control an electric wheelchair with a button by using a mobile terminal.

According to an aspect of the present invention, there is provided an electric wheelchair control method including: driving an electric wheelchair; Sensing a terrain change; And a first control step of controlling the speed of the electric wheel chair when the change of the terrain is detected.

The control step may limit the maximum speed of the electric wheel chair.

In addition, the control step may release the maximum speed limitation of the electric wheel chair when the landform change is resolved.

When the terrain change is detected, it may be a case of entering at least one of uphill, downhill, bouncing jaw, unfinished terrain, or the like.

Further, an electric wheel chair control method according to an embodiment of the present invention includes: detecting an obstacle around the electric wheel chair; If the obstacle is detected, calculating a distance to the obstacle; And a second control step of controlling the speed of the electric wheel chair based on the distance.

And, the second control step may limit the maximum speed of the electric wheel chair when the distance exceeds the limit distance.

In addition, the second control step may stop the electric wheel chair if the distance is less than the limit distance.

The second control step displays a warning through the mobile terminal of the user using the electric wheel chair if the distance is less than the limit distance and when the user confirms the warning through the mobile terminal, It is possible to release the stop and release the maximum speed limitation of the electric wheel chair.

In addition, the second control step may display the limited maximum speed of the electric wheel chair through the mobile terminal.

The driving step may drive the electric wheel chair according to a user's operation input through the joystick provided in the electric wheel chair or the user's mobile terminal using the electric wheel chair.

According to another aspect of the present invention, an electric wheelchair includes: a driving unit for driving an electric wheelchair; A judging unit for detecting a change in terrain; And a control unit controlling the speed of the electric wheel chair by the driving unit when the change of the terrain is detected by the determining unit.

As described above, according to the embodiments of the present invention, it is possible to guarantee safe driving of obstacles and terrain changes that occur when a disabled person, an elderly person, a patient, or other inconvenient user uses an electric wheelchair, .

In addition, it is possible to check the state of the electric wheelchair in real time using the mobile terminal, and to quickly cope with the situation. In addition, through a mobile terminal, it is possible for users with difficult joystick manipulation to more easily operate an electric wheelchair.

1 is a block diagram showing an electric wheelchair control system according to an embodiment of the present invention;
FIG. 2 is a block diagram showing a detailed configuration of the mobile terminal shown in FIG. 1,
3 is a flowchart showing a method of automatically controlling an electric wheelchair according to another embodiment of the present invention.
4 is a diagram illustrating a situation in which a change in terrain is generated in an electric wheelchair and a method of detecting the situation in an infrared distance sensor,
FIG. 5 is a conceptual view of the automatic wheelchair control method shown in FIG. 3,
FIG. 6 is a flowchart illustrating a method of automatically controlling an electric wheelchair according to another embodiment of the present invention;
7 is a diagram illustrating a guidance screen displayed on a mobile terminal,
8 is a diagram illustrating a warning message popped up in a mobile terminal.

Hereinafter, the present invention will be described in detail with reference to the drawings.

1 is a block diagram showing an electric wheelchair control system according to an embodiment of the present invention. The electric wheel chair control system according to the embodiment of the present invention is a system for safe running of the electric wheel chair 110.

1, an electric wheelchair control system according to an embodiment of the present invention is constructed by connecting a mobile terminal 210 and an electric wheelchair 110 so that they can communicate with each other.

1, the electric wheelchair 110 includes an MCU 111, a topographic change detection sensor unit 114, a gyro sensor 116, an infrared distance sensor 117, an obstacle detection sensor unit 115, A driving unit 123, motors 124 and 125, a transmitting unit 126, and a receiving unit 127 (not shown), which are connected to the infrared ray distance sensor 118, the joystick 119, the power source unit 120, the motor relay 121, , And the MCU 111 includes a determination unit 112 and a control unit 113. [

The power supply unit 120 is a battery for supplying power necessary for driving and operating the electric wheel chair 110. [ The transmitting unit 126 and the receiving unit 127 are means for establishing a communication connection between the electric wheelchair 110 and the mobile terminal 210.

The joystick 119 is a means for the user to input an operation command to the electric wheelchair 110 by the user (the disabled person, the elderly person, the patient, the other inconvenient user) Controls the driving unit 123 according to the contents to drive the motors 124 and 124 and controls the motor relay 121 to operate the motor brake 122. [

Further, in addition to the joystick 119, it is also possible for the user to operate the electric wheelchair through the mobile terminal 210. That is, the control unit 113 may receive the operation contents input through the mobile terminal 210 through the reception unit 127, and may control the driving unit 123 and the motor relay 121 accordingly.

The terrain change detection sensor unit 114 transmits the sensing result collected using the gyro sensor 116 and the infrared ray distance sensor 117 to the determination unit 112. The determination unit 112 detects a change in the terrain based on the sensing result received from the terrain change detection sensor unit 114.

Here, the change of the terrain refers to an uphill road, a downhill road, a bouncing road, a case where the road has entered into an uneven terrain, or a road is about to enter soon.

The obstacle detection sensor unit 115 senses the presence or absence of an obstacle in all directions (360 deg.) Of the electric wheelchair using the eight infrared distance sensors 118 and transmits the detection result to the determination unit 112. [

The determination unit 112 transmits the terrain change and the obstacle detection result to the control unit 113. [ Then, the control unit 113 refers to the terrain change and the obstacle detection result when the driving unit 123 and the motor relay 121 are controlled.

The control process of the control unit 113 according to the change of the terrain and the detection of the obstacle will be described later in detail with reference to FIG. 3 to FIG.

The mobile terminal 210 is a terminal carried by the user, regardless of the form and the type. However, the mobile terminal 210 is required to have an application for interlocking with the electric wheelchair 110.

FIG. 2 shows a detailed configuration of the mobile terminal 210. 2, the mobile terminal 210 includes a control unit 211, a touch screen 212, a receiving unit 213, and a transmitting unit 214.

The control unit 211 receives the information on the state of the electric wheelchair 110 from the determination unit 112 of the electric wheelchair 110 through the receiving unit 213 and displays the received state information on the touch screen 212 . Thus, the user can check the status of the electric wheelchair 110 through the mobile terminal 210. [

In addition, the control unit 211 displays the operation buttons of the electric wheel chair 110 through the touch screen 212. FIG. Accordingly, the user can input an operation command to the electric wheel chair 110 through the touch screen 212 without using the joystick 119 of the electric wheel chair 110. [ The control unit 211 transmits the operation contents of the user inputted through the touch screen 212 to the control unit 113 of the electric wheel chair 110 through the transmission unit 214. [

The communication method between the mobile terminal 210 and the electric wheelchair 110 through the receiving and transmitting units 213 and 214 and the transmitting and receiving units 126 and 127 can be implemented in Bluetooth. However, other communication methods may be substituted.

Hereinafter, the automatic control process of the electric wheel chair 110 according to the change of the terrain will be described in detail with reference to FIG. Fig. 3 is a flowchart provided in the explanation of the electric wheel chair automatic control method according to another embodiment of the present invention.

3, the control unit 113 controls the driving unit 123 and the motor relay 121 according to the user's operation input through the joystick 119 to drive the electric wheelchair 110 (S310).

The determination unit 112 detects the change of the terrain using the sensing result obtained by the terrain change sensor unit 114 through the gyro sensor 116 and the infrared ray sensor 117 at step S320.

The terrain change in step S320 refers to an uphill, downhill, bouncing, non-flat terrain, or soon to be entered. FIG. 4 illustrates a situation in which the terrain change occurs in the electric wheel chair 110 and a method of detecting the situation in the infrared distance sensor 117. FIG.

The control unit 113 sets the maximum speed of the motors 124 and 125 so as to control the driving unit 123 and the motor relay 121 so as not to exceed the maximum speed in step S320, (S340).

On the other hand, the determination unit 112 detects whether the terrain change is eliminated by using the sensing result obtained by the terrain change sensor unit 114 through the gyro sensor 116 and the infrared ray sensor 117 (S350 ).

The landform change elimination in step S350 refers to an uphill, downhill, bounce, uneven landform, or soon to be released.

If it is determined in step S350 that the resolution of the terrain change is detected (S350-Yes), the control unit 113 cancels the maximum speed limitation of the motors 124 and 125 and controls the driving unit 123 and the motor relay 121 without limiting the maximum speed (S360).

FIG. 5 conceptually shows the above-described automatic control method for an electric wheelchair. FIG. 5 schematically illustrates a concept that the maximum speed is limited when a change in the topography occurs, and the maximum speed is not limited when the change does not occur or is resolved.

Hereinafter, the automatic control process of the electric wheel chair 110 according to the obstacle detection will be described in detail with reference to FIG. 6 is a flowchart provided in the explanation of the electric wheel chair automatic control method according to another embodiment of the present invention.

The control unit 113 controls the driving unit 123 and the motor relay 121 to drive the electric wheelchair 110 according to the user's operation input through the joystick 119 as shown in FIG. (S410).

On the other hand, the determination unit 112 detects an obstacle around the electric wheel chair using the sensing results obtained by the obstacle detection sensor unit 115 through the eight infrared distance sensors 118 (S420).

If an obstacle is detected in step S420 (S430-Yes), the determination unit 112 calculates the distance to the obstacle (S440). If the obstacle is far away (i.e., the distance to the obstacle exceeds the limit distance) (S440-Yes), the control unit 113 limits the maximum speed of the motors 124, 125 so as not to exceed the maximum speed And controls the driving unit 123 and the motor relay 121 (S450).

Meanwhile, the controller 211 of the mobile terminal 210 receives the information on the speed limit set by the step S450 from the electric wheelchair 110 and displays it on the touch screen 212 (S460).

In step S460, a guide screen for the limited speed displayed on the touch screen 212 is illustrated in Fig. As shown in FIG. 7, it can be confirmed that, in addition to the information on the speed limit, information on the operation state of the eight infrared distance sensors 118 and information on the obstacle position are further displayed on the screen of the touch screen 212 .

If the obstacle is closer to the obstacle (S470-Yes) in step S450, the control unit 113 controls the driving unit 123 to stop the electric wheelchair 110 And the motor relay 121 (S480).

The control unit 211 of the mobile terminal 210 receives the control result of step S480 from the electric wheelchair 110 and displays a warning message pop-up on the touch screen 212 at step S490.

The warning message popping up on the touch screen 212 in step S490 is illustrated in FIG. As shown in FIG. 8, an OK button is provided in the warning message.

If the confirmation button is pressed by the user (S500-Yes), the control unit 113 cancels the stop of the electric wheelchair 110 and releases the maximum speed limitation of the motors 124 and 125 (S510). The obstacle can be avoided by manual operation by the joystick 119 since the user has reliably recognized the obstacle.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the present invention.

110: electric wheelchair 111: MCU
112: Judgment section 113:
114: terrain change detection sensor unit 115: obstacle detection sensor unit
116: Gyro sensor 117: Infrared distance sensor
118: Eight Infrared Distance Sensors 119: Joystick
120: Power supply unit 121: Motor relay
122: motor brake 123:
124: motor-R 125: motor-L
126: transmitting unit 127: receiving unit
210: mobile terminal 211:
212: touch screen 213:
214:

Claims (11)

Driving an electric wheelchair;
Sensing a terrain change; And
And a first control step of controlling the speed of the electric wheel chair when the change of the terrain is detected.
The method according to claim 1,
Wherein the control step comprises:
Wherein the maximum speed of the electric wheel chair is limited.
The method of claim 2,
Wherein the control step comprises:
Wherein the maximum speed limitation of the electric wheel chair is released when the landform change is resolved.
The method according to claim 1,
When the terrain change is detected,
Wherein the controller is configured to enter at least one of uphill, downhill, bouncing, and unbalanced terrain.
The method according to claim 1,
Detecting an obstacle around the electric wheel chair;
If the obstacle is detected, calculating a distance to the obstacle;
And a second control step of controlling the speed of the electric wheel chair based on the distance.
The method of claim 5,
Wherein the second control step comprises:
And setting the maximum speed of the electric wheel chair to a limit if the distance exceeds the limit distance.
The method of claim 6,
Wherein the second control step comprises:
And stopping the electric wheel chair when the distance is less than the limit distance.
The method of claim 7,
Wherein the second control step comprises:
And displays a warning through the mobile terminal of the user using the electric wheel chair if the distance is less than the limit distance and releases the stop of the electric wheel chair when the user confirms the warning through the mobile terminal, And the maximum speed limitation is released.
The method of claim 8,
Wherein the second control step comprises:
Wherein the controller displays the limited maximum speed of the electric wheel chair via the mobile terminal.
The method according to claim 1,
In the driving step,
Wherein the electric wheelchair is driven according to a user's operation input through a joystick provided in the electric wheel chair or a user's mobile terminal using the electric wheel chair.
A driving unit for driving the electric wheelchair;
A judging unit for detecting a change in terrain; And
And a control unit for controlling the speed of the electric wheel chair by the driving unit when the change of the terrain is detected by the determining unit.
KR1020150108814A 2015-07-31 2015-07-31 Electric Wheelchair Control Method and System for Safety Driving based on Sensor KR20170015774A (en)

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Application Number Priority Date Filing Date Title
KR1020150108814A KR20170015774A (en) 2015-07-31 2015-07-31 Electric Wheelchair Control Method and System for Safety Driving based on Sensor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150108814A KR20170015774A (en) 2015-07-31 2015-07-31 Electric Wheelchair Control Method and System for Safety Driving based on Sensor

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20200012225A (en) * 2018-07-26 2020-02-05 순천대학교 산학협력단 Smart-operated vehicle and its monitoring system
KR102640096B1 (en) * 2023-11-06 2024-02-22 김예준 An apparatus for determining the risk of a forward slope

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20200012225A (en) * 2018-07-26 2020-02-05 순천대학교 산학협력단 Smart-operated vehicle and its monitoring system
KR102640096B1 (en) * 2023-11-06 2024-02-22 김예준 An apparatus for determining the risk of a forward slope

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