KR20200107751A - Power assisted wheelchair platform and driving method for the power assisted wheelchair platform - Google Patents

Abstract

Disclosed are a platform for a wheelchair for increasing physical strength and a driving method of a platform for a wheelchair for increasing physical strength. According to one embodiment, in the driving method of a platform for a wheelchair for increasing physical strength, the wheelchair for increasing physical strength includes: a plurality of sensors arranged at a side surface and a back surface of a handle of the platform for a wheelchair for increasing physical strength; a driving part transmitting power for rotation of a left wheel and a right wheel of the platform for a wheelchair for increasing physical strength; and a control part controlling the driving part, wherein the driving method includes the following steps of: determining a manipulation intention with respect to the platform for a wheelchair for increasing physical strength based on at least one of a size of force measured by at least one sensor among the plurality of sensors and a position of the sensors in which the force is measured; and allowing the control part to control the driving part so that the platform for a wheelchair for increasing physical strength is driven in accordance with the manipulation intention.

Description

Strengthening Wheelchair Platform and Driving Method of the Platform for Strengthening Wheelchair {POWER ASSISTED WHEELCHAIR PLATFORM AND DRIVING METHOD FOR THE POWER ASSISTED WHEELCHAIR PLATFORM}

The following description relates to a strength-enhanced wheelchair platform and a driving method of the platform of the strength-enhanced wheelchair.

The strength-enhancing wheelchair (or strength-assisted wheelchair) is based on a manual operation of a user or operator of a wheelchair, but may refer to a wheelchair capable of assisting the driving of a user or operator by rotating a wheel using a motor. For example, Korean Patent Registration No. 10-1779912 discloses a strength assist wheelchair that senses a user input torque using a polarization filter.

It provides a strength-enhancing wheelchair platform capable of controlling a driving unit according to an operator's operating intention for operating a wheelchair, and a driving method of the platform of the strength-enhancing wheelchair.

In the driving method of the strength-enhancing wheelchair platform, the strength-enhancing wheelchair includes: a plurality of sensors disposed on side surfaces and rear surfaces of a handle of the strength-enhancing wheelchair platform; A driving unit for transmitting power for rotation of the left and right wheels of the muscle enhancing wheelchair platform; And a control unit for controlling the driving unit, wherein the driving method includes the control unit based on at least one of a magnitude of a physical force measured by at least one sensor among the plurality of sensors and a position of a sensor at which the physical force is measured. Determining an operation intention for the strength-enhanced wheelchair platform; And controlling, by the control unit, the driving unit so that the muscle strength wheelchair platform is driven according to the manipulation intention.

According to one side, the driving unit includes a left motor that transmits power to the left wheel and a right motor that transmits power to the right wheel, and the step of controlling the driving unit is based on the manipulation intention of the muscle-enhancing wheelchair platform. Calculating virtual rotational speeds of the left wheel and the right wheel for a corresponding movement; Measuring an actual rotation speed of the left wheel and the right wheel through sensors disposed on the left wheel and the right wheel; Generating a first feedback for the left wheel and a second feedback for the right wheel through comparison between the virtual rotational speed and the actual rotational speed; And transmitting the first feedback to the left motor and the second feedback to the right motor so that the muscle strength wheelchair platform travels according to a movement according to the manipulation intention.

According to another aspect, in the controlling of the driving unit, when the position of the sensor from which the physical force is measured is a first side of the handle, a first side of the handle opposite to the first side of the left wheel and the right wheel 2 It may be characterized in that the driving unit is controlled to transmit additional power to the wheels corresponding to the side surfaces.

According to another aspect, the driving unit includes a left motor that transmits power to the left wheel and a right motor that transmits power to the right wheel, and the controlling of the driving unit includes a position of a sensor in which the physical force is measured. Recognizing a first physical force acting in the direction of the strength-enhancing wheelchair platform from the first side surface and a second physical force acting in the direction of the strength-enhancing wheelchair platform from the rear surface, when is the first side of the handle; Determining a first torque to be applied to the left motor and a second torque to be applied to the right motor based on the first physical force and the second physical force; In order to offset at least a portion of the first physical force according to the manipulation intention, an additional torque to be applied to a motor corresponding to a second side of the handle opposite to the first side of the left motor and the right motor is determined Step to do; And controlling the left motor and the right motor according to the first torque, the second torque, and the additional torque.

According to another aspect, the determining of the first torque to be applied to the left motor and the second torque to be applied to the right motor includes the first physical force and the second physical force measured according to an operation on the first side. Calculating a third physical force and a fourth physical force corresponding to an operation on the rear side of the strength-enhancing wheelchair platform by using; And calculating the first torque proportional to the third physical force, and calculating a second torque calculated to the fourth physical force.

According to another aspect, the driving method includes a velocity trajectory generated in advance so that the control unit includes information on a relationship between the input of the plurality of sensors in the first environment and the speed of the strength-enhancing wheelchair platform. Confirming; Determining, by the control unit, a first speed of the muscle enhancing wheelchair platform according to a first input of the plurality of sensors in a second environment; Detecting, by the control unit, a second speed corresponding to the first input through the speed path; Determining, by the control unit, a torque required to change the speed of the muscle enhancing wheelchair platform from the first speed to the second speed; And reflecting, by the control unit, the determined torque to the driving unit.

According to another aspect, the first environment includes an environment in which the strength-enhanced wheelchair platform travels on a flat path without a passenger on the strength-enhanced wheelchair platform, and the second environment is the strength-enhanced wheelchair platform It may be characterized in that it includes an environment in which the occupant is on board or traveling on a path including a slope.

According to another aspect, the speed included in the speed path may be calculated by integrating an acceleration calculated through a dynamic model and a model constraint condition in which no slip occurs.

In combination with a computer device, there is provided a computer program stored on a computer-readable recording medium for executing the method on the computer device.

A computer-readable recording medium in which a program for executing the method is recorded on a computer device is provided.

A strength-enhancing wheelchair platform, comprising: a plurality of sensors disposed on side and rear sides of a handle of the strength-enhancing wheelchair platform; A driving unit for transmitting power for rotation of the left and right wheels of the muscle enhancing wheelchair platform; And a control unit for controlling the driving unit, wherein the control unit includes at least one of a magnitude of a physical force measured by at least one sensor among the plurality of sensors and a position of a sensor at which the physical force is measured, and the muscle strength wheelchair platform It provides a strength-enhancing wheelchair platform, characterized in that the control unit determines an operation intention for and controls the driving unit so that the strength-enhancing wheelchair platform is driven according to the operation intention.

In the muscle enhancing wheelchair platform, the lower portion is connected to the rear wheel left and right wheels, the upper portion of the main frame to form a back; A right frame having one side connected to the right front wheel and the other side connected to the upper right side of the main frame through a first rotation joint; A left frame having one side connected to the left front wheel and the other side connected to the upper left side of the main frame through a second rotation joint; And a right side of the lower part of the backrest formed by the main frame and connected through a third rotation joint, connected through a left side of the lower part of the backrest and a fourth rotation joint, and connected through an inner side of the right frame and a fifth rotation joint. And a seat frame connected to an inner side surface of the left frame through a sixth rotation joint, and the first rotation joint is connected to a first sliding joint formed in a first groove at an upper right of the main frame, and the The second rotary joint is connected to a second sliding joint formed in a second groove on the upper left of the main frame, and is connected to the first sliding joint and the second sliding joint through a linear actuator. 2 As the sliding joint rises along the first groove and the second groove, the left frame, the right frame, and the seat frame are folded along the first to sixth rotation joints. Provides a wheelchair platform for strength enhancement.

According to one side, the strength-enhancing wheelchair platform has one side connected to the left frame and the right frame through a seventh rotation joint and an eighth rotation joint, and spreads to the front of the muscle strength wheelchair platform, or the left frame and the right frame A footrest that folds inward; And a first sensor configured to detect the folding of the footrest to switch the muscle-enhancing wheelchair platform to a folding mode, and to switch the muscle-enhancing wheelchair platform to a driving mode by detecting that the footrest is unfolded.

According to another aspect, the strength-enhancing wheelchair platform is connected to the footrest by one link so that when the footrest is folded, the left front wheel and the right front wheel contact the ground relatively more than the ground contacting the ground. It may further include a folding roller for floating the left front wheel and the right front wheel.

According to another aspect, the link between the folding roller and the scaffold may be a point vertically above the folding roller when the scaffold is folded or may be a front of the point.

According to another aspect, the muscle strength wheelchair platform may further include a wheel position correction module for correcting the wheel positions of the left front wheel and the right front wheel when the left frame and the right frame are folded.

According to another aspect, the muscle strength wheelchair platform further comprises left and right armrests connected to the left frame and the right frame through an arc-shaped column, and the left and right armrests are the left and right frames when folding the It may be characterized in that the circular arc-shaped column is inserted into the left frame and the right frame, and is folded for each of the left frame and the right frame.

According to another aspect, the strength-enhancing wheelchair platform is configured under the main frame, the tipping lever configured to step on an operator who operates the strength-enhancing wheelchair platform to lift the front portion of the strength-enhancing wheelchair platform; And a switch that operates according to the pressure applied to the tipping lever, and when the switch is operated, the operation mode of the muscle strength wheelchair platform may be changed.

According to another aspect, when the switch is operated, the operation mode may be changed to transmit power to the left and right rear wheels so as to move the muscle enhancing wheelchair platform forward.

According to another aspect, the strength-enhancing wheelchair platform may further include a handle connected to an upper portion of the main frame including a plurality of sensors for controlling the driving of the strength-enhancing wheelchair platform.

According to another aspect, the plurality of sensors may include a plurality of strain gauges disposed on side surfaces and rear surfaces of the handle.

According to another aspect, the strength-enhancing wheelchair platform further includes an LED module that is formed on the handle and outputs a preset rating according to a mode of the strength-enhancing wheelchair platform or according to a direction change of the strength-enhancing wheelchair platform. I can.

It is possible to provide a strength-enhancing wheelchair platform capable of controlling a driving unit according to an operation intention of an operator operating a wheelchair and a driving method of the platform of the strength-enhancing wheelchair.

1 to 4 are views showing an example of the appearance of the muscle strength wheelchair platform according to an embodiment of the present invention.
5 is a view showing an example of the rear view of the muscle strength wheelchair platform according to an embodiment of the present invention.
6 to 8 are diagrams illustrating an example of a connection between a main frame and a right frame of a strength-enhancing wheelchair platform in an embodiment of the present invention.
9 to 13 are views showing an example of the scaffold structure of the muscle strength wheelchair platform according to an embodiment of the present invention.
14 is a view showing an example of the internal configuration of the muscle strength wheelchair platform according to an embodiment of the present invention.
15 is a flowchart showing an example of an annotation method for a strength-enhancing wheelchair platform according to an embodiment of the present invention.
16 and 17 are views showing examples of a handle and a plurality of sensors disposed on the handle of a wheelchair platform for enhancing muscle strength according to an embodiment of the present invention.
18 is a diagram illustrating an example of a process of controlling a driving unit according to an operation intention according to an embodiment of the present invention.
19 is a block diagram showing an example of a computer device according to an embodiment of the present invention.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings.

1 to 4 are views showing an example of the appearance of the muscle strength wheelchair platform according to an embodiment of the present invention. The strength-enhancing wheelchair platform 100 according to the embodiment of FIGS. 1 to 4 may be implemented in the form of an electric wheelchair having an automatic folding structure in order to overcome the spatial limitations of the existing electric wheelchair and improve storage and storage. At this time, FIG. 1 is an example of a right side view of the muscle strength wheelchair platform 100 in a driving state, FIG. 2 is an example of a left side view of the muscle strength wheelchair platform 100 in a running state, and FIG. 3 is storage and/or An example of the right side view of the strength-enhancing wheelchair platform 100 in a state of being folded for storage, FIG. 4 is a view of the left side view of the strength-enhancing wheelchair platform 100 in a folded state for storage and/or storage. Examples are shown respectively.

1 to 4, the strength-enhancing wheelchair platform 100 includes a main frame 110, a rear right wheel 120-1, a rear left wheel 120-2, a front right wheel 130-1, It may include a front left wheel (130-2), a right frame (140-1), a left frame (140-2) and a seat frame (150). In addition, the muscle strength wheelchair platform 100 may further include a handle 210 including a plurality of sensors.

The main frame 110 may have rear left and right wheels connected to the lower part 110-1, and a backrest may be formed in the upper part 110-2.

In addition, the right frame 140-1 may have one side connected to the left front wheel 130-2, and the other side connected to the right side of the upper part 110-2 of the main frame 110 through a first rotation joint. 1 and 3, the first curved double-headed arrow 160-1 rotates by connecting the other side of the right frame 140-1 to the right side of the upper portion 110-2 of the main frame 110 through a first rotation joint. Indicates that it can be.

In addition, the left frame 140-2 has one side connected to the front right wheel 130-1, and the other side is the upper right side 110-2 of the main frame 110 through the second rotation joint 160-2. Can be connected with. 2 and 4, the second curved double-sided arrow 160-2 rotates by connecting the other side of the left frame 140-2 to the left side of the upper portion 110-2 of the main frame 110 through a second rotation joint. Indicates that it can be.

In addition, the seat frame 150 may be connected to the right side of the lower part of the backrest formed by the main frame 110 and the third rotation joint, and may be connected to the left side of the lower part of the backrest through a fourth rotation joint. In FIGS. 1 and 3, a third curved double-headed arrow 170-1 indicates that the seat frame 150 can be rotated by being connected to the right side of the lower part of the backrest formed by the main frame 110 through a third rotation joint. In Figs. 2 and 4, the fourth curved double-sided arrow 170-2 may rotate by connecting the seat frame 150 to the left side of the lower backrest formed by the main frame 110 through a fourth rotation joint. Represents.

In addition, the seat frame 150 may be connected to an inner side of the right frame 140-1 through a fifth rotation joint, and may be connected to an inner side of the left frame 140-2 through a sixth rotation joint. In FIGS. 1 and 3, a fifth curved double-sided arrow 180-1 indicates that the seat frame 150 can be rotated by being connected to the inner side of the right frame 140-1 through a fifth rotation joint, In FIGS. 2 and 4, a sixth curved double-headed arrow 180-2 indicates that the seat frame 150 can be rotated by being connected to the inner side of the left frame 140-2 through a sixth rotation joint.

In this case, the first rotation joint may be connected to the first sliding joint formed in the first groove 190-1 on the right side of the upper portion 110-2 of the main frame 110, and the second rotation joint is the main frame 110 It may be connected to a second sliding joint formed in the second groove 190-2 on the left side of the upper portion 110-2.

In this case, the first sliding joint and the second sliding joint rise along the first and second grooves 190-1 and 190-2 through linear actuators respectively installed in the first and second sliding joints. Accordingly, the right frame 140-1, the left frame 140-2, and the seat frame 150 may be folded along the first to sixth rotation joints. Accordingly, the strength-enhancing wheelchair platform 100 may be automatically changed from the driving state of FIGS. 1 and 2 to the folded state for storage and/or storage of FIGS. 3 and 4. Conversely, the first sliding joint and the second sliding joint are respectively lowered along the first and second grooves 190-1 and 190-2 through linear actuators installed in the first and second sliding joints, respectively. Accordingly, the right frame 140-1, the left frame 140-2, and the seat frame 150 may be unfolded along the first to sixth rotation joints. Accordingly, the strength-enhancing wheelchair platform 100 may be automatically changed to the driving state of FIGS. 1 and 2 in the folded state for storage and/or storage of FIGS. 3 and 4.

5 is a view showing an example of the rear view of the muscle strength wheelchair platform according to an embodiment of the present invention. 5 shows the rear structure of the frames forming the muscle strength wheelchair platform 100. At this time, the right frame 140-1 may be connected to the right side of the upper part 110-2 of the main frame 110 through the first rotation joint 510-1, and the upper part 110-2 of the main frame 110 ) The left frame 140-2 may be connected to the left through the second rotation joint 510-2. In this case, the first rotation joint 510-1 and the second rotation joint 510-2 may be connected to the linear actuator 520. The linear actuator 520 may be implemented to move up and down using the power of the muscle strength wheelchair platform 100. At this time, as the linear actuator 520 moves up and down, the first rotation joint 510-1 and the second rotation joint 510-2 connected to the linear actuator 520 may also move up and down. The right frame 140-1 and the left frame 140-2 connected to the right and left of the upper portion 110-2 of the main frame 110 through the rotary joint 510-1 and the second rotary joint 510-2. ) Can be folded in the direction of the upper portion 110-2 of the main frame 110, and the seat frame (as the right frame 140-1 and the left frame 140-2 are folded in the direction of the main frame 110) 150) As it is also folded in the direction of the upper portion 110-2 of the main frame 110, the strength-enhancing wheelchair platform 100 may be converted into a folded state.

6 to 8 are diagrams illustrating an example of a connection between a main frame and a right frame of a strength-enhancing wheelchair platform in an embodiment of the present invention. As described above, the right frame 140-1 may be connected to the right side of the upper portion 110-2 of the main frame 110 through the first rotation joint 510-1. Further, the first rotation joint 510-1 may be connected to the linear actuator 520. At this time, when the linear actuator 520 is raised in the upward direction, a guide roller 710 formed in the first groove 190-1 formed on the right side of the upper portion 110-2 of the main frame 110 is used. Thus, as the first rotation joint 510-1 rises upward along the first groove 190-1, the right frame 140-1 is folded in the direction of the upper part 110-2 of the main frame 110. The left frame 140-2 is also a guide roller formed in the second groove 190-2 formed on the left side of the upper portion 110-2 of the main frame 110 as the linear actuator 520 rises upward. Using (not shown), the second rotation joint 510-2 rises up along the second groove 190-2, so that the left frame 140-2 is the upper part 110-2 of the main frame 110. It is folded in the direction. As described above, when the right frame 140-1 and the left frame 140-2 are folded in the direction of the upper portion 110-2 of the main frame 110, the right frame 140-1 and the left The frame 140-2 and the seat frame 150 connected through the fifth and sixth rotation joints are also moved. At this time, since the seat frame 150 is connected to the right side of the lower part of the backrest formed by the main frame 110 and the third rotation joint, and connected through the left side of the backrest and the fourth rotation joint, the seat frame 150 It is also folded in the direction of the upper portion 110-2 of the main frame 110. Thus, the strength enhancement wheelchair platform 100 may be converted to a folding state.

The linear actuator 520 is, for example, a device having a loading force of 500 N and a speed of 33 mm/sec, and may be selected as a product that stably emits a force required for folding and realizes a folding time that is not too long.

The first groove 190-1 and the second groove 190-2 formed in the upper portion 110-2 of the main frame 110 implement the upper portion 110-2 as an aluminum pipe, and a long hole of the aluminum pipe By implementing the first groove 190-1 and the second groove 190-2 as a result, it is possible to reduce the number of parts and weight by performing two roles of a frame and a linear guide.

In addition, the guide roller 710 is inserted into the aluminum pipe using a certain internal tolerance of the aluminum pipe implementing the upper portion 110-2 of the main frame 110, thereby preventing the movement of the guide roller 710 back and forth. have. In addition, the guide roller 710 may be processed with polyoxymethylene to reduce noise and prevent left and right movement.

In addition, the first rotation joint (510-1) and the second rotation joint (510-2) are the right frame through urethane mold bearings of hardness that can withstand the vertical drag applied when the muscle strength wheelchair platform 100 is folded. 140-1) and the left frame 140-2.

In addition, at this time, the shaft constituting the first rotation joint (510-1) and the second rotation joint (510-2) when folding or driving the muscle strength wheelchair platform 100 through the urethane cushion included in the urethane mold bearing Noise due to impact and friction between the long holes (the first groove 190-1 and the second groove 190-2) of the frame can be prevented.

On the other hand, considering that the height of the maximum point of the linear actuator 520 varies due to errors that may occur in manufacturing, assembly, and/or parts, the micro switch 810 may be installed and utilized at both or either side at the highest point. When the linear actuator 520 moves upward and reaches the highest point, the shaft holder presses the micro switch 810 to recognize that the highest point has been reached. In this case, the muscle strength wheelchair platform 100 may stop folding. According to an embodiment, a micro switch may also be used in the position of the lowest point of the linear actuator 520. When a signal is received from the micro switch at the lowest point, the strength enhancement wheelchair platform 100 may stop converting from a folding state (folding mode) to a driving state (driving mode).

9 to 13 are views showing an example of the scaffold structure of the muscle strength wheelchair platform according to an embodiment of the present invention.

The strength-enhancing wheelchair platform 100 may further include a right frame 140-1 and a left frame 140-2, and a footrest 910 connected through a seventh rotation joint and an eighth rotation joint. At this time, if the footrest 910 is unfolded when folding the strength-enhancing wheelchair platform 100, there is a risk that the footrest 910 is dragged to the floor, and the entire length of the wheelchair before and after the folding may be relatively long. Therefore, as shown in Figure 9, the footrest 910 rotates through the seventh rotation joint and the eighth rotation joint and spreads to the front of the strength-enhancing wheelchair platform 100, or as shown in FIG. 11, the right frame ( 140-1) and can be folded toward the inside of the left frame 140-2. At this time, the size of the footrest 910 may be determined so that the footrest 910 does not interfere with the rotation range of the casters for the front right wheel 130-1 and the front left wheel 130-2.

Meanwhile, FIG. 11 shows an example in which the strength-enhancing wheelchair platform 100 is correctly converted to a folding state, and an example in which the strength-enhancing wheelchair platform 100 is not converted to a folding state due to caster interference. To prevent this, the strength-enhancing wheelchair platform 100 is a wheel of the right front wheel 130-1 and the left front wheel 130-2 when the right frame 140-1 and the right frame 140-2 are folded. It may further include a wheel position correction module for correcting the position (rotation position of the caster). For example, the footrest 910 may include a physical structure for adjusting the wheel positions of the right front wheel 130-1 and the left front wheel 130-2 to become a basic position when unfolded or folded. . In this case, the wheel position correction module may correspond to a physical structure installed on the footrest 910. As another example, the strength-enhancing wheelchair platform 100 may automatically rotate the strength-enhancing wheelchair platform 100 slightly when the strength-enhancing wheelchair platform 100 is folded, so that the wheel position may be adjusted to become a basic position according to gravity. Here, the basic position may mean a position in which the right front wheel 130-1 and the left front wheel 130-2 rotating through the wheels of the caster are disposed parallel to the front of the strength-enhancing wheelchair platform 100. In this case, the wheel position correction module may be included in a control unit that controls the driving unit of the muscle enhancing wheelchair platform 100. As another example, when the caster interferes with the folding of the strength-enhancing wheelchair platform 100 through a sensor capable of knowing the angle of the caster, folding may be restricted. As another example, a weak motor for rotating the caster may be further installed to push the caster wheel to a stable position. As such, the wheel position correction module may be included in the muscle strength wheelchair platform 100 in various ways.

At this time, the strength-enhancing wheelchair platform 100 may further include a folding roller 1010 as in the embodiment of FIG. 10. In order to force the folding of the footrest 910 and lowering the folding roller 1010 to the ground when converting the muscle strength wheelchair platform 100 into a folding state, the footrest 910 and the folding roller 1010 are one link Can be connected to. At this time, when the folding roller 1010 is folded, the front wheel right wheel 130-1 and the front left wheel 130-2 contact the ground relatively farther than the ground contact position, so that the front wheel right It may be configured to float the wheel 130-1 and the left front wheel 130-2. The folding roller 1010 may be grounded to the ground instead of a caster for the right front wheel 130-1 and the left front wheel 130-2 to maintain the angle of the wheelchair and enable stable folding. For example, the link between the folding roller 1010 and the footrest 910 is a point vertically above the folding roller 1010 when the footrest 910 is folded or may be implemented to be located in front of the point. I can.

On the other hand, when the footrest 910 is folded, as shown in FIG. 12, there is a latch lock 1210 to prevent movement in the unfolding direction to maintain the position of the folding roller 1010 in the strength-enhancing wheelchair platform 100 It can play a role of letting go. In this case, the folding roller 1010 may remain in contact with the ground. The user may release the latch lock 1210 by pushing the tip 1220 above.

On the other hand, the strength-enhancing wheelchair platform 100 senses that the footrest 910 is folded, switches the strength-enhancing wheelchair platform 100 to a folding state (folding mode), and senses that the footrest 910 is unfolded, thereby increasing the strength of the wheelchair. It may further include a first sensor for switching the platform 100 to the driving state (driving mode). 13 shows an example in which a micro switch 1310 for detecting the folding and/or spreading of the footrest 910 is implemented as a first sensor.

In this way, the horizontal folding method used in the existing electric wheelchair requires a separate action in which the user has to stand the folded wheelchair, whereas the muscle strength wheelchair platform 100 according to the embodiments of the present invention is stored and stored by applying a folding mechanism. / Or it is possible to overcome physical restrictions and increase usability during storage. In addition, since it has a structure that automatically folds and stands when folded, there is no process that requires a lot of force, so anyone can use the folding function. In addition, the folding button uses a rocker switch on the button to increase intuitiveness.

In addition, by designing the scaffolding structure to reflect the user's intention to fold the strength-enhancing wheelchair platform 100, it is possible to prevent the strength-enhancing wheelchair platform 100 from folding when the occupant is using the wheelchair, and the wheelchair is erected and stored. It can be more effective in an airport-like environment where multiple wheelchairs are stored together and used immediately.

In addition, when a charging station such as a robot cleaner or a wireless vacuum cleaner exists, the folding mechanism according to embodiments of the present invention may be more effective.

14 is a view showing an example of the internal configuration of the strength-enhancing wheelchair platform according to an embodiment of the present invention, Figure 15 is a flow chart showing an example of a driving method of the strength-enhancing wheelchair platform according to an embodiment of the present invention to be.

As shown in FIG. 14, the strength-enhancing wheelchair platform 100 may include a plurality of sensors 1410, a control unit 1420, and a driving unit 1430. In this case, the plurality of sensors 1410 may be disposed on the side and rear surfaces of the handle 210 of the strength-enhancing wheelchair platform 100. In addition, the driving unit 1430 can transmit power for rotation of the right wheel and the left wheel (for example, the right rear wheel 120-1 and the left rear wheel 120-2) of the strength-enhancing wheelchair platform 100. have. Also, the control unit 1420 may control the driving unit 1430. In one embodiment, the control unit 1420 may be implemented in the form of a computer device and may be included in the muscle strength wheelchair platform 100. Further, the driving unit 1430 may include a sensor 1431 for measuring actual rotational speeds of the left and right wheels by being disposed on the left and right wheels.

In this case, steps 1510 and 1520 included in the driving method of FIG. 15 may be performed by the controller 1420. For example, at least one processor included in the computer device may be implemented to execute a code of an operating system loaded in a memory of the computer device or a control instruction according to the code of at least one program. Here, the at least one processor may control the computer device so that the computer device performs steps 1510 and 1520 included in the method of FIG. 15 according to a control command provided by a code stored in the computer device.

In step 1510, the control unit 1420 provides for the strength-enhancing wheelchair platform 100 based on at least one of the magnitude of the physical force measured by at least one sensor among the plurality of sensors 1410 and the position of the sensor where the physical force is measured. You can determine your intention to operate.

In step 1520, the control unit 1420 may control the driving unit 1430 so that the strength-enhancing wheelchair platform 100 is driven according to the manipulation intention.

16 and 17 are views showing examples of a handle and a plurality of sensors disposed on the handle of a wheelchair platform for enhancing muscle strength according to an embodiment of the present invention.

Unlike the environment in which the operator of the existing wheelchair could push the existing wheelchair only from the rear, the strength-enhancing wheelchair platform 100 according to the present embodiment has the handle 210 so that the operator can operate the strength-enhancing wheelchair platform 100 from the side. Sensors may be included on the side as well as the rear side. For example, FIG. 15 shows the handle 210 in more detail. For example, the horizontal frame of the handle 210 may be manufactured using an aluminum profile, and the rest of the structure of the handle 210 may be manufactured through a 3D printer output. In addition, an LED module for outputting a preset rating may be formed on the handle 210 according to a mode of the strength-enhancing wheelchair platform 100 or according to a direction change of the strength-enhancing wheelchair platform 100.

In addition, FIG. 16 shows an example of a first rear sensor 1710 and a second rear sensor 1720 disposed on the rear surface of the handle 210 and a side sensor 1730 disposed on the left side of the handle 210 have. The side sensor 1730 is shown only on the left side of the handle 210 in that there are more right-handed people, but according to the embodiment, the side sensor 1730 is disposed on the right side of the handle 210 or In consideration of various situations, it may be considered that the side sensors 1730 are disposed on each of the left and right sides of the handle 210. At this time, the plurality of sensors 1710 to 1730 disposed on the handle 210 recognize the force exerted by the operator to the handle 210, and the operator's intention to manipulate the strength-enhancing wheelchair platform 100 according to the recognized force. It can be used to control the driving of the muscle strength wheelchair platform 100 according to the operation intention by determining. Like the sensors 1710 to 1730 of FIG. 16, the plurality of sensors 1410 may include a plurality of strain gauges disposed on the side and the rear of the handle 210 to measure the force transmitted by the operator.

For example, as shown in FIG. 17, when the operator operates while pushing the first rear sensor 1710 and the second rear sensor 1710 with both hands, the direction of the force applied may be the y-axis. In this case, that one of F _L and F _R is greater than the other may mean that the intention of the motion of the operator is the rotation of the strength-enhancing wheelchair platform 100. For example, the fact that F _L is greater than F _R may mean an operator's operation intention to rotate the strength-enhancing wheelchair platform 100 to the right. Conversely, that F _R is greater than F _L may mean an operator's intention to rotate the strength-enhancing wheelchair platform 100 to the left.

On the other hand, when the operator operates while pushing the side sensor 1730 with one hand on the left side of the strength-enhancing wheelchair platform 100, the force can be recognized as F _x in the x-axis direction and F _y in the y-axis direction. If the side sensor 1730 does not exist, since the operator's force acting on the side cannot be detected, the operator must manually control the movement of the muscle strength wheelchair platform 100. On the other hand, in this embodiment, even when the operator manipulates the strength-enhanced wheelchair platform 100 from the side of the strength-enhanced wheelchair platform 100 through the side sensor 1730, the operator's operation intention is identified and the strength-enhanced wheelchair platform ( The control unit 1420 can control the driving unit 1430 to control the movement of 100). When the operator's side operation becomes possible, the operator communicates with the occupant at the side of the strength-enhancing wheelchair platform 100 and can manipulate the strength-enhancing wheelchair platform 100.

On the other hand, when the operator has the intention to move the strength-enhancing wheelchair platform 100 in the front direction while operating while pushing the side sensor 1730 with one hand from the left side of the strength-enhancing wheelchair platform 100, the x-axis An undesired rotational moment in the right direction is applied to the strength-enhancing wheelchair platform 100 by the direction F _x . In this case, when the operator determines the operation intention to move the strength-enhancing wheelchair platform 100 to the front through the sensors 1420, the control unit 1420 applies power to the right wheel of the strength-enhancing wheelchair platform 100. By additionally transmitting, the rotational moment in the right direction can be canceled.

In this case, even when the strength-enhancing wheelchair platform 100 moves across an inclined road surface or the occupant is shaken left and right and the symmetry of the left and right is broken, it can always be operated in the same feeling as on a symmetrical flat ground. Even when manipulating the strength-enhancing wheelchair platform 100, it is possible to manipulate the strength-enhancing wheelchair platform 100 in a balanced manner by compensating for a rotation moment applied in one direction or a difference in force applied to the left and right. Therefore, it is possible to remove the dependence on the manipulation according to the pushing position of the handle and always intuitively drive the muscle strength wheelchair platform 100.

18 is a diagram illustrating an example of a process of controlling a driving unit according to an operation intention according to an embodiment of the present invention. In a more specific example, the driving unit 1430 includes a left motor and a right wheel 1820 that transmits power to a left wheel 1810 (eg, a rear left wheel 120-2) and a right wheel 1820 (eg, a rear right wheel 120-1)) It may include a right-hand motor that transmits power to. In this case, the control unit 1420 is a virtual rotational speed of the left wheel 1810 and the right wheel 1820 for movement according to the manipulation intention of the strength-enhancing wheelchair platform 100 (rotation speed of the virtual wheel 1830) Is calculated, and the actual rotation speed of the left wheel 1810 and the right wheel 1820 is measured through a sensor 1431 disposed on the left wheel 1810 and the right wheel 1820, and the virtual rotation speed and the actual rotation A first feedback for the left wheel 1810 and a second feedback for the right wheel 1820 may be generated through comparison between the speeds. At this time, the control unit 1420 provides a first feedback to the left motor for the left wheel 1810 and the right motor for the right wheel 1820 so that the muscle strength wheelchair platform 100 travels according to the movement according to the operation intention. 2 Each feedback can be delivered. In this case, the left and right motors add power to the left wheel 1810 and/or the right wheel 1820 according to the transmitted feedback, thereby controlling the muscle strength wheelchair platform 100 to move according to the manipulation intention. .

As a more specific example, when the position of the sensor from which the physical force is measured is the first side of the handle, the control unit 1420 is the second side of the handle 210 which is opposite to the first side of the left wheel 1810 and the right wheel 1820. The driving unit 1430 may be controlled to transmit additional power to the wheels corresponding to the side surfaces. For example, when the physical force is measured by a sensor on the left side of the handle 210 as the operator manipulates the muscle strength wheelchair platform 100 on the left side of the muscle strength wheelchair platform 100, the muscle strength wheelchair platform 100 ), because the rotation moment is applied to the right side of the control unit 1420, the driving unit 1430 is controlled to transmit additional power to the right wheel 1820, thereby canceling the rotation moment to the right so that the muscle strength wheelchair platform 100 It can be controlled to move in the direction.

In another embodiment, when the position of the sensor from which the physical force is measured is the first side of the handle 210, the control unit 1420 includes a first physical force acting in the direction of the strength-enhancing wheelchair platform 100 from the first side and The second physical force acting in the direction of the strength-enhancing wheelchair platform 100 from the rear may be recognized. As an example, the first physical force may correspond to the force F _x described in FIG. 17, and the second physical force may correspond to the force F _y described in FIG. 17. In this case, the controller 1420 may determine a first torque to be applied to the left motor and a second torque to be applied to the right motor based on the first physical force and the second physical force. To this end, the control unit 1420 uses a first physical force and a second physical force measured according to an operation on the first side, and uses a third physical force and a fourth physical force corresponding to the operation on the rear side of the wheelchair platform 100. May be calculated, a first torque proportional to the third physical force may be calculated, and a second torque calculated to the fourth physical force may be calculated. In this case, the control unit 1420 is added for applying to a motor corresponding to the second side of the handle, which is opposite to the first side of the left motor and the right motor, in order to offset at least a part of the first physical force according to the determined manipulation intention. The torque can be determined, and the left motor and the right motor can be controlled according to the first torque, the second torque, and the additional torque. In other words, the additional torque may be a force for canceling the first physical force acting in the direction of the strength-enhancing wheelchair platform 100 from the first side.

On the other hand, not only the operator's operating position, but also the strength-enhancing wheelchair platform 100 moves across an inclined road surface, or a difference in left and right balance occurs according to the occupant's left-right asymmetry or asymmetry of the wheels and the road surface. Even in this case, the controller 1420 may determine an operator's manipulation intention through the sensors 1730 and then control the driving unit 1430 so that the muscle strength wheelchair platform 100 can be moved according to the manipulation intention.

In one embodiment, the control unit 1420 is a velocity trajectory that is previously generated to include information on the relationship between the input of the plurality of sensors 1410 in the first environment and the speed of the strength-enhancing wheelchair platform 100 You can check. Here, the velocity included in the velocity path can be calculated by integrating the acceleration calculated through the dynamic model and the model constraint condition in which no slip occurs. The speed path may include an actual speed and a friction model according to a force applied to the plurality of sensors 1410 of the strength-enhancing wheelchair platform 100. Based on this speed path, a feedback control input and a feedforward control input may be generated. Here, the feedforward control input may mean providing a force (power or torque described in the previous embodiments) to control the driving unit 1430 in proportion to the force recognized through the plurality of sensors 1410, and feedback The control input may mean a force (power or torque described in the previous embodiments) to be additionally provided in order to move the wheelchair platform 100 according to an operation intention. In this case, the control unit 1420 may determine a first speed of the strength-enhancing wheelchair platform 100 according to the first input of the plurality of sensors 1410 in the second environment. In this case, the control unit 1420 detects a second speed corresponding to the first input through the speed path, and changes the torque required to change the speed of the strength-enhancing wheelchair platform 100 from the first speed to the second speed. After determining, the determined torque may be reflected in the driving unit 1430. Some detailed force differences can be adaptively resolved through the force transmitted by the operator.

As an example, the first environment may include an environment in which the strength-enhancing wheelchair platform 100 travels on a flat path without a passenger on the strength-enhancing wheelchair platform 100. In addition, the second environment may include an environment in which an occupant boards the strength-enhancing wheelchair platform 100 or travels a path including a slope. In other words, regardless of the weight of the occupant or the slope of the path on which the strength-enhancing wheelchair platform 100 travels, the strength-enhancing wheelchair platform 100 is the first environment (the strength-enhancing wheelchair platform (with no passenger on board)) 100) It is possible to manipulate the strength-enhancing wheelchair platform 100 with the same feeling as driving in the environment in which this flat path is driven).

In this way, the operator of the strength-enhancing wheelchair platform 100 can manipulate the strength-enhancing wheelchair platform 100 by using the same strength regardless of the weight of the occupant or the slope of the slope, and the manipulation of the strength-enhancing wheelchair platform 100 Since the required force is the same, it can be used regardless of the operator's muscle strength. In addition, no matter which direction it moves on the ramp, it can move while pushing like a flat ground, and rotation within the ramp can be handled naturally.

19 is a block diagram showing an example of a computer device according to an embodiment of the present invention. The computer device 1900 may include a memory 1910, a processor 1920, a communication interface 1930, and an input/output interface 1940, as shown in FIG. 19. The memory 1910 is a computer-readable recording medium, and may include a permanent mass storage device such as a random access memory (RAM), a read only memory (ROM), and a disk drive. Here, a non-destructive large-capacity recording device such as a ROM and a disk drive may be included in the computer device 1900 as a separate permanent storage device separate from the memory 1910. Also, an operating system and at least one program code may be stored in the memory 1910. These software components may be loaded into the memory 1910 from a computer-readable recording medium separate from the memory 1910. Such a separate computer-readable recording medium may include a computer-readable recording medium such as a floppy drive, disk, tape, DVD/CD-ROM drive, and memory card. In another embodiment, software components may be loaded into the memory 1910 through a communication interface 1930 rather than a computer-readable recording medium. For example, software components may be loaded into the memory 1910 of the computer device 1900 based on a computer program installed by files received through the network 1960.

The processor 1920 may be configured to process instructions of a computer program by performing basic arithmetic, logic, and input/output operations. The instructions may be provided to the processor 1920 by the memory 1910 or the communication interface 1930. For example, the processor 1920 may be configured to execute a command received according to a program code stored in a recording device such as the memory 1910.

The communication interface 1930 may provide a function for the computer device 1900 to communicate with other devices (for example, the storage devices described above) through the network 1960. For example, a request, command, data, file, etc., generated by the processor 1920 of the computer device 1900 according to a program code stored in a recording device such as the memory 1910, is transmitted to the network according to the control of the communication interface 1930. 1960) to other devices. Conversely, signals, commands, data, files, etc. from other devices may be received by the computer device 1900 through the communication interface 1930 of the computer device 1900 via the network 1960. Signals, commands, data, etc. received through the communication interface 1930 may be transmitted to the processor 1920 or the memory 1910, and the file, etc. may be a storage medium (described above) that the computer device 1900 may further include. Permanent storage).

The input/output interface 1940 may be a means for an interface with the input/output device 1950. For example, the input device may include a device such as a microphone, a keyboard, or a mouse, and the output device may include a device such as a display or a speaker. As another example, the input/output interface 1940 may be a means for interfacing with a device in which functions for input and output are integrated into one, such as a touch screen. The input/output device 1950 may be configured with the computer device 1900 and one device.

Further, in other embodiments, the computer device 1900 may include fewer or more components than the components of FIG. 19. However, there is no need to clearly show most of the prior art components. For example, the computer device 1900 may be implemented to include at least a portion of the input/output device 1950 described above, or may further include other components such as a transceiver and a database.

As described above, according to the embodiments of the present invention, it is possible to provide a strength-enhancing wheelchair platform and a driving method of the platform of the strength-enhanced wheelchair capable of controlling a driving unit according to an operation intention of an operator operating a wheelchair.

The system or device described above may be implemented as a hardware component or a combination of a hardware component and a software component. For example, the devices and components described in the embodiments are, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA). , A programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions, such as one or more general purpose computers or special purpose computers. The processing device may execute an operating system (OS) and one or more software applications executed on the operating system. In addition, the processing device may access, store, manipulate, process, and generate data in response to the execution of software. For the convenience of understanding, although it is sometimes described that one processing device is used, one of ordinary skill in the art, the processing device is a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that it may include. For example, the processing device may include a plurality of processors or one processor and one controller. In addition, other processing configurations are possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of these, configuring the processing unit to behave as desired or processed independently or collectively. You can command the device. Software and/or data may be interpreted by a processing device or to provide instructions or data to a processing device, of any type of machine, component, physical device, virtual equipment, computer storage medium or device. Can be embodyed in The software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like alone or in combination. The medium may be one that continuously stores a program executable by a computer, or temporarily stores a program for execution or download. In addition, the medium may be a variety of recording means or storage means in a form in which a single piece of hardware or several pieces of hardware are combined. The medium is not limited to a medium directly connected to a computer system, but may be distributed on a network. Examples of media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magnetic-optical media such as floptical disks, and And a ROM, RAM, flash memory, and the like, and may be configured to store program instructions. In addition, examples of other media include an app store that distributes applications, a site that supplies or distributes various software, and a recording medium or storage medium managed by a server. Examples of the program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like.

As described above, although the embodiments have been described by the limited embodiments and drawings, various modifications and variations are possible from the above description by those of ordinary skill in the art. For example, the described techniques are performed in a different order from the described method, and/or components such as a system, structure, device, circuit, etc. described are combined or combined in a form different from the described method, or other components Alternatively, even if substituted or substituted by an equivalent, an appropriate result can be achieved.

Therefore, other implementations, other embodiments, and equivalents to the claims fall within the scope of the following claims.

Claims (25)

In the driving method of the muscle enhancing wheelchair platform,
The strength enhancing wheelchair,
A plurality of sensors disposed on the side and rear of the handle of the muscle enhancing wheelchair platform;
A driving unit for transmitting power for rotation of the left and right wheels of the muscle enhancing wheelchair platform; And
A control unit that controls the driving unit
Including,
The driving method,
Determining, by the control unit, an intention to operate the strength-enhancing wheelchair platform based on at least one of a magnitude of a physical force measured by at least one of the plurality of sensors and a position of a sensor in which the physical force is measured; And
The control unit controlling the driving unit so that the muscle enhancing wheelchair platform is driven according to the manipulation intention
Driving method comprising a. The method of claim 1,
The driving unit includes a left motor that transmits power to the left wheel and a right motor that transmits power to the right wheel,
Controlling the driving unit,
Calculating virtual rotational speeds of the left wheel and the right wheel for movement of the strength-enhancing wheelchair platform according to the manipulation intention;
Measuring an actual rotation speed of the left wheel and the right wheel through sensors disposed on the left wheel and the right wheel;
Generating a first feedback for the left wheel and a second feedback for the right wheel through comparison between the virtual rotational speed and the actual rotational speed; And
Transmitting the first feedback to the left motor and the second feedback to the right motor so that the muscle strength wheelchair platform travels according to the movement according to the manipulation intention
Driving method comprising a. The method of claim 1,
Controlling the driving unit,
When the position of the sensor from which the physical force is measured is the first side of the handle, the left wheel and the right wheel, among the left and right wheels, to transmit additional power to a wheel corresponding to the second side of the handle, which is opposite to the first side. Driving method characterized in that to control the driving unit. The method of claim 1,
The driving unit includes a left motor that transmits power to the left wheel and a right motor that transmits power to the right wheel,
Controlling the driving unit,
When the position of the sensor from which the physical force is measured is the first side of the handle, a first physical force acting in the direction of the strength-enhancing wheelchair platform from the first side and a first force acting in the direction of the strength-enhancing wheelchair platform from the rear side 2 recognizing physical force;
Determining a first torque to be applied to the left motor and a second torque to be applied to the right motor based on the first physical force and the second physical force;
In order to offset at least a portion of the first physical force according to the manipulation intention, an additional torque to be applied to a motor corresponding to a second side of the handle opposite to the first side of the left motor and the right motor is determined Step to do; And
Controlling the left motor and the right motor according to the first torque, the second torque, and the additional torque
Driving method comprising a. The method of claim 4,
Determining a first torque to be applied to the left motor and a second torque to be applied to the right motor,
Calculating a third physical force and a fourth physical force corresponding to an operation on the rear side of the strength-enhancing wheelchair platform by using the first physical force and the second physical force measured according to the operation on the first side; And
Calculating the first torque proportional to the third physical force, and calculating a second torque calculated to the fourth physical force
Driving method comprising a. The method of claim 1,
Checking, by the control unit, a velocity trajectory previously generated to include information on a relationship between the inputs of the plurality of sensors in the first environment and the speed of the strength-enhancing wheelchair platform;
Determining, by the control unit, a first speed of the muscle enhancing wheelchair platform according to a first input of the plurality of sensors in a second environment;
Detecting, by the control unit, a second speed corresponding to the first input through the speed path;
Determining, by the control unit, a torque required to change the speed of the muscle enhancing wheelchair platform from the first speed to the second speed; And
Reflecting, by the control unit, the determined torque to the driving unit
Driving method further comprising a. The method of claim 6,
The first environment includes an environment in which the strength-enhancing wheelchair platform travels on a flat path without a passenger on the strength-enhancing wheelchair platform,
The second environment is a driving method, characterized in that it includes an environment in which an occupant boards the strength-enhancing wheelchair platform or travels a path including a slope. The method of claim 6,
The speed included in the speed path is calculated by integrating an acceleration calculated through a dynamic model and a model constraint condition in which no slip occurs. A computer program combined with a computer and stored in a computer-readable recording medium for executing the method of any one of claims 1 to 8. A computer-readable recording medium having a computer program recorded thereon for executing the method of any one of claims 1 to 8. In the muscle enhancing wheelchair platform,
A plurality of sensors disposed on the side and rear of the handle of the muscle enhancing wheelchair platform;
A driving unit for transmitting power for rotation of the left and right wheels of the muscle enhancing wheelchair platform; And
A control unit that controls the driving unit
Including,
The control unit,
Determining an intention to manipulate the strength-enhancing wheelchair platform based on at least one of the magnitude of the physical force measured by at least one of the plurality of sensors and the position of the sensor where the physical force is measured
The control unit controls the driving unit so that the muscle enhancing wheelchair platform is driven according to the manipulation intention
Strengthening wheelchair platform, characterized in that. The method of claim 11,
The driving unit includes a left motor that transmits power to the left wheel and a right motor that transmits power to the right wheel,
The control unit,
Calculate a virtual rotational speed of the left wheel and the right wheel for movement according to the manipulation intention of the muscle enhancing wheelchair platform,
Measure the actual rotation speed of the left wheel and the right wheel through sensors disposed on the left wheel and the right wheel,
A first feedback for the left wheel and a second feedback for the right wheel are generated through a comparison between the virtual rotation speed and the actual rotation speed,
Delivering the first feedback to the left motor and the second feedback to the right motor so that the muscle-enhancing wheelchair platform travels according to the movement according to the manipulation intention
Strengthening wheelchair platform, characterized in that it comprises a. The method of claim 11,
The control unit,
When the position of the sensor from which the physical force is measured is the first side of the handle, the left wheel and the right wheel, among the left and right wheels, to transmit additional power to a wheel corresponding to the second side of the handle, which is opposite to the first side. Controlling the drive
Strengthening wheelchair platform, characterized in that. The method of claim 11,
The driving unit includes a left motor that transmits power to the left wheel and a right motor that transmits power to the right wheel,
The control unit,
When the position of the sensor from which the physical force is measured is the first side of the handle, a first physical force acting in the direction of the strength-enhancing wheelchair platform from the first side and a first force acting in the direction of the strength-enhancing wheelchair platform from the rear side 2 Recognize physical force,
Determine a first torque to be applied to the left motor and a second torque to be applied to the right motor based on the first physical force and the second physical force,
In order to offset at least a portion of the first physical force according to the manipulation intention, an additional torque to be applied to a motor corresponding to a second side of the handle opposite to the first side of the left motor and the right motor is determined and,
Controlling the left motor and the right motor according to the first torque, the second torque and the additional torque
Strengthening wheelchair platform, characterized in that. In the muscle enhancing wheelchair platform,
A main frame having a lower portion connected to the left and right rear wheels and having an upper portion forming a backrest;
A right frame having one side connected to the right front wheel and the other side connected to the upper right side of the main frame through a first rotation joint;
A left frame having one side connected to the left front wheel and the other side connected to the upper left side of the main frame through a second rotation joint; And
The main frame is connected through a third rotation joint and a left side of the lower back of the backrest formed by the main frame, and is connected through a fourth rotation joint and an inner side of the right frame, and is connected through a fifth rotation joint and , A seat frame connected to the inner side of the left frame through a sixth rotation joint
Including,
The first rotation joint is connected to a first sliding joint formed in a first groove on the upper right of the main frame,
The second rotation joint is connected to a second sliding joint formed in a second groove on the upper left of the main frame,
As the first sliding joint and the second sliding joint rise along the first and second grooves, respectively, through a linear actuator connected to the first and second sliding joints, the left frame and the right side The frame and the seat frame are folded along the first to the sixth rotation joint
Strengthening wheelchair platform, characterized in that. The method of claim 15,
One side of the left frame and the right frame and the seventh rotation joint and the eighth rotation joint through the footrest that spreads out to the front of the muscle strength wheelchair platform or folds inside the left frame and the right frame; And
A first sensor that detects the folding of the footrest to switch the strength-enhancing wheelchair platform to a folding mode, and switches the strength-enhancing wheelchair platform to a driving mode by detecting that the footrest is unfolded
Strengthening wheelchair platform further comprising a. The method of claim 16,
When the scaffold is connected to the scaffold by one link and the scaffold is folded, a folding to float the left front wheel and the right front wheel by contacting the ground relatively further forward than the position where the left front wheel and the right front wheel contact the ground Dragon roller
Strengthening wheelchair platform further comprising a. The method of claim 17,
The link between the folding roller and the scaffold is a point vertically above the folding roller when the scaffold is folded, or is in front of the point.
Strengthening wheelchair platform, characterized in that. The method of claim 15,
Wheel position correction module for correcting wheel positions of the left front wheel and the right front wheel when the left frame and the right frame are folded
Strengthening wheelchair platform further comprising a. The method of claim 15,
Left and right armrests connected to the left frame and the right frame through an arc-shaped column
Including more,
The left and right armrests are folded for each of the left frame and the right frame in a form in which the arc-shaped pillar is inserted into the left frame and the right frame when the left frame and the right frame are folded.
Strengthening wheelchair platform, characterized in that. The method of claim 15,
A tipping lever configured to step on an operator who operates the strength-enhancing wheelchair platform to lift the front portion of the strength-enhancing wheelchair platform, which is configured under the main frame; And
A switch that operates according to the pressure applied to the tipping lever
Including more,
When the switch is operated, changing the operation mode of the muscle enhancing wheelchair platform
Strengthening wheelchair platform, characterized in that. The method of claim 21,
When the switch is operated, the operation mode is changed to transmit power to the rear left and right wheels to move the muscle enhancing wheelchair platform forward
Strengthening wheelchair platform, characterized in that. The method of claim 15,
A handle connected to the upper portion of the main frame including a plurality of sensors for controlling the driving of the muscle enhancing wheelchair platform
Strengthening wheelchair platform further comprising a. The method of claim 23,
The plurality of sensors includes a plurality of strain gauges disposed on the side and rear surfaces of the handle
Strengthening wheelchair platform, characterized in that. The method of claim 23,
An LED module formed on the handle and outputting a preset rating according to the mode of the muscle enhancing wheelchair platform or changing the direction of the muscle enhancing wheelchair platform
Strengthening wheelchair platform further comprising a.

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