KR20210083527A - Electric wheelchair and operating method thereof - Google Patents

Abstract

Provided are an electric wheelchair capable of increasing stability and convenience to prevent the wheelchair from overturning or a user from falling on a rough road such as the boundary of a sidewalk block or stairs, and an operating method thereof. The electric wheelchair comprises: a base frame; a seat installed on the base frame, and including a back plate and a seat plate, wherein the seat plate is foldable toward the back plate; a first caterpillar installed on the base frame; and a second caterpillar installed on a rear surface of the base frame, and having an angle adjustable with respect to the first caterpillar. When a front direction of the back plate is defined as a first direction and a rear direction of the back plate is defined as a second direction, by the operations of the first caterpillar and the second caterpillar, the electric wheelchair moves in the second direction while climbing or lowering on an obstacle located in the second direction, wherein the angle between the second caterpillar and the first caterpillar is adjusted according to the height of the obstacle located in the second direction.

Description

Electric wheelchair and operating method thereof

The present invention relates to an electric wheelchair and an operating method thereof.

A wheelchair refers to a chair with wheels that is formed so that a person with a disability, a patient, or the elderly with reduced mobility can move while seated. Depending on the type of operation, it can be divided into a manual wheelchair, which is driven by the user's own power or by a guardian, and an electric wheelchair, which is driven by the power of electricity charged in a battery.

However, the conventional electric wheelchair is easy to drive on flat ground such as roads, sidewalks and indoors, but it is impossible or difficult to drive on rough roads such as the boundary of the sidewalk block and stairs. That is, accidents such as a wheelchair overturning or a user falling may occur on a rough road.

The problem to be solved by the present invention is to provide an electric wheelchair that can increase stability and convenience so that the wheelchair does not overturn or the user does not fall on a rough road such as a boundary ridge of a sidewalk block or stairs.

Another object to be solved by the present invention is to provide a method of operating the electric wheelchair.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

One aspect (aspect) of the electric wheelchair of the present invention for achieving the above object is a base frame; a seat installed on the base frame, the seat including a back plate and a seat plate, the seat plate being foldable toward the back plate; a first caterpillar installed on the base frame; and a second caterpillar installed on the rear surface of the base frame, the angle formed with the first caterpillar being adjusted, wherein the front direction of the back plate is defined as the first direction and the rear direction of the back plate is defined as the second direction. When, by the operation of the first caterpillar and the second caterpillar, the electric wheelchair moves in the second direction while climbing or lowering the obstacle located in the second direction, but the second caterpillar is in the second direction An angle formed with the first caterpillar is adjusted according to the height of the positioned obstacle.

Here, when the electric wheelchair climbs the first step among a plurality of ascending stairs located in the second direction, the angle between the second caterpillar and the first caterpillar is a positive first angle, and the electric wheelchair is in the second direction When climbing the last step among the plurality of ascending stairs, the angle between the second caterpillar and the first caterpillar is a negative second angle.

In addition, when the electric wheelchair descends the first step among a plurality of descending stairs located in the second direction, the angle between the second caterpillar and the first caterpillar is a negative third angle, and the electric wheelchair is in the second direction When descending the last step among the plurality of descending steps located, the angle between the second caterpillar and the first caterpillar is a positive fourth angle.

In addition, it is installed on the base frame or the seat, further comprising a first sensor for detecting a distance to an obstacle located in the second direction, according to the sensing result of the first sensor, the second caterpillar and the The angle formed by the first caterpillar is adjusted.

In addition, further comprising an armrest movable in a vertical direction, when the electric wheelchair moves in the first direction, the armrest is located at a first height, and when the electric wheelchair moves in the second direction, the armrest The rest may be located at a second height higher than the first height.

Alternatively, a second sensor for sensing the pressure provided by the user is installed in the armrest, and the height of the armrest is adjusted or the moving speed of the electric wheelchair is adjusted according to the sensing result of the second sensor.

While the electric wheelchair climbs an obstacle located in the second direction, as a result of the sensing of the second sensor, if the pressure in the forward direction or the rear direction is greater than or equal to a preset reference range, the moving speed of the electric wheelchair is reduced, and the forward direction or the rearward direction When the pressure in the direction is less than a preset reference range, the moving speed of the electric wheelchair may be increased.

While the electric wheelchair climbs an obstacle located in the second direction, as a result of the sensing of the second sensor, if the downward pressure is greater than or equal to a preset reference range, the height of the armrest is lowered, and the downward pressure is set If it is less than the reference range, the height of the armrest may be increased.

An inner side of the armrest may further include a folding auxiliary handle.

While the electric wheelchair moves in the first direction, the user sits on the seat, and while the electric wheelchair climbs or descends the obstacle located in the second direction, the user gets off the seat and grabs or leans on the armrest to hold the armrest. It can move in 2 directions.

One aspect of the operating method of the electric wheelchair of the present invention for achieving the above other object is a base frame, and a seat installed on the base frame and comprising a back plate and a seat plate, the seat plate being foldable toward the back plate, It provides an electric wheelchair including a first caterpillar installed on the base frame, and a second caterpillar installed on the rear side of the base frame and having an angle formed with the first caterpillar adjusted, the user is seated in the seat, and the electric When the wheelchair moves in the first direction and the electric wheelchair approaches the obstacle, the electric wheelchair rotates so that the rear direction of the backboard faces the obstacle, and the user gets off the seat to move the electric wheelchair in the second direction Doedoe crossing the obstacle as it moves to, while the electric wheelchair crosses the obstacle, the angle formed by the second caterpillar with the first caterpillar may be adjusted according to the height of the obstacle located in the second direction.

The details of other embodiments are included in the detailed description and drawings.

1 is a front perspective view of an electric wheelchair according to some embodiments of the present invention.
2 is a rear perspective view of an electric wheelchair according to some embodiments of the present invention.
Figure 3 is a side view for explaining the operation of the electric wheelchair of Figures 1 and 2;
4 is a block diagram for explaining the functional structure of the electric wheelchair of FIGS. 1 and 2 .
5 is a conceptual diagram for explaining an operation of an electric wheelchair according to some embodiments of the present invention.
6 is a perspective view for explaining a shape when an electric wheelchair moves an obstacle according to some embodiments of the present invention.
7 is a conceptual diagram for explaining another operation of the electric wheelchair according to some embodiments of the present invention.
8 is a flowchart for explaining another operation of the electric wheelchair according to some embodiments of the present invention.
9 is a flowchart for explaining another operation of the electric wheelchair according to some embodiments of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Advantages and features of the present invention, and a method for achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments published below, but may be implemented in various different forms, and only these embodiments allow the publication of the present invention to be complete, and common knowledge in the technical field to which the present invention pertains. It is provided to fully inform the possessor of the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

It should be understood that although first, second, etc. are used to describe various elements, components, and/or sections, these elements, components, and/or sections are not limited by these terms. These terms are only used to distinguish one element, component, or sections from another. Accordingly, it goes without saying that the first element, the first element, or the first section mentioned below may be the second element, the second element, or the second section within the spirit of the present invention.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. As used herein, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, "comprises" and/or "comprising" refers to the presence of one or more other components, steps, operations and/or elements mentioned. or addition is not excluded.

Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used with the meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless clearly defined in particular.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and in the description with reference to the accompanying drawings, the same or corresponding components are given the same reference numbers regardless of the reference numerals and overlapped therewith. A description will be omitted.

As used herein, "configured to (or configured to)" according to the context, for example, hardware or software "suitable for," "having the ability to," "modified to ," "made to," "capable of," or "designed to" may be used interchangeably. In some circumstances, the expression “a device configured to” may mean that the device is “capable of” with other devices or parts. For example, the phrase “a processor configured (or configured to perform) A, B, and C” refers to a dedicated processor (eg, an embedded processor) for performing the operations, or by executing one or more software programs stored in a memory device. , may refer to a general-purpose processor (eg, a CPU or an application processor) capable of performing corresponding operations.

1 is a front perspective view of an electric wheelchair according to some embodiments of the present invention. 2 is a rear perspective view of an electric wheelchair according to some embodiments of the present invention. Figure 3 is a side view for explaining the operation of the electric wheelchair of Figures 1 and 2;

1 to 3, the electric wheelchair 100 according to some embodiments of the present invention is a base frame 110, a seat 120, a wheel 130, a first caterpillar (caterpillar) ( 140 , a second caterpillar 150 , an arm rest 125 , and a plurality of sensors 111 and 129 .

The base frame 110 serves as a body for installing other components (eg, 120, 130, 140, 150, etc.). When viewed as a whole, the base frame 110 may be, for example, a rectangular parallelepiped shape or a cylindrical shape, but is not limited thereto. Also, the base frame 110 may be a structure in which a plurality of horizontal and/or vertical frames are combined, or may be an integrated structure. The base frame 110 may be, for example, a light but high rigidity metal material, but is not limited thereto.

The seat 120 may be installed on the base frame 110 . The seat 120 includes a back plate 121 , a seat plate 122 , and a connection member 123 connecting the back plate 121 and the seat plate 122 . The seat plate 122 may be folded toward the back plate 121 in a manual or electric (automatic) manner, with the connecting member 123 as an axis (refer to reference numeral A in FIG. 3 ). As will be described later, when the user moves on a rough road such as the boundary of the sidewalk block or stairs, the user can get off the seat 120 and fold the seat plate 122 . The seat plate 122 may be temporarily fixed in a folded state to be in contact with the back plate 121 .

Also, as shown in FIG. 3 , a front direction of the back plate 121 may be defined as a first direction DR1 , and a rear direction of the back plate 121 may be defined as a second direction DR2 . When the electric wheelchair 100 moves in a general section such as flat ground, the electric wheelchair 100 moves in the first direction DR1. On the other hand, when the electric wheelchair 100 needs to move on a rough road (ie, an obstacle) such as a boundary ridge of a sidewalk block or stairs, the electric wheelchair 100 may move in the second direction DR2 . Such an operation will be described later with reference to FIGS. 5 to 9 .

The wheel 130 may be installed on the base frame 110 . The wheel 130 may be driven by a separate driving force (eg, electricity provided from a battery ( 250 in FIG. 4 )). According to the rotation direction of the wheel 130, the electric wheelchair 100 may move forward/rearward. Although the drawing shows that the wheel 130 has two, it is not limited thereto. For example, the number of wheels 130 may be three or more. In addition, when there are a plurality of wheels 130 , some wheels 130 are driven by a separate driving force, and a separate driving force may not be provided to some wheels.

In the electric wheelchair according to some embodiments of the present invention, a plurality of caterpillars 140 and 150 are used in addition to the wheel 130 . Caterpillars 140 , 150 are also called continuous tracks or caterpillar tracks, and include two or more wheels and a plate surrounding them. The plate surrounding the wheel may be, for example, a prefabricated iron plate or a rubber plate reinforced with wire.

The first caterpillar 140 is installed on the base frame 110 . As shown, the first caterpillar 140 may be installed on the lower side of the base frame 110 , but is not limited thereto. The first caterpillar 140 may be driven by a separate driving force (eg, electricity provided from a battery ( 250 in FIG. 4 )). According to the rotation direction of the first caterpillar 140 , the electric wheelchair 100 may move forward/rearward.

The second caterpillar 150 may be installed on the rear surface of the base frame 110 . In addition, the rotation direction of the 2nd caterpillar 150 is changed as needed.

In particular, the angle θ1 or θ2 between the second caterpillar 150 and the first caterpillar 140 may be adjusted (see reference numeral C in FIG. 3 ). In particular, the angle θ1 or θ2 between the second caterpillar 150 and the first caterpillar 140 may be adjusted according to the sensing result of the first sensor 111 . Specifically, based on the plane PL formed by the first caterpillar 140 , the second caterpillar 150 may be moved (rotated) to form a positive angle θ1 with the first caterpillar 140 . In addition, based on the plane PL formed by the first caterpillar 140 , the second caterpillar 150 may be moved (rotated) to form a negative angle θ2 with the first caterpillar 140 .

As will be described later, according to the angle of the second caterpillar 150 , the moving direction (ie, the moving angle) when the electric wheelchair 100 climbs the boundary sill or stairs is determined.

Meanwhile, the first sensor 111 may be installed on the rear surface of the base frame 110 and/or the back plate 121 . In FIG. 2 , the first sensor 111 is illustrated as being installed on the rear surface of the base frame 110 by way of example. The first sensor 111 is a distance sensor, which is used to measure the distance between the electric wheelchair 100 and surrounding obstacles. The first sensor 111 may include, for example, an ultrasonic sensor, an infrared sensor, or the like, but is not limited thereto. Any kind of sensor is possible as long as it can measure distance.

Meanwhile, although the caterpillars 140 and 150 are exemplified in FIGS. 1 to 3 , they may be implemented using other driving units that perform the same/similar operation to the caterpillars 140 and 150 .

The armrest 125 is a part that supports the user's arm. In addition, the armrest 125 may be movable in the vertical direction (ie, in the height direction) (refer to reference numeral B in FIG. 3 ). Although the drawing shows that the armrest 125 moves along the rail 126 installed on the seat 120 , the present invention is not limited thereto. In addition, although the armrest 125 is illustrated as being installed on the back plate 121 of the seat 120 , the present invention is not limited thereto. If the armrest 125 can be moved in the vertical direction, it may be installed anywhere. For example, the armrest 125 may be installed on the base frame 110 .

As shown in FIG. 3 , the height of the armrest 125 may be adjusted between a height H1 and a height H2 . For example, when the user sits on the electric wheelchair 100 and moves in the first direction DR1 , the armrest 125 is positioned at the first height. On the other hand, when the user stands and leans on the electric wheelchair 100 and moves in the second direction DR2 , the armrest 125 may be located at a second height higher than the first height.

In addition, the height of the armrest 125 may vary according to the movement direction of the electric wheelchair 100 and/or according to the pressure applied to the armrest 125 . Specifically, a second sensor 129 for sensing a pressure provided by a user is installed on one surface (eg, an upper surface) of the armrest 125 . The second sensor 129 may be an electronic (eg, strain-based) or load cell type pressure sensor, but is not limited thereto.

In addition, according to the sensing result of the second sensor 129 , the height of the armrest 125 may be adjusted or the moving speed of the electric wheelchair 100 may be adjusted.

For example, as a result of sensing by the second sensor 129 , if the downward pressure is greater than or equal to the preset reference range, the height of the armrest 125 is lowered, and if the downward pressure is less than or equal to the preset reference range, the armrest The height of (125) can be increased.

As a result of the sensing of the second sensor 129, if the pressure in the forward direction or the rear direction is greater than or equal to the preset reference range, the moving speed of the electric wheelchair 100 is reduced, and the pressure in the forward or rear direction is less than or equal to the preset reference range In this case, it is possible to increase the moving speed of the electric wheelchair 100 .

Meanwhile, a folding auxiliary handle 128 may be installed on the other surface (eg, the inner surface) of the armrest 125 . The auxiliary handle 128 is inserted into the inner groove (see 128a of FIG. 6 ) of the armrest 125 , and the user can take out the auxiliary handle 128 as needed and use it.

4 is a block diagram for explaining the functional structure of the electric wheelchair of FIGS. 1 and 2 . For convenience of description, descriptions of the functional modules described with reference to FIGS. 1 to 3 will be omitted.

Referring to FIG. 4 , a plurality of functional modules (eg, a processor 230 , a memory 240 , a battery 250 , caterpillars 140 and 150 , an armrest 125 , a first sensor 111 , The second sensor 129 , the input module 220 , the wheel 130 , etc.) may be connected and communicated with each other by the bus 210 (ie, control message transmission and data transmission). The processor 230 , the memory 240 , the battery 250 , the input module 220 , etc. may be installed in, for example, the base frame 110 , the seat 120 , or the armrest 125 , but are limited thereto. doesn't happen

The processor 230 may include one or more of a central processing unit, an application processor, and a communication processor (CP). In addition, the processor 230 includes a plurality of functional modules (eg, the memory 240 , the battery 250 , the caterpillars 140 and 150 , the armrest 125 , the first sensor 111 , the second sensor ( 129), operation control of the wheel 130, etc.), communication control, data processing, and the like.

The battery 250 may charge electricity provided by various methods for the operation of the electric wheelchair. The battery 250 may be, for example, a secondary battery (a nickel-cadmium battery, a nickel-hydrogen battery, a lithium ion battery, a lithium polymer battery, a lead storage battery), a primary battery (manganese battery, a mercury battery), etc. not limited Using electricity provided from the battery 250, the wheels 130 and caterpillars 140 and 150 rotate forward/rear, the armrest 125 moves up and down, or the sensors 111 and 129 can work

In addition, a separate input module 220 may be installed in the electric wheelchair 100 . The input module 220 may be for controlling the moving direction/moving speed of the electric wheelchair 100 . The input module 220 may include at least one of a display, a physical button, a touch button, a voice sensor, and a pressure sensor, but is not limited thereto.

Memory 240 may include volatile memory (eg, DRAM, SRAM, or SDRAM) and/or non-volatile memory (eg, one time programmable ROM (OTPROM), PROM, EPROM, EEPROM, mask ROM, flash ROM, flash memory, PRAM, RRAM, MRAM, hard drive, or solid state drive (SSD)).

The memory 240 may store instructions and/or data related to an operation method of the electric wheelchair 100 to be described later with reference to FIGS. 5 to 9 .

The instructions are those configured (configured) to cause the processor 230 to operate the electric wheelchair 100, for example, as follows. For example, when the electric wheelchair 100 approaches the obstacle, the electric wheelchair 100 rotates so that the rear direction of the back plate 121 faces the obstacle. The user gets off the seat 120 and induces the electric wheelchair 100 to cross the obstacle as it moves in the second direction DR2. While the electric wheelchair 100 crosses the obstacle, the second caterpillar 150 adjusts the angle formed with the first caterpillar 140 according to the height of the obstacle located in the second direction DR2.

5 is a conceptual diagram for explaining an operation of an electric wheelchair according to some embodiments of the present invention. 6 is a perspective view for explaining a shape when an electric wheelchair moves an obstacle according to some embodiments of the present invention.

Referring to FIG. 5 , a front direction of the back plate 121 is defined as a first direction (see DR1 of FIG. 3 ), and a rear direction of the back plate 121 is defined as a second direction (see DR2 of FIG. 3 ). When the user tries to move in the traveling direction FW, it is assumed that there is an obstacle (eg, an ascending staircase) in the traveling direction FW.

First, the user sits on the seat 120 of the electric wheelchair 100 and moves in the forward direction FW (S10). The traveling direction FW of the electric wheelchair 100 is the same as the first direction DR1. Here, the second caterpillar 150 may form a positive angle θ1 with the first caterpillar 140 .

Subsequently, when the user finds an obstacle in the traveling direction FW, the electric wheelchair 100 rotates so that the rear direction (ie, the second direction DR2) of the back plate 121 faces the traveling direction FW. In addition, the user gets off the electric wheelchair 100, and the electric wheelchair 100 is changed to a shape for climbing an obstacle (S20). As shown in FIG. 6 , the seat plate 122 is folded toward the back plate 121 (refer to reference numeral A). In addition, the armrest 125 rises upward (refer to reference numeral B). Optionally, the auxiliary handle 128 can be pulled out.

The user grabs or leans on the armrest 125 of the electric wheelchair 100 and moves in the second direction DR2 ( S30 , S40 ). That is, the user climbs the obstacle in the second direction DR2. An obstacle may be climbed by the operation of the first caterpillar 140 and the second caterpillar 150 .

While climbing the obstacle, the first sensor 111 detects a distance from the obstacle positioned in the second direction DR2 . An angle formed between the second caterpillar 150 and the first caterpillar 140 is adjusted according to the sensing result.

For example, as shown, when the electric wheelchair 100 climbs the first of a plurality of ascending stairs located in the second direction DR2, the angle between the second caterpillar 150 and the first caterpillar 140 is formed. may be a positive first angle (refer to θ2 of S30).

After the electric wheelchair 100 climbs the first stairs, while the electric wheelchair 100 climbs the ascending stairs (if the heights of the plurality of ascending stairs are constant), the second caterpillar 150 and the first caterpillar 140 form The angle may be 180°. The first sensor 111 constantly senses even while going up the ascending stairs.

When the electric wheelchair 100 climbs the last step among a plurality of ascending stairs located in the second direction DR2, the angle between the second caterpillar 150 and the first caterpillar 140 is a negative second angle (S40). θ3). That is, after the first sensor 111 confirms that there is no step in front, the second caterpillar 150 touches the floor surface after the last step so that the electric wheelchair 100 can smoothly move from the stairs to the flat surface.

By using the electric wheelchair 100 that operates in this way, the user can move safely while keeping an eye on the direction of travel, not only on flat ground, but also when passing through rough roads/obstacles. Therefore, it is possible to quickly respond to a change in the situation in the moving direction. In this way, it is possible to keep an eye on the traveling direction, so that the fear of using the electric wheelchair can be lowered.

7 is a conceptual diagram for explaining another operation of the electric wheelchair according to some embodiments of the present invention. For convenience of description, those substantially the same as those described with reference to FIGS. 5 and 6 will be omitted.

Referring to FIG. 7 , when the user tries to move in the traveling direction FW, it is assumed that there is an obstacle (eg, a descending staircase) in the traveling direction FW.

When the user tries to move through the obstacle in the traveling direction FW, the electric wheelchair 100 moves in the rear direction (ie, the second direction DR2) of the back plate 121 .

The user holds the armrest 125 of the electric wheelchair 100 and moves in the second direction DR2 (S50, S60, S70). That is, the user descends the obstacle in the second direction DR2. The obstacle may be descended by the operation of the first caterpillar 140 and the second caterpillar 150 .

While descending the obstacle, the first sensor 111 detects a distance from the obstacle positioned in the second direction DR2 . An angle formed between the second caterpillar 150 and the first caterpillar 140 is adjusted according to the sensing result.

For example, as shown, when the electric wheelchair 100 takes the first step among a plurality of descending steps located in the second direction DR2, the second caterpillar 150 and the first caterpillar 140 form The angle may be a negative third angle (refer to θ4 of S50). The first sensor 111 senses the height of the first step, and moves (rotates) the second caterpillar 150 according to the sensing result so that the second caterpillar 150 comes into contact with the first step.

After the electric wheelchair 100 descends the first step, while the electric wheelchair 100 descends the descending stairs (if the height of the plurality of descending steps is constant), the second caterpillar 150 and the first caterpillar 140 form The angle may be 180° (see S60). The first sensor 111 constantly senses even while descending the descending stairs.

When the electric wheelchair 100 takes the last step among a plurality of descending steps located in the second direction DR2, the angle between the second caterpillar 150 and the first caterpillar 140 is a positive fourth angle (S30). of θ5). That is, after the first sensor 111 confirms that there is no step in front, the second caterpillar 150 touches the floor surface after the last step so that the electric wheelchair 100 can smoothly move from the stairs to the flat surface.

After the electric wheelchair 100 descends all the multiple descending stairs, the electric wheelchair 100 rotates, and the front direction (ie, the first direction DR1) of the back plate 121 is directed toward the proceeding direction FW. . The seat plate 122 is spread apart from the back plate 121 . In addition, the armrest 125 goes down. The user sits back on the seat and moves in the forward direction (FW).

8 is a flowchart for explaining another operation of the electric wheelchair according to some embodiments of the present invention.

8, while the electric wheelchair 100 climbs or descends an obstacle, a sensing result of the second sensor 129 is acquired (S210). The second sensor 129 may sense the pressure in the front/back direction (ie, the x-direction).

The sensing result and a preset reference range are compared (S220). For example, if the sensing result is x, it is compared whether the sensing result (x) falls within a reference range (ie, it is checked whether a1 < x < a2).

If it is within the reference range, it maintains the moving speed of the electric wheelchair 100 (S231).

If it is more than the reference range, it reduces the moving speed of the electric wheelchair 100 (S232). That is, when the user's body is biased forward/backward (ie, when the pressure in the x-direction increases), the moving speed of the electric wheelchair 100 is lowered.

If it is less than the reference range, the movement speed of the electric wheelchair 100 is increased (S233). That is, if the user's body is not biased forward/backward (ie, when the pressure in the x-direction decreases), the moving speed of the electric wheelchair 100 is increased.

Since the user using the electric wheelchair 100 is highly likely to be the elderly or the handicapped, it may be quite difficult to stand over the obstacle. Accordingly, in order to minimize the user's discomfort while crossing the obstacle, the moving speed may be adjusted. That is, if the sensing result is more than the reference range (that is, when the user's body is biased forward/backward), it can be understood that the moving speed of the electric wheelchair 100 is faster than the user's ability, so the Reduce movement speed. On the other hand, if the sensing result is less than the reference range, it can be understood that the electric wheelchair 100 is too slow than the user's ability, so that the moving speed of the electric wheelchair 100 is increased.

9 is a flowchart for explaining another operation of the electric wheelchair according to some embodiments of the present invention.

9, as described above, when the electric wheelchair 100 passes through the obstacle, the electric wheelchair 100 moves in the second direction DR2. In addition, the user stands and moves while holding or leaning on the armrest 125 of the electric wheelchair 100 . A second sensor 129 is installed on the armrest 125 , and the height of the armrest 125 is adjusted according to the sensing result of the second sensor 129 .

Specifically, while the electric wheelchair 100 climbs or descends an obstacle, the sensing result of the second sensor 129 is acquired (S250). The second sensor 129 senses the pressure in the downward direction (ie, the z direction).

The sensing result and a preset reference range are compared (S260). For example, if the sensing result is z, it is compared whether the sensing result z falls within the reference range (ie, check whether b1 < z < b2).

If it is within the reference range, the height of the armrest 125 is maintained (S271).

If it is more than the reference range, the height of the armrest 125 is lowered (S272). That is, when the user leans more on the armrest 125 (that is, when the pressure in the z-direction increases), the height of the armrest 125 is lowered.

If it is less than the reference range, the height of the armrest 125 is increased (S273). That is, when the user leans less on the armrest 125 (that is, when the pressure in the z-direction decreases), the height of the armrest 125 is increased.

In summary, the height of the armrest 125 can be adjusted in order to minimize the user's discomfort while crossing the obstacle. That is, if the sensing result is more than the reference range (ie, when the user leans more on the armrest 125), the height of the armrest 125 is lowered so that the user can lean more easily.

Although embodiments of the present invention have been described with reference to the above and the accompanying drawings, those of ordinary skill in the art to which the present invention pertains can practice the present invention in other specific forms without changing its technical spirit or essential features. You will understand that there is Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

100: electric wheelchair 110: base frame
111: first sensor 120: seat
121: back plate 122: seat plate
125: armrest 129: second sensor
130: wheel 140: first caterpillar
150: second caterpillar 220: input module
230: processor 240: memory
250: battery

Claims (11)

As an electric wheelchair capable of easily ascending and descending obstacles,
base frame;
a seat installed on the base frame, the seat including a back plate and a seat plate, the seat plate being foldable toward the back plate;
a first caterpillar installed on the base frame; and
It is installed on the rear surface of the base frame and includes a second caterpillar whose angle is adjusted with the first caterpillar,
When the front direction of the back plate is defined as the first direction and the rear direction of the back plate is defined as the second direction,
By the operation of the first caterpillar and the second caterpillar, the electric wheelchair moves in the second direction while climbing or descending the obstacle located in the second direction, but the second caterpillar is an obstacle located in the second direction The angle formed with the first caterpillar is adjusted according to the height of the electric wheelchair. The method of claim 1,
When the electric wheelchair climbs the first step among a plurality of ascending stairs located in the second direction, the angle between the second caterpillar and the first caterpillar is a positive first angle,
When the electric wheelchair climbs the last step among a plurality of ascending stairs located in the second direction, the angle between the second caterpillar and the first caterpillar is a negative second angle. The method of claim 1,
When the electric wheelchair descends the first step among a plurality of descending steps located in the second direction, the angle between the second caterpillar and the first caterpillar is a negative third angle,
When the electric wheelchair descends the last step among a plurality of descending steps located in the second direction, the angle between the second caterpillar and the first caterpillar is a positive fourth angle. The method of claim 1,
It is installed on the base frame or the seat, further comprising a first sensor for detecting the distance to the obstacle located in the second direction,
According to the sensing result of the first sensor, the angle between the second caterpillar and the first caterpillar is adjusted, the electric wheelchair. The method of claim 1,
Further comprising an armrest movable in the vertical direction,
When the electric wheelchair moves in the first direction, the armrest is located at a first height,
When the electric wheelchair moves in the second direction, the armrest is located at a second height higher than the first height, the electric wheelchair. 6. The method of claim 5,
A second sensor for sensing the pressure provided by the user is installed on the armrest,
According to the sensing result of the second sensor, the height of the armrest is adjusted, or the movement speed of the electric wheelchair is adjusted, the electric wheelchair. 7. The method of claim 6,
While the electric wheelchair climbs the obstacle located in the second direction, as a result of the sensing of the second sensor, if the pressure in the forward or rearward direction is greater than or equal to a preset reference range, the moving speed of the electric wheelchair is reduced, and the forward or rearward If the pressure in the direction is less than a preset reference range, increasing the moving speed of the electric wheelchair, the electric wheelchair. 7. The method of claim 6,
While the electric wheelchair climbs an obstacle located in the second direction, as a result of the sensing of the second sensor, if the downward pressure is greater than or equal to a preset reference range, the height of the armrest is lowered, and the downward pressure is set If it is less than the reference range, the height of the armrest is raised, an electric wheelchair. 6. The method of claim 5,
The inner side of the armrest further comprises a folding auxiliary handle, the electric wheelchair. The method of claim 1,
While the electric wheelchair moves in the first direction, the user is seated in the seat,
While the electric wheelchair climbs or descends the obstacle located in the second direction, the user gets off the seat and moves in the second direction by holding or leaning on the armrest. A base frame, a seat installed on the base frame and including a back plate and a seat plate, the seat plate being foldable toward the back plate, a first caterpillar installed in the base frame, and installed on the rear surface of the base frame and the second seat plate 1 To provide an electric wheelchair comprising a second caterpillar whose angle is adjusted with the caterpillar,
The user is seated in the seat, the electric wheelchair moves in the first direction,
When the electric wheelchair approaches the obstacle, the electric wheelchair rotates so that the rear direction of the back plate faces the obstacle, and the user gets off the seat and passes the obstacle as the electric wheelchair moves in the second direction. However, while the electric wheelchair crosses the obstacle, the angle formed by the second caterpillar with the first caterpillar is adjusted according to the height of the obstacle located in the second direction.

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