KR20220156129A - Safe wheelchair for safe driving and its driving method - Google Patents

Abstract

The present invention relates to a safety wheelchair for safe driving and a driving method thereof. According to the present invention, the safety wheelchair for safe driving comprises: a wheelchair main body; wheels disposed on both sides of the main body; a brake unit for decelerating the speed of the wheels; a sensor unit mounted on the main body to detect a riding state and a moving state of the main body; a comparison unit for comparing data of the sensor unit with a predetermined threshold; and a control unit for controlling the operation of the brake unit according to the comparison result of the comparison unit.

Description

Safe wheelchair for safe driving and its driving method}

The present invention relates to a safety wheelchair and a driving method for safe driving, and more particularly, to prevent a safety fall accident that may occur when a patient or an occupant with unnatural activity gets on and off the wheelchair, and to move stably during operation of the wheelchair. It is about safe wheelchairs that can be used and how to drive.

The first wheelchair was invented in 1595, and in 1783 a wheelchair with two large wheels and one small wheel was invented. The lightweight steel folding wheelchair was invented in 1933, and wheelchairs have been continuously developed to this day. However, there are news reports that users of manual wheelchairs (wheelchairs driven by human power) complain of danger and fear of accidents when driving outdoors, and feel life-threatening anxiety.

Electric wheelchairs that operate with electricity have been developed to compensate for accidents that occur in manual wheelchairs, but electric wheelchairs are more expensive than manual wheelchairs, so users may feel economically burdened to purchase or use them.

In order to solve these problems, a safety wheelchair that can be used stably by the user is required, taking into consideration economic and practical aspects.

The present invention is to solve the above-mentioned problems of the prior art, the present invention is to control the movement of the wheelchair according to the situation of getting on (boarding) or getting off the wheelchair or an unexpected situation (surrounding obstacles, terrain change, etc.) An object of the present invention is to provide a safe wheelchair and control method for safe driving.

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

The present invention for achieving the above object is a wheelchair body, wheels respectively disposed on both sides of the body, a brake unit for decelerating the speed of the wheel, mounted on the body to detect the riding state and moving state of the body Provided is a safety wheelchair for safe driving including a sensor unit, a comparison unit that compares the data of the sensor unit with a predetermined threshold value, and a control unit that controls the brake unit to operate according to the comparison result of the comparison unit.

The sensor unit includes a pressure sensor for detecting pressure applied to the main body, a tilt sensor for measuring an inclination of the main body, an angular velocity sensor for measuring an angular velocity of the main body, a speed sensor for measuring a moving speed of the main body, and a speed sensor for measuring the moving speed of the main body. It includes a distance sensor that measures the distance to nearby obstacles.

The comparison unit is characterized in that it uses a predetermined threshold value for the first mode in which the guardian accompanies or the second mode in which the guardian does not accompany.

The control unit may control the brake unit to contact the wheel when the pressure data is smaller than a predetermined critical pressure as a result of comparison by the comparison unit.

The control unit may control the brake unit to contact the wheel when at least one of slope data, angular velocity data, speed data, and distance data is greater than a predetermined threshold value.

A battery for supplying power required to drive the wheelchair is further included.

A buzzer that emits a warning sound according to the command of the control unit is further included.

A switch for selecting the first mode or the second mode is further included.

According to another feature of the present invention, in the method of driving a wheelchair for safe driving, a first measurement step of measuring the pressure of the wheelchair body, a first comparison step of comparing the measured pressure data with a preset threshold pressure, the If the comparison result of the first comparison step is greater than the predetermined threshold pressure, the second measurement step of measuring the inclination, angular velocity, moving speed, and distance of the wheelchair body, the data measured in the second measurement step and the preset threshold pressure A second comparison step of comparing values, and if at least one of the measured data is greater than the predetermined threshold value as a result of the comparison of the second comparison step, the speed of the wheels disposed on both sides of the wheelchair body is controlled to be reduced. It provides a driving method of a safety wheelchair for safe driving including a control step of doing.

In the control step, the brake unit formed on one side of the wheel is in contact with the wheel to control the speed.

When the comparison result of the first comparison step is equal to or less than the predetermined threshold pressure, the wheel is controlled to stop.

The present invention further includes a selection step of selecting a first mode in which the guardian accompanies or a second mode in which the guardian does not accompany.

In the first mode, the distance sensor is in an inactive state, in the second mode, the pressure sensor, inclination sensor, angular velocity sensor, speed sensor, and distance sensor are in an active state, and the first mode and the second mode are either It is characterized in that the speed of the wheelchair body is reduced according to the sensed value.

According to the wheelchair and driving method for safe driving of the present invention as described above, by using a pressure sensor to check whether a user is on the wheelchair, it is possible to get on and off the wheelchair more stably in a situation where the user gets on or off the wheelchair, resulting in a fall. Safety accidents can be prevented.

According to the present invention, when an unexpected situation occurs, such as an obstacle or terrain change around the wheelchair while the wheelchair is operating indoors or outdoors, the brake is operated so that the user can move safely alone.

In addition, the present invention can be used relatively inexpensively compared to an electric wheelchair in a form in which a module including a sensor and a brake is provided in a manual wheelchair. That is, it may be economical compared to an electric wheelchair.

The effects obtainable in the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description below. will be.

1 is a configuration diagram for explaining a wheelchair for safe driving according to the present invention
Figure 2 is a perspective view of a wheelchair for safe driving according to an embodiment of the present invention
3 is a configuration diagram for explaining the sensor unit of FIG. 1
Figure 4 is a flow chart for explaining a method of driving a wheelchair for safe driving according to the present invention

Objects and effects of the present invention, and technical configurations for achieving them will become clear with reference to embodiments described later in detail in conjunction with the accompanying drawings. In describing the present invention, if it is determined that a detailed description of a known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description will be omitted.

In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of a user or operator.

However, the present invention is not limited to the embodiments disclosed below and may be implemented in a variety of different forms. Only these embodiments are provided to complete the disclosure of the present invention and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined by the scope of the claims. only become Therefore, the definition should be made based on the contents throughout this specification.

Although the present invention is described by the limited embodiments and drawings, the present invention is not limited thereto, and is described below and the technical spirit of the present invention by those skilled in the art to which the present invention belongs. Of course, various modifications and variations are possible within the scope of equivalence of the claims to be made.

Hereinafter, the present invention will be described in more detail based on the embodiments shown in the drawings. However, the present application is not limited to these examples and drawings.

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

1 is a configuration diagram for explaining a wheelchair 100 for safe driving according to the present invention.

As shown in FIG. 1, the wheelchair 100 for safe driving according to the present invention includes a wheelchair body 110, wheels 120 disposed on both sides of the body, and a brake unit 130 for decelerating the speed of the wheels. , sensor unit 140 for detecting the riding state and moving state of the body, comparison unit 150 for comparing the data of the sensor unit with a preset threshold value, and control unit for controlling the drive of the motor so that the brake unit operates according to the comparison result 160, a battery 170 for supplying power, a buzzer 180 for generating a warning sound, and a switch 190 for selecting a driving mode according to the first mode in which the guardian accompanies or the second mode in which the guardian does not accompany.

The wheelchair body 110 refers to the entire frame of the wheelchair, and the body 10 includes a guardian handle, a passenger handle, a seat seat, a back seat, wheels 120 rotatably mounted on both sides of the body, It is configured to include a footrest for placing the occupant's feet.

The wheelchair body 110 may be folded left and right like a unilateral manual wheelchair.

The brake unit 130 is mounted on the wheelchair body 110 and is selectively connected to reduce the speed of the wheel 120. The brake unit 130 according to an embodiment of the present invention may use a rim brake, a disc brake, a band brake, or the like.

As shown in FIG. 2, the wheel 120 may be composed of rear wheels 125 and 127 and front wheels 121 and 123, and the brake unit 130 is located on the side of the front wheels 121 and 123, but the The position of the brake unit 130 is not limited to the described embodiment.

The sensor unit 140 is provided on one side of the body 110, and the body 110 detects the riding state and the moving state of the wheelchair body 110. As shown in FIG. 3, the sensor unit 140 includes a pressure sensor 141 for detecting the pressure applied to the body 110 by the occupant, a tilt sensor 143 for measuring the tilt of the body, and measuring angular velocity. It is configured to include an angular velocity sensor 145 for measuring a moving speed, a speed sensor 147 for measuring a moving speed, and a distance sensor 149 for measuring a distance to an obstacle located around the main body 110.

The pressure sensor 141 is installed on the seat, back seat, handle, armrest or lower frame of the wheelchair body 110, and serves to measure the pressure applied to detect the presence or absence of a passenger on the wheelchair body 110. . The pressure sensor 141 according to an embodiment of the present invention may be an Interlink model 408 FSR.

In addition, the tilt sensor 143, the angular velocity sensor 145, the speed sensor 147, and the distance sensor 149 detect the moving state of the wheelchair body 110, surrounding obstacles, and terrain changes during operation. The inclination sensor 143 according to an embodiment of the present invention may be a gyro sensor and measures the inclination of the wheelchair body 110. And the angular velocity sensor 145 and the velocity sensor 147 measure the angular velocity and speed of the wheelchair body 110. In addition, the distance sensor 149 is provided on the lower frame of the wheelchair body 110 to measure the distance to detect obstacles located around the wheelchair body 110. The inclination sensor 143 according to an embodiment of the present invention may be an MPU 6050.

And, the sensor unit 140 may further include an ADC analog converter to convert data from analog to digital.

The comparison unit 150 compares the data measured by the sensor unit 140 with a predetermined threshold value. Here, the preset threshold values are preset threshold pressure, threshold slope, threshold angular velocity, threshold velocity, and threshold distance for comparison with each of the pressure data, slope data, angular velocity data, velocity data, and distance data sensed by the sensor unit 140. can be

And, the predetermined threshold value may be set differently according to the first mode in which the guardian accompanies and the second mode in which the guardian does not accompany. Of course, the threshold values of the first mode and the second mode may be set identically.

The control unit 160 controls driving of the motor so that the brake unit 130 operates according to the comparison result of the comparison unit 150 .

Specifically, the controller 160 determines whether the pressure data of the pressure sensor 141 is smaller than a predetermined threshold pressure as a result of comparison by the comparator 150 or the tilt sensor 143, the acceleration sensor 145, and the speed sensor 147. ), and when at least one of the data of the distance sensor 149 is greater than a predetermined threshold, the brake unit controls the driving of the motor to come into contact with the wheel. That is, the control unit 160 controls the wheelchair body 110 to be in a stopped state or a braking state through driving of a brake driving motor.

The battery 170 is mounted on the wheelchair body 110 to supply power necessary for driving the wheelchair. For example, the battery 170 may supply power to the sensor unit 140, the comparator 150, the controller 160, and a motor.

The buzzer 180 makes a warning sound according to the command of the control unit 160. The buzzer 180 according to an embodiment of the present invention may output a warning sound when the control unit 160 brakes or decelerates suddenly.

The switch 190 is provided on one side of the wheelchair body 110 to select a first mode in which the guardian accompanies or a second mode in which the guardian does not accompany.

3 is a flowchart for explaining a method of driving a wheelchair for safe driving according to the present invention;

First, the pressure sensor 141 measures the pressure applied to the wheelchair body 110 (S100). The pressure sensor 141 is installed on the seat seat, back seat, handle/armrest or lower frame of the wheelchair body 110 to measure the applied pressure. This is to detect the presence or absence of a passenger on the wheelchair body 110.

Then, the comparator 150 compares the pressure data measured by the pressure sensor 141 with a predetermined threshold pressure (S200). For example, when a passenger gets on the wheelchair body 110, the pressure applied to the wheelchair body 110 increases so that the pressure data becomes greater than the preset threshold pressure.

Conversely, when the occupant is not on board, the measured pressure data becomes smaller than the predetermined critical pressure. At this time, the control unit 160 controls the driving of the motor so that the wheelchair body 110 is not on board and is in a stopped state when the measured pressure data as a result of comparison by the comparison unit 150 is smaller than the predetermined threshold pressure.

If the pressure data measured by the pressure sensor 141 as a comparison result of the comparator 150 is greater than the preset critical pressure, the inclination sensor 143, the angular velocity sensor 145, the speed sensor 147, and the distance sensor 149 are The inclination, angular velocity, moving speed, and distance of the wheelchair body 110 are measured (S300). This is to determine the moving state of the wheelchair body 110, surrounding obstacles or terrain changes when the occupant moves on the wheelchair body 110.

The comparator 150 converts the data of the inclination sensor 143, the angular velocity sensor 145, the velocity sensor 147, and the distance sensor 149 to preset threshold values (critical inclination, critical angular velocity, critical velocity, critical distance). Compare with (S400).

When at least one of the data of the inclination sensor 143, the angular velocity sensor 145, the speed sensor 147, and the distance sensor 149 is greater than a preset threshold value, the wheelchair body ( 110) to control the driving of the brake driving motor to reduce the speed of the wheels disposed on both sides (S500).

Meanwhile, the switch 190 may select a first mode in which the guardian accompanies or a second mode in which the guardian does not accompany. According to one embodiment of the present invention, in the first mode, the pressure sensor 141, the tilt sensor 143, the angular velocity sensor 145, and the velocity sensor 147 may be activated, and the distance sensor 149 may be deactivated. . In the second mode, the sensors of the sensor unit 140, that is, the pressure sensor 141, the tilt sensor 143, the angular velocity sensor 145, the speed sensor 147, and the distance sensor 149 are all activated.

As described above, according to the present invention, the wheelchair 100 and the driving method for safe driving use a pressure sensor, a tilt sensor, an angular velocity sensor, a speed sensor, and a distance sensor to determine whether the user is on the wheelchair and move around the wheelchair during driving. By detecting conditions, obstacles, and terrain changes, the user can use the wheelchair safely.

Although the above has been described with reference to the illustrated embodiments of the present invention, these are only examples, and those skilled in the art to which the present invention belongs can variously It will be apparent that other embodiments that are variations, modifications and equivalents are possible. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

100: Wheelchair for safe driving
110: wheelchair body
120: wheel
130: brake unit
140: sensor unit
150: comparison unit
160: control unit
170: battery
180: buzzer
190: switch

Claims (13)

wheelchair body;
Wheels respectively disposed on both sides of the main body;
a brake unit for decelerating the speed of the wheel;
a sensor unit mounted on the main body to detect a riding state and a moving state of the main body;
a comparison unit that compares the data of the sensor unit with a predetermined threshold value; and
A safety wheelchair for safe driving comprising a control unit for controlling the operation of the brake unit according to the comparison result of the comparison unit.
According to claim 1,
The sensor unit,
a pressure sensor for sensing a pressure applied to the main body;
a tilt sensor for measuring the tilt of the main body;
an angular velocity sensor for measuring an angular velocity of the main body;
a speed sensor for measuring a moving speed of the main body; and
A safety wheelchair for safe driving including a distance sensor for measuring a distance to an obstacle located around the main body.
According to claim 1,
The comparison unit,
A safety wheelchair for safe driving, characterized in that a preset threshold is used for a first mode in which the guardian accompanies or a second mode in which the guardian does not accompany.
According to claim 2,
The control unit,
A safety wheelchair for safe driving, characterized in that, as a result of comparison by the comparator, when the pressure data is smaller than a predetermined critical pressure, the brake unit controls the contact with the wheel.
According to claim 2,
The control unit controls the brake unit to contact the wheel when at least one of tilt data, angular velocity data, speed data, and distance data is greater than a predetermined threshold value.
According to claim 1,
A safety wheelchair for safe driving that further includes a battery that supplies power required to drive the wheelchair.
According to claim 1,
A safety wheelchair for safe driving further comprising a buzzer that emits a warning sound in response to a command of the control unit.
According to claim 3,
A safety wheelchair for safe driving further comprising a switch for selecting the first mode or the second mode.
In the driving method of a wheelchair for safe driving,
A first measurement step of measuring the pressure of the wheelchair body;
a first comparison step of comparing the measured pressure data with a predetermined critical pressure;
a second measurement step of measuring the inclination, angular velocity, moving speed, and distance of the wheelchair body when the comparison result of the first comparison step is greater than the preset threshold pressure;
a second comparison step of comparing the data measured in the second measurement step with a preset threshold value; and
As a result of the comparison in the second comparison step, when at least one of the measured data is greater than the predetermined threshold value, safe driving including a control step of controlling the speed of wheels disposed on both sides of the wheelchair body to be reduced. How to drive a safe wheelchair for.
According to claim 8,
The control step is
A method of driving a safety wheelchair for safe driving, characterized in that the brake unit formed on one side of the wheel contacts the wheel and controls the speed to be reduced.
According to claim 8,
A method of driving a safety wheelchair for safe driving, characterized in that if the comparison result of the first comparison step is less than the predetermined threshold pressure, the wheel is controlled to stop.
According to claim 8,
A method of driving a safety wheelchair for safe driving, further comprising a selection step of selecting a first mode in which the guardian accompanies or a second mode in which the guardian does not accompany.
According to claim 12,
In the first mode, the distance sensor is in an inactive state, and in the second mode, the pressure sensor, inclination sensor, angular velocity sensor, speed sensor, and distance sensor are in an active state,
The method of driving a safety wheelchair for safe driving, characterized in that the first mode and the second mode decelerates the speed of the wheelchair body according to any one sensed value.

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