KR20230011190A - Wheelchair driving aid and collision avoidance method using same - Google Patents

Abstract

Disclosed is a wheelchair driving assistance device capable of assisting the operation of a wheelchair and preventing collisions with surrounding objects during operation of the wheelchair. According to the present invention, the wheelchair driving assistance device comprises: a driving assistance device detachably coupled to a wheelchair and configured to move the wheelchair; at least one sensor disposed on the wheelchair; and a warning device configured to generate a warning signal when a detection signal is input from the at least one sensor.

Description

Wheelchair driving aid and collision avoidance method using the same {Wheelchair driving aid and collision avoidance method using same}

The present invention relates to a wheelchair driving assistance device and a collision avoidance method using the same.

In general, as a wheelchair has a structure in which a patient must operate the wheelchair by himself, if he or she is unable to operate the wheelchair by himself due to physical discomfort, or if movement such as long distance or uphill is required, the wheelchair must be moved with the help of others. do.

However, since the wheelchair in which the patient is riding is heavy and bulky, movement is restricted when a long distance or uphill road is to be moved.

In addition, since a patient operating a wheelchair operates the wheelchair while rotating the wheels of the wheelchair, it is difficult to recognize the surrounding situation while driving while only looking at the front within 2 to 3 meters.

Therefore, when a person, vehicle, or bicycle approaches the wheelchair while the wheelchair is driving, a collision accident occurs because the occupant operating the wheelchair does not recognize the dynamics of surrounding objects in advance, resulting in serious injuries. .

The present invention has been made to solve the above problems, and an object of the present invention is to assist the operation of the wheelchair when a wheelchair occupant is unable to operate the wheelchair by himself or requires long-distance movement or movement such as uphill. It is to provide a wheelchair driving assistance device capable of preventing collision with surrounding objects by detecting surrounding objects while the wheelchair is operating and notifying danger through a warning signal, and a collision avoidance method using the same.

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

A wheelchair traveling assistance device according to an embodiment of the present invention for solving the above problems includes a driving assistance device detachably coupled to a wheelchair and configured to move the wheelchair; at least one sensor disposed in the wheelchair; and a warning device configured to generate a warning signal when a detection signal is input from the at least one sensor. includes

The driving assistance device may be configured to be steered through the wheelchair.

The driving assistance device may include a connection mount detachably coupled to a handle provided in the wheelchair; a traveling body rotatably coupled to the connection mount and configured to pressurize the wheelchair by generating power; and a controller connected to the at least one sensor and configured to receive the detection signal and control the warning device and the traveling speed of the traveling body; can include

The connection mount includes a fixing unit detachably coupled to the handle; a tilting unit supporting the traveling body, rotatably coupled to the fixing unit, and configured to be tilted when the wheelchair changes direction; and an elastic member disposed between the fixing part and the tilting part to elastically support the tilting part. can include

The traveling body includes a frame rotatably coupled to the connection mount and accommodating the controller therein; a seat coupled to the frame so that a user can board; at least one driving wheel rotatably coupled to the frame and performing a rolling motion along the ground; and a driving device configured to generate power by rotating the driving wheel.

The driving device may include a pedal assembly configured to rotate the driving wheel by an occupant; a drive motor configured to rotate the drive wheel by the controller; and a battery detachably coupled to the frame and configured to supply power to the driving motor. can include

The driving assistance device may include: a transmit/receive connector electrically connected to the controller and the at least one sensor and configured to transmit the detection signal to the controller or a control signal of the controller to the at least one sensor; may further include.

The driving assistance device may include a connection cable electrically connecting the transmission/reception connector, the controller, and the warning device; may further include.

The driving assistance device may include a display connected to the controller and configured to display at least one of driving information, detection information, and warning information; may further include.

The at least one sensor may include a first detection sensor configured to detect an object located in front of the wheelchair; a second detection sensor configured to detect objects located on the left and right sides of the wheelchair; And a connection connector electrically connected to the controller configured to transmit the detection signal of the first detection sensor and the detection signal of the second detection sensor to the controller; can include

The at least one sensor connects the connection connector, the first detection sensor, and the second detection sensor to transmit a detection signal of the first detection sensor and a detection signal of the second detection sensor to the connection connector. a harness cable configured to supply power input through the connection connector to the first detection sensor and the second detection sensor; may further include.

The at least one sensor may be disposed to face left and right sides of a footrest provided in the wheelchair on the ground.

The first detection sensor includes a first front detection sensor disposed on the left front side of the footrest and configured to detect an object located in front of the wheelchair, and a first front detection sensor disposed on the right front surface of the footrest to detect an object located in front of the wheelchair. A second front detection sensor configured to detect a first side detection sensor disposed on a left side of the footrest and configured to detect an object located on the left side of the wheelchair; A second lateral detection sensor disposed on the right side and configured to detect an object located on the right side of the wheelchair may be included.

The harness cable may include a first connection portion connected to the connection connector and disposed along the frame portion of the wheelchair; And a first branch branching from the first connection part to the left side of the footrest and connected to the first front detection sensor and the first lateral detection sensor, and branching from the first connection part to the right side of the footrest to the second branching part. a second connection part having a second branch part connected to a front detection sensor and the second lateral detection sensor; can include

The at least one sensor may include a cable clamp detachably coupled to the wheelchair and configured to support the harness cable at a plurality of locations; may further include.

The cable clamp may include at least one first cable clamp detachably coupled to the frame part and configured to support the first connection part; and at least one second cable clamp detachably coupled to the footrest and configured to support the second connection portion. can include

The connection connector and the transmission/reception connector may be configured to be detachably coupled to each other.

The transmission/reception connector may be integrally provided with the connection mount.

The transmission/reception connector and the connection connector may be configured to contact each other when the connection mount and the wheelchair are coupled.

The warning device includes a light configured to emit light when the detection signal is input; and a speaker configured to emit sound when the detection signal is input. can include

A wheelchair driving assistance device according to another embodiment of the present invention for solving the above problems includes a connection mount detachably coupled to a wheelchair; a driving assistance device coupled to the connection mount and configured to move the wheelchair; and at least one sensor disposed on the wheelchair and electrically connected to the driving assistance device through the connection mount. includes

A wheelchair driving assistance device according to another embodiment of the present invention for solving the above problems is detachably coupled to a wheelchair and includes a driving assistance device configured to move the wheelchair; and at least one sensor disposed on the wheelchair; And, the driving assistance device and the at least one sensor are configured to be electrically connected to each other when the driving assistance device and the wheelchair are coupled.

In the collision avoidance method using a wheelchair driving assistance device according to an embodiment of the present invention, when a detection signal is input from a sensor mounted on a wheelchair, the current driving speed of the driving assistance device is calculated, and the current driving speed of the driving assistance device is calculated based on the current driving speed. Comparing with the set threshold speed; When the current driving speed of the driving assistance device is greater than the critical speed, a first collision warning distance is calculated using the current driving speed of the driving assistance device, and the first collision warning distance is calculated by comparing the distance to the current detection target. comparing; and activating a warning device to generate a first warning signal when the first collision warning distance is greater than the distance to the current detection target. includes

calculating a second collision warning distance using the current driving speed of the driving assistance device when the first warning signal is generated, and comparing the second collision warning distance with the distance to the current detection target; and generating a second warning signal different from the first warning signal by operating the warning device when the second collision warning distance is greater than the distance to the current detection target. may further include.

calculating a third collision warning distance using the current driving speed of the driving assistance device when the second warning signal is generated, and comparing the third collision warning distance with the distance to the current detection target; decelerating the driving speed of the driving assistance device to a first set speed when the third collision warning distance is greater than the distance to the current detection target; and generating a third warning signal different from the second warning signal by operating the warning device when the driving speed of the driving assistance device is reduced to the first set speed. may further include.

calculating a fourth collision warning distance using the current driving speed of the driving assistance device when the third warning signal is generated, and comparing the fourth collision warning distance with the distance to the current detection target; decelerating the driving speed of the driving assistance apparatus to a second set speed different from the first set speed when the fourth collision warning distance is greater than the distance to the current detection target; and generating a fourth warning signal different from the third warning signal by operating the warning device when the traveling speed of the driving assistance device is reduced to the second set speed. may further include.

comparing the current driving speed of the driving assistance apparatus with zero when the fourth warning signal is generated; and stopping the operation of the warning device when the current driving speed of the driving assistance device is equal to zero. may further include.

According to an embodiment of the present invention, when a wheelchair occupant is unable to operate the wheelchair by himself or requires long-distance movement or uphill movement, the operation of the wheelchair can be easily assisted.

In addition, collisions with surrounding objects can be prevented by detecting surrounding objects while the wheelchair is in operation and notifying the occupant of the risk of collision through a warning signal.

In addition, by using the distance that the driving assistance device can move for one hour, the collision warning distance (CWD) is gradually reduced, and the range of collision warning judgment criteria is set more narrowly to prevent collision between the wheelchair (WC) and the sensing object. It can be judged precisely, and through this, a collision between an object and a wheelchair can be surely prevented.

Effects according to the present invention are not limited by the contents exemplified above, and more various effects are included in the present invention.

1 is a side view showing a wheelchair driving assistance device according to an embodiment of the present invention.
2 is a perspective view showing a connection mount of a wheelchair driving assistance device according to an embodiment of the present invention.
Figure 3 is a front view showing a wheelchair driving assistance device according to an embodiment of the present invention.
4 is a perspective view illustrating a transmission/reception connector and a connection connector of a wheelchair driving assistance device according to an embodiment of the present invention.
5 is a diagram schematically illustrating a structure in which a transmission/reception connector of a wheelchair driving assistance device according to an embodiment of the present invention is integrally formed with a connection mount.
6 is a view schematically showing a modified embodiment of a transmission/reception connector and a connection mount of a wheelchair driving assistance device according to an embodiment of the present invention.
7 is a diagram schematically showing a warning device of a wheelchair driving assistance device according to an embodiment of the present invention.
8 is a flowchart illustrating a collision avoidance method using a wheelchair driving assistance device according to an embodiment of the present invention.

Hereinafter, various embodiments will be described in more detail with reference to the accompanying drawings. The embodiments described in this specification may be modified in various ways. Certain embodiments may be depicted in the drawings and described in detail in the detailed description. However, specific embodiments disclosed in the accompanying drawings are only intended to facilitate understanding of various embodiments. Therefore, the technical idea is not limited by the specific embodiments disclosed in the accompanying drawings, and it should be understood to include all equivalents or substitutes included in the spirit and technical scope of the invention.

Terms including ordinal numbers, such as first and second, may be used to describe various components, but these components are not limited by the above terms. The terminology described above is only used for the purpose of distinguishing one component from another.

In this specification, terms such as "comprise" or "having" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded. It is understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle. It should be. On the other hand, when an element is referred to as “directly connected” or “directly connected” to another element, it should be understood that no other element exists in the middle.

Meanwhile, a “module” or “unit” for a component used in this specification performs at least one function or operation. And a "module" or "unit" may perform a function or operation by hardware, software, or a combination of hardware and software. In addition, a plurality of “modules” or “units” other than “modules” or “units” to be executed in specific hardware or to be executed in at least one processor may be integrated into at least one module. Singular expressions include plural expressions unless the context clearly dictates otherwise.

In addition, in describing the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be abbreviated or omitted.

1 is a side view showing a wheelchair driving assistance device according to an embodiment of the present invention.

Referring to FIG. 1 , a wheelchair driving assistance device 100 (hereinafter referred to as 'wheelchair driving assistance device 100') according to an embodiment of the present invention includes a driving assistance device 110, at least one sensor 120 and Includes a warning device (130).

The driving assistance device 110 is detachably coupled to the wheelchair WC, and is configured to pressurize and move the wheelchair WC from the rear of the wheelchair WC.

The driving assistance device 110 may be configured to allow a user to ride and be steered through a wheelchair WC.

The driving assistance device 110 may include a connection mount 111 , a traveling body 112 and a controller 113 .

The connection mount 111 may be detachably coupled to the handle H provided in the wheelchair WC and configured to support the traveling body 112 .

2 is a perspective view showing a connection mount of a wheelchair driving assistance device according to an embodiment of the present invention.

Referring to FIGS. 1 and 2 , the connection mount 111 may include a fixing part 111A, a tilting part 111B and an elastic member 111C.

The fixing part 111A may be configured to be detachably coupled to the handle H.

For example, a part of the fixing part 111A is formed in a tube shape and connected to the tilting part 111B, and another part of the fixing part 111A is formed in a clamp shape and is detachable from each of the plurality of handles H can be conjoined. At this time, a part of the fixing part 111A and another part of the fixing part 111A may be connected to each other through a separate member.

The tilting part 111B may support the traveling body 112 and be rotatably coupled to the fixing part 111A.

When the direction of the wheelchair WC is changed, the tilting unit 111B may be configured to be tilted by being pressed by the traveling body 112 inclined in the direction in which the direction of the wheelchair WC is changed.

For example, a part of the tilting part 111B is rotatably coupled to a part of the fixing part 111A formed in a tube shape and disposed between another part of the fixing part 111A formed in a clamp shape, and the tilting part 111B The other part of ) may rotatably support the traveling body 112 .

The elastic member 111C may be disposed between the fixing part 111A and the tilting part 111B and elastically support the tilting part 111B tilted by the traveling body 112 .

For example, the elastic member 111C may be implemented in the form of a coil spring.

The traveling body 112 may be rotatably coupled to the connection mount 111 and may be configured to pressurize the wheelchair WC by generating power.

Referring to FIG. 1 , a traveling body 112 is rotatably coupled to a connection mount 111, and is coupled to a frame 112A in which a controller 113 is accommodated and a frame 112A to allow a user to ride. It may include a seat 112B and at least one driving wheel 112C rotatably coupled to the frame 112A and performing a rolling motion along the ground.

For example, the frame 112A may have the same structure as a conventional bicycle frame 112A. Specifically, the frame 112A connects the head tube rotatably coupled to the connection mount 111, the seat tube to which the seat 112B is detachably coupled, the head tube and the seat tube, and the controller ( 113) and a top tube in which the battery 112D3 is accommodated, a bottom bracket disposed below the seat tube, a seat stay extending from the seat tube and coupled to the drive wheel 112C, and connecting the bottom bracket and the seat stay. May include chain stays.

The traveling body 112 may further include a driving device 112D.

The driving device 112D may be configured to generate power by rotating the driving wheel 112C.

The driving device 112D may include a pedal assembly 112D1, a driving motor 112D2, and a battery 112D3.

The pedal assembly 112D1 is rotatably coupled to the frame 112A, connected to the drive wheel 112C, and configured to rotate the drive wheel 112C when rotated by an occupant riding on the vehicle 112. can

For example, the pedal assembly 112D1 may have the same structure as a normal bicycle pedal assembly. Specifically, the pedal assembly 112D1 includes a crank arm rotatably coupled to the frame 112A, a chain ring rotated by the crank arm, a sprocket rotated together with the drive wheel 112C, and a chain ring and sprocket. It may include a chain connected to each other and rotating a sprocket when the chainring rotates, a front derailleur shifting gears of the chainring, and a rear derailleur shifting gears of the sprocket.

The driving motor 112D2 may be integrally disposed with the driving wheel 112C and rotate together with the driving wheel 112C.

The driving motor 112D2 is electrically connected to the controller 113 disposed inside the frame 112A, receives a control signal from the controller 113, and rotates the driving wheel 112C while being rotated by the received control signal. can be configured to do so.

The battery 112D3 may be detachably coupled to the frame 112A.

The battery 112D3 coupled to the frame 112A may be electrically connected to the controller 113 to supply power to the driving motor 112D2 by a control signal transmitted from the controller 113.

The controller 113 may be electrically connected to at least one sensor 120 , the battery 112D3 , the driving motor 112D2 and the warning device 130 .

When the controller 113 receives a detection signal from at least one sensor 120, the controller 113 can control the warning device 130 and the driving motor 112D2 by determining the degree of collision risk according to a preset algorithm. there is. Thus, the warning device 130 generates a warning signal corresponding to the degree of collision risk, and the traveling body 112 may be controlled to decelerate at a set speed.

The driving assistance device 110 may further include a transmission/reception connector 114 .

The transmit/receive connector 114 is electrically connected to the controller 113 and at least one sensor 120, and transmits a detection signal sensed by the at least one sensor 120 to the controller 113 or to the controller 113. It may be configured to transmit a control signal to at least one sensor 120 .

For example, the transmission/reception connector 114 may be connected to at least one sensor 120 in a wired or wireless manner to transmit/receive data.

The driving assistance device 110 may further include a display 116 and a connection cable 115 .

The display 116 may be electrically connected to the controller 113 and may be configured to receive and display at least one of driving information, detection information, and warning information from the controller 113 .

The connection cable 115 may electrically connect the transmission/reception connector 114, the controller 113, the battery 112D3, the driving motor 112D2, the display 116, and the warning device 130.

The connection cable 115 includes the controller 113 and the transmit/receive connector 114, the controller 113 and the battery 112D3, the controller 113 and the drive motor 112D2, the controller 113 and the display 116, and the controller ( 113) and the warning device 130 to transmit and receive data, respectively, and to transmit the power of the battery 112D3 to the controller 113, the drive motor 112D2, the display 116 and the warning device 130. can

At least one sensor 120 is disposed on the wheelchair WC and is configured to detect objects around the wheelchair WC. For example, at least one sensor 120 may be implemented as an ultrasonic or laser sensor, but is not necessarily limited thereto and may be implemented as various sensors.

Figure 3 is a front view showing a wheelchair driving assistance device according to an embodiment of the present invention.

Referring to Figures 1 and 3, at least one sensor 120 may be disposed so as to face the left and right sides of the footrest (S) provided in the wheelchair (WC) on the ground.

At least one of the sensors 120 disposed to face the left and right sides of the footrest S may include a first detection sensor 121 and a second detection sensor 122 .

The first detection sensor 121 may be configured to detect an object located in front of the wheelchair WC.

For example, the first detection sensor 121 includes a first front detection sensor 121A disposed on the left front side of the footrest S and configured to detect an object located in front of the wheelchair WC, and a footrest S ) may include a second front detection sensor 121B disposed on the right front side of the wheelchair WC and configured to detect an object located in front of the wheelchair WC.

The second detection sensor 122 may be configured to detect objects located on the left and right sides of the wheelchair WC.

For example, the second detection sensor 122 includes a first side detection sensor 122A disposed on the left side of the footrest S and configured to detect an object located on the left side of the wheelchair WC, and a footrest S ) may include a second lateral detection sensor 122B disposed on the right side of the wheelchair WC and configured to detect an object located on the right side of the wheelchair WC.

Referring to FIG. 1 , at least one sensor 120 may include a connection connector 123 .

Connection connector 123 is electrically connected to the first detection sensor 121, the second detection sensor 122 and the controller 113, the detection signal of the first detection sensor 121 and the second detection sensor 122 It may be configured to transmit the detection signal of the controller 113.

For example, the connection connector 123 may be connected to the controller 113 in a wired or wireless manner to transmit and receive data.

4 is a perspective view illustrating a transmission/reception connector and a connection connector of a wheelchair driving assistance device according to an embodiment of the present invention.

Referring to FIGS. 1 and 4 , the connection connector 123 and the transmission/reception connector 114 may be detachably coupled to each other. Accordingly, when the connection connector 123 and the transmission and reception connector 114 are coupled to each other, the controller 113 and the sensor 120 are electrically connected, and when the connection connector 123 and the transmission and reception connector 114 are separated from each other, the controller 113 ) and the sensor 120 may be disconnected.

For example, the connection connector 123 may have a plug shape, and the transmission/reception connector 114 may have a socket shape corresponding to the connection connector 123 . However, the connection connector 123 and the transmission/reception connector 114 are not necessarily limited thereto and may have structures opposite to each other.

Meanwhile, in the present invention, at least one sensor 120 disposed in the wheelchair WC may be electrically connected to the driving assistance device 110 through a connection mount 111.

5 is a diagram schematically illustrating a structure in which a transmission/reception connector of a wheelchair driving assistance device according to an embodiment of the present invention is integrally formed with a connection mount.

Referring to FIGS. 1 and 5 , the transmission/reception connector 114 may be integrally provided on the connection mount 111 . Accordingly, the connection connector 123 is coupled to the transmission/reception connector 114 integrally provided in the connection mount 111 to be electrically connected to the controller 113 accommodated in the driving assistance device 110 through the connection mount 111. can

For example, the transmission/reception connector 114 may be provided integrally with the fixing part 111A of the connection mount 111. At this time, a part of the connection cable 115 disposed outside the frame 112A while connecting the transmission/reception connector 114 and the controller 113 is exposed to the outside space while being guided along the outer surface of the connection mount 111. , or may be inserted into the connection mount 111 and protected from the outside while being guided along the inner surface of the connection mount 111 . For example, the connection cable 115 introduced into the connection mount 111 has a structure leading to the frame 112A while sequentially passing through the tilting part 111B in the fixing part 111A of the connection mount 111. can have

6 is a view schematically showing a modified embodiment of a transmission/reception connector and a connection mount of a wheelchair driving assistance device according to an embodiment of the present invention.

1 and 6, when the connection mount 111 provided in the driving assistance device 110 and the wheelchair WC are coupled, the controller 113 of the driving assistance device 110 and at least one The sensor 120 may be configured to be electrically connected.

That is, in the present invention, a contact point may be provided at a portion where the connection mount 111 and the wheelchair WC are coupled.

That is, when the connection mount 111 and the wheelchair WC are coupled, the transmission/reception connector 114 is disposed on the inner surface of the fixing part 111A in contact with the handle H of the wheelchair WC, and the fixing part 111A A connection connector 123 may be disposed on the handle H of the wheelchair WC that comes into contact with the inner surface.

Accordingly, when the connection mount 111 and the wheelchair WC are coupled to each other, the transmission/reception connector 114 and the connection connector 123 may be electrically connected while being in contact with each other.

Therefore, the present invention can automatically connect at least one sensor 120 and the controller 113 only by coupling the driving assistance device 110 to the wheelchair WC. Therefore, in the present invention, as the process of separately inserting or separating the transmission/reception connector 114 and the connection connector 123 after coupling the driving assistance device 110 to the wheelchair WC is omitted, the driving assistance device 110 and the wheelchair Maneuverability and convenience can be maximized in coupling or separation of (WC), and rapid detachment can be possible.

For example, the transmission/reception connector 114 and the connection connector 123 may be formed in the form of electrodes.

Referring to FIGS. 1 and 3 , at least one sensor 120 may further include a harness cable 124 .

The harness cable 124 connects the connection connector 123 and the first detection sensor 121 and the second detection sensor 122, so that the detection signal of the first detection sensor 121 and the second detection sensor 122 It may be configured to transmit a detection signal of to the connection connector 123 and to supply power input to the connection connector 123 to the first detection sensor 121 and the second detection sensor 122 .

The harness cable 124 may include a first connection part 124A and a second connection part 124B.

The first connection portion 124A may be connected to the connection connector 123 and disposed along the frame portion F of the wheelchair WC.

The second connection part (124B) is branched from the first connection part (124A) to the left side of the footrest (S) and is connected to the first front detection sensor (121A) and the first side detection sensor (122A) first branch (124B1) And, it may include a second branch portion 124B2 branched from the first connection portion 124A to the right side of the footrest S and connected to the second front detection sensor 121B and the second side detection sensor 122B. .

At least one sensor 120 may further include a cable clamp 125 .

The cable clamp 125 may be detachably coupled to the wheelchair WC and configured to support the harness cable 124 at a plurality of positions.

The cable clamp 125 is detachably coupled to the frame portion F, and at least one first cable clamp 125A configured to support the first connection portion 124A and dispose it adjacent to the frame portion F. And, it may include at least one second cable clamp 125B detachably coupled to the scaffold S and configured to support the second connection portion 124B and arrange it adjacent to the scaffold S.

Accordingly, it is possible to prevent the harness cable 124 from sagging and to prevent damage to the harness cable 124 by preventing interference with other structures provided in the wheelchair WC during driving of the wheelchair WC.

7 is a diagram schematically showing a warning device of a wheelchair driving assistance device according to an embodiment of the present invention.

1 and 7, the warning device 130 is disposed on the connection mount 111 of the driving assistance device 110 and is electrically connected to at least one sensor 120 through the controller 113. Then, the warning device 130 is configured to generate a warning signal when a detection signal is input from at least one sensor 120 .

Warning device 130 may include a light 131 configured to emit light when a detection signal is input, and a speaker 132 configured to emit sound when a detection signal is input.

Specifically, when a detection signal is input to the controller 113, the light 131 and the speaker 132 may be driven by receiving a control signal corresponding to the detection signal from the controller 113.

For example, the light 131 and the speaker 132 may be driven in various ways according to a control signal input from the controller 113 . In the case of the light 131, the blinking cycle of light, the brightness of light, the order of blinking of light, etc. may be applied differently according to the control signal, and in the case of the speaker 132, the emission cycle of sound, the loudness of sound, and the sound according to the control signal. The type of may be applied differently.

Referring to Figure 2, the warning device 130 may further include a vibration system 133 configured to generate vibration when a detection signal is input.

For example, the vibration meter 133 may be disposed at the fixing part 111A of the connection mount 111 to transmit vibrations to the handle H of the wheelchair WC being gripped by the occupant of the driving assistance device 110. .

Hereinafter, a collision prevention method using the wheelchair driving assistance device 100 according to an embodiment of the present invention will be described.

For reference, for convenience of explanation, for each configuration for explaining the collision avoidance method (hereinafter referred to as 'collision prevention method') using the wheelchair driving assistance device 100 according to the embodiment of the present invention, according to the embodiment of the present invention Reference numerals used while describing the wheelchair driving assistance device 100 are used the same, and identical or overlapping descriptions will be omitted.

8 is a flowchart illustrating a collision avoidance method using a wheelchair driving assistance device according to an embodiment of the present invention.

1 and 8, while the wheelchair driving assistance device 100 is driving, a detection signal from at least one sensor 120 mounted on the wheelchair WC to the controller 113 of the driving assistance device 110. is input, the controller 113 calculates the current driving speed V of the driving assistance device 110 and compares the calculated current driving speed V of the driving assistance device 110 with a preset threshold speed ( S100).

For example, the threshold speed may be set to 2 km/h.

At this time, when the current driving speed V of the driving assistance device 110 is greater than the critical speed, the controller 113 uses the current driving speed V of the driving assistance device 110 to determine the first collision warning distance CWD1. ) is calculated, and the calculated first collision warning distance (CWD1) is compared with the distance (Ds) to the current detection target (S105).

The first collision warning distance (CWD1) is based on the current driving speed (V) of the driving assistance device 110, and 100% of the movable distance (Dm) of the driving assistance device 110 for one hour is set to 10^3. It can be defined as a divided value.

[Equation 1]

CWD1 = ((100/100) * Dm)/ 10^3

(Here, CWD1 is the first collision warning distance, Dm is the distance that the driving assistance device 110 can move for one hour based on the current driving speed (V), and is a value obtained by converting km to m)

For example, when the current driving speed V of the driving assistance device 110 is 10 km/h, the distance Dm that the driving assistance device 110 can travel for one hour is 10,000 m. Therefore, the first collision warning distance CWD1 may be 10 m, which is a value obtained by dividing 100% of 10,000 m of 10,000 m of the driving assistance device 110 for one hour by 10^3.

Meanwhile, when the current driving speed V of the driving assistance device 110 is less than or equal to the critical speed, the controller 113 waits until the next detection signal is input from the sensor 120 mounted on the wheelchair WC. do.

When the first collision warning distance CWD1 is greater than the distance Ds to the current detection target, the controller 113 operates the warning device 130 to generate a first warning signal (S110).

At this time, if the distance Ds to the current detection target is greater than or equal to the first collision warning distance CWD1, the controller 113 resets the warning device 130 from the sensor 120 mounted on the wheelchair WC. It waits until the next detection signal is input.

For example, when the first collision warning distance (CWD1) is 10 m and the distance (Ds) to the current detection target is 8 m, the controller 113 transmits a control signal to the warning device 130, and warns this. The device 130 emits a warning sound while blinking the light at 2-second intervals.

When the first warning signal is generated from the warning device 130, the controller 113 calculates the second collision warning distance CWD2 using the current driving speed V of the driving assistance device 110, and calculates the second collision warning distance CWD2. 2 The collision warning distance (CWD2) is compared with the distance (Ds) to the current detection target (S115).

The second collision warning distance (CWD2) is based on the current driving speed (V) of the driving assistance device 110, 60 to 80% of the movable distance (Dm) of the driving assistance device 110 for one hour is 10^ It can be defined as a value divided by 3.

More preferably, the second collision warning distance (CWD2) is 70% of the movable distance (Dm) of the driving assistance device 110 for one hour based on the current driving speed (V) of the driving assistance device 110. It can be defined as a value divided by 10^3.

[Equation 2]

CWD2 = ((70/100) * Dm)/ 10^3

(Here, CWD2 is the second collision warning distance, Dm is the distance that the driving assistance device 110 can move for one hour based on the current driving speed (V), and is a value obtained by converting km to m)

For example, when the current driving speed V of the driving assistance device 110 is 10 km/h, the distance Dm that the driving assistance device 110 can travel for one hour is 10,000 m. Therefore, the second collision warning distance CWD2 may be 7 m, which is a value obtained by dividing 70% of 10,000 m of 10,000 m of the driving assistance device 110 for one hour by 10^3.

If the second collision warning distance CWD2 is greater than the distance Ds to the current detection target, the controller 113 operates the warning device 130 to generate a second warning signal different from the first warning signal (S120). .

At this time, if the distance Ds to the current detection target is greater than or equal to the second collision warning distance CWD2, the controller 113 performs a first collision warning warning using the current driving speed V of the driving assistance device 110. The process of calculating the distance CWD1 and comparing the calculated first collision warning distance CWD1 with the distance Ds to the current detection target is performed again.

The second warning signal may generate more signals during the same time period than the first warning signal.

For example, when the second collision warning distance (CWD2) is 7 m and the distance (Ds) to the current detection target is 6 m, the controller 113 transmits a control signal to the warning device 130, and warns this. The device 130 emits a warning sound while blinking the light at 1 second intervals.

When the second warning signal is generated from the warning device 130, the controller 113 calculates the third collision warning distance CWD3 using the current driving speed V of the driving assistance device 110, and calculates the third collision warning distance CWD3. 3 The collision warning distance (CWD3) is compared with the distance (Ds) to the current detection target (S125).

The third collision warning distance CWD3 is 40 to 60% of the movable distance Dm of the driving assistance device 110 for one hour based on the current driving speed V of the driving assistance device 110 by 10^ It can be defined as a value divided by 3.

More preferably, the third collision warning distance (CWD3) is 50% of the movable distance (Dm) of the driving assistance device 110 for one hour based on the current driving speed (V) of the driving assistance device 110. It can be defined as a value divided by 10^3.

[Equation 3]

CWD3 = ((50/100) * Dm)/ 10^3

(Here, CWD3 is the third collision warning distance, Dm is the distance that the driving assistance device 110 can move for one hour based on the current driving speed (V), and is a value obtained by converting km to m)

For example, when the current driving speed V of the driving assistance device 110 is 10 km/h, the distance Dm that the driving assistance device 110 can travel for one hour is 10,000 m. Therefore, the third collision warning distance CWD3 may be 5 m, which is a value obtained by dividing 50% of 10,000 m of 10,000 m of the driving assistance device 110 for one hour by 10^3.

If the third collision warning distance CWD3 is greater than the distance Ds to the current detection target, the controller 113 transmits a control signal to the drive motor 112D2 to set the driving speed V of the driving assistance device 110. Decelerate to the first set speed (S130).

More specifically, if the third collision warning distance CWD3 is greater than the distance Ds to the current detection target, the controller 113 sets the driving speed V of the driving assistance device 110 to the driving speed before deceleration ( V) can be reduced to less than 50%.

At this time, if the distance Ds to the current detection target is greater than or equal to the third collision warning distance CWD3, the controller 113 performs a first collision warning warning using the current driving speed V of the driving assistance device 110. The process of calculating the distance CWD1 and comparing the calculated first collision warning distance CWD1 with the distance Ds to the current detection target is performed again.

When the driving speed V of the driving assistance device 110 is reduced to the first set speed, the controller 113 operates the warning device 130 to generate a third warning signal different from the second warning signal (S135). .

The third warning signal may generate more signals during the same time period than the second warning signal.

For example, when the third collision warning distance (CWD3) is 5 m and the distance (Ds) to the current detection target is 4 m, the controller 113 transmits a control signal to the warning device 130, thereby warning the device. (130) emits a warning sound while blinking the light at 0.5 second intervals.

When the third warning signal is generated from the warning device 130, the controller 113 calculates the fourth collision warning distance CWD4 using the current driving speed V of the driving assistance device 110, and calculates the fourth collision warning distance CWD4. 4 The collision warning distance (CWD4) is compared with the distance (Ds) to the current detection target (S140).

The fourth collision warning distance (CWD4) is 10 to 30% of the movable distance (Dm) of the driving assistance device 110 for one hour based on the current driving speed (V) of the driving assistance device 110 by 10^ It can be defined as a value divided by 3.

More preferably, the fourth collision warning distance (CWD4) is 20% of the movable distance (Dm) of the driving assistance device 110 for one hour based on the current driving speed (V) of the driving assistance device 110. It can be defined as a value divided by 10^3.

[Equation 4]

CWD4 = ((20/100) * Dm)/ 10^3

(Here, CWD4 is the fourth collision warning distance, Dm is the distance that the driving assistance device 110 can move for one hour based on the current driving speed (V), and is a value obtained by converting km to m)

For example, when the current driving speed V of the driving assistance device 110 is 10 km/h, the distance Dm that the driving assistance device 110 can travel for one hour is 10,000 m. Accordingly, the fourth collision warning distance CWD4 may be 2 m, which is a value obtained by dividing 20% of 10,000 m of 10,000 m of the driving assistance device 110 for one hour by 10^3.

If the fourth collision warning distance CWD4 is greater than the distance Ds to the current detection target, the controller 113 transmits a control signal to the drive motor 112D2 to set the driving speed V of the driving assistance device 110. It decelerates to a second set speed different from the first set speed (S145).

More specifically, if the fourth collision warning distance (CWD4) is greater than the distance (Ds) to the current detection target, the controller 113 changes the driving speed (V) of the driving assistance device 110 to the driving speed (V) prior to deceleration. ) can be reduced to a speed of 10% or less. More preferably, the controller 113 may reduce the driving speed V of the driving assistance device 110 to a speed of 5% or less of the driving speed V before being reduced.

At this time, if the distance Ds to the current detection target is greater than or equal to the fourth collision warning distance CWD4, the controller 113 performs a first collision warning warning using the current driving speed V of the driving assistance device 110. The process of calculating the distance CWD1 and comparing the calculated first collision warning distance CWD1 with the distance Ds to the current detection target is performed again.

When the driving speed V of the driving assistance device 110 is reduced to the second set speed, the controller 113 operates the warning device 130 to generate a fourth warning signal different from the third warning signal (S150). .

The fourth warning signal may generate more signals during the same time period than the third warning signal.

For example, if the fourth collision warning distance (CWD4) is 2 m and the distance (Ds) to the current detection target is 1 m, the controller 113 transmits a control signal to the warning device 130, and thus the warning device (130) emits a warning sound while continuously blinking the light.

When the fourth warning signal is generated, the controller 113 determines whether the driving assistance device 110 is stopped.

Specifically, when the fourth warning signal is generated, the controller 113 compares the value of the current driving speed (V) of the driving assistance device 110 with 0 (S155).

And, if the value of the current driving speed V of the driving assistance device 110 is equal to 0, the controller 113 determines that the driving assistance device 110 is stopped and stops the operation of the warning device 130 ( S160).

At this time, when the value of the current driving speed V of the driving assistance device 110 is greater than 0, the controller 113 stops the driving assistance device 110.

That is, the present invention reduces the collision warning distance (CWD) step by step using the distance (Dm) that the driving assistance device 110 can move for one hour, thereby narrowing the range of the collision warning determination standard, The collision between the WC and the sensing object can be precisely determined, and through this, a collision between the object and the wheelchair can be prevented reliably.

As described above, according to an embodiment of the present invention, when a wheelchair (WC) occupant is unable to operate the wheelchair (WC) by himself or requires long-distance movement or uphill movement, the operation of the wheelchair (WC) can be easily assisted. there is.

In addition, collisions with surrounding objects can be prevented by detecting surrounding objects while the wheelchair WC is in operation and notifying the occupant of the risk of collision through a warning signal.

Although the preferred embodiments of the present invention have been shown and described above, the present invention is not limited to the specific embodiments described above, and is common in the art to which the present invention pertains without departing from the gist of the present invention claimed in the claims. Of course, various modifications are possible by those with knowledge of, and these modifications should not be individually understood from the technical spirit or prospect of the present invention.

100. Wheelchair driving aids
110. Driving aids
111. Connection Mount
111A. fixed part
111B. tilting part
111C. elastic member
112. Running body
112A. frame
112B. Sheet
112 C. driving wheel
112D. driving device
112D1. pedal assembly
112D2. drive motor
112D3. battery
113. Controller
114. Transmit/receive connectors
115. Connection cable
116. Display
120. At least one sensor
121. First detection sensor
121A. 1st front detection sensor
121B. 2nd front detection sensor
122. Second detection sensor
122A. 1st lateral detection sensor
122B. Second lateral detection sensor
123. Mating connector
124. Harness cable
124A. 1st connection
124B. 2nd connection
124B1. first branch
124B2. 2nd branch
125. Cable clamp
125A. 1st cable clamp
125B. 2nd cable clamp
130. Warning device
131. Light
132. Speaker
133. Vibration meter
WC. bathchair
H. handle
S. stool
F. Frame part

Claims (27)

a driving assistance device detachably coupled to a wheelchair and configured to move the wheelchair;
at least one sensor disposed in the wheelchair; and
a warning device configured to generate a warning signal when a detection signal is input from the at least one sensor; Including, wheelchair driving assistance device. According to claim 1,
Wherein the driving assistance device is configured to be steered through the wheelchair. According to claim 1,
The driving assistance device,
a connection mount detachably coupled to a handle provided in the wheelchair;
a traveling body rotatably coupled to the connection mount and configured to pressurize the wheelchair by generating power; and
a controller connected to the at least one sensor and configured to receive the detection signal and control the warning device and the traveling speed of the traveling body; Including, wheelchair driving assistance device. According to claim 3,
The connection mount,
a fixing unit detachably coupled to the handle;
a tilting unit supporting the traveling body, rotatably coupled to the fixing unit, and configured to be tilted when the wheelchair changes direction; and
an elastic member disposed between the fixing part and the tilting part to elastically support the tilting part; Including, wheelchair driving assistance device. According to claim 3,
The traveling body,
a frame rotatably coupled to the connection mount and accommodating the controller therein;
a seat coupled to the frame so that a user can board;
at least one driving wheel rotatably coupled to the frame and performing a rolling motion along the ground; and
A wheelchair driving assistance device comprising a drive device configured to generate power by rotating the drive wheel. According to claim 5,
The driving device is
a pedal assembly configured to rotate the drive wheel by an occupant;
a drive motor configured to rotate the drive wheel by the controller; and
a battery detachably coupled to the frame and configured to supply power to the driving motor; Including, wheelchair driving assistance device. According to claim 3,
The driving assistance device,
a transmit/receive connector electrically connected to the controller and the at least one sensor and configured to transmit the detection signal to the controller or a control signal of the controller to the at least one sensor; Further comprising a wheelchair driving aid. According to claim 7,
The driving assistance device,
a connection cable electrically connecting the transmission/reception connector, the controller, and the warning device; Further comprising a wheelchair driving aid. According to claim 3,
The driving assistance device,
a display connected to the controller and configured to display at least one of driving information, sensing information, and warning information; Further comprising a wheelchair driving aid. According to claim 7,
The at least one sensor,
a first detection sensor configured to detect an object located in front of the wheelchair;
a second detection sensor configured to detect objects located on the left and right sides of the wheelchair; and
a connection connector electrically connected to the controller and configured to transmit a detection signal of the first detection sensor and a detection signal of the second detection sensor to the controller; Including, wheelchair driving assistance device. According to claim 10,
The at least one sensor,
The connection connector, the first detection sensor and the second detection sensor are connected to transmit the detection signal of the first detection sensor and the detection signal of the second detection sensor to the connection connector, and input to the connection connector. a harness cable configured to supply power to the first detection sensor and the second detection sensor; Further comprising a wheelchair driving aid. According to claim 11,
The at least one sensor,
Arranged so as to be opposed to the left and right sides of the footrest provided in the wheelchair on the ground, the wheelchair driving assistance device. According to claim 12,
The first detection sensor,
A first front detection sensor disposed on the left front side of the footrest and configured to detect an object located in front of the wheelchair, and a second front sensor disposed on the right front surface of the footrest and configured to detect an object located in front of the wheelchair. Including a detection sensor,
The second detection sensor,
A first lateral detection sensor disposed on the left side of the footrest and configured to detect an object located on the left side of the wheelchair, and a second lateral detection sensor disposed on the right side of the footrest and configured to detect an object located on the right side of the wheelchair. A wheelchair driving aid including a detection sensor. According to claim 13,
The harness cable,
A first connection portion connected to the connection connector and disposed along the frame portion of the wheelchair; and
A first branch branching from the first connection part to the left side of the footrest and connected to the first front detection sensor and the first lateral detection sensor, and a first branch branching from the first connection part to the right side of the footrest to the second front a second connection unit having a second branching unit connected to a detection sensor and the second lateral detection sensor; Including, wheelchair driving assistance device. According to claim 14,
The at least one sensor,
a cable clamp detachably coupled to the wheelchair and configured to support the harness cable at a plurality of positions; Further comprising a wheelchair driving aid. According to claim 15,
The cable clamp,
at least one first cable clamp detachably coupled to the frame portion and configured to support the first connection portion; and
at least one second cable clamp detachably coupled to the footrest and configured to support the second connection part; Including, wheelchair driving assistance device. According to claim 10,
The connection connector and the transmission and reception connector are configured to be mutually detachably coupled, wheelchair driving assistance device. According to claim 10,
The transmission and reception connector is provided integrally with the connection mount, wheelchair driving assistance device. According to claim 10,
The transmission/reception connector and the connection connector are configured to come into contact with each other when the connection mount and the wheelchair are coupled. According to claim 1,
The warning device is
a light configured to emit light when the detection signal is input; and
a speaker configured to emit sound when the detection signal is input; Including, wheelchair driving assistance device. A connection mount detachably coupled to the wheelchair;
a driving assistance device coupled to the connection mount and configured to move the wheelchair; and
at least one sensor disposed on the wheelchair and electrically connected to the driving assistance device through the connection mount; Including, wheelchair driving assistance device. a driving assistance device detachably coupled to a wheelchair and configured to move the wheelchair; and
at least one sensor disposed in the wheelchair; including,
The driving assistance device and the at least one sensor are configured to be electrically connected to each other when the driving assistance device and the wheelchair are coupled. calculating a current driving speed of the driving assistance device when a detection signal is input from a sensor mounted on the wheelchair, and comparing the current driving speed of the driving assistance device with a preset threshold speed;
When the current driving speed of the driving assistance device is greater than the critical speed, a first collision warning distance is calculated using the current driving speed of the driving assistance device, and the first collision warning distance is calculated by comparing the distance to the current detection target. comparing; and
generating a first warning signal by operating a warning device when the first collision warning distance is greater than the distance to the current detection target; Including, anti-collision method. According to claim 23,
calculating a second collision warning distance using the current driving speed of the driving assistance device when the first warning signal is generated, and comparing the second collision warning distance with the distance to the current detection target; and
generating a second warning signal different from the first warning signal by operating the warning device when the second collision warning distance is greater than the distance to the current detection target; Further comprising, collision avoidance method. According to claim 24,
calculating a third collision warning distance using the current driving speed of the driving assistance device when the second warning signal is generated, and comparing the third collision warning distance with the distance to the current detection target;
decelerating the driving speed of the driving assistance device to a first set speed when the third collision warning distance is greater than the distance to the current detection target; and
generating a third warning signal different from the second warning signal by operating the warning device when the driving speed of the driving assistance device is reduced to the first set speed; Further comprising, collision avoidance method. According to claim 25,
calculating a fourth collision warning distance using the current driving speed of the driving assistance device when the third warning signal is generated, and comparing the fourth collision warning distance with the distance to the current detection target;
decelerating the driving speed of the driving assistance apparatus to a second set speed different from the first set speed when the fourth collision warning distance is greater than the distance to the current detection target; and
generating a fourth warning signal different from the third warning signal by operating the warning device when the driving speed of the driving assistance device is reduced to the second set speed; Further comprising, collision avoidance method. The method of claim 26,
comparing the current driving speed of the driving assistance apparatus with zero when the fourth warning signal is generated; and
stopping the operation of the warning device when the current driving speed of the driving assistance device is equal to 0; Further comprising, collision avoidance method.

Images