KR20230143288A - Environment-sensitive electric wheelchair system using a geomagnetic joystick - Google Patents

Abstract

The present invention relates to an environment-sensitive electric wheelchair system using a geomagnetic joystick. According to the present invention, the electric wheelchair system using a geomagnetic joystick comprises: a frame formed with a seat, backrest, armrest, and footrest for the user to board; a driving unit formed at a lower part of the frame and providing power to rotate and move a wheel formed at a lower part of the frame through a battery and a driving motor; an operating unit formed on the armrest and generating a signal to control the operation of the driving unit and the direction of the frame; and a control unit configured to control the operation of the driving unit according to the signal input by the operating unit and determine whether to drive by judging the user's status.

Description

Environment-sensitive electric wheelchair system using a geomagnetic joystick}

The present invention relates to an environment-sensitive electric wheelchair system using a geomagnetic joystick. More specifically, it is capable of precisely detecting the operating state of the joystick that controls the electric wheelchair and automatically operates the electric wheelchair according to the environment or user status. This relates to an environment-sensitive electric wheelchair system using a geomagnetic joystick that can be controlled by

With the advent of an aging society, the silver industry is growing explosively around the world. In particular, Korea has the world's fastest elderly population growth rate, so the silver industry market is likely to grow rapidly, and the increase in the super-elderly population aged 85 or older is expected to increase the demand for nursing care. The number of elderly people requiring protection is increasing, promoting the development of silver industries such as medical services and social services.

Currently, at a time when global aging is progressing, the fields necessary to promote social participation by improving the quality of life (QOL: Quality of Life) of the elderly can be divided into the field of life support, living support, and daily activity support. The technologies required for this include self-reliance support technology and nursing support technology using biological function replacement technology, treatment support technology, independence support technology, and biometric measurement technology.

In addition, as the elderly population continues to increase and the aging society accelerates, the demand for wheelchairs is increasing.

In general, a wheelchair is equipped with a seat and backrest, a wheelchair body with a pair of front and rear wheels each rotatably installed, a leg rest and footrest installed in the front of the wheelchair body, and both sides of the seat, where the user's legs and feet are placed respectively. It includes armrests fixed to the wheelchair body so as to be positioned upward.

However, since wheelchairs require the user to turn the wheels using their own strength, it was difficult for users with limited mobility to use them alone.

To solve these problems in the use of conventional wheelchairs, electric wheelchairs whose wheels rotate by receiving rotational power from an electric motor have been developed and used recently.

The electric wheelchair is designed to allow the user to move the wheelchair in a desired direction by rotating the wheels using a battery and motor, and a joystick is provided to control direction and movement.

The joystick allows the user to easily operate and move the wheelchair, but there is a problem that the joystick can only determine the direction and cannot precisely control the speed.

Additionally, if a user develops a health problem while operating an electric wheelchair and loses consciousness or becomes stiff, there is a problem that a secondary accident may occur because the joystick remains in a state of operating the electric wheelchair.

Korean Patent Publication No. 10-2021-0111033

The purpose of the present invention to solve the above problems is to provide an environment-sensitive electric wheelchair system using a geomagnetic joystick that can detect the movement of the joystick using a geomagnetic sensor and thus precisely detect the 3-axis position of the joystick. is to provide.

In addition, another object of the present invention is to provide an environment-sensitive electric wheelchair system using a geomagnetic joystick that measures the user's health status in real time and automatically stops the electric wheelchair regardless of the input signal when a health problem occurs. It is provided.

In addition, another object of the present invention is to provide a wheelchair that can drive at a set speed by inputting a driving signal only once when driving for a long time or a long distance, thereby reducing fatigue and pain caused by operating the joystick for a long time. The aim is to provide an environment-sensitive electric wheelchair system using a joystick.

The environmentally sensitive electric wheelchair system using a geomagnetic joystick of the present invention to solve the above problem includes a frame in which a seat, backrest, armrest, and footrest are formed so that the user can ride, a lower part of the frame, and a battery. and a driving part that provides power to rotate and move a wheel formed in the lower part of the frame through a driving motor, and an operating part formed in the armrest that generates a signal to control the operation of the driving part and the direction of the frame, It is characterized by comprising a control unit that controls the operation of the driving unit according to a signal input by the operating unit and determines whether to drive by determining the user's status.

In addition, the operating unit of the environmentally sensitive electric wheelchair system using the geomagnetic field joystick of the present invention can measure the variable ranges of the x-axis, y-axis, and z-axis using a geomagnetic field sensor and output a signal for operating the driving unit. A lever that operates the electric wheelchair to move it forward, backward, left, and right, a plurality of control buttons configured to apply power to the driving unit or change tasks and setting modes performed through the lever, It is characterized by a display that visually outputs the state in which the driving unit is operated by the lever and the control button.

In addition, when the lever of the environmentally sensitive electric wheelchair system using the geomagnetic joystick of the present invention is determined to be tilted from the ground based on the neutral state, the lever moves with increased resistance when moving in the tilted direction. This is suppressed, and when moving in the opposite direction of the tilt, resistance is reduced to allow easy movement.

In addition, the control button of the environmentally sensitive electric wheelchair system using the geomagnetic joystick of the present invention generates the same signal as the signal when the lever is operated and a signal is generated once, so that the drive unit operates even when the lever is not operated. The driving unit is controlled to travel at a set speed.

In addition, the control unit of the environmentally sensitive electric wheelchair system using the geomagnetic joystick of the present invention is formed on the operation unit and is in contact with the hand or wrist that operates the operation unit to measure the user's pulse, blood pressure, stress index, and oxygen saturation. It further includes a bio-signal sensor, and the control unit is characterized in that it stops the driving unit when the user's condition is unstable or there is a health condition based on information measured through the bio-signal sensor.

In addition, the control unit of the environment-sensitive electric wheelchair system using the geomagnetic joystick of the present invention further includes a plurality of impedance modules distributed in the frame and the operation unit to check the user's riding status, The impedance module determines the state and posture of the user seated on the seat, determines whether the user operating the operation unit matches the user riding the seat, and operates the driving unit.

In addition, the control unit of the environment-sensitive electric wheelchair system using the geomagnetic joystick of the present invention further includes a detection sensor formed in the front of the frame and capable of detecting an object or person that interferes with driving in the front, and the detection sensor When an object or person detected through is detected, the driving unit is stopped to prevent a collision from occurring.

In addition, the driving unit of the environmentally sensitive electric wheelchair system using the geomagnetic joystick of the present invention consists of a pair of driving wheels on both sides of the rear lower part of the frame and moves the frame by rotational force, and on both sides of the front lower part of the frame. It consists of a pair of steering wheels that can be rotated according to the driving direction, a battery that is formed in the lower part of the frame to store external power, and is formed in each of the driving wheels and supplies power from the battery. A driving motor that independently rotates the driving wheel when received, a braking unit that is formed to be detachable from the driving wheel and reduces rotational force by contacting the driving wheel when the frame is stopped or decelerated, and the braking unit It is formed and is characterized in that it consists of a generator that produces electricity by receiving rotational force generated when the braking unit contacts the driving wheel.

As described above, according to the environment-sensitive electric wheelchair system using a geomagnetic field joystick according to the present invention, the movement of the joystick can be detected using a geomagnetic field sensor, which has the effect of accurately detecting the 3-axis position of the joystick. There is.

In addition, according to the environment-sensitive electric wheelchair system using a geomagnetic joystick according to the present invention, the user's health status is measured in real time and when a health problem occurs, the electric wheelchair is automatically stopped regardless of the input signal. It works.

In addition, according to the environmentally sensitive electric wheelchair system using a geomagnetic joystick according to the present invention, when driving for a long time or a long distance, it is possible to drive at a set speed by inputting a signal to drive the electric wheelchair only once, so the joystick can be operated for a long time. It has the effect of reducing fatigue and pain caused by it.

Figure 1 is a configuration diagram showing the overall structure of an environment-sensitive electric wheelchair system using a geomagnetic joystick according to the present invention.
Figure 2 is a perspective view showing the external appearance of an environment-sensitive electric wheelchair system using a geomagnetic joystick according to the present invention.
Figure 3 is an enlarged perspective view showing the control unit of the environment-sensitive electric wheelchair system using a geomagnetic joystick according to the present invention.

Specific features and advantages of the present invention will be described in detail below with reference to the accompanying drawings. Prior to this, if it is determined that a detailed description of the functions and configuration related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description will be omitted.

The present invention relates to an environment-sensitive electric wheelchair system using a geomagnetic joystick. More specifically, it is capable of precisely detecting the operating state of the joystick that controls the electric wheelchair and automatically operates the electric wheelchair according to the environment or user status. This relates to an environment-sensitive electric wheelchair system using a geomagnetic joystick that can be controlled by

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

Figure 1 is a configuration diagram showing the overall structure of an environment-sensitive electric wheelchair system using a geomagnetic joystick according to the present invention, and Figure 2 is a perspective view showing the external appearance of an environment-sensitive electric wheelchair system using a geomagnetic joystick according to the present invention. , and Figure 3 is an enlarged perspective view of the control unit of the environment-sensitive electric wheelchair system using a geomagnetic joystick according to the present invention.

As shown in Figures 1 to 3, the environment-sensitive electric wheelchair system using a geomagnetic joystick according to the present invention includes a seat 110, a backrest 120, an armrest 130, and a footrest so that the user can board. (140) is formed in the lower part of the frame 100 and the battery 250 and the drive motor 210 provide power to rotate and move the wheel formed in the lower part of the frame 100. A driving unit 200 provided, an operating unit 300 formed on the armrest 130 and generating a signal for controlling the operation of the driving unit 200 and the direction of the frame 100, and an input input by the operating unit 300. It is characterized by including a control unit 400 that controls the operation of the driving unit 200 according to signals and determines whether to drive by determining the user's status.

The frame 100 is in the form of a wheelchair so that the user can ride on it, and the seat 110 supports the user's buttocks, the backrest 120 supports the back, and the arm can be placed when operating the control unit 300. It includes armrests 130 formed on the upper portions of both sides of the seat 110 and a footrest 140 formed to support the feet.

That is, the frame 100 is shaped like a chair so that it can be moved while the user is sitting, and the components formed in the driving unit 200, the operating unit 300, and the control unit 400 can be mounted. do.

The driving unit 200 is formed at the lower part of the frame 100 and moves the frame 100 in the direction desired by the user through the steering wheel 230 and the driving wheel 220 formed on both sides of the front and lower part of the frame 100, respectively. It is used to provide power to

The control unit 300 is formed on one of a pair of armrests 130 formed on both upper sides of the seat 110, and when the user sits on the seat 110 and places his or her arms on the armrests 130. The user's fatigue can be reduced by manipulating the manipulation unit 300, and the frame 100 can be moved in a direction desired by the user by operating the driving unit 200 through the manipulation unit 300.

The control unit 400 is used to control the operation of the drive unit 200 using a signal input by the operation unit 300, and operates the drive unit 200 after determining whether the input signal can be performed according to the user's health condition. It is configured to do so.

The detailed configuration and functions of the driving unit 200, the operating unit 300, and the control unit 400 will be described.

The control unit 300 can measure the variable range of the x-axis, y-axis, and z-axis using the geomagnetic field sensor 311 and output a signal to operate the drive unit 200 to move the electric wheelchair forward, backward, left, and right. A lever 310 that operates to move to the right, a plurality of control buttons 330 formed to apply power to the driving unit 200 or change the operation and setting mode performed through the lever 310, and a lever It is characterized by consisting of a display 320 that visually outputs the operating state of the driving unit 200 by the control button 330 and the control button 330.

The lever 310 is in the form of a joystick so that the user can hold it with his hand and move it. The lever 310 is formed vertically with its central axis always in a neutral state, and the user can move it forward, backward, left, or right. When the upper end of the lever 310 is rotated in this direction, the lower end rotates to generate a signal.

At this time, the lever 310 can determine the variable position in the x-axis, y-axis, and z-axis using the geomagnetic field sensor 311, and through this, the position moving in the three axes can be precisely detected. .

That is, when the lever 310 is rotated, the coordinates of the x and y axes can be calculated to determine the front, rear, left, and right directions, and by measuring the variable angle with respect to the vertical state of the lever 310, z It becomes possible to calculate the coordinates of the axis.

Through this, when the user rotates the lever 310, the direction of rotation can be confirmed by measuring the x-axis and y-axis, and the degree to which the lever 310 has been rotated can be determined through the variable angle of the z-axis. By checking this, the driving unit 200 can be operated precisely.

The control button 330 is used to apply power to the driving unit 200 or adjust the settings of the control unit 400. A plurality of buttons are formed, and the settings can be changed or adjusted using each button. .

At this time, the control button 330 sets the maximum driving speed so that the speed when the lever 310 is rotated to the maximum can be controlled so that it does not exceed the set speed, and the setting value for the user's health status can be specified. If the user's health condition is worse than the set value, power may not be applied to the driving unit 200.

The display 320 is formed to visually indicate the operating state of the driving unit 200 and display the driving speed, error message, and setting value. If necessary, the smartphone carried by the user can be used to communicate with the control unit 400 and wirelessly. It is possible to display the screen output on the smartphone on the display 320 by linking.

When linked to the user's smartphone, the user's health status can be automatically recorded in the smartphone's health app, and in the event of a collision, accident, worsening health condition, or fatal problem with the driving unit 200, the control unit 400 can output the corresponding content on the display 320 and send a rescue call or message to 119 through a smartphone to guide the user to be rescued.

In addition, when the position of the z-axis of the lever 310 is determined to be tilted from the ground based on the neutral state, the resistance increases and the movement is suppressed when the lever 310 moves in the tilted direction, and when it moves in the opposite direction to the tilted direction, the lever 310 increases resistance. It is characterized by reduced resistance, allowing easy movement.

The central axis of the lever 310 is formed to stand perpendicular to the central position by a spring on the outer surface, so that when no external force is applied, the x-axis, y-axis, and z-axis can be maintained in a neutral state without change.

At this time, when the frame 100 moves along the inclined surface, the z-axis of the lever 310 is also formed perpendicular to the inclined surface. In this case, when the lever 310 is rotated in a direction inclined by the inclined surface, it can be easily rotated by gravity. There is a possibility that malfunction may occur.

For this purpose, a resistor 312 consisting of a plurality of cylinders in addition to a spring is provided on the central axis of the lever 310, and the resistor 312 tilts the central axis of the lever 310 from a neutral state through the earth magnetic field sensor 311. If it is determined that the lever 310 is not easily rotated, gas or hydraulic oil flows into the resistor 312 located on the inclined side, and the resistor 312 formed on the opposite side of the inclined side allows gas or hydraulic oil to flow into the resistor 312. As it is discharged, the lever 310 can be easily rotated.

That is, when going uphill, it is possible to prevent the user from pulling the lever 310 and causing the driving unit 200 to operate backwards, and to induce the lever 310 to be easily rotated only forward, while going downhill. When going down, the lever 310 is prevented from easily moving forward, thereby preventing collision accidents caused by excessive speed.

At this time, it is preferable that the plurality of resistors 312 are connected to each other with gas or hydraulic oil so that the gas or hydraulic oil can be automatically moved when entering the ramp.

In addition, the control button 330 generates the same signal when the lever 310 is operated and a signal is generated once, so that the drive unit 200 travels at a set speed even when the lever 310 is not operated. ) is characterized by controlling.

The control button 330 can be set to change the driving mode. If a long period of travel is required, press one of the control buttons 330 to select constant speed driving mode and rotate the lever 310 forward to control the control button 330. ), the driving unit 200 is operated to enable constant speed driving at a set speed.

At this time, even if the user rotates the lever 310 forward only once and returns to the neutral state, the control button 330 generates a signal to keep the lever 310 rotated forward, so when moving for a long time, the user cannot use the lever 310. It is possible to reduce pain caused by maintaining the push position (310).

In addition, when the user rotates the lever 310 to the left or right while constant speed driving is being performed forward through the control button 330, the direction changes to the left or right in the constant speed driving state. It becomes possible.

In addition, when the lever 310 is pulled backward in a constant speed driving state, the speed is reduced, and the deceleration speed is varied depending on the rotation angle at which the lever 310 is pulled, allowing the user to manually control the constant speed driving speed. There will be.

In other words, there is a need to reduce the speed in a curved section or when a left or right turn is necessary. In this case, if the lever 310 is pulled backward and rotated to the left or right, it is possible to turn left or right in a reduced state.

In addition, when the lever 310 is rotated rearward to change from a decelerated state to a neutral state, the speed is increased again to the speed set by the control button 330, and when it is completely stopped, the lever is held until the speed becomes 0. If (310) is maintained in a state in which it is rotated rearward, the signal generated from the control button (330) is blocked and the constant speed driving mode can be released.

At this time, when the lever 310 is kept rotated rearward to stop the driving unit 200 in the constant speed driving mode, a stop signal is output to prevent backward movement by the lever 310, and the constant speed driving mode is released. In this state, when the lever 310 is moved to the neutral state and then rotated rearward, a signal can be output to cause the drive unit 200 to move backwards.

In addition, in the driving mode operated by rotating the lever 310 in addition to the constant speed driving mode, when reducing the speed in the forward driving state, the driving unit 200 must be stopped when the lever 310 is rotated backward, and it is completely stopped. It is desirable to move the lever 310 to a neutral state and then rotate it backwards to move backwards.

In addition, the driving unit 200 consists of a pair on both sides of the lower rear of the frame 100, a driving wheel 220 that moves the frame 100 by rotational force, and a pair of driving wheels 220 on both sides of the lower front of the frame 100. It is formed on a steering wheel 230 that can be rotated according to the driving direction, a battery 250 that is formed in the lower part of the frame 100 and can store external power, and a driving wheel 220. A drive motor 210 that independently rotates the drive wheel 220 when power is supplied from the battery 250 is formed to be attachable to and detachable from the drive wheel 220, so that the frame 100 is driven when the frame 100 stops or decelerates. A braking unit 240 is formed in the braking unit 240 to reduce the rotational force by contacting the wheel 220, and generates electricity by receiving the rotational force generated when the braking unit 240 is in contact with the driving wheel 220. It is characterized by consisting of a generator 260 that operates.

In order to allow the frame 100 to move according to the operating direction of the lever 310, the driving unit 200 is formed at the lower part of the frame 100, and a pair of steering wheels are installed on both sides of the lower front of the frame 100. (230) is provided, and a pair of driving wheels (220) are provided on both sides of the rear.

First, the driving wheel 220 is connected to the driving motor 210 and is rotated by receiving the rotational force generated by the driving motor 210 so that the frame 100 can be moved. A pair of driving wheels 220 A drive motor 210 is connected to each so that the rotational force can be independently controlled.

At this time, a separate gearbox may be provided between the driving wheel 220 and the driving motor 210 to adjust the rotation speed or torque of the driving wheel 220, and a pair of independently rotating driving wheels 220 ) allows you to turn left or right by applying different rotation speeds.

In addition, when the rotation speeds are made equal to each other, they can be moved forward or backward, and the rotation speed of the pair of driving wheels 220 is adjusted independently by the control unit 400 depending on the rotation direction or angle of the lever 310. can be controlled.

The steering wheel 230 is used to support the front lower part of the frame 100 and is formed so that the vertical axis connected to the frame 100 can freely rotate in the direction in which the frame 100 moves by the driving wheel 220. The steering wheel 230 can be rotated accordingly.

In addition, a separate steering motor is formed on the vertical axis of the steering wheel 230, so that the steering wheel 230 can be rotated left and right according to the operation of the lever 310 to adjust the forward direction.

The battery 250 is formed in the lower part of the frame 100 and is used to supply power to the drive motor 210. It is used to receive power from the outside and store it to operate the drive motor 210 even outdoors.

At this time, the battery 250 can generate power using a hydrogen fuel cell and supply it to the driving motor 210, and can also be used by applying the battery 250, which is generally used in electric wheelchairs.

The braking unit 240 is used to stop the driving wheel 220, and when in contact with the driving wheel 220, the speed of the driving wheel 220 can be reduced or stopped by friction force.

At this time, the braking unit 240 contacts and brakes the driving wheel 220 to reduce the speed when the lever 310 is rotated in the direction opposite to the direction in which the frame 100 is currently traveling. The lever 310 It is preferable that the vehicle is separated from the driving wheel 220 so that it can be driven again when the vehicle is switched to a neutral state.

The generator 260 is formed in the braking unit 240 and is used to charge the battery 250 by producing electricity using the rotational force generated when the braking unit 240 is in contact with the driving motor 210, If the battery 250 is made of a hydrogen fuel cell, an auxiliary power storage device made of lithium ions can be provided to auxiliary use of the generated electricity.

In addition, the control unit 400 further includes a bio-signal sensor 410 formed on the operation unit 300 and in contact with the hand or wrist operating the operation unit 300 to measure the user's pulse, blood pressure, stress index, and oxygen saturation. , the control unit 400 is characterized in that it stops the driving unit 200 when the user's condition is unstable or there is a health condition based on information measured through the bio-signal sensor 410.

The biosignal sensor 410 is used to determine whether the user is in a condition to drive an electric wheelchair by measuring the user's biosignals and determining the user's health status.

At this time, the biometric signal sensor 410 is formed to measure the user's biometric information by contacting the user's wrist when the user grips the lever 310, and measures and measures biometric information at the same time as the user grips the lever 310. Through analysis, it is possible to determine the user's health status.

Through the bio-signal sensor 410, the pulse, blood pressure, stress index, and oxygen saturation can be measured, and the control unit 400 determines whether the user can drive by determining disease or disease symptoms according to the user's health condition.

The control unit 400 analyzes the user's biometric information to determine disease or disease symptoms and stores information on pulse, blood pressure, and oxygen saturation. If the values are lower or higher than the usual measured values, the user's health deteriorates. By judging the status, it is possible to cut off the power applied to the driving unit 200.

Additionally, when various users share and use an electric wheelchair, user information can be changed through the control unit 300, and the user's health status can be distinguished using the changed biometric information of the user.

If the user's health condition worsens, the user can output the health status on the display 320 and report it to 119 through the user's smartphone linked to the control panel 300 through wireless communication, or contact a designated caregiver to take care of the user. You can induce it to happen.

In the case of the stress index, when the user is unstable or angry due to stress, reckless driving may occur, so the power to the driving unit 200 can be cut off until the user calms down.

In this case, it is possible to output a message to the user to calm down along with the stress index through the display 320, and when the stress index is measured to be in the normal range after the user stabilizes, power is applied to the driving unit 200 to allow driving. It is desirable to be able to do so.

In addition, the bio-signal sensor 410 can analyze the drinking status by measuring the user's blood alcohol concentration, and if it is determined that the user is drunk driving, it prevents power from being applied to the driving unit 200 and outputs the information to the display 320. Accidents caused by drunk driving can be prevented.

In addition, the bio-signal sensor 410 is formed on the outer surface of the lever 310, so that when the user grips the lever 310, bio-signals can be measured at the gripped area.

In addition, the control unit 400 further includes a plurality of impedance modules 430 that are distributed over the frame 100 and the operating unit 300 to check the user's riding status. It is characterized by determining the state and posture of the seated person on the seat 110, determining whether the user operating the operating unit 300 matches the user riding the seat, and operating the driving unit 200.

The impedance module 430 is used to determine whether the user riding the frame 100 and the user holding the lever 310 are the same person, and a plurality of impedance modules 430 are installed in the frame 100 and the operating unit 300. ) are distributed and arranged.

At this time, at least one impedance module 430 is formed in the area where the user's skin is exposed while the user is riding the frame 100, and is installed in the area where the lever 310 of the operation unit 300 or the wrist contacts. One impedance module 430 formed in the frame 100 and the operating unit 300 is connected through the user's body, allowing the user's bioimpedance to be measured.

Bioimpedance makes it possible to measure physiological signals, including data representing the user's heart rate, breathing rate, skin layer electrical resistance, and emotions, as well as data such as energy and calorie consumption.

The control unit 400 can determine whether the user riding the frame 100 is manipulating the lever 310 through bioimpedance measured at two separate positions, and can use this to allow a third party to operate the operation unit 300. It is possible to prevent arbitrary manipulation.

That is, the control unit 400 operates the driving unit 200 according to the operation of the lever 310 only when the person holding the lever 310 using the impedance module 430 matches the person riding the frame 100. By applying power, the electric wheelchair can be controlled to run.

If a third party other than the user riding the frame 100 arbitrarily operates the lever 310, the bioimpedance is not measured by the impedance module 430, so even if the lever 310 is operated, the control unit 400 operates the driving unit ( Since power is not applied to 200), user safety can be secured.

In addition, by matching the information measured through the bio-signal sensor 410 and the impedance module 430, the user's condition can be measured more precisely and the health status can be determined by comparing the two data.

In addition, the control unit 400 further includes a detection sensor 420 formed in the front of the frame 100 and capable of detecting an object or person that interferes with driving in the front, and the object or person detected through the detection sensor 420 When a person is detected, the driving unit 200 is stopped to prevent a collision from occurring.

The detection sensor 420 is used to prevent the user from getting hurt by analyzing people, objects, and terrain ahead using LIDAR and maneuvering or stopping to avoid obstacles in front while driving at a constant speed.

In addition, the detection sensor 420 can detect obstacles in all directions based on the frame 100, so if an obstacle is detected when moving the frame 100 backwards, it prevents the frame 100 from moving backwards and displays the display 320. Detected obstacles can be displayed.

Through the detection sensor 420, the control unit 400 can perform autonomous driving, and when the destination is set with the control button 330 while viewing the screen through the display 320, constant speed driving is performed based on the detection sensor 420. By performing this, the user can arrive at the destination without any additional operations.

As described above, according to the environment-sensitive electric wheelchair system using a geomagnetic joystick according to the present invention, the movement of the joystick can be detected using a geomagnetic sensor, and the three-axis position of the joystick can be precisely detected, The user's health status is measured in real time, and if a health problem occurs, the electric wheelchair automatically stops regardless of the input signal. When driving for a long time or a long distance, the signal to drive the electric wheelchair is input only once. This allows you to drive at a set speed, which has the effect of reducing fatigue and pain caused by operating the joystick for a long time.

As described above, the present invention has been described with a focus on preferred embodiments, but those skilled in the art may vary the present invention without departing from the technical spirit and scope of the claims of the present invention. It can be implemented by modifying or modifying it accordingly. Accordingly, the scope of the present invention should be construed by the appended claims to include examples of many such modifications.

100: frame 110: sheet
120: backrest 130: armrest
140: footrest 200: driving unit
210: drive motor 220: drive wheel
230: steering wheel 240: braking unit
250: Battery 260: Generator
300: control panel 310: lever
311: Earth magnetic field sensor 312: Resistor
320: display 330: control button
400: Control unit 410: Biosignal sensor
420: Detection sensor 430: Impedance module

Claims (8)

a frame formed with a seat, backrest, armrest, and footrest for the user to board;
a driving unit formed at the lower part of the frame and providing power to rotate and move a wheel formed at the lower part of the frame through a battery and a driving motor;
a control unit formed on the armrest and generating a signal to control the operation of the drive unit and the direction of the frame;
A control unit that controls the operation of the driving unit according to a signal input by the operating unit and determines whether to drive by determining the user's status; characterized in that it includes a.
Environment-sensitive electric wheelchair system using geomagnetic joystick.
According to clause 1,
The control unit
A lever that can measure the variable range of the x-axis, y-axis, and z-axis using a geomagnetic sensor and output a signal for operating the driving unit to move the electric wheelchair forward, backward, left, and right, and ;
a plurality of control buttons configured to apply power to the driving unit or change tasks and setting modes performed through the lever;
Characterized in that it consists of a display that visually outputs the state in which the driving unit is operated by the lever and the control button.
Environment-sensitive electric wheelchair system using geomagnetic joystick.
According to clause 2,
If the position of the z-axis of the lever is determined to be tilted from the ground based on the neutral state, the resistance increases and the movement is suppressed when the lever moves in the tilted direction, and the resistance decreases when moved in the opposite direction to make it easier to move. Characterized by allowing movement
Environment-sensitive electric wheelchair system using geomagnetic joystick.
According to clause 2,
The control button generates a signal identical to the signal when the lever is operated and a signal is generated once, and controls the drive unit to drive at a set speed even when the lever is not operated.
Environment-sensitive electric wheelchair system using geomagnetic joystick.
According to clause 1,
The control unit further includes a bio-signal sensor formed on the operation unit and contacting the hand or wrist operating the operation unit to measure the user's pulse, blood pressure, stress index, and oxygen saturation,
The control unit is characterized in that it stops the driving unit when the user's condition is unstable or there is a health condition based on the information measured through the bio-signal sensor.
Environment-sensitive electric wheelchair system using geomagnetic joystick.
According to clause 1,
The control unit further includes a plurality of impedance modules distributed in the frame and the operation unit to check the user's riding status,
The impedance module determines the state and posture of the user seated on the seat, determines whether the user operating the operation unit matches the user riding the seat, and operates the driving unit.
Environment-sensitive electric wheelchair system using geomagnetic joystick.
In paragraph 1
The control unit further includes a detection sensor formed in the front of the frame and capable of detecting an object or person that interferes with driving in the front,
Characterized in that when an object or person detected through the detection sensor is detected, the driving unit is stopped to prevent a collision from occurring.
Environment-sensitive electric wheelchair system using geomagnetic joystick.
In paragraph 1
The driving part
a pair of driving wheels on both sides of the rear lower part of the frame and which move the frame by rotational force;
a pair of steering wheels on both sides of the lower front of the frame and configured to rotate according to the driving direction;
a battery formed at the bottom of the frame to store external power;
a drive motor formed on each of the drive wheels and independently rotating the drive wheels when supplied with power from the battery;
a braking unit that is detachably attached to the driving wheel and contacts the driving wheel to reduce rotational force when the frame stops or decelerates;
A generator formed in the braking unit and producing electricity by receiving rotational force generated when the braking unit contacts the driving wheel.
Environment-sensitive electric wheelchair system using geomagnetic joystick.