201238581 六、發明說明： 且特別是有關於一種智慧型的 .【發明所屬之技術領域】 本發明是有關於一種輪椅 機器人輪椅。 【先前技術】 人口老化是很多先進國家會遇到的問題，所引 括生產力降低、醫療和照護費用提高等 —^ 力身組仃動不便的人可以藉助輪椅來輔 機械輪椅需要使用者用手來推動，對於 的使用者而言’使用者上肢力量無法自行推動=或= 動輪椅是一個可能的選擇，而操控電動輪椅時 柯的操控方式困難度仍然柄當高，因餘 上開始將輪椅由完全被動、由使 年=椅的研九方向 份「自+ 使用利木控，轉變至賦予輪椅部 自订為（aUt〇n〇m〇Us beiiavi0rs)」能力 類似機器人之感測、判斷能力，能 =杨本身擁有 自主動作，同時並將具有互動性的 ^^作者的意願做出 co_seh⑽)」融人輪椅㈣介財，^=°]iab°rative 慧型機器人輪椅，智慧型機器人展的智 功能。度乂間易的方式來達到智慧型機器人輪椅上之 立敕二慧型機器人輪椅需要結合機械、電子穿晋盘会枝4 其整合技術n#高，*且需要考歧^〜錢軟體， 。另外，由於智慧型播哭Λ认:'者貫際茜求來進行設計 慧1機人輪椅的使用者多屬葳舌― 人士，因此整體系統的穩定度與安全更是订動不便的 須考量的因素，這也更疋曰慧型機器人輪椅必 蝴接“智慧型機器人輪椅的設計難度。 4/22 201238581 【發明内容】 本發明提供一種智慧型機哭 台的座椅調整機構，可以達到輔助人^’其f有利用史都華平 果。智慧型機器人輪椅更用者姿勢的效 自動辨識導航的功能，可:助=:與操作介面’以及 ’該智慧型機哭人於俨勺虹 ° 、七、使用者乘坐 *裝置。車二;:==構操:…攝影機與顯 座椅機構的可變長度連桿， 裝置二 與調整座椅機構。攝人=的移動方向 =影_取到的—辨識碼=== :動方向，示裝置設置於座椅機構上，用以顯示:使=: 個扶括坐部、椅背部、兩 型；椅背部具有—背型曲面以以符合使用者的臀 扶手設置於椅背部的兩側且各職者的背部曲線；兩個 接於_彳細-細別可滑動的連 裝扶手。可調;爾讀^^=_滑槽以安 桌板，可拆卸的設置於扶手上，用以 滅機構更包括- 具有-開關，用以解除脊柱機構與各各該扶手 手可沿著該脊㈣構的方向滑動。手奸相使各該扶 在本發明—實施例中，上述智慧 塾’設置於座椅機構上，具有複數個軟質*力=:= 5/22 201238581 感測該座墊所承受的壓力分布β 綜合上述，本發明所提出的智慧型機器人輪 者特性與需求，結合座椅設計與周邊配置，利用^ :了使用 的設計原理讓坐椅可以橫移與翻滾以輔助使用者。2華平台 縣合觸控螢幕、自動導航功能與可調整的座椅卜大= 南了使用智慧型_人輪椅的方便性與功祕。 大巾‘ —為讓本發明之上述特徵和優點能更明顯易懂， 佳實施例，並配合所_式，作詳細朗如下。 【實施方式】 下文特舉較 述本式說明本發明之實施例來詳細描 件。θ而圖式中的相同參考數字可用以表示類似的元 彗型=二I,，圖1A為根據本發明-實施例的智 i器人輪』出為根據本發明實施例的智慧型 括車架機Γ ^ 意圖。智慧型機器人輪椅100主要包 顯示裝置 、f椅機構120、操作裝置160、導航裝置與 中底座112 ιτ。Ϊ架機構U〇具有底座112與側立架114，其 立加114、击H又置有四個麥飢倫輪(MeCanUmWhee1)191，側 其：四個: = f位於座椅機構120的後方。 後面兩個-挺作為.^為兩、、且，其中兩個—組作為前輪， 的設置方向呈_^ ° ^組中的麥飢倫輪191，其自由滾子 為負45度。前二二、、與車軸軸心炎角-為45度’另-對稱的。你田 後一輪的子由滾子的設置方向也是相互 進行前進5四個麥訊倫輪191，智慧型機器人輪椅100可以 4、錢、橫移與旋轉等動作。值得注意的是，車架機 6/22 201238581 構110底側的輪子也可以利用一 不限制輪子的型態。 又纟輻子來貫現’本實施例並 車架機構110具有四支可變長 可變長度連桿13卜132位於座椅機干;方二其中兩支 ⑴與座椅機構120之間，另兩支：雜於底座 -於座椅機構m後方並連接於側m131、】32位 .。每—支可變長度連桿⑶〜m的間 :門::變長度連桿131〜134與座椅機構12〇'車== 之間的接點具有三個旋轉的自由 早木機構110 同球座接點(一― 有腳踏架⑼，供使用者置放腳，:==低部具 度'方向可依照使用者需求調整。可二斜角 直=接蝴_⑶嶋㈣接 。後再將座椅機構設置於可 、，”.日不） 椅機構⑽與可變長度連桿⑶〜m的裝配方^明亚不限制座 座椅機構⑽的移動是由可變長度連桿⑶〜⑶ 決定’例如當底側的可變長度連桿⑶〜m的長朗時辦^ 側者㈣關力’θ當上 便合向=】31〜】34的長度同時減少時，座椅機構120 134曰到輔助衫的效果；當可變長度連桿13卜 椅機構120便會向左橫移;當可變長度 ΐίΓΓ/ 時’座椅機構】2G便會向右橫移。 曾 十⑶了134的長度與座椅機構120的位置之間的運 开可以透過順向運動學(F〇rward ki職如叫或逆向運動學 (Ιη_扯刪㈣來運算。可變長度連桿⑶〜134的機構設 計原理是參照史都華平台（Stewardp】atf〇rm)的機構設計，其運 7/22 201238581 作原理相近但結構有所不同。傳統的史都華平台是六軸的結構 ’而本發明則是利用四軸的結構來驅動座椅機構120。圖1A 中的可變長度連桿131〜134係由線性制動器實現，但本發明不 限制可變長度連桿131〜134的實施裝置。 請同時參照圖1A、圖1B、圖2A、圖2B、圖3A與圖3B ，圖2A與圖2B繪示本發明實施例的座椅機構示意圖。圖3a 與圖3B繪示本發明實施例的座椅機構的扶手調整示意圖。座 椅機構120包括坐部12〗、椅背部122、可調式頭靠123、兩 個側邊扶手125、126與桌板127。坐部121具有一臀型曲面 以符合使用者的臀型；椅背部〗22具有一背型曲面以符合使用 者的背部曲線，·兩個扶手125、126設置於椅背部】22的兩侧 且各該扶手125、126的一端分別可滑動的連接於椅背部122 後側的脊柱機構129。兩個扶手125、126的高度可以依照使 用者需求調整，如圖3B所示。兩個扶手125、126的上側具有 插孔〗28，桌板127下側則具有插銷，可以安裝在扶手125、 126上的插孔128。不需要使用時，桌板127可以拆卸下來。 扶手〗25、126的前端可以設置插槽以安裝攝影機17〇與整操 作裝置160。可調式頭靠123設置於椅背部122的上方，可以 依照使用者的需求調㈣度與高度。扶手125、126的兩側分 別具有開關125卜使用者按下開關1251便可轉除扶手125 、⑶與脊柱機構129之間的干涉以調整扶手i25、126的高 度。扶手125、126可以沿著脊柱機構129的方向滑動。 坐部121與背部122的表層可以具有三層結構，由外而内 ^層為透氣的合成纖維，可降低流汗帶來的不適；中層為柔 車人虽雑的泡棉’可服貼於各種不同體型的使用者；底層為堅 8/22 201238581 口的至屬’提供重量與結構的支樓。合成纖維與泡棉可 座塾=用以増加使用者的舒適度。另外，座椅機構m上也可 置座1H未緣示)以符合使用者需求。在本實施例中，座 =中可以設置複數個軟質壓力感測元件〗24(虛線表示）來形成 堡力感測區。軟質壓力感測元件124可侦測出使用者的重量分 :’這些壓力感測資料可以幫助了解使用者的姿勢變化或習； j ’讓醫護人員或照料人員可以進—步了解使用者的需求、。 軟質壓力感測元件m由彈性布料與導電纖維材料構成而其中 導電纖維(規格例如為斷裂強度75cN、重量〇54g/cm、平均带 阻值U歐姆/米、延伸率uo%)縫製在彈性布料上，可_二 質電路接點。軟質壓力感測元件124在受力時，導電纖唯白卜、 阻值會改變，單位面積受力愈大時，其電阻值越d " 軟質壓力制元件^可以透過無線傳輸Μ，將所量測 至^賓料傳遞至系統智慧型機器人輪椅100的資料處理裝置 未、，示)以進行資料處理。座椅機構120的扶手12 ^乍裂置16〇，其為具有搖桿⑹與控制面板162的整:彳 用來控制智人輪椅购咖方向與調;: 3者介面，包括智=器人輪卿的狀態：： 也^入的資訊==罔路所接收到的訊息。醫院 f可經岐㈣介^贿以進行溝如相遠距醫 目的。顯示裝ί 150為幕以方便 心 機no例如為網路攝影機，可毁置於卓板12 曰、聶衫 手m、〗26上，-置位置可依照使用者需求而定。 座椅機構】2G的下方q有控制裝置⑽，可用來控制驅 9/22 201238581 動麥飢倫輪⑼的馬達以移動智慧型機器人 、 :變長度連桿⑶，的長度以調整座椅機二： ^物以經由搖請控制智慧型機器人輪^= =經由控制面板162調整座椅機構12〇 和 此外，控制裝置18〇中可以設罾 m七上 角度 器人輪椅!00上的感測資料盘進;二二:來處理智慧型機 器人輪椅⑽上可以二=:的資料運算。咖201238581 VI. Description of the Invention: In particular, it relates to an intelligent type. [Technical Field of the Invention] The present invention relates to a wheelchair robot wheelchair. [Prior Art] Population aging is a problem that many advanced countries will encounter, including reduced productivity, increased medical and care costs, etc. - People with inconvenience in mobility can use wheelchairs to assist in mechanical wheelchairs. To promote, for the user, 'the user's upper limb strength can't push on their own = or = the wheelchair is a possible choice, and the difficulty of controlling the electric wheelchair when handling the electric wheelchair is still high, because the rest of the wheelchair will start. From the completely passive, from the direction of the research and development of the year = chair, "from the use of Limu control to the empowerment of the wheelchair department (aUt〇n〇m〇Us beiiavi0rs)" similar to the ability of the robot to sense and judge , can = Yang itself has autonomous movements, and will be interactive ^^ author's willing to make co_seh (10))" wheelchair wheelchair (four) for money, ^ = °] iab °rative HC robot wheelchair, intelligent robot exhibition Smart function. The way to reach the smart robot wheelchair is to establish a smart robot wheelchair. The two-wheeled robot wheelchair needs to be combined with machinery and electronics to wear the Jinpan branch 4. Its integration technology is high, and it needs to be tested. In addition, due to the wisdom of the broadcast, I believe that the users who design and operate the wheelchairs are mostly stunned. Therefore, the stability and safety of the overall system are more inconvenient. The factor of this is also more difficult for the smart robot wheelchair to be connected to the "design difficulty of the intelligent robot wheelchair. 4/22 201238581 [Invention] The present invention provides a seat adjustment mechanism for a smart machine crying table, which can be assisted People ^'f have the use of Shi Duhua Pingguo. The intelligent robot wheelchair user's posture effect automatically recognizes the navigation function, can: help =: and the operation interface 'and' the smart machine crying in the spoon rainbow °, seven, user ride * device. Car two;: = = construction: ... camera and display seat mechanism variable length link, device two and adjust the seat mechanism. Photo = mobile direction = shadow _ The obtained identification code ===: the moving direction, the display device is arranged on the seat mechanism for displaying: making =: a support seat, a chair back, two types; the back of the chair has a back surface to The hip armrests that conform to the user are placed on both sides of the back of the chair and each The back curve of the employee; two connected to the _ 彳 thin - fine slidable armrests. Adjustable; read ^ ^ = _ chute to the table, detachable on the armrest, used to extinguish the mechanism Further includes a --switch for releasing the spinal mechanism and each of the armrests to slide in the direction of the ridge (four) configuration. The gangsters are each provided in the present invention - the embodiment On the seat mechanism, there are a plurality of soft* forces=:= 5/22 201238581 Sensing the pressure distribution of the seat cushion β. In summary, the smart robot wheel characteristics and requirements proposed by the present invention are combined with the seat design. With the surrounding configuration, use the design principle of ^: the seat can be traversed and tumbling to assist the user. 2Hua platform county touch screen, automatic navigation function and adjustable seat Bu Da = South use wisdom The convenience and function of the type of human wheelchair. The large-sized towel's--the above-mentioned features and advantages of the present invention can be more clearly understood, and the preferred embodiment, together with the formula, is described in detail below. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT The same reference numerals in the drawings may be used to indicate similar meta-types = two I, and FIG. 1A is a smart human wheel according to an embodiment of the present invention. Intelligent type of frame machine Γ ^ Intention. The intelligent robot wheelchair 100 mainly includes a display device, an f-chair mechanism 120, an operating device 160, a navigation device and a center base 112 ιτ. The truss mechanism U has a base 112 and a side stand 114 It has 114, hit H and has four MehnUmWhee1 191, side: four: = f is located behind the seat mechanism 120. The latter two - quite as . ^ for two, Moreover, two of the groups are set as the front wheels, and the setting direction is the maiden wheel 191 in the _^ ° ^ group, and the free roller is negative 45 degrees. The first two two, and the axle axis angle of the axle - is 45 degrees 'other-symmetric. The direction of the roller in the back of the field is also the direction of the roller. The four McIntron wheels 191, the smart robot wheelchair 100 can be 4, money, traverse and rotate. It is worth noting that the wheels on the bottom side of the frame unit 6/22 201238581 can also utilize a type that does not limit the wheel. In addition, the frame mechanism 110 has four variable length variable length links 13 132 located in the seat machine; two of the two (1) and the seat mechanism 120 are The other two: mixed with the base - behind the seat mechanism m and connected to the side m131, 32-bit. Each of the variable length links (3) to m: the door: the variable length links 131 to 134 and the seat mechanism 12 〇 'vehicle == the joint between the three has three rotating free early wood mechanisms 110 Ball joints (one - there is a footrest (9), for the user to place the foot,: == low part degree' direction can be adjusted according to user needs. Can be two oblique angle = butterfly _ (3) 嶋 (four). Then, the seat mechanism is set to be able to, ".. No." The chair mechanism (10) and the variable length link (3) ~ m assembly side ^ Mingya does not limit the seat mechanism (10) movement is by the variable length link (3)~(3) Decide, for example, when the length of the variable length link (3) to m on the bottom side is long, and the side is (4) the closing force 'θ, when the length of the joint is == 31~】34, the length is reduced at the same time. The mechanism 120 134 picks up the effect of the auxiliary shirt; when the variable length link 13 the chair mechanism 120 will traverse to the left; when the variable length ΐίΓΓ/, the 'seat mechanism' 2G will traverse to the right. (3) The movement between the length of 134 and the position of the seat mechanism 120 can be calculated by forward kinematics (F〇rward ki or reverse kinematics (Ιη_扯除(四)). Variable length The mechanism design principle of the rods (3) to 134 is based on the mechanism design of the Stewart platform (Stewardp) at the same time. The operation principle of the 7/22 201238581 is similar but the structure is different. The traditional Stewart platform is six-axis. The present invention utilizes a four-axis structure to drive the seat mechanism 120. The variable length links 131-134 of Figure 1A are implemented by linear brakes, but the present invention does not limit the variable length links 131-134. Referring to FIG. 1A, FIG. 1B, FIG. 2A, FIG. 2B, FIG. 3A and FIG. 3B, FIG. 2A and FIG. 2B are schematic diagrams of a seat mechanism according to an embodiment of the present invention. FIG. 3a and FIG. Schematic diagram of the armrest adjustment of the seat mechanism of the embodiment of the invention. The seat mechanism 120 includes a seat portion 12, a seat back 122, an adjustable headrest 123, two side armrests 125, 126 and a table top 127. The seat portion 121 has a The hip-shaped curved surface conforms to the user's hip shape; the seat back 〗 22 has a back-shaped curved surface to conform to the user's back curve, and the two handrails 125, 126 are disposed on both sides of the seat back 22 and each of the handrails 125, One end of the 126 is slidably coupled to the back 122 of the chair Spine mechanism 129. The height of the two armrests 125, 126 can be adjusted according to user requirements, as shown in Fig. 3B. The upper side of the two armrests 125, 126 has a jack 28, and the lower side of the table 127 has a latch. The jack 128 is mounted on the armrests 125, 126. The table 127 can be removed when not in use. The front end of the armrests 25, 126 can be provided with slots for mounting the camera 17 and the entire operating device 160. Adjustable headrest 123 is disposed above the back 122 of the chair, and can be adjusted according to the user's needs (four degrees) and height. The two sides of the armrests 125, 126 have switches 125 respectively. The user can press the switch 1251 to remove the interference between the armrests 125, (3) and the spinal mechanism 129 to adjust the height of the armrests i25, 126. The armrests 125, 126 can slide in the direction of the spinal mechanism 129. The surface layer of the seat portion 121 and the back portion 122 may have a three-layer structure, and the outer layer and the inner layer are breathable synthetic fibers, which can reduce the discomfort caused by sweating; the middle layer is a soft car, although the foam of the car is compliant with Users of different body types; the bottom layer is the 8/22 201238581 mouth of the building that provides the weight and structure. Synthetic fibers and foam can be used to increase user comfort. In addition, the seat mechanism m can also be seated 1H (not shown) to meet the needs of the user. In this embodiment, a plurality of soft pressure sensing elements 24 (indicated by dashed lines) may be provided in the seat = to form the fortitude sensing area. The soft pressure sensing element 124 can detect the user's weight: 'These pressure sensing data can help to understand the user's posture change or learning; j 'allows the medical staff or caregivers to further understand the user's needs ,. The soft pressure sensing element m is composed of an elastic cloth and a conductive fiber material, wherein the conductive fiber (specification such as breaking strength 75 cN, weight 〇 54 g/cm, average band resistance value U ohm/meter, elongation uo%) is sewn on the elastic cloth. On, can be _ secondary circuit contacts. When the soft pressure sensing element 124 is under stress, the conductive fiber will only change, and the resistance value will change. When the force per unit area is increased, the resistance value will be d " The soft pressure component can be transmitted wirelessly. The data processing device that has passed the measurement to the system smart robot wheelchair 100 is not shown, for data processing. The armrest 12 of the seat mechanism 120 is split 16 〇, which is a whole with a rocker (6) and a control panel 162: 彳 is used to control the direction and adjustment of the wise man's wheelchair purchase; 3 interface, including wisdom = device The status of the singer:: The information that is also entered == The message received by the road. The hospital f can use the 岐 (4) to make a bribe to carry out the ditch as far away from the medical purpose. The display device ί 150 is used as a screen to facilitate the heart machine no such as a webcam, which can be destroyed on the board 12 曰, Nie shirt hand m, 〗 26, and the position can be determined according to user needs. Seat mechanism] The lower part of the 2G has a control device (10) that can be used to control the motor of the 9/22 201238581 moving safari wheel (9) to move the smart robot, the length of the connecting rod (3), to adjust the seat machine 2 : ^ to control the smart robot wheel via rocking ^ = = adjust the seat mechanism 12 经由 via the control panel 162 and in addition, the control device 18 可以 can be set to 感m seven upper angle person wheelchair! 00 on the sensing data Into the disk; 22: to deal with the intelligent robot wheelchair (10) can be two =: data calculation. coffee
㈣ 線網裝置，例如無_卡或3G 订動.·.罔卡，讓使用者可以上網並^ ^ 一 。顯示裝置15〇可以作為螢:::由:路與外界進行資料傳輸 乂作為螢綦使用，除了顯示智彗 椅1〇〇的操作介面以外，也可以做為上網工具使;。“幸j 150上可以設置擴音装置，例如揚聲器或鋒鳴器。 、 另外，本實施例的智慧型機器人輪椅_ 能，智慧型機器人輪椅⑽中 =動導航功 170與資料運算單元(未 匕括攝影機 理器或嵌入式裝置來航運fW微處 合，使用相同的運算資源與系統^資整 七幾益輪椅1 〇〇可以根據攝影機Π0所擷取到的辨他 來引導智慧型機器人輪椅_ 厅_的辨識碼 . , p n 的仃進方向。觸碼例如是 QR(Qinck Respo㈣碼或是二維條石馬 = 碼可以列印&靜二辨識 擷取到辨識碼時m機 f 。胃攝一 17〇 hh .'.T ** °旱网椅100會根據辨識碼所表示 可:定;⑽^向與速度。辨識石馬 知慧型機退、距離與方向等訊息，但不限制於此。 备慧型機态人輪椅1〇〇可读 u 目前的位置資訊以及目桿區域的;:擷_线的技術’取得 /、區或的方向，然後透過驅動裝置去改 10/22 201238581 變移動方向。 ^照圖4,圖4繪示本發明的智慧型機器人㈣的 = 智慧型機器人輪椅1〇〇的攝影機Μ可用來 二，像貧料°天化板上黏貼有多張列印有辨識碼（即 QR响的紙張30卜304。當使用者希望前往洗手間（門口）時 ’可以經由顯示單元15〇上的使用者介面輸人目標地點，智慧 型機器人輪椅】〇〇在操取到紙張3〇1上的辯識碼後，會自動繼 續往雨移動直到操取到紙張302 1的辯識碼。贿，透過紙張 302上的辯識碼，智慧型機器人輪椅1⑽會得知洗手間的位置 在前方，'必需繼續往前。在擷取到紙張3〇4上的辯識碼後，智 慧型機器人輪椅300得知已經到達，便會透過使用者介面通知 使用者。上述紙張301〜304就像是導盲磚一般，智慧型機器人 輪椅300可以透過紙張30丨〜304上的辯識碼決定移動方向與速 度，藉此輔助使用者到達目的地。在應用上，可以在環境上設 置對應的辯識碼，例如客廳、廚料，制者就可以方便 的到達目的地。 此外，在調整座椅機構120的座墊高度與位置時，為讓使 用者更為舒適與安全，座墊移動過程需保持平順與穩定。可變長 度連桿131〜134的長度與座椅機構12〇的位置之間的運算可以 透過順向運動學(Forward kinematics)或逆向運動學（Inveise kinematics)來運算。 在導入運動學之前，先建立兩個空間向量如下： (1) Cartesian space[x，，v，z，《，久 yf，其中[χ，少，z]表可動板 原點的位置，為可動板與x，j；，z三軸的夾角。 (2) Joint ’其中&分別表示4支線性 11/22 201238581 制動器的長度。 田運异從Joint space到Cartesian space屬於順向運動學， 反之稱為逆向運動學。不過即使先決定四支可變長度連桿 131 134的長度，但因座椅機構丨2〇與可變長度連桿Η〗〜I% 連結的萬向接頭有可能會呈現*同的方向，導致於座椅機構 120的位置及角度不—，因此經由順向運動學的運算會產生多 數解的現象。逆向運動學就沒有這種問題，纽定座椅機構 12〇的座標及角度，經由運算得到四支可變長度連桿⑶〜以 的長度會是唯一解。 只是在調整過針’戦可變長錢桿131〜134 需要相當大的系統運算資源。因此在驅動方面，本發明提出 = :種運算可變長度連桿長度方法。本發日騎建立錄中 行的工作空間，以座墊中心點作為 工作_位化。二 中心點的座標與其對應的可變長度連桿⑶〜134的長度 用者需要触座墊位置時，智__人輪椅⑽會 空間預先規劃座縣次的移動路徑，避免產生未預期之: 例如座㈣斜岐雜帛料便。當制者需要左右橫執 時，其移動的過程中，座塾(座椅機構110)會保承夕坐 使用者感到不適或有摔倒之風險，因此在控制 ::墊移動於平順之路徑，以避免產生干涉或二::: 本發明將座墊中心點之最大工作空 ，將座塾的工作蝴Ρ細如_個^=== 12/22 201238581 柯行麵望避免之位置點。本發明在此卫作空間賴座墊移動 k移路徑時，預設以下三項條件： ⑴座墊在作垂直*度鱗前，座墊中心點的左右調整（少轴座 標）與座墊前後翻滾角度都必須先歸零。 (2) 座墊在左右祕轉前，餘前後翻滾肖度必須先歸零， 過心中座墊同度必須保持不變（座塾中心點 X軸與Z軸座標 必須保持不變）。 (3) 座墊在4後翻滾峨時，座塾中心、點的左右調整（)·轴座標 )必須先歸零。 印茶照圖D’圖：）繪不本發明實施例的座墊可行空間範圍的部 分座標純。圖6繪示本發明實施綱座墊可行空職圍示意圖 在圖5中’以二維的直肖座標系(X，％ z)來表示座墊的中心點座 枯在兩述二項條件下，圖5為座墊中心點的可行工作空間範圍 。，例如座墊中心點座標在(〇, 〇, 〇)時，往左（或右）橫移最大值為 b〇mm可翻轉角度範圍為·]5。〜15。；座塾中心點高度向上或向下 T時，錄左右橫移和翻轉肖度的範難漸減小；座墊在最高 j最低位置時(z=±65mm)時，座墊左右橫移和翻轉角度的範圍皆為 ▽圖6為座墊可行工作空間（斜線部分），當座塾作垂直高度調 整時，前後移動會隨之變化，即座墊中心點χ座標和z座標是相依 (dependent)的，所以圖5座墊中心點可行工作空間不需考慮中心點 X座標。 規劃出座墊巾心點之可行讀㈣後，接下來將可行工作空 間的：軸方向以每〗〇咖為—單位，劃分出13個可供垂直高度調 13/22 201238581 整之位置點；左六與 周整方面，根據這13個可作垂直高度調整 轴可橫移範圍以每10匪為一單位，劃分出共計加 、.士 am 周i之位置點（包含13個左右橫移為零之位置點 ^翻相整方面，依據前述規即），座墊中心、點的左右調 王少由座軚）必須先歸零’依據這13個可作垂直高度調整位置 2可?轉角度的_ ’以每5。為-單位，劃分出61個可供前後 翻滾調整之位詈點f 4人， 夏包含11個翻滾角度為零之位置點），加上(_3〇, 〇, 65)和(3G，G，-65)這兩個位置點（垂直高度之最高處與最低處）。 ^一類:作雜輕之位置._加，扣除錢計算之位置點，符 合以上三項條件的可行工作空間共有295個位置點㈤圖6為例） 即使用者可知控座墊達成之所有工作位置點。工作公空間中的 位置點數目會依照智慧型機器人輪椅1〇〇的整體機構而變，上 述295個位置點僅為關，本發明並不受限於此。 工作空間中的位置點與其對應的可變長度連桿131〜134的 長度會被預先計存’㈣預先賴可行動作路徑。使用 者乘坐於錄時，透過對外麵境的紗，錢制者舒適姿 勢，操作座塾調整垂直高度、左右橫移以及前後翻滾，使座塾 到達可行工作空間中預先規劃的位置點。在移動座墊時，本實 %例利用預先於儲存的資訊來調整可變長度連桿Hi〜134，讓 座墊可以依照預先規劃的路徑移動至所需的位置並且避免產 生過度傾斜或是抖動不穩的狀態產生。 另外，在使用者的刼作流程中，本實施例提供一個使用者 介面與其操作原則。圖7繪示本實施例的使用者介面(控制面 板)示意圖，其中包括上、下、左、右的調整按鍵與轉動鍵， 可以讓使用者轉動坐墊位置與角度。在操作上，需要依照下列 14/22 201238581 原則操作： (1)無法同時執行兩種以上 座塾將不作動，前-調整^尚未l^8!按下兩個以上按鍵 鍵，後者調整動作無效。η禾几成所，如又按下其他按 ⑺執行調㈣直高度或者 為零，會先自動歸零，再執塾左右橫移量不 (3)執行峨錢高度或者左摊移日^=:、 零，會先自動歸零，再執行欲調整之_角度不為 在前述規劃下，座墊在可行工 規劃、唯-的路徑，以確保安動，都是依據預先 間中已規劃好之路徑撰寫於四心二==亍， 置點4支可嶋連桿⑶〜罐出每個位 ϋ撰寫於程式中 f有的伸長1，建立成位置表格 支可變手产=私動至欲達成之位置時，程式只需控制4 。在本I/〜]34的伸長量’不需要做逆向運動學的計算 2仏例中’座墊每次移_距離為1Qmm (每個位置點至鄰 個位置點距離為1Gmm，不包含翻滾的位置點），每支可 桿每次所變化之長度不會超過2G_。可變長度連桿同 二If 可接近啊到叙效果。在程式執行上，本實施例 的控制程式依照下列步驟進行。 ()系’洗啟動彳I： ’ 式自動將預設之初始位置點設定為欲到達 之目標點。 (2)將座墊移_達初始位置職，料輸人調整模式。 15/22 201238581 ⑶如只輸人-種調整模式，則往下—步流程；如在 调整杈式過程中又輸入另一種調整模式者種 除後者，往下-步流程；如在移動至目標位置‘:^^刪 入調整模式，_除在鑛過財輸人之調整^ f中輸 輸入兩種以上調整模式，則刪除所輸入之調整模^。同時 (4)判斷目前所處位置點之編號。 ⑺如是垂為度位置點之編號，輸人之調整模式 調整模式中任意一種調整模式。 疋二種 ⑹如是左右_位置狀魏，輸人之調魏枝為左右 移:作動’判斷欲到達位置點之編號；輪人之調整模 式若為垂直高度和前後翻滾，則皆改為婦左右 二 始判斷欲到達位置點之編號。 汗 ⑺如是前後翻滚位置點之編號，輸人之調整模式若為前後翻 滚’則開始判斷欲到達位置點之編號；輪入之調整模式若^ 垂直高度和左右橫移，則皆改為調整前後翻滾，並開始=斷 欲到達位置點之編號。 ’ ⑻判斷欲到達位置點之編號之後，從已撰寫在程式中的位置 表格中找出該編號（位置點）每支可變長度連桿所對應的 伸長量’同時輸出給對應之可變長度連桿。 值得/主意的是，上述控制程式的流程僅為本發明的示範性實 施例，其控制流程的細節可以依照不同的設計需求調整，本發明 並不受限。 x 由上述可知’本發明的智慧型機器人輪椅100、300具有 輔吏用者矛夕動與調整座椅等功能’而且具有人性化的操作介 16/22 201238581 面’可以方便使用者與外 上的感測襄置與無線傳;;智慧型機器人輪椅1〇〇、3〇0 慧型機器人輪椅100、3〇〇衣’y以實現遠距醫療的效果。智 電腦執行，只要將系统敕的資料處理與信號傳輸可以利用 .中即可，未發明不限制^^智慧型機器人輪椅100、3〇0之 . 此外m里的方式。 或間接的電性連接， 上“件之間的減關係包括直接 ，本發明並不受限。丄、成每二達到所需的電信號傳遞功能即可 使用，其元件可依照其=例中的技術手段可以合併或單獨 換’本發日月並不受限’。、在、:，、設計需求增加'去除、調整或替 域具有通常知識者應可推=士述實施例之說明後，本技術領 綜上所述，本發明利用史=方式，在此不加累述。 機器人輪椅的座椅具有橫移•:平台的設計原理，讓智慧型 與影像辨識技術，讓智絲;;=功此’亚且結合麥凯論輪 轉、橫移的功能。夢此椅具有自動導航與原地旋 舒適的乘坐結構，;且透二=慧型機器人輪椅不僅具有 击入技丄 再x且透過包恥輔助使用者操作智慧型機哭Λ 幸两椅’大幅提高使用者在操作輪椅時的方便性。 °° ^本發明之較佳實施例已揭露如上，然本發明並不受阡 於上述實施例，任何所屬技術領域中具有通常知識者，在^良 離本發明所揭露之範圍内，當可作些許之更動與調整，因此脫 發明之保護範圍應當以後附之申請專利範圍所界定者為準。本 【圖式簡單說明】 圖1A為根據本發明第一實施例的智慧型機器 圖。 祝％不意 17/22 201238581 圖1B為根據本發明第一實施例的智慧型機器 部分解示意圖。 ° 輪持的局 圖2A與圖2B繪示本發明實施例的座椅機構示音。 圖3A與圖3B !會示本發明實施例的座椅機構的二t 示意圖。 手調整 圖。 圖4繪示本發明的智慧型機器人輪椅丨〇〇的自動導航示音 圖5 %不本發明實施例的座墊可行空間範圍的部分座標資料 圖6繪示本發明實施例的座墊可行空間範圍示意圖。 圖7繪示本實施例的使用者介面示意圖。 【主要元件符號說明】 1 〇〇 :智慧型機器人輪椅 110 :車架機構 】12 ·_底座 114 :側立架 120 :座椅機構 121 :坐部 122 :椅背部 123 :可調式頭靠 124 :軟質壓力感測元件 125、126 :側邊扶手 1251 :開關 127 :桌板 128 :插孔 18/22 201238581 129 :脊柱機構 131〜134 :可變長度連桿 150 :顯示裝置 160 :操作裝置 161 :搖桿 162 :控制面板 Π0 :攝影機 180 :控制裝置 191 :麥凱倫輪 195 :腳踏架 301〜30 :紙張 19/22(4) Line network devices, such as no _ card or 3G subscription.. 罔 card, so that users can access the Internet and ^ ^ one. The display device 15 can be used as a firefly::: by: the road and the outside world for data transmission. As a firefly, in addition to displaying the operation interface of the smart chair, it can also be used as an internet tool; "Fortunately, a loudspeaker can be set up, such as a speaker or a squeaker. In addition, the smart robot wheelchair of the present embodiment _ can, the intelligent robot wheelchair (10) = the navigation function 170 and the data operation unit (attempt Including the photographic mechanism or embedded device to ship the fW micro-combination, using the same computing resources and systems, and the whole system can be used to guide the intelligent robot wheelchair according to the camera Π0. Identification code of the hall _, the direction of the pn. The contact code is, for example, QR (Qinck Respo (four) code or two-dimensional stone horse = code can print & static two identification to capture the identification code when m machine f. stomach Take a 17〇hh.'.T ** ° dry net chair 100 will be based on the identification code can be: fixed; (10) ^ direction and speed. Identify Shima Zhihui type machine back, distance and direction information, but not limited to this备 型 机 轮椅 轮椅 轮椅 轮椅 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前 目前Moving direction. ^ Figure 4, Figure 4 shows the smart type of the present invention The person (4) = Smart Robot Wheelchair 1 〇〇 camera Μ can be used for two, like the poor material ° Tianhua board pasted with a number of printed with identification code (ie QR paper 30 Bu 304. When the user wants to go to the bathroom (at the door), you can enter the target location via the user interface on the display unit 15 , and the smart robot wheelchair will automatically continue to move to the rain after the identification code on the paper 3〇1 is reached. The identification code of the paper 302 1 is taken. The bribe, through the identification code on the paper 302, the smart robot wheelchair 1 (10) will know that the position of the restroom is in front, 'must continue to move forward. After picking up the paper 3〇4 After the identification code, the smart robot wheelchair 300 knows that it has arrived, and informs the user through the user interface. The papers 301~304 are like guide bricks, and the smart robot wheelchair 300 can pass through the paper 30丨. The identification code on ~304 determines the direction and speed of movement, thereby assisting the user to reach the destination. In the application, the corresponding identification code can be set in the environment, for example, the living room, the kitchen material, the maker can be square In addition, when adjusting the seat cushion height and position of the seat mechanism 120, in order to make the user more comfortable and safe, the seat cushion movement process needs to be smooth and stable. The variable length links 131 to 134 The calculation between the length and the position of the seat mechanism 12〇 can be calculated by Forward kinematics or Inveise kinematics. Before introducing kinematics, first create two space vectors as follows: Cartesian space[x,,v,z,", long yf, where [χ, 少, z] table movable plate origin position, is the angle between the movable plate and x, j;, z three axes. (2) Joint ‘where & respectively indicates the length of the four linear 11/22 201238581 brakes. Tian Yun's difference from Joint space to Cartesian space belongs to forward kinematics, and vice versa. However, even if the length of the four variable length links 131 134 is determined first, the universal joint connected by the seat mechanism 丨2〇 and the variable length link 〜~I% may present the same direction, resulting in the same direction. Since the position and angle of the seat mechanism 120 are not -, a majority solution is generated by the calculation of the forward kinematics. There is no such problem in reverse kinematics. The coordinates and angle of the 12-inch seat mechanism are calculated by the operation to obtain the length of the four variable-length links (3)~. Just adjusting the needles 戦 戦 variable long money rods 131~134 require considerable system computing resources. Therefore, in terms of driving, the present invention proposes a method of calculating a variable length link length. On the day of the launch, the working space of the recording line is established, and the center point of the seat cushion is used as the work position. When the coordinates of the two center points and the length of the corresponding variable length links (3) to 134 need to touch the seat cushion position, the wisdom __person wheelchair (10) will pre-plan the movement path of the county to avoid unexpected occurrences: For example, the seat (four) is sloping and smashing. When the maker needs to cross the left and right, during the movement, the seat (the seat mechanism 110) will protect the user from feeling uncomfortable or falling, so in the control:: the pad moves on the smooth path In order to avoid interference or two::: The present invention will maximize the working space of the center point of the seat cushion, and the work of the seat will be as detailed as _ ^^== 12/22 201238581. The present invention presupposes the following three conditions when the seat space moves the k-shift path: (1) before and after the seat cushion is placed in the vertical * degree scale, the left and right adjustment of the center point of the seat cushion (small shaft coordinate) and before and after the seat cushion The roll angle must be zeroed first. (2) Before the seat cushion is turned left and right, the front and rear roll must be zeroed first, and the same degree of the seat cushion must remain unchanged (the X-axis and Z-axis coordinates of the center point must remain unchanged). (3) When the seat cushion is rolled over 4, the center of the seat and the left and right adjustment of the point () and the axis coordinate) must be zeroed first. The printed tea photo D' map:) depicts that the seat cushion of the embodiment of the present invention is partially pure in the feasible space range. 6 is a schematic diagram showing the feasible position of the seat cushion of the present invention. In FIG. 5, the center point of the seat cushion is represented by a two-dimensional straight coordinate system (X, % z) under the two conditions. Figure 5 shows the feasible working space of the center point of the seat cushion. For example, when the coordinates of the center point of the seat cushion are (〇, 〇, 〇), the maximum value of the leftward (or right) traverse is b〇mm, and the flippable angle range is ·]5. ~15. When the height of the center point of the seat is up or down T, the difficulty of recording the left and right traverse and the tilting degree is gradually reduced; when the seat cushion is at the lowest position of the highest j (z=±65mm), the seat cushion is traversed and flipped left and right. The range of angles is ▽ Figure 6 is the feasible working space of the seat cushion (hatched part). When the vertical height of the seat is adjusted, the front and rear movements will change accordingly, that is, the center point of the seat cushion and the z coordinate are dependent. Therefore, the feasible working space of the center point of the seat cushion of Figure 5 does not need to consider the center point X coordinate. After planning the feasible reading of the cushions (4), the feasible working space: the axis direction is divided into 13 units for vertical height adjustment 13/22 201238581; According to the left six and the whole circumference, according to the 13 vertical height adjustment axes, the traverse range can be divided into units of 10 ,, and the total position is added. The position of the sam am i is included (including 13 left and right traverses The position of the zero point ^ the whole aspect of the phase, according to the above rules), the center of the seat cushion, the left and right of the point is adjusted by the king) must first return to zero 'according to these 13 can be used for vertical height adjustment position 2 can be turned _ 'to every 5'. For the - unit, there are 61 points for the front and rear roll adjustment point f 4 people, summer contains 11 points with a roll angle of zero), plus (_3〇, 〇, 65) and (3G, G, -65) These two position points (the highest and lowest of the vertical height). ^Class: the location of the miscellaneous light. _ plus, deducting the position of the calculation of the money, the feasible working space that meets the above three conditions has a total of 295 location points (5) Figure 6 is an example) that the user can know all the work achieved by the control cushion Location point. The number of position points in the work space will vary according to the overall mechanism of the smart robot wheelchair. The above 295 position points are only off, and the present invention is not limited thereto. The position points in the workspace and the lengths of their corresponding variable length links 131-134 are pre-stored in the 'fourth' pre-determined action path. When the user is on the record, through the yarn on the outside, the money maker is comfortable, and the operation seat adjusts the vertical height, the left and right traverse, and the front and rear tumbling, so that the seat reaches the pre-planned position in the feasible working space. When moving the seat cushion, the actual example uses the pre-stored information to adjust the variable length links Hi to 134 so that the seat cushion can be moved to the desired position according to the pre-planned path and avoid excessive tilt or jitter. An unstable state arises. In addition, in the user's workflow, the present embodiment provides a user interface and its operating principles. FIG. 7 is a schematic diagram of the user interface (control panel) of the embodiment, including upper, lower, left, and right adjustment buttons and a rotation button, which allow the user to rotate the seat position and angle. In operation, it is necessary to operate according to the following 14/22 201238581 principle: (1) It is impossible to perform two or more seats at the same time and will not be activated. The front-adjustment ^ is not yet l^8! Press two or more button keys, the latter adjustment action is invalid. . η禾为成,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, :, zero, will automatically return to zero, and then perform the adjustment _ angle is not in the above plan, the seat cushion in the feasible planning, only - the path to ensure the security, are based on the pre-planning The path is written in the four hearts of two ==亍, set 4 points of the 嶋 link (3) ~ can be out of each position ϋ written in the program f has an elongation of 1, established as a position table variable hand-made = private to When you want to reach the position, the program only needs to control 4 . The elongation of this I / ~ ] 34 'do not need to do the calculation of the inverse kinematics 2 'in the example of the 'seat pad' every time the distance _ distance is 1Qmm (each position point to the adjacent position point distance is 1Gmm, does not contain tumbling The position of each pole can not exceed 2G_ each time. The variable length link is the same as the two If. In the execution of the program, the control program of this embodiment proceeds in accordance with the following steps. () The 'wash start 彳I:' type automatically sets the preset initial position point to the target point to be reached. (2) Move the seat cushion to the initial position, and input the adjustment mode. 15/22 201238581 (3) If only the input type adjustment mode is used, then the next step process; if another adjustment mode is input during the adjustment process, the latter is followed by the next step process; if moving to the target The position ':^^ deletes the adjustment mode, _ except the input adjustment mode in the adjustment of the mine and the input of the ^f, the input adjustment mode is deleted. At the same time (4) determine the number of the current location. (7) If it is the number of the position of the vertical position, the adjustment mode of the input mode adjusts any one of the adjustment modes.疋Two kinds (6) If it is left and right _ position-like Wei, the input of the Wei branch is left and right: the action 'determine the number of points to reach the position; if the adjustment mode of the wheel is vertical height and roll forward and backward, then all are changed to women At the beginning of the second judgment, the number of the point to be reached is determined. Khan (7) If the number of points before and after the roll position, if the adjustment mode of the input is rolling forward and backward, then the number of the position to be reached will be judged; if the adjustment mode of the wheel is vertical height and left and right, it will be changed before and after adjustment. Roll over and start = break the number of points you want to reach. ' (8) After judging the number of the position point to be reached, find the extension amount corresponding to each variable length link of the number (position point) from the position table already written in the program, and output it to the corresponding variable length. link. It is worthwhile/intentionally that the above-described control program flow is only an exemplary embodiment of the present invention, and the details of the control flow can be adjusted according to different design requirements, and the present invention is not limited. x From the above, it can be seen that the smart robot wheelchairs 100 and 300 of the present invention have the functions of assisting the user and adjusting the seat, and the user-friendly operation interface 16/22 201238581 is convenient for the user and the outside. Sensing device and wireless transmission;; intelligent robot wheelchair 1〇〇, 3〇0 smart robot wheelchair 100, 3 ' clothing 'y to achieve the effect of telemedicine. The computer is executed, as long as the data processing and signal transmission of the system can be utilized. It can be used without any limitation. ^^ Intelligent robot wheelchair 100, 3〇0. Or indirect electrical connection, the "subtractive relationship between the pieces includes direct, the invention is not limited. The electric signal transmission function required to achieve the required two can be used, and the components can be used according to the example. The technical means can be combined or changed separately. 'The date and the month of the hair is not limited'., at, ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, According to the technical summary, the present invention utilizes the history=method, which is not described here. The seat of the robot wheelchair has a traverse movement: the design principle of the platform allows the smart and image recognition technology to let the wisdom wire; ;= This is a combination of the function of rotation and traverse of Mai Kai. The dream chair has a comfortable structure of automatic navigation and in-situ rotation; and the trans-two-smart robot wheelchair not only has the technique of hitting the mouse. And through the shame to assist the user to operate the smart machine to cry, the two chairs 'have greatly improved the convenience of the user in operating the wheelchair. ° ° ^ The preferred embodiment of the invention has been disclosed above, but the invention is not subject to In the above embodiment, any technical subject Those who have the usual knowledge, within the scope of the disclosure of the invention, may make some changes and adjustments, so the scope of protection of the invention shall be subject to the scope of the patent application attached. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1A is a smart machine diagram according to a first embodiment of the present invention. [1] Unexplained 17/22 201238581 FIG. 1B is a schematic diagram of a part of a smart machine according to a first embodiment of the present invention. 2A and FIG. 2B illustrate the sound of the seat mechanism of the embodiment of the present invention. FIG. 3A and FIG. 3B are schematic diagrams showing a second embodiment of the seat mechanism according to the embodiment of the present invention. FIG. 4 illustrates the wisdom of the present invention. FIG. 6 is a schematic diagram showing a feasible space range of a seat cushion according to an embodiment of the present invention. FIG. 7 is a schematic diagram showing a feasible space range of a seat cushion of the embodiment of the present invention. Schematic diagram of the user interface of the embodiment. [Description of main component symbols] 1 〇〇: smart robot wheelchair 110: frame mechanism 12 · _ base 114 : side stand 120 : seat mechanism 121 : seat 122 : seat back 123: Adjustable headrest 124: soft pressure sensing element 125, 126: side armrest 1251: switch 127: table 128: jack 18/22 201238581 129: spine mechanism 131~134: variable length link 150: Display device 160: operating device 161: rocker 162: control panel Π0: camera 180: control device 191: McLaren wheel 195: bicycle 301~30: paper 19/22