WO2018135872A1 - Système de levier de commande de fauteuil roulant électrique - Google Patents

Système de levier de commande de fauteuil roulant électrique Download PDF

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Publication number
WO2018135872A1
WO2018135872A1 PCT/KR2018/000836 KR2018000836W WO2018135872A1 WO 2018135872 A1 WO2018135872 A1 WO 2018135872A1 KR 2018000836 W KR2018000836 W KR 2018000836W WO 2018135872 A1 WO2018135872 A1 WO 2018135872A1
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WO
WIPO (PCT)
Prior art keywords
wheelchair
joystick
driving
user
intention
Prior art date
Application number
PCT/KR2018/000836
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English (en)
Korean (ko)
Inventor
제양규
Original Assignee
피플리안주식회사
제양규
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Publication date
Application filed by 피플리안주식회사, 제양규 filed Critical 피플리안주식회사
Publication of WO2018135872A1 publication Critical patent/WO2018135872A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1051—Arrangements for steering
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/14—Joysticks

Definitions

  • Joystick is a device that can be operated most intuitively and comfortably when the handicapped or elderly person who is uncomfortable or weak is driving the electric wheelchair.
  • the joystick operation may be immature or the wheelchair may not operate properly with the joystick operation. This can make it difficult to drive a wheelchair and even cause an accident. It is directed to an improved joystick system that allows the wheelchair to be driven more easily and safely operated as the user intended.
  • Electric wheelchair driving lessons may help safe driving, but they are not very effective for people with disabilities or the elderly who have poor operation, agility and judgment.
  • electric wheel chairs are usually equipped with four wheels, two of which are equipped with a driving motor, and the other two small wheels or casters are not equipped with a driving motor.
  • the driving direction of the wheelchair depends on the relative speed difference of the two wheels with the driving motor.
  • Two small wheels without a drive motor are free to change directions depending on the relative speed difference between the two wheels with a drive motor.
  • the drive motor reverses.
  • the two wheels without the drive motor must be rotated 180 degrees in the forward direction as shown in Figure 1.
  • the two small wheels without the driving motor are not rotated 180 degrees immediately in the forward direction, but remain in the forward direction to a certain distance and suddenly rotate 180 degrees in the reverse direction.
  • two small wheels without a drive motor during wheelchair reversal may be rotated separately without being rotated 180 degrees at the same time. If a small wheel without a drive motor rotates 180 degrees suddenly while the wheelchair is driving backwards, it affects the backward direction of the wheelchair, causing the wheelchair to reverse in the wrong direction.
  • the actual driving speed of the driving motor mounted on the electric wheelchair varies depending on the load conditions, road conditions, and performance of individual motors, so that the wheelchair is often not operated by the joystick. In this case, the user must constantly observe and correct the driving direction and speed of the wheelchair. It is not easy for the elderly or the disabled to correct and correct the direction and speed of wheelchair driving.
  • the joystick instead of using the joystick as a device for directly driving the wheelchair, it is intended to use as a device for expressing the user's intention to drive.
  • the next step may be to connect the automatic control device so that the wheelchair can move as intended by the user.
  • joystick is the most intuitive and convenient device for driving a wheelchair. However, sometimes the joystick operation is not intended by the user in various situations, and the joystick is operated without considering the wheelchair driving condition. In addition, the wheelchair may not be driven by the joystick operation. If the user's intention is understood through the operation of the joystick and the user's intention is determined through the operation of the joystick, the wheelchair is operated exactly as the user's intention, considering the current operation state of the wheelchair. To be possible.
  • the joystick can be used very conveniently as a device for manipulating various accessories as well as a device for driving a wheelchair.
  • it is a very convenient device that can be used for manipulating the wheelchair getting on and off, the wheelchair seat height adjusting device, and the like.
  • the joystick should be equipped with functions for the operation of various accessories other than wheelchair driving.
  • the new joystick system is a joystick lever that freely expresses the user's intention to drive the wheelchair as well as to operate the attachment, and a microprocessor that analyzes and judges the user's intention expressed through the joystick lever according to predetermined rules. And the like.
  • the joystick as a device for driving a wheelchair is changed to a joystick as a device for expressing a user's intention, and various functions can be realized through various expressions that are easily expressed.
  • a joystick as a device for expressing a user's intention
  • various functions can be realized through various expressions that are easily expressed.
  • the joystick can be used as a device for operating various accessories as well as a driving device for driving a wheelchair.
  • Figure 1 shows the two small front wheels without the drive motor rotating 180 degrees from the forward direction to the backward direction when the forward-driven electric chair retracts.
  • Figure 2 shows the configuration of the wheelchair joystick
  • Figure 3 shows the conceptual diagram of the current wheelchair driving system.
  • Figure 4 shows a working schematic of the new joystick system.
  • Fig. 5 shows an example of the new operation of the wheelchair according to the operation of the joystick lever according to a predetermined user's expression rule in the new joystick system.
  • Figure 6 shows a schematic of the operation of a wheelchair control system with a new joystick system.
  • Figure 7 shows a schematic of a wheelchair driving system with a new joystick system.
  • Figure 8 shows the configuration of a wheelchair control system with a new joystick system.
  • Figure 9 shows the configuration of a wheelchair driving system with a new joystick system.
  • Figure 1 shows a typical rear wheel drive electric wheelchair.
  • Motor driving wheel 410 may be installed in the rear wheel, as shown in Figure 1, may be installed in the front wheel or the middle wheel. Wherever the motor drive wheels are installed, in the two-wheel drive electric wheel chair, not the four-wheel drive, the other two small wheels without the drive motor will be freely oriented depending on the difference in the driving speed of the two motor drives.
  • Figure 1 shows the wheelchair driving forward (backward) and then back driving (backward). When the wheelchair is running forward, the directions of the front two small wheels 430 are directed forward as shown in FIG. If the wheelchair used to drive forward starts backward driving, the two small wheels 430 in front of FIG. 1 affect the wheelchair driving direction by changing the front driving direction 180 degrees in the rear driving direction.
  • FIG. 2 shows the general configuration of the joystick 100 as a driving device of the electric wheelchair.
  • the joystick 100 is equipped with various switches such as a joystick lever 110, a power switch 150, a maximum speed controller switch 120, a battery capacity indicator 140, a horn 130, and the like. There are not so many users' intentions to express through the joystick 100 for wheelchair driving, and the contents are relatively simple.
  • FIG 3 shows the conceptual diagram of the electric wheelchair operating system which is generally used.
  • the signal from the joystick 100 enters the wheelchair control system 200 and the motor driver 300 to control the motor driving wheel.
  • the wheelchair control system 200 sends a driving signal to the motor driver 300 according to the operation of the joystick lever.
  • This control system is called “Open Loop Control System”. While this open circuit control system has the advantage that the device is relatively simple, it is necessary to check whether the system is actually operating according to the user's intention. There are disadvantages that are difficult to do.
  • the joystick instead of using the joystick as a device for driving a wheelchair, it is intended to be used as a device for expressing the user's intention.
  • the joystick is a user's doctor for wheelchair driving control through a joystick lever operation 110 as shown in FIG. It is not entered.
  • the signal from the joystick 100 enters the wheelchair control system 200.
  • the signal from the joystick 100 enters the microprocessor to determine which device to drive, drive, or operate various accessories. May be selected first.
  • the user may accidentally move the joystick for a while while moving in a wheelchair seat or when an object falls off. If the joystick is behaving erratically in another unexpected situation, you will need to determine if it is the user's willingness and follow up.
  • the wheelchair is driving forward and a short rear drive input is given for a short time, this is not an intended input. However, if a certain amount of rearward driving input is given continuously, it may be determined that the input is intended, and the wheelchair that has been driving forward should be stopped in a short time and the rearward driving should be performed. If the joystick input is determined to be unintentional, no further action is required. Discrimination can be made through input signals according to predetermined rules. If it is determined that the input is intended, the user's intention is transmitted to the system controller.
  • Conventional joystick as a driving device of the wheelchair can not only express the simple intention through the joystick lever operation 110, such as going straight, backward, change direction, rotation in place.
  • the joystick can be used for various types of wheelchair driving such as driving, speeding, decelerating, autonomous driving, as well as going straight, reversing, turning, and rotating in place.
  • wheelchair driving such as driving, speeding, decelerating, autonomous driving, as well as going straight, reversing, turning, and rotating in place.
  • the user's expression must be promised in advance, as shown in Figure 5.
  • Predefined user expression rules are shown in Figure 5 for various driving such as driving, speeding, decelerating, and autonomous driving, as well as driving straight, reversing, turning, and turning in place.
  • the wheelchair is traveling at a constant speed as shown in Fig. 5, and the joystick lever 110 is inclined several times in the driving direction for a short time, it is desired to drive at constant speed 610 while maintaining the current driving speed.
  • the joystick lever 110 is rotated several times, it may be determined by the expression of the desire to rotate the wheelchair in place according to the rotation direction of the lever (640).
  • the joystick used as a direct driving device shows a wide variety of safe operation.
  • a joystick which is a device for driving a wheelchair, may be used as a device for manipulating a variety of accessories such as a getting on and off support device, a seat height adjusting device, a standing device, and a back lying device.
  • the wheelchair loading / unloading support device may be driven through the joystick lever operation.
  • the controller may be connected and driven so that the wheelchair can be operated as intended by the user.
  • Figure 6 shows the operation of the wheelchair control system when the new joystick system of Figure 4 is applied for driving, for example.
  • the joystick input signal is analyzed to evaluate whether the input is the intended input of the user or the input accidentally generated by the user (220). If it is determined that the user accidentally generated the input, the input is ignored. If it is determined that the user is the intended input signal, the user's intention is analyzed and determined 230.
  • the user's doctor is determined to be a dangerous intention can generate a warning and stop operation (260). For example, if you move the slope above the permissible angle, there is a risk of tipping, which can trigger a warning and stop the operation.
  • the wheelchair can be moved by the joystick operation, so there is no need to analyze and determine what kind of intention the user has.
  • the wheelchair control system of Figure 6 analyzes and judges the user's intention by the joystick operation, so that it can be compared with the current wheelchair operation.
  • the best operation command is considered in consideration of the dynamic characteristics of the wheelchair system. Is determined.
  • the operation command determined by the system controller 270 sends a signal to the motor driver 300.
  • the new joystick device shown in Figure 6 is not used as a tool for driving a wheelchair directly, but as a device that expresses various intentions of users.
  • Joysticks are a very convenient tool for elderly and disabled people to express their intentions intuitively. However, if the joystick operation of elderly or disabled people with poor judgment and agility is operated without any analysis and evaluation, various risks may occur.
  • the new joystick device can be connected to a feedback control device that allows the best operation according to the user's intention when the user's intention is determined.
  • Figure 7 shows the conceptual diagram of a wheelchair driving system using the new joystick system. Comparing Figure 3 and Figure 7, the joystick 100 of Figure 3 is replaced with the joystick system 180 in Figure 7. In addition, a feedback element is added to compare the current operation status of the wheelchair of the user judged and analyzed.
  • This control system is called a closed loop control system.
  • the closed-loop control system has the advantage of operating the system at the user's will because it modifies the operation command by continuously evaluating how the system is actually operating according to the operation command.
  • Figure 8 shows the configuration of the wheelchair control system to implement the concept of the wheelchair driving system of Figure 7.
  • the microprocessor used in the new joystick system 180 of Figure 4 can be used in common with the microprocessor used in the wheelchair control system 200. If the microprocessor can be used in common, there is a cost saving effect.
  • various signals such as various sensor signals 450 such as the operation signal 460 of the remote controller, the battery capacity status, the contact sensor signal, and the rotational speed signals 430 and 440 of the wheelchair wheel together. Can be entered.
  • Figure 9 shows an example configuration of Figures 7 and 8. As shown in Figure 9, when the user 500 operates the joystick to drive the wheelchair, the operation signal of the joystick 100 is input to the microcontroller as the wheelchair control system 200.
  • the microcontroller 200 of FIG. 9 includes various devices such as an analysis and evaluation device, an input / output device, a data storage device, and a communication device.
  • the joystick is not considered as a device for directly driving a wheelchair, but is converted into a device for expressing a user's intention. To this end, it is important to determine the user's intention by analyzing and determining the signal input through the joystick according to a predetermined criterion (230).
  • the new joystick system can also be used to drive the wheelchair to the user's will under various driving conditions.
  • the system controller 270 can automatically correct the operation Process may be included. If the user's intention is to include a function that can automatically modify the wheelchair to operate, users with low judgment and agility will be able to drive the wheelchair very easily and comfortably.
  • Joystick is a device that can be operated most intuitively and comfortably when the handicapped or elderly person who is uncomfortable or weak is driving the electric wheelchair.
  • the joystick operation may be immature or the wheelchair may not operate properly with the joystick operation. This can make it difficult to drive a wheelchair and even cause an accident.
  • the improved joystick system allows the wheelchair to be more easily driven and safer to operate as the user intended.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Handcart (AREA)

Abstract

Un levier de commande qui est un dispositif des plus pratiques et intuitifs pour conduire un fauteuil roulant. Cependant, parfois, se produit une action du levier qu'un utilisateur n'a pas souhaitée, et il existe des cas dans lesquels le levier de commande est actionné sans tenir compte de l'état de conduite du fauteuil roulant. De plus, le fauteuil roulant peut parfois ne pas pouvoir être conduit conformément à l'actionnent du levier de commande même si l'actionnement du levier, voulu par l'utilisateur, est effectué. La présente invention n'utilise pas le levier de commande directement en tant que dispositif de conduite pour conduire le fauteuil roulant et transforme le concept d'un levier en celui d'un dispositif permettant d'exprimer librement l'intention de l'utilisateur de conduire le fauteuil roulant, de façon éliminer un actionnement de levier accidentel par l'utilisateur, l'actionnement du levier sans tenir compte de l'état de conduite du fauteuil roulant, ou une action similaire, et permettre au fauteuil roulant d'être conduit exactement selon l'intention de l'utilisateur en tenant compte de l'état de fonctionnement actuel du fauteuil roulant. Le levier de commande de la présente invention peut non seulement être utilisé en tant que dispositif d'actionnement de déplacement du fauteuil roulant, mais peut être utilisé en tant que dispositif d'actionnement de divers dispositifs annexes tels qu'un dispositif d'assistance à l'assise et un dispositif de réglage de hauteur de siège de fauteuil roulant.
PCT/KR2018/000836 2016-05-04 2018-01-18 Système de levier de commande de fauteuil roulant électrique WO2018135872A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
KR20160055021 2016-05-04
KR1020170010109A KR20170125695A (ko) 2016-05-04 2017-01-22 전동휠체어의 조이스틱 시스템
KR10-2017-0010109 2017-01-22

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WO2018135872A1 true WO2018135872A1 (fr) 2018-07-26

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KR102088056B1 (ko) 2019-08-08 2020-03-11 남정덕 태양광 발전 수배전반 시스템
KR102420888B1 (ko) * 2020-09-08 2022-07-15 근로복지공단 휠체어 운전특성 분석 시스템
KR102643693B1 (ko) * 2022-04-05 2024-03-05 오봉석 지자계 조이스틱을 이용한 환경 감응형 전동 휠체어 시스템

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000126241A (ja) * 1998-10-26 2000-05-09 Matsushita Electric Works Ltd 電動車椅子および記録媒体
JP2004120875A (ja) * 2002-09-25 2004-04-15 Matsushita Electric Works Ltd 動力車
JP2009233082A (ja) * 2008-03-27 2009-10-15 Institute Of National Colleges Of Technology Japan 電動車椅子用制御装置および同制御装置を用いた電動車椅子
JP2010254285A (ja) * 2009-03-31 2010-11-11 Equos Research Co Ltd 車両
JP2014171672A (ja) * 2013-03-08 2014-09-22 Aisin Seiki Co Ltd 車椅子

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000126241A (ja) * 1998-10-26 2000-05-09 Matsushita Electric Works Ltd 電動車椅子および記録媒体
JP2004120875A (ja) * 2002-09-25 2004-04-15 Matsushita Electric Works Ltd 動力車
JP2009233082A (ja) * 2008-03-27 2009-10-15 Institute Of National Colleges Of Technology Japan 電動車椅子用制御装置および同制御装置を用いた電動車椅子
JP2010254285A (ja) * 2009-03-31 2010-11-11 Equos Research Co Ltd 車両
JP2014171672A (ja) * 2013-03-08 2014-09-22 Aisin Seiki Co Ltd 車椅子

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