Electric wheelchair

Abstract

We provide highly convenient electric wheelchairs. [Solution] This electric wheelchair includes a control mechanism that stops the wheels 30 when the gripping body is in a neutral position range and moving forward or backward, and it is determined that the movement (vibration) of the gripping body matches at least one of a predetermined set of stopping motion history patterns. This allows for appropriate control to be performed according to the situation by pre-setting the desired state of the gripping body to be stopped.

Description

Technical Field

[0001] The present invention relates to an electric wheelchair that moves forward when an assistant pushes the grip part forward and moves backward when the grip part is pulled backward.

Background Art

[0002] For example, like the walking assistance device disclosed in Patent Document 1, there is known a device having a configuration in which the user holds the handle (grip part) and moves it forward and backward with respect to the frame to move forward or backward.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above configuration, the wheelchair moves forward by pushing the grip part, but in order to continue moving forward, the grip part has to be continuously pushed, which places a large load on the assistant.

[0005] Therefore, an object of the present invention is to provide an electric wheelchair that is even more convenient for the assistant.

Means for Solving the Problems

[0006] The present invention relates to an electric wheelchair comprising: wheels that are controlled by a control unit to be electrically stopped, moved forward, or moved backward; a person-to-be-assisted support unit that supports the person being assisted; and a gripping unit that is grasped by the caregiver, wherein the gripping unit comprises a base unit and a gripping body unit that is slidable forward and backward relative to the base unit, and the electric wheelchair comprises control content that causes the wheels to move forward when the gripping body unit is in a predetermined forward position range, the wheels to move backward when the gripping body unit is in a rear position range defined to be behind the forward position range, and when the gripping body unit moves from the forward position range or the rear position range to a neutral position range defined between the forward position range and the rear position range, the electric wheelchair comprises control content that causes the wheels to rotate and maintain the movement of the wheel immediately before, The electric wheelchair is characterized in that the control unit has measuring means for measuring the front-rear position of the gripping body with respect to the base, and storage means for storing the change in the front-rear position of the gripping body measured by the measuring means over time as a movement history, and the storage means stores a stop mode movement history pattern which defines predetermined conditions for controlling the wheels to stop when the gripping body moves from the front position range or the rear position range to the neutral position range, and the control unit further has determination means which determines whether the movement history of the gripping body in the neutral position range matches the stop mode movement history pattern, and has control content that stops the wheels if it matches the stop mode movement history pattern.

[0007] In this configuration, the electric wheelchair can be moved forward as long as the gripping part is within the neutral position range while moving forward, and since there are conditions that require the wheels to be stopped in this state, the electric wheelchair can be stopped safely and quickly. [Effects of the Invention]

[0008] The electric wheelchair of this invention has the effect of providing a highly convenient electric wheelchair for caregivers. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic diagram of an electric wheelchair according to an embodiment. [Figure 2] This is an explanatory diagram of the gripping part according to the embodiment. [Figure 3] This is a block diagram of the control unit according to the embodiment. [Figure 4] This graph shows a comparison between the movement history and stopping behavior movement history patterns in the embodiment. [Modes for carrying out the invention]

[0010] The following describes in detail an embodiment of the electric wheelchair according to the present invention. However, the present invention is not limited to the embodiments shown below, and design modifications can be made as appropriate.

[0011] As shown in Figure 1, the electric wheelchair 1 comprises a main frame 10, on which a seating section (personal support section) 20 is positioned for the person being assisted. Wheels 30 for moving the electric wheelchair 1 forward or backward are located at the bottom of the main frame 10. The wheels 30 are driven by an electric motor 40 (see Figures 1 and 3), which is controlled by a control unit 50. Furthermore, the main frame 10 is provided with a gripping section 60 that can move back and forth, allowing the caregiver to grasp it and control the operation of the electric wheelchair 1.

[0012] As shown in Figure 2, the gripping portion 60 comprises a base portion 70 extending from the main body frame portion 10 and a cylindrical gripping body portion 80 positioned at the end of the base portion 70. The gripping body portion 80 is slidable back and forth relative to the base portion 70, and is configured to be in a reference neutral position via a spring portion 91 when the gripping body portion 80 is not being touched by hand. A sensor portion 95 is also positioned between the base portion 70 and the gripping body portion 80 as a measuring means for measuring the relative front-to-back position of the gripping body portion 80 with respect to the base portion 70 (including the front-to-back position due to micro-vibrations) based on an electrical signal.

[0013] As shown in Figure 3, the control unit 50 includes a determination unit 100, which is a determination means equipped with a CPU, and a storage unit 110, which is a storage means equipped with a RAM that stores the change in the front-rear position of the gripping body 80 measured by the sensor unit 95 as a movement history based on electrical signals, and a ROM that stores predetermined movement history patterns. The data regarding the front-rear position of the gripping body 80 detected by the sensor unit 95 is transmitted to the control unit 50. In addition, the electric motor 40 is driven according to the control content of the determination unit 100.

[0014] In this configuration, when the gripping body 80 is pushed forward from the neutral position, the wheels 30 are controlled to rotate forward and move forward. Specifically, the position range of the gripping body 80 in which the wheels 30 are controlled to rotate forward and move forward is defined as the forward position range β (see Figure 2).

[0015] In contrast, when the gripping body 80 is pulled backward from the neutral position, the wheels 30 are controlled to rotate backward and move in reverse. Specifically, the position range of the gripping body 80 in which the wheels 30 are controlled to rotate backward and move in reverse is defined as the rear position range γ (see Figure 2).

[0016] Furthermore, when the gripping body 80 moves from a state where the electric wheelchair 1 is moving forward or backward to a predetermined neutral position range α (see Figure 2), including the neutral position, control is performed to maintain the rotation state of the wheel 30 that was moving immediately before.

[0017] Furthermore, the memory unit 110 of the control unit 50 has multiple stop mode movement history patterns stored in advance. In this embodiment, three patterns (multiple patterns) with different contents are prepared for the stop mode movement history patterns, but it is also possible to have a configuration in which only one pattern (single pattern) is prepared as the stop mode movement history pattern. Figure 4 shows one example of a stop mode movement history pattern.

[0018] Here, the stop mode movement history pattern defines the conditions under which it is necessary to exceptionally stop the control of the wheels 30 when the gripping main body part 80 has shifted to a predetermined neutral position range α. When the movement history pattern of the gripping main body part 80 conforms to at least one of a plurality of stop mode movement history patterns, the determination unit 100 executes control to stop the drive of the electric motor 40 and stop the wheels 30. For example, in a situation where the gripping main body part 80 has shifted to the neutral position range α and is moving forward, but the assistant has released their hand from the gripping main body part 80, it is necessary to stop the wheels 30 to ensure safety. In the present invention, three patterns of electrical signals received when the gripping main body part 80 is in the neutral position range α are prepared in advance as stop mode movement history patterns, and when the received electrical signal conforms to the stop mode movement history pattern, it is considered that the condition for stopping the wheels 30 is satisfied.

[0019] Next, a mode of using the electric wheelchair 1 will be described.

[0020] For example, when the assistant positions the gripping main body part 80 in the neutral position range α and advances the electric wheelchair 1, and accidentally releases their hand, the movement (vibration) history pattern of the gripping main body part 80 at that time is compared with a plurality of stop mode movement history patterns. When the movement (vibration) history pattern of the gripping main body part 80 conforms to any of the stop mode movement history patterns, it is determined that the stop condition is satisfied, and the wheels 30 are stopped.

[0021] In the above embodiment, design changes are possible without departing from the gist of the present invention, and the dimensional shapes of each part can be freely selected as appropriate.

Explanation of Reference Numerals

[0022] 1 Electric wheelchair 10 Main body frame part 20 Seating part 30 Wheels 40 Electric motor 50 Control unit 60 Gripping part 70 Base section 80 Grip body part 91 Spring section 95 Sensor unit (measuring means) 100 Judgment unit (judgment means) 110 Storage unit (storage means)

Claims

[Claim 1] Wheels that are controlled by a control unit and electrically stop, move forward, or reverse, The care recipient support section, where the person being cared for is supported, The gripping part that the caregiver holds, Equipped with, The gripping portion consists of a base portion and a gripping body portion that is slidable back and forth relative to the base portion. An electric wheelchair comprising control components that cause the wheels to move forward when the gripping body is in a predetermined forward position range, the wheels to move backward when the gripping body is in a rear position range defined to be behind the forward position range, and when the gripping body moves from the forward position range or the rear position range to a neutral position range defined between the forward position range and the rear position range, the wheels to maintain rotation so as to maintain the movement of the wheels immediately before, The control unit, A measuring means for measuring the front-to-back position of the gripping body with respect to the base portion, A storage means that stores the change over time of the front-to-back position of the gripping body measured by the measuring means as a movement history, It has, Furthermore, the storage means includes: The gripping body has a stored stopping motion history pattern which defines predetermined conditions for controlling the stopping of the wheels when the gripping body moves from the forward position range or the rear position range to the neutral position range. Furthermore, the control unit includes: The system includes a determination means that determines whether the movement history of the gripping body within the neutral position range matches the stopping mode movement history pattern, and controls the wheel to stop if it matches the stopping mode movement history pattern. An electric wheelchair characterized by the following features.

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