Electric wheelchair

Abstract

An electric wheelchair is disclosed. The electric wheelchair comprises: a main body including a seat on which a user is seated, a footrest connected to one end of the seat, and a backrest connected to the other end of the seat; an input unit which is provided in the main body and to which a user input for the posture and driving of the main body is input by the user; a transfer unit provided under the main body and moving the main body; a driving unit provided between the main body and the transfer unit, including two first driving links connected to both side surfaces of an upper part of the transfer unit and two second driving links connected to both side surfaces of a lower part of the seat, wherein the first driving links and the second driving links are located at positions corresponding to each other and are each connected through a hinge structure, and individually moving the first driving links and the second driving links; and a control unit for controlling the posture and driving of the main body by driving the transfer unit and the driving unit on the basis of the user input.

Description

electric wheelchair

[0001] The present invention relates to an electric wheelchair, and more specifically, to an electric wheelchair that allows the movement of the seat, footrest, and backrest on which the user sits to reduce body pressure (e.g., back pressure, foot pressure, etc.) generated during posture changes such as raising the user's back or lifting the legs, adjusts the seat height to match the height of the chair or bed when transferring from a seated or lying position, and supports stable movement even when crossing a step higher than the wheel radius.

[0002] In addition to the elderly and infirm with limited mobility and those with disabilities resulting from illness or accidents, the number of elderly people with disabilities is increasing due to musculoskeletal degeneration associated with aging. Wheelchairs are used as a primary means of transportation for these elderly and disabled individuals.

[0003] Among the comforts provided by a wheelchair, the most important evaluation criterion is that it perfectly meets the anatomical needs of the user. Even if anatomical needs are met, if the wheelchair is used for a long time by the elderly or disabled (hereinafter referred to as the user), it causes physical damage to physical functions such as reduced mobility in the lower body, decreased bowel function, and worsening blood circulation.

[0004] Recently, to address this problem, electric wheelchairs are being manufactured that allow users to move their bodies even while seated; however, due to the structural characteristics of the wheelchair, these electric wheelchairs provide only limited movement.

[0005] Furthermore, conventional electric wheelchairs use large wheels to overcome doorways and uneven surfaces, which necessitates the use of high-torque motors. Consequently, these wheelchairs are manufactured with large sizes and heavy weights, resulting in high production costs and difficulties in storage.

[0006] The problem that the present invention aims to solve is to provide an electric wheelchair that ensures safety during posture changes by maintaining a constant center of gravity while allowing the seat, footrest, and backrest, on which the user sits, to move freely as they are connected by a plurality of joint structures.

[0007] Another problem that the present invention aims to solve is to provide an electric wheelchair that supports a movement mechanism capable of stably overcoming steps in terrain with steps, thereby minimizing impact on the user.

[0008] The electric wheelchair of the present invention for solving the above problem comprises: a main body including a seat on which a user sits, a footrest connected to one end of the seat, and a backrest connected to the other end of the seat; an input unit provided on the main body, into which user input regarding the posture and driving of the main body is input by the user; a transfer unit provided at the bottom of the main body and for moving the main body; a driving unit provided between the main body and the transfer unit and including two first driving links connected to the upper sides of the transfer unit and two second driving links connected to the lower sides of the seat, wherein the first driving links and the second driving links at corresponding positions are each connected by a hinge structure and the first driving links and the second driving links are individually moved; and a control unit that controls the posture and driving of the main body by driving the transfer unit and the driving unit based on the user input.

[0009] In addition, the main body is characterized by the fact that the space between the seat and the footrest and the space between the seat and the backrest are each connected by a hinge structure.

[0010] In addition, the main body comprises: at least one first link, one end of which is connected to one end of the seat; at least one second link, one end of which is connected to one end of the footrest and the other end of which is connected to the other end of the first link via a hinge structure; at least one first guide line, formed in a rod shape and fixed to the rear surface of the footrest, with a first guide hole formed in a longitudinal direction in a part of the rod shape, and guiding the hinge portion connecting the other end of the first link and the other end of the second link to move along the first guide hole; at least one third link, one end of which is connected to the other end of the seat; at least one fourth link, one end of which is connected to one end of the backrest and the other end of which is connected to the other end of the third link via a hinge structure; and at least one second guide line, formed in a rod shape and fixed to the rear surface of the backrest, with a second guide hole formed in a longitudinal direction in a part of the rod shape, and guiding the hinge portion connecting the other end of the third link and the other end of the fourth link to move along the second guide hole. It is characterized by including additional features.

[0011] In addition, the above-mentioned conveying unit is characterized by including a plurality of wheels and being formed in a U-shape with an open portion adjacent to the footrest.

[0012] In addition, the driving unit comprises: two first driving links, each having one end connected to the upper sides of the conveying unit via a hinge structure; two second driving links, each having one end connected to the lower sides of the seat via a hinge structure and the other end connected to the other end of each of the first driving links via a hinge structure; at least one connecting shaft connecting the two first driving links; a first driving means, one end connected to the upper part of the conveying unit and the other end connected to the connecting shaft, for controlling the posture movement of the main body in the horizontal direction; and a second driving means, one end connected to the lower part of the seat and the other end connected to the connecting shaft, for controlling the posture movement of the main body in the vertical direction.

[0013] In addition, the driving unit is characterized by including a third driving means for controlling the movement of at least one link among the first link, the second link, the third link, and the fourth link.

[0014] In addition, the control unit is characterized by individually controlling the seat, the footrest, and the backrest while controlling the main body to move up and down, tilt forward and backward, and assume any one of the standing postures.

[0015] In addition, the control unit is characterized by controlling the footrest to be raised higher than the upper surface of the step when the terrain with the step is detected, advancing the main body with the footrest raised, advancing the main body while gradually raising the front wheel when the front wheel of the conveyor reaches the step, and advancing the main body while gradually raising the rear wheel when the rear wheel of the conveyor reaches the step.

[0016] In addition, the control unit is characterized by raising the footrest further so that it does not collide with the upper surface of the step when the rear wheel of the transfer unit moves forward while rising.

[0017] In addition, the control unit is characterized by controlling the drive unit so that the center of gravity of the main body is shifted relative to the seat.

[0018] According to an embodiment of the present invention, a seat on which a user sits, a footrest, and a backrest are combined based on a hinge structure and a sliding structure, similar to a human joint structure, and by controlling the posture of the main body including the seat, footrest, and backrest with a plurality of driving means, various postures can be stably provided.

[0019] In addition, when moving over terrain with a height difference that cannot be overcome with the size of the installed wheels, the front and rear wheels are moved sequentially while adjusting the height so that the footrest does not hit the difference, thereby minimizing the impact transmitted to the user and allowing movement over the terrain.

[0020] FIG. 1 is a configuration diagram for explaining an electric wheelchair system according to an embodiment of the present invention.

[0021] FIG. 2 is a block diagram illustrating an electric wheelchair according to an embodiment of the present invention.

[0022] FIG. 3 is a perspective view illustrating the front of an electric wheelchair according to an embodiment of the present invention.

[0023] FIG. 4 is a perspective view illustrating the rear of an electric wheelchair according to an embodiment of the present invention.

[0024] FIG. 5 is a side view illustrating an electric wheelchair according to an embodiment of the present invention.

[0025] FIG. 6 is a plan view for illustrating an electric wheelchair according to an embodiment of the present invention.

[0026] FIGS. 7 and FIGS. 8 are drawings for explaining the up-and-down movement of an electric wheelchair according to an embodiment of the present invention.

[0027] FIGS. 9 and FIGS. 10 are drawings for explaining the forward and backward tilting of an electric wheelchair according to an embodiment of the present invention.

[0028] FIG. 11 is a drawing illustrating the standing posture of an electric wheelchair according to an embodiment of the present invention.

[0029] FIGS. 12, FIGS. 13, and FIGS. 14 are drawings for explaining the movement of the footrest and backrest of an electric wheelchair according to an embodiment of the present invention.

[0030] Figure 15 is an enlarged view of part A of Figure 14.

[0031] Figure 16 is an enlarged view of part B of Figure 14.

[0032] FIG. 17 is a drawing for explaining the center of gravity of an electric wheelchair according to an embodiment of the present invention.

[0033] FIGS. 18, FIGS. 19, FIGS. 20 and FIGS. 21 are drawings for explaining an electric wheelchair that moves over a stepped terrain according to an embodiment of the present invention.

[0034] FIG. 22 is a block diagram illustrating a computing device according to an embodiment of the present invention.

[0035] Embodiments of the present invention are described below with reference to the attached drawings so that those skilled in the art can easily implement them. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. Furthermore, in order to clearly explain the present invention in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification are denoted by similar reference numerals.

[0036] In this specification and drawings (hereinafter referred to as the 'this specification'), redundant descriptions of identical components are omitted.

[0037] Furthermore, when a component is described in this specification as being 'connected' or 'connected' to another component, it should be understood that it may be directly connected to or connected to the other component, or that there may be other components in between. On the other hand, when a component is described in this specification as being 'directly connected' or 'directly connected' to another component, it should be understood that there are no other components in between.

[0038] Furthermore, the terms used in this specification are used merely to describe specific embodiments and are not intended to limit the invention.

[0039] Additionally, in this specification, singular expressions may include plural expressions unless the context clearly indicates otherwise.

[0040] Furthermore, in this specification, terms such as 'comprising' or 'having' are intended merely to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not excluding in advance the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0041] Additionally, in this specification, the term "and / or" includes a combination of the plurality of described items or any of the plurality of described items. In this specification, "A or B" may include "A," "B," or "both A and B."

[0042] In addition, detailed descriptions of known functions and configurations that may obscure the essence of the invention will be omitted in this specification.

[0043]

[0044] FIG. 1 is a configuration diagram for explaining an electric wheelchair system according to an embodiment of the present invention.

[0045] Referring to FIG. 1, the electric wheelchair system (300) supports ensuring safety during posture changes by maintaining a constant center of gravity while allowing the seat, footrest, and backrest on which the user sits to move freely as they are connected by a plurality of joint structures. The electric wheelchair system (300) supports a movement mechanism that can stably cross a step so as to minimize impact on the user even on terrain with steps. The electric wheelchair system (300) includes an electric wheelchair (100) and a user terminal (200).

[0046] The electric wheelchair (100) performs posture and driving based on user input. At this time, the electric wheelchair (100) has a joint structure similar to a human leg, thereby supporting various postures and stable movement, which can minimize the impact transmitted to the user during movement. Additionally, the electric wheelchair (100) calculates status information including current location, posture, driving speed, driving path, etc., and transmits the calculated status information to the user terminal (200).

[0047] The user terminal (200) is a terminal used by the user (or the user's guardian) and receives status information from the electric wheelchair (100). The user terminal (200) outputs the received status information. Preferably, the user terminal (200) can output status information based on map information, thereby helping the user intuitively recognize the current location, driving speed, driving route, etc.

[0048] Meanwhile, the electric wheelchair system (300) supports communication between the electric wheelchair (100) and the user terminal (200) by establishing a communication network (350). The communication network (350) may be Zigbee, Bluetooth, Wireless LAN (IEEE 802.11b, IEEE 802.11a, IEEE 802.11g, IEEE 802.11n), Wireless Hart (ISO / IEC62591-1), 3G, 4G, 5G, and 6G, etc. In some embodiments, the communication network (350) may be a mobile communication network. Additionally, the communication network (350) may include any other widely known or future-developed wireless communication methods.

[0049]

[0050] FIG. 2 is a block diagram for explaining an electric wheelchair according to an embodiment of the present invention; FIG. 3 is a perspective view for explaining the front of an electric wheelchair according to an embodiment of the present invention; FIG. 4 is a perspective view for explaining the rear of an electric wheelchair according to an embodiment of the present invention; FIG. 5 is a side view for explaining an electric wheelchair according to an embodiment of the present invention; FIG. 6 is a plan view for explaining an electric wheelchair according to an embodiment of the present invention; FIG. 7 and FIG. 8 are drawings for explaining the vertical movement of an electric wheelchair according to an embodiment of the present invention; FIG. 9 and FIG. 10 are drawings for explaining the forward and backward tilting of an electric wheelchair according to an embodiment of the present invention; FIG. 11 is a drawing for explaining the standing posture of an electric wheelchair according to an embodiment of the present invention; FIG. 12 to FIG. 14 are drawings for explaining the movement of the footrest and backrest of an electric wheelchair according to an embodiment of the present invention; FIG. 15 is an enlarged view of part A of FIG. 14; FIG. 16 is an enlarged view of part B of FIG. 14; and FIG. 17 is for explaining the center of gravity of an electric wheelchair according to an embodiment of the present invention. It is a drawing.

[0051] FIG. 17 (a) is a diagram showing the center of gravity in a normal posture, FIG. 17 (b) is a diagram showing the center of gravity in a seat raised posture, FIG. 17 (c) is a diagram showing the center of gravity in a footrest raised posture, FIG. 17 (d) is a diagram showing the center of gravity in a lying posture, FIG. 17 (e) is a diagram showing the center of gravity in a posture where the backrest is tilted backward in a lying posture, FIG. 17 (f) is a diagram showing the center of gravity in an upside-down posture, FIG. 17 (g) is a diagram showing the posture where the backrest is tilted backward in a normal posture, FIG. 17 (h) is a diagram showing the posture where the entire seat is tilted backward, FIG. 17 (i) is a diagram showing the center of gravity in a posture where the backrest is tilted forward in a footrest raised posture, FIG. 17 (j) is a diagram showing the posture where the entire seat is tilted backward in a standing state, and FIG. 17 (k) is a diagram showing the standing posture.

[0052] Referring to FIGS. 1 to 17, the electric wheelchair (100) includes a main body (10), an input unit (30), a transfer unit (50), a driving unit (60), and a control unit (90), and may further include a communication unit (20), a sensor unit (40), a power supply unit (70), and a storage unit (80).

[0053] The main body (10) corresponds to the frame of the electric wheelchair (100) and corresponds to the part where the user sits. The main body (10) includes a seat (11), a footrest (12), and a backrest (13). The seat (11) is the part where the user sits, and a cushioning material (e.g., cushion, latex, etc.) may be provided on the part that contacts the user so that the user can sit for a long time. In addition, the seat (11) may be equipped with armrests on both sides to support the user's arms and a safety belt (not shown) to maintain a safe seated state. The footrest (12) is connected to one end of the seat (11) and is formed in the shape of a support so that the user's feet are supported. The length of the footrest (12) is variable so that it can be adjusted to fit the user's leg length. The backrest (13) is connected to the other end of the seat (11) and is formed in the shape of a support so that the user's back is supported. At this time, the backrest (13) may be equipped with a cushioning member in the part that comes into contact with the user, just like the seat (11). Here, the main body (10) is connected by a hinge structure between the seat (11) and the footrest (12) and between the seat (11) and the backrest (13).

[0054] In detail, the main body (10) further includes a first link (L1), a second link (L2), a first guideline (G1), a third link (L3), a fourth link (L4), and a second guideline (G2) to connect the seat (11) and the footrest (12) and the seat (11) and the backrest (13), respectively. The first link (L1) includes at least one link, one end of which is connected to one end of the seat (11) by a hinge structure. Preferably, the first link (L1) includes two links, and the two first links (L1) can be connected symmetrically with respect to the center of the seat (11). The second link (L2) includes at least one link, one end of which is connected to one end of the footrest (12) by a hinge structure and the other end of which is connected to the other end of the first link (L1) by a hinge structure. Preferably, the second link (L2) includes two links, and the other end of each second link (L2) is provided at a position corresponding to the other end of the first link (L1) to support connection with each other. The first guide line (G1) is formed in a rod shape and fixed to the rear of the footrest (12), and a first guide hole (H1) in the longitudinal direction is formed in a part of the rod shape. The first guide line (G1) guides the hinge portion connecting the other end of the first link (L1) and the other end of the second link (L2) to move along the first guide hole (H1). Preferably, the first guide line (G1) includes two links and can guide the movement of each hinge portion connecting the other end of the first link (L1) and the other end of the second link (L2).

[0055] A third link (L3) is connected at one end to the other end of the seat (11) by a hinge structure and includes at least one. Preferably, the third link (L3) includes two links, and the two third links (L3) can be connected symmetrically with respect to the center of the seat (11). A fourth link (L4) is connected at one end to the one end of the backrest (13) by a hinge structure and at the other end to the other end of the third link (L3) by a hinge structure, and includes at least one link. Preferably, the fourth link (L4) includes two links, and the other end of each fourth link (L4) can be provided at a position corresponding to the other end of the third link (L3) to support connection with each other. A second guide line (G2) is formed in a rod shape and fixed to the rear of the backrest (13), and a second guide hole (H2) in the longitudinal direction is formed in a part of the rod shape. The second guide line (G2) guides the hinge portion connecting the other end of the third link (L3) and the other end of the fourth link (L4) to move along the second guide hole (H2). Preferably, the second guide line (G2) includes two parts and can guide the movement of each hinge portion connecting the other end of the third link (L3) and the other end of the fourth link (L4).

[0056] The communication unit (20) performs communication with the user terminal (200). The communication unit (20) transmits status information of the electric wheelchair (100) to the user terminal (200) to enable the user terminal (200) to output the information. The status information may include the current location, posture, driving speed, driving path, etc. of the electric wheelchair (100).

[0057] The input unit (30) is provided in the main body (10), and user input regarding the posture and driving of the main body (10) is input by the user. Preferably, the input unit (30) may be provided on an armrest provided in the seat (11) of the main body (10), and may be formed in the form of a joystick, a button, etc.

[0058] The sensor unit (40) is provided in the main body (10) and measures information related to the posture and driving of the main body (10). The sensor unit (40) measures posture-related information such as the vertical movement state and tilt state of the main body (10). In addition, the sensor unit (40) can measure the direction in which the main body (10) is driven, driving speed, detection of obstacles in front, and distance between obstacles. To this end, the sensor unit (40) includes at least one sensor, and preferably may include an acceleration sensor, an angular velocity sensor, a geomagnetic sensor, an IMU (Inertial Measurement Unit) sensor, an infrared sensor, an ultrasonic sensor, a distance sensor, etc. Although not shown in the drawing, the electric wheelchair (100) may further include a GPS unit (not shown) to more accurately measure the current position measured by the sensor unit (40).

[0059] The transport unit (50) is provided at the bottom of the main body (10) and moves the main body (10). To this end, the transport unit (50) includes a plurality of wheels, and preferably may include two front wheels and two rear wheels. The transport unit (50) may be formed in a C-shape with an open portion adjacent to the footrest (12) to secure space without restricting the movement of the footrest (12). For example, the transport unit (50) may have two front wheels provided on each side of the open portion of the C-shape and two rear wheels provided on each side of the closed portion of the C-shape. Here, the transport unit (50) is designed so that the size of the rear wheels is larger than the size of the front wheels, allowing it to climb over terrain with steps more easily.

[0060] The driving unit (60) is provided between the main body (10) and the transfer unit (50) and controls the movement of the posture of the main body (10). At this time, the driving unit (60) supports the individual movement of the height and inclination of the seat (11), footrest (12), and backrest (13). The driving unit (60) includes two first driving links (DL1), two second driving links (DL2), a connecting shaft (S), a first driving means (61), a second driving means (62), and a third driving means (63).

[0061] Two first drive links (DL1) are each connected at one end to the upper sides of the transfer unit (50) via a hinge structure. At this time, each first drive link (DL1) may have strength capable of withstanding the load of the main body (10) and the user. The two first drive links (DL1) are each connected to a part adjacent to the center of the transfer unit (50) with consideration of the center of gravity, and preferably, they may be each connected to the inner side among the two sides of the transfer unit (50).

[0062] Two second drive links (DL2) each have one end connected to the lower side of the seat (11) by a hinge structure, and the other end connected to the other end of the first drive link (DL1) by a hinge structure. At this time, each second drive link (DL2) can have strength capable of withstanding the load of the main body (10) and the user. The two second drive links (DL2) are each connected to a part adjacent to the center of the seat (11) with consideration of the center of gravity, and preferably, they are each connected to the outer side of the two sides of the seat (11) and each connected to the inner side of the other end of the first drive link (DL1).

[0063] That is, the two first drive links (DL1) and the two second drive links (DL2) may be links corresponding to human legs.

[0064] The connecting shaft (S) includes at least one and is formed in a column shape, connecting two first driving links (DL1). The connecting shaft (S) serves as a medium connecting the first driving means (61) and the second driving means (62), and transmits the direction of the force generated from the first driving means (61) and the second driving means (62) to the main body (10). That is, the connecting shaft (S) can have strength capable of withstanding the force generated from the first driving means (61) and the second driving means (62).

[0065] One end of the first driving means (61) is connected to the upper part of the transfer unit (50), and the other end is connected to the connecting shaft (S). The first driving means (61) controls the positional movement of the main body (10) in the horizontal direction. When the main body (10) moves forward, the first driving means (61) can push the connecting shaft (S) forward, and when the main body (10) moves backward, it can pull the connecting shaft (S) backward. The first driving means (61) can be implemented as a motor, a hydraulic cylinder, etc.

[0066] One end of the second driving means (62) is connected to the lower part of the seat (11), and the other end is connected to the connecting shaft (S). The second driving means (62) controls the posture movement of the main body (10) in the vertical direction. When the main body (10) rises, the second driving means (62) can push the connecting shaft (S) upward, and when the main body (10) descends, it can pull the connecting shaft (S) downward. The second driving means (62) can be implemented as a motor, a hydraulic cylinder, etc.

[0067] That is, the first driving means (61) and the second driving means (62) move in tandem with each other based on the connecting axis (S) to control the up-and-down movement and forward-and-back tilting of the main body (10).

[0068] The third driving means (63) controls the movement of the footrest (12) and the backrest (13). To this end, the third driving means (63) is provided on the second driving link (DL2) in the lower part of the main body (10) and is connected to the first link (L1), the second link (L2), the third link (L3), and the fourth link (L4). That is, the third driving means (63) can control the movement of the footrest (12) and the backrest (13) by controlling the movement of at least one link among the first link (L1), the second link (L2), the third link (L3), and the fourth link (L4). The second driving means (62) can be implemented as a motor, etc.

[0069] The power supply unit (70) is provided on the upper rear portion of the transport unit (30) and supplies power for the electric wheelchair (100) to operate. The power supply unit (70) is formed in the form of a battery to enable portability. The power supply unit (70) can charge the battery by receiving power from an external source.

[0070] The storage unit (80) stores a program or algorithm for driving the electric wheelchair (100). The storage unit (80) stores information that is input, measured, or set for driving the electric wheelchair (100) (e.g., user input entered by a user, measurement information measured by a sensor, etc.). The storage unit (80) may include at least one storage medium among a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., SD or XD memory, etc.), RAM (Random Access Memory), SRAM (Static Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory), magnetic memory, a magnetic disk, and an optical disk.

[0071] The control unit (90) controls the overall operation of the electric wheelchair (100). The control unit (90) controls the posture and driving of the main body (10) by driving the transport unit (50) and the driving unit (60) based on user input received from the input unit (30). For example, the control unit (90) can support various movements by individually controlling the seat (11), footrest (12), and backrest (13) while controlling the main body (10) to move up and down, tilt forward and backward, and in an upright position. At this time, the control unit (90) can prevent the phenomenon of weight being added to one side by correcting the posture so that the center of gravity moves together with the posture movement of the main body (10). Preferably, the control unit (90) can control the driving unit (60) so that the center of gravity of the main body moves relative to the seat (11). In addition, the control unit (90) can smoothly change the driving speed and direction for safe driving. That is, the control unit (90) can avoid rapidly increasing or decreasing the driving speed and avoid rapidly changing direction.

[0072]

[0073] Hereinafter, the process of operation when the electric wheelchair of the present invention moves over terrain with steps will be described. FIGS. 18 to 21 are drawings for explaining an electric wheelchair moving over terrain with steps according to an embodiment of the present invention.

[0074] Referring to FIGS. 2 to 21, the electric wheelchair (100) moves stably over terrain with steps to minimize the impact transmitted to the user. To this end, the electric wheelchair (100) can control driving through a control unit (90).

[0075] The control unit (90) calculates the height of the step when a terrain with a step is detected based on measurement information measured by the sensor unit (40). Based on the calculated height of the step, the control unit (90) controls the third driving means (63) so that the footrest (12) is raised higher than the upper surface of the step. The control unit (90) advances the main body (10) with the footrest (12) raised higher than the upper surface of the step. When the front wheel of the transport unit (50) reaches the step, the control unit (90) controls the second driving means (62) to gradually raise the front wheel while advancing the main body (10). Additionally, when the rear wheel of the transport unit (50) reaches the step, the control unit (90) controls the second driving means (62) to gradually raise the rear wheel while advancing the main body (10) to support movement over the step. At this time, the control unit (90) can raise the footrest (12) further so that it does not hit the upper surface of the step due to shaking that may occur during the process of the rear wheel of the transport unit (50) moving over the step. When the transport unit (50) has completely crossed the step, the control unit (90) can lower the height of the footrest (12) to a preset height (e.g., an optimal height suitable for the user's height) and then control the next drive.

[0076] That is, when the electric wheelchair (100) moves over a terrain with a step, regardless of the size of the mounted wheel, it can stably cross the step by performing the action of pushing the wheel reaching the step downward through the first driving means (61) and the second driving means (62) and then continue driving.

[0077]

[0078] As described above, the electric wheelchair (100) of the present invention is configured such that the seat (11) on which the user sits, the footrest (12), and the backrest (13) are combined based on a hinge structure and a sliding structure, similar to a human joint structure, and by controlling the posture of the main body (10), including the seat (11), the footrest (12), and the backrest (13), with a plurality of driving means, it can stably provide various postures. That is, the electric wheelchair (100) can reduce physical pressure (e.g., isometric pressure, foot pressure, etc.) generated during posture changes, thereby reducing the user's discomfort.

[0079] In addition, when the electric wheelchair (100) moves to terrain with a height difference that cannot be overcome by the size of the installed wheels, it can move the front wheels and rear wheels sequentially while adjusting the height so that the footrest (12) does not hit the difference, thereby minimizing the impact transmitted to the user and moving over the terrain.

[0080]

[0081] FIG. 22 is a block diagram illustrating a computing device according to an embodiment of the present invention.

[0082] Referring to FIG. 22, the computing device (TN100) may be a device described in this specification (e.g., an electric wheelchair, a user terminal, etc.).

[0083] The computing device (TN100) may include at least one processor (TN110), a transceiver (TN120), and a memory (TN130). Additionally, the computing device (TN100) may further include a storage device (TN140), an input interface device (TN150), an output interface device (TN160), etc. The components included in the computing device (TN100) may be connected by a bus (TN170) to communicate with each other.

[0084] The processor (TN110) can execute a program command stored in at least one of the memory (TN130) and the storage device (TN140). The processor (TN110) may refer to a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which methods according to embodiments of the present invention are performed. The processor (TN110) may be configured to implement the procedures, functions, and methods described in connection with embodiments of the present invention. The processor (TN110) can control each component of the computing device (TN100).

[0085] Each of the memory (TN130) and the storage device (TN140) can store various information related to the operation of the processor (TN110). Each of the memory (TN130) and the storage device (TN140) may be composed of at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory (TN130) may be composed of at least one of read-only memory (ROM) and random access memory (RAM).

[0086] The transmitting and receiving device (TN120) can transmit or receive wired or wireless signals. The transmitting and receiving device (TN120) can be connected to a network to perform communication.

[0087]

[0088] Meanwhile, embodiments of the present invention are not limited to being implemented only through the apparatus and / or methods described so far, but may also be implemented through a program that realizes a function corresponding to the configuration of the embodiments of the present invention or a recording medium on which such program is recorded, and such implementation can be easily achieved by a person skilled in the art to which the present invention belongs based on the description of the embodiments described above.

[0089]

[0090] Although embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by a person skilled in the art using the basic concept of the present invention as defined in the following claims also fall within the scope of the present invention.

Claims

1. A main body comprising a seat on which a user is seated, a footrest connected to one end of the seat, and a backrest connected to the other end of the seat; An input unit provided in the main body, into which user input regarding the posture and driving of the main body is input by the user; A transfer unit provided at the lower part of the main body and moving the main body; A driving unit configured between the main body and the transfer unit, comprising two first driving links connected to the upper sides of the transfer unit and two second driving links connected to the lower sides of the seat, wherein the first driving links and the second driving links at corresponding positions are each connected by a hinge structure and the first driving links and the second driving links are individually moved; and A control unit that controls the posture and movement of the main body by driving the transfer unit and the drive unit based on the above user input; An electric wheelchair including 2. In Paragraph 1, The above main body is, An electric wheelchair characterized in that the space between the seat and the footrest and the space between the seat and the backrest are each connected by a hinge structure.

3. In Paragraph 2, The above main body is, At least one first link connected to one end of the above seat; At least one second link, one end of which is connected to one end of the footrest, and the other end of which is connected to the other end of the first link via a hinge structure; At least one first guide line formed in a rod shape and fixed to the rear surface of the footrest, wherein a first guide hole is formed in a longitudinal direction in a part of the rod shape, and a hinge portion connecting the other end of the first link and the other end of the second link is guided to move along the first guide hole; At least one third link connected to the other end of the above seat; At least one fourth link, one end of which is connected to one end of the backrest and the other end of which is connected to the other end of the third link via a hinge structure; and At least one second guide line formed in a rod shape and fixed to the rear surface of the backrest, wherein a second guide hole is formed in the longitudinal direction in a part of the rod shape, and a hinge portion connecting the other end of the third link and the other end of the fourth link is guided to move along the second guide hole; An electric wheelchair characterized by including additional 4. In Paragraph 1, The above transfer unit is, An electric wheelchair characterized by including multiple wheels and being formed in a U-shape with an open portion adjacent to the footrest.

5. In Paragraph 1, The above driving unit is, Two first drive links, each connected to the upper sides of the above-mentioned transfer unit by a hinge structure; Two second drive links, each having one end connected to the lower sides of the seat via a hinge structure, and the other end connected to the other end of the first drive link via a hinge structure; At least one connecting shaft connecting the two first drive links above; A first driving means having one end connected to the upper part of the transfer unit and the other end connected to the connecting shaft, and controlling the posture movement of the main body in the horizontal direction; and A second driving means having one end connected to the lower part of the seat and the other end connected to the connecting shaft, which controls the posture movement of the main body in the vertical direction; An electric wheelchair characterized by including 6. In Paragraph 2, The above driving unit is, A third driving means for controlling the movement of at least one link among the first link, the second link, the third link, and the fourth link; An electric wheelchair characterized by including 7. In Paragraph 1, The above control unit is, An electric wheelchair characterized by individually controlling the seat, the footrest, and the backrest while controlling the main body to move up and down, tilt forward and backward, and assume any one of the standing postures.

8. In Paragraph 1, The above control unit is, When the terrain with the aforementioned step is detected, the footrest is controlled to be raised higher than the upper surface of the step, and the main body is advanced while the footrest is raised. When the front wheel of the above-mentioned conveying unit reaches the above-mentioned step, the main body is advanced while gradually raising the front wheel, and An electric wheelchair characterized by advancing the main body while gradually raising the rear wheel when the rear wheel of the above-mentioned conveying unit reaches the above-mentioned step.

9. In Paragraph 8, The above control unit is, An electric wheelchair characterized by raising the footrest further so that it does not collide with the upper surface of the step when moving forward while raising the rear wheel of the above-mentioned conveying unit.

10. In Paragraph 1, The above control unit is, An electric wheelchair characterized by controlling the drive unit so that the center of gravity of the main body is shifted based on the seat.

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