Drive assist electric device of operator riding type

Abstract

The purpose of the present invention is to develop a drive assist electric device enabling a helper to steer a wheelchair while riding on a board with wheels. A drive assist electric device that assists driving of a wheelchair supporting a frame connecting a seat part and a wheel, and a tipping lever provided on the frame, the drive assist electric device comprising: a drive part that rotates at least one drive wheel; a control part that controls rotation of the drive wheel by the drive part; a battery that supplies power to the drive part and the control part; bars disposed on right and left sides of the drive assist electric device; and arms for connection to the frame, the arms being connected to end parts of the bars.

Description

Operator-ridden drive assist electric device

[0005]

[0001] The present disclosure relates to an operator-ridden drive assist electric device.

[0002] With the increasing elderly population worldwide, wheelchairs have been developed for the purpose of enabling users and caregivers to move together in order to improve the mobility of the elderly and people with disabilities. Such tandem wheelchairs are equipped with electric motors and sensor technology, making it easier to move on slopes and over long distances, and minimizing the physical burden on caregivers.

[0003] Patent Document 1 discloses a support cart used for a stretcher or the like. The cart includes a pedestal for attaching a seat portion, a lower frame provided with traveling wheels for movement, a parallel link provided for raising and lowering the pedestal, and an upper frame for rotating one end of the parallel link, and can respond to various uses through the cooperation of each component.

[0004] Patent Document 2 discloses a nursing care medical electric wheelchair that is easy to adjust its moving posture and movements. The electric wheelchair includes a footrest pedal frame, an inclination connection frame, a chair panel frame, a headrest frame, and a backrest frame. Each frame forms a plane under the action of an electric push rod and moves as part of a bed.

[0005] Japanese Unexamined Patent Application Publication No. 2023-064388, Japanese Unexamined Patent Application Publication No. 2023-008349

[0006] Although the inventions described in Patent Document 1 and Patent Document 2 mount a device for driving the wheelchair at the lower part of the wheelchair, there is a disadvantage that the caregiver riding on the wheelchair cannot freely control the moving direction of the wheelchair while riding on the wheelchair. In addition, depending on the usage specifications, the devices for driving the wheelchairs described in each document cannot be freely attached or detached, resulting in a problem of low convenience in use.

[0007] Therefore, the present invention has been made in view of the above problems, and aims to develop a drive assist electric device that allows a caregiver to freely drive and control a wheelchair.

[0008] A drive assist electric device according to one embodiment of the present invention is a drive assist electric device that assists the driving of a wheelchair, which includes a frame connecting a seat and wheels, and a kick lever on the frame, and may also include a drive unit that rotates at least one drive wheel, a control unit that controls the rotation of the drive wheel by the drive unit, a battery that supplies power to the drive unit and the control unit, bars arranged on the left and right sides of the drive assist electric device, and arms connected to the ends of the bars for connecting to the frame.

[0009] The arm of the drive assist electric device according to one embodiment of the present invention may be positioned on a frame or kick lever that connects the seat and the wheels.

[0010] A drive assist electric device according to one embodiment of the present invention is attached to a bar and further comprises a wheeled board for a wheelchair caregiver to stand on, the wheeled board may comprise at least one connecting bar for fixing to the drive assist electric device or a frame connecting the bar or seat to the wheels, an assist-side step for the caregiver to stand on, and at least one assist-side wheel for rotation attached to the assist-side step.

[0011] In one embodiment of the present invention, the drive assist electric device may have at least one connecting bar extending from the wheeled board and attached to one point of the drive assist electric device, the bar, or a bracket attached to the bar.

[0012] In one embodiment of the present invention, the drive assist electric device may have at least one connecting bar extending from one point on the wheeled board and attached to a frame that connects the drive assist electric device or the bar or seat to the wheels.

[0013] A drive assist electric motor according to one embodiment of the present invention may include a map information generation unit that generates map information including road surface irregularities.

[0014] According to the electric drive assist device of this disclosure, a caregiver can steer the wheelchair while riding on a wheeled board provided on the electric drive assist device.

[0015] (a) is a front view showing an example of how to install the drive assist electric device of this disclosure. (b) is a side view showing an example of how to install the drive assist electric device of this disclosure. This figure shows an example of an external view of the drive assist electric device of this disclosure. (a) is an example of a rear view of the drive assist electric device of this disclosure. (b) is an example of a side view of the drive assist electric device of this disclosure. (c) is an example of a top view of the drive assist electric device of this disclosure. (a) is a figure showing an example of how to install the wheeled board of this disclosure. (b) is a figure showing an example of how to install the wheeled board of this disclosure. This figure shows an embodiment of the drive assist electric device when the wheeled board of this disclosure is not used. This figure shows an example of the placement position of the wheeled board when the wheeled board of this disclosure is not used. This figure shows an embodiment of the drive assist electric device when the wheeled board of this disclosure is used. This figure shows an example of the placement position of the wheeled board when the wheeled board of this disclosure is used. This figure shows an example of steering of the wheeled board when the wheeled board of this disclosure is used. (a) is a diagram showing an example of a bar with a locking mechanism, and (b) is a schematic diagram showing the state in which the clamp tool and the bar are fixed together by the locking mechanism at the end of the arm.

[0016] The following describes the drive assist electric device 2 of this disclosure and its various embodiments with reference to the drawings. The drive assist electric device 2 of this disclosure is detachably attached to the wheelchair side frame 12 provided at the bottom of the wheelchair 1. When the drive assist electric device 2 is attached to the wheelchair 1, the wheelchair 1 is driven with the assistance of the drive assist electric device 2. Conversely, when the drive assist electric device 2 is not attached to the wheelchair 1, the wheelchair 1 may function as a general manually propelled vehicle. The wheelchair 1 of this disclosure may also be a general manually propelled vehicle, such as a stroller, shopping cart, airport trolley, cargo transport cart, pushcart, handcart, or similar manually propelled vehicle that is moved by being directly pushed or pulled using the strength of a person pushing it.

[0017] Figure 1 is a front view and a side view of an example of how to mount the drive assist electric device 2 of the present disclosure. According to Figure 1(a), the wheelchair 1 of the present disclosure is a general manually propelled vehicle and comprises a vertical frame that supports the side seat of the wheelchair, and a horizontal frame (i.e., a tipping lever and a kick lever) that is mounted perpendicular to the aforementioned vertical frame and parallel to the front caster and rear drive wheels. The drive assist electric device 2 may be mounted on the vertical frame, on the horizontal frame (or the tipping lever and kick lever), or on the vertical frame and fixed to the horizontal frame. In this case, the vertical frame and the horizontal frame are mounted in an L-shape. Also, according to Figure 1(b), the drive assist electric device 2 is positioned parallel to the rear drive wheels of the wheelchair 1, and the wheelchair 1 is driven by the assistance of the drive assist electric device 2.

[0018] Figure 2 shows an example of an external view of the drive assist electric device 2 of the present disclosure. As shown in Figure 2, the drive assist electric device 2 includes a drive wheel 21, an arm 22, a bar 23, a control unit 24, a battery 25, and a bolt 26. Furthermore, the type, number, and position of each component are not limited, and depending on the functions that the drive assist electric device 2 can realize, sensors for acquiring motion information such as position sensors and road surface sensors may be further mounted on the drive assist electric device 2. The components will be described in detail below using the drawings in Figure 3.

[0019] Figure 3 is a rear view, side view, and top view of the drive assist electric device 2 of the present disclosure. Figure 3(a) is an example of a rear view of the drive assist electric device 2. The drive wheel 21 is located at the bottom center of the drive assist electric device 2 and is configured to move the drive assist electric device 2 forward, backward, etc., by being rotated by a drive motor (not shown) of a drive unit (not shown). The number and position of the drive wheels 21 are not limited, and as an example, the drive wheel 21 of the present disclosure may be one wheel or two or more wheels. If there is one wheel, the drive wheel 21 may be located directly below the control unit 24, and if there are two wheels, the drive wheels 21 may be located at both ends of the bar 23. The rotation speed of the drive wheel 21 may also be controlled by the drive unit (not shown), and if the goal is to increase the speed of the wheelchair 1, the drive unit may rotate the drive wheel 21 at a higher rotation speed. Conversely, when attempting to reduce the speed of wheelchair 1, the drive unit may rotate the drive wheels 21 at a lower rotational speed or use regenerative braking. The drive unit may also have a function to suppress the speed of wheelchair 1 on slopes. Specifically, when wheelchair 1 is traveling downhill, the drive unit may, regardless of whether wheelchair 1 is facing forward or backward, control the rotation of the drive wheels 21 using regenerative braking to suppress the speed of wheelchair 1, causing it to descend slowly or stop if necessary. Furthermore, when wheelchair 1 is traveling uphill, the drive unit may control the drive wheels 21 to prevent wheelchair 1 from moving backward (i.e., sliding backward). Such slope-speed suppression functions reduce the burden on caregivers 4 and improve the safety of the person seated.

[0020] The arm 22 is configured to fix or attach the drive assist electric device 2 to the vertical frame or horizontal frame (kick lever) of the wheelchair 1. Specifically, the fixing end of the arm 22 of this disclosure (i.e., the end with the clamp tool) is attached to the left and right ends of the bar 23 with bolts 26, and the caregiver may freely adjust the position of the arm 22 on the bar 23 (for example, the width between left and right) by turning the bolts 26. For example, when the bolts 26 are loosened, the arm 22 becomes movable, and the caregiver may freely adjust the position of the arm 22 on the bar 23. Conversely, when the bolts 26 are tightened, the arm 22 becomes immovable, and the arm 22 may be fixed in a predetermined position on the bar 23. The arm 22 and the bar 23 may have a locking mechanism that fixes them together when the arm 22 is attached to the bar 23. An example of a locking mechanism is shown in Figure 10. Figure 10(a) shows an example of a bar 23 having a locking mechanism, and Figure 10(b) is a schematic diagram showing the state in which the clamp tool at the end of the arm 22 and the bar 23 are fixed by the locking mechanism. As shown in the figures, the bar 23 may have a protrusion 51 extending in the longitudinal direction. The clamp tool of the arm 22 may also have a recess 52 that fits into the protrusion 51 provided on the bar 23. When attaching the arm 22 to the bar 23, the fitting of the protrusion 51 on the bar 23 and the recess 52 on the arm 22 can improve the mounting strength of the drive assist electric device 2 to the wheelchair 1. However, it is not essential to fit the protrusion 51 and the recess 52 when attaching the arm 22 to the bar 23. For example, in the embodiment shown in Figure 10(b), the bar 23 may be fixed so that the protrusion 51 faces the open end of the clamp tool, either upward or downward. Note that Figure 10 shows an example in which one convex portion 51 and two concave portions 52 are provided, but the invention is not limited to this. Furthermore, the locking mechanism by which the convex portion 51 and concave portions 52 are fitted together is just one example, and other locking mechanisms may be used. For example, a ratchet mechanism may be used in which sawtooth-shaped protrusions and recesses (ratchet teeth) are formed along the length of the bar 23, and a claw portion that engages with the ratchet teeth is provided on the clamping tool of the arm 22.Alternatively, a pin fitting mechanism may be adopted in which multiple through holes are formed at predetermined intervals along the length of the bar 23, and a locking pin that can be inserted into the through holes is provided on the clamping tool of the arm 22. Alternatively, a slide lock mechanism may be adopted in which a sliding member capable of clamping the bar 23 is provided on the clamping tool of the arm 22, and grooves that engage with the sliding member are formed at predetermined intervals along the length of the bar 23. In these mechanisms, the mounting position of the arm 22 may be set in stages according to the spacing of the ratchet teeth, through holes, and grooves. Furthermore, the other end of the arm 22 (i.e., the end with the mounting ring) has a mounting ring larger than the diameter of the horizontal and vertical frames of the wheelchair 1, and the caregiver may attach the arm 22 to the vertical or horizontal frame of the wheelchair 1 using the part of the arm 22 with the mounting ring. The arm 22 also has a movable part (not shown), and the caregiver may freely adjust the mounting angle and mounting position of the arm 22 around this movable part. With the above configuration, the drive assist electric device 2 can be attached and detached depending on the usage situation.

[0021] The bar 23 serves as the main body of the drive assist electric device 2, supporting each component. Specifically, arms 22 are provided at both ends of the bar 23, a control unit 24 and a battery 25 are mounted on the upper middle of the bar 23, and a component (not shown) for connecting the drive wheels 21 is located at the lower middle of the bar 23. With the above configuration, the drive assist electric device 2 has the function of freely adjusting the distance between the drive wheels 21 and the bar 23 (i.e., the vertical distance from the drive wheels 21 to the bar 23). Furthermore, the components attached to the bar 23 are not limited to the above configurations, and the drive assist electric device 2 may also be equipped with road surface sensors for acquiring road surface conditions, ultrasonic sensors for measuring the distance to obstacles, infrared sensors for detecting the presence and distance of objects, and posture detection sensors that use gyroscopes and accelerometers to detect the posture of a person sitting on the vehicle. In addition, the bar 23 may be provided with a folding mechanism (not shown) to miniaturize the entire device when storing or transporting it. The folding mechanism includes a pivot shaft that rotatably connects the bar 23 to a support part on the control unit 24 side, and in use, the position of the bar 23 is maintained by a locking mechanism that restricts the rotation of the pivot shaft. The locking mechanism can be made up of, for example, a pin, a bolt, a lever, or a combination thereof, and may be provided at a location that can restrict the rotation of the pivot shaft. In the folded state, the bar 23 can be folded toward the vehicle body by releasing the rotation restriction by the locking mechanism and rotating the bar 23 around the pivot shaft. This ensures stability during use while improving handling when stored.

[0022] Figure 3(b) is an example of a side view of the drive assist electric device 2. According to Figure 3(b), a control unit 24 and a bar 23 for driving the drive assist electric device 2 are mounted directly above the drive wheel 21. The battery 25 of this disclosure is configured to supply power to the operation of the drive assist electric device 2. Specifically, the battery 25 supplies power to a control unit 24 mounted on the front of the battery 25, a drive unit (not shown) that rotates the drive wheel 21, a drive motor (not shown), and other components. The battery 25 of this disclosure may be charged by regeneration from the drive motor, or it may be a replaceable battery such as a general lead-acid battery, lithium-ion battery, or gel battery. The outside of the battery 25 may further have a housing for housing the battery 25. The material of the housing is not limited and should protect the battery 25 or other components inside the battery 25. The battery 25 is removable and may be charged when removed. The battery 25 of this disclosure may be a commercially available power tool battery. The "power tool battery" in this disclosure is a general-purpose lithium-ion battery provided by a power tool manufacturer. The power tool battery is compact in size, yet supports high output exceeding 1 kW, has excellent water resistance and shock resistance, and can also be rapidly charged. Furthermore, some power tool batteries have a function that automatically switches the output voltage according to the device to which they are attached, and by adopting such a battery, it is possible to supply power at a voltage that matches the specifications of the drive assist electric device 2. By adopting a power tool battery, it becomes possible for users to share batteries from power tools they already own with the drive assist electric device 2, thereby reducing the cost of purchasing additional batteries and also enabling the sharing of chargers.

[0023] Figure 3(c) is an example of a top view of the drive assist electric device 2. Referring to Figures 3(b) and 3(c), the control unit 24 is mounted in front of the battery 25 and has multiple components inside for controlling the drive assist electric device 2. Specifically, the control unit 24 has the function of notifying the drive motor of a control signal to drive the drive assist electric device 2 in accordance with the various instructions received from the caregiver 4. When the drive motor receives various control signals from the control unit 24, the drive unit rotates the drive wheel 21 in accordance with the signal. As an example, the control unit 24 may determine the rotation speed based on instructions from the caregiver 4. In this case, the control unit 24 may notify the drive unit of a control signal to the drive motor to rotate the drive wheel 21 at a predetermined rotation speed.

[0024] From here, embodiments of the drive assist electric device 2 of the present disclosure will be described using Figures 4 to 8. Figure 4 is a diagram showing an example of how to attach the wheeled board of the present disclosure. The wheeled board of the present disclosure (see Figure 4) is equipped with a connecting bar 27, an assist-side step 28, an assist-side wheel 29, and an assist-side frame 30, and the wheeled board is connected to the drive assist electric device 2 via the connecting bar. A detailed explanation follows. Figure 4(a) is an example in which the wheeled board described above is fixed to the bar 23 of the drive assist electric device 2 via the connecting bar 27. In this case, the two connecting bars 27 provided on the wheeled board are fixed to one point on the bar 23 of the drive assist electric device 2, and the caregiver 4 may rotate the drive assist electric device 2 to the left or right with the point fixed to the bar 23 as the intersection point to realize the swing function. Alternatively, the wheeled board may be fixed to the main body of the drive assist electric device 2. When the wheeled board is fixed to the main body of the drive assist electric device 2, the two connecting bars 27 may extend from both ends of the wheeled board to the main body of the drive assist electric device 2 and be fixed to a single point on the main body of the electric device 2, or they may start from a single point in the center of the wheeled board and extend to both ends of the main body of the drive assist electric device 2 and be fixed to the main body. The main body of the drive assist electric device 2 in this disclosure is not limited to the bars 23, and may be the housing of the control unit 24 or the battery 25, and can be freely adjusted according to the use of the wheelchair 1, as long as it is in a position that ensures stability when the caregiver 4 is on the wheeled board.

[0025] On the other hand, Figure 4(b) shows another example in which the wheeled board described above is fixed to a frame that connects the seat and the wheels via connecting bars 27. In this case, the two connecting bars 27 provided on the wheeled board are attached from one point on the assist-side frame 30 of the wheeled board to the frame that connects the seat and the wheels, and the caregiver 4 may rotate the drive assist electric device 2 to the left or right with the aforementioned point as the intersection point to realize the swing function. Specifically, the two connecting bars 27 may extend from one point on the wheeled board to the left and right horizontal frames of the wheelchair 1, respectively, and be fixed to the horizontal frames of the wheelchair 1, or they may extend from one point on the wheeled board to the left and right vertical frames of the wheelchair 1, respectively, and be fixed to the vertical frames of the wheelchair 1. However, the method of attaching the wheeled board is not limited as described above. The two connecting bars 27 may extend from one point on the wheeled board and be fixed to both ends of the main body of the drive assist electric device 2, or they may be fixed to both ends of the bar 23. The position in which the connecting bars 27 are attached to the main body of the drive assist electric device 2 or the bar 23 is not limited; it should be a position that ensures stability when the caregiver 4 stands on the wheeled board.

[0026] The drive assist electric device 2 may further include a U-shaped or U-shaped frame (hereinafter referred to as a bracket), and the connecting bar 27 may be fixed to one point of the bracket. Specifically, the U-shaped bracket (or U-shaped bracket) is fixed to the bar 23 of the drive assist electric device 2, and the caregiver 4 can adjust the mounting of the bracket around the fixing point. For example, when adjusting the bracket upwards, the caregiver 4 may flip the bracket upwards around the fixing point on the bar 23. Conversely, when adjusting the bracket downwards, the caregiver 4 may flip the bracket downwards around the fixing point on the bar 23. In addition, the connecting bar 27 of this disclosure may extend from both ends of the wheeled board and be fixed to one point of the bracket, in which case the caregiver 4 may swing the wheeled board to the right or left around the point on the bracket to adjust the direction of travel of the wheelchair 1. However, the shape of the bracket is not limited to U-shape or U-shape; it may be I-shaped, O-shaped, or any shape that can be fixed to the main body of the drive assist electric device 2. If the bracket is I-shaped, the I-shaped bracket is attached to the main body of the drive assist electric device 2, and the connecting bar 27 is fixed to one point of the I-shaped bracket and may be flipped up around that fixing point. The caregiver 4 may swing the wheeled board to the right or left around the point where the main body of the drive assist electric device 2 and the I-shaped bracket are fixed, thereby adjusting the direction of travel of the wheelchair 1.

[0027] Next, the various components of the wheeled board will be described. The connecting bar 27 is a rod-shaped component for fixing the wheeled board to the drive assist electric device 2. Specifically, one or more connecting bars 27 may be provided in this disclosure. When one connecting bar 27 is provided, it may be placed in the middle of the wheeled board. In this case, the caregiver 4 may adjust the rotation angle of the wheeled board around the point where the connecting bar 27 is placed. When two connecting bars 27 are provided, they may be placed on the left and right sides of the wheeled board respectively, or they may be placed with a point on the wheeled board as the intersection point.

[0028] The assist-side step 28 is a movable step intended for a caregiver 4 to ride on, supported by the assist-side wheels 29. Specifically, when operating the drive assist electric device 2 without using the wheeled board, the wheeled board may be flipped up, and the caregiver 4 may push the wheelchair 1 while operating the drive assist electric device 2 by gripping the handle 11 of the wheelchair 1. In this case, the wheeled board may be stored at the rear of the backrest (or back support, a seat connected to the seat of the wheelchair 1) of the wheelchair 1. Conversely, when operating the drive assist electric device 2 using the wheeled board, the wheeled board may be lowered, and the caregiver 4 may push the wheelchair 1 while operating the drive assist electric device 2 by gripping the handle 11 of the wheelchair 1 with the assist-side step 28 on it. Furthermore, the assist-side step 28 of this disclosure may be a general, weight-bearing, durable step, and is made of metal, synthetic resin, etc., but is not limited to these examples, and may be made of any durable material.

[0029] The assist-side wheels 29 are wheels that move the wheeled board and are configured to support the assist-side step 28. Specifically, the number of assist-side wheels 29 in this disclosure is determined by the type of wheeled board. If the wheeled board is a two-wheeled board, the assist-side wheels 29 may be positioned on the left and right sides of the wheeled board. If the wheeled board is a three-wheeled board, two assist-side wheels 29 may be positioned on the left and right sides of the wheeled board, and the other assist-side wheel 29 may be positioned on the center side of the wheeled board. If the wheeled board is a four-wheeled board, two assist-side wheels 29 may be positioned on the left and right sides of the wheeled board, respectively. This allows the caregiver 4 to physically steer the board to the left or right relative to the direction of travel of the drive assist electric device 2 when the caregiver 4 is on the assist-side step 28. On the other hand, the assist-side wheels 29 in this disclosure may be drive wheels with a driving function, and in this case, a control unit for steering may be further provided on the wheeled board. Alternatively, these may be auxiliary wheels that rotate in addition to the drive wheels 21 of the drive assist electric device 2. When the caregiver 4 operates the drive assist electric device 2, the drive wheels of the drive assist electric device 2 rotate and move in a predetermined direction, which may cause the assist-side wheels 29 to rotate simultaneously.

[0030] The assist-side frame 30 supports the various structures provided on the wheeled board and functions as a base for placing heavy objects such as caregivers on it. For example, if the assist-side step 28 is attached to the assist-side frame 30, shocks and vibrations generated from the operation of the drive assist electric device 2 are absorbed by the assist-side frame 30, which may improve the stability of the wheeled board's operation. However, the assist-side frame 30 in this disclosure is not a necessary configuration, and depending on the embodiment of the wheeled board, the assist-side frame 30 may not be provided.

[0031] <First Embodiment> The drive assist electric device 2 according to the first embodiment does not need to be equipped with a wheeled board (see Figure 1). In this case, the caregiver 4 may move the wheelchair 1 in a predetermined direction of travel while holding the handle 11 of the wheelchair 1. In this way, the drive assist electric device 2 is configured to assist the caregiver 4 by providing driving force to the wheelchair 1.

[0032] Furthermore, the drive assist electric device 2 according to the first embodiment may also perform a swing function. Specifically, the drive wheel 21 mounted on the drive assist electric device 2 is capable of 360-degree rotation in the horizontal plane, thereby facilitating the changing direction and fine movements of the wheelchair 1. For example, when attempting to smoothly change direction in a narrow space or move diagonally, the caregiver 4 may adjust the direction of travel of the wheelchair 1 by swinging it to the left or right around the drive wheel 21 of the drive assist electric device 2. In this case, the drive assist electric device 2 according to the first embodiment can adjust the direction of travel using the drive wheel 21, increasing convenience for the caregiver 4 when operating it and enabling flexible movement according to the usage environment.

[0033] <Second Embodiment> From here, each embodiment of the drive assist electric device 2 of the present disclosure will be described. Figure 5 is a diagram showing an embodiment in which a wheeled board on which a caregiver 4 is placed is further provided on the drive assist electric device 2, but the wheeled board (not shown) is not used. Specifically, in the second embodiment, the wheeled board is in a flipped-up position, and the caregiver 4 may push the wheelchair 1 without operating the drive assist electric device 2, or may push the wheelchair 1 while operating the drive assist electric device 2. In this case, the drive assist electric device 2 according to the second embodiment may assist the caregiver 4 in operating the wheelchair by providing driving force to the wheelchair 1, similar to the drive assist electric device 2 according to the first embodiment.

[0034] Figure 6 is a top view showing the arrangement of the wheeled board according to the second embodiment. When the wheeled board is not in use, it may be stored behind the backrest of the wheelchair 1 via a connecting bar 27. Specifically, the connecting bar 27 extends from a point on the wheeled board and is fixed to both ends of the main body of the drive assist electric device 2, or both ends of the bar 23, or to a frame (horizontal frame or vertical frame) that connects the seat and the wheels to support the wheeled board. However, it is not limited to these, and the connecting bar 27 may extend from both ends of the wheeled board and be fixed to a point on the drive assist electric device 2, or a point on the bar 23, or to a point on a bracket attached to the bar 23 to support the wheeled board. In this case, the stage surface of the assist-side step 28 may be fixed parallel to the backrest of the wheelchair 1. Furthermore, the wheeled board of this disclosure may be detachable, and the wheeled board may be removed from the drive assist electric device 2.

[0035] <Third Embodiment> Figure 7 shows an embodiment in which a wheeled board with a caregiver 4 on it is used with a drive assist electric device 2. Specifically, the wheeled board is attached to the rear of the drive assist electric device 2, and the caregiver 4 can operate the wheelchair 1 by gripping the handle 11 of the wheelchair 1 while riding on the wheeled board. The wheelchair 1 may move in a predetermined direction of travel by the drive of the drive assist electric device 2 and the operation by the caregiver 4. In addition, since the drive assist electric device 2 in this embodiment is attached to the frame that supports the rear drive wheels of the wheelchair 1, when the caregiver 4 is riding on the wheeled board and operating the wheelchair 1, the wheelchair 1 may adjust the direction of travel by performing a swing function with the intersection of the wheeled board and the main body or bar 23 or bracket attached to the bar 23 or connecting bar 27 connected to the frame that connects the seat and the wheels of the drive assist electric device 2 as the origin. For example, when operating the power assist motor 2 to move wheelchair 1 to the left, caregiver 4 may stand on a wheeled board and steer the wheeled board to the left, centering on the intersection of the two connecting bars 27. Conversely, when operating the power assist motor 2 to move wheelchair 1 to the right, caregiver 4 may stand on a wheeled board and steer the wheeled board to the right, centering on the intersection of the two connecting bars 27. This allows caregiver 4, while standing on a wheeled board, to freely adjust the direction of travel of wheelchair 1, depending on how the connecting bars 27 fixed to the power assist motor 2 are attached.

[0036] Figure 8 is a top view of the arrangement of the wheeled board according to the third embodiment. When the wheeled board is used, it may be provided behind the drive assist electric device 2. This allows the caregiver 4 to control the movement of the wheelchair 1 by operating the drive assist electric device 2 while standing on the assist-side step 28 of the wheeled board. According to Figure 8, the two connecting bars 27 are attached to the main body of the drive assist electric device 2, or to the bar 23 or the bracket of the bar 23, and fixed to one point on the assist-side frame 30 of the wheeled board. However, the method of attaching the wheeled board is not limited to these, and the two connecting bars 27 may be placed at both ends of the assist-side frame 30 of the wheeled board, and fixed with a point on the main body of the drive assist electric device 2, or to the bar 23 or the bracket attached to the bar 23 as the intersection point. Furthermore, the wheeled board according to the third embodiment is also detachable, and the wheeled board may be removed from the drive assist electric device 2.

[0037] Figure 9 shows an example of the swing function of a wheeled board attached to a drive assist electric device 2 when using the wheeled board of the present disclosure. Specifically, when two connecting bars 27 are attached to the left and right sides of the drive assist electric device 2 or bar 23 and fixed to a point on the central side of the assist-side frame 30 of the wheeled board, the caregiver 4 may move the wheeled board to the left or right, using the point on the assist-side frame 30 as an intersection point. For example, when the caregiver 4 moves the wheeled board to the left around that intersection point, the wheelchair 1 may move in the direction of the wheeled board (i.e., to the left) under the control of the drive assist electric device 2. Conversely, when the caregiver 4 moves the wheeled board to the right around that intersection point, the wheelchair 1 may move in the direction of the wheeled board (i.e., to the right) under the control of the drive assist electric device 2.

[0038] Furthermore, if the two connecting bars 27 are attached to the frame connecting the seat and wheels of the wheelchair 1 (i.e., the left and right horizontal frames, or the left and right vertical frames) and fixed to a point on the central side of the assist-side frame 30 of the wheeled board, the caregiver 4 may move the wheeled board to the left or right using the point on the assist-side frame 30 as the intersection point. Also, if the two connecting bars 27 become one and are attached to the assist-side step 28 or the assist-side frame 30, the wheeled board may be moved to the left or right using the point where the two connecting bars and one connecting bar intersect as the intersection point. In addition, depending on how the connecting bars 27 are attached, the wheeled board may perform the swing function around a point on the main body of the drive assist electric device 2 or on the bar 23, or it may perform the swing function around a point on the bracket attached to the bar 23.

[0039] The method for adjusting the direction of travel of the wheelchair 1 by rotating the wheeled board is not limited, and the connecting bar 27 may extend from the left and right sides of the assist-side frame 30 of the wheeled board and be fixed to one point on the main body of the drive assist electric device 2, the bar 23, or a bracket attached to the bar 23. In this case, the caregiver 4 may perform the swing function by rotating the wheeled board to the left or right around the intersection of the connecting bar 27 in the drive assist electric device 2.

[0040] The above describes the configuration, embodiments, and operation examples of the drive assist electric device 2 according to this embodiment. However, the embodiments of the drive assist electric device 2 are not limited to these, and other configurations may be added for each type of wheelchair 1. On the other hand, the same or equivalent components, processes, and signals shown in each drawing are denoted by the same reference numerals, and redundant explanations are omitted as appropriate. In addition, some components that are not important for explanation are omitted in each drawing. The configurations shown in the above embodiments may be combined as appropriate.

[0041] <Modification> (1) In each of the above embodiments, the drive assist electric device 2 of the present disclosure may further include a collision avoidance function. Specifically, the drive assist electric device 2 may further include various sensors such as an ultrasonic sensor, millimeter-wave radar, image sensor, TOF sensor, radar, LiDAR, and infrared sensor that can detect the direction of travel of the wheelchair 1 and obstacles present around the wheelchair 1, and the control unit 24 may control the rotational speed of the drive wheels 21 by the drive motor based on sensing information acquired by the various sensors to avoid collisions with obstacles.

[0042] (2) In each of the above embodiments, the drive assist electric device 2 of the present disclosure may further include a function for acquiring or analyzing road surface information. Specifically, the drive assist electric device 2 may further include various sensors such as a gyro sensor, an acceleration sensor, an image sensor, a TOF sensor, a laser, and a LiDAR, and the control unit 24 will estimate the presence or absence of steps, slopes, etc. on the sidewalk or road that the wheelchair 1 will pass through, based on the sensing information acquired by each sensor. Furthermore, if the control unit 24 analyzes the acquired sensing information and estimates that there are steps, slopes, etc., it may notify the caregiver 4 of the estimation result or control the drive wheels 21.

[0043] (3) In each of the above embodiments, the drive assist electric device 2 of the present disclosure may further include a positioning function. Specifically, the drive assist electric device 2 may further include various wireless communication devices such as GPS (Global Positioning System), IMES (Indoor Messaging System), BEACON, Wi-Fi, RFID (Radio Frequency Identification), UWB (Ultra Wide Band), Quupa, ultrasound, geomagnetism, etc., and the control unit 24 may position the wheelchair 1 equipped with the drive assist electric device 2 based on the information acquired by each wireless communication device.

[0044] (4) In each of the above embodiments, the drive assist electric device 2 of the present disclosure may further include a map generation function. Specifically, the drive assist electric device 2 further includes various wireless communication devices such as 3G, 4G, 5G, LPWA (Low Power Wide Area), ZigBee, Wi-Fi, Bluetooth, NFC (Near Field Communication), RFID (Radio Frequency Identification), UWB (Ultra Wide Band), etc. The control unit 24 may use the information acquired from each wireless communication device as map data, and generate a detailed map based on the position information and road surface information of the wheelchair 1 equipped with the drive assist electric device 2 in accordance with the sensing information acquired from various sensors. In this case, the wheelchair 1 equipped with the drive assist electric device 2 may share information such as the position in the generated map, the presence or absence of obstacles around that position, and the distance to the destination with the caregiver side. Further, the acquired various information may be stored in a database mounted on the drive assist electric device 2, and the accuracy of the map information may be improved by accumulating and updating the various information.

[0045] <Modification Example 1: Roughness Map Generation Process> In the above map generation function, the drive assist electric device 2 of the present disclosure may have a function of collecting road surface roughness information in real time in cooperation with a mobile information terminal such as a smartphone, generating and utilizing a roughness map of the sidewalk, and may further include a map information generation unit. Specifically, various sensors such as GPS, an acceleration sensor, a gyro sensor, a vital sensor, a camera, and LiDAR are mounted on the smartphone attached to the drive assist electric device 2 or carried by the caregiver 4. The control unit 24 may measure and collect data on the height (Z direction) and position (XY direction) of the road surface during movement based on the sensing information acquired from each sensor. The collected data may be accumulated on the cloud, and a roughness map (or a barrier map) indicating the roughness level of the sidewalk or the roadside strip may be automatically generated. Further, in order to improve the position accuracy, a Raspberry Pi or a centimeter-level high-precision small GPS module may be used.

[0046] The gyro sensor is configured to quantify the change in posture of the wheelchair 1 when it passes over an inclined surface or step by detecting changes in the pitch angle and roll angle of the drive assist electric device 2. Specifically, the gyro sensor may acquire angular velocity data, and the control unit 24 may calculate the posture angle by integrating the acquired angular velocity data over time. If the control unit 24 detects a change in posture that exceeds a predetermined threshold (for example, a pitch angle of 5 degrees or more, or a roll angle of 3 degrees or more), it may record that point as an inclination or step. Furthermore, the control unit 24 may improve the accuracy of surface irregularity detection by combining data acquired from the acceleration sensor and data acquired from the gyro sensor and performing sensor fusion processing.

[0047] The vital sensor is mounted on the drive assist electric device 2 or the wheelchair 1 and is configured to acquire vital data of the user or caregiver 4. The vital sensor in this disclosure includes a heart rate sensor, blood pressure sensor, respiratory sensor, body temperature sensor, galvanic skin response (GSR) sensor, and electromyography sensor, etc. The control unit 24 may detect changes in vital data such as an increase in heart rate, fluctuations in blood pressure, changes in respiratory rate, increase in sweating, and changes in muscle tone caused by the impact or discomfort felt by the user when the wheelchair 1 passes over steps or uneven surfaces. The map information generation unit may use the detected changes in vital data as reference information for weighting the uneven surfaces, and may improve the accuracy of the uneven surface map by quantifying the user's subjective discomfort or sense of danger, which is difficult to detect with physical sensors. In addition, the map information generation unit may objectively evaluate the degree to which an uneven surface affects the user by statistically processing the changes in vital data acquired from multiple users for the same uneven surface and reflect this in the map. Furthermore, the mounting location of the vital sensor is not limited to the electric drive assist device 2 or the wheelchair 1, and it may be mounted on a wearable device worn by the user or caregiver 4 to acquire vital data of the user or caregiver 4. Specifically, wearable devices include smartwatches, wristband sensors, smart rings, chest-worn heart rate monitors, and headband sensors. These wearable devices may communicate with the control unit 24 of the electric drive assist device 2 via Bluetooth, Wi-Fi, or other wireless communication standards and transmit the acquired vital data in real time.

[0048] The GPS is configured to acquire the current position of the drive assist electric device 2 as latitude, longitude, and altitude. The control unit 24 may specify the position of the unevenness by associating the time when the acceleration sensor and the gyro sensor detect the unevenness with the position information acquired by the GPS. Further, the unevenness detection unit may further include a RTK-GPS (Real Time Kinematic GPS) module having a positioning accuracy of centimeter level. By using RTK-GPS, it is possible to specify the position of the unevenness with an accuracy of several centimeters in the horizontal direction.

[0049] Further, the camera images the road surface in front of the traveling direction of the drive assist electric device 2 and acquires a road surface image. The control unit 24 may perform image recognition processing on the acquired road surface image and detect road surface features such as cracks, depressions, manhole covers, and braille blocks. Specifically, the control unit 24 may estimate the type and size of the unevenness from the road surface image using a machine learning model such as a convolutional neural network (CNN). Further, the control unit 24 may estimate the three-dimensional shape of the road surface by combining a stereo camera or a monocular camera with Structure from Motion (SfM) technology.

[0050] LiDAR (Light Detection and Ranging) measures the distance to the road surface by irradiating the road surface with laser light and detecting the reflected light. The control unit 24 may generate three-dimensional point cloud data of the road surface based on the distance data acquired from LiDAR. Specifically, LiDAR scans laser light at a predetermined scanning angle (for example, 180 degrees in the horizontal direction and 30 degrees in the vertical direction) and acquires distance data at each scanning point. The control unit 24 may calculate the three-dimensional coordinates of each scanning point based on the acquired distance data and the position and orientation of the drive assist electric device 2 and generate three-dimensional point cloud data of the road surface. The control unit 24 may perform plane fitting processing on the generated three-dimensional point cloud data and detect points whose height from the reference plane exceeds a predetermined threshold (for example, 2 cm or more) as unevenness.

[0051] <Modification 2: Irregularity Level Determination Process> The map information generation unit may perform an irregularity level determination process to determine the irregularity level of the road surface based on the sensing information acquired from each sensor. In the irregularity level determination process, the map information generation unit removes the gravitational acceleration component by applying a high-pass filter to the acceleration data in the Z-axis direction acquired from the acceleration sensor, and further removes high-frequency noise by applying a low-pass filter. The map information generation unit may determine that an irregularity has been passed at that time if the absolute value of the acceleration data after filtering is greater than or equal to a predetermined threshold.

[0052] Furthermore, the map information generation unit may calculate the maximum, minimum, and standard deviation of acceleration data within a predetermined time window including the time at which it is determined that an uneven surface has been passed, and determine the unevenness level based on the calculated values. The "unevenness level" in this disclosure may be classified into five levels, for example: Level 1 (Mild: an evaluation index indicating the degree to which the user of wheelchair 1 feels slight vibration), Level 2 (Small: an evaluation index indicating the degree to which the user feels clear vibration), Level 3 (Medium: an evaluation index indicating the degree to which the user feels discomfort), Level 4 (Major: an evaluation index indicating the degree to which the user feels a strong impact and there is a risk of falling), and Level 5 (Dangerous: an evaluation index indicating the degree to which the user is at high risk of falling). However, it is not limited to these, and the map information generation unit may classify the unevenness level into any number of levels, such as 3, 7, or 10 levels, or it may calculate it as a continuous value.

[0053] <Modification 3: Risk Visualization Processing> In the above-described unevenness map generation process, the map information generation unit may further include a risk visualization function that visualizes the risk of falling based on the generated unevenness map. The risk visualization function is performed on the display of a mobile information terminal or on a display unit (not shown) provided on the drive assist electric device 2. Specifically, "risk visualization" in this disclosure is a process that displays each grid recorded in the unevenness map in a different color or pattern according to the unevenness level of that grid. As an example, the map information generation unit may display grids with an unevenness level of level 1 (minor) in green, grids with an unevenness level of level 2 (small) in yellow-green, grids with an unevenness level of level 3 (medium) in yellow, grids with an unevenness level of level 4 (large) in orange, and grids with an unevenness level of level 5 (dangerous) in red. The map information generation unit is not limited to these, and may change the intensity of the grid color according to the level of unevenness, change the hatching pattern (diagonal lines, grid, dots, etc.), or change the blinking speed of the grid.

[0054] Furthermore, the map information generation unit may adopt a display method that does not rely solely on color (for example, a combination of color and shape, a combination of color and texture, etc.) taking into consideration the color vision characteristics of the user or caregiver 4. In addition, the map information generation unit may display icons indicating the type of unevenness on the unevenness map. The “icons” in this disclosure include icons indicating steps, icons indicating slopes, icons indicating cracks, icons indicating manhole covers, icons indicating gutters, icons indicating tactile paving, and icons indicating construction work. By displaying icons at the corresponding locations on the unevenness map, the map information generation unit enables the user and caregiver 4 to recognize the type of unevenness in advance and take appropriate action. Furthermore, the map information generation unit may dynamically adjust the size and display density of the icons according to the screen size, resolution, and display magnification of the display unit. In wide-area displays with low display magnification, the map information generation unit may prioritize displaying only unevenness with a high level of unevenness, and in detailed displays with high display magnification, it may display all unevenness.

[0055] <Modification 4: AI-based Barrier Candidate Tagging Process> In the above-described unevenness map generation process, the map information generation unit may further include an AI-based barrier candidate tagging function. The "barrier candidate tagging" in this disclosure is a process in which, in addition to collecting data by passing through points where unevenness exists, the AI ​​detects driving patterns in which the wheelchair 1 swerves or temporarily slows down to avoid the unevenness, and automatically tags the avoidance points as "unevenness (barrier candidates)" on the unevenness map. Specifically, the map information generation unit calculates the driving trajectory of the wheelchair 1 based on the time series of position data acquired from GPS, and detects avoidance behavior patterns from the calculated driving trajectory. The avoidance behavior patterns detected by the map information generation unit may include, but are not limited to, swerving patterns, sudden deceleration patterns, temporary stop patterns, and detour patterns, as long as they can realize the avoidance function.

[0056] In this disclosure, the "swerving pattern" refers to a driving pattern in which the curvature of the driving trajectory is calculated and a change in curvature exceeding a predetermined threshold occurs continuously in a short period of time. The "rapid deceleration pattern" refers to a driving pattern in which the time derivative of the velocity (deceleration) calculated from the driving trajectory exceeds a predetermined threshold. The "temporary stop pattern" refers to a driving pattern in which driving resumes after a predetermined period of time during which the driving speed remains below a predetermined threshold. The "detour pattern" refers to a driving pattern in which the driving trajectory deviates by a predetermined distance or more from the straight or shortest path from the starting point to the destination. Based on the aforementioned avoidance behavior patterns, the map information generation unit automatically tags the locations where avoidance behavior occurred as "barrier candidates" on the unevenness map. This makes it possible to identify minute steps that are difficult to detect with sensors such as acceleration sensors, gyro sensors, or LiDAR, as well as potential dangerous areas that can be predicted from human behavior, dramatically improving the efficiency and accuracy of data collection.

[0057] <Modification 5: Application Processing to Urban Infrastructure> In the above-described unevenness map generation process, the drive assist electric device 2 may further be equipped with an urban infrastructure linkage function that provides the accumulated barrier information to road administrators such as local governments. The "urban infrastructure linkage function" in this disclosure is a function that provides the unevenness map data accumulated in a server system on the cloud to a road maintenance management system operated by a road administrator, making it usable for infrastructure repair planning of sidewalks and road shoulders. Specifically, the map information generation unit may provide the unevenness map data via an API (Application Programming Interface) accessible to the road administrator, or it may export it in a predetermined data format (for example, CSV format, JSON format, GeoJSON format, CityGML format, or shapefile format).

[0058] The “barrier information” in this disclosure includes information such as the location of the unevenness (latitude, longitude), the level of unevenness, the type of unevenness (step, slope, crack, sinkhole, manhole cover, gutter, etc.), the dimensions of the unevenness (height, width, length), the date and time of detection, the number of detections, and the degree of impact on users. In addition to barrier information, the map information generation unit may also provide the road administrator with the number of wheelchairs 1 that passed through the point, the number of times avoidance actions occurred, and the type of avoidance action (swerving, sudden deceleration, detour, etc.). This makes it possible for the road administrator to evaluate the impact of the unevenness on traffic based not only on the physical characteristics of the unevenness but also on actual user behavior data.

[0059] Furthermore, the map information generation unit may provide a dashboard for road administrators that visualizes barrier information on a map. The “dashboard for road administrators” in this disclosure refers to a management screen accessible via a web browser or a dedicated application, and includes a map display function, a statistical display function, a report output function, and an alert function. In the map display function, road administrators can check the distribution of unevenness within their jurisdiction on a map.

[0060] The map information generation unit mounted on the electric drive assist device 2 of this disclosure may further include a repair priority calculation function to support the formulation of a repair plan based on data generated by the use of the wheelchair 1. In this disclosure, "repair priority" is an index that quantifies the urgency and importance of repair for each bump. The map information generation unit may calculate the repair priority based on the following elements: The first element is the bump level, with bumps of a higher bump level being assigned a higher repair priority. The second element is the traffic volume, with bumps of a higher bump being assigned a higher repair priority. The more wheelchairs 1 that pass through the point, the higher the repair priority. The third element is the rate of avoidance behavior, with bumps of a higher rate of avoidance behavior occurring at the point being assigned a higher repair priority. The fourth element is the degree of impact on the user. Specifically, the electric drive assist device 2 may further include vital sensors (heart rate sensor, blood pressure sensor, respiratory sensor, body temperature sensor, etc.) for acquiring the user's vital data. The control unit 24 may detect changes in vital data such as an increase in heart rate, fluctuations in blood pressure, changes in respiratory rate, and changes in body temperature that occur when the wheelchair 1 passes over steps or uneven surfaces, causing the user to feel surprised or anxious. The map information generation unit uses the detected changes in vital data as reference information for weighting the uneven surfaces, setting a higher repair priority for uneven surfaces with larger changes in vital data. The fifth element is surrounding facilities, and uneven surfaces located around hospitals, nursing homes, schools, public facilities, etc., are set to a higher repair priority. As a result, the map information generation unit sorts a list of uneven surfaces requiring repair in order of priority based on the calculated repair priority and presents it to the road administrator, who can then formulate an efficient and effective infrastructure repair plan within the limits of their limited budget and personnel based on the presented list.

[0061] (5) In each of the above embodiments, the drive assist electric device 2 of the present disclosure may further include a navigation function. Specifically, the control unit 24 of the drive assist electric device 2 may set a route map for the wheelchair 1 equipped with the drive assist electric device 2 based on information obtained from various sensors and wireless communication devices. In this case, the control unit 24 may determine the travel route of the wheelchair 1 equipped with the drive assist electric device 2 by prioritizing routes without steps or roads with ramps according to predetermined rules, and by displaying the locations of wheelchair-accessible toilets and rest areas while taking into account the width and slope of sidewalks.

[0062] (6) In each of the above embodiments, the drive assist electric device 2 of the present disclosure may further be equipped with an AI function. Specifically, the drive assist electric device 2 is equipped with an option menu (so-called operation screen) for inputting various operation commands, and the control unit 24 trains a predetermined learning model as learning data based on the operation commands entered by the caregiver 4 on the operation screen. Based on the learning results, the control unit 24 may automatically adjust the direction of travel and speed of the wheelchair 1 equipped with the drive assist electric device 2 to match the habits of the caregiver 4. For example, the control unit 24 may store the daily travel route and destination based on the learning data, or it may automatically guide the user to the nearest route from the starting point to the destination.

[0063] (7) In each of the above embodiments, the drive assist electric device 2 of the present disclosure may further include a function for analyzing the health information of the user riding in the wheelchair 1. Specifically, the drive assist electric device 2 may further include vital sensors such as a temperature sensor, blood pressure sensor, heart rate sensor, SpO2 sensor, pulse oximeter, millimeter-wave radar, blood glucose sensor, electroencephalogram sensor, etc., and the control unit 24 may grasp the health status of the user riding in the wheelchair 1 equipped with the drive assist electric device 2 based on sensing information acquired from each sensor. For example, the control unit 24 may determine whether or not the user is sitting in the seat of the wheelchair 1 based on seat temperature information acquired from the temperature sensor, or it may determine whether or not the user's body temperature is within the normal range.

[0064] (8) In each of the above embodiments, the drive assist electric device 2 of the present disclosure may further include a solar charging function. Specifically, the external case of the drive assist electric device 2 may be made of a metallic material (e.g., stainless steel, aluminum, etc.), a plastic material (e.g., polycarbonate, glass fiber reinforced plastic, ABS resin), a hybrid material, etc. In this case, the case of the drive assist electric device 2 can convert solar energy into electricity to drive the drive assist electric device 2.

[0065] (9) In each of the above embodiments, the program for driving the drive assist electric device 2 of the Disclosure may implement, for example, an object-oriented programming language such as ActionScript, JavaScript®, Python®, C language, C++, C#, Java®, etc.

[0066] (10) In each of the embodiments described above, the drive assist electric device 2 according to this embodiment, and in particular the embodiment described with reference to the drawings, the drive method and mounting method thereof may be partially omitted, or new parts may be added, replaced, or swapped. Such omissions, additions, or changes in order of processing procedures are also included in the scope of this disclosure as long as they do not deviate from the spirit of this exhibit.

[0067] 1 Wheelchair 11 Handle 12 Wheelchair side frame 2 Drive assist electric device 21 Drive wheel 22 Arm 23 Bar 24 Control unit 25 Battery 26 Bolt 27 Connecting bar 28 Assist side step 29 Assist side wheel 30 Assist side frame 4 Caregiver 51 Protrusion 52 Recess

Claims

1. A drive assist electric device for assisting the driving of a wheelchair, comprising a frame connecting the seat and the wheels, and a kick lever on the frame, the drive assist electric device comprising: a drive unit for rotating at least one drive wheel; a control unit for controlling the rotation of the drive wheel by the drive unit; a battery for supplying power to the drive unit and the control unit; bars arranged on the left and right sides of the drive assist electric device; and arms connected to the ends of the bars for connecting to the frame.

2. The drive assist electric device according to claim 1, characterized in that the arm can be installed on the frame or kick lever that connects the seat and the wheel.

3. The drive assist electric device according to claim 1, wherein the drive assist electric device is attached to the arm via the bar and further comprises a wheeled board for a wheelchair caregiver to sit on, the wheeled board comprising at least one connecting bar for fixing to the drive assist electric device or the bar or a frame connecting the seat and the wheels, an assist-side step for the caregiver to sit on, and at least one assist-side wheel for rotation attached to the assist-side step.

4. The drive assist electric device according to claim 3, characterized in that at least one of the connecting bars extends from the wheeled board and is attached to one point of the drive assist electric device or the bar or a bracket attached to the bar.

5. The drive assist electric device according to claim 3, characterized in that at least one of the connecting bars extends from one point of the wheeled board and is attached to the drive assist electric device or the bar or the frame connecting the seat to the wheels.

6. The drive assist device according to claim 4, characterized in that the drive assist electric device comprises a map information generation unit that generates map information including road surface irregularities.

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