JP2006014982A - Wheelchair carrying vehicle and wheelchair - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To allow a user of a wheelchair to drive a vehicle without taking an uncomfortable driving posture or without feeling physical disorder. <P>SOLUTION: The wheelchair carrying vehicle 20 has an input shifting part 2361 to detect whether the wheelchair 10 is fixed at a prescribed position or not, and the wheelchair carrying vehicle 20 is controlled by shifting the input from the operation input of a driving device 220 to the external input according to the result of detection. The wheelchair 10 has an output destination shifting part 1361 to detect whether the wheelchair 10 is fixed at the prescribed position or not, and the destination of output of the operation input of a driving device 120 is shifted from a drive unit of the wheelchair 10 to an IF part 134 according to the result of detection. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a wheelchair boarding / exiting vehicle and a wheelchair, and more particularly to a wheelchair boarding / exiting vehicle and a wheelchair in which a wheelchair user can drive without taking an unreasonable driving posture.

  2. Description of the Related Art Conventionally, a wheelchair getting on / off vehicle having a wheelchair installed at a predetermined position and having a vehicle driving device is known. In such wheelchair getting on and off vehicles, wheelchair users are seated on a wheelchair installed at a predetermined position and operated by operating a vehicle driving device of the wheelchair getting on and off vehicle. The wheelchair user can sit on the wheelchair and operate the vehicle driving device, but has taken an unreasonable driving posture and cannot drive without a sense of incongruity. For example, in Patent Document 1, when a wheelchair is installed at a predetermined position, an engine of a wheelchair entry / exit vehicle can be activated, and a wheelchair user can sit on the wheelchair and operate a vehicle driving device of the wheelchair entry / exit vehicle. The prior art is disclosed.

JP-A-11-28226

  In the prior art of Patent Document 1, when the wheelchair is installed at a predetermined position, the engine of the wheelchair entry / exit vehicle can be activated, and the wheelchair user can sit on the wheelchair and operate the vehicle driving device of the wheelchair entry / exit vehicle. it can. However, wheelchair users have an unreasonable driving posture and cannot drive without a sense of incongruity.

  The present invention has been made to solve the above-described problems caused by the prior art, and provides a wheelchair passenger vehicle and a wheelchair that allow a wheelchair user to drive without taking an unreasonable driving posture and without feeling uncomfortable. The purpose is to do.

  In order to solve the above-described problems and achieve the object, a wheelchair boarding / alighting vehicle according to the invention of claim 1 is a wheelchair boarding / alighting vehicle having a wheelchair installed at a predetermined position and having a vehicle driving device. An external input interface for receiving and inputting an input, and detecting whether or not the wheelchair is fixed at the predetermined position, and switching between the operation input of the vehicle driving device and the external input according to the detected result Input switching means for controlling the wheelchair boarding / exiting vehicle.

  According to the first aspect of the present invention, an external input is received from the wheelchair and input to detect whether or not the wheelchair is fixed at a predetermined position. Since wheelchair entry / exit vehicles are controlled by switching input, wheelchair entry / exit vehicles can be driven without a sense of incongruity without the wheelchair user taking an unreasonable driving posture based on external input from the wheelchair. .

  The wheelchair boarding / exiting vehicle according to the invention of claim 2 is characterized in that, in the invention of claim 1, the external input interface is a wireless interface and / or a wired interface.

  According to the second aspect of the present invention, since the external input interface is a wireless interface and / or a wired interface, the wheelchair boarding / alighting vehicle can easily realize the external input interface.

  According to a third aspect of the present invention, in the wheelchair getting on and off vehicle according to the first aspect of the invention, the input switching means detects that the wheelchair is fixed at the predetermined position and sends the operation input to the external device. It switches to an input and the said wheelchair boarding / alighting vehicle is controlled based on the switched external input.

  According to the third aspect of the present invention, it is detected that the wheelchair is fixed at a predetermined position, the operation input is switched to the external input, and the wheelchair entry / exit vehicle is controlled based on the switched external input. Therefore, the vehicle for getting on and off the wheelchair can be controlled based on the external input from the wheelchair.

  Further, the wheelchair boarding / exiting vehicle according to the invention of claim 4 is an input conversion table storage for storing an input conversion table for converting the external input into a control input for controlling the wheelchair boarding / exiting vehicle in the invention of claim 1 or 3. The input switching means converts the external input into the control input based on the input conversion table, and controls the wheelchair entry / exit vehicle based on the converted control input.

  According to the fourth aspect of the invention, the input conversion table for converting the external input into the control input for controlling the wheelchair entry / exit vehicle is stored, the external input is converted into the control input based on the input conversion table, and the converted control is performed. Since the wheelchair boarding / alighting vehicle is controlled based on the input, the wheelchair boarding / alighting vehicle can control the wheelchair boarding / alighting vehicle by converting an external input of the wheelchair into a control input.

  According to a fifth aspect of the present invention, in the wheelchair getting on and off vehicle according to the first or third aspect, the input switching means detects that the wheelchair has been released from the predetermined position, and receives the external input. It switches to the said operation input, The said wheelchair boarding / alighting vehicle is controlled based on the switched operation input.

  According to the invention of claim 5, it is detected that the wheelchair is released from the predetermined position, the external input is switched to the operation input, and the wheelchair entry / exit vehicle is controlled based on the switched operation input. Therefore, the wheelchair boarding / alighting vehicle can be easily switched to control the wheelchair boarding / alighting vehicle based on the operation input of the wheelchair boarding / alighting vehicle.

  The wheelchair boarding / exiting vehicle according to the invention of claim 6 further comprises wheelchair diagnosis means for diagnosing the wheelchair according to the invention of claim 1 or 3, wherein the wheelchair diagnosis means is arranged such that the wheelchair is at the predetermined position. The diagnosis is performed after the fixation.

  According to the sixth aspect of the present invention, since the wheelchair is diagnosed after the wheelchair is fixed at a predetermined position, the wheelchair getting-on / off vehicle diagnoses the wheelchair before and / or after the start of driving. Can do.

  A wheelchair boarding / exiting vehicle according to a seventh aspect of the present invention is the vehicle according to any one of the first, third, fourth, and sixth aspects, wherein the input switching means receives the identification code from the wheelchair and receives the received identification code. The wheelchair is authenticated by checking an identification code registered in advance.

  According to the seventh aspect of the present invention, since the identification code is received from the wheelchair and the received identification code is collated with the previously registered identification code to authenticate the wheelchair. It is possible to prevent fear of theft.

  According to an eighth aspect of the present invention, in the wheelchair entry / exit vehicle according to the seventh aspect of the invention, the input switching unit starts the wheelchair entry / exit vehicle after authenticating the wheelchair.

  According to the eighth aspect of the invention, since the wheelchair boarding / exiting vehicle is started after the wheelchair is authenticated, the wheelchair boarding / exiting vehicle can be prevented from being stolen.

  Moreover, the wheelchair boarding / alighting vehicle which concerns on invention of Claim 9 is invention of any one of Claim 1, 3, 4, 6-8, The said input switching means is the information of the user of the wheelchair from the said wheelchair. It receives user information and changes the position or direction of the mirror of the wheelchair boarding / exiting vehicle.

  According to the ninth aspect of the present invention, the user information, which is the information on the wheelchair user, is received from the wheelchair and the position or direction of the mirror of the wheelchair boarding / exiting vehicle is changed. You can drive safely without bothering your hands.

  A wheelchair boarding / exiting vehicle according to a tenth aspect of the present invention is the wheelchair boarding / exiting vehicle according to any one of the first to ninth aspects, further comprising: a power output interface that receives and outputs power; The power supply means supplies the power to the power output interface when the wheelchair is fixed at the predetermined position.

  According to the invention of claim 10, since the electric power is supplied when the wheelchair is fixed at a predetermined position, the wheelchair getting-on / off vehicle can supply electric power to the wheelchair.

  The wheelchair according to the invention of claim 11 is a wheelchair having a wheelchair driving device installed at a predetermined position of a wheelchair boarding / exiting vehicle, and receiving and outputting an external input to the wheelchair boarding / exiting vehicle; An output destination that detects whether or not the wheelchair is fixed at the predetermined position, and switches an output destination of operation input of the wheelchair driving device to the driving device of the wheelchair and the external output interface according to the detected result A switching means is provided.

  According to the eleventh aspect of the present invention, it is detected whether or not the wheelchair is fixed at a predetermined position, and the output destination of the operation input of the wheelchair driving device is determined according to the detected result. The wheelchair can output the operation input of the wheelchair driving device to the wheelchair boarding / alighting vehicle.

  A wheelchair passenger boarding vehicle according to the invention of claim 12 is characterized in that, in the invention of claim 11, the external output interface is a wireless interface and / or a wired interface.

  According to the invention of claim 12, since the external output interface is a wireless interface and / or a wired interface, the wheelchair can easily realize the external output interface.

  The wheelchair according to the invention of claim 13 is the wheelchair according to claim 11, wherein the output destination switching means detects that the wheelchair is fixed at the predetermined position and outputs the operation input to the external output. It is characterized by switching to an interface and outputting as the external input.

  According to the invention of claim 13, since it is detected that the wheelchair is fixed at a predetermined position and the operation input is switched to the external output interface and output as the external input, the wheelchair operates the wheelchair. The input can be output as an external input to the wheelchair boarding / exiting vehicle.

  The wheelchair according to the invention of claim 14 is the wheelchair according to the invention of claim 11 or 13, further comprising an input conversion table storage means for storing an input conversion table for converting the operation input into a control input for controlling the wheelchair boarding / exiting vehicle. Further, the output destination switching means converts the operation input into the control input based on the input conversion table, and outputs the converted control input as the external input.

  According to the invention of claim 14, the input conversion table for converting the operation input into the control input for controlling the wheelchair getting on and off is stored, the operation input is converted into the control input based on the input conversion table, and the converted control is performed. Since the input is output as the external input, the wheelchair can output the control input of the wheelchair getting on / off vehicle to the wheelchair getting on / off vehicle as the external input.

  Further, in the wheelchair according to the invention of claim 15, in the invention of claim 11 or 13, the output destination switching means detects that the wheelchair has been released from the predetermined position, and receives the operation input. It switches to the drive device of a wheelchair, and the said drive device is controlled based on the switched operation input.

  According to the invention of claim 15, detecting that the wheelchair is released from the predetermined position, switching the operation input to the drive device of the wheelchair, and controlling the drive device based on the switched operation input; Therefore, the wheelchair can be easily switched to control the wheelchair based on the operation input of the wheelchair.

  Further, the wheelchair according to the invention of claim 16 further comprises an identification code storage means for storing the identification code of the wheelchair according to the invention of claim 11, 13 or 14, wherein the output destination switching means is the wheelchair. It is detected that the vehicle is fixed at a predetermined position, and the identification code is transmitted to the wheelchair getting on / off vehicle.

  According to the invention of claim 16, since the wheelchair identification code is stored, the wheelchair is detected to be fixed at a predetermined position, and the wheelchair gets on and off the wheelchair. It can be used as an identification code for wheelchair user or wheelchair authentication.

  The wheelchair according to the invention of claim 17 further comprises user information storage means for storing user information, which is information of the user of the wheelchair, according to any one of claims 11, 13, 14, and 16, The output destination switching means detects that the wheelchair is fixed at a predetermined position, and transmits the user information to the wheelchair boarding / exiting vehicle.

  According to the invention of claim 17, user information which is information on a wheelchair user is stored, and it is detected that the wheelchair is fixed at a predetermined position, and the user information is transmitted to the wheelchair getting on / off vehicle. Therefore, the wheelchair can determine the degree of freedom of the body of the wheelchair user from the user information and reflect it in the control of the wheelchair getting on / off vehicle.

  The wheelchair according to the invention of claim 18 is the battery according to any one of claims 11 to 17, wherein a power input interface that receives and inputs power, and a battery that stores the power received and input by the power input interface. The battery stores the electric power when the wheelchair is fixed at the predetermined position.

  According to the invention of claim 18, since the battery stores electric power when the wheelchair is fixed at a predetermined position, the wheelchair can charge the battery with electric power of the wheelchair getting on and off.

  According to the first aspect of the present invention, an external input is received from the wheelchair and input, it is detected whether or not the wheelchair is fixed at a predetermined position, and an operation input and an external input of the vehicle driving device are performed according to the detected result. The wheelchair boarding / exiting vehicle can be driven without a sense of incongruity without taking an unreasonable driving posture based on an external input from the wheelchair. There is an effect.

  According to the second aspect of the present invention, since the external input interface is configured to be a wireless interface and / or a wired interface, the wheelchair getting on / off vehicle can easily realize the external input interface.

  According to the invention of claim 3, it is configured to detect that the wheelchair is fixed at a predetermined position, switch the operation input to the external input, and control the wheelchair boarding / exiting vehicle based on the switched external input. Therefore, the wheelchair getting on / off vehicle can be controlled based on the external input from the wheelchair.

  According to the invention of claim 4, the input conversion table for converting the external input into the control input for controlling the wheelchair entry / exit vehicle is stored, the external input is converted into the control input based on the input conversion table, and converted. Since the wheelchair boarding / alighting vehicle is configured to be controlled based on the control input, the wheelchair boarding / alighting vehicle has an effect that the wheelchair boarding / alighting vehicle can be controlled by converting the external input of the wheelchair into the control input.

  According to the invention of claim 5, it is configured to detect that the wheelchair is released from a predetermined position, switch the external input to the operation input, and control the wheelchair boarding / exiting vehicle based on the switched operation input. Therefore, the wheelchair boarding / alighting vehicle has an effect that it can be easily switched to control the wheelchair boarding / alighting vehicle based on the operation input of the wheelchair boarding / alighting vehicle.

  According to the invention of claim 6, since the wheelchair is diagnosed after the wheelchair is fixed at a predetermined position, the wheelchair getting on / off vehicle diagnoses the wheelchair before and / or after driving. There is an effect that can be.

  According to the seventh aspect of the present invention, since the wheelchair is authenticated by receiving the identification code from the wheelchair and verifying the received identification code with the registered identification code in advance, Thus, there is an effect that the fear of being stolen can be eliminated.

  In addition, according to the eighth aspect of the invention, since the wheelchair boarding / exiting vehicle is started after the wheelchair is authenticated, the wheelchair boarding / exiting vehicle can be prevented from being stolen. .

  According to the ninth aspect of the present invention, the user information, which is the information of the wheelchair user, is received from the wheelchair and the position or direction of the mirror of the wheelchair boarding / exiting vehicle is changed. An effect that it can drive safely without bothering a person's hand is produced.

  According to the invention of claim 10, since the power is supplied when the wheelchair is fixed at a predetermined position, the wheelchair getting on / off vehicle can supply power to the wheelchair. .

  According to the invention of claim 11, it is detected whether or not the wheelchair is fixed at a predetermined position, and the output destination of the operation input of the wheelchair driving device is determined based on the detected result. Since it is configured to switch to an external output interface that receives and outputs an external input to the vehicle, the wheelchair has an effect of being able to output an operation input of the wheelchair driving device to the wheelchair boarding / exiting vehicle.

  According to the twelfth aspect of the invention, since the external output interface is configured to be a wireless interface and / or a wired interface, the wheelchair can easily realize the external output interface.

  According to the invention of claim 13, since the wheelchair is detected to be fixed at a predetermined position and the operation input is switched to the external output interface and output as the external input, the wheelchair is the wheelchair of the wheelchair. The operation input can be output as an external input to the wheelchair boarding / exiting vehicle.

  According to the invention of claim 14, the input conversion table for converting the operation input into the control input for controlling the wheelchair entry / exit vehicle is stored, the operation input is converted into the control input based on the input conversion table, and converted. Since the control input is configured to be output as an external input, the wheelchair has an effect that the control input of the wheelchair entry / exit vehicle can be output to the wheelchair entry / exit vehicle as an external input.

  According to the fifteenth aspect of the present invention, it is detected that the wheelchair is released from the predetermined position, the operation input is switched to the wheelchair drive device, and the drive device is controlled based on the switched operation input. Since it comprised, the wheelchair has the effect that it can switch easily so that a wheelchair may be controlled based on the operation input of a wheelchair.

  According to the invention of claim 16, since the wheelchair identification code is stored, the wheelchair is detected to be fixed at a predetermined position, and the wheelchair is used to transmit the code to the wheelchair boarding / exiting vehicle. There is an effect that it can be used as an identification code for wheelchair user or wheelchair authentication.

  According to the seventeenth aspect of the present invention, it is configured to store user information as information on a wheelchair user, detect that the wheelchair is fixed at a predetermined position, and transmit the user information to the wheelchair getting on / off vehicle. Therefore, the wheelchair has an effect that the degree of freedom of the wheelchair user's body can be determined from the user information and reflected in the control of the wheelchair boarding / exiting vehicle.

  According to the invention of claim 18, since the battery is configured to store electric power when the wheelchair is fixed at a predetermined position, the wheelchair can charge the battery by electric power of the wheelchair getting on and off. There is an effect.

  Exemplary embodiments of a wheelchair passenger board and a wheelchair according to the present invention will be described below in detail with reference to the accompanying drawings. In this embodiment, the present invention is applied when driving a wheelchair boarding / exiting vehicle from a wheelchair. Here, (1) Outline and main features of wheelchair entry / exit vehicle and wheelchair, (2) Wheelchair entry / exit vehicle and wheelchair configuration, (3) Driving start procedure for wheelchair getting on / off vehicle, (4) Operation stop procedure for wheelchair getting on / off vehicle This will be explained in the order.

(1) Outline and main features of wheelchair getting on and off vehicle and wheelchair First, the outline and main features of wheelchair getting on and off vehicle 20 and wheelchair 10 according to the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 is a diagram illustrating a state in which a wheelchair getting on / off vehicle 20 according to an embodiment is getting on and off a wheelchair 10. Moreover, FIG. 2 is a functional block diagram which shows the structure of the wheelchair boarding / alighting vehicle 20 and the wheelchair 10 which concern on an Example. The wheelchair boarding / exiting vehicle 20 according to the present invention is a vehicle having the wheelchair 10 installed at a predetermined position and having the driving device 220, and the wheelchair user can drive without taking an unreasonable driving posture and without feeling uncomfortable. It is possible to do.

  The IF unit 234 receives and inputs an external input from the wheelchair 10, and the input switching unit 2361 detects whether or not the wheelchair 10 is fixed at a predetermined position, and the driving device 220 according to the detected result. Since the wheelchair boarding / alighting vehicle 20 is controlled by switching between the operation input and the external input of the wheelchair, the wheelchair boarding / alighting vehicle 20 does not take an unreasonable driving posture based on the external input from the wheelchair 10. Moreover, it can drive without a sense of incongruity.

(2) Configuration of Wheelchair Boarding / Exiting Vehicle and Wheelchair Next, the configuration of the wheelchair boarding / exiting vehicle 20 and the wheelchair 10 according to the embodiment will be described with reference to FIG. First, the wheelchair 10 will be described in detail. The wheelchair 10 includes a driving device 120, a wheelchair control device 130, a driving device 140, and a battery 150.

  The driving device 120 is a device for a wheelchair user to drive the wheelchair 10. Specifically, there are various types according to the degree of freedom of the body of the wheelchair user, such as a handle, an accelerator, a brake, a joystick, or a push button type operation panel.

  The wheelchair control device 130 is a control device that controls the entire wheelchair 10, and includes IF units 131 to 134, a storage unit 135, and a wheelchair control unit 136. The IF unit 131 is a control data interface unit that converts an operation input of the driving device 120 into a digital quantity and outputs the digital value to the wheelchair control device 130. The IF unit 132 is a control data interface unit that inputs and outputs a control signal or control data of the wheelchair control unit 136 related to the driving device 140. The IF unit 133 is a control data interface unit that inputs and outputs a control signal or control data of the wheelchair control unit 136 related to charge / discharge control of the battery 150.

  The IF unit 134 is a control data interface unit that inputs / outputs a control signal or control data of the wheelchair control unit 136 related to the wheelchair entry / exit vehicle 20, and specifically inputs / outputs a control signal via wiring and input / output terminals. . In addition, although IF part 134 demonstrated the case where a control signal was input / output via a wiring and an input / output terminal here, this invention is not limited to this, It is with wheelchair 10 via a radio | wireless. The present invention can be applied when inputting / outputting control signals to / from the wheelchair boarding / exiting vehicle 20.

  The storage unit 135 is a storage device such as a RAM (Random Access Memory), and includes an identification code storage unit 1351, a user information storage unit 1352, and an input conversion table storage unit 1353. The identification code storage unit 1351 is a storage unit that stores an identification code of the wheelchair user or the wheelchair 10. The user information storage unit 1352 is a storage unit that stores wheelchair user information such as identification information of the wheelchair user and the degree of freedom of the body.

  The input conversion table storage unit 1353 is a storage unit that stores an input conversion table for converting an operation input of the driving device 120 into a control input for controlling the wheelchair entry / exit vehicle 20. Here, the case where the operation input of the driving device 120 in the wheelchair 10 is converted into the control input for controlling the wheelchair entry / exit vehicle 20 will be described. However, the present invention is not limited thereto, and Thus, the present invention can be applied to a case where an external input is converted into a control input for controlling the wheelchair boarding / exiting vehicle 20.

  The wheelchair control unit 136 is a control unit that converts the operation input of the driving device 120 and controls the wheelchair 10 based on the converted operation input, and includes an output destination switching unit 1361. The output destination switching unit 1361 detects whether or not the wheelchair 10 is fixed at a predetermined position, and outputs the operation input of the driving device 120 according to the detected result to the driving device 140 of the wheelchair 10 and the IF unit 134. It is the switching part which switches to.

  The output destination switching unit 1361 detects that the wheelchair 10 is fixed at a predetermined position, switches the operation input of the driving device 120 to the IF unit 134, and outputs it as an external input. Further, the output destination switching unit 1361 converts an operation input into a control input based on the input conversion table, and outputs the converted control input as an external input. Further, the output destination switching unit 1361 detects that the wheelchair 10 is released from the predetermined position, switches the operation input to the drive device of the wheelchair 10, and controls the drive device 140 based on the switched operation input. . In addition, the output destination switching unit 1361 detects that the wheelchair 10 is fixed at a predetermined position, and transmits an identification code to the wheelchair boarding / exiting vehicle 20. Further, the output destination switching unit 1361 detects that the wheelchair 10 is fixed at a predetermined position, and transmits user information to the wheelchair boarding / exiting vehicle 20.

  The drive device 140 is a device that drives the wheelchair 10, and specifically includes an electric motor, a power transmission mechanism that transmits power of the electric motor, a tire that rotates by power transmitted by the power transmission mechanism, and the like. Here, the case where drive device 140 has an electric motor has been described, but the present invention is not limited to this, and can be applied to the case where an engine is provided.

  The battery device 150 is a power source that supplies power to the wheelchair 10, and includes a battery and an external power input terminal that inputs power to the battery. The external power input terminal is a terminal for inputting electric power supplied from the wheelchair getting on / off vehicle 20. As described above, since the battery device 150 stores electric power when the wheelchair 10 is fixed at a predetermined position, the wheelchair 10 can charge the battery device 150 with electric power of the wheelchair boarding / exiting vehicle 20. .

  Next, the wheelchair boarding / exiting vehicle 20 will be described in detail. The wheelchair boarding / alighting vehicle 20 includes a driving device 220, a vehicle control device 230, a driving device 240, a power supply device 250, and a fixing unit 260. The driving device 220 is a device in which the driver drives the wheelchair boarding / exiting vehicle 20. Specifically, a steering wheel, an accelerator, a brake, and the like.

  The vehicle control device 230 is a control device that controls the entire wheelchair entry / exit vehicle 20, and includes IF units 231 to 234, a storage unit 235, and a vehicle control unit 236. The IF unit 231 is a control data interface unit that converts an operation input of the driving device 220 into a digital quantity and outputs the digital value to the vehicle control device 230. The IF unit 232 is a control data interface unit that inputs and outputs control signals or control data of the vehicle control unit 236 related to the driving device 240. The IF unit 233 is a control data interface unit that inputs and outputs a control signal or control data of the vehicle control unit 236 related to the power supply device 250.

  The IF unit 234 is a control data interface unit that inputs / outputs control signals or control data between the wheelchair 10 and the vehicle control unit 236. Specifically, the IF unit 234 inputs control signals via wiring and input / output terminals. Output. In addition, although IF part 234 demonstrated the case where a control signal was input / output via a wiring and an input / output terminal here, this invention is not limited to this, It is with wheelchair 10 via a radio | wireless. The present invention can be applied when inputting / outputting control signals to / from the wheelchair boarding / exiting vehicle 20.

  The storage unit 235 is a storage device such as a RAM, and includes an identification code storage unit 2351 and a user information storage unit 2352. The identification code storage unit 2351 is a storage unit that stores the identification code of the wheelchair user or the wheelchair 10. The user information storage unit 2352 is wheelchair user information, and is a storage unit that stores wheelchair user information such as wheelchair user identification information transmitted from the wheelchair 10 and the degree of freedom of the body. .

  The vehicle control unit 236 is a control unit that converts the operation input of the driving device 220 and controls the wheelchair entry / exit vehicle 20 based on the converted operation input, and includes an input switching unit 2361 and a wheelchair diagnosis unit 2362. The input switching unit 2361 detects whether or not the wheelchair 10 is fixed at a predetermined position, and switches the operation input and external input of the driving device 220 according to the detected result to control the wheelchair entry / exit vehicle 20. Part. In addition, the input switching unit 2361 detects that the wheelchair 10 is fixed at a predetermined position, switches the operation input of the driving device 220 to an external input, and controls the wheelchair entry / exit vehicle 20 based on the switched external input. To do. Further, the input switching unit 2361 converts an external input into a control input based on the input conversion table, and controls the wheelchair getting on / off vehicle 20 based on the converted control input. Further, the input switching unit 2361 detects that the wheelchair 10 is released from a predetermined position, switches the external input to the operation input of the driving device 220, and controls the wheelchair entry / exit vehicle 20 based on the switched operation input. To do.

  The input switching unit 2361 receives the identification code from the wheelchair 10 and authenticates the wheelchair 10 by collating the received identification code with an identification code registered in advance. The input switching unit 2361 starts the wheelchair entry / exit vehicle 20 after authenticating the wheelchair 10. In addition, the input switching unit 2361 receives user information, which is information about the user of the wheelchair 10, from the wheelchair 10, and changes the position or direction of the mirror of the wheelchair entry / exit vehicle 20.

  The wheelchair diagnostic unit 2362 is a diagnostic unit that diagnoses the wheelchair control device 130 of the wheelchair 10. In addition, the wheelchair diagnosis unit 2362 includes drive control system software of the wheelchair control unit 136 that needs to perform diagnosis before the input switching unit 2361 switches the operation input of the driving device 220 to the external input input by the IF unit 234. Diagnose. In this way, since the wheelchair diagnosis unit 2362 diagnoses the drive control system software of the wheelchair control unit 136 before switching the operation input to the external input, the wheelchair getting-on / off vehicle 20 can safely You can switch to input.

  The wheelchair diagnosis unit 2362 performs diagnosis after switching to external input for those that do not need to be diagnosed before switching operation input to external input. For example, diagnosis is performed on the driving device, the state of charge of the battery, the tire air pressure, and the like.

  The drive device 240 is a device that drives the wheelchair boarding / exiting vehicle 20, and specifically includes an engine, a power transmission mechanism that transmits power of the engine, a tire that rotates by power transmitted by the power transmission mechanism, and the like.

  The power supply device 250 is a device that supplies power to the wheelchair passenger vehicle 20 and is controlled by a generator directly connected to the engine of the drive device 240, a power controller that controls power generated by the generator, and a power controller. A battery that is charged with electric power and an external power output terminal that supplies power to the outside. In addition, the power supply device 250 supplies power to the battery device 150 of the wheelchair 10 from the external power output terminal. Thus, since the power supply device 250 supplies power when the wheelchair 10 is fixed at a predetermined position, the wheelchair passenger vehicle 20 can supply power to the battery of the wheelchair 10. .

  The fixing unit 260 is a fixing mechanism that fixes the wheelchair 10 to a predetermined position of the wheelchair getting-on / off vehicle 20. When the wheelchair 10 is fixed at a predetermined position of the wheelchair entry / exit vehicle 20 by the fixing portion 260, communication automatically starts between the wheelchair 10 and the wheelchair entry / exit vehicle 20. That is, communication starts between the IF unit 134 and the IF unit 234. In addition, although the wheelchair 10 was fixed to the predetermined position of the wheelchair boarding / alighting vehicle 20 by the fixing | fixed part 260 here, it demonstrated about the case where communication between the wheelchair 10 and the wheelchair boarding / alighting vehicle 20 operate | moves automatically. The invention is not limited to this, and after the wheelchair 10 is fixed at a predetermined position of the wheelchair entry / exit vehicle 20 by the fixing portion 260, communication between the wheelchair 10 and the wheelchair entry / exit vehicle 20 is manually operated by a switch. Can be applied in case.

(3) Driving start procedure of wheelchair getting on / off vehicle Next, with reference to FIG. 3, the driving start procedure of the wheelchair getting on / off vehicle 20 shown in FIG. 2 will be described. FIG. 3 is a flowchart showing a driving start procedure of the wheelchair boarding / exiting vehicle 20 shown in FIG. First, the wheelchair getting on / off vehicle 20 is activated (step S301). Then, the wheelchair 10 is activated by a fixing portion 260 (step S302) after being fixed to a predetermined position of the wheelchair boarding / alighting vehicle 20, that is, the left seat beside the driver (step S302), as shown in FIG.

  Furthermore, the input switching unit 2361 detects that the wheelchair 10 is fixed at a predetermined position, and the wheelchair diagnosis unit 2362 diagnoses the wheelchair control device 130 of the wheelchair 10 (step S304). And the wheelchair control part 136 turns OFF the drive device 140 of the wheelchair 10 (step S305).

  Furthermore, the output destination switching unit 1361 of the wheelchair 10 detects that the wheelchair 10 is fixed at a predetermined position, and switches the output destination of the operation input of the driving device 120 from the driving device 140 of the wheelchair 10 to the IF unit 134. (Step S306). In response to this, the input switching unit 2361 of the wheelchair entry / exit vehicle 20 switches the operation input of the driving device 220 to the external input input by the IF unit 234, and controls the wheelchair entry / exit vehicle (step S307).

  Then, the input switching unit 2361 requests an identification code and user information from the wheelchair 10 via the IF units 134 and 234 (step S308). Then, the output destination switching unit 1361 of the wheelchair 10 reads out the identification code and the user information from the identification code storage unit 1351 and the user information storage unit 1352 and transmits them to the input switching unit 2361 via the IF units 134 and 234 (step). S309).

  Furthermore, the input switching unit 2361 compares the identification code received from the wheelchair control unit 136 with the identification code stored in the identification code storage unit 2351, and checks whether the received identification code is registered (step S310). ). As a result, when the received identification code is not registered (No at Step S310), the input switching unit 2361 ends this procedure.

  On the other hand, when the received identification code is registered (Yes at Step S310), the input switching unit 2361 identifies the user information received from the wheelchair control unit 136 and changes the position and direction of the driving mirror (Step S311). ).

  When the driving device 120 is started (step S312), the output destination switching unit 1361 converts the operation input of the driving device 120 into an external input, and outputs the converted external input from the IF unit 134 (step S313). Furthermore, the input switching unit 2361 of the wheelchair getting on / off vehicle 20 drives and controls the driving device 240 based on the external input input by the IF unit 234 to start the wheelchair getting on / off vehicle 20 (step S314). As described above, since the wheelchair passenger vehicle 20 is driven using the driving device 120 of the wheelchair 10, the wheelchair user can drive without taking an unreasonable driving posture and without feeling uncomfortable.

(4) Procedure for Stopping Driving of Wheelchair Boarding / Exiting Vehicle Next, a procedure for stopping driving of the wheelchair getting on / off vehicle shown in FIG. 2 will be described with reference to FIG. FIG. 4 is a flowchart showing a procedure for stopping the operation of the wheelchair passenger board shown in FIG. As shown in the figure, when the driving device 120 is stopped (step S401), the output destination switching unit 1361 of the wheelchair 10 converts the operation input of the driving device 120 into an external input and outputs it from the IF unit 134 (step S401). S402). Then, the input switching unit 2361 of the wheelchair getting on / off vehicle 20 controls the driving device 240 based on the external input input by the IF unit 234, and the wheelchair getting on / off vehicle 20 stops (step S403).

  Further, when the wheelchair 10 is released from the predetermined position (step S404), the output destination switching unit 1361 of the wheelchair 10 detects that the wheelchair 10 has been released from the predetermined position, and the operation input of the driving device 120 is performed. Is switched from the IF unit 134 to the driving device 140 (step S405), and the driving device 140 is turned on (step S406). In response thereto, the input switching unit 2361 of the wheelchair getting on / off vehicle 20 switches the external input inputted at the IF unit 234 to the operation input of the driving device 220, and controls the wheelchair getting on / off vehicle 20 based on the switched operation input ( Step S407).

  As described above, when the wheelchair 10 is released from the predetermined position, the wheelchair 10 is driven based on the operation input of the driving device 120. Therefore, the wheelchair 10 is driven safely without bothering the wheelchair user. Can do.

  As described above, in this embodiment, the IF unit 234 receives and inputs an external input from the wheelchair 10, and the input switching unit 2361 detects whether or not the wheelchair 10 is fixed at a predetermined position. Since the wheelchair boarding / alighting vehicle 20 is controlled by switching the operation input and the external input of the driving device 220 according to the detected result, the wheelchair boarding / alighting vehicle 20 can be used by the wheelchair user based on the external input from the wheelchair 10. You can drive without taking an unreasonable driving posture and without feeling uncomfortable.

  Further, the input switching unit 2361 detects that the wheelchair 10 is fixed at a predetermined position, switches the operation input of the driving device 220 to the external input input by the IF unit 234, and based on the switched external input. Therefore, the wheelchair boarding / exiting vehicle 20 can be controlled based on an external input from the wheelchair 10.

  Further, the input switching unit 2361 stores an input conversion table for converting into a control input for controlling the wheelchair entry / exit vehicle 20, converts an external input into a control input based on the input conversion table, and wheelchairs based on the converted control input. Since the boarding / alighting vehicle 20 is controlled, the wheelchair boarding / alighting vehicle 20 can control the wheelchair boarding / alighting vehicle 20 by converting an external input of the wheelchair 10 into a control input.

  Further, the input switching unit 2361 detects that the wheelchair 10 is released from the predetermined position, switches the external input to the operation input, and controls the wheelchair entry / exit vehicle 20 based on the switched operation input. Therefore, the wheelchair boarding / alighting vehicle 20 can be easily switched to control the wheelchair boarding / alighting vehicle 20 based on the operation input of the wheelchair boarding / alighting vehicle 20.

  The wheelchair diagnosis unit 2362 performs diagnosis of the drive control system software of the wheelchair control unit 136 before the input switching unit 2361 switches the operation input of the driving device 220 to the external input input by the IF unit 234. Therefore, the wheelchair boarding / alighting vehicle 20 can safely switch the operation input of the wheelchair boarding / alighting vehicle 20 to the external input of the wheelchair 10.

  In addition, the input switching unit 2361 receives the identification code from the wheelchair 10 and verifies the received identification code with a previously registered identification code to authenticate the wheelchair. It is possible to prevent fear of theft.

  Further, since the input switching unit 2361 starts the engine of the wheelchair boarding / exiting vehicle 20 after authenticating the wheelchair 10, the wheelchair boarding / exiting vehicle 20 can be prevented from being stolen.

  Moreover, since the input switching part 2361 received user information from the wheelchair 10 and changed the position or direction of the mirror of the wheelchair boarding / alighting vehicle 20, the wheelchair boarding / alighting vehicle 20 makes a wheelchair user's hand troublesome. And can drive safely.

  Further, the output destination switching unit 1361 detects whether or not the wheelchair 10 is fixed at a predetermined position, and depending on the detected result, the output destination of the operation input of the driving device 120 and the wheelchair 10 driving device and the wheelchair getting on and off. Since switching to the IF unit 134 that receives and outputs an external input to the vehicle 20, the wheelchair 10 can output the operation input of the driving device 120 to the wheelchair boarding / exiting vehicle 20.

  Further, since the output destination switching unit 1361 detects that the wheelchair 10 is fixed at a predetermined position and switches the operation input to the external output interface and outputs it as the external input, the wheelchair 10 is Can be output to the wheelchair boarding / exiting vehicle 20 as an external input.

  The input conversion table storage unit 1353 stores an input conversion table for converting the operation input into a control input for controlling the wheelchair entry / exit vehicle 20, and converts the operation input into the control input based on the input conversion table. Since the control input is output as an external input, the wheelchair 10 can output the control input of the wheelchair getting on / off vehicle 20 to the wheelchair getting on / off vehicle 20 as an external input.

  Further, the output destination switching unit 1361 detects that the wheelchair 10 is released from a predetermined position, switches the operation input to the drive device of the wheelchair 10, and controls the drive device based on the switched operation input. Therefore, the wheelchair 10 can be easily switched to control the wheelchair 10 based on the operation input of the wheelchair 10.

  Further, the identification code storage unit 1351 stores the identification code of the wheelchair 10, detects that the wheelchair 10 is fixed at a predetermined position, and transmits the identification code to the wheelchair entry / exit vehicle 20. 10 can be used as an identification code for wheelchair user or wheelchair authentication.

  Further, the user information storage unit 1352 stores user information that is information of the user of the wheelchair 10, and the output destination switching unit 1361 detects that the wheelchair 10 is fixed at a predetermined position, and the user information is stored in the wheelchair. Since the transmission is made to the boarding / alighting vehicle 20, the wheelchair 10 can determine the degree of freedom of the body of the wheelchair user from the user information and reflect it in the control of the wheelchair boarding / alighting vehicle 20.

  As described above, the wheelchair entry / exit vehicle and wheelchair according to the present invention are suitable for wheelchair entry / exit vehicles and wheelchairs for persons with disabilities or for the elderly.

It is a figure explaining a mode that the wheelchair boarding / alighting vehicle which concerns on an Example is getting on and off the wheelchair. It is a functional block diagram which shows the structure of the wheelchair boarding / alighting vehicle which concerns on an Example, and a wheelchair. It is a flowchart which shows the driving | operation start procedure of the wheelchair getting on / off vehicle shown in FIG. It is a flowchart which shows the driving | operation stop procedure of the wheelchair boarding / alighting vehicle shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Wheelchair 20 Wheelchair boarding / exiting vehicle 120,220 Driving device 130 Wheelchair control device 131,132,133,134,231,232,233,234 IF part 135,235 Memory | storage part 136 Wheelchair control part 140,240 Drive apparatus 150 Battery 230 Vehicle Control device 236 Vehicle control unit 250 Power supply device 260 Fixed unit 1351, 2351 Identification code storage unit 1352, 2352 User information storage unit 1353 Input conversion table storage unit 1361 Output destination switching unit 2361 Input switching unit 2362 Wheelchair diagnostic unit

Claims (18)

A wheelchair that gets in and out of a wheelchair and has a vehicle driving device,
An external input interface for receiving and inputting external input from the wheelchair;
Input switching means for detecting whether or not the wheelchair is fixed at the predetermined position, and switching the operation input of the vehicle driving device and the external input according to the detected result to control the wheelchair getting on and off; ,
A wheelchair boarding / exiting vehicle characterized by comprising:   The wheelchair entry / exit vehicle according to claim 1, wherein the external input interface is a wireless interface and / or a wired interface.   The input switching means detects that the wheelchair is fixed at the predetermined position, switches the operation input to the external input, and controls the wheelchair entry / exit vehicle based on the switched external input. The wheelchair getting on and off vehicle according to claim 1, wherein An input conversion table storage means for storing an input conversion table for converting the external input into a control input for controlling the wheelchair boarding / exiting vehicle;
The said input switching means converts the said external input into the said control input based on the said input conversion table, and controls the said wheelchair boarding / alighting vehicle based on the converted control input. Wheelchair boarding / exiting vehicle.   The input switching means detects that the wheelchair has been released from the predetermined position, switches the external input to the operation input, and controls the wheelchair entry / exit vehicle based on the switched operation input. The wheelchair getting on and off vehicle according to claim 1 or 3. A wheelchair diagnostic means for diagnosing the wheelchair;
4. The wheelchair entry / exit vehicle according to claim 1 or 3, wherein the wheelchair diagnosis means performs the diagnosis after the wheelchair is fixed at the predetermined position.   The input switching means receives an identification code from the wheelchair and authenticates the wheelchair by comparing the received identification code with an identification code registered in advance. The wheelchair boarding / exiting vehicle as described in one.   The wheelchair boarding / alighting vehicle according to claim 7, wherein the input switching unit starts the wheelchair boarding / alighting vehicle after authenticating the wheelchair.   The said input switching means receives the user information which is the information of the user of this wheelchair from the said wheelchair, and changes the position or direction of the mirror of the said wheelchair boarding / alighting vehicle, It is characterized by the above-mentioned. The wheelchair boarding / alighting vehicle as described in any one of -8. A power output interface for receiving and outputting power; and
Power supply means for supplying the power, and
The wheelchair entry / exit according to any one of claims 1 to 9, wherein the power supply means supplies the power to the power output interface when the wheelchair is fixed at the predetermined position. vehicle. A wheelchair installed at a predetermined position of a wheelchair getting on and off vehicle and having a wheelchair driving device,
An external output interface for receiving and outputting an external input to the wheelchair getting on and off vehicle;
An output destination that detects whether or not the wheelchair is fixed at the predetermined position, and switches an output destination of operation input of the wheelchair driving device to the driving device of the wheelchair and the external output interface according to the detected result A wheelchair characterized by comprising switching means.   The wheelchair according to claim 11, wherein the external output interface is a wireless interface and / or a wired interface.   The output destination switching means detects that the wheelchair is fixed at the predetermined position, switches the operation input to the external output interface, and outputs the external input as the external input. The listed wheelchair. An input conversion table storage means for storing an input conversion table for converting the operation input into a control input for controlling the wheelchair boarding / exiting vehicle;
The wheelchair according to claim 11 or 13, wherein the output destination switching means converts the operation input into the control input based on the input conversion table, and outputs the converted control input as the external input. .   The output destination switching unit detects that the wheelchair is released from the predetermined position, switches the operation input to the wheelchair drive device, and controls the drive device based on the switched operation input. The wheelchair according to claim 11 or 13, characterized in that. An identification code storage means for storing the identification code of the wheelchair;
The output destination switching means detects that the wheelchair is fixed at the predetermined position, and transmits the identification code to the wheelchair boarding / exiting vehicle. wheelchair. Further comprising user information storage means for storing user information which is information of the wheelchair user;
The output destination switching means detects that the wheelchair is fixed at a predetermined position, and transmits the user information to the wheelchair boarding / exiting vehicle. The wheelchair as described in one. A power input interface for receiving and inputting power;
A battery for storing the electric power received and inputted by the electric power input interface,
The wheelchair according to any one of claims 11 to 17, wherein the battery stores the electric power when the wheelchair is fixed at the predetermined position.

Images