KR20130043281A - A rollover prevention algorithm designe for in-wheel type wheelchair - Google Patents

Abstract

The present invention relates to an overturn prevention device of a wheelchair equipped with 21-inch manual and electric switching wheels. More specifically, the present invention relates to a horizontal control system of a device for preventing overturning of a wheelchair due to vertical load and horizontal movement by a driver. will be. In general, hand-operated wheelchairs are structured to be both manual and electric, and can be used for relatively inactive passengers to patients with reduced mobility. The center of gravity moves up and down or left and right on ramps or sudden starts. However, most of these phenomena are due to the inability to control the vehicle due to the change in the center of gravity depending on the degree of occupant behavior. In order to improve this, recently, the work of lowering the center of gravity by lowering the body seat and attaching a gyro sensor and an acceleration sensor to various spaces and controlling the vehicle by measuring displacement in three-dimensional space have been performed. However, in the case of the method of lowering the apparatus, it is difficult to use the facilities in the whole society, it is difficult for the existing users to adapt, and the method using the sensor is difficult to expand the user base due to the high price of the product. Therefore, the present invention verifies the mathematical modeling according to the movement of the wheelchair and proposes an algorithm for preventing wheelchair overturning. The proposed method is to apply the control to the driver's condition based on the input of the rollover protection sensor and the dynamic characteristics of the wheelchair.

Description

A rollover prevention algorithm designe for in-Wheel type wheelchair}

Automatic Control, Electric Wheelchair

The present invention relates to a wheelchair that enables a physically handicapped person, a patient, and an elderly person who is inconvenient to move easily, and more particularly, to a rollover prevention algorithm so that the wheelchair does not roll over when passing through a jaw of an inclined length or stairs.

In general, wheelchairs have been proposed in various forms as devices for the movement of the disabled, patients, and the elderly who are difficult to move.

The conventional wheelchair is composed of a frame constituting the seat and the back [], the wheels located on both sides of the frame and [] the auxiliary wheels installed on both ends of the frame, integrally formed with the wheel By rotating the handle of the hand by the user or by pushing the handle of the assistant is located on the upper side of the frame by the wheelchair to obtain a driving force to enable the user to move to the intended place.

However, such a conventional wheelchair does not have an anti-overturning structure, so when the inclined uphill or the overhanging protruding jaw located on the road is crossed, the assist wheel located at the tip of the frame is lifted to cross the jaw, and the wheelchair is over a certain angle. When rotated, the wheelchair is overturned backwards and a safety accident occurs that the user falls over.

In this way, the wheelchair is overturned, when the user is sitting in the wheelchair, when the wheelchair is in a horizontal state, there is no danger of overturning when the center of gravity of the occupant coincides with the center of the wheel of the wheelchair, but the tip of the wheelchair is lifted. That is, when the wheelchair is rotated, the center of the occupant is located behind the center of the wheel, and the phenomenon that the wheelchair is overturned by a small rotation occurs.

An object of the present invention is to propose a rollover prevention algorithm for an in-wheel wheelchair to overcome the rollover phenomenon. The proposed method was able to confirm the driver's condition based on the sensor input and the dynamic characteristics of the wheelchair within the rollover protection and applied to the control to verify the rollover prevention performance.

Speed control is performed to secure the driver's stable control time and to process the status signal using the rollover prevention mechanism.

The proposed algorithm that controls the speed by transmitting the signal to the in-wheel wheelchair including the driver and the structure with the roll sensor and the pressure sensor is designed to control the speed at the time of overturning to ensure a stable recognition time that can be controlled by the driver. Can be.

)와 각속도(

), 휠체어에 발생되는 외란(

), 모터 구동시 휠의 회전각도(

)와 회전각속도(

), 휠에 발생되는 외란(

),동적 전진 속도(

), 전복 시 작용되는 중력(g)Body angle (

) And angular velocity (

), Disturbances in wheelchairs (

), The angle of rotation of the wheel when the motor is driven (

) And angular velocity (

), Disturbances on the wheel (

), Dynamic forward speed (

), Gravity in overturning (g)

The main body is formed with an in-wheel motor structure with a built-in electric drive unit, a sliding ball of a ground contact structure provided in the detection unit of the pressure sensor installed through the drive unit and the vehicle body space is installed, the seat support portion of the vehicle body and the rollover prevention device Overturn signal occurs by sensor input

: 차체의 각도
2.

: 차체의 각속도
3.

: 휠체어 외란
4.

: 모터 구동시 휠의 회전각도
5.

: 회전각속도
6.

: 휠에 발생되는 외란
7.

: 동적 전진 속도
8.

: 중력One.

Body angle
2.

: Angular velocity of the body
3.

: Wheelchair disturbance
4.

: Wheel rotation angle when driving motor
5.

: Rotation angle
6.

: Disturbance in Wheel
7.

Dynamic forward speed
8.

: gravity

Claims (2)

A main body having an overturn prevention device in a wheelchair having a manual power transmission function; In the wheelchair equipped with a pressure sensor is installed through the space between the overturn prevention device and the main body, and the vehicle body overturn prevention function according to the status signal between the drawball structure in contact with the ground in the overturning state.
The main body is formed with an in-wheel motor structure with a built-in electric drive unit, a sliding ball of a ground contact structure provided in the detection unit of the pressure sensor installed through the drive unit and the vehicle body space is installed, the seat support portion of the vehicle body and the rollover prevention device The rollover signal is generated by the sensor input installed on the shaft. When the sensor unit is deployed, the ball is transmitted the magnitude of the overturning force by the ground contact part, and is transmitted to the controller housed in the main body to apply the force in the opposite direction to the traveling direction of the vehicle. A wheelchair having an overturn prevention structure, characterized in that configured to retreat by transmission.
The method of claim 1, wherein the speed is gradually reduced by using the input sensor signal, the continuous rotation speed of the motor is detected by using an encoder, and the command speed is decreased to allow the driver to adapt to the continuous vehicle speed change. Having a wheelchair.

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