JP5948149B2 - Wheelchair that performs control based on rowing motion judgment - Google Patents

Description

  The present invention relates to a wheelchair, and more particularly to a wheelchair including a left wheel and a right wheel that rotate in response to a passenger's rowing operation.

  The wheelchair is used to assist the movement of elderly people and persons with disabilities who are difficult to walk. A wheelchair occupant can move the wheelchair in the front-rear direction by operating a hand rim attached to the wheel. The passenger can turn the wheelchair by adjusting the rotation speed of the left wheel and the rotation speed of the right wheel.

  When the wheelchair moves horizontally on the slope, a phenomenon (one-flow phenomenon) occurs in which the wheelchair moves downward against the passenger's intention. For example, when the sidewalk is inclined toward the roadway, the wheelchair moves from the sidewalk toward the roadway regardless of the intention of the passenger. Thus, the passenger may not be able to move the wheelchair as intended.

  Patent Document 1 describes a passive moving carriage that can move along a target route by controlling a powder brake incorporated in each of a left wheel and a right wheel. However, Patent Document 1 does not specifically describe a method for setting a target route.

  Non-Patent Document 1 describes that the traveling trajectory of a wheelchair is estimated using the maximum value of input torque generated when a passenger hits the wheelchair and the time until the input torque reaches the maximum value. Has been. However, the method described in Non-Patent Document 1 cannot control the traveling trajectory of the wheelchair until the input torque reaches the maximum value after the passenger starts rowing the wheelchair.

  The method described in Non-Patent Document 1 is based on the premise that the passenger operates the wheelchair. In Non-Patent Document 1, it is not considered that the wheelchair moves due to factors other than the passenger's rowing operation, such as gravity.

Japanese Patent No. 4411415

"Running control method of power-assisted wheelchair based on minimum trajectory", IEEJ Transaction C Vol. 125, No.7, pages 1133 to 1139, Hirokazu Seki, Takeaki Sugimoto, Susumu Tada, The Institute of Electrical Engineers of Japan, 2005

  The objective of this invention is providing the wheelchair which can control rotation of a wheel even when a wheelchair moves by factors other than a passenger's rowing operation.

Means and effects for solving the problems

  The wheelchair of the present invention includes a left wheel and a right wheel that rotate according to the rowing operation of the passenger. The wheelchair of the present invention includes a first speed acquisition unit, a second speed acquisition unit, a rowing operation determination unit, and a rotation control unit. The first speed acquisition unit acquires the speed of the left wheel. The second speed acquisition unit acquires the speed of the right wheel. The rowing operation determination unit is configured so that the occupant is at least one of the left wheel and the right wheel based on the speed of the left wheel acquired by the first speed acquisition unit and the speed of the right wheel acquired by the second speed acquisition unit. It is determined whether or not The rotation control unit controls the rotation of at least one of the left wheel and the right wheel according to the determination result by the rowing operation determination unit.

  According to the present invention, the rowing operation determination unit determines whether the occupant has hit at least one of the left wheel and the right wheel based on the speed of the left wheel and the speed of the right wheel. The rotation control unit controls the rotation of at least one of the left wheel and the right wheel according to the determination result. Thereby, even if it is a case where a wheelchair moves by factors other than a passenger's rowing operation, rotation of a wheel can be controlled.

  Preferably, the rotation control unit stops the rotation of the left wheel and the right wheel when the rowing operation determination unit determines that the occupant does not stroke the left wheel and the right wheel.

  According to the present invention, the wheelchair stops when it is determined that the passenger is not stroking the left wheel and the right wheel. Thereby, it can prevent that a wheelchair moves contrary to a passenger's intention.

  Preferably, the wheelchair of the present invention further includes a both-side speed estimation unit. The both-side speed estimation unit estimates the average speed of the left wheel and the right wheel after the rowing operation is started when the rowing operation determination unit determines that the passenger has hit the left wheel and the right wheel. The rotation control unit controls the rotation of at least one of the left wheel and the right wheel using the estimated average speed of the left wheel and the estimated average speed of the right wheel.

  According to the present invention, when it is determined that the passenger has hit the left wheel and the right wheel, the average speed of the left wheel and the right wheel is estimated. The rotation control unit controls the rotation of the left wheel and the right wheel using the average speed of the left wheel and the right wheel. Thereby, a wheelchair can be run along the track which a passenger intends.

  Preferably, the rotation control unit is configured such that an actual measurement ratio between the acquired left wheel speed and the acquired right wheel speed is a reference ratio between the estimated average speed of the left wheel and the estimated average speed of the right wheel. The rotation of at least one of the left wheel and the right wheel is controlled so as to coincide with. Thereby, a wheelchair can be run along the turning radius which a passenger intends.

  According to the present invention, the rotation of the left wheel and the right wheel is such that the measured ratio between the speed of the left wheel and the speed of the right wheel matches the reference ratio of the average speed of the left wheel and the average speed of the right wheel. Be controlled. Thereby, a wheelchair can be run along the track which a passenger intends.

  Preferably, the wheelchair of the present invention further includes a one-side speed estimation unit. The one-side speed estimation unit estimates an average speed of the one wheel after the rowing operation is started when it is determined by the rowing operation determination unit that the passenger has hit one of the left wheel and the right wheel. The rotation control unit is configured so that an actual measurement ratio between the acquired speed of the left wheel and the acquired speed of the right wheel is the estimated average speed of one wheel and the speed of the other wheel when the rowing operation is started. The rotation of the left wheel and the right wheel is controlled to match the reference ratio.

  According to the present invention, when it is determined that the passenger has hit one of the wheels, based on the reference ratio between the average speed of one wheel and the speed of the other wheel when the rowing operation is started. The left wheel and the right wheel are controlled. Thereby, even when the passenger hits only one wheel, the wheelchair can be run along the track intended by the passenger.

  Preferably, the wheelchair of the present invention further includes a control target determining unit. The control target determining unit compares the actual measurement ratio with the reference ratio, and determines which of the left wheel and the right wheel is controlled based on the comparison result. The rotation control unit controls the rotation of the wheel determined by the control target determining unit.

  According to the present invention, the rotation control unit controls the rotation of one of the left wheel and the right wheel based on the result of comparing the actual measurement ratio with the reference ratio. Thereby, the actual measurement ratio can be brought close to the reference ratio quickly.

  Preferably, the wheelchair of the present invention further includes a one-side speed estimation unit. The one-side speed estimation unit estimates an average speed of the one wheel after the rowing operation is started when it is determined by the rowing operation determination unit that the passenger has hit one of the left wheel and the right wheel. The rotation control unit controls the rotation of one wheel so that the speed of the one wheel becomes the average speed estimated by the speed estimation unit.

  According to the present invention, when it is determined that the occupant scoops one of the left wheel and the right wheel, the average speed of one wheel is estimated. The rotation of one wheel is controlled so that the estimated average speed is obtained. As a result, even when the passenger intentionally hits only one wheel, the wheelchair can be driven along the track intended by the passenger.

  Preferably, the rotation control unit controls the rotation of the other wheel so that the speed of the other wheel becomes the speed when the passenger starts the rowing operation.

  According to the present invention, the speed of the other wheel is maintained at the speed when the passenger starts the rowing operation. For this reason, compared with the case where only the rotation of one wheel is controlled, it becomes easier to run the wheelchair along the track intended by the passenger.

  Preferably, the wheelchair of the present invention further includes an acceleration acquisition unit. The acceleration acquisition unit acquires the longitudinal acceleration of the wheelchair. The rowing motion determination unit determines whether or not the occupant scoops at least one of the left wheel and the right wheel when the acceleration acquisition unit continuously acquires the forward acceleration for a predetermined period.

  According to the present invention, the rowing motion determination unit determines whether or not the passenger has hit at least one of the left wheel and the right wheel when the acceleration in the forward direction is continuously acquired for a predetermined period. Each time the speed of the left wheel and the right wheel changes, it is possible to stably control the rotation of the left wheel and the right wheel because the occupant does not determine whether or not the left wheel or the right wheel is scooped. .

  Preferably, the rowing motion determination unit compares the obtained change in the speed of the left wheel with the predicted change in the speed of the left wheel and the right wheel predicted to be caused by a predetermined rowing motion of the occupant. It is determined whether or not the passenger has hit the left wheel, and by comparing the obtained change in the speed of the right wheel with the predicted change, it is determined whether or not the passenger has hit the right wheel.

  According to the present invention, the rowing operation determination unit determines whether or not the passenger has hit the left wheel by comparing the change in the speed of the left wheel and the right wheel with the predicted change. Judge whether it is ugly. Thereby, the presence or absence of the rowing operation for the left wheel and the presence or absence of the rowing operation for the right wheel can be individually determined.

  Preferably, the rowing operation determination unit includes a difference degree calculation unit and a difference degree comparison unit. The difference calculation unit calculates a first difference between the acquired change in the speed of the left wheel and the predicted change, and calculates a second difference between the acquired change in the speed of the right wheel and the predicted change. The difference degree comparison unit determines that the passenger has scooped the left wheel when the calculated first difference degree is within a predetermined range, and when the calculated second difference degree is within the predetermined range, It is determined that the passenger has hit the right wheel.

  According to the present invention, whether or not the occupant has hit the left wheel is determined based on the second difference between the change in the speed of the left wheel and the predicted change. Whether or not the passenger has hit the right wheel is determined based on the second difference between the change in the speed of the right wheel and the predicted change. Thereby, the presence or absence of the rowing operation for the left wheel and the presence or absence of the rowing operation for the right wheel can be determined with high accuracy.

  Preferably, the difference calculation unit acquires a plurality of prediction changes and calculates a first difference and a second difference for each prediction change. The dissimilarity comparison unit determines that the passenger scoops the left wheel when the minimum first dissimilarity among the first dissimilarities corresponding to each predictive change is within a predetermined range, and responds to each predictive change If the minimum second dissimilarity among the second dissimilarities to be present is within a predetermined range, it is determined that the passenger has scooped the right wheel.

  According to the present invention, the first dissimilarity and the second dissimilarity are calculated for each predicted change, and the passenger uses at least the left wheel and the right wheel using the minimum first dissimilarity and the minimum second dissimilarity. It is determined whether or not one is crawled. As a result, it is possible to improve the accuracy of determining whether or not the occupant scoops at least one of the left wheel and the right wheel.

  The program of this invention is used for the control apparatus with which the wheelchair of this invention is provided.

It is a rear view of the wheelchair by embodiment of this invention. It is a left view of the wheelchair shown in FIG. It is a top view of the wheelchair shown in FIG. It is a functional block diagram which shows the structure of the control apparatus shown in FIG. It is a figure which shows the change of the speed of the left wheel when a passenger crawls the wheelchair shown in FIG. It is a figure which shows the change of the speed of the right wheel when a passenger hits the wheelchair shown in FIG. It is a flowchart of the speed detection program shown in FIG. It is a flowchart of the wheelchair control program shown in FIG. It is the graph which expanded the change of the speed of the left wheel shown in Drawing 5A. 8 is a flowchart of the matching process shown in FIG. It is a figure which shows the relationship between the wheelchair shown in FIG. 1, and a turning radius. It is a flowchart of the orbit control process shown in FIG.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals and description thereof will not be repeated.

{Wheelchair structure}
FIG. 1 is a rear view of a wheelchair 1 according to the present embodiment. FIG. 2 is a left side view of the wheelchair 1. FIG. 3 is a top view of the wheelchair 1. 1 to 3, wheelchair 1 is a passive wheelchair in which brakes 17a and 17b are respectively attached to left wheel 12a and right wheel 12b. The wheelchair 1 can control the travel route by controlling the rotation of the left wheel 12a and the right wheel 12b using the brakes 17a and 17b.

  The wheelchair 1 includes a seat 11, a left wheel 12a, a right wheel 12b, hand rims 13a and 13b, casters 14a and 14b, a frame 15, rotation angle sensors 16a and 16b, brakes 17a and 17b, and a control device. 2 is provided.

  The frame 15 forms the main body of the wheelchair 1. A seat 11, a left wheel 12a, a right wheel 12b, and casters 14a and 14b are attached to the frame 15. The left wheel 12 a is a left rear wheel of the wheelchair 1. The right wheel 12 b is the right rear wheel of the wheelchair 1. The hand rim 13a is attached to the outside of the left wheel 12a. The hand rim 13b is attached to the outside of the right wheel 12b. The caster 14 a is the left front wheel of the wheelchair 1. The caster 14 b is the right front wheel of the wheelchair 1.

  The passenger moves the wheelchair 1 back and forth by sitting on the seat 11 and turning the hand rims 13a and 13b. That is, the passenger can row the left wheel 12a by turning the hand rim 13a, and can row the right wheel 12b by turning the hand rim 13b.

  The rotation angle sensor 16a is attached to the rotation shaft of the left wheel 12a and detects the rotation position of the left wheel 12a. The rotation angle sensor 16b is attached to the rotation shaft of the right wheel 12b and detects the rotation position of the right wheel 12b. The brake 17a is attached to the left wheel 12a and generates a brake torque for suppressing rotation of the left wheel 12a. The brake 17b is attached to the right wheel 12b and generates brake torque for suppressing rotation of the right wheel 12b. The rotation angle sensors 16a and 16b and the brakes 17a and 17b are connected to the control device 2 by wiring not shown.

  The control device 2 is a device that controls the brakes 17a and 17b in accordance with changes in the speed of the left wheel 12a and the right wheel 12b. The control device 2 is attached under the seat 11. The control device 2 is, for example, a microcomputer. Details of the control device 2 will be described later.

{Configuration of control device 2}
FIG. 4 is a functional block diagram showing the configuration of the control device 2. Referring to FIG. 4, the control device 2 includes a CPU (Central Processing Unit) 21, a RAM (Random Access Memory) 22, an interface 23, and a flash memory 24.

  The CPU 21 executes a program stored in the flash memory 24. The RAM 22 is a main memory of the control device 2. The CPU 21 loads the program into the RAM 22 and executes the loaded program to control the control device 2.

  The flash memory 24 is a rewritable nonvolatile semiconductor memory, and stores a wheelchair control program 3, a speed detection program 4, a plurality of modeling data 5, left speed data 6, and right speed data 7. . Various data stored in the flash memory 24 is loaded into the RAM 22 according to the operation of the program.

  The wheelchair control program 3 determines based on the speeds of the left wheel 12a and the right wheel 12b acquired by the speed detection program 4 whether or not the occupant scooped at least one of the left wheel 12a and the right wheel 12b. The wheelchair control program 3 controls at least one of the left wheel 12a and the right wheel 12b according to the determination result.

The speed detection program 4 acquires the speed of the left wheel 12a based on the rotational position output from the rotational angle sensor 16a, and acquires the speed of the right wheel 12b based on the rotational position output from the rotational angle sensor 16b. To do. The speed detection program 4 may detect an angular speed or may acquire a speed in the tangential direction of the wheel (hereinafter referred to as “linear speed”). Hereinafter, the case where the speed detection program 4 detects the linear velocity will be described unless otherwise specified. Referring to FIG. 2, the speed V _L is the linear velocity of the left wheel 12a acquired by the speed detection program 4, the speed V _R is the linear velocity of the acquired right wheel 12b by the speed detection program 4 .

Modeled data 5, the speed V _L is expected to occur by a predetermined pedaling operation of the _occupant, the data that records changes in V _R (the predicted change). Each modeled data 5 records prediction changes corresponding to a plurality of different types of rowing operations. Details of the modeled data 5 will be described later.

The left speed data 6 is data in which the speed _VL acquired by the speed detection program 4 is recorded in time series. Right velocity data 7 is a data recorded in the time series velocity V _R obtained in the speed detection program 4.

{Outline of operation of control device 2}
Hereinafter, an outline of the operation of the control device 2 will be described.

The control device 2 acquires the speed _VL based on the rotation position of the left wheel 12a input from the rotation angle sensor 16a. Control device 2, based on the rotational position of the right wheel 12b which is input from the rotation angle sensor 16b, and acquires the velocity V _R.

The control device 2 calculates the difference between the change in the speed _VL and the predicted change recorded in the modeled data 5 as the difference in the left wheel 12a. When the difference degree of the left wheel 12a exists in the predetermined range, the control device 2 determines that the passenger has scooped the left wheel 12a. Similarly, control device 2 calculates the degree of difference variation of the velocity V _R and the predicted change as the difference of the right wheel 12b. When the degree of difference of the right wheel 12b is within a predetermined range, the control device 2 determines that the passenger has scooped the right wheel 12b.

  The control device 2 controls the rotation of at least one of the left wheel 12a and the right wheel 12b according to the determination result. For example, when controlling the rotation of the left wheel 12a, the control device 2 adjusts the brake torque of the brake 17a. The travel route of the wheelchair 1 can be controlled by adjusting the brake torque of the brakes 17a and 17b.

Thus, the control device 2, the speed V _L, based on a change of V _R, the rider judges whether rowed at least one of the left wheel 12a and the right wheel 12b. The control device 2 controls the rotation of at least one of the left wheel 12a and the right wheel 12b according to the determination result. Thereby, even if it is a case where the wheelchair 1 moves by factors other than rowing operation | movement, the motion of the wheelchair 1 can be controlled.

  For example, when it is determined that the passenger does not scoop the left wheel 12a and the right wheel 12b, the control device 2 stops the rotation of the left wheel 12a and the right wheel 12b. The wheelchair 1 can be forcibly stopped when the wheelchair 1 starts to move despite the passenger not stroking the wheelchair 1 (for example, when the wheelchair 1 starts to descend the slope).

Further, when it is determined that the occupant scoops the left wheel 12a and the right wheel 12b, the control device 2 estimates the average speed of the left wheel 12a and the right wheel 12b after the occupant starts the rowing operation. Control device 2, the ratio between the velocity V _L and the speed V _R (actual ratio) corresponds to the ratio of the average speed of the right wheel 12b which is estimated as the average velocity of the estimated left wheel 12a (reference ratio) In this manner, the rotation of the left wheel 12a and the right wheel 12b is controlled. That is, the control device 2 controls the rotation of the left wheel 12a and the right wheel 12b so that the wheelchair 1 can bend along a turning radius determined based on the reference ratio. Thereby, the control apparatus 2 can move the wheelchair 1 along the path | route which a passenger | crew intends.

{Principle of rowing judgment}
Hereinafter, the principle of determining whether or not the passenger has scooped at least one of the left wheel 12a and the right wheel 12b will be described. The control device 2 individually determines for each wheel whether the left wheel 12a and the right wheel 12b have been rolled. Hereinafter, the left wheel 12a will be described as an example.

  X (t) is defined as a parameter indicating the position of the left wheel 12a. x (t) indicates the position of the left wheel 12a (the position of the center of gravity of the left wheel 12a) on the plane 100 (see FIG. 3) on which the wheelchair 1 moves at time t.

In the present embodiment, the minimum jerk trajectory model is applied to the passenger's rowing operation. The control device 2 determines whether or not the occupant scoops the left wheel 12a by comparing the change in the speed _{VL with} the change in the wheel speed obtained by the minimum jerk trajectory model. The change in the wheel speed obtained by the minimum jerk trajectory model is common to the left wheel 12a and the right wheel 12b.

In the minimum jerk trajectory model, x (t) is defined as a function that minimizes the evaluation function C _j as shown in (Equation 1). In (Equation 1), _{t f} is the time required for the rowing operation. d ³ (x) / dt ³ is the jerk.

When the evaluation function C _j has the minimum extremum, x (t) satisfies the Euler-Poisson equation, so x (t) is expressed by (Expression 2). From (Expression 2), x (t) is expressed by a quintic expression.

Next, conditions for determining x (t) from (Equation 2) are set. It is assumed that the passenger rides the wheelchair 1 that is stopped and stops the wheelchair 1 at a desired position. That is, the passenger continuously performs the operation of rotating the left wheel 12a and the operation of stopping the rotation of the left wheel 12a. Based on this assumption, when the rider pedaling starts operating the position of the left wheel 12a at (t = 0) is set as x _0, left in when (t = t _f) the rider pedaling finished its operation The position of the wheel 12a is set to _xf . In rowing at the start of operation (t = 0) and end _(t = t _f), it sets the speed and tangential acceleration of the left wheel 12a to zero.

By solving (Equation 2) under these settings, x (t) is expressed by (Equation 3) and (Equation 4).

In (Expression 3) and (Expression 4), x ₀ , x _f , and t _f are parameters for specifying the rowing operation. A predicted trajectory (trajectory based on the minimum jerk trajectory model) of the wheelchair 1 expressed by (Expression 3) and (Expression 4) is defined as x (x _f , t _f ) (t). Further, the actual trajectory (measured trajectory) of the left wheel 12a is defined as x _real (t). As shown in the following (formula 5), the absolute value of the value obtained by subtracting the actually measured trajectory x _real (t) from the predicted trajectory x (x _f , t _f ) (t) is integrated. The integral value obtained by (Expression 5) indicates the degree to which the actually measured trajectory is different from the predicted trajectory.

  When the integral value is smaller than a predetermined reference value, it is determined that the actually measured trajectory matches the predicted trajectory. That is, it is determined that the left wheel 12a has moved due to the rowing operation. If the integrated value is greater than or equal to the reference value, it is determined that the measured trajectory does not match the predicted trajectory. That is, it is determined that the left wheel 12a has moved due to a factor other than the rowing operation.

A change (predicted change) in the speed of the left wheel 12a recorded in each modeled data 5 can be calculated from the predicted trajectory described above. Therefore, in (Equation 5), the predicted trajectory x (x _f , t _f ) (t) is replaced with a predicted change, and the measured trajectory x _real (t) is replaced with a change in the speed V _L. The difference between the change in _VL and the predicted change is shown. Based on the difference between the change in the speed _VL and the predicted change, it can be determined whether the speed _VL has changed due to the rowing operation.

A plurality of different predicted trajectories can be calculated by setting various x _f and t _f . That is, a plurality of predicted trajectories can be calculated according to various movements of the passenger, such as when the passenger hits the left wheel 12a strongly or slowly hits with a weak force. From these predicted trajectories, a plurality of predicted changes corresponding to various movements of the passenger can be calculated. A plurality of predicted changes calculated in this way are recorded in each modeled data 5.

  The control device 2 uses the plurality of modeling data 5 to determine whether or not the occupant scooped the left wheel 12a. The control device 2 selects the minimum difference degree among the difference degrees of the plurality of left wheels 12 a calculated using the respective modeled data 5. If the minimum difference is smaller than the threshold value, the control device 2 determines that the occupant scooped the left wheel 12a.

  The control device 2 also uses the modeling data 5 common to the left wheel 12a when determining whether or not the passenger has hit the right wheel 12b. This is because the physical characteristics (such as radius) of the right wheel 12b are the same as those of the left wheel 12a because the physical characteristics of the left wheel 12a are the same.

{Comparison between actual and predicted changes}
5A and 5B are graphs showing changes in the speed of each wheel when the wheelchair 1 turns to the right by the rowing operation. FIG. 5A shows a change in the speed _VL of the left wheel 12a. Figure 5B shows the change in velocity _{V R} of the right wheel 12b. 5A and 5B, shows the speed _V L, the _{V R} in a solid line shows the predicted variation in broken lines.

With reference to FIGS. 5A and 5B, since the wheelchair 1 is turning right, the speed V _L is greater than the speed V _R. The speed _V L, _{V R} has generally aligned to the predicted change.

In addition, with reference to FIG. 5A, in the period of 1.75 to 3.0 seconds, the speed _VL tends to exceed the predicted change. This is because, in the minimum jerk trajectory model, it is considered that the occupant performs an operation of stopping the left wheel 12a, whereas in the actual operation of the wheelchair 1, the occupant swipes the wheelchair 1. This is because the wheel is not stopped every time. Referring to FIG. 5B, the actual change tends to be lower than the predicted change in all periods. The reason for this is considered that the passenger is trying to suppress the rotation of the right wheel 12b in order to turn the wheelchair 1 to the right.

The control device 2, the speed _V L, (in the example shown in FIGS. 5A and 5B, the period of 0.1 to 0.2 seconds) rising period of _{V R,} the velocity _V L, and _{V R} is compared with the expected change To calculate the degree of difference. In this period, the speed V _L, V _R, since substantially matches the predicted change, the control unit 2, the speed V _L, whether changed by V _R is pedaling operation can be determined with high accuracy.

Incidentally, if the rider is straight the wheelchair 1 paddling the left wheel 12a and the right wheel 12b, the speed _V L, the ratio of _{V R} becomes substantially 1: 1. Velocity _V L, _{V R} is aligned to the same prediction changes.

  Hereinafter, the operation of the control device 2 will be described in detail.

{Calculation of wheel speed and wheelchair 1 acceleration}
FIG. 6 is a flowchart of the speed detection program 4. The operation of the control device 2 that executes the speed detection program 4 will be described below with reference to FIG.

When the rotation position of the left wheel 12a is input from the rotation angle sensor 16a (Yes in Step S21), the control device 2 calculates the speed _VL based on the input rotation position (Step S22). Specifically, the control device 2 calculates a change in the rotation angle of the left wheel 12a from the rotation position input immediately before and the newly input rotation position. The control device 2 calculates the speed _VL from the calculated change in the rotation angle, the input interval between the rotation positions, and the radius of the left wheel 12a. The control device 2 records the calculated speed _VL in the left speed data 6 (step S23).

  On the other hand, when the rotation position of the left wheel 12a is not input (No in step S21), the control device 2 checks whether or not the rotation position of the right wheel 12b is input from the rotation angle sensor 16b (step S24). When the rotational position of the right wheel 12b is not input (No in step S24), the control device 2 returns to step S21.

Control device 2, (Yes in step S24) when the rotational position of the right wheel 12b is input, and calculates the velocity _{V R} (step S25). The process of step S25 is the same as the process of step S22. Control device 2, the velocity _{V R} calculated is recorded in the right velocity data 7 (step S26).

  The control device 2 calculates the acceleration of the wheelchair 1 after step S23 or step S26 (step S27). Specifically, the control device 2 calculates the acceleration of the left wheel 12a in the direction of arrow A (see FIG. 3) from the past two speeds recorded in the left speed data 6. Similarly, the acceleration of the right wheel 12b is calculated. The control device 2 calculates the average value of the acceleration of the left wheel 12a and the right wheel 12b as the acceleration of the wheelchair 1. The acceleration of the wheelchair 1 is recorded in the RAM 22 in time series.

  After calculating the acceleration of the wheelchair 1, the control device 2 returns to step S21. The control device 2 repeatedly executes the processes of steps S21 to S27 while power is being input.

{Wheel rotation control}
FIG. 7 is a flowchart of the wheelchair control program 3. Hereinafter, the operation of the control device 2 that executes the wheelchair control program 3 will be described with reference to FIG. It is assumed that the control device 2 starts the wheelchair control program 3 when the wheelchair 1 is stopped. Further, the control device 2 executes a speed detection program 4 in parallel with the wheelchair control program 3.

  The control device 2 refers to the acceleration recorded in the RAM 22 and checks whether or not the acceleration in the forward direction (arrow A direction) of the wheelchair 1 has been detected for a period of Δt1 (step S1). Δt1 is, for example, 0.1 seconds.

When forward acceleration is continuously detected (Yes in step S1), the control device 2 determines that the passenger may have squeezed the wheelchair 1 and releases the brake (step S2). Specifically, the control device 2 outputs a control signal instructing release of the brake to the brakes 17a and 17b. Thus, the control device 2, without the influence of the brake 17a, 17b, velocity _V L, can detect the _{V R.}

Control device 2, by performing matching processing (step S3), and from among the recorded predicted change to a plurality of modeled data 5, and the predicted change that best matches the change in the velocity V _L, the velocity V _R Determine the predicted change that best matches the change.

  Next, based on the result of the matching process (step S3), the control device 2 determines whether or not the passenger has scooped the wheelchair 1 (step S4). When it is determined that the passenger has scooped the wheelchair 1, the control device 2 executes a trajectory control process for controlling the rotation of at least one of the left wheel 12a and the right wheel 12b (step S5). Thereby, the control apparatus 2 can drive the wheelchair 1 along the track | orbit according to a passenger | crew's intent. When it is determined that the passenger is not stroking the wheelchair 1, the control device 2 causes the wheelchair 1 to stop urgently (step S45). Details of the rowing operation determination process (step S4) will be described later.

  The control device 2 repeatedly executes the trajectory control process (step S5) until the forward acceleration is continuously detected for the period Δt1 (Yes in step S6). When acceleration in the forward direction is newly detected (for example, Yes in step S <b> 6), such as when the occupant rides on the wheelchair 1, the control device 2 determines whether the occupant newly strokes the wheelchair 1. Returning to step S2.

  Hereinafter, each step of the wheelchair control program 3 will be described in detail.

{Matching process (step S3)}
FIG. 8 is an enlarged view of the graph shown in FIG. 5A, and shows the change in the speed _VL during the period of 0 to 0.5 seconds. Referring to FIG. 8, a period Δt1 (0 to 0.1 second) is a period for detecting the acceleration in the forward direction (see step S1 and FIG. 7). In a period after 0.1 second, the brakes 17a and 17b are released (step S2). The control device 2 calculates the degree of difference using the speed of the wheels after the period Δt1.

FIG. 9 is a flowchart of the matching process (step S3). Control device 2 acquires the velocity _{V L} in the period Δt2 from the left velocity data 6, to obtain the velocity _{V R} in the period Δt2 from the right velocity data 7 (step S31). The control device 2 acquires the plurality of modeled data 5 by loading the plurality of modeled data 5 from the flash memory 24 to the RAM 22. Brake 17a, 17b is because it has already been released (step S2), the speed _V L, _{V R} in the period .DELTA.t2, not affected by the brake.

  The control device 2 checks whether or not the degree of difference has been calculated using all the modeled data 5 (step S32). When all the modeled data 5 is not used (No in step S32), the control device 2 selects the modeled data 5 that is not used for calculating the difference (step S33).

The control device 2 calculates the degree of difference between the change in the speed _VL during the period Δt2 and the predicted change recorded in the selected modeling data 5 (step S34). In the modeled data 5, a predicted change corresponding to the period Δt2 (t = 0.1 to 0.2 seconds) is recorded. The control device 2 calculates the degree of difference by adding the absolute values of the values obtained by subtracting the speed _VL from the predicted change. Controller 2 calculates the change in velocity V _R in the period .DELTA.t2, the degree of difference between the predicted change recorded in the modeled data 5 which has been selected (step S35). The process of step S35, except that the rate _{V R} is used is the same as step S34.

  The control device 2 repeats steps S33 to S35 until all the modeled data 5 is used (Yes in step S32). Thereby, the difference degree of the some left wheel 12a and the difference degree of the some right wheel 12b are calculated.

  When all the modeled data 5 is used (Yes in step S32), the control device 2 calls the minimum difference (hereinafter, “left minimum difference”) among the differences of the plurality of left wheels 12a. ) Is selected (step S36). The control device 2 selects the minimum difference degree (hereinafter referred to as “the right minimum difference degree”) from among the difference degrees of the plurality of right wheels 12b.

{Rowing operation determination process (step S4)}
Hereinafter, the rowing operation determination process (step S4) will be described with reference to FIG. The control device 2 compares the left minimum difference and the right minimum difference selected by the matching process (step S3) with preset threshold values (steps S41 to S43).

Determining if both of the left minimum dissimilarity and right minimum dissimilarity is equal to or greater than the threshold value (Yes in step S41), control device 2, the speed V _L, and changes in V _R is not aligned with the minimum jerk trajectory model To do. Control device 2, the speed V _L, determines that V _R has changed by a factor other than the pedaling operation occupant, an emergency stop the wheelchair 1 (step S45). The control device 2 outputs a signal instructing the maximum brake torque to the brakes 17a and 17b.

  When only the right minimum dissimilarity is equal to or greater than the threshold value (No in step S41, Yes in step S42), control device 2 determines that the passenger scoops only left wheel 12a, and executes step S46. If only the left minimum dissimilarity is greater than or equal to the threshold (No in step S41, No in step S42, Yes in step S43), control device 2 determines that the passenger scooped only right wheel 12b, and step S47 is executed. Details of steps S46 and S47 will be described later.

  When both of the left minimum dissimilarity and the right minimum dissimilarity are smaller than the threshold values (No in step S41, No in step S42, No in step S43), the control device 2 allows the passenger to use the left wheel 12a and the right wheel. It is determined that 12b has been scooped. The control device 2 estimates the average speed of the left wheel 12a and the right wheel 12b, and calculates a reference ratio (step S44). The reference ratio is a ratio between the estimated average speed of the left wheel 12a and the estimated average speed of the right wheel 12b.

The method for estimating the average speed will be described in detail using the left wheel 12a as an example. Each modeling data 5 records parameters x _f and t _f of the minimum jerk model. x _f is the position of the wheel at the time (t = t _f ) when the passenger finishes the rowing operation.

The control device 2 extracts x _f and t _f from the modeled data 5 corresponding to the left minimum difference degree. Hereinafter, x _f and t _f extracted from the modeling data 5 corresponding to the left minimum difference will be described as x _{L_f} and t _{L_f} . The control device 2 estimates the average speed _{VL_est} of the left wheel 12a using (Equation 6).

Similarly, the average speed _{VR_est} of the right wheel 12b is expressed by (Expression 7). In (Expression 7), x _{R_f and} t _{R_f} are x _f and t _f extracted from the modeled data 5 corresponding to the right minimum dissimilarity.

The control device 2 calculates the reference ratio using the calculated average speeds _{VL_est} and _{VR_est} . The reference ratio is obtained by (Equation 8). In (Expression 8), _DS indicates a reference ratio. Average speed _{V L_est, V R_est} and reference ratio _{D s} is used in the trajectory control process (step S5).

When only the right minimum dissimilarity is equal to or greater than the threshold value (Yes in step S42), control device 2 executes step S46. The control device 2 estimates the average speed _{VL_est} using (Equation 6). The control device 2 cannot estimate the average speed _{VR_est} using the modeled data 5. Therefore, the control apparatus 2, when the rowing operation is started the velocity _{V R} of the (t = 0 sec), is set to the average velocity _{V R_est.} The control device 2 calculates the reference ratio D _s using (Equation 8). The control device 2, as the average velocity _{V R_est,} rowing operation after is started (t = 0), until the acquisition of the speed _{V R} to be used in the dissimilarity of the calculation is terminated (t = 0.2 sec) of it may be set to one of the speed V _R.

When only the left minimum dissimilarity is greater than or equal to the threshold value (Yes in step S43), control device 2 executes step S47. The control device 2 estimates the average speed _{VR_est} using (Equation 7). The control device 2 cannot estimate the average speed _{VL_est} using the modeled data 5. For this reason, the control device 2 sets the speed _VL when the rowing operation is started (t = 0 second) to the average speed _{VL_est} . The control device 2 calculates the reference ratio D _s using (Equation 8). In addition, the control apparatus 2 should _just set either speed _VL of the period of 0 to _0.2 second as average speed _{VL_est} .

{Orbit control processing (step S5)}
Hereinafter, the trajectory control process (step S5) will be described by taking as an example the case where the average speeds V _{L_est} and V _{R_est} are estimated by the process of step S44.

First, the principle by which the trajectory intended by the passenger can be specified based on the reference ratio D _s will be described. Figure 10 is a drawing showing the case where the wheelchair 1 is turning to the left, velocity V _L, and V _R, the relationship between the turning radius R _a of the wheelchair 1. Referring to FIG. 10, T indicates the distance between the left wheel 12a and the right wheel 12b. The wheelchair 1 shown in FIG. 10 corresponds to the top view shown in FIG. In this case, the turning radius _{R a} of the wheelchair 1 is represented by (Equation 9).

Since the distance T is a fixed value, the turning radius _{R a,} the velocity _V L, it depends on _{V R.} That is, if the ratio between the velocity V _L and the speed V _R is constant, the wheelchair 1 can be speed V _L or velocity V _R is even changed, maintains the turning radius R _a. Control device 2, the ratio of the velocity _{V L} and the speed _{V R} so as to coincide with the reference ratio, and controls the brake 17a, 17b. Thus, the control device 2, the wheelchair 1 can be run with the turning radius R _a of the intention of the rider.

FIG. 11 is a flowchart of the trajectory control process (step S5). Referring to FIG. 11, the control unit 2 calculates the actual ratio _{D c} (step S51). Found ratio _{D c} is the ratio of the current speed _{V L} and the current speed _{V R.} The actual measurement ratio D _c is expressed by (Equation 10).

Control device 2, the measured ratio _{D c} is compared with a reference ratio _{D s,} to determine whether to control which of the left wheel 12a and the right wheel 12b (step S52). That is, the control unit 2, in order to match the actual ratio D _c to the reference ratio D _s determines whether it is necessary to brake the one of the left wheel 12a and the right wheel 12b.

The control device 2 determines that the speed V _L is excessive when the reference ratio D _s is larger than the actual measurement ratio D _c . The control device 2 determines to control the brake 17a in order to suppress the speed _VL . That is, the left wheel 12a is determined as a control target. On the other hand, the control device 2, when the reference ratio D _s is smaller than the actual ratio D _c, determines that the velocity V _R is excessive. Control device 2, in order to suppress the velocity V _R, decides to control the brake 17b. That is, the right wheel 12b is determined as a control target.

When the right wheel 12b is determined as a control target (Yes in Step S53), the control device 2 determines the target speed _{VR_ref} of the right wheel 12b (Step S54). The target speed V _{R_ref} is expressed by (Equation 11).

In (Equation 11), the speed _{V L} is substituted as the target speed _{V L_ref} the left wheel 12a. By multiplying the velocity _{V L} to the inverse of the reference ratio _{D s,} it is possible to calculate the target speed _{V R_ref.} The control device 2 controls the brake 17b using the calculated target speed _{VR_ref} (step S55). The control device 2 determines the brake torque of the brake 17b based on the calculated target speed _{VR_ref} , and outputs a control signal corresponding to the determined brake torque to the brake 17b.

On the other hand, when the left wheel 12a is determined as the control target (No in step S53), the control device 2 determines the target speed _{VL_ref} (step S56). The target speed V _{L_ref} is expressed by (Equation 12).

In (Equation 12), the speed _{V R} is substituted as the target speed _{V R_ref.} By multiplying the speed V _L by the reference ratio D _s , the target speed V _{L_ref} can be calculated. The control device 2 controls the brake 17a using the calculated target speed _{VL_ref} (step S57). The control device 2 determines the brake torque of the brake 17a based on the calculated target speed _{VL_ref} , and outputs a control signal corresponding to the determined brake torque to the brake 17a.

The trajectory control process (step S5) is repeatedly executed until the forward acceleration is continuously detected (Yes in step S6, see FIG. 6). The control device 2 can drive the wheelchair 1 along the track intended by the passenger by bringing the actual measurement ratio D _c closer to the reference ratio D _s by feedback control.

When forward acceleration is continuously detected, the control device 2 newly executes a matching process (step S3). At this time, there is a case where the speed V _L for starting the matching process (t = 0.1 _sec), V _R does not match the initial velocity of the predicted change to be recorded in the modeled data 5 (V = 0) . In this case, the control unit adds the speed _V L at t = 0.1 seconds, the _{V R} to the predicted change, executes the matching process.

  The same process is also executed when it is determined that the passenger has scooped only the left wheel 12a or when the passenger has scooped only the right wheel 12b. Thereby, even if it is a case where a passenger scoops one wheel, the control apparatus 2 can drive the wheelchair 1 along the path | route which a passenger intends. When the wheelchair is traveling horizontally on the slope, it is conceivable that the passenger rides either the left wheel 12a or the right wheel 12b. In such a case, the control device 2 controls the rotation of the left wheel 12a and the right wheel 12b so that the actual measurement ratio Dc is close to the reference ratio Ds, so that the wheelchair 1 is routed along the route according to the passenger's intention. It can be run.

As described above, the control unit 2 determines whether the speed V _L, the change in V _R is aligned to the minimum jerk trajectory model. Thereby, even if the wheelchair 1 starts moving when the passenger is not stroking the wheelchair 1, the wheelchair 1 can be appropriately controlled. The control device 2, passenger when it is determined that the rowed at least one of the left wheel 12a and the right wheel 12b, so that approximate the actual ratio D _c to the reference ratio D _s, of the left wheel 12a and the right wheel 12b Control at least one rotation. Thereby, the control apparatus 2 can drive the wheelchair 1 along the track | truck which a passenger intends.

In the above-described embodiment, when it is determined that the passenger scoops only the left wheel 12a (Yes in step S42), or when it is determined that the passenger scoops only the right wheel 12b (Yes in step S43). ), the reference ratio D _s has been described an example that is calculated is not limited to this. In this case, the control device 2 may control the brake so as to maintain the one wheel that has been swung by the passenger at an average speed. The speed of the other wheel is maintained at the speed when the user performs the rowing operation. For example, the rider case of sharp turns the wheelchair 1 to the left, since the left wheel 12a hardly rotates, would not be able to calculate the baseline ratio D _s. As described above, the control device 2 may control the rotation of the wheels without calculating the reference ratio Ds.

  In the said embodiment, although the wheelchair 1 demonstrated the example provided with brake 17a, 17b, it is not restricted to this. The wheelchair 1 may include motors for driving the left wheel 12a and the right wheel 12b, respectively, instead of the brakes 17a and 17b. Alternatively, a brake and a motor may be attached to each of the left wheel 12a and the right wheel 12b. That is, the control apparatus 2 should just be able to control rotation of the left wheel 12a and the right wheel 12b by controlling a brake or a motor.

  In the said embodiment, although the control apparatus 2 demonstrated the example which performs an emergency stop (step S45) or a track control process (step S5) according to the result of a matching process (step S3), it is restricted to this. Absent. For example, in the wheelchair control program 3, the trajectory control process (step S5) may be omitted. In this case, the control device 2 controls the rotation of the left wheel 12a and the right wheel 12b only when the left minimum dissimilarity and the right minimum dissimilarity are equal to or greater than the threshold values (Yes in step S41), and the wheelchair 1 Is stopped urgently (step S45). Thereby, it is possible to prevent the wheelchair 1 from moving regardless of the passenger's intention. Alternatively, the control device 2 may omit the emergency stop (step S45).

In the above embodiment, the control unit 2, the rotation angle sensor 16a, with 16b, velocity V _L, an example has been described to obtain the V _R, is not limited thereto. The control device 2 may attach angular velocity sensors to the left wheel 12a and the right wheel 12b, respectively, instead of the rotation angle sensors 16a and 16b. Even in this case, the control unit 2 can acquire velocity V _L, and V _R.

  In the said embodiment, although the control apparatus 2 demonstrated the example which controls rotation of the left wheel 12a and the right wheel 12b using the linear velocity of the left wheel 12a and the right wheel 12b, it is not restricted to this. The control device 2 may control the rotation of the left wheel 12a and the right wheel 12b using the angular velocities of the left wheel 12a and the right wheel 12b.

In the said embodiment, when the control apparatus 2 performed a track | orbit control process (step S5), the example which controls rotation of any one of the left wheel 12a and the right wheel 12b was demonstrated. However, the control device 2 may bring the actual measurement ratio D _c closer to the reference ratio D _s by controlling the rotation of both the left wheel 12a and the right wheel 12b.

In the above embodiment, the control device 2, as if left minimum dissimilarity and right minimum difference degree is smaller than the threshold value (No in step S43), the measured ratio D _c matches the reference ratio D _s, The example which controls rotation of one wheel of the left wheel 12a and the right wheel 12b was demonstrated (step S5). However, when the minimum left dissimilarity and the minimum right dissimilarity are smaller than the threshold values (No in step S43), the control device 2 may execute the following process in the trajectory control process (step S5). Controller 2 controls the brake 17a so that the speed _{V L} of the left wheel 12a is the average velocity _{V L_est,} controls the brake 17b so that the speed _{V R} of the right wheel 12b is an average velocity _{V R_est.} That is, when it is determined that the _{passenger scoops} the left wheel 12a and the right wheel 12b (No in step S43), the control device 2 uses the average speeds _{VL_est} and _{VR_est} to determine the left wheel 12a and the right wheel 12b. It is sufficient to control at least one of the rotations.

  In the above embodiment, an example in which the predicted change is obtained by the minimum jerk trajectory model has been described. However, the predictive change may be calculated using a model other than the minimum jerk trajectory model. That is, it is only necessary that the predicted change can be obtained by a function modeling the passenger's rowing motion.

In the above embodiment, the control device 2 calculates the difference degree of the left wheel 12a (step S34), and determines whether or not the passenger scolds the left wheel 12a based on the difference degree of the left wheel 12a. Has been described (step S4). However, the control device 2 may determine whether or not the occupant scoops the left wheel 12a using a method other than the method of calculating the degree of difference. For example, the control device 2 may determine that the occupant scooped the left wheel 12a when the predicted change that matches the change in the speed _VL can be specified using the least square method. In other words, the control device 2 may determine whether or not the passenger has hit the left wheel 12a by comparing the change in the speed _VL with the predicted change. The same applies to the right wheel 12b.

In the above-described embodiment, the example in which the control device 2 acquires the modeled data 5 stored in the flash memory 24 has been described. However, the control device 2 may generate a predicted change using a preset function. For example, a function f (t) obtained by modeling the passenger's rowing motion is set in the control device 2. Control device 2, the period generates a predicted change from the function f (t) in .DELTA.t2, velocity V _L The generated predicted change _may be compared to the V _R. In this case, the flash memory 24 may store a plurality of types of functions f (t). Alternatively, the flash memory 24 may store one function f (t) and store various values regarding the constants included in the function f (t). In this case, the control device 2 can obtain a plurality of prediction changes from one function f (t).

  In the said embodiment, the wheelchair control program 3 and the speed detection program 4 demonstrated the example installed in the microcomputer. The method for installing these programs is not particularly limited. For example, the wheelchair control program 3 may be downloaded from a server connected to a network and installed in a microcomputer. Alternatively, when a computer-readable medium (for example, an optical disk, a USB (Universal Serial Bus) memory, a flexible disk, etc.) in which the wheelchair control program 3 is recorded is distributed, the wheelchair control program 3 is transferred from the medium to the microcomputer. May be installed.

  In the above embodiment, the case where the control device 2 is a microcomputer has been described as an example, but the present invention is not limited to this. The control device 2 may be configured by a hardware circuit.

  While the embodiments of the present invention have been described above, the above-described embodiments are merely examples for carrying out the present invention. Therefore, the present invention is not limited to the above-described embodiment, and can be implemented by appropriately modifying the above-described embodiment without departing from the spirit thereof.

DESCRIPTION OF SYMBOLS 1 Wheelchair 2 Control apparatus 3 Wheelchair control program 4 Speed detection program 5 Modeling data 12a Left wheel 12b Right wheel 13a, 13b Hand rim 16a, 16b Rotation angle sensor 17a, 17b Brake

Claims (12)

A wheelchair comprising a left wheel and a right wheel that rotate in response to a passenger's rowing operation,
A first speed acquisition unit for acquiring the speed of the left wheel;
A second speed acquisition unit for acquiring the speed of the right wheel;
By comparing the change in the speed of the left wheel acquired by the first speed acquisition unit with the predicted change in the speed of the left wheel and the right wheel predicted to be caused by the predetermined rowing operation of the occupant, It is determined whether or not the passenger has hit the left wheel, and the change in the speed of the right wheel acquired by the second acquisition unit is compared with the predicted change, so that the passenger can hit the right wheel. A rowing motion determination unit for determining whether or not
A wheelchair comprising: a rotation control unit that controls rotation of at least one of the left wheel and the right wheel according to a determination result by the rowing operation determination unit. The wheelchair according to claim 1,
The rotation control unit is a wheelchair that stops rotation of the left wheel and the right wheel when the rowing operation determination unit determines that the occupant is not stroking the left wheel and the right wheel. The wheelchair according to claim 1 or 2, further comprising:
Both-side speeds for estimating an average speed of the left wheel and the right wheel after the rowing operation is started when it is determined by the rowing operation determination unit that the passenger has hit the left wheel and the right wheel. With an estimator,
The rotation control unit controls a rotation of at least one of the left wheel and the right wheel by using the estimated average speed of the left wheel and the estimated average speed of the right wheel. A wheelchair according to claim 3,
The rotation control unit is configured so that an actual measurement ratio between the acquired speed of the left wheel and the acquired speed of the right wheel is an average speed of the estimated left wheel and the estimated average speed of the right wheel. A wheelchair that controls rotation of at least one of the left wheel and the right wheel so as to coincide with a reference ratio. The wheelchair according to claim 1 or 2, further comprising:
One-side speed estimation for estimating an average speed of the one wheel after the rowing operation is started when it is determined by the rowing operation determination unit that the passenger has hit one of the left wheel and the right wheel. Part
The rotation control unit is configured so that an actual measurement ratio between the acquired speed of the left wheel and the acquired speed of the right wheel is equal to the estimated average speed of the one wheel and the other when the rowing operation is started. A wheelchair that controls the rotation of the left wheel and the right wheel so as to coincide with a reference ratio with the speed of the wheel. The wheelchair according to claim 4 or 5, further comprising:
A control object determining unit that compares the actual measurement ratio with the reference ratio and determines which of the left wheel and the right wheel to control based on the comparison result;
The said rotation control part is a wheelchair which controls rotation of the wheel determined by the said control object determination part. The wheelchair according to claim 1 or 2, further comprising:
One-side speed estimation for estimating an average speed of the one wheel after the rowing operation is started when it is determined by the rowing operation determination unit that the passenger has hit one of the left wheel and the right wheel. Part
The rotation control unit is a wheelchair that controls the rotation of the one wheel so that the speed of the one wheel becomes an average speed estimated by the speed estimation unit. A wheelchair according to claim 7,
The rotation control unit is a wheelchair that controls the rotation of the other wheel so that the speed of the other wheel becomes a speed when the passenger starts the rowing operation. The wheelchair according to any one of claims 1 to 8, further comprising:
An acceleration acquisition unit for acquiring acceleration in the front-rear direction of the wheelchair;
The rowing motion determination unit determines whether or not the passenger has hit at least one of the left wheel and the right wheel when the acceleration acquisition unit continuously acquires a forward acceleration for a predetermined period. wheelchair. The wheelchair according to claim 1 ,
The rowing motion determination unit
A difference calculation for calculating a first difference between the obtained change in the speed of the left wheel and the predicted change and calculating a second difference between the change in the speed of the acquired right wheel and the predicted change And
When the calculated first difference is within a predetermined range, it is determined that the occupant has scooped the left wheel, and when the calculated second difference is within the predetermined range, A wheelchair including a difference comparison unit that determines that a passenger scoops the right wheel. A wheelchair according to claim 10 ,
The difference calculation unit obtains a plurality of prediction changes, calculates the first difference and the second difference for each prediction change,
The difference degree comparison unit determines that the occupant scoops the left wheel when a minimum first difference degree among the first difference degrees corresponding to each prediction change exists in the predetermined range, A wheelchair that determines that the occupant has scooped the right wheel when a minimum second difference among the second differences corresponding to the predicted change is within the predetermined range. A computer that is mounted on a wheelchair equipped with a left wheel and a right wheel that rotates in accordance with a passenger's rowing operation and operates as a control device that controls the rotation of the left wheel and the right wheel,
Obtaining the speed of the left wheel;
Obtaining the speed of the right wheel;
By comparing the obtained change in the speed of the left wheel with a predicted change in the speed of the left wheel and the right wheel that is predicted to be caused by a predetermined rowing motion of the occupant, the occupant Determining whether or not the wheel has been hit,
Determining whether the occupant scooped the right wheel by comparing the obtained change in speed of the right wheel with the predicted change;
Controlling the rotation of the left wheel and the rotation of at least one of the right wheel according to the determination result of whether or not the left wheel is hit and the determination result of whether or not the right wheel is hit. Program.

Images