TWI415597B - Intelligent robotic wheelchair - Google Patents
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Abstract
Description
本發明是有關於一種輪椅，且特別是有關於一種智慧型的機器人輪椅。The present invention relates to a wheelchair, and more particularly to a smart robotic wheelchair.
人口老化是很多先進國家會遇到的問題，所引發的問題包括生產力降低、醫療和照護費用提高等經濟問題。隨著年齡增加，身體機能下降，行動不便的人可以藉助輪椅來輔助行動。機械輪椅需要使用者用手來推動，對於上肢力道不足或不方便的使用者而言，使用者上肢力量無法自行推動輪椅時，使用電動輪椅是一個可能的選擇，而操控電動輪椅時操作者，電動輪椅的操控方式困難度仍然相當高，因此近年來輪椅的研究方向上開始將輪椅由完全被動、由使用者操控，轉變至賦予輪椅部份「自主行為(autonomous behaviors)」能力，使輪椅本身擁有類似機器人之感測、判斷能力，能配合輪椅操作者的意願做出自主動作，同時並將具有互動性的「協同控制機制(collaborative control scheme)」融入輪椅控制介面中，也就是現在所發展的智慧型機器人輪椅，智慧型機器人輪椅主要是輪椅使用者為去除操控性的困難度，以簡易的方式來達到智慧型機器人輪椅上之功能。Population ageing is a problem that many advanced countries face, and the problems that arise are economic problems such as reduced productivity and increased medical and care costs. As you get older, your body functions and your mobility is reduced. People with mobility problems can use wheelchairs to assist in their actions. A mechanical wheelchair requires the user to push it by hand. For a user with insufficient or inconvenient upper limb strength, the use of an electric wheelchair is a possible option when the user's upper limb strength cannot push the wheelchair by himself, and the operator is operating the electric wheelchair. The difficulty of handling electric wheelchairs is still quite high. Therefore, in recent years, the research direction of wheelchairs has changed the wheelchair from completely passive and user-controlled to the part of the wheelchair to provide "autonomous behaviors" ability to make the wheelchair itself. With the ability to sense and judge similar robots, it can cooperate with the will of the wheelchair operator to make autonomous movements, and integrate the interactive "collaborative control scheme" into the wheelchair control interface, which is now developed. The intelligent robotic wheelchair, the intelligent robotic wheelchair is mainly used by the wheelchair user to achieve the function of the intelligent robot wheelchair in a simple manner in order to remove the difficulty of handling.
智慧型機器人輪椅需要結合機械、電子裝置與系統軟體，其整合技術門檻高，而且需要考慮使用者實際需求來進行設計。另外，由於智慧型機器人輪椅的使用者多屬嚴重行動不便的人士，因此整體系統的穩定度與安全更是智慧型機器人輪椅必須考量的因素，這也間接提高智慧型機器人輪椅的設計難度。Smart robotic wheelchairs need to be combined with mechanical, electronic devices and system software. The integration technology threshold is high, and the design needs to be considered in consideration of the actual needs of users. In addition, since the users of the intelligent robotic wheelchair are mostly people with severe mobility problems, the stability and safety of the overall system are factors that must be considered for the smart robot wheelchair, which indirectly improves the design difficulty of the intelligent robot wheelchair.
本發明提供一種智慧型機器人輪椅，其具有利用史都華平台的座椅調整機構，可以達到輔助起身、調整使用者姿勢的效果。智慧型機器人輪椅更具有人性化的使用與操作介面，以及自動辨識導航的功能，可以輔助使用者移動至所需的地點。The present invention provides a smart robot wheelchair having a seat adjustment mechanism using a Stewart platform, which can achieve an effect of assisting in getting up and adjusting a user's posture. The intelligent robotic wheelchair has a more user-friendly use and operation interface, as well as an automatic identification navigation function, which can assist the user to move to the desired location.
本發明提出一種智慧型機器人輪椅，用於供一使用者乘坐，該智慧型機器人輪椅包括車架機構、操作裝置、攝影機與顯示裝置。車架機構用於安裝一座椅機構，車架機構具有四支樞接於座椅機構的可變長度連桿，車架機構的底側設置有複數個輪子。操作裝置設置在座椅機構上，操作裝置具有一搖桿與一控制面板，供使用者操作以控制智慧型機器人輪椅的移動方向與調整座椅機構。攝影機設置在座椅機構上，智慧型機器人輪椅根據攝影機所擷取到的一辨識碼調整智慧型機器人輪椅的移動方向。顯示裝置設置於座椅機構上，用以顯示一使用者介面。The invention provides a smart robot wheelchair for a user to ride. The smart robot wheelchair includes a frame mechanism, an operating device, a camera and a display device. The frame mechanism is used to mount a seat mechanism, and the frame mechanism has four variable length links pivotally connected to the seat mechanism, and the bottom side of the frame mechanism is provided with a plurality of wheels. The operating device is disposed on the seat mechanism, and the operating device has a rocker and a control panel for the user to operate to control the moving direction of the smart robot wheelchair and adjust the seat mechanism. The camera is placed on the seat mechanism, and the smart robot wheelchair adjusts the moving direction of the smart robot wheelchair according to an identification code captured by the camera. The display device is disposed on the seat mechanism for displaying a user interface.
在本發明一實施例中，該座椅機構包括坐部、椅背部、兩個扶手與可調式頭靠。坐部具有一臀型曲面以符合使用者的臀型；椅背部具有一背型曲面以符合該使用者的背部曲線；兩個扶手設置於椅背部的兩側且各該扶手的一端分別可滑動的連接於椅背部後側的一脊柱機構。脊柱機構的兩側具有滑槽以安裝扶手。可調式頭靠設置於椅背部的上方。座椅機構更包括一桌板，可拆卸的設置於扶手上，用以設置顯示裝置。各該扶手具有一開關，用以解除脊柱機構與各該扶手的干涉以使各該扶手可沿著該脊柱機構的方向滑動。In an embodiment of the invention, the seat mechanism includes a seat portion, a seat back, two armrests, and an adjustable headrest. The seat has a hip-shaped curved surface to conform to the user's hip shape; the back of the chair has a back curved surface to conform to the back curve of the user; two armrests are disposed on both sides of the back of the chair and one end of each of the handrails is slidable A spine mechanism attached to the back side of the back of the chair. The spine mechanism has chutes on both sides to mount the armrest. The adjustable headrest is placed above the back of the chair. The seat mechanism further includes a table plate detachably disposed on the armrest for setting the display device. Each of the armrests has a switch for releasing interference of the spinal mechanism with each of the armrests such that each of the armrests can slide in the direction of the spinal mechanism.
在本發明一實施例中，上述智慧型機器人輪椅更包括一座墊，設置於座椅機構上，具有複數個軟質壓力感測元件，用以 感測該座墊所承受的壓力分布。In an embodiment of the invention, the smart robot wheelchair further includes a pad disposed on the seat mechanism and having a plurality of soft pressure sensing components for The pressure distribution experienced by the seat cushion is sensed.
綜合上述，本發明所提出的智慧型機器人輪椅考慮了使用者特性與需求，結合座椅設計與周邊配置，利用了史都華平台的設計原理讓坐椅可以橫移與翻滾以輔助使用者。另外，本發明結合觸控螢幕、自動導航功能與可調整的座椅機構，大幅提高了使用智慧型機器人輪椅的方便性與功能性。In summary, the intelligent robotic wheelchair proposed by the present invention takes into account the characteristics and needs of the user, and combines the design of the seat with the peripheral configuration, and utilizes the design principle of the Stewart platform to allow the seat to be traversed and tumbling to assist the user. In addition, the present invention combines the touch screen, the automatic navigation function and the adjustable seat mechanism to greatly improve the convenience and functionality of the smart robot wheelchair.
為讓本發明之上述特徵和優點能更明顯易懂，下文特舉較佳實施例，並配合所附圖式，作詳細說明如下。The above described features and advantages of the present invention will be more apparent from the following description.
在下文中，將藉由圖式說明本發明之實施例來詳細描述本發明，而圖式中的相同參考數字可用以表示類似的元件。In the following, the invention will be described in detail by the embodiments of the invention, and the same reference numerals are used in the drawings.
請參照圖1A與圖1B，圖1A為根據本發明一實施例的智慧型機器人輪椅示意圖。圖1B為根據本發明實施例的智慧型機器人輪椅的局部分解示意圖。智慧型機器人輪椅100主要包括車架機構110、座椅機構120、操作裝置160、導航裝置與顯示裝置150。車架機構110具有底座112與側立架114，其中底座112下側設置有四個麥凱倫輪(Mecanum Wheel)191，側立架114連接於底座112的一邊並位於座椅機構120的後方。其中，四個麥凱倫輪191分為兩組，其中兩個一組作為前輪，後面兩個一組作為後輪。同組中的麥凱倫輪191，其自由滾子的設置方向呈對稱形式，其與車軸軸心夾角一為45度，另一為負45度。前二輪與後二輪的子由滾子的設置方向也是相互對稱的。使用四個麥凱倫輪191，智慧型機器人輪椅100可以進行前進、後退、橫移與旋轉等動作。值得注意的是，車架機 構110底側的輪子也可以利用一般的輪子來實現，本實施例並不限制輪子的型態。Please refer to FIG. 1A and FIG. 1B. FIG. 1A is a schematic diagram of a smart robot wheelchair according to an embodiment of the invention. 1B is a partially exploded perspective view of a smart robotic wheelchair in accordance with an embodiment of the present invention. The smart robot wheelchair 100 mainly includes a frame mechanism 110, a seat mechanism 120, an operating device 160, a navigation device, and a display device 150. The frame mechanism 110 has a base 112 and a side stand 114. The lower side of the base 112 is provided with four Mecanum Wheels 191. The side stand 114 is connected to one side of the base 112 and located behind the seat mechanism 120. . Among them, four McLaren wheels 191 are divided into two groups, two of which are used as the front wheel and the latter two are used as the rear wheel. In the same group, the McLaren wheel 191 has a free-form roller in a symmetrical form, and its angle with the axle axis is 45 degrees and the other is negative 45 degrees. The orientation of the rollers of the first two rounds and the last two rounds is also symmetrical with each other. Using four McLaren wheels 191, the smart robot wheelchair 100 can perform operations such as forward, backward, traverse, and rotation. It is worth noting that the frame machine The wheels on the bottom side of the structure 110 can also be implemented using conventional wheels, and this embodiment does not limit the type of the wheel.
車架機構110具有四支可變長度連桿131~134，其中兩支可變長度連桿131、132位於座椅機構120下方並連接於底座112與座椅機構120之間，另兩支可變長度連桿131、132位於座椅機構120後方並連接於側立架114與座椅機構120之間。每一支可變長度連桿131~134的兩端設置有萬向接頭或球接頭，讓可變長度連桿131~134與座椅機構120、車架機構110之間的接點具有三個旋轉的自由度(Degrees of freedom)，如同球座接點(spherical joint)一般。車架機構110的前端低部具有腳踏架195，供使用者置放腳，腳踏架195的高度與傾斜角度、方向可依照使用者需求調整。可變長度連桿131~134可以直接連接至座椅機構120的底部或是連接至一可動板(未繪示)，然後再將座椅機構120設置於可動板上。本發明並不限制座椅機構120與可變長度連桿131~134的裝配方式。The frame mechanism 110 has four variable length links 131-134, wherein the two variable length links 131, 132 are located below the seat mechanism 120 and are connected between the base 112 and the seat mechanism 120, and the other two can be The variable length links 131, 132 are located behind the seat mechanism 120 and are coupled between the side stand 114 and the seat mechanism 120. Each of the variable length links 131-134 is provided with a universal joint or a ball joint at both ends thereof, and the joint between the variable length links 131-134 and the seat mechanism 120 and the frame mechanism 110 has three Degrees of freedom, like a spherical joint. The lower part of the front end of the frame mechanism 110 has a pedal frame 195 for the user to place the foot. The height and inclination angle and direction of the pedal frame 195 can be adjusted according to the needs of the user. The variable length links 131-134 may be directly connected to the bottom of the seat mechanism 120 or connected to a movable plate (not shown), and then the seat mechanism 120 is placed on the movable plate. The present invention does not limit the manner in which the seat mechanism 120 and the variable length links 131-134 are assembled.
座椅機構120的移動是由可變長度連桿131~134的長度決定，例如當底側的可變長度連桿131~134的長度同時增加時，座椅機構120便會向後翻轉以調整使用者臀部的壓力；當上側的可變長度連桿131~134的長度同時減少時，座椅機構120便會向前翻轉以達到輔助起身的效果；當可變長度連桿131、134的長度增加時，座椅機構120便會向左橫移；當可變長度連桿132、133的長度增加時，座椅機構120便會向右橫移。可變長度連桿131~134的長度與座椅機構120的位置之間的運算可以透過順向運動學(Forward kinematics)或逆向運動學(Inverse kinematics)來運算。可變長度連桿131~134的機構設計原理是參照史都華平台(Steward Platform)的機構設計，其運 作原理相近但結構有所不同。傳統的史都華平台是六軸的結構，而本發明則是利用四軸的結構來驅動座椅機構120。圖1A中的可變長度連桿131~134係由線性制動器實現，但本發明不限制可變長度連桿131~134的實施裝置。The movement of the seat mechanism 120 is determined by the length of the variable length links 131-134. For example, when the lengths of the variable length links 131-134 on the bottom side are simultaneously increased, the seat mechanism 120 is flipped backward to adjust the use. The pressure of the buttocks; when the lengths of the upper variable length links 131-134 are simultaneously reduced, the seat mechanism 120 is flipped forward to achieve the effect of assisting the body; when the lengths of the variable length links 131, 134 are increased The seat mechanism 120 will traverse to the left; as the length of the variable length links 132, 133 increases, the seat mechanism 120 will traverse to the right. The calculation between the length of the variable length links 131-134 and the position of the seat mechanism 120 can be calculated by Forward kinematics or Inverse kinematics. The mechanism design principle of the variable length links 131~134 is based on the institutional design of the Steward Platform. The principle is similar but the structure is different. The conventional Stewart platform is a six-axis structure, and the present invention utilizes a four-axis structure to drive the seat mechanism 120. The variable length links 131 to 134 in Fig. 1A are realized by linear brakes, but the present invention does not limit the implementation of the variable length links 131 to 134.
請同時參照圖1A、圖1B、圖2A、圖2B、圖3A與圖3B，圖2A與圖2B繪示本發明實施例的座椅機構示意圖。圖3A與圖3B繪示本發明實施例的座椅機構的扶手調整示意圖。座椅機構120包括坐部121、椅背部122、可調式頭靠123、兩個側邊扶手125、126與桌板127。坐部121具有一臀型曲面以符合使用者的臀型；椅背部122具有一背型曲面以符合使用者的背部曲線；兩個扶手125、126設置於椅背部122的兩側且各該扶手125、126的一端分別可滑動的連接於椅背部122後側的脊柱機構129。兩個扶手125、126的高度可以依照使用者需求調整，如圖3B所示。兩個扶手125、126的上側具有插孔128，桌板127下側則具有插銷，可以安裝在扶手125、126上的插孔128。不需要使用時，桌板127可以拆卸下來。扶手125、126的前端可以設置插槽以安裝攝影機170與整操作裝置160。可調式頭靠123設置於椅背部122的上方，可以依照使用者的需求調整角度與高度。扶手125、126的兩側分別具有開關1251，使用者按下開關1251便可以解除扶手125、126與脊柱機構129之間的干涉以調整扶手125、126的高度。扶手125、126可以沿著脊柱機構129的方向滑動。Please refer to FIG. 1A, FIG. 1B, FIG. 2A, FIG. 2B, FIG. 3A and FIG. 3B. FIG. 2A and FIG. 2B are schematic diagrams of a seat mechanism according to an embodiment of the present invention. 3A and 3B are schematic diagrams showing the adjustment of the armrest of the seat mechanism according to the embodiment of the present invention. The seat mechanism 120 includes a seat 121, a seat back 122, an adjustable headrest 123, two side armrests 125, 126, and a table top 127. The seat portion 121 has a hip-shaped curved surface to conform to the user's hip shape; the seat back 122 has a back-shaped curved surface to conform to the user's back curve; two armrests 125, 126 are disposed on both sides of the seat back 122 and each of the armrests One ends of 125, 126 are slidably coupled to the spine mechanism 129 on the rear side of the chair back 122, respectively. The height of the two armrests 125, 126 can be adjusted according to user needs, as shown in Figure 3B. The upper side of the two armrests 125, 126 has a receptacle 128, and the lower side of the table top 127 has a latch that can be mounted to the receptacle 128 on the armrest 125, 126. The table top 127 can be removed when not in use. The front ends of the armrests 125, 126 may be provided with slots for mounting the camera 170 and the entire operating device 160. The adjustable headrest 123 is disposed above the seat back 122, and the angle and height can be adjusted according to the needs of the user. The two sides of the armrests 125, 126 respectively have a switch 1251. When the user presses the switch 1251, the interference between the armrests 125, 126 and the spinal mechanism 129 can be released to adjust the height of the armrests 125, 126. The armrests 125, 126 can slide in the direction of the spinal mechanism 129.
坐部121與背部122的表層可以具有三層結構，由外而內，表層為透氣的合成纖維，可降低流汗帶來的不適；中層為柔軟富彈性的泡棉，可服貼於各種不同體型的使用者；底層為堅 固的金屬，提供重量與結構的支撐。合成纖維與泡棉可以作為座墊使用以增加使用者的舒適度。另外，座椅機構120上也可以再設置座墊(未繪示)以符合使用者需求。在本實施例中，座墊中可以設置複數個軟質壓力感測元件124(虛線表示)來形成壓力感測區。軟質壓力感測元件124可偵測出使用者的重量分佈，這些壓力感測資料可以幫助了解使用者的姿勢變化或習慣姿勢，讓醫護人員或照料人員可以進一步了解使用者的需求。軟質壓力感測元件124由彈性布料與導電纖維材料構成，其中導電纖維(規格例如為斷裂強度75cN、重量054g/cm、平均電阻值14歐姆/米、延伸率1.10%)縫製在彈性布料上，可形成軟質電路接點。軟質壓力感測元件124在受力時，導電纖維的電阻值會改變，單位面積受力愈大時，其電阻值越小。The surface layer of the seat portion 121 and the back portion 122 may have a three-layer structure, from the outside to the inside, the surface layer is a breathable synthetic fiber, which can reduce the discomfort caused by sweating; the middle layer is soft and elastic foam, which can be applied to various kinds of different Body type user; the bottom layer is firm Solid metal provides weight and structural support. Synthetic fibers and foam can be used as a seat cushion to increase user comfort. In addition, a seat cushion (not shown) may be further disposed on the seat mechanism 120 to meet the needs of the user. In this embodiment, a plurality of soft pressure sensing elements 124 (shown in dashed lines) may be disposed in the seat cushion to form the pressure sensing region. The soft pressure sensing element 124 can detect the user's weight distribution, and the pressure sensing data can help to understand the user's posture change or custom posture, so that the medical staff or the caregiver can further understand the user's needs. The soft pressure sensing element 124 is composed of an elastic cloth and a conductive fiber material, wherein the conductive fiber (specification such as breaking strength 75 cN, weight 054 g/cm, average resistance value 14 ohm/meter, elongation 1.10%) is sewn on the elastic cloth. Soft circuit contacts can be formed. When the soft pressure sensing element 124 is stressed, the resistance value of the conductive fiber changes, and the larger the force per unit area, the smaller the resistance value.
軟質壓力感測元件124可以透過無線傳輸裝置，將所量測到的資料傳遞至系統智慧型機器人輪椅100的資料處理裝置(未繪示)以進行資料處理。座椅機構120的扶手126上設置有操作裝置160，其為具有搖桿161與控制面板162的整合型控制器，可用來控制智慧型機器人輪椅100的移動方向與調整座椅機構120。桌板127上設置有顯示裝置150，可用來顯示一使用者介面，包括智慧型機器人輪椅100的狀態、電量以及外界所輸入的資訊，例如經由網路所接收到的訊息。醫院或看護也可經由使用者介面來與使用者進行溝通以達到遠距醫療的目的。顯示裝置150可為一觸控螢幕以方便使用者操作。攝影機170例如為網路攝影機，可設置於桌板127上或是設置在扶手125、126上，設置位置可依照使用者需求而定。The soft pressure sensing component 124 can transmit the measured data to the data processing device (not shown) of the system smart robot wheelchair 100 through the wireless transmission device for data processing. The armrest 126 of the seat mechanism 120 is provided with an operating device 160, which is an integrated controller having a rocker 161 and a control panel 162, which can be used to control the moving direction of the smart robot wheelchair 100 and adjust the seat mechanism 120. The table 127 is provided with a display device 150 for displaying a user interface, including the state of the smart robot wheelchair 100, the amount of power, and information input by the outside world, such as a message received via the network. The hospital or caregiver can also communicate with the user through the user interface to achieve telemedicine purposes. The display device 150 can be a touch screen to facilitate user operation. The camera 170 is, for example, a webcam, and can be disposed on the table 127 or on the armrests 125, 126, and the position can be set according to the needs of the user.
座椅機構120的下方設置有控制裝置180，可用來控制驅 動麥凱倫輪191的馬達以移動智慧型機器人輪椅100以及調整可變長度連桿131~134的長度以調整座椅機構120的位置與角度。使用者可以經由搖桿161控制智慧型機器人輪椅100的移動方向，經由控制面板162調整座椅機構120的位置與角度。此外，控制裝置180中可以設置微處理器，用來處理智慧型機器人輪椅100上的感測資料與進行所需的資料運算。智慧型機器人輪椅100上可以配置無線上網裝置，例如無線網卡或3G行動網卡，讓使用者可以上網並經由網路與外界進行資料傳輸。顯示裝置150可以作為螢幕使用，除了顯示智慧型機器人輪椅100的操作介面以外，也可以做為上網工具使用。顯示裝置150上可以設置擴音裝置，例如揚聲器或鋒鳴器。Below the seat mechanism 120 is provided a control device 180, which can be used to control the drive The motor of the McLaren wheel 191 moves the smart robotic wheelchair 100 and adjusts the length of the variable length links 131-134 to adjust the position and angle of the seat mechanism 120. The user can control the moving direction of the smart robot wheelchair 100 via the rocker 161, and adjust the position and angle of the seat mechanism 120 via the control panel 162. In addition, a microprocessor may be provided in the control device 180 for processing the sensing data on the smart robot wheelchair 100 and performing the required data operations. The smart robot wheelchair 100 can be equipped with a wireless internet device, such as a wireless network card or a 3G mobile network card, so that users can access the Internet and transmit data to and from the outside world via the network. The display device 150 can be used as a screen, and can be used as an Internet tool in addition to the operation interface of the smart robot wheelchair 100. A sound amplification device such as a speaker or a horn may be provided on the display device 150.
另外，本實施例的智慧型機器人輪椅100具有自動導航功能，智慧型機器人輪椅100中具有導航裝置，其包括攝影機170與資料運算單元(未繪示)，其中資料運算單元可利用微處理器或嵌入式裝置來實現。導航裝置也可以與控制裝置180整合，使用相同的運算資源與系統資料來進行資料運算與處理。智慧型機器人輪椅100可以根據攝影機170所擷取到的辨識碼來引導智慧型機器人輪椅100的行進方向。辨識碼例如是QR(Quick Response)碼或是二維條碼，本發明並不受限。辨識碼可以列印於紙上，並黏貼於天花板或牆壁上。當攝影機170擷取到辨識碼時，智慧型機器人輪椅100會根據辨識碼所表示的涵義調整智慧型機器人輪椅100的行進方向與速度。辨識碼可以定義為前進、後退、距離與方向等訊息，但不限制於此。智慧型機器人輪椅100可以透過影像擷取與辨識的技術，取得目前的位置資訊以及目標區域的方向，然後透過驅動裝置去改 變移動方向。In addition, the smart robot wheelchair 100 of the present embodiment has an automatic navigation function, and the smart robot wheelchair 100 has a navigation device including a camera 170 and a data operation unit (not shown), wherein the data operation unit can utilize a microprocessor or Embedded device to achieve. The navigation device can also be integrated with the control device 180 to perform data calculation and processing using the same computing resources and system data. The smart robot wheelchair 100 can guide the traveling direction of the smart robot wheelchair 100 based on the identification code captured by the camera 170. The identification code is, for example, a QR (Quick Response) code or a two-dimensional barcode, and the present invention is not limited. The identification code can be printed on paper and attached to the ceiling or wall. When the camera 170 captures the identification code, the smart robot wheelchair 100 adjusts the traveling direction and speed of the smart robot wheelchair 100 according to the meaning indicated by the identification code. The identification code can be defined as information such as forward, backward, distance and direction, but is not limited thereto. The smart robot wheelchair 100 can obtain the current position information and the direction of the target area through image capture and recognition technology, and then change through the drive device. Change the direction of movement.
請參照圖4，圖4繪示本發明的智慧型機器人輪椅100的自動導航示意圖。智慧型機器人輪椅100的攝影機170可用來擷取上方的影像資料。天花板上黏貼有多張列印有辨識碼(即QR code)的紙張301~304。當使用者希望前往洗手間(門口)時，可以經由顯示單元150上的使用者介面輸入目標地點，智慧型機器人輪椅100在擷取到紙張301上的辯識碼後，會自動繼續往前移動直到擷取到紙張302上的辯識碼。然後，透過紙張302上的辯識碼，智慧型機器人輪椅100會得知洗手間的位置在前方，必需繼續往前。在擷取到紙張304上的辯識碼後，智慧型機器人輪椅300得知已經到達，便會透過使用者介面通知使用者。上述紙張301~304就像是導盲磚一般，智慧型機器人輪椅300可以透過紙張301~304上的辯識碼決定移動方向與速度，藉此輔助使用者到達目的地。在應用上，可以在環境上設置對應的辯識碼，例如客廳、廚房等，這樣使用者就可以方便的到達目的地。Please refer to FIG. 4. FIG. 4 is a schematic diagram of automatic navigation of the smart robot wheelchair 100 of the present invention. The camera 170 of the smart robot wheelchair 100 can be used to capture the image data above. A plurality of sheets 301 to 304 printed with an identification code (QR code) are attached to the ceiling. When the user wants to go to the restroom (doorway), the target location can be input through the user interface on the display unit 150. After the smart robot wheelchair 100 captures the identification code on the paper 301, it will automatically continue to move forward until The identification code on the paper 302 is captured. Then, through the identification code on the paper 302, the smart robot wheelchair 100 knows that the position of the restroom is in front and must continue to move forward. After the identification code on the paper 304 is captured, the smart robot wheelchair 300 knows that it has arrived, and notifies the user through the user interface. The paper sheets 301~304 are like guide bricks. The smart robot wheelchair 300 can determine the moving direction and speed through the identification code on the paper sheets 301~304, thereby assisting the user to reach the destination. In the application, the corresponding identification code can be set in the environment, such as living room, kitchen, etc., so that the user can conveniently reach the destination.
此外，在調整座椅機構120的座墊高度與位置時，為讓使用者更為舒適與安全，座墊移動過程需保持平順與穩定。可變長度連桿131~134的長度與座椅機構120的位置之間的運算可以透過順向運動學(Forward kinematics)或逆向運動學(Inverse kinematics)來運算。In addition, when adjusting the seat cushion height and position of the seat mechanism 120, in order to make the user more comfortable and safe, the seat cushion movement process needs to be smooth and stable. The calculation between the length of the variable length links 131-134 and the position of the seat mechanism 120 can be calculated by Forward kinematics or Inverse kinematics.
在導入運動學之前，先建立兩個空間向量如下：Before importing kinematics, first create two space vectors as follows:
(1)Cartesian space[x ,y ,z ,α ,β ,γ ]T ，其中[x ,y ,z ]表可動板原點的位置，[α ,β ,γ ]為可動板與x ,y ,z 三軸的夾角。(1) Cartesian space[ x , y , z , α , β , γ ] T , where [ x , y , z ] shows the position of the origin of the movable plate, [ α , β , γ ] is the movable plate and x , y , the angle between the three axes of z .
(2)Joint space[S 1 ,S 2 ,S 3 ,S 4 ]T ，其中S i 分別表示4支線性 制動器的長度。(2) Joint space [ S 1 , S 2 , S 3 , S 4 ] T , where S i represents the length of the four linear brakes, respectively.
當運算從Joint space到Cartesian space屬於順向運動學，反之稱為逆向運動學。不過即使先決定四支可變長度連桿131~134的長度，但因座椅機構120與可變長度連桿131~134連結的萬向接頭有可能會呈現不同的方向，導致於座椅機構120的位置及角度不一，因此經由順向運動學的運算會產生多數解的現象。逆向運動學就沒有這種問題，先給定座椅機構120的座標及角度，經由運算得到四支可變長度連桿131~134的長度會是唯一解。When the operation from Joint space to Cartesian space belongs to forward kinematics, it is called reverse kinematics. However, even if the lengths of the four variable length links 131-134 are determined first, the universal joints connected by the seat mechanism 120 and the variable length links 131-134 may have different directions, resulting in the seat mechanism. The position and angle of 120 are different, so the majority of the solution is generated by the forward kinematics calculation. Reverse kinematics does not have this problem. Given the coordinates and angle of the seat mechanism 120, the length of the four variable length links 131-134 obtained by operation is the only solution.
只是在調整過程中，運算可變長度連桿131~134的長度需要相當大的系統運算資源。因此在驅動方面，本發明提出另一種運算可變長度連桿長度方法。本發明會建立座墊中心點可行的工作空間，以座墊中心點作為參考座標，紀錄座墊的移動範圍並將工作空間數位化。這個工作空間的資訊會儲存有座墊中心點的座標與其對應的可變長度連桿131~134的長度。當使用者需要調整座墊位置時，智慧型機器人輪椅100會依照工作空間預先規劃座墊每次的移動路徑，避免產生未預期之姿勢，例如座墊傾斜而造成使用者不便。當使用者需要左右橫移座墊時，其移動的過程中，座墊(座椅機構110)會保持水平不會讓使用者感到不適或有摔倒之風險，因此在控制上，除了讓4支可變長度連桿131~134(線性致動器)達到同步控制外，也必須使座墊移動於平順之路徑，以避免產生干涉或動作上不平順之現象。It is only during the adjustment process that the length of the variable length links 131-134 requires considerable system computing resources. Therefore, in terms of driving, the present invention proposes another method of calculating a variable length link length. The invention establishes a feasible working space for the center point of the seat cushion, and uses the center point of the seat cushion as a reference coordinate to record the moving range of the seat cushion and digitize the working space. The information of this workspace will store the coordinates of the coordinates of the center point of the seat cushion and its corresponding variable length links 131-134. When the user needs to adjust the position of the seat cushion, the smart robot wheelchair 100 pre-plans the movement path of the seat cushion according to the working space, so as to avoid an unexpected posture, for example, the seat cushion is tilted to cause inconvenience to the user. When the user needs to traverse the seat cushion left and right, during the movement, the seat cushion (seat mechanism 110) will remain horizontal without causing the user to feel uncomfortable or risk of falling, so in addition to the control, In addition to the synchronous control of the variable length links 131~134 (linear actuators), the seat cushion must also be moved in a smooth path to avoid interference or motion irregularities.
本發明將座墊中心點之最大工作空間以10mm(微米)為一單位，將座墊的工作空間劃分為例如2,028個位置點，但其中包含許多 不可行或希望避免之位置點。本發明在此工作空間規劃座墊移動橫移路徑時，預設以下三項條件：The invention divides the maximum working space of the center point of the seat cushion into units of 10 mm (micrometer), and divides the working space of the seat cushion into, for example, 2,028 position points, but many of them are included. A point that is not feasible or desirable to avoid. When the working space is planned to move the traverse path of the seat cushion, the present invention presets the following three conditions:
(1)座墊在作垂直高度調整前，座墊中心點的左右調整(y 軸座標)與座墊前後翻滾角度都必須先歸零。(1) Before the seat cushion is adjusted for vertical height, the left and right adjustment of the center point of the seat cushion ( y- axis coordinate) and the front and rear roll angle of the seat cushion must be zeroed first.
(2)座墊在左右橫移調整前，座墊前後翻滾角度必須先歸零，過程中座墊高度必須保持不變(座墊中心點x 軸與z 軸座標必須保持不變)。(2) Before the seat cushion is adjusted horizontally, the roll angle of the seat cushion must be zeroed first, and the height of the seat cushion must remain unchanged during the process (the x- axis and z- axis coordinates of the center point of the seat cushion must remain unchanged).
(3)座墊在前後翻滾調整時，座墊中心點的左右調整(y 軸座標)必須先歸零。(3) When the seat cushion is adjusted in front and rear, the left and right adjustment of the center point of the seat cushion ( y- axis coordinate) must be reset to zero first.
請參照圖5，圖5繪示本發明實施例的座墊可行空間範圍的部分座標資料。圖6繪示本發明實施例的座墊可行空間範圍示意圖。在圖5中，以三維的直角座標系(x,y,z)來表示座墊的中心點座標。在前述三項條件下，圖5為座墊中心點的可行工作空間範圍。例如座墊中心點座標在(0,0,0)時，往左(或右)橫移最大值為130mm，可翻轉角度範圍為-15°~15°；座墊中心點高度向上或向下調整時，座墊左右橫移和翻轉角度的範圍逐漸減小；座墊在最高或最低位置時(z=±65mm)時，座墊左右橫移和翻轉角度的範圍皆為零。圖6為座墊可行工作空間(斜線部分)，當座墊作垂直高度調整時，前後移動會隨之變化，即座墊中心點x 座標和z 座標是相依(dependent)的，所以圖5座墊中心點可行工作空間不需考慮中心點x 座標。Please refer to FIG. 5. FIG. 5 is a partial coordinate data of a feasible space range of the seat cushion according to the embodiment of the present invention. 6 is a schematic view showing a feasible space range of a seat cushion according to an embodiment of the present invention. In Fig. 5, the center point coordinates of the seat cushion are represented by a three-dimensional orthogonal coordinate system (x, y, z). Under the above three conditions, Figure 5 shows the feasible working space range of the center point of the seat cushion. For example, when the coordinates of the center point of the seat cushion are at (0, 0, 0), the maximum value of the leftward (or right) traverse is 130mm, and the reversible angle range is -15°~15°; the height of the center point of the seat cushion is upward or downward. When adjusting, the range of left and right traverse and flip angle of the seat cushion is gradually reduced; when the seat cushion is at the highest or lowest position (z=±65mm), the left and right traverse and flip angle ranges of the seat cushion are all zero. Figure 6 shows the feasible working space (hatched part) of the seat cushion. When the seat cushion is adjusted for vertical height, the front and rear movements will change accordingly, that is, the center point x coordinate and the z coordinate of the seat cushion are dependent, so Figure 5 The working point of the center point of the pad does not need to consider the center point x coordinate.
規劃出座墊中心點之可行工作空間後，接下來將可行工作空間的z 軸方向以每10mm為一單位，劃分出13個可供垂直高度調 整之位置點；左右橫移調整方面，根據這13個可作垂直高度調整位置點之y 軸可橫移範圍以每10mm為一單位，劃分出共計243個可供左右橫移調整之位置點(包含13個左右橫移為零之位置點)；在前後翻滾調整方面，依據前述規則(3)，座墊中心點的左右調整(y 軸座標)必須先歸零，依據這13個可作垂直高度調整位置點之可翻轉角度的範圍，以每5°為一單位，劃分出61個可供前後翻滾調整之位置點(包含11個翻滾角度為零之位置點)，加上(-30,0,65)和(30,0,-65)這兩個位置點(垂直高度之最高處與最低處)。把三類可作座墊調整之位置點相加，扣除重複計算之位置點，符合以上三項條件的可行工作空間共有295個位置點(以圖6為例)，即使用者可操控座墊達成之所有工作位置點。工作公空間中的位置點數目會依照智慧型機器人輪椅100的整體機構而變，上述295個位置點僅為範例，本發明並不受限於此。After planning the feasible working space of the center point of the seat cushion, the z- axis direction of the feasible working space is divided into 13 positions for vertical height adjustment in units of 10 mm per unit; 13 y- axis traversable ranges for vertical height adjustment position can be divided into a unit of 10mm per 10mm, and a total of 243 positions for lateral traverse adjustment (including 13 positions with zero traverse to zero) In terms of front and rear roll adjustment, according to the above rule (3), the left and right adjustment of the center point of the seat cushion ( y- axis coordinate) must be first zeroed, according to the range of the reversible angle of the 13 vertical height adjustment position points, Every 5° is a unit, and 61 points can be divided for front and rear roll adjustment (including 11 position points with zero roll angle), plus (-30,0,65) and (30,0,-65 ) These two position points (the highest and lowest of the vertical height). Adding three types of position points that can be used for seat cushion adjustment, deducting the position of repeated calculation, there are 295 position points in the feasible working space that meet the above three conditions (as shown in Figure 6), that is, the user can control the seat cushion. All work locations reached. The number of position points in the work space will vary according to the overall mechanism of the smart robot wheelchair 100. The above 295 position points are merely examples, and the present invention is not limited thereto.
工作空間中的位置點與其對應的可變長度連桿131~134的長度會被預先計算與儲存，同時預先規劃可行動作路徑。使用者乘坐於座墊時，透過對外在環境的感知，以及使用者舒適姿勢，操作座墊調整垂直高度、左右橫移以及前後翻滾，使座墊到達可行工作空間中預先規劃的位置點。在移動座墊時，本實施例利用預先於儲存的資訊來調整可變長度連桿131~134，讓座墊可以依照預先規劃的路徑移動至所需的位置並且避免產生過度傾斜或是抖動不穩的狀態產生。The position points in the workspace and the lengths of their corresponding variable length links 131-134 are pre-calculated and stored, while the feasible action paths are pre-planned. When the user rides on the seat cushion, through the perception of the external environment and the user's comfortable posture, the seat cushion is adjusted to adjust the vertical height, the left and right traverse, and the front and rear tumbling, so that the seat cushion reaches a pre-planned position in the feasible working space. When the seat cushion is moved, the embodiment adjusts the variable length links 131-134 by using the stored information in advance, so that the seat cushion can be moved to a desired position according to a pre-planned path and avoid excessive tilt or jitter. A steady state is produced.
另外，在使用者的操作流程中，本實施例提供一個使用者介面與其操作原則。圖7繪示本實施例的使用者介面(控制面板)示意圖，其中包括上、下、左、右的調整按鍵與轉動鍵，可以讓使用者轉動坐墊位置與角度。在操作上，需要依照下列 原則操作：In addition, in the user's operation flow, the embodiment provides a user interface and its operation principle. FIG. 7 is a schematic diagram of the user interface (control panel) of the embodiment, including upper, lower, left, and right adjustment buttons and a rotation button, which allows the user to rotate the seat position and angle. In terms of operation, it is necessary to follow the following Principle operation:
(1)無法同時執行兩種以上調整動作，同時按下兩個以上按鍵座墊將不作動，前一調整動作尚未完成前，如又按下其他按鍵，後者調整動作無效。(1) It is not possible to perform two or more adjustment actions at the same time. Pressing more than two button cushions at the same time will not operate. Before the previous adjustment action has been completed, if the other buttons are pressed, the latter adjustment action is invalid.
(2)執行調整垂直高度或者前後翻滾時，如座墊左右橫移量不為零，會先自動歸零，再執行欲調整之動作。(2) When performing the adjustment of the vertical height or rolling forward and backward, if the left and right lateral displacement of the seat cushion is not zero, it will automatically return to zero first, and then perform the action to be adjusted.
(3)執行調整垂直高度或者左右橫移時，如座墊翻滾角度不為零，會先自動歸零，再執行欲調整之動作。(3) When adjusting the vertical height or the left and right traverse, if the roll angle of the seat cushion is not zero, it will automatically return to zero first, and then perform the action to be adjusted.
在前述規劃下，座墊在可行工作空間中的移動，都是依據預先規劃、唯一的路徑，以確保安全及穩定性。本發明將可行工作空間中已規劃好之路徑撰寫於四軸史都華平台控制程式中，可行工作空間中已劃分好之295個位置點也逐一編號，並計算出每個位置點4支可變長度連桿131~134應有的伸長量，建立成位置表格並撰寫於程式中。如要移動至欲達成之位置時，程式只需控制4支可變長度連桿131~134的伸長量，不需要做逆向運動學的計算。在本實施例中，座墊每次移動的距離為10mm(每個位置點至鄰近的下一個位置點距離為10mm，不包含翻滾的位置點)，每支可變長度連桿每次所變化之長度不會超過20mm。可變長度連桿同時作動後，亦可接近同時到達之效果。在程式執行上，本實施例的控制程式依照下列步驟進行。Under the aforementioned plan, the movement of the seat cushion in the feasible working space is based on a pre-planned and unique path to ensure safety and stability. The invention writes the planned path in the feasible working space in the four-axis Stewart platform control program, and the 295 position points that have been divided in the feasible working space are also numbered one by one, and four points for each position point are calculated. The amount of elongation of the variable length links 131~134 is established into a position table and written in the program. To move to the desired position, the program only needs to control the elongation of the four variable length links 131-134, and does not need to perform the inverse kinematics calculation. In this embodiment, the distance that the seat cushion moves is 10 mm each time (the distance from each position point to the next adjacent position point is 10 mm, which does not include the position of the roll), and each variable length link changes each time. The length will not exceed 20mm. After the variable length link is actuated at the same time, it can also approach the effect of simultaneous arrival. In the execution of the program, the control program of this embodiment proceeds in accordance with the following steps.
(1)系統啟動後，程式自動將預設之初始位置點設定為欲到達之目標點。(1) After the system is started, the program automatically sets the preset initial position point to the target point to be reached.
(2)將座墊移動到達初始位置點後，等待輸入調整模式。(2) After moving the seat cushion to the initial position, wait for the input adjustment mode.
(3)如只輸入一種調整模式，則往下一步流程；如在輸入一種調整模式過程中又輸入另一種調整模式，則保留前者並且刪除後者，往下一步流程；如在移動至目標位置點的過程中輸入調整模式，則刪除在移動過程中輸入之調整模式；如同時輸入兩種以上調整模式，則刪除所輸入之調整模式。(3) If only one adjustment mode is input, proceed to the next step; if another adjustment mode is input during the input of one adjustment mode, the former is retained and the latter is deleted, and the next process is performed; for example, when moving to the target position During the process of inputting the adjustment mode, the adjustment mode input during the movement is deleted; if two or more adjustment modes are input at the same time, the input adjustment mode is deleted.
(4)判斷目前所處位置點之編號。(4) Determine the number of the current location.
(5)如是垂直高度位置點之編號，輸入之調整模式可以是三種調整模式中任意一種調整模式。(5) If it is the number of the vertical height position point, the input adjustment mode may be any one of the three adjustment modes.
(6)如是左右橫移位置點之編號，輸入之調整模式若為左右橫移可作動，則開始判斷欲到達位置點之編號；輸入之調整模式若為垂直高度和前後翻滾，則皆改為調整左右橫移，並開始判斷欲到達位置點之編號。(6) If it is the number of the left and right traverse position points, if the input adjustment mode is movable for left and right traverse, it will start to judge the number of the position point to be reached; if the input adjustment mode is vertical height and roll forward and backward, it will be changed to Adjust the left and right traverse and start to judge the number of points to be reached.
(7)如是前後翻滾位置點之編號，輸入之調整模式若為前後翻滾，則開始判斷欲到達位置點之編號；輸入之調整模式若為垂直高度和左右橫移，則皆改為調整前後翻滾，並開始判斷欲到達位置點之編號。(7) If the number of the front and rear roll position points, if the input adjustment mode is roll back and forth, it will judge the number of the position to be reached; if the input adjustment mode is vertical height and left and right traverse, it will be adjusted before and after rollover. And begin to judge the number of points to be reached.
(8)判斷欲到達位置點之編號之後，從已撰寫在程式中的位置表格中找出該編號(位置點)每支可變長度連桿所對應的伸長量，同時輸出給對應之可變長度連桿。(8) After determining the number of the position point to be reached, find the extension corresponding to each variable length link of the number (position point) from the position table already written in the program, and output it to the corresponding variable. Length link.
值得注意的是，上述控制程式的流程僅為本發明的示範性實施例，其控制流程的細節可以依照不同的設計需求調整，本發明並不受限。It should be noted that the flow of the above control program is only an exemplary embodiment of the present invention, and the details of the control flow may be adjusted according to different design requirements, and the present invention is not limited.
由上述可知，本發明的智慧型機器人輪椅100、300具有輔助使用者移動與調整座椅等功能，而且具有人性化的操作介 面，可以方便使用者與外界聯繫。智慧型機器人輪椅100、300上的感測裝置與無線傳輸裝置，可以實現遠距醫療的效果。智慧型機器人輪椅100、300中的資料處理與信號傳輸可以利用電腦執行，只要將系統整合在智慧型機器人輪椅100、300之中即可，本發明不限制資料處理的方式。As can be seen from the above, the smart robot wheelchairs 100 and 300 of the present invention have functions of assisting the user to move and adjust the seat, and have a user-friendly operation. Face, it is convenient for users to contact the outside world. The sensing device and the wireless transmission device on the smart robot wheelchairs 100, 300 can achieve the effect of telemedicine. The data processing and signal transmission in the smart robot wheelchairs 100, 300 can be performed by a computer. As long as the system is integrated in the smart robot wheelchairs 100, 300, the present invention does not limit the manner of data processing.
此外，值得注意的是，上述元件之間的耦接關係包括直接或間接的電性連接，只要可以達到所需的電信號傳遞功能即可，本發明並不受限。上述實施例中的技術手段可以合併或單獨使用，其元件可依照其功能與設計需求增加、去除、調整或替換，本發明並不受限。在經由上述實施例之說明後，本技術領域具有通常知識者應可推知其實施方式，在此不加累述。In addition, it is to be noted that the coupling relationship between the above elements includes a direct or indirect electrical connection as long as the desired electrical signal transfer function can be achieved, and the invention is not limited. The technical means in the above embodiments may be combined or used alone, and the components may be added, removed, adjusted or replaced according to their functions and design requirements, and the invention is not limited. After the description of the above embodiments, those skilled in the art should be able to deduce the embodiments thereof, and will not be described herein.
綜上所述，本發明利用史都華平台的設計原理，讓智慧型機器人輪椅的座椅具有橫移與翻轉的功能，並且結合麥凱倫輪與影像辨識技術，讓智慧型機器人輪椅具有自動導航與原地旋轉、橫移的功能。藉此，本發明的智慧型機器人輪椅不僅具有舒適的乘坐結構，並且透過電腦輔助使用者操作智慧型機器人輪椅，大幅提高使用者在操作輪椅時的方便性。In summary, the present invention utilizes the design principle of the Stewart platform to allow the seat of the smart robot wheelchair to have a traverse and flip function, and combines the McLaren wheel and image recognition technology to enable the intelligent robot wheelchair to have an automatic Navigation and in-situ rotation and traverse functions. Thereby, the smart robot wheelchair of the present invention not only has a comfortable riding structure, but also assists the user in operating the smart robot wheelchair through the computer, thereby greatly improving the convenience of the user when operating the wheelchair.
雖然本發明之較佳實施例已揭露如上，然本發明並不受限於上述實施例，任何所屬技術領域中具有通常知識者，在不脫離本發明所揭露之範圍內，當可作些許之更動與調整，因此本發明之保護範圍應當以後附之申請專利範圍所界定者為準。Although the preferred embodiments of the present invention have been disclosed as above, the present invention is not limited to the above-described embodiments, and any one of ordinary skill in the art can make some modifications without departing from the scope of the present invention. The scope of protection of the present invention should be determined by the scope of the appended claims.
100‧‧‧智慧型機器人輪椅100‧‧‧Smart Robot Wheelchair
110‧‧‧車架機構110‧‧‧frame mechanism
112‧‧‧底座112‧‧‧Base
114‧‧‧側立架114‧‧‧Side stand
120‧‧‧座椅機構120‧‧‧Seat mechanism
121‧‧‧坐部121‧‧‧Sitting
122‧‧‧椅背部122‧‧‧ chair back
123‧‧‧可調式頭靠123‧‧‧Adjustable headrest
124‧‧‧軟質壓力感測元件124‧‧‧Soft pressure sensing components
125、126‧‧‧側邊扶手125, 126‧‧‧ side armrests
1251‧‧‧開關1251‧‧‧ switch
127‧‧‧桌板127‧‧‧Table board
128‧‧‧插孔128‧‧‧ jack
129‧‧‧脊柱機構129‧‧‧Spine institutions
131~134‧‧‧可變長度連桿131~134‧‧‧Variable length link
150‧‧‧顯示裝置150‧‧‧ display device
160‧‧‧操作裝置160‧‧‧Operator
161‧‧‧搖桿161‧‧‧ rocker
162‧‧‧控制面板162‧‧‧Control panel
170‧‧‧攝影機170‧‧‧ camera
180‧‧‧控制裝置180‧‧‧Control device
191‧‧‧麥凱倫輪191‧‧‧McLaren Wheel
195‧‧‧腳踏架195‧‧‧foot frame
301~30‧‧‧紙張301~30‧‧‧ Paper
圖1A為根據本發明第一實施例的智慧型機器人輪椅示意圖。1A is a schematic view of a smart robot wheelchair according to a first embodiment of the present invention.
圖1B為根據本發明第一實施例的智慧型機器人輪椅的局部分解示意圖。1B is a partially exploded perspective view of a smart robotic wheelchair in accordance with a first embodiment of the present invention.
圖2A與圖2B繪示本發明實施例的座椅機構示意圖。2A and 2B are schematic views of a seat mechanism according to an embodiment of the present invention.
圖3A與圖3B繪示本發明實施例的座椅機構的扶手調整示意圖。3A and 3B are schematic diagrams showing the adjustment of the armrest of the seat mechanism according to the embodiment of the present invention.
圖4繪示本發明的智慧型機器人輪椅100的自動導航示意圖。FIG. 4 is a schematic diagram of automatic navigation of the smart robot wheelchair 100 of the present invention.
圖5繪示本發明實施例的座墊可行空間範圍的部分座標資料。FIG. 5 is a partial coordinate view of a feasible space range of a seat cushion according to an embodiment of the present invention.
圖6繪示本發明實施例的座墊可行空間範圍示意圖。6 is a schematic view showing a feasible space range of a seat cushion according to an embodiment of the present invention.
圖7繪示本實施例的使用者介面示意圖。FIG. 7 is a schematic diagram of a user interface of the embodiment.
100‧‧‧智慧型機器人輪椅100‧‧‧Smart Robot Wheelchair
110‧‧‧車架機構110‧‧‧frame mechanism
112‧‧‧底座112‧‧‧Base
114‧‧‧側立架114‧‧‧Side stand
120‧‧‧座椅機構120‧‧‧Seat mechanism
121‧‧‧坐部121‧‧‧Sitting
122‧‧‧椅背部122‧‧‧ chair back
123‧‧‧可調式頭靠123‧‧‧Adjustable headrest
124‧‧‧軟質壓力感測元件124‧‧‧Soft pressure sensing components
125、126‧‧‧側邊扶手125, 126‧‧‧ side armrests
127‧‧‧桌板127‧‧‧Table board
131~134‧‧‧可變長度連桿131~134‧‧‧Variable length link
150‧‧‧顯示裝置150‧‧‧ display device
160‧‧‧操作裝置160‧‧‧Operator
161‧‧‧搖桿161‧‧‧ rocker
162‧‧‧控制面板162‧‧‧Control panel
170‧‧‧攝影機170‧‧‧ camera
180‧‧‧控制裝置180‧‧‧Control device
191‧‧‧麥凱倫輪191‧‧‧McLaren Wheel
195‧‧‧腳踏架195‧‧‧foot frame
Claims (12)
Priority Applications (1)
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| TW100109931A TWI415597B (en) | 2011-03-23 | 2011-03-23 | Intelligent robotic wheelchair |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW100109931A TWI415597B (en) | 2011-03-23 | 2011-03-23 | Intelligent robotic wheelchair |
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| TW201238581A TW201238581A (en) | 2012-10-01 |
| TWI415597B true TWI415597B (en) | 2013-11-21 |
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| TW100109931A TWI415597B (en) | 2011-03-23 | 2011-03-23 | Intelligent robotic wheelchair |
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| US10744048B2 (en) | 2018-04-09 | 2020-08-18 | Toyota Motor North America, Inc. | Wheelchair apparatuses including usage features |
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| TWI474294B (en) | 2013-05-10 | 2015-02-21 | Univ Yuan Ze | Method to set a navigation environment |
| TW201540280A (en) * | 2014-04-23 | 2015-11-01 | Univ Feng Chia | Smart mobile chair and its control circuit |
| TWI665107B (en) * | 2017-12-12 | 2019-07-11 | 財團法人工業技術研究院 | Mobile vehicle, ground treating equipment and orientation adjusting method thereof |
| CN107874928A (en) * | 2017-12-14 | 2018-04-06 | 杭州慧加科技有限公司 | The wheelchair conveniently gone to toilet |
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| US20040084950A1 (en) * | 2001-02-21 | 2004-05-06 | Michael Markwald | Seat shell with adjustable support elements |
| US7562896B2 (en) * | 2005-11-04 | 2009-07-21 | Kawamura-Cycle Co., Ltd. | Body frame for wheelchair |
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| US20040084950A1 (en) * | 2001-02-21 | 2004-05-06 | Michael Markwald | Seat shell with adjustable support elements |
| US7562896B2 (en) * | 2005-11-04 | 2009-07-21 | Kawamura-Cycle Co., Ltd. | Body frame for wheelchair |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US10744048B2 (en) | 2018-04-09 | 2020-08-18 | Toyota Motor North America, Inc. | Wheelchair apparatuses including usage features |
| US11364162B2 (en) | 2018-04-09 | 2022-06-21 | Toyota Motor North America, Inc. | Wheelchair apparatuses including usage features |
| US11865053B2 (en) | 2018-04-09 | 2024-01-09 | Toyota Motor North America, Inc. | Wheelchair apparatuses including usage features |
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