公开(公告)号：WO2009141461A1

公开(公告)日：2009-11-26

申请号：PCT/ES2008/000366

申请日：2008-05-23

Applicant: FUNDACION FATRONIK ,  SMITHERS, Tim ,  ANTERO URRUTICOECHEA, Unai ,  ESNAOLA CAMPOS, Urko

Inventor： SMITHERS, Tim ,  ANTERO URRUTICOECHEA, Unai ,  ESNAOLA CAMPOS, Urko

IPC: G05D1/00

CPC classification number: G05D1/0055 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0255 ,  G05D2201/0206

Abstract: La silla de ruedas de la presente invención comprende medios propulsores para al menos dos ruedas 1 motrices, medios 2 de indicación de movimiento de la silla de ruedas por parte del usuario que comprenden medios para indicar un movimiento hacia delante, hacia atrás y de rotación, al menos un sistema de detectores para detectar al menos un valor relativo a un espacio libre circundante y un controlador que comprende medios para obtener un valor de componente de movimiento lineal y de rotación, α js , ß js , a partir de los datos producidos por los medios de indicación de movimiento y medios para obtener el espacio libre circundante en una componente lineal y de rotación, α s , ß s , a partir del al menos un valor detectado por el, al menos un, detector 3, 4, 5. El movimiento lineal y rotatorio total, α T , ß T , aplicado a los medios propulsores se calculan como una combinación del valor de la componente de movimiento lineal y de rotación, α js , ß js , obtenido a partir de los medios de indicación de movimiento y el, al menos un, valor del espacio libre circundante en una componente lineal y de rotación, α s , ß s .

Abstract translation: 本发明的轮椅包括用于至少两个移动轮1的驱动装置，用于指示使用者轮椅的移动的装置2，所述指示装置包括用于指示向前，向后和旋转运动的装置，至少一个检测器系统 用于检测与周围自由空间相关的至少一个值，以及控制器，其包括用于从由所述用于指示移动的装置产生的数据获得线性和旋转运动分量ajs，βjs的值的装置，以及用于获得 围绕从所述至少一个检测器3,4,5所检测的至少一个值的线性和旋转分量的自由空间，作为βs。施加到驱动装置的总线性和旋转运动aT，βT是 计算为从用于指示运动的装置和周围自由度的至少一个值获得的线性和旋转运动分量ajs，βjs的值的组合 线性和旋转分量的速度，如ßs。

公开(公告)号：EP2302480B1

公开(公告)日：2012-02-08

申请号：EP08775394.3

申请日：2008-05-23

Applicant: FUNDACION FATRONIK

Inventor： SMITHERS, Tim ,  ANTERO URRUTICOECHEA, Unai ,  ESNAOLA CAMPOS, Urko

IPC: G05D1/00

CPC classification number: G05D1/0055 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0255 ,  G05D2201/0206

Abstract: The wheelchair in the present invention comprises driving means for at least two moving wheels 1, means 2 for indicating movement of the wheelchair by the user, said indicating means comprising means for indicating a forward, backward and rotational movement, at least one system of detectors for detecting at least one value relating to a surrounding free space, and a controller which comprises means for obtaining a value of a linear and rotational movement component, α
js , ß
js , from the data produced by the means for indicating movement and means for obtaining the surrounding free space in a linear and rotational component, α
s , ß
s , from the at least one value detected by the at least one detector 3, 4, 5. The total linear and rotational movement, α
T , ß
T , applied to the driving means is calculated as a combination of the value of the linear and rotational movement component, α
js , ß
js , obtained from the means for indicating movement and the at least one value of the surrounding free space in a linear and rotational component, α
s , ß
s .

公开(公告)号：EP2302480A1

公开(公告)日：2011-03-30

申请号：EP08775394.3

申请日：2008-05-23

Applicant: FUNDACION FATRONIK

Inventor： SMITHERS, Tim ,  ANTERO URRUTICOECHEA, Unai ,  ESNAOLA CAMPOS, Urko

IPC: G05D1/00

CPC classification number: G05D1/0055 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0255 ,  G05D2201/0206

Abstract: The wheelchair of the present invention comprises propulsion means for at least two drive wheels 1, a wheelchair user movement indicator means 2 that comprises means to indicate a forward, a backward and a rotation movement, at least one sensor system to detect at least one value referring to a surrounding free space, and a controller that comprises means to obtain a linear and a rotation movement component value, α js , β js , from the data produced by the movement indicator means, and means to obtain the surrounding free space in a linear and in a rotation component, α s , β s , from the at least one value detected by the, at least one, sensor 3, 4, 5. The total linear and rotational movement, α T , β T , applied to the propulsion means are calculated as a combination of the linear and rotation movement component value, α js , β js , obtained from the movement indicator means and the, at least one, value of the surrounding free space in a linear and rotation component, α s , β s .

Abstract translation: 本发明的轮椅包括用于至少两个驱动轮1的推进装置，轮椅使用者移动指示装置2，其包括用于指示向前，向后和旋转运动的装置，至少一个传感器系统，用于检测至少一个值 指的是周围的自由空间，以及控制器，其包括从由运动指示装置产生的数据获得线性和旋转运动分量值±js，js的装置，以及用于获得运动指示装置中的周围空闲空间的装置 与由至少一个传感器3,4,5所检测到的至少一个值的线性和旋转分量±s，s。总线性和旋转运动±T，T应用于 推进装置被计算为从运动指示装置获得的线性和旋转运动分量值±js，²js与线性和旋转分量中的周围自由空间的至少一个值的组合，±s ， ²s。