| 摘要 |
PROBLEM TO BE SOLVED: To provide an electric wheelchair capable of reliably operating in response to an instruction of a user, irrespective of a load state.SOLUTION: An electric wheelchair includes: a base member 2 having a chair 7 arranged on the upper part thereof; at least two drive casters 3 to 5 attached to the lower part of the base member and capable of directing the drive direction of wheels driven so as to rotate by an electric motor, in a desired moving direction; a detecting means (encoder 103) for detecting the directions of the drive casters; an instructing means (joystick 11) for instructing a target moving direction and a target rotation direction; a calculating means (controller 10) for calculating output values for the respective electric motors of the drive casters on the basis of the operation direction and operation amount of the instructing means and the directions of the drive casters detected by the detecting means; and a control means (controller 10) for controlling the electric motors by using speed control on the basis of the output values calculated by the calculating means. |
