| 摘要 |
PROBLEM TO BE SOLVED: To provide a wheelchair capable of being quickly stopped in the case that one of the wheels, right or left, is locked. SOLUTION: Right and left wheels of a wheelchair are separately driven by electric motors 3, 4. The motor-driven wheelchair is provided with a joy stick 1b steered by the driver, a CPU 12 for a drive control, and vehicle speed sensors 3a, 4a detecting actual rotational speeds of the wheels. The CPU 12 calculates the command rotational speeds for the individual wheels to control the motors 3, 4 based on the tilt angle signal issued from the joy stick 1b. Also, the CPU 12 calculates the actual wheel speeds from the results the detection by the wheel speed sensors 3a, 4a, and judges it based on the command rotational speeds and actual rotational speeds whether or not one of the wheels, right or left, is locked. And when the CPU judges that one of the wheels is locked, it switches off the wheel relays 7, 8, supplying the motors 3, 4 with electric current for both right and left wheels to stop running. |
