Motorized wheelchair and control method thereof
A method of controlling a motorized wheelchair including a seat frame supporting a seat, a back frame to which the seat frame is detachably connected, a first main wheel and a second main wheel respectively installed at both lower ends of the back frame, an inclination detecting sensor which detects an inclination, and a controller which controls the main wheel and the second main wheel, includes receiving an input for a turning operation, calculating an inclination angle of a running ground by the inclination detecting sensor, and determining whether the inclination angle is greater than a reference angle.
1. A method of controlling a motorized wheelchair having two rear wheels, the method comprising:
determining an inclination angle of a surface on which the motorized wheel chair is travelling;
when the inclination angle is less than a reference angle, performing a first turning operation associated with a rotational center located at a midpoint between the two rear wheels; and
when the inclination angle is greater than or equal to the reference angle, performing a second turning operation having a turning radius that is greater than a turning radius of the first turning operation,
wherein the rear wheels include a first rear wheel and a second rear wheel, and performing the second turning operation includes performing:
a first turn having a rotational center that is located at one of the first or second rear wheels, and
a second turn having a rotational center that is located outside of a region between the first rear wheel and the second rear wheel, the second turn having a turning radius that is greater than a turning radius of the first turn,
wherein the reference angle includes a first reference angle and a second reference angle that is greater than the first reference angle,
wherein the first turning operation is performed when the inclination angle is less than the first reference angle,
wherein the first turn is performed when the inclination angle is greater than or equal to the first reference angle and less than the second reference angle, and
wherein the second turn is performed when the inclination angle is greater than or equal to the second reference angle.
2. The method of claim 1 ,
wherein performing the first turning operation includes:
controlling a rotational direction of the first rear wheel and a rotational direction of a second rear wheel to be opposite to each other, and
controlling a rotational speed of the first rear wheel and a rotational speed of the second rear wheel to be equal to each other.
3. The method of claim 1 ,
wherein performing the first turn includes:
controlling the rear wheels such that one of the first rear wheel or the second rear wheel rotates while another of the first rear wheel or the second rear wheel is stopped.
4. The method of claim 1 ,
wherein the reference angle corresponds to an angle at which the motorized wheelchair may overturn when the first turning operation is performed based on a user's weight and a current speed of the motorized wheelchair.
5. The method of claim 1 , further comprising:
detecting a current speed of the motorized wheelchair;
comparing the current speed with a reference speed corresponding to the inclination angle; and
braking at least one of the rear wheels when the current speed is greater than the reference speed.
6. The method of claim 5 ,
wherein the at least one of the rear wheels is braked such that the current speed is kept below the reference speed, and
wherein the reference speed is determined as a function of the inclination angle.