ELECTRICALLY-POWERED DEVICE FOR WHEELCHAIRS, ELECTRIC WHEELCHAIR COMPRISING SAID ELECTRICALLY-POWERED DEVICE FOR WHEELCHAIRS, AND DRIVE MONITORING METHOD FOR ELECTRIC WHEELCHAIRS

摘要

In order to enable the drive state of each wheel to be monitored in a wheelchair having each wheel driven in accordance with output information calculated on the basis of input information, the present invention comprises: a left-wheel controller (30L) that calculates first output information on the basis of first input information relating to drive control of the left wheel, and controls a left-wheel drive motor (21L) using the first output information; and a right-wheel controller (30R) that calculates second output information on the basis of second input information relating to drive control of the right wheel, and controls a right-wheel drive motor (21R) using the second output information. The right-wheel controller (30R) receives first drive-related information relating to left wheel drive, sent from the left-wheel controller (30L), and determines if there is a left wheel drive error. The left-wheel controller (30L) receives second drive-related information relating to right wheel drive, sent from the right-wheel controller (30R), and determines if there is a left wheel drive error.