Electromotive transfer device

An electromotive transfer device comprising:

• a center body (110) provided with a driving wheel (W) that exhibits a driving force and a steering force;
• a lower frame (120) which is extended forward from the center body and has a roller on a lower end of a front end portion;
• a vertical frame (130) of which a lower end is provided on the center body to be rotatable;
• an upper frame (140) of which one end is rotatably connected to an upper end of the vertical frame and the other end is provided with a sling support (145) to which a sling for carrying a patient is connected;
• an adjusting rod (150) of which a lower end is connected to the vertical frame and an upper end is connected to the upper frame, and which is stretchable and contractable in a lengthwise direction so as to adjust the height of the sling;
• a motor and a battery for supplying a rotating force required by the driving wheel;
• a control means (200) for controlling the driving force and the steering force of the driving wheel (W);
• a first IMU sensor (S1) which is provided in the vertical frame (130) and senses movement in forward and backward direction and turning of the transfer device;
• a second IMU sensor (S2) which is provided in the upper frame (140) and senses ascending and descending postures of the upper frame;
• and
• a third IMU sensor (S3) which is provided in the sling support (145) and monitors a patient who is in the sling by sensing variation amount in an acceleration and angular acceleration of the sling support.