CN110037865A - Electric nursing wheelchair and its control method - Google Patents
Electric nursing wheelchair and its control method Download PDFInfo
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- CN110037865A CN110037865A CN201910414958.8A CN201910414958A CN110037865A CN 110037865 A CN110037865 A CN 110037865A CN 201910414958 A CN201910414958 A CN 201910414958A CN 110037865 A CN110037865 A CN 110037865A
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- 230000000474 nursing effect Effects 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000003993 interaction Effects 0.000 claims abstract description 19
- 230000002452 interceptive effect Effects 0.000 claims abstract description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 3
- 238000001514 detection method Methods 0.000 claims description 25
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims description 6
- 239000004973 liquid crystal related substance Substances 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims description 4
- 241001269238 Data Species 0.000 claims description 3
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims 1
- 238000013461 design Methods 0.000 description 3
- 210000003811 finger Anatomy 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/045—Rear wheel drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1005—Wheelchairs having brakes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1005—Wheelchairs having brakes
- A61G5/1035—Wheelchairs having brakes manipulated by wheelchair user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Rehabilitation Tools (AREA)
- Handcart (AREA)
Abstract
The present invention relates to electric wheelchair technical fields, in particular to electric nursing wheelchair and its control method, including main body of vehicle frame, driver, interaction instrument, driving wheel and battery, the battery and driver are fixed below the pedestal of main body of vehicle frame, interaction instrument is fixed on the handrail of main body of vehicle frame, driving wheel is set to the back lower place of main body of vehicle frame, and the interactive instrument, driving wheel, battery are connected with driver respectively.Compared with prior art, electric nursing wheelchair of the invention and its control method can be very good to make up the vacancy of current electric booster system, by different use patterns, estimate a variety of intentions of nursing staff, to provide different driving forces, mitigate the burden of the promotion wheelchair of nursing staff.
Description
[technical field]
The present invention relates to electric wheelchair technical fields, in particular to electric nursing wheelchair and its control method.
[background technique]
Current existing electronic nursing wheelchair, is to increase motor driving wheel on manual wheelchair, then by hand handle or
The form of button switch carries out simple forward-reverse control to wheelchair, is exactly a simple switching variable, similar to press forward
Button is opened, and wheelchair just forward, open by back button, wheelchair just backward, on technical standpoint for be exactly that a wired handle is remotely controlled
Function.
Existing electric wheelchair the problem is that: 1, velocity variations are inconvenient, can only provide constant speed to power, nursing staff
Need at the uniform velocity to follow always, think it is a little slower hurry up it is all not all right, it is relatively elaborate；2, steering power, traditional solution cannot be provided
The power that moves forward and backward only is provided, does not support power steering, is turned to laborious；Or it is diverted through switch control, it is unable to adjust and turns
To angle；3, start and stop have apparent pause and transition in rhythm or melody sense, poor by nursing staff's experience sense, unstable, sense of jolting.
[summary of the invention]
In order to overcome the above problem, the present invention propose a kind of electric nursing wheelchair that can effectively solve the above problems and
Its control method.
The present invention solves a kind of technical solution that above-mentioned technical problem provides: a kind of electric nursing wheelchair is provided,
Including main body of vehicle frame, driver, instrument, driving wheel and battery are interacted, the battery and driver are fixed on the bottom of main body of vehicle frame
Seat lower section, interaction instrument are fixed on the handrail of main body of vehicle frame, and driving wheel is set to the back lower place of main body of vehicle frame, the interactive instrument
Table, driving wheel, battery are connected with driver respectively.
Preferably, the interactive gauge external be provided with LCD liquid crystal display, switching on and shutting down key, direction switching key, gear by
Key, constant speed refer to support, vital sign sensing module, charge port, are internally provided with microcontroller, power management module, attitude detection
Module, bluetooth module, voice module, loudspeaker, buzzer, LCD liquid crystal display, switching on and shutting down key, direction switching key, gear are pressed
Key, constant speed refer to support, vital sign sensing module, charge port, power management module, attitude detection module, bluetooth module, voice mould
Block, loudspeaker, buzzer are connected to microcontroller.
Preferably, the driver includes MCU, current detection module, voltage detection module, velocity measuring module, motor
Drive module, attitude detection module, power management module, battery interface and instrumentation tap, the current detection module, voltage inspection
Survey module, velocity measuring module, motor drive module, attitude detection module, power management module, instrumentation tap respectively with MCU
It is connected, battery interface is connected with power management module.
Preferably, the driving wheel includes motor and wheel.
Preferably, hand-operated brake device is additionally provided with below the main body of vehicle frame handrail.
Preferably, the control method of the electric nursing wheelchair, which comprises the steps of:
Step S1 is pressed switch to open control system by switching on and shutting down, and System self-test whether there is failure at this time, after self-test
Interaction instrument and driver, which are established, to be communicated to connect, and is between each other exchange data after successful connection；
Step S2, interaction instrument detect whether to hold handrail, which are transferred to driver, if not holding handrail, is taken turns
Chair braking locking, if having held handrail wheelchair enters operating status；
Step S3, system need to detect cell voltage before actual motion, forbid running under low voltage situations；
Step S4, interaction instrument detect whether that triggering constant speed refers to support, enter autoamtic boosting mode according to the instruction system
Or constant speed assistant mode, both of which pass through constant speed between each other and refer to that support instruction voluntarily switches.
Preferably, in the step S4, constant speed is not touched and refers to support, into autoamtic boosting mode:
Step S411 can calculate the weight bearing of wheelchair at this time by acquisition current of electric and speed, according to automatic of weight bearing
With power-assisted grade；
Step S412 after power-assisted grade determines, calculates current road conditions in conjunction with two attitude detection module datas, if wheelchair
It tilts backwards, increases power-assisted threshold values, turn forward, reduce power-assisted threshold values, be tilted to the left, increase left motor power-assisted threshold values, to the right
Inclination, increases right motor power-assisted threshold values, and threshold value setting range is -100~+100；
Step S413 pushes wheelchair, and so that wheelchair is generated an initial velocity and traffic direction, velocity measuring module can examine
The mobile direction of current wheelchair, speed, acceleration are measured, motor control uses FOC vector control method, current according to wheelchair
Velocity and acceleration, the strength needed for combining power-assisted grade and power-assisted threshold values to estimate wheelchair revolving speed, calculates final SVPWM
Value is exported to motor driven.
Preferably, it in the step S4, touches constant speed and refers to support, into constant speed assistant mode:
Step S421, interaction instrument direction switching key, gear key can set wheelchair constant speed drive direction and
Speed；
Step S422 thinks the revolving speed for intervening left and right motor by twisting handrail, can be calculated by detecting motor speed
Rotation direction and rotational angle realize differential steering so as to adjust left and right motor speed；
Step S423, speed control operating speed PID closed-loop control export final SVPWM value to motor driven systems.
Compared with prior art, electric nursing wheelchair of the invention and its control method can be very good to make up at present
The vacancy of electric booster system estimates a variety of intentions of nursing staff by different use patterns, to provide different drives
Power mitigates the burden of the promotion wheelchair of nursing staff.Current existing manual wheelchair can be directed to according to the program to be changed
Into upgrading, product that can also be new with brand-new design.
[Detailed description of the invention]
Fig. 1 is the overall structure figure of electric nursing wheelchair of the present invention；
Fig. 2 is the interaction instrument structure figure of electric nursing wheelchair of the present invention；
Fig. 3 is the activation configuration block diagram of electric nursing wheelchair of the present invention；
Fig. 4 is the control method flow chart of electric nursing wheelchair of the present invention.
[specific embodiment]
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing and embodiment,
The present invention will be described in further detail.It should be appreciated that described herein, the specific embodiments are only for explaining the present invention, and
It is not used in the restriction present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute only limits in the embodiment of the present invention
In the relative position in given view, rather than absolute position.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and should not be understood as
Its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.In the description of the present invention, " multiple " contain
Justice is at least two, such as two, three etc., unless otherwise specifically defined.
Electric nursing wheelchair of the invention referring to FIG. 1 to FIG. 4, including main body of vehicle frame 10, driver 20, interaction
Instrument 30, driving wheel 40 and battery 50, the battery 50 and driver 20 are fixed below the pedestal of main body of vehicle frame 10, interaction instrument
Table 30 is fixed on the handrail of main body of vehicle frame 10, and driving wheel 40 is set to the back lower place of main body of vehicle frame 10, the interactive instrument 30,
Driving wheel 40, battery 50 are connected with driver 20 respectively.The driving wheel 40 includes motor and wheel, and driving wheel 40 can be shield
It manages wheelchair and power is provided, be power resources.
LCD liquid crystal display 31, switching on and shutting down key 32, direction switching key 33, gear are provided with outside the interactive instrument 30
Key 34, constant speed refer to support 35, vital sign sensing module 36, charge port 37, are internally provided with microcontroller, power management mould
Block, attitude detection module, bluetooth module, voice module, loudspeaker, buzzer, LCD liquid crystal display 31, switching on and shutting down key 32, direction are cut
It changes key 33, gear key 34, constant speed and refers to support 35, vital sign sensing module 36, charge port 37, power management module, posture
Detection module, bluetooth module, voice module, loudspeaker, buzzer are connected to microcontroller.Vital sign sensing module 36 can
To detect whether to be held on handrail, only holding handrail wheelchair is just moved, and which ensures that the peaces of wheelchair personnel
Entirely, while it can accomplish that wheelchair stops immediately after unclamping handrail.
The driver includes MCU, current detection module, voltage detection module, velocity measuring module, motor driven mould
Block, attitude detection module, power management module, battery interface and instrumentation tap, the current detection module, voltage detecting mould
Block, velocity measuring module, motor drive module, attitude detection module, power management module, instrumentation tap are connected with MCU respectively
It connects, battery interface is connected with power management module.
Electric nursing wheelchair of the invention includes autoamtic boosting mode and constant speed assistant mode.
Autoamtic boosting mode: holding handrail, and user pushes wheelchair, and system pushes the speed of wheelchair to generate according to user at this time
Corresponding power-assisted feedback is to motor, it is ensured that the movement speed of wheelchair and the speed of travel of user are close, such wheelchair and user's
Relative velocity is close to zero, therefore active force useless between each other, and user can easily push wheelchair mobile at this time.It turns to
When, right handrail applies different strength to user to the left, allow left and right motor to form differential to reach steering purpose, system according to
The strength that family applies estimates steering intention and steering angle, and control left and right motor reaches different revolving speeds, realizes auto-steering.
Constant speed assistant mode: autoamtic boosting mode may insure that user uses on the road surface of relatively flat, cheat when encountering
Hollow road surface, meadow, snowfield, wide-angle climb and fall when, constant speed mode can be used, stronger power is provided, guarantee to push light
Freely.Thumb is placed in constant speed and referred in support by user, and system enters constant speed mode, and user can be according to oneself cadence and step-length
Different gears is set, constant speed is run wheelchair, reaches power-assisted effect.When user's finger leaves finger support, and switch back into
Autoamtic boosting mode.Both of which can be toggled freely.
It is additionally provided with hand-operated brake device below 10 handrail of main body of vehicle frame, user can move the hand-operated brake device below handrail with Lie
It realizes that physics brakes, or unclamps handrail and realize electric brake, wheelchair locks after brake, can prevent from slipping under ramp and exception is moved
It is dynamic.
Driver 20 and interaction instrument 30 are all integrated with attitude detection module, which is the important sensing of road conditions estimation
Device, two intermodules can be examined mutually, it is ensured that data are accurate.
Battery 50 is the energy of whole system, can be charged repeatedly, includes battery management system in battery 50, provides charge and discharge
Management, low battery alarm, overcurrent under-voltage protection, overheating protection etc..
The control method of electric nursing wheelchair, includes the following steps:
Step S1, by 32 opening control system of switching on and shutting down key, System self-test whether there is failure at this time, and self-test finishes
Instrument 30 is interacted afterwards and establishes communication connection with driver 20, is between each other exchange data after successful connection；
Step S2, interaction instrument 30 detect whether to hold handrail, which are transferred to driver 20, is helped if do not held
Hand, Brake of wheel-chair locking, if having held handrail wheelchair enters operating status；
Step S3, system need to detect 50 voltage of battery before actual motion, forbid running under low voltage situations；
Step S4, interaction instrument 30 detect whether that triggering constant speed refers to support 35, enter autoamtic boosting according to the instruction system
Mode or constant speed assistant mode, both of which pass through constant speed between each other and refer to that the instruction of support 35 voluntarily switches.
In the step S4, constant speed is not touched and refers to support 35, into autoamtic boosting mode:
Step S411 can calculate the weight bearing of wheelchair at this time by acquisition current of electric and speed, according to automatic of weight bearing
With power-assisted grade；
Step S412 after power-assisted grade determines, calculates current road conditions in conjunction with two attitude detection module datas, if wheelchair
It tilts backwards, increases power-assisted threshold values, turn forward, reduce power-assisted threshold values, be tilted to the left, increase left motor power-assisted threshold values, to the right
Inclination, increases right motor power-assisted threshold values, and threshold value setting range is -100~+100；
Step S413 pushes wheelchair, and so that wheelchair is generated an initial velocity and traffic direction, velocity measuring module can examine
The mobile direction of current wheelchair, speed, acceleration are measured, motor control uses FOC vector control method, current according to wheelchair
Velocity and acceleration, the strength needed for combining power-assisted grade and power-assisted threshold values to estimate wheelchair revolving speed, calculates final SVPWM
Value is exported to motor driven.
It touches constant speed and refers to support 35, into constant speed assistant mode:
Step S421, direction switching key 33, the gear key 34 of interaction instrument 30 can set wheelchair constant speed drive
Direction and speed；
Step S422 thinks the revolving speed for intervening left and right motor by twisting handrail, can be calculated by detecting motor speed
Rotation direction and rotational angle realize differential steering so as to adjust left and right motor speed；
Step S423, speed control operating speed PID closed-loop control export final SVPWM value to motor driven systems.
In wheelchair operational process, current acquisition module motor in real time electric current prevents the excessive damage system of electric current.It unclamps
Handrail, into braking state, motor generates the strength contrary with wheel chair sport, and until speed is zero, strength is released.
Compared with prior art, electric nursing wheelchair of the invention and its control method can be very good to make up at present
The vacancy of electric booster system estimates a variety of intentions of nursing staff by different use patterns, to provide different drives
Power mitigates the burden of the promotion wheelchair of nursing staff.Current existing manual wheelchair can be directed to according to the program to be changed
Into upgrading, product that can also be new with brand-new design.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the scope of the invention, all at this
Made any modification within the design of invention, equivalent replacement and improvement etc. should be included in scope of patent protection of the invention
It is interior.
Claims (8)
1. electric nursing wheelchair, which is characterized in that including main body of vehicle frame, driver, instrument, driving wheel and battery are interacted,
The battery and driver are fixed below the pedestal of main body of vehicle frame, and interaction instrument is fixed on the handrail of main body of vehicle frame, are driven
Wheel is set to the back lower place of main body of vehicle frame, and the interactive instrument, driving wheel, battery are connected with driver respectively.
2. electric nursing wheelchair as described in claim 1, which is characterized in that the interactive gauge external is provided with LCD
Liquid crystal display, switching on and shutting down key, direction switching key, gear key, constant speed refer to support, vital sign sensing module, charge port, internal
It is provided with microcontroller, power management module, attitude detection module, bluetooth module, voice module, loudspeaker, buzzer, LCD liquid
Brilliant screen, switching on and shutting down key, direction switching key, gear key, constant speed refer to support, vital sign sensing module, charge port, power supply pipe
Reason module, attitude detection module, bluetooth module, voice module, loudspeaker, buzzer are connected to microcontroller.
3. electric nursing wheelchair as described in claim 1, which is characterized in that the driver includes MCU, current detecting
Module, voltage detection module, velocity measuring module, motor drive module, attitude detection module, power management module, battery connect
Mouth and instrumentation tap, the current detection module, voltage detection module, velocity measuring module, motor drive module, attitude detection
Module, power management module, instrumentation tap are connected with MCU respectively, and battery interface is connected with power management module.
4. electric nursing wheelchair as described in claim 1, which is characterized in that the driving wheel includes motor and wheel.
5. electric nursing wheelchair as described in claim 1, which is characterized in that also set up below the main body of vehicle frame handrail
There is hand-operated brake device.
6. the control method of electric nursing wheelchair, which comprises the steps of:
Step S1 is pressed switch to open control system by switching on and shutting down, and System self-test whether there is failure at this time, interaction after self-test
Instrument and driver, which are established, to be communicated to connect, and is between each other exchange data after successful connection；
Step S2, interaction instrument detects whether holding handrail, which is transferred to driver, if not holding handrail, wheelchair is stopped
Lock is fixed, if having held handrail wheelchair enters operating status；
Step S3, system need to detect cell voltage before actual motion, forbid running under low voltage situations；
Step S4, interaction instrument detect whether that triggering constant speed refers to support, enter autoamtic boosting mode or perseverance according to the instruction system
Fast assistant mode, both of which pass through constant speed between each other and refer to that support instruction voluntarily switches.
7. the control method of electric nursing wheelchair as claimed in claim 6, which is characterized in that in the step S4, not
It touches constant speed and refers to support, into autoamtic boosting mode:
Step S411 can calculate the weight bearing of wheelchair at this time by acquisition current of electric and speed, be helped according to weight bearing Auto-matching
Power grade；
Step S412 after power-assisted grade determines, calculates current road conditions in conjunction with two attitude detection module datas, if wheelchair is backward
Inclination increases power-assisted threshold values, turns forward, and reduces power-assisted threshold values, is tilted to the left, increases left motor power-assisted threshold values, be tilted to the right,
Right motor power-assisted threshold values is increased, threshold value setting range is -100~+100；
Step S413 pushes wheelchair, and so that wheelchair is generated an initial velocity and traffic direction, velocity measuring module can detecte
The mobile direction of current wheelchair, speed, acceleration, motor control uses FOC vector control method, according to the current speed of wheelchair
And acceleration, the strength needed for combining power-assisted grade and power-assisted threshold values to estimate wheelchair revolving speed calculate final SVPWM value,
It exports to motor driven.
8. the control method of electric nursing wheelchair as claimed in claim 7, which is characterized in that in the step S4, touching
It touches constant speed and refers to support, into constant speed assistant mode:
Step S421, direction switching key, the gear key of interaction instrument can set direction and the speed of wheelchair constant speed drive；
Step S422 thinks the revolving speed for intervening left and right motor by twisting handrail, can calculate rotation by detecting motor speed
Direction and rotational angle realize differential steering so as to adjust left and right motor speed；
Step S423, speed control operating speed PID closed-loop control export final SVPWM value to motor driven systems.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910414958.8A CN110037865B (en) | 2019-05-17 | 2019-05-17 | Novel electric nursing wheelchair and control method thereof |
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|---|---|---|---|
| CN201910414958.8A CN110037865B (en) | 2019-05-17 | 2019-05-17 | Novel electric nursing wheelchair and control method thereof |
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| CN110037865A true CN110037865A (en) | 2019-07-23 |
| CN110037865B CN110037865B (en) | 2020-08-14 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112451243A (en) * | 2020-12-10 | 2021-03-09 | 广州暖晴医疗科技有限公司 | Wheelchair control system and method |
| WO2021134773A1 (en) * | 2019-12-30 | 2021-07-08 | 厦门兴联智控科技有限公司 | Motor vehicle control system |
| CN113552822A (en) * | 2021-07-01 | 2021-10-26 | 浙江益恒悦医疗科技有限公司 | Power-assisted control method and device for intelligent walking aid, intelligent walking aid and controller |
| CN114404235A (en) * | 2022-01-26 | 2022-04-29 | 浙江益恒悦医疗科技有限公司 | Power-assisted steering control method and device for walking aid and memory |
| WO2024087856A1 (en) * | 2022-10-26 | 2024-05-02 | 浙江益恒悦医疗科技有限公司 | Movable seat and control method therefor, and apparatus having storage function |
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|---|---|---|---|---|
| JPH01269671A (en) * | 1988-04-22 | 1989-10-27 | Suzuki Motor Co Ltd | Power steering control circuit for motor-driven wheel chair |
| CN201182694Y (en) * | 2007-11-30 | 2009-01-21 | 杨萍莲 | Miniature electric wheelchair |
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| CN103499843A (en) * | 2013-09-18 | 2014-01-08 | 安徽惠洲地下灾害研究设计院 | Vehicle-mounted type transient electromagnetic quick exploration device and measurement method |
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