JP2893587B2 - Electric wheelchair control device - Google Patents
Electric wheelchair control deviceInfo
- Publication number
- JP2893587B2 JP2893587B2 JP4093512A JP9351292A JP2893587B2 JP 2893587 B2 JP2893587 B2 JP 2893587B2 JP 4093512 A JP4093512 A JP 4093512A JP 9351292 A JP9351292 A JP 9351292A JP 2893587 B2 JP2893587 B2 JP 2893587B2
- Authority
- JP
- Japan
- Prior art keywords
- accelerator lever
- angle
- motor
- speed
- rotation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、身体障害者や老人等が
使用する電動車椅子の操縦装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric wheelchair control device used by a physically handicapped person, an elderly person and the like.
【０００２】[0002]
【従来の技術】電動車椅子の操縦装置は、例えば実開昭
６４−６７０２号公報や実開平２−１４２３２２号公報
等に記載されているように、ハンドルの近停にアクセル
レバーを設け、このアクセルレバーを手指で押して回し
ながら走行・停止及び走行速度の変更を行えるようにし
ている。2. Description of the Related Art As disclosed in Japanese Utility Model Laid-Open Publication No. 64-6702 and Japanese Utility Model Laid-Open Publication No. 2-142322, for example, an operating device for an electric wheelchair is provided with an accelerator lever near a stop of a steering wheel. The running / stopping and changing of the running speed can be performed while pushing and turning the lever with fingers.
【０００３】[0003]
【発明が解決しようとする課題】前記のアクセルレバー
は、所定角度回すと駆動モータをＯＮ・ＯＦＦする角度
位置が有る。極低速で走行する場合には、ＯＮ・ＯＦＦ
作動角度位置よりもやや大きく回動した角度位置を保持
することになるが、車体が振れたりアクセルレバーを定
位置に保持することが困難な場合には、アクセルレバー
がＯＮ・ＯＦＦ作用角度位置を行き来して回動し走行と
停止を繰り返すことになって乗り心持が悪くなる。そこ
で、本発明では、極低速で走行する場合に一旦走行を開
始するとアクセルレバーを少々動かしても停止するよう
なことが無くなるようにすることを課題とする。The accelerator lever has an angular position at which the drive motor is turned on and off when the accelerator lever is turned by a predetermined angle. ON / OFF when traveling at extremely low speed
Although the angle position that has been rotated slightly larger than the operation angle position will be maintained, if the vehicle body shakes or it is difficult to hold the accelerator lever in the home position, the accelerator lever sets the ON / OFF action angle position. Since the vehicle travels back and forth and repeats running and stopping, the rider's feelings of motivation deteriorate. In view of the above, an object of the present invention is to prevent the vehicle from stopping even if the accelerator lever is slightly moved once the vehicle starts running when traveling at an extremely low speed.
【０００４】[0004]
【課題を解決するための手段】停止位置Ａからの回動角
度を大きくすることで車輪駆動用モータＭをＯＮ作用し
て順次増速するアクセルレバー１を可逆的に設けてなる
電動車椅子の操縦装置において、アクセルレバー１の増
速方向への回動によって前記モータＭがＯＮするＯＮ作
用回動角度Ｂを停止方向への回動によって前記モータＭ
がＯＦＦするＯＦＦ作用回動角度Ｃよりも大きく設定し
た。SUMMARY OF THE INVENTION The steering of an electric wheelchair provided with an accelerator lever 1 reversibly provided with a turning angle from a stop position A to turn on a wheel driving motor M to increase the speed sequentially by turning on the motor M. in the apparatus, the motor M of the ON action pivot angle B that the motor M is turned ON by the rotation of the speed increasing direction of the accelerator lever 1 by the rotation of the stop direction
Is set to be larger than the OFF action rotation angle C at which is turned off.
【０００５】[0005]
【発明の作用効果】走行開始する場合には、停止位置Ａ
のアクセルレバー１をＯＮ作用回動角度Ｂを越えて増速
方向へ回動することで、モータＭがＯＮした後順次走行
速度を上げるのであるが、走行から停止する場合には、
走行位置のアクセルレバー１を停止位置Ａへ戻すことで
モータＭが減速して停止される。本発明ではアクセルレ
バー１を停止位置Ａから増速方向へ回動する際にモータ
ＭをＯＮするＯＮ作用回動角度Ｂを、走行から停止位置
Ａに向かって回動する際にモータＭをＯＦＦするＯＦＦ
作用回動角度Ｃと異ならせて、ＯＮ作用回動角度ＢをＯ
ＦＦ作用回動角度Ｃより大きく設定しているのであるか
ら、アクセルレバー１が停止状態からＯＮ作用角度Ｂを
越えて走行を開始した後は、例えアクセルレバー１がＯ
Ｎ作用回動角度Ｂより小さい角度に戻ってもＯＦＦ作用
回動角度Ｃにならない限り走行停止となることがないの
で、極低速で走行するためにアクセルレバー１をＯＮ作
用角度Ｂを僅かに越える位置に保持した場合に少々アク
セルレバー１が戻ったとしてもモータＭがＯＦＦとなら
ず停止と走行を繰り返すようなことが無く、快適な走行
を行えることになる。When the vehicle starts running, the stop position A
By pivoting the accelerator lever 1 to the speed-increasing direction beyond the ON action pivot angle B, and when the motor M is although raise the sequential running speed after ON, to stop from running,
By returning the accelerator lever 1 at the traveling position to the stop position A, the motor M is decelerated and stopped. Motor M when pivoted I suited the ON action pivot angle B to ON the motor M when pivoted accelerating direction acceleration lever 1 from the stop position A, the stop position A from the traveling in the present invention OFF to turn off
By varying the working pivot angle C, and ON action pivot angle B O
The since it is set to be larger than FF acting rotation angle C, after the accelerator lever 1 starts traveling beyond the ON action angle B from the stop state, the accelerator lever 1 even has O
N action OFF action even when returned to an angle smaller than the rotation angle B
Since the traveling is not stopped unless the rotation angle C is reached, even if the accelerator lever 1 is slightly returned when the accelerator lever 1 is maintained at a position slightly exceeding the ON operation angle B in order to travel at an extremely low speed. If motor M is off
Without stopping and running repeatedly, comfortable running can be performed.
【０００６】[0006]
【実施例】次に、本発明の実施例を説明する。図２は、
信号入力手段と制御手段の接続状態を示すブロック図で
ある。中央演算装置（ＣＰＵ）１０へは、まず電源スイ
ッチ１１からＯＮ・ＯＦＦ信号が入力し、アクセルレバ
ー１によって回動調節される可変抵抗器の出力電圧をＡ
／Ｄ変換して入力し、変速スイッチ１２で高・中・低速
の走行速度選択を入力し、衝突感知センサや旋回角度セ
ンサや外気温センサ等の各種センサ１３からの信号を入
力する。又、モータＭの回転数を検出する回転センサ１
４から回転数検出回路１５を通じて、回転数と回転方向
が入力する。Next, embodiments of the present invention will be described. FIG.
FIG. 3 is a block diagram illustrating a connection state between a signal input unit and a control unit. First, an ON / OFF signal is input from a power switch 11 to a central processing unit (CPU) 10, and the output voltage of a variable resistor that is rotationally adjusted by an accelerator lever 1 is represented by A.
The speed change switch 12 inputs high / medium / low speed running speed selection, and inputs signals from various sensors 13 such as a collision detection sensor, a turning angle sensor, and an outside air temperature sensor. A rotation sensor 1 for detecting the number of rotations of the motor M
Through the rotation speed detection circuit 15 from 4, the rotational direction is typing speed.
【０００７】電源はバッテリ１６であって、ＣＰＵ供給
電源回路１７を通じてＣＰＵ１０に電力を供給し、バッ
テリ電圧検出回路１８を通じて電圧をＣＰＵ１０内へ入
力して演算処理し、バッテリの充電量を５連のＬＥＤか
らなるバッテリメータ２３に表示している。又、このバ
ッテリ１６は、メインリレー１９、前後進切替回路２
０、モータ発電制動回路２１、モータ駆動回路２２を介
してモータＭに接続して電力を供給するようにしてい
る。A power source is a battery 16, which supplies power to the CPU 10 through a CPU power supply circuit 17, inputs a voltage into the CPU 10 through a battery voltage detection circuit 18, performs arithmetic processing, and reduces the charge amount of the battery to five stations. This is indicated on the battery meter 23 composed of an LED. The battery 16 includes a main relay 19 and a forward / reverse switching circuit 2.
0, the motor dynamic braking circuit 21, a motor driving circuit 22 via
Then, it is connected to the motor M to supply electric power.
【０００８】ＣＰＵ１０からは、メインリレー１９へ駆
動指令が出力され、モータ発電制動回路２１へ制動パル
スが出力され、モータ駆動回路２２へ駆動パルスが出力
される。又、前後進切替回路２０へは、アクセルレバー
１の回動方向あるいは別の制御信号によってＣＰＵ１０
から前進あるいは後進の切替指令が出力される。電磁ブ
レーキ２４は、電源がＯＦＦ状態でブレーキ作用とな
り、電源がＯＮ状態でブレーキ解除状態となるもので車
体の停止状態時にブレーキ作用するようにしている。[0008] The CPU 10 outputs a drive command to the main relay 19, outputs a braking pulse to the motor power generation braking circuit 21, and outputs a driving pulse to the motor driving circuit 22. The forward / reverse switching circuit 20 is supplied to the CPU 10 by the rotation direction of the accelerator lever 1 or another control signal.
Outputs a forward or reverse switching command. Electromagnetic brake 24, the car with what power becomes braking in the OFF state, the power is the brake release state in the ON state
The brake works when the body is stopped.
【０００９】次に作動状態を説明すると、アクセルレバ
ー１の回動操作によってその回動角度αがＣＰＵ１０に
入力されると、メインリレー１９にＯＮ信号が出力され
た後その回動角度に応じた走行速度で走行するよう駆動
パルスがモータ駆動回路２２へ出力され速度が指令速度
より速くならないよう制動パルスがモータ発電制動回路
２１へ出力される。本発明では、メインリレー１９をＯ
Ｎ・ＯＦＦするタイミングをアクセルレバー１を増速側
へ回動したか、停止側へ回動したかによって変えている
のであるが、その判断は図１のフローチャート図に示す
如く、ＣＰＵ１０で行っている。Next, the operation state will be described. When the rotation angle α is input to the CPU 10 by the rotation operation of the accelerator lever 1, an ON signal is output to the main relay 19, and then the rotation is performed according to the rotation angle. A drive pulse is output to the motor drive circuit 22 so that the vehicle travels at the traveling speed, and a braking pulse is output to the motor power generation braking circuit 21 so that the speed does not become faster than the commanded speed. In the present invention, the main relay 19 is
The N-OFF timing is changed depending on whether the accelerator lever 1 is turned to the speed increasing side or to the stop side. The judgment is made by the CPU 10 as shown in the flowchart of FIG. I have.
【００１０】スタート時には、運転モードが「停止」と
なっており、アクセルレバー１を回動していくと、まず
運転モードの判別を受ける。最初は「停止」モードであ
るからアクセルレバー１の回動保持角度αが±１０°以
内かどうかの判別を受け、以内ならば停止状態を続け、
＋１０°あるいは−１０°よりも大きく回動されていれ
ばメインリレー１９をＯＮして走行制御に移る。一旦走
行制御に移ると運転モードを「走行」に置き換え、アク
セルレバー１の回動保持角度αが±８°以下かどうかの
判別を受け、以上であれば走行制御を続行し、以下であ
れば停止制御に移行し駆動パルスの出力デューティを徐
々に零にした後にメインリレー１９をＯＦＦとしてモー
タＭを停め、電磁ブレーキ２４をＯＦＦ作用させて車体
の走行を停止する。停止制御の完了は、電磁ブレーキ２
４のＯＦＦ信号によって判別する。At the start, the operation mode is "stop", and when the accelerator lever 1 is rotated, the operation mode is determined first. At first, since the mode is the “stop” mode, it is determined whether or not the rotation holding angle α of the accelerator lever 1 is within ± 10 °, and if not, the stop state is continued.
If it has been turned by more than + 10 ° or -10 °, the main relay 19 is turned on and the operation proceeds to running control. Once replaced with the operation mode shifts to the travel control to the "running", receives the discrimination rotational retention angle α of the accelerator lever 1 is whether 8 ° hereinafter ±, to continue the traveling control if the following, hereinafter If so, the control is shifted to stop control, the output duty of the drive pulse is gradually reduced to zero, then the main relay 19 is turned off to stop the motor M, and the electromagnetic brake 24 is turned off to stop traveling of the vehicle body. Completion of the stop control is determined by the electromagnetic brake 2
4 is determined by the OFF signal.
【００１１】上記の制御関係を図示すると図３の如くで
あって、アクセルレバー１をフリーの状態にしておくと
停止位置Ａに保持されこれから前進方向あるいは後進方
向へ回動すると停止位置Ａから１０°回動したＯＮ作用
回動角度ＢでＣＰＵ１０からメインリレー１９に駆動指
令が出力されモータＭが回転を開始する。その後は変速
スイッチ１２の設定速度に応じて高速か中速あるいは低
速の設定速度となるよう駆動パルスの出力デューティを
設定してモータＭの回転速度が制御される。The above control relationship is illustrated in FIG. 3. When the accelerator lever 1 is in the free state, it is held at the stop position A, and when the accelerator lever 1 is rotated forward or backward, the stop position A becomes 10 degrees. ° Rotated ON action
At the rotation angle B, a drive command is output from the CPU 10 to the main relay 19, and the motor M starts rotating. Thereafter, the rotation speed of the motor M is controlled by setting the output duty of the drive pulse so as to be a high speed, a medium speed, or a low speed according to the speed set by the speed change switch 12.
【００１２】走行中から停止する場合には、アクセルレ
バー１を停止位置Ａに戻せばよい。すると駆動パルスの
出力デューティが減少していき走行速度も低下する。運
転モードが「走行」の場合には、走行速度が所定の０．
５ｋｍ／ｈの速度になるとそれ以下に減少することな
く、アクセルレバー１の回動保持角度αがＯＦＦ作用角
度Ｃの８°以下になればメインリレー１９をＯＦＦ作動
させてモータＭの回転を停めると共に電磁ブレーキ２４
をＯＦＦしてブレーキ作用させて車体の移動を完全に停
止する。When the vehicle is stopped during traveling, the accelerator lever 1 may be returned to the stop position A. Then, the output duty of the drive pulse decreases and the traveling speed also decreases. When the operation mode is “traveling”, the traveling speed is set to a predetermined 0.
At a speed of 5 km / h, the main relay 19 is turned off and the rotation of the motor M is stopped when the rotation holding angle α of the accelerator lever 1 becomes 8 ° or less of the OFF operation angle C without decreasing to less than 5 km / h. With electromagnetic brake 24
Is turned off to apply a brake to completely stop the movement of the vehicle body.
【００１３】以上の制御によって、アクセルレバー１を
一旦ＯＮ作用角度Ｂである１０°を越えて回動して走行
を開始した場合には、例えば０．５ｋｍ／ｈ程度の極低
速で走行する場合にも、アクセルレバー１をＯＦＦ作用
角度Ｃである８°以下に戻さない限りは走行を続けるこ
とになり、操縦者がアクセルレバー１の回動保持角度α
をあまり気にかけることなく快適な走行が可能である。With the above control, when the accelerator lever 1 is once turned beyond the ON operation angle B of 10 ° to start traveling, for example, when traveling at an extremely low speed of about 0.5 km / h. In addition, unless the accelerator lever 1 is returned to the OFF operation angle C of 8 ° or less, the vehicle continues to travel, and the operator holds the accelerator lever 1 at the rotation holding angle α.
It is possible to drive comfortably without having to worry too much.
【図１】制御動作を示すフローチャート図である。FIG. 1 is a flowchart showing a control operation.
【図２】制御のブロック図である。FIG. 2 is a block diagram of control.
【図３】アクセルレバーの回動保持角度と走行設定速度
との関係をあらわす図である。FIG. 3 is a diagram showing a relationship between a rotation holding angle of an accelerator lever and a traveling set speed.
１ アクセルレバー Ａ 停止位置 Ｂ ＯＮ作用角度 Ｃ ＯＦＦ作用角度 Ｍ モータ 1 Accelerator lever A Stop position B ON operating angle C OFF operating angle M Motor
Claims (1)
することで車輪駆動用モータ（Ｍ）をＯＮ作用して順次
増速するアクセルレバー（１）を可逆的に設けてなる電
動車椅子の操縦装置において、アクセルレバー（１）の
増速方向への回動によって前記モータ（Ｍ）がＯＮする
ＯＮ作用回動角度（Ｂ）を停止方向への回動によってモ
ータ（Ｍ）がＯＦＦするＯＦＦ作用回動角度（Ｃ）より
も大きく設定してなる電動車椅子の操縦装置。1. An electric wheelchair having a reversibly provided accelerator lever (1) for increasing the rotational angle from a stop position (A) to turn on a wheel drive motor (M) to sequentially increase the speed. mode in control apparatus, by the rotation of the ON action pivot angle to ON the motor (M) is the rotation of the speed increasing direction of the accelerator lever (1) (B) to the stop direction
An electric wheelchair control device which is set to be larger than the OFF action rotation angle (C) at which the motor (M) is turned off.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4093512A JP2893587B2 (en) | 1992-03-19 | 1992-03-19 | Electric wheelchair control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4093512A JP2893587B2 (en) | 1992-03-19 | 1992-03-19 | Electric wheelchair control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05276610A JPH05276610A (en) | 1993-10-22 |
| JP2893587B2 true JP2893587B2 (en) | 1999-05-24 |
Family
ID=14084406
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4093512A Expired - Fee Related JP2893587B2 (en) | 1992-03-19 | 1992-03-19 | Electric wheelchair control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2893587B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5974885B2 (en) * | 2012-12-18 | 2016-08-23 | パナソニック株式会社 | Electric vehicle control method |
-
1992
- 1992-03-19 JP JP4093512A patent/JP2893587B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH05276610A (en) | 1993-10-22 |
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