CN103385791B - A kind of people with disability's gesture stability multifunctional wheelchair and control method - Google Patents

Abstract

The present invention specifically discloses a kind of people with disability's gesture stability multifunctional wheelchair and control method, multifunctional wheelchair comprises car body, seat, driven pulley, drivewheel, described chair mounted is on car body, driven pulley is arranged on the rear portion of car body, drivewheel is arranged on the front portion of car body, described seat bottom is connected with car body with angle ball-joint end oscillating bearing by support spring, and in the bottom of seat, x1, y1 two is installed and overlaps space angle sensor, x2, y2 two is installed in car body and overlaps space angle sensor.People with disability's gesture stability multifunctional wheelchair, utilize space angle to go to measure body obliquity, go by human body sitting posture the fortune controlling wheelchair, "Left"-deviationist is turned left, and Right deviation is turned right, advance of leaning forward, and layback retreats, and brings great convenience to the crowd of those limb injuries.

Description

A kind of people with disability's gesture stability multifunctional wheelchair and control method

Technical field

The present invention relates to technical field of transportation means, be specifically related to a kind of people with disability's gesture stability multifunctional wheelchair and control method.

Background technology

Along with the quickening of social senilization's process and cause the increase of limb injury number, for the elderly and the disabled provides the walking-replacing tool of superior performance to become one of entire society's issues that need special attention due to reasons such as various disease, industrial injury, vehicle accidents.On domestic market, wheelchair also exists the problems such as performance is single, narrow application range, kind are few, of low grade, high in technological content electric wheelchair mainly rests on laboratory stage, be difficult to realize industrialization, even if there is individual product to come into the market, but price is equivalent to a medium-to-high grade car price, seriously constrains it and promotes the use of.Its control section of those electric wheelchairs of really entering into the market is the overwhelming majority is undertaken by handle or handle, for the old people had one's fingers all thumbs and limb injury people with disability be very refractory.

At present, the electric wheelchair of domestic production major part adopts handle type, and concrete scheme is as follows:

The technical scheme of Chinese patent (CN201210060892): this wheelchair comprises carrier frame, seat, below carrier frame, both sides are hinged with the corresponding actuating arm in left and right respectively, actuating arm is connected with the Mecanum wheel of formation a pair front-wheel and pair of rear wheels, under-seat both sides, seat front and be positioned at above a pair front-wheel and be respectively equipped with ultrasonic sensor, the outside of Mecanum wheel is respectively equipped with infrared sensor, the handrail of seat is provided with control box and operating grip, also be provided with drived control plate in actuating arm, drived control printed line road is connected with dsp processor.

Existing electric wheelchair technology uses operating grip to control to realize, but if occupant's arm is inflexible, or lose arm because of disability, this wheelchair cannot be controlled at all.

Summary of the invention

For solving the shortcoming that prior art exists, the present invention specifically discloses a kind of people with disability's gesture stability multifunctional wheelchair and control method, solve the shortcoming that difficulty controlled by conventional electric wheelchair, even do not have the severe disability person of arm or lower limb can drive, for the trip of old people and the disabled provides safeguard yet.

The technical solution used in the present invention is as follows:

A kind of people with disability's gesture stability multifunctional wheelchair, comprise car body, seat, driven pulley, drivewheel, described chair mounted is on car body, driven pulley is arranged on the rear portion of car body, drivewheel is arranged on the front portion of car body, described seat bottom is connected with car body with angle ball-joint end oscillating bearing by support spring, and is provided with space angle sensor in the bottom of seat.

Described support spring has 4, is located at the four corners of the world four direction of seat bottom respectively.

Described angle ball-joint end oscillating bearing is arranged on the center of seat bottom.

Described drivewheel adopts aluminium alloy wheel hub 12 cun of inflated wheel and direct current wheel chair motor as the power of wheelchair, is arranged on the rear frame portion of car body.

Described driven pulley adopts two diameters to be the universal wheel of 7.5cm, is arranged on wheelchair front wheel position.

The foot-operated position of described car body is provided with start button and power knob, before described car body, be also provided with ultrasonic distance-measuring sensor, and described car body is also provided with handle.

Described start button, power knob, space angle sensor are all connected with a controller, and described controller is also connected with motor driver, and motor driver drives direct current wheel chair motor; Described controller is also connected with phonetic controller, anti-collision control device, hand grip control means.

The installation position of described space angle sensor is equipped with two covers, and one is X-direction, and another is Y-direction, and respectively installs two space angle sensors in X-direction and Y-direction.

The control method of described multifunctional wheelchair is as follows:

(1) initialize controller, mode of operation is selected; Mode of operation has: a gesture stability.B. Voice command.C, handle controls.

(2) if gesture stability, judge whether to start (start button closes); If not, stop; If so, check the parameter of X-direction and Y-direction angular transducer, judge human body attitude, determine direction, determine speed, control motor, backtrack mode is selected;

(3) if Voice command, judge whether to start (start button closes); If not, stop; If so, check the control command that voice provide, determine direction, determine speed, control motor, backtrack mode is selected;

(4) if handle controls, judge whether to start; If not, stop; If so, check handle, determine direction, determine speed, control motor, backtrack mode is selected.

In described multifunctional wheelchair

Described X-direction sensor; Top is x ₁direction obliquity sensor, bottom is x ₂inclination angle, direction sensing, top x under X-direction original state ₁with bottom x ₂the difference of angular transducer angle is zero;

When human body turns forward, wheelchair forward attitude makes X-direction upper and lower angular transducer angle of arrival difference α, and numerical value is just; Controller controls motor and completes advance, and according to α absolute value | α | size control the speed that motor advances, such as formula (1):

$\left\{\begin{array}{c}\mathrm{\α}={\mathrm{\θ}}_{X2}-{\mathrm{\θ}}_{X{1}^{\′}}\\ \mathrm{\α}>0\\ {\mathrm{\θ}}_{X2}={\mathrm{\θ}}_{X1}\\ \mathrm{Speed}1=K1*\left|\mathrm{\α}\right|\end{array}\right.---\left(1\right)$

In formula, K1 is the proportionality coefficient of pace, and value is 0.4-1.2, Speed1 is the speed of advancing; θ _x2that represent is x ₂angle on the X2 direction of inclination angle, direction sensing, θ _x1that represent is x ₁the angle of direction obliquity sensor on X1 direction, θ _x1'that represent is x ₁the angle of direction obliquity sensor on X1 ' direction;

When human body retreats, wheelchair backward attitude makes X-direction upper and lower angular transducer angle of arrival difference-α ', and numerical value is negative; Controller controls motor and completes retrogressing, and according to α ' absolute value | α ' | size control the speed that motor retreats, such as formula (2):

$\left\{\begin{array}{c}{\mathrm{\&alpha;}}^{\&prime;}={\mathrm{\&theta;}}_{X2}-{\mathrm{\&theta;}}_{X{1}^{\&prime;\&prime;}}\\ {\mathrm{\&alpha;}}^{\&prime;}<0\\ {\mathrm{\&theta;}}_{X2}={\mathrm{\&theta;}}_{X1}\\ \mathrm{Speed}2=K2*\left|{\mathrm{\&alpha;}}^{\&prime;}\right|\end{array}\right.---\left(2\right)$

In formula, K2 is the proportionality coefficient of astern speed, and value is 0.4-0.8, Speed2 is the speed retreated; θ _x2what represent is angle on X2 direction, θ _x1''that represent is x ₁the angle of direction obliquity sensor on X1 ' ' direction, θ _x1that represent is x ₁the angle of direction obliquity sensor on X1 direction, speed during retrogressing will strictly control, and when therefore retreating, Proportional coefficient K 2 is less;

Described Y-direction sensor: top is y ₁direction obliquity sensor, bottom is y ₂direction obliquity sensor, top y under Y-direction original state ₁with bottom y ₂the difference of angular transducer angle is zero;

When human body inclines to the left, wheelchair left attitude makes Y-direction upper and lower angular transducer angle of arrival difference β, and numerical value is just; Controller controls motor and completes and turns left, and according to β absolute value | β | size control the speed that motor turns left.Such as formula (3).

$\left\{\begin{array}{c}\mathrm{\&beta;}={\mathrm{\&mu;}}_{Y2}-{\mathrm{\&mu;}}_{Y\&prime;1^{\&prime;}}\\ \mathrm{\&beta;}>0\\ {\mathrm{\&mu;}}_{Y2}={\mathrm{\&mu;}}_{Y1}\\ \mathrm{Speed}3=K*\left|\mathrm{\&beta;}\right|\end{array}\right.---\left(3\right)$

In formula, K is the proportionality coefficient of turning velocity, and value is 0.4-1.1, Speed3 is the speed of turning left.μ _y2that represent is y ₂the angle of direction obliquity sensor on Y2 direction, μ _y1that represent is y ₁the angle of direction obliquity sensor on Y1 direction, μ _y1'that represent is y ₁the angle of direction obliquity sensor on Y1 ' direction,

When human body is to Right deviation, wheelchair to the right attitude makes Y-direction upper and lower angular transducer angle of arrival difference-β, and numerical value is negative; Controller controls motor and completes and turns right, and according to β ' absolute value | β ' | size control the speed that motor turns right.Such as formula (4).

$\left\{\begin{array}{c}{\mathrm{\&beta;}}^{\&prime;}={\mathrm{\&mu;}}_{Y2}-{\mathrm{\&mu;}}_{Y{1}^{\&prime;\&prime;}}\\ {\mathrm{\&beta;}}^{\&prime;}<0\\ {\mathrm{\&mu;}}_{Y2}={\mathrm{\&mu;}}_{Y1}\\ \mathrm{Speed}4=K*|\mathrm{\&beta;}\&prime;|\end{array}\right.---\left(4\right)$

In formula, K is the proportionality coefficient of turning velocity, and value is 0.4-1.1, Speed4 is the speed of turning right, μ _y2that represent is y ₂the angle of direction obliquity sensor on Y2 direction, μ _y1that represent is y ₁the angle of direction obliquity sensor on Y1 direction, μ _y1''that represent is y ₁the angle of direction obliquity sensor on Y1 ' ' direction.Turning left identical with the proportionality coefficient of right-hand rotation speed is all K;

Judged by controller and calculate X, differential seat angle in Y-direction, just can produce the controlled quentity controlled variable on direction, front, rear, left and right, two wheel chair motors in left and right are driven to complete corresponding action, and the size of controlled quentity controlled variable numerical value and human body sitting posture change the proportional linear relationship of size of seat inclination angle, shown in (1) (2) (3) (4); And then just very naturally can control wheelchair by sitting posture and do arbitrary advance, retrogressing and go to action.

Operation principle of the present invention: occupant is by changing sitting posture, and then change the position of centre of gravity of seat pressure, just can the slight inclination of perception seat by space angle sensor, the process of angle signal via controller just can judge the sitting posture that people with disability is present, according to sitting posture by controller outbound course order and speed command respectively, control wheel hub motor to turn left accordingly the action such as to turn right, and advance towards the direction of formulating, closed loop control is carried out to left and right speed of taking turns simultaneously, thus make wheelchair to the direction motion required.Pivot stud can be completed, the larger action of difficulty such as to turn round of advancing.

The invention has the beneficial effects as follows: people with disability's gesture stability multifunctional wheelchair, utilize space angle to go to measure body obliquity, go by human body sitting posture the motion controlling wheelchair, "Left"-deviationist is turned left, and Right deviation is turned right, advance of leaning forward, layback retreats, and brings great convenience to the crowd of those limb injuries.Wheelchair performance test data form is in Table 1-1:

People with disability's gesture stability multifunctional wheelchair, can add voice control function, and occupant can control the motion of wheelchair by verbal orders such as " advance, retreat; turn left, turn right, stop ", attitude, voice and handle three kinds of control modes are selected arbitrarily, make wheel chair sport more flexible, reliably.

Table 1-1 wheelchair performance test data form

Wheelchair load-carrying scope	20 ~ 150(kilogram)
		Maximum gradeability	≤ 20(degree)
Walking mileage	20 ~ 30(km)
		The maximum speed of travel	3.5 thousand ms/h
Battery	More than 5 years

Accompanying drawing explanation

Fig. 1 attitude wheelchair front view;

Fig. 2 attitude wheelchair side front view;

Fig. 3 y ₁, y ₂sensing station figure;

Fig. 4 x ₁, x ₂sensing station figure;

Fig. 5 wheelchair attitude forward;

Fig. 6 wheelchair attitude backward;

Fig. 7 wheelchair attitude left;

Fig. 8 wheelchair attitude to the right;

Fig. 9 entire system control system block diagram;

Figure 10 control flow chart;

In figure: 1 seat, 2 backrests, 3 handrails, 4 angle ball-joint end oscillating bearings, 5x direction obliquity sensor, 6y direction obliquity sensor, 7 springs, 8 start buttons, 9 power knobs, 10 ultrasonic distance-measuring sensors, 11 universal wheels, 12 controllers, 13 direct current generators, 14 inflated wheel, 15y1 direction obliquity sensor, 16y2 direction obliquity sensor, 17x1 direction obliquity sensor, 18x2 direction obliquity sensor, 19 car bodies.

Detailed description of the invention

Below in conjunction with accompanying drawing, the present invention is described in detail:

The present invention specifically can be divided into two parts, mechanical part and control section two parts:

The realization of mechanical part is as follows:

(1), car body 19

Car body 19 part is by angle bar, and square, circular iron pipe is processed by car, milling, pincers, weldering, heat treatment, lacquer spraying technique.Body bottom is formed by iron plate and automobile body welding.

(2), seat 1

Wheelchair seat 1 takes the upper position of common seat, comprises backrest 2 and handrail 3, and take advantage of seat convenient, comfortable, economy is safety again;

1 angle ball-joint end oscillating bearing, 4,4 support springs 7 are housed bottom seat 1, inclination angle is produced when human body is tilted all around, be convenient to the measurement of angular transducer, and wheelchair seat 1 is connected with car body 19 by an angle ball-joint end oscillating bearing 4,4 springs 7, x direction obliquity sensor 5, y direction obliquity sensor 6 is arranged in under-seat and vehicle body, human body angle of inclination and body sway angle.

(3), drivewheel

Adopt aluminium alloy wheel hub 12 cun of inflated wheel 14 and direct current generator 13 as the power of wheelchair, be arranged on wheelchair rear wheel position, direct current generator 13 is rotated by change speed gear box, stable, and direct current generator 13 is connected to the rear of wheelchair by rotating shaft.

(4), driven pulley

Adopt two diameters to be the universal wheel 11 of 7.5cm, be arranged on wheelchair front wheel position, as the driven pulley of wheelchair.The structure tolerable injury level 360 degree rotation of universal wheel 11, makes wheelchair move according to assigned direction flexibly; Universal wheel 11 is arranged on the front below vehicle body iron plate.

(5), start button 8, power knob 9 be arranged on wheelchair pedal position (position is adjustable), facilitates the timely start and stop of occupant.

The hardware of control section comprises as follows:

(1), controller 12: the design adopts MC9S12G128 controller, and MC9S12G series is an efficient automobile level 16 8-digit microcontroller product being absorbed in low-power consumption, high-performance, low pin count amount.

(2), sensor measurement module: the inclination angle adopting (MMA7361, ENC-03MA) space angle sensor senses human action, the process of angle signal via controller just can judge the sitting posture that occupant is present, according to sitting posture by controller outbound course order and speed command respectively, control wheel chair motor and carry out corresponding action.

(3), motor module: the present invention adopts special DC motor 13 as the power original paper of wheelchair, and be arranged on wheelchair rear wheel position, motor is rotated by change speed gear box, stable, coordinate electromagnetic brake mechanism in addition, ability in slope is strong, do not come down, can in case of emergency brake.Maximum ability in slope can reach 20 degree.

(4), motor drive module: adopt 60A two-way motor drive module.This driver also has brake function, can be checked by motor rapidly, and rapidly, braking obviously in brake.This driver adopts the N-channel MOS FET mode of complete two panels half-bridge driven chip+extremely low internal resistance.The complete reliable type of drive of two panels half-bridge driven chip, makes the switching loss of MOSFET be down to minimum, improves power utilization rate.MOSFET driving chip carries hardware brake function and back electrical energy function.

(5), power module: adopt 24V20AH battery of electric vehicle.

(6), ultrasonic wave module: DYP-ME007 ultrasonic distance-measuring sensor 10, can provide the contactless distance sensing function of 3cm--3.5m.When wheelchair is close to meeting emergency brake during barrier, avoiding problems because occupant's reaction is not quick enough and cause the generation of accident.

The control method of multifunctional wheelchair is as follows:

(1) initialize controller, mode of operation is selected; Mode of operation has: a gesture stability.B. Voice command.C, handle controls.

(2) if gesture stability, judge whether to start (start button closes); If not, stop; If so, check the parameter of X-direction and Y-direction angular transducer, judge human body attitude, determine direction, determine speed, control motor, backtrack mode is selected;

(3) if Voice command, judge whether to start (start button closes); If not, stop; If so, check the control command that voice provide, determine direction, determine speed, control motor, backtrack mode is selected;

(4) if handle controls, judge whether to start; If not, stop; If so, check handle, determine direction, determine speed, control motor, backtrack mode is selected.

In addition, install omnidirectional potentiometer (XY direction) at under-seat and carry out alternative space angle sensor, the change of pitch angle of perception seat, other parts are consistent with this invention.Now, whole seat is equivalent to the handle stem part of electric wheelchair in the past.

The design carries out date processing owing to using controller, and the prospect of the upgrading that also possesses skills, can become the intelligent wheel chair of self-navigation as added some sensors.

Four angle transducers that X/Y direction is installed are as shown in Fig. 3-Fig. 8, and described X-direction is the direction that moves forward and backward of wheelchair.Described Y-direction is turning left of wheelchair and direction of turning right

Definition: the space angle sensor space angle of X-direction is θ, and the space angle sensor space angle of Y-direction is μ.Space angle θ is angle value that is relative and Fig. 4 initial position X-direction, and space angle μ is angle value that is relative and Fig. 4 initial position Y-direction.

(1) y ₁, y ₂sensing station figure as shown in Figure 3; Top is y ₁direction obliquity sensor 15, bottom is y ₂direction obliquity sensor 16, bottom y ₂inclination angle, road surface is eliminated in direction obliquity sensor effect.Under Y-direction original state, the difference of upper and lower angular transducer angle is zero.Described top be seat bottom both spring with upper part.Described bottom be car body both spring with lower part.

(2) x ₁, x ₂sensing station figure as shown in Figure 4; Top is x ₁direction obliquity sensor 17, bottom is x ₂inclination angle, direction sensing 18, bottom x ₂inclination angle, road surface is eliminated in direction obliquity sensor effect.Under X-direction original state, the difference of upper and lower angular transducer angle is zero.

When human body turns forward, wheelchair forward attitude makes X-direction upper and lower angular transducer angle of arrival difference α, and numerical value is just; Controller controls motor and completes advance, and according to α absolute value | α | size control the speed that motor advances, such as formula (1):

$\left\{\begin{array}{c}\mathrm{\&alpha;}={\mathrm{\&theta;}}_{X2}-{\mathrm{\&theta;}}_{X{1}^{\&prime;}}\\ \mathrm{\&alpha;}>0\\ {\mathrm{\&theta;}}_{X2}={\mathrm{\&theta;}}_{X1}\\ \mathrm{Speed}1=K1*\left|\mathrm{\&alpha;}\right|\end{array}\right.---\left(1\right)$

In formula, K1 is the proportionality coefficient of pace, and value is 0.4-1.2, Speed1 is the speed of advancing; θ _x2that represent is x ₂angle on the X2 direction of inclination angle, direction sensing, θ _x1that represent is x ₁the angle of direction obliquity sensor on X1 direction, θ _x1'that represent is x ₁the angle of direction obliquity sensor on X1 ' direction;

When human body retreats, wheelchair backward attitude makes X-direction upper and lower angular transducer angle of arrival difference-α ', and numerical value is negative; Controller controls motor and completes retrogressing, and according to α ' absolute value | α ' | size control the speed that motor retreats, such as formula (2):

$\left\{\begin{array}{c}{\mathrm{\&alpha;}}^{\&prime;}={\mathrm{\&theta;}}_{X2}-{\mathrm{\&theta;}}_{X{1}^{\&prime;\&prime;}}\\ {\mathrm{\&alpha;}}^{\&prime;}<0\\ {\mathrm{\&theta;}}_{X2}={\mathrm{\&theta;}}_{X1}\\ \mathrm{Speed}2=K2*\left|{\mathrm{\&alpha;}}^{\&prime;}\right|\end{array}\right.---\left(2\right)$

In formula, K2 is the proportionality coefficient of astern speed, and value is 0.4-0.8, Speed2 is the speed retreated; θ _x2what represent is angle on X2 direction, θ _x1''that represent is x ₁the angle of direction obliquity sensor on X1 ' ' direction, θ _x1that represent is x ₁the angle of direction obliquity sensor on X1 direction, speed during retrogressing will strictly control, and when therefore retreating, Proportional coefficient K 2 is less;

When human body inclines to the left, wheelchair left attitude makes Y-direction upper and lower angular transducer angle of arrival difference β, and numerical value is just; Controller controls motor and completes and turns left, and according to β absolute value | β | size control the speed that motor turns left.Such as formula (3).

$\left\{\begin{array}{c}\mathrm{\&beta;}={\mathrm{\&mu;}}_{Y2}-{\mathrm{\&mu;}}_{Y{1}^{\&prime;}}\\ \mathrm{\&beta;}>0\\ {\mathrm{\&mu;}}_{Y2}={\mathrm{\&mu;}}_{Y1}\\ \mathrm{Speed}3=K*\left|\mathrm{\&beta;}\right|\end{array}\right.---\left(3\right)$

In formula, K is the proportionality coefficient of turning velocity, and value is 0.4-1.1, Speed3 is the speed of turning left.μ _y2that represent is y ₂the angle of direction obliquity sensor on Y2 direction, μ _y1that represent is y ₁the angle of direction obliquity sensor on Y1 direction, μ _y1'that represent is y ₁the angle of direction obliquity sensor on Y1 ' direction,

When human body is to Right deviation, wheelchair to the right attitude makes Y-direction upper and lower angular transducer angle of arrival difference-β, and numerical value is negative; Controller controls motor and completes and turns right, and according to β ' absolute value | β ' | size control the speed that motor turns right, such as formula (4).

$\left\{\begin{array}{c}{\mathrm{\&beta;}}^{\&prime;}={\mathrm{\&mu;}}_{Y2}-{\mathrm{\&mu;}}_{Y{1}^{\&prime;\&prime;}}\\ {\mathrm{\&beta;}}^{\&prime;}<0\\ {\mathrm{\&mu;}}_{Y2}={\mathrm{\&mu;}}_{Y1}\\ \mathrm{Speed}4=K*|\mathrm{\&beta;}\&prime;|\end{array}\right.---\left(4\right)$

In formula, K is the proportionality coefficient of turning velocity, and value is 0.4-1.1, Speed4 is the speed of turning right, μ _y2that represent is y ₂the angle of direction obliquity sensor on Y2 direction, μ _y1that represent is y ₁the angle of direction obliquity sensor on Y1 direction, μ _y1''that represent is y ₁the angle of direction obliquity sensor on Y1 ' ' direction.Turning left identical with the proportionality coefficient of right-hand rotation speed is all K;

Judged by controller and calculate X, differential seat angle in Y-direction, just can produce the controlled quentity controlled variable on direction, front, rear, left and right, two wheel chair motors in left and right are driven to complete corresponding action, and the size of controlled quentity controlled variable numerical value and human body sitting posture change the proportional linear relationship of size of seat inclination angle, shown in (1) (2) (3) (4); And then just very naturally can control wheelchair by sitting posture and do arbitrary advance, retrogressing and go to action.

The principle measured is: by X, differential seat angle in Y-direction combines, just can produce the controlled quentity controlled variable on direction, front, rear, left and right, two wheel chair motors in left and right are driven to complete corresponding action, and the size of controlled quentity controlled variable numerical value and human body sitting posture change the proportional linear relationship of size of seat inclination angle, and then just very naturally can control wheelchair by sitting posture and do arbitrary advance, retreat and to turn to etc. action.Reach the object of manipulation wheelchair flexibly.

Working method: first open Isolating Switch, after occupant occupies stably, turns on the power switch, presses start button, and forward lean can move forward, and wheelchair backward of leaning back, "Left"-deviationist is turned left, and Right deviation is turned right.Wheelchair can carry out action according to the speed that inner setting is good.When wheelchair is near barrier, ultrasonic distance measuring module can send signal, controls wheelchair emergent stopping after via controller process.People with disability's gesture stability multifunctional wheelchair, normal travel speed be 3.5 kms/time, speed is moderate, safe and reliable, and climbing capacity is maximum reaches 20 degree, and climbing capacity is strong.

Claims (8)

1. people with disability's gesture stability multifunctional wheelchair, comprise car body, seat, driven pulley, drivewheel, described chair mounted is on car body, driven pulley is arranged on the rear portion of car body, drivewheel is arranged on the front portion of car body, it is characterized in that: described seat bottom is connected with car body with angle ball-joint end oscillating bearing by support spring, and is provided with space angle sensor in the bottom of seat; The installation position of described space angle sensor is equipped with two covers, and one is X-direction, and another is Y-direction, and respectively installs two space angle sensors in X-direction and Y-direction;

Described X-direction sensor; Top is x ₁direction obliquity sensor, bottom is x ₂inclination angle, direction sensing, top x under X-direction original state ₁with bottom x ₂the difference of angular transducer angle is zero;

When human body turns forward, wheelchair forward attitude makes X-direction upper and lower angular transducer angle of arrival difference α, and numerical value is just; Controller controls motor and completes advance, and according to α absolute value | α | size control the speed that motor advances, such as formula (1):

$\left\{\begin{array}{c}\mathrm{\&alpha;}={\mathrm{\&theta;}}_{X2}-{\mathrm{\&theta;}}_{X{1}^{\&prime;}}\\ \mathrm{\&alpha;}>0\\ {\mathrm{\&theta;}}_{X2}={\mathrm{\&theta;}}_{X1}\\ \mathrm{Speed}1=K1*\left|\mathrm{\&alpha;}\right|\end{array}\right.---\left(1\right)$

In formula, K1 is the proportionality coefficient of pace, and value is 0.4-1.2, Speed1 is the speed of advancing; θ _x2that represent is x ₂angle on the X2 direction of inclination angle, direction sensing, θ _x1that represent is x ₁the angle of direction obliquity sensor on X1 direction, θ _x1'that represent is x ₁the angle of direction obliquity sensor on X1 ' direction;

When human body retreats, wheelchair backward attitude makes X-direction upper and lower angular transducer angle of arrival difference-α ', and numerical value is negative; Controller controls motor and completes retrogressing, and according to α ' absolute value | α ' | size control the speed that motor retreats, such as formula (2):

$\left\{\begin{array}{c}{\mathrm{\&alpha;}}^{\&prime;}={\mathrm{\&theta;}}_{X2}-{\mathrm{\&theta;}}_{X{1}^{\&prime;\&prime;}}\\ {\mathrm{\&alpha;}}^{\&prime;}<0\\ {\mathrm{\&theta;}}_{X2}={\mathrm{\&theta;}}_{X1}\\ \mathrm{Speed}2=K2*\left|{\mathrm{\&alpha;}}^{\&prime;}\right|\end{array}\right.---\left(2\right)$

In formula, K2 is the proportionality coefficient of astern speed, and value is 0.4-0.8, Speed 2 is the speed retreated; θ _x2what represent is angle on X2 direction, θ _{x1 "}that represent is x ₁direction obliquity sensor is at X1 " angle on direction, θ _x1that represent is x ₁the angle of direction obliquity sensor on X1 direction, speed during retrogressing will strictly control, and when therefore retreating, Proportional coefficient K 2 is less;

Described Y-direction sensor: top is y ₁direction obliquity sensor, bottom is y ₂direction obliquity sensor, top y under Y-direction original state ₁with bottom y ₂the difference of angular transducer angle is zero;

When human body inclines to the left, wheelchair left attitude makes Y-direction upper and lower angular transducer angle of arrival difference β, and numerical value is just; Controller controls motor and completes and turns left, and according to β absolute value | β | size control the speed that motor turns left, such as formula (3);

$\left\{\begin{array}{c}\mathrm{\&beta;}={\mathrm{\&mu;}}_{Y2}-{\mathrm{\&mu;}}_{Y{1}^{\&prime;}}\\ \mathrm{\&beta;}>0\\ {\mathrm{\&mu;}}_{Y2}={\mathrm{\&mu;}}_{Y1}\\ \mathrm{Speed}3=K*\left|\mathrm{\&beta;}\right|\end{array}\right.---\left(3\right)$

In formula, K is the proportionality coefficient of turning velocity, and value is 0.4-1.1, Speed 3 is the speed of turning left; μ _y2that represent is y ₂the angle of direction obliquity sensor on Y2 direction, μ _y1that represent is y ₁the angle of direction obliquity sensor on Y1 direction, μ _y1'that represent is y ₁the angle of direction obliquity sensor on Y1 ' direction;

When human body is to Right deviation, wheelchair to the right attitude makes Y-direction upper and lower angular transducer angle of arrival difference-β, and numerical value is negative; Controller controls motor and completes and turns right, and according to β ' absolute value | β ' | size control the speed that motor turns right, such as formula (4):

$\left\{\begin{array}{c}{\mathrm{\&beta;}}^{\&prime;}={\mathrm{\&mu;}}_{Y2}-{\mathrm{\&mu;}}_{Y{1}^{\&prime;\&prime;}}\\ {\mathrm{\&beta;}}^{\&prime;}<0\\ {\mathrm{\&mu;}}_{Y2}={\mathrm{\&mu;}}_{Y1}\\ \mathrm{Speed}4=K*\left|{\mathrm{\&beta;}}^{\&prime;}\right|\end{array}\right.---\left(4\right)$

In formula, K is the proportionality coefficient of turning velocity, and value is 0.4-1.1, Speed4 is the speed of turning right, μ _y2that represent is y ₂the angle of direction obliquity sensor on Y2 direction, μ _y1that represent is y ₁the angle of direction obliquity sensor on Y1 direction, μ _{y1 "}that represent is y ₁direction obliquity sensor is at Y1 " angle on direction, turning left identical with the proportionality coefficient of right-hand rotation speed is all K;

Judged by controller and calculate X, differential seat angle in Y-direction, just can produce the controlled quentity controlled variable on direction, front, rear, left and right, two wheel chair motors in left and right are driven to complete corresponding action, and the size of controlled quentity controlled variable numerical value and human body sitting posture change the proportional linear relationship of size of seat inclination angle, shown in (1) (2) (3) (4); And then just very naturally can control wheelchair by sitting posture and do arbitrary advance, retrogressing and go to action.

2. multifunctional wheelchair as claimed in claim 1, is characterized in that: described support spring has 4, is located at the four corners of the world four direction of seat bottom respectively.

3. multifunctional wheelchair as claimed in claim 1, is characterized in that: described angle ball-joint end oscillating bearing is arranged on the center of seat bottom.

4. multifunctional wheelchair as claimed in claim 1, is characterized in that: described drivewheel adopts aluminium alloy wheel hub 12 cun of inflated wheel and direct current wheel chair motor as the power of wheelchair, is arranged on the front-wheel position of car body.

5. multifunctional wheelchair as claimed in claim 1, is characterized in that: described driven pulley adopts two diameters to be the universal wheel of 7.5cm, is arranged on wheelchair rear wheel position.

6. multifunctional wheelchair as claimed in claim 1, is characterized in that: the foot-operated position of described car body is provided with start button and power knob, before described car body, be also provided with ultrasonic distance-measuring sensor, and described car body is also provided with handle.

7. multifunctional wheelchair as claimed in claim 6, it is characterized in that: described start button, power knob, space angle sensor are all connected with a controller, and described controller is also connected with motor driver, motor driver drives direct current wheel chair motor; Described controller is also connected with phonetic controller, anti-collision control device, hand grip control means.

8. the control method of multifunctional wheelchair as claimed in claim 1, is characterized in that: as follows:

(1) initialize controller, mode of operation is selected; Mode of operation has: a gesture stability; B. Voice command; C, handle controls;

(2) if gesture stability, judge whether to start; If not, stop; If so, check the parameter of X-direction and Y-direction angular transducer, judge human body attitude, determine direction, determine speed, control motor, backtrack mode is selected;

(3) if Voice command, judge whether to start; If not, stop; If so, check the control command that voice provide, determine direction, determine speed, control motor, backtrack mode is selected;

(4) if handle controls, judge whether to start; If not, stop; If so, check handle, determine direction, determine speed, control motor, backtrack mode is selected.