CN105342772A - Intelligent electric wheelchair control system based on two dimension Hall rocking bar and control method thereof - Google Patents

Abstract

The invention discloses an intelligent electric wheelchair control system based on a two dimension Hall rocking bar; the control system comprises an AVR one-chip microcomputer processor, the two dimension Hall rocking bar, a radar range finding sensor, a control switch, a cell power supply, an electron brake and a matched motor driver; the AVR one-chip microcomputer processor is the electric wheelchair control processing unit, and used for reading a Hall rocking bar signal and radar range finding sensor data, and outputting an output control switch order, an electron brake order and a motor driver order. The invention also discloses an intelligent electric wheelchair control method based on the two dimension Hall rocking bar; the two dimension Hall rocking bar based on Hall effect is convenient in operation, good in linearity, and high in work stability; the AVR one-chip microcomputer processor can read the Hall rocking bar signal and radar range finding sensor data, and can output the output control switch order, the electron brake order and the motor driver order. When barriers are detected in a safety range, the AVR one-chip microcomputer processor can control the motor driver and the electron brake to do emergent braking; the intelligent electric wheelchair control system is fast in reaction, and high in security.

Description

A kind of intelligent electric wheelchair control system based on two-dimentional Hall remote pole and control method thereof

Technical field

The present invention relates to a kind of intelligent electric wheelchair control system based on two-dimentional Hall remote pole.

The invention still further relates to the control method of travelling car, particularly relate to a kind of intelligent electric wheelchair control method based on two-dimentional Hall remote pole.

Background technology

Along with the development of electronic technology and energy technology, vehicle technology obtains development at full speed, and is applied in our daily life on a large scale, and all kinds of electric motor car benz is on streets and lanes.Electric wheel-chair vehicle, for some elderly populations or handicapped crowd, be considered to present optimal walking-replacing tool, especially day by day serious aging makes electric wheelchair become the daily necessities of old people.Weak for hand function, standard machinery wheelchair can not be used, although or can use, but muscle power can not be born during remote motion, and along with the disabled is to returning society and the growth thirsted for of living on one's own life, impel wheelchair constantly to improve and improve Performance and quality, electric wheel-chair vehicle arises at the historic moment.In developed countries such as America and Europes, old people, the special manual wheelchair of people with disability is eliminated gradually, the substitute is superior performance, easy and simple to handle, travels the intelligent electric wheelchair of safety and reliability.Because China's economy develops rapidly with living standards of the people in continuous raising, China there has also been very vigorous demand to electric wheelchair.Due to intelligent electric wheelchair mainly towards be old people, handicapped personage, to it, handling and safety proposes higher requirement.

Two-dimentional Hall remote pole based on Hall effect is easy to operate, the linearity good, job stability is high, becomes the main flow equipment in electric motor car wheelchair handle rocker gradually.The frame mode that electric wheelchair generally adopts Dual-motors Driving two-wheeled servo-actuated, and the reliable and stable control method that foundation matches just becomes the successful key factor of product.

Summary of the invention

The technical issues that need to address of the present invention are to provide a kind of efficient easily based on the intelligent electric wheelchair control system of two-dimentional Hall remote pole.

The present invention also technical issues that need to address is to provide a kind of efficient easily based on the intelligent electric wheelchair control method of two-dimentional Hall remote pole.Set up electric wheelchair motion model, set up optimum electric wheelchair speed controlling output order, improve electric motor car manipulation comfortableness, driving safety.

For solving technical problem of the present invention, the technical solution used in the present invention is:

Based on an intelligent electric wheelchair control system for two-dimentional Hall remote pole, it comprises AVR single chip processor, two-dimentional Hall remote pole, radar range finding sensor, gauge tap, battery powered, electric brake and supporting motor driver; AVR single chip processor is as electric wheelchair controlled processing unit, and it is for reading Hall remote pole signal, radar range finding sensing data, output control switch instruction, electric brake and motor driver instruction.

Described AVR single chip processor is 8 8-digit microcontrollers.Its peripheral hardware enriches, and stable performance, cost performance is high.

A kind of intelligent electric wheelchair control method based on two-dimentional Hall remote pole, two dimension Hall remote pole is as intelligent wheel chair motor control directional lever, according to two-dimentional Hall remote pole output signal (x, y) electric wheel-chair vehicle motion model function is set up, speed v=f1 (x, y), direction θ=f2 (x, y);

Intelligent electric wheelchair front-end and back-end arrange two radar range finding sensors respectively, setting electric motor car driving safety distance S=f (v), when measure in safe distance have barrier time, control motor driver and electric brake and carry out brake hard, last output control switch instruction;

Gauge tap instruction comprises start and stop, acceleration and deceleration or loudspeaker.

Beneficial effect of the present invention: the two-dimentional Hall remote pole based on Hall effect is easy to operate, the linearity good, job stability is high, AVR single chip processor reads Hall remote pole signal, radar range finding sensing data, output control switch instruction, electric brake and motor driver instruction, when measure in safe distance have barrier time, control motor driver and electric brake carry out brake hard, reaction is fast, and safety is high.

Accompanying drawing explanation

Fig. 1 is intelligent electric wheelchair control system block diagram of the present invention.

Fig. 2 is Hall remote pole of the present invention output signal schematic diagram.

Fig. 3 a is rocking bar position of the present invention and electric motor car controlling run direction schematic diagram (situation of turning right forward).

Fig. 3 b is rocking bar position of the present invention and electric motor car controlling run direction schematic diagram (situation of turning left forward).

Fig. 3 c is rocking bar position of the present invention and electric motor car controlling run direction schematic diagram (situation of turning right backward).

Fig. 3 d is rocking bar position of the present invention and electric motor car controlling run direction schematic diagram (situation of turning left backward).

Fig. 3 e is rocking bar position of the present invention and electric motor car controlling run direction schematic diagram (situation of flicker).

Fig. 3 f is rocking bar position of the present invention and electric motor car controlling run direction schematic diagram (situation of flicker).

Fig. 4 is front wheel drive type electric motor car motion model of the present invention.

Fig. 5 is radar range finding sensor signal figure of the present invention.

Wherein, 1, AVR single chip processor, 2, two-dimentional Hall remote pole, 3, radar range finding sensor, 4, gauge tap, 5, battery powered, 6, electric brake, 7, motor driver.

Detailed description of the invention

Below in conjunction with the drawings and specific embodiments, the invention will be further described.Following examples, only for illustration of the present invention, are not used for limiting the scope of the invention.

Shown in Fig. 1, a kind of intelligent electric wheelchair control system based on two-dimentional Hall remote pole of the present invention, it comprises AVR single chip processor 1, two-dimentional Hall remote pole 2, radar range finding sensor 3, gauge tap 4, battery powered 5, electric brake 6 and supporting motor driver 7; AVR single chip processor 1 is as electric wheelchair controlled processing unit, and it is for reading Hall remote pole signal, radar range finding sensing data, output control switch instruction, electric brake and motor driver instruction.

AVR single chip processor 1 is a 8 8-digit microcontrollers.Its peripheral hardware enriches, and stable performance, cost performance is high.

A kind of intelligent electric wheelchair control method based on two-dimentional Hall remote pole of the present invention, specific as follows:

1) intelligent electric wheelchair supplying cell generally adopts 24V or 48V lead-acid battery or lithium battery, and AVR single chip processor 1, two-dimentional Hall remote pole 2, radar range finding sensor 3 are all 5V power supply units.URH4805P-6WR3 type DCDC power module is adopted to obtain stable DC5V power supply.

2) two-dimentional Hall remote pole 2 adopts DC5V to power, two analog output ends (0 ~ 5V), and as shown in Figure 2, x-axis represents rocking bar left and right directions to output signal, and y-axis represents fore-and-aft direction.When rocking bar shifts the leftmost side onto, x-axis exports as 0V; When rocking bar shifts the rightmost side onto, x-axis exports as 5v; When rocking bar shifts lower side onto, y-axis exports as 0v; When rocking bar shifts top side onto, y-axis exports as 5V; When rocking bar mediates, x-axis and y-axis are all 2.5v.This two analog quantitys are directly read by Chip Microcomputer A/D port.As shown in Fig. 3 a, Fig. 3 b, Fig. 3 c, Fig. 3 d, Fig. 3 e, Fig. 3 f, be Hall remote pole when pushing diverse location to, the direction schematic diagram of electric wheelchair actual motion.

3) electric wheelchair motion model is set up

$n=\±\frac{N}{2.5}*\sqrt{{(x-2.5)}^2+\frac{{(y-2.5)}^2}{8}}---\left(1\right)$

$V=\frac{n\mathrm{\π}R}{60i}---\left(2\right)$

$\mathrm{\θ}={\tan }^{-1}\frac{x-2.5}{y-2.5}---\left(3\right)$

Wherein N is Rated motor rotating speed, and i is decelerating through motor ratio, and R is wheel diameter, and θ is electric wheel-chair vehicle steering angle, and n is for controlling motor output speeds, and be just when rocking bar is upwards n, rocking bar is downwards n is negative.

4) the electric motor car motion model according to Fig. 4, obtains the both sides motor output speeds relational expression of two drive electric wheelchairs in conjunction with (1) (2) (3) formula

$n_1=\frac{n(\frac{H}{tan\mathrm{\θ}}-\frac{L}{2})}{\frac{H}{tan\mathrm{\θ}}}---\left(4\right)$

$n_2=(1+\frac{\tan \mathrm{\θ}}{2})\frac{n(\frac{H}{tan\mathrm{\θ}}-\frac{L}{2})}{\frac{H}{tan\mathrm{\θ}}}---\left(5\right)$

N ₁for revolver A ₁corresponding motor output speeds, n ₂for revolver A ₂corresponding motor output speeds.

5) shown in Fig. 5, the IO port of AVR single chip processor reads radar range finding sensing data, single-chip microcomputer exports the high level pulsewidth of t1 (being greater than a 10us) duration after radar sensor input port TRIG, reads the pulsewidth of radar output port ECHO.Record obstacle distance

$d=\frac{t2}{58}$

D unit is cm, t2 unit is us.

6) safe distance wherein a is driver acceleration-deceleration, and when recording d < s, Single-chip Controlling driver automatic retarding, unlocking electronic brakes.

This intelligent electric wheelchair control method based on two-dimentional Hall remote pole, first sets up electric wheelchair motion model, thus sets up optimum electric wheelchair speed controlling output order, improves electric motor car manipulation comfortableness, driving safety, easy to operate, job stability is high.

Claims (3)

1. based on an intelligent electric wheelchair control system for two-dimentional Hall remote pole, it is characterized in that: it comprises AVR single chip processor, two-dimentional Hall remote pole, radar range finding sensor, gauge tap, battery powered, electric brake and supporting motor driver; AVR single chip processor is as electric wheelchair controlled processing unit, and it is for reading Hall remote pole signal, radar range finding sensing data, output control switch instruction, electric brake and motor driver instruction.

2. a kind of intelligent electric wheelchair control system based on two-dimentional Hall remote pole according to claim 1, is characterized in that: described AVR single chip processor is 8 8-digit microcontrollers.

3. a kind of intelligent electric wheelchair control method based on two-dimentional Hall remote pole according to claim 1, it is characterized in that: two-dimentional Hall remote pole is as intelligent wheel chair motor control directional lever, according to two-dimentional Hall remote pole output signal (x, y) electric wheel-chair vehicle motion model function is set up, speed v=f1 (x, y), direction θ=f2 (x, y);

Intelligent electric wheelchair front-end and back-end arrange two radar range finding sensors respectively, setting electric motor car driving safety distance S=f (v), when measure in safe distance have barrier time, control motor driver and electric brake and carry out brake hard, last output control switch instruction;

Gauge tap instruction comprises start and stop, acceleration and deceleration or loudspeaker.