CN105534650B - Starting and barrier avoiding system of electrically powered wheelchair - Google Patents
Starting and barrier avoiding system of electrically powered wheelchair Download PDFInfo
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- CN105534650B CN105534650B CN201610146562.6A CN201610146562A CN105534650B CN 105534650 B CN105534650 B CN 105534650B CN 201610146562 A CN201610146562 A CN 201610146562A CN 105534650 B CN105534650 B CN 105534650B
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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
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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
- A61G5/10—Parts, details or accessories
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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
- A61G2200/00—Information related to the kind of patient or his position
- A61G2200/30—Specific positions of the patient
- A61G2200/34—Specific positions of the patient sitting
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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
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
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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
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/22—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering for automatically guiding movable devices, e.g. stretchers or wheelchairs in a hospital
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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
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
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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
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/34—General characteristics of devices characterised by sensor means for pressure
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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
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
- A61G2203/72—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention
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- 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)
Abstract
The invention discloses a starting and barrier avoiding system of an electrically powered wheelchair. The starting and barrier avoiding system comprises a master controller, a sensor module, a power management module and an auxiliary module. The sensor module comprises a position sensor. The power management module comprises a power source and a power source self-starting device, and the self-starting device serves as a power switch and is in a normally-open state to switch off power supply. When the self-starting device bears pressure, the switch is closed, and the power source is switched on. After the system is powered on, the position sensor sends sitting position information of a user of the electrically powered wheelchair to the master controller in real time, and the master controller judges whether the user is at the safe position or not according to the received position information. If the user is at the safe position, the master controller controls a power source control module to supply power to a driving device of the wheelchair. If it is judged that the user is not at the safe position, the master controller controls the power source control module not to supply power to the driving device of the wheelchair, and meanwhile the master controller controls a voice module in the auxiliary module to send a voice alarm signal that the user is not at the safe position. Through the starting and barrier avoiding system, the use safety and the convenient degree are improved for the user.
Description
Technical field
The present invention relates to a kind of electric wheelchair control system, started with human body sensing more particularly, to a kind of electric wheelchair and
Obstruction-avoiding control system.
Background technology
According to ASSOCIATE STATISTICS, China there are about all kinds of people with disabilitys 83,000,000, and old people 1.5 hundred million, be to possess body function in the world
The most populous country of obstacle, huge population base will make Aging Problem become puzzlement we serious in following 10 years
Social problem.Promote undertakings for disabled people development, improve people with disability's situation, it has also become build a well-off society in an all-round way and build society main
One important and pressing task of adopted harmonious society.
At present, for lower limb are stood and locomotor activity is weaker or lose people with disability and old man, in daily life,
Need electric wheelchair when them to solve trip and rehabilitation, whether what traditional electric wheelchair can not sense human body is sitting in wheelchair
On correct position, the road conditions of running environment can not be judged, potential safety hazard is brought to the people using electric wheelchair.The present invention is
A kind of intelligent auxiliary device, for wheelchair user under correct sitting posture state power-on, under sitting posture state, wheelchair is being just
Often travel.User has and runs into obstacle prompting, run into upward slope, descending alarm, run into climb and fall road conditions when wheelchair is operated
According to the function of hill gradient wheelchair acceleration or deceleration.The daily life situation of wheelchair user can be effectively improved, to them
A kind of life style of brand-new, safety is brought, is conducive to improving their rehabilitation outcome and is driven the comfort level of wheelchair.
The content of the invention
It is an object of the invention to provide starting and avoidance system suitable for a kind of convenient and reliable electric wheelchair of electric wheelchair
System, improves the safety in utilization and comfort level of user.
To realize the purpose of the present invention, employ the following technical solutions and be achieved：
A kind of electric wheelchair sensing starts and obstacle avoidance system, including：Master controller, sensor assembly, power management module
And supplementary module, wherein：
Master controller is connected with sensor assembly, power management module, supplementary module respectively；
Sensor assembly includes position sensor；
Power management module includes power supply and power supply self-starting device, self-starting device as on and off switch, in normally opened
State, is powered with deenergization, after the self-starting device is under pressure, switch closure, power supply conducting, electric wheelchair start and
Obstacle avoidance system is in power-up state, and main controller controls power supply is not temporarily powered to wheelchair drive mechanism；
After system electrification, the seating position information of electric wheelchair user is sent to main control by position sensor in real time
Whether device, master controller judge user in home according to the positional information for receiving, if being in home, main
Controller control energy supply control module is powered to the driving means of wheelchair；If it is determined that user is not in home, then lead
Controller control energy supply control module is not powered to the driving means of wheelchair, while the voice in main controller controls supplementary module
Module sends the audio alert signal for being not in home.
Described system, further：
Position sensor is arranged on electric wheelchair or so handrail, and the distance apart from backrest is not more than 10cm, the position
Sensor is infrared detection module, including infrared transmitter and infrared light receiver, is oppositely arranged on the handrail of left and right respectively,
When the infrared light of infrared transmitter transmitting is received, the optical signal for receiving is converted to the signal of telecommunication by the infrared light receiver,
And by the signal of telecommunication real-time Transmission to master controller, after master controller receives the signal, judge that user is not yet in safety
Position；When user shelters from the infrared light that infrared transmitter sends, infrared remote receiver does not receive the light, no longer to master
Controller sends the signal of telecommunication, and now master controller judges that user is in home.
Described system, further：
Sensor assembly also includes pressure transducer, and the pressure transducer is separately positioned on two regions of wheelchair：Sit
Face region, backrest, for detecting sitting face pressure, the backrest pressure of user body, and by the pressure value reality for detecting
When be transferred to master controller, master controller decides whether to report to the police or reduce the speed of wheelchair according to the pressure value for receiving.
Described system, further：
Master controller by the backrest pressure value for receiving, sitting face pressure value respectively with default multiple backrest pressure thresholds
Value and multiple sitting face pressure thresholds are compared, when backrest pressure value and sitting face pressure value are respectively smaller than the first backrest pressure
Threshold value and the first sitting face pressure threshold and when being more than the second backrest pressure threshold and the second sitting face pressure threshold, master controller is to auxiliary
Module is helped to send control signal, the voice module for controlling supplementary module carries out audio alert；When backrest pressure value and sitting face pressure
When at least one of power numerical value is less than default second backrest pressure threshold or sitting face pressure threshold, controller is to supplementary module
Control signal is sent, the voice module for controlling supplementary module carries out audio alert, and master controller is sent out to wheelchair drive module simultaneously
Go out the instruction of deceleration, reduce the velocity of rotation of electric wheelchair motor.
Described system, further：
The first backrest pressure threshold is more than the second backrest pressure threshold；First sitting face pressure threshold is more than the second sitting face
Pressure threshold.
Described system, further：
Supplementary module includes key operation module, the key operation module include a power switch button, one blow a whistle
Button, a speed increase button, a speed and reduce button, three setting time buttons；
The power switch button is connected in parallel with self-starting device.
Described system, further：
Key operation module also includes operation device, and the operation device is provided in the action bars on wheelchair armrest, operates
Bar can be moved with front, rear, left and right, and corresponding movable signal is sent to master controller, and master controller receives the operation to be believed
After number, corresponding operational order is sent to wheelchair drive mechanism, driving means include motor and steer motor, when receiving
After forward and backward operational order, motor forward or reverse drives wheelchair to be moved forward or rearward；When receiving left and right steering
Operational order after, steer motor is rotated forward or is inverted, and is driven the steering mechanism's rotation being attached thereto, is driven wheelchair to turn left or right
Turn.
Described system, further：
Power management module also includes voltage conversion circuit and battery power detection circuit；
Power transfer module for by supply voltage be converted to for master controller work voltage, and be used for sensor
The voltage of module, key-press module, voice synthetic module and OLED display module job demand；
Battery power detection circuit is for detecting to electric quantity of power supply, and testing result is sent to main control in real time
The SOC values for receiving are compared by device, master controller with predetermined power threshold, when finding that the former is less than the latter, main control
The voice module of device control supplementary module sends the low voice message of electricity.
Described system, further：
The voltage conversion circuit includes blood pressure lowering chip, the first three-terminal voltage-stabilizing element, the second three-terminal voltage-stabilizing element.
Described system, further：
The voltage conversion circuit also include diode 10A10, Schottky diode SS34,50V, 220 μ F electrochemical capacitors,
16V, 220 μ F electrochemical capacitors, 10A protective tubes, 0.1 μ F electric capacity, 1 μ F electric capacity, 10 μ F electric capacity and 100 μ H inductance；
1 foot of blood pressure lowering chip LM2576HV is voltage input end, connects 24V supply voltages, and supply voltage outfan first meets 10A
Protective tube connects diode 10A10 positive poles again, and diode 10A10 negative poles connect 1 foot of LM2576HV, realizes the input of 24V voltages, and two
The output of pole pipe 10A10 negative pole is filtered by 50V, 220 μ F electrochemical capacitors；
3 feet of blood pressure lowering chip LM2576HV are earth terminal, are grounded；5 feet select end, Low level effective, ground connection for piece；2 feet are
Voltage output end, connects Schottky diode SS34 voltage stabilizings and afterflow, and 2 foot output voltages are 12V, and 2 feet connect 100 μ H energy storage inductors one
End, another termination electrochemical capacitor one end of inductance, electrochemical capacitor other end ground connection；4 feet are connected to the connection end of inductance and electrochemical capacitor,
As feed back input；
First circuit of three-terminal voltage-stabilizing integrated L7805 input termination 12V voltages, with 10 μ F capacitor filterings, outfan is with 0.1 μ F
Capacitor filtering, produces 5V voltages；
Second circuit of three-terminal voltage-stabilizing integrated LM1117-3.3 input termination 5V, with 0.1 μ F capacitor filterings, 0.1 μ of outfan
F capacitor filterings, produce 3.3V voltages.
Described system, further：
The supplementary module also includes OLED display module, for display system status information, shows obstacle distance, shows
Show traffic information, show battery electric quantity, show the distance and wheelchair residue travel distance of wheelchair walking；
The supplementary module also includes enumerator, and enumerator is arranged on wheelchair wheel shaft, wheelchair wheel per revolution, meter
Number devices send a count signal to master controller, and master controller adds up the count signal, and will accumulated value and wheelchair wheel week
Long to be multiplied, the numerical value for obtaining is the travel distance of wheelchair, and master controller includes the distance on display module in real time；Master control
Be previously provided with device processed battery electric quantity with can travel distance synopsis, master controller according to battery power detection circuit detect
The electric quantity of power supply information for going out, is compared with the synopsis, obtain corresponding to the electric quantity of power supply can travel distance, and by battery
Electricity and this can travel distance be displayed on display module.
Described system, further：
Sensor assembly also includes road conditions sensor assembly, for detecting road conditions, and traffic information is implemented to be transferred to master
Whether controller, master controller determine whether to report to the police and slow down according to the traffic information for receiving.
Described system, further：
The road conditions sensor assembly is ultrasonic detector, including the first ultrasonic detector and the second ultrasonic listening
Device, wherein the first ultrasonic detector is arranged on wheelchair dead ahead pedal less than the height of seat plate, the second ultrasound wave is visited
Survey device and be arranged on lower section on front side of Wheel chair pedal plate, less than the first ultrasonic detector；
After system is opened, the probe of the first ultrasonic detector and the second ultrasonic detector sends and receives signal, just
Step environment-identification road conditions, wherein, the first ultrasonic detector predominantly detects the barrier situation in front of wheelchair, and the second ultrasound wave is visited
The traffic information that device predominantly detects ground is surveyed, detectable signal is sent to master controller by two ultrasonic detectors.
Described system, further：
The signal that master controller is detected to the ultrasonic detector carries out reading filtering as follows：Ultrasound wave is visited
Device N number of data signal of continuous acquisition in a cycle is surveyed, wherein N is the integer more than 1, and is sent to master controller, master control
The reference signal that the previous cycle determines is compared this N number of data signal descending arrangement by device processed with first signal, if two
Person's difference is larger, then compare reference signal with next signal, if the two gap is less, take the binary signal value it is flat
Average is used as reference value, and the reference value is compared with next one signal, and the above-mentioned reference value of repetition compares determination mode, most
The signal reference value in the cycle is determined eventually.
Described system, further：
The reference value in neighbouring sample cycle is compared by master controller, when the probe for finding the first ultrasonic detector is returned
When the variable quantity of the referential data for returning is more than predetermined variable quantity threshold value, master controller thinks that there is doubtful barrier in front, now
Master controller sends alarm signal, and control voice module sends audio alert signal；
The reference value in neighbouring sample cycle is compared by master controller, when the probe for finding the second ultrasonic detector is returned
When the referential data for returning is more than predetermined threshold value, master controller thinks that road conditions are changed, and now master controller sends alarm signal,
Control voice module sends audio alert signal.
Described system, further：
Sensor assembly also includes Slope Transducer, and Slope Transducer is two degrees of freedom sensor, installed in the main frame of wheelchair
In frame, relative to wheelchair center of gravity vertical axis, lean forward in wheelchair and move with hypsokinesis both direction, the wheelchair center of gravity for measuring is hung down
The variable quantity real-time Transmission of line is to master controller.
Described system, further：
When wheelchair is on level land, the numerical value of two degrees of freedom sensor measurement wheelchair center of gravity vertical line is 0, when wheelchair climb and fall
When, the numerical value of two degrees of freedom sensor measurement wheelchair center of gravity vertical line is changed, and upward slope numerical value is positive number, descending numerical value is negative；
When two degrees of freedom sensor measure wheelchair center of gravity vertical line numerical value be positive number, master controller judge wheelchair upward slope,
Control voice module prompts go up a slope；
It is negative when two degrees of freedom sensor measures the numerical value of wheelchair center of gravity vertical line, master controller judges wheelchair in descending,
Control voice module prompts go up a slope.
Described system, further：
Master controller in real time by two degrees of freedom sensor detect wheelchair center of gravity vertical line numerical value absolute value with it is default
Gradient max-thresholds are compared, when two degrees of freedom sensor measures the absolute value of the numerical value of wheelchair center of gravity vertical line more than default slope
During degree max-thresholds, main controller controls voice module sends audio alert signal, points out the gradient dangerous, and wheelchair must stop；
Judge wheelchair in descending, the now driving of main controller controls driving means when master controller receives negative value
Decelerating through motor is rotated, and reduces wheelchair rotating speed；When master controller receive on the occasion of when judge wheelchair in going up a slope, now master controller
The motor of control driving means accelerates to rotate, and improves wheelchair rotating speed.
Described system, further：
Master controller also calculates gradient i residing for wheelchair in the following way：
The gradient is set wherein as i, L is distance of second ultrasonic detector 2 apart from ground, CnFor the second ultrasonic detector
2 n-th cycle collection referential data, Cn+1(n+1)th cycle for the second ultrasonic detector 2 gathers referential data, and S is
Wheelchair speed, tnFor a collection period.
Description of the drawings
Fig. 1 is that electric wheelchair starts and obstacle avoidance system structural representation；
Fig. 2 is voltage conversion circuit circuit diagram；
Fig. 3 is ultrasonic detector schematic view of the mounting position；
Fig. 4 is voltage detection circuit schematic diagram；
Fig. 5 is that Ultrasonic Sensor Data reads in filtering flow chart；
Fig. 6 is gradient Computing Principle schematic diagram.
Specific embodiment
Below in conjunction with accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that institute
The embodiment of description is only a part of embodiment of the invention, rather than the embodiment of whole.Generally described in accompanying drawing herein
Can arrange and design with a variety of configurations with the component of the embodiment of the present invention for illustrating.Therefore, below in accompanying drawing
The detailed description of the embodiments of the invention of middle offer is not intended to limit the scope of claimed invention, but only table
Show the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not making creative work
Under the premise of the every other embodiment that obtained, belong to the scope of protection of the invention.
As shown in figure 1, electric wheelchair starts and obstacle avoidance system includes：Master controller, sensor assembly, power management module
And supplementary module.
Wherein master controller is connected with sensor assembly, power management module, supplementary module respectively, and for controlling correlation
The work and realization of module is controlled to the entirety of electric wheelchair.
Electric wheelchair starts and obstacle avoidance system is typically in off-position when wheelchair does not work, with saves energy.Tradition
Electric wheelchair, when user is taken, need manual unlocking on and off switch, the power management module of the present invention includes power supply from opening
Dynamic device, namely pressure-activated module, can use as on and off switch, and the pressure-activated module is arranged on electric wheelchair seat
On plate, can preferably be arranged under the cover for seat of seat plate, the pressure-activated module can be snap switch, and the switch is in normal
Open state, uses as system power switch, and when user is sat on electric wheelchair, the own wt of user is pressed in spring
On switch, the switch is caused to close, power supply conducting, electric wheelchair starts and obstacle avoidance system is in power-up state.Power module is also
With hand switch, can (switch will be retouched in the content below with the power switch button form in key operation module
State) to realize, the hand switch is connected with pressure-activated wired in parallel so that user can be in the feelings of pressure-activated Module Fail
Under condition, power-on can be operated with manual switches, be system power supply.
In electric wheelchair startup and obstacle avoidance system after electricity, in main controller controls power management module, the power of power supply is defeated
Go out, now the power supply of power management module only starts to electric wheelchair and obstacle avoidance system is powered, and not to the driving of electric wheelchair
Device is powered, to improve the safety of user.
Sensor assembly includes position sensor, road conditions sensor, Slope Transducer and pressure transducer.Electric wheelchair is opened
On dynamic and obstacle avoidance system after electricity, position sensor is started working, and the position sensor is arranged on electric wheelchair backrest vicinity, excellent
That what is selected is arranged on electric wheelchair or so handrail, and the distance apart from backrest is not more than 10cm, and the preferred position sensor can
Being infrared detection module, including infrared transmitter and infrared light receiver, it is oppositely arranged on the handrail of left and right respectively, this is red
Outer optical receiver is a kind of optical-electrical converter, when the infrared light of infrared transmitter transmitting is received, the infrared light receiver meeting
The optical signal for receiving is converted to into the signal of telecommunication, and by the electric signal transmission to master controller.Master controller receives the signal
Afterwards, judge that user is not yet in home (seating position is excessively forward), therefore master controller sends the control do not powered
Signal is not powered to wheelchair drive mechanism to power management module, now power management module control power supply.When taking advantage of for user
When seat is closely located to wheelchair backrest or touches wheelchair backrest, now user body shelter from that infrared transmitter sends it is infrared
Light, then infrared remote receiver do not receive the light, no longer send the signal of telecommunication to master controller.Now master controller judges to make
User is less than 10cm apart from wheelchair backrest in home, i.e. user back, and master controller sends instructions to power supply control
Molding block, energy supply control module under the instruction control, power to wheelchair drive mechanism by control power supply.
As the user of electric wheelchair is mostly old, weak, patient, it is possible to which when using wheelchair, abnormal sitting posture is really or sitting posture
Shift, this occurs the risk that user falls in causing wheelchair operation.Therefore start mobile or moving process in wheelchair
In, master controller needs the sitting posture for monitoring user.The detection of sitting posture, is completed by pressure transducer.Two pressure transducers point
Two regions of wheelchair are not arranged on：Sitting face region, backrest, for detecting sitting face pressure, the backrest pressure of user body
Power, and by the pressure value real-time Transmission for detecting to master controller.Master controller is by the backrest pressure value for receiving, sitting face
Pressure value is compared with default multiple backrest pressure thresholds and multiple sitting face pressure thresholds respectively, when backrest pressure value
The first backrest pressure threshold and the first sitting face pressure threshold are respectively smaller than with sitting face pressure value and are more than the second backrest pressure threshold
Value and the second sitting face pressure threshold, master controller sends alarm signal to supplementary module, when backrest pressure value and sitting face pressure
When one in numerical value is less than default second backrest pressure threshold or sitting face pressure threshold, controller sends report to supplementary module
Alert signal, while the instruction of deceleration is sent to wheelchair drive module, reduces the velocity of rotation of electric wheelchair motor to reduce
The gait of march of wheelchair.The first backrest pressure threshold is more than the second backrest pressure threshold；First sitting face pressure threshold is more than
Second sitting face pressure threshold.
Supplementary module, including voice synthetic module, OLED display module, key operation module and RTC battery modules, counting
Device.The above-mentioned signal that master controller is sent to supplementary module is alarm signal, the abnormal sitting posture when the use wheelchair is received
After the alarm signal that true or sitting posture shifts, voice synthetic module sends alarm voice prompting " asking occupant to occupy stably ", to carry
Awake wheelchair user.After system is opened, voice synthetic module starts, and OLED display screen enters start-up picture, and voice module sends
Voice message, such as " welcomes to start and obstacle avoidance system using electric wheelchair ".When the ultrasound probe of sensor assembly detects electricity
When having barrier in front of wheelchair, main controller controls voice module sends voice message, such as " danger ahead please slow down ".When
When ultrasound probe detects that road conditions are changed, main controller controls voice module sends voice message, such as " please notes road surface feelings
Condition ".When power management module detects cell voltage less than setting voltage threshold value, main controller controls voice module sends language
Sound is pointed out, such as " electricity is low, turning back to charging ".The supply voltage value that master controller can be obtained according to detection in the present invention passes through
The mode tabled look-up draws corresponding electricity：Such as, the voltage of more than 24V --- Full Charge Capacity, 23.5V voltages --- 80% is electric
Amount, 23V voltages --- 60% electricity, 22.5V voltages --- 40% electricity, 22V voltages --- 20% electricity.Therefore master controller
Can determine whether electric quantity of power supply whether less than predetermined by inquiring about default voltage-capacity synopsis according to supply voltage value is detected
Threshold value, if showing that the low prompting of electric quantity of power supply simultaneously can be with control voice less than predetermined threshold main controller controls display
Module sends the low voice message of electric quantity of power supply.
Key operation module, including power switch button, button of blowing a whistle, speed increase button, one
Speed reduces button, three setting time buttons.Power switch button is used to open and close system；Button of blowing a whistle is used to remind
Front pedestrian notes；Speed increases button and is used to increase the wheelchair speed of service；Speed reduces button and is used to reduce wheelchair operation speed
Degree；Three time buttons are followed successively by：Button 1 (S1)：Date Hour Minute Second mode selection button；Button 2 (S2)：Plus 1 button；Press
Key 3 (S3)：The button that subtracts 1, for adjusting the display time of system.Key operation module also includes wheelchair mobile actuating device, can
The action bars being provided on wheelchair armrest for selecting, user operate the action bars to front, rear, left and right, then represent user
Wish that wheelchair is moved to front, rear, left and right, corresponding operation signal is sent to master controller.Master controller receives the operation to be believed
After number, corresponding operational order is sent to driving means, driving means include motor and steer motor, before receiving,
After operational order afterwards, motor forward or reverse, after the speed changer being attached thereto, drive wheelchair forward or to
After move；After the operational order of left and right steering is received, steer motor is rotated forward or is inverted, and drives the steering being attached thereto
Mechanism rotates, and drives wheelchair to turn left or turn right.After master controller receives the signal of turbo or deceleration button, control is just sent
Signal processed accelerates rotation or is rotated in deceleration to driving means, control motor.RCT battery modules, preferably include one
Button cell, for the backup battery as master controller, so in the case of system power supply power down, RTC battery modules are still
Normally can run, it is ensured that show the accurate of time.
Power management module includes the inspection of 24V power supplys (such as 24V chargeable lithium cells), voltage conversion circuit and cell voltage
Slowdown monitoring circuit, 24V power supplys are directly powered to the motor and steer motor in the driving means of electric wheelchair；Power transfer module
For by 24V supply voltages be converted to for master controller normal work need 5V voltages, be converted to for sensor assembly,
The 3.3V voltages that key-press module, voice synthetic module and OLED display module normal work need；Battery power detection circuit is used
In detecting to electric quantity of power supply, and testing result is sent to into master controller in real time, master controller is by the electricity number for receiving
Value is compared with predetermined power threshold, and when the former is less than the latter, main controller controls voice module sends voice message, such as
" battery electric quantity is too low, turning back to ".
Fig. 3 is voltage conversion circuit, and voltage conversion circuit includes blood pressure lowering chip LM2576HV, the linear three-terminal voltage-stabilizing of bipolarity
Integrated circuit L7805, voltage regulator LM1117-3.3, diode 10A04, Schottky diode SS34,50V220 μ F electrolysis
Electric capacity, 16V220 μ F electrochemical capacitors, 10A protective tubes, 0.1 μ F electric capacity, 1 μ F electric capacity, 10 μ F electric capacity and 100 μ H inductance.Blood pressure lowering core
1 foot of piece LM2576HV is voltage input end, connects 24V supply voltages, and 24V supply voltages first connect fuse and connect commutation diode again
10A04 positive poles, diode cathode connect 1 foot of LM2576HV, realize the input of 24V voltages, diode cathode output by 50V,
The filtering of 220 μ F electrochemical capacitors accesses 1 foot of LM2576HV again；3 feet are earth terminal, are grounded；5 feet select end for piece, Low level effective,
Ground connection；2 feet are voltage output end, connect Schottky diode SS34 voltage stabilizings and afterflow, and 2 foot output voltages are 12V, 2 feet and Xiao Te
The node of based diode SS34 is followed by 100 μ H energy storage inductors, and another termination 16V220 μ F electrochemical capacitors of inductance, electrochemical capacitor be another
One end is grounded, and the electrochemical capacitor is used to filter；4 feet are connected to inductance and electrochemical capacitor connection end, used as feed back input.Bipolarity line
Property integrated circuit L7805 input termination 12V voltages, connected mode is：12V voltage outputs tip connects one end of 0.1 μ F electric capacity,
The electric capacity other end is grounded, and realizes decoupling, reconnects 10 μ F electric capacity one end, and the electric capacity other end is grounded, and realizes the filtering (above two
Electric capacity makes the Alternating Component in circuit and the backflow of disturbing pulse shorted to earth, to reduce the impact to circuit work), outfan is used
0.1 μ F and 1 μ F electric capacity are filtered respectively, produce stable 5V voltages.LM1117-3.3 input termination 5V inputs, with 0.1 μ F electric capacity
Filtering, outfan produce stable 3.3V voltages with 0.1 μ F capacitor filterings.
As shown in figure 4, voltage detection circuit includes 22K ohm sampling resistor R7,1K ohm sampling resistor R9 and 0.1
μ F filter capacitors.22K ohmages R7 mono- terminates 24V cell voltages, the corresponding AD sampling pins of another termination master controller and
1K ohmage R9,1K ohmages other end ground connection, 0.1 μ F electric capacity are connected on the corresponding AD sampling pins of master controller and ground
Between, for filtering.Voltage sample is carried out from sampled point VBAT.
OLED display module is used for display system status information, shows obstacle distance, shows traffic information (step and slope
Degree), battery electric quantity is shown, the distance and wheelchair residue travel distance of wheelchair walking is shown.Wheelchair travel distance is as follows
It is determined that：Enumerator is arranged on wheelchair wheel shaft, wheelchair wheel per revolution, and enumerator sends one to master controller and counts letter
Number, master controller adds up the count signal, and accumulated value is multiplied with wheelchair wheel girth, and the numerical value for obtaining is the row of wheelchair
Distance is walked, master controller is included the distance in OLED display module in real time.Battery electric quantity is previously provided with master controller
With can travel distance synopsis, the supply voltage information that master controller root voltage detection circuit is detected compareed with this
Table is compared, obtain corresponding to the electric quantity of power supply can travel distance, and by battery electric quantity and this can travel distance show
Show in OLED display module.
Sensor assembly also includes road conditions sensor assembly, for detecting road conditions.The road conditions sensor assembly can be super
Acoustic detector, as shown in Fig. 2 electric wheelchair starts and the road conditions sensor assembly of obstacle avoidance system includes the first ultrasonic listening
Device 1 and the second ultrasonic detector 2, wherein the first ultrasonic detector 1 is arranged on wheelchair dead ahead pedal and is less than seat
The height of plate, to be advisable less than seat plate height 10cm, the second ultrasonic detector 2 is arranged on lower section on front side of Wheel chair pedal plate,
Less than the first ultrasonic detector 1, it is advisable with installation site 20cm less than the first ultrasonic detector 1, after system is opened, road
The probe of first ultrasonic detector 1 and the second ultrasonic detector 2 of condition sensor assembly sends and receives signal, preliminary to know
Other environment road conditions.Wherein, the first ultrasonic detector 1 predominantly detects the barrier situation in front of wheelchair, the second ultrasonic listening
Device 2 predominantly detects the traffic information on ground, and detectable signal is sent to master controller by two ultrasonic detectors.
As shown in figure 5, Ultrasonic Sensor Data reading filtering flow process is as follows：Ultrasonic detector is every a fixed week
Phase is sent out and receives signal, sets the numerical value of collection in a cycle as referential data.The adquisitiones of referential data
It is, ultrasonic detector N number of data signal of continuous acquisition (N is the integer more than 1) in a cycle, and is sent to master control
First signal is compared with second signal, this N number of data signal descending arrangement if the two is poor for device processed, master controller
Value is larger, and first signal is then compared with the 3rd signal, if the two is poor by such as difference more than the 20% of first signal value
Value is less, and such as difference the two is then taken the value after average as reference value, this is referred to less than the 20% of first signal value
Value is compared with next signal, if the two difference is larger, continues to compare with next signal again with the reference value, if inserted
Value is less, the reference value and the next signal for comparing is taken after average as reference value, repeats the comparison step of the above, until
Compared last signal, using the reference value for finally giving as the cycle signal reference value.If whole completeer differences
Value is all larger, then by all in cycle rejection of data.Latter cycle collection is also N number of data, and its reference value determination mode is
First the reference value that the previous cycle determines is compared with the first signal of latter cycle, the mode and class described above of reference value is determined
Seemingly.By the flow process, can filtering interfering item, determine useful data-reference value.
The reference value in neighbouring sample cycle is compared by master controller, when the probe for finding the first ultrasonic detector 1
More than predetermined variable quantity threshold value constantly, master controller thinks that there is doubtful barrier in front to the variable quantity of the referential data of return,
Barriers to entry analyte detection state, it is 5 meters that the first ultrasonic detector 1 launches the maximum distance of ultrasound, i.e., can connect within the scope of 5 meters
The ultrasound that object is reflected is received, and ultrasound wave is not then received more than 5 meters, is now thought wheelchair all is clear ahead.System
The ultrasonic signal strength for reflecting for receiving is relevant with barrier distance, therefore can use the reference value in the sampling period
Size weighs the distance apart from barrier, can preset different reference values and obstacle distance in the controller synopsis.When
The reference value obtained in sampling period is compared by barrier reflectance ultrasound ripple, master controller with default reference value threshold value,
When the thresholding is reached, main controller controls send alarm signal, and control voice module is sent such as the voice of " there is barrier in front "
Alarm signal and/or main controller controls driving means include that motor reduces rotating speed, to reduce wheelchair gait of march.
Likewise, the reference value in neighbouring sample cycle is compared by master controller, when the second ultrasonic detector 2 of discovery
Probe return referential data variable quantity be more than predetermined variable quantity threshold value when, master controller thinks that road conditions are changed, control
Device processed sends alarm signal, and control voice module sends audio alert signal.Cardinal principle is：If the second ultrasonic detector 2
It is h apart from level land ground distance, gathers and arrange wheelchair in advance and be in the reference value received during plane, second in actual road conditions
Ultrasonic detector 2 is H apart from ground level, and at level land, the numerical value in the sampling period that the second ultrasonic detector 2 is received is
Reference value C, then the ginseng that the referential data D in the sampling period that H is received in being equal to actual road conditions is received when being in plane with wheelchair
The ratio for examining value C is multiplied by h.A height alarm threshold value of getting out of a predicament or an embarrassing situation is preset, is got out of a predicament or an embarrassing situation when calculating of continuous 5 sampling periods H is more than
Height alarm threshold value, then judge that wheelchair will enter region of getting out of a predicament or an embarrassing situation, and controller sends alarm signal, and control voice module sends
Audio alert signal, points out have step dangerous, and wheelchair must stop.
The system can also carry out detection identification to the gradient residing for wheelchair.Slope detection is completed by Slope Transducer,
Slope Transducer can be two degrees of freedom sensor, such as gyroscope, in wheelchair main frame, vertical relative to wheelchair center of gravity
Axle is parallel, leans forward in wheelchair and moves with hypsokinesis both direction, by the variable quantity real-time Transmission of the wheelchair center of gravity vertical line for measuring to master
Controller.When wheelchair is on level land, the numerical value of two degrees of freedom sensor measurement wheelchair center of gravity vertical line is 0, when wheelchair climb and fall,
Two degrees of freedom sensor measurement wheelchair center of gravity vertical line numerical value change, upward slope numerical value be positive number, descending numerical value be negative, system
Default gradient max-thresholds.When two degrees of freedom sensor measure wheelchair center of gravity vertical line numerical value be positive number, master controller judge wheel
Chair is going up a slope, and control voice module prompts go up a slope；It is when the numerical value that two degrees of freedom sensor measures wheelchair center of gravity vertical line is negative, main
Controller judges wheelchair in descending, and control voice module prompts go up a slope.What two degrees of freedom sensor was detected by master controller in real time
The absolute value of the numerical value of wheelchair center of gravity vertical line is compared with default gradient max-thresholds, when two degrees of freedom sensor measurement wheel
When the absolute value of the numerical value of chair center of gravity vertical line is more than default gradient max-thresholds, main controller controls voice module sends voice reporting
Alert signal, points out the gradient dangerous, and wheelchair must stop.Master controller judges when receiving negative value that wheelchair, in descending, is now led
Controller controls the motor underdrive of driving means, reduces wheelchair rotating speed, improves safety；Master controller is just received
Wheelchair is judged during value in going up a slope, now the motor of main controller controls driving means accelerates to rotate, and improves wheelchair rotating speed,
Beneficial to climbing.
As shown in fig. 6, master controller can also calculate the gradient residing for wheelchair in the following way：
Calculate gradient formula：The gradient is set wherein as i, L is distance of second ultrasonic detector 2 apart from ground, CnFor
N-th cycle collection referential data of two ultrasonic detectors 2, Cn+1(n+1)th cycle for the second ultrasonic detector 2 adopts
Collection referential data, S be wheelchair speed, tnFor a collection period.
Second ultrasonic detector 2 is thought or L apart from ground when n-th cycle reference numerical value is gathered, in collection n-th
During+1 cycle reference numerical value apart from ground distance it isThenFor depth displacement, StnFor level error.
More than, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any to be familiar with
Those skilled in the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be covered
Within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (9)
1. a kind of electric wheelchair sensing starts and obstacle avoidance system, including：Master controller, sensor assembly, power management module and
Supplementary module, it is characterised in that：
Master controller is connected with sensor assembly, power management module, supplementary module respectively；
Sensor assembly includes position sensor；
Power management module includes power supply and power supply self-starting device, self-starting device as on and off switch, in normally open,
Powered with deenergization, after the self-starting device is under pressure, switch closure, power supply conducting, electric wheelchair start and avoidance
System is in power-up state, and main controller controls power supply is not temporarily powered to wheelchair drive mechanism；
After system electrification, the seating position information of electric wheelchair user is sent to master controller by position sensor in real time, main
Whether controller judges user in home according to the positional information for receiving, if being in home, main control
Device control power management module is powered to the driving means of wheelchair；If it is determined that user is not in home, then main control
Device control power management module is not powered to the driving means of wheelchair, while the voice module in main controller controls supplementary module
Send the audio alert signal that user is not in home；
The position sensor is arranged on electric wheelchair or so handrail, and the distance apart from backrest is not more than 10cm, the position
Sensor is infrared detection module, including infrared transmitter and infrared light receiver, is oppositely arranged on wheelchair or so respectively and helps
On hand, when the infrared light of infrared transmitter transmitting is received, the optical signal for receiving is converted to electricity by the infrared light receiver
Signal, and by the signal of telecommunication real-time Transmission to master controller, after master controller receives the signal, judge that user is not yet in
Home；When user shelters from the infrared light that infrared transmitter sends, infrared remote receiver does not receive the light, no longer
The signal of telecommunication is sent to master controller, now master controller judges that user is in home.
2. system according to claim 1, it is characterised in that：
Sensor assembly also includes pressure transducer, and the pressure transducer is separately positioned on two regions of wheelchair：Sitting face area
Domain, backrest, for detecting sitting face pressure, the backrest pressure of user body, and the pressure value for detecting are passed in real time
Master controller is defeated by, master controller decides whether to report to the police or reduce the speed of wheelchair according to the pressure value for receiving.
3. system according to claim 2, it is characterised in that：
Master controller by the backrest pressure value for receiving, sitting face pressure value respectively with default multiple backrest pressure thresholds and
Multiple sitting face pressure thresholds are compared, when backrest pressure value and sitting face pressure value are respectively smaller than the first backrest pressure threshold
With the first sitting face pressure threshold and when being more than the second backrest pressure threshold and the second sitting face pressure threshold, master controller is to auxiliary mould
Block sends control signal, and the voice module for controlling supplementary module carries out audio alert；When backrest pressure value and sitting face number pressure
When at least one of value is less than default second backrest pressure threshold or sitting face pressure threshold, controller is sent to supplementary module
Control signal, the voice module for controlling supplementary module carry out audio alert, and master controller sends to wheelchair drive module simultaneously and subtracts
The instruction of speed, reduces the velocity of rotation of electric wheelchair motor.
4. system according to claim 3, it is characterised in that：
The first backrest pressure threshold is more than the second backrest pressure threshold；First sitting face pressure threshold is more than the second sitting face pressure
Threshold value.
5. system according to claim 1, it is characterised in that：
Supplementary module includes key operation module, the key operation module include a power switch button, one blow a whistle by
Key, a speed increase button, a speed and reduce button, three setting time buttons；
The power switch button is connected in parallel with self-starting device.
6. system according to claim 5, it is characterised in that：
Key operation module also includes operation device, and the operation device is provided in the action bars on wheelchair armrest, and action bars can
Moved with front, rear, left and right, and corresponding movable signal is sent to into master controller, master controller receives the operation signal
Afterwards, corresponding operational order is sent to wheelchair drive mechanism, driving means include motor and steer motor, when receiving
After forward and backward operational order, motor forward or reverse drives wheelchair to be moved forward or rearward；When receiving left and right steering
Operational order after, steer motor is rotated forward or is inverted, and is driven the steering mechanism's rotation being attached thereto, is driven wheelchair to turn left or right
Turn.
7. system according to claim 1, it is characterised in that：
Power management module also includes voltage conversion circuit and voltage detection circuit；
Voltage transformation module for by supply voltage be converted to for master controller work voltage, and be used for sensor die
The voltage of block, key-press module, voice synthetic module and OLED display module job demand；
Voltage detection circuit is for detecting to supply voltage, and testing result is sent to master controller in real time, main
The voltage value for receiving is compared by controller with predetermined voltage threshold, when finding that the former is less than the latter, master controller control
The voice module of supplementary module processed sends the low voice message of electricity.
8. system according to claim 1, it is characterised in that：
The supplementary module also includes OLED display module, for display system status information, shows obstacle distance, shows road
Condition information, shows battery electric quantity, shows the distance and wheelchair residue travel distance of wheelchair walking；
The supplementary module also includes enumerator, and enumerator is arranged on wheelchair wheel shaft, wheelchair wheel per revolution, enumerator
A count signal is sent to master controller, master controller adds up the count signal, and by accumulated value and wheelchair wheel Zhou Changxiang
Take advantage of, the numerical value for obtaining is the travel distance of wheelchair, master controller is included the distance on display module in real time；Master controller
In be previously provided with battery electric quantity with can travel distance synopsis, master controller detected according to voltage detection circuit
Supply voltage information, is compared with the synopsis, obtain corresponding to the electric quantity of power supply can travel distance, and by battery electric quantity
And this can travel distance be displayed on display module.
9. system according to claim 1, it is characterised in that：
Sensor assembly also includes road conditions sensor assembly, for detecting road conditions, and traffic information is implemented to be transferred to main control
Whether device, master controller determine whether to report to the police and slow down according to the traffic information for receiving.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610146562.6A CN105534650B (en) | 2016-03-15 | 2016-03-15 | Starting and barrier avoiding system of electrically powered wheelchair |
| CN201710167445.2A CN106901917B (en) | 2016-03-15 | 2016-03-15 | A kind of electric wheelchair sensor assembly |
| CN201710167460.7A CN107007403B (en) | 2016-03-15 | 2016-03-15 | A kind of electric wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610146562.6A CN105534650B (en) | 2016-03-15 | 2016-03-15 | Starting and barrier avoiding system of electrically powered wheelchair |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710167445.2A Division CN106901917B (en) | 2016-03-15 | 2016-03-15 | A kind of electric wheelchair sensor assembly |
| CN201710167460.7A Division CN107007403B (en) | 2016-03-15 | 2016-03-15 | A kind of electric wheelchair |
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| CN105534650A CN105534650A (en) | 2016-05-04 |
| CN105534650B true CN105534650B (en) | 2017-04-26 |
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| CN201710167445.2A Active CN106901917B (en) | 2016-03-15 | 2016-03-15 | A kind of electric wheelchair sensor assembly |
| CN201610146562.6A Active CN105534650B (en) | 2016-03-15 | 2016-03-15 | Starting and barrier avoiding system of electrically powered wheelchair |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710167460.7A Active CN107007403B (en) | 2016-03-15 | 2016-03-15 | A kind of electric wheelchair |
| CN201710167445.2A Active CN106901917B (en) | 2016-03-15 | 2016-03-15 | A kind of electric wheelchair sensor assembly |
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| CN107007403B (en) * | 2016-03-15 | 2018-06-05 | 国家康复辅具研究中心 | A kind of electric wheelchair |
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| Publication number | Publication date |
|---|---|
| CN107007403A (en) | 2017-08-04 |
| CN105534650A (en) | 2016-05-04 |
| CN107007403B (en) | 2018-06-05 |
| CN106901917B (en) | 2018-04-17 |
| CN106901917A (en) | 2017-06-30 |
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