CN106627709A - Controlling method and controlling system of transport tool and electric wheelchair - Google Patents
Controlling method and controlling system of transport tool and electric wheelchair Download PDFInfo
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- CN106627709A CN106627709A CN201611201607.1A CN201611201607A CN106627709A CN 106627709 A CN106627709 A CN 106627709A CN 201611201607 A CN201611201607 A CN 201611201607A CN 106627709 A CN106627709 A CN 106627709A
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- pressure
- ambient pressure
- sensing devices
- control
- transport
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0069—Control
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Handcart (AREA)
Abstract
The invention discloses a controlling method and controlling system of a transport tool and an electric wheelchair. The controlling method comprises the steps that the direction and the size of external pressure suffered by the transport tool are collected through pressure sensing equipment, converted into a pressure signal, and then sent into an analyzing and controlling device; the analyzing and controlling device receives and analyzes the pressure signal, generates a controlling signal corresponding to the direction and the size of the external pressure and sends to controlling equipment; and the controlling equipment receives the controlling signal and controls the transport tool to moves toward the direction equivalent to the external pressure. The controlling mode is simple and conforms to natural habits of users and human body mechanics.
Description
Technical field
The present invention relates to means of transport art, the control method and control system of more particularly to a kind of means of transport
And electric wheelchair.
Background technology
At present, to vehicle power and the main way that controls in direction is：
1) to cycle bicycle as representative, main utilization orientation disk travel direction control increases oil using reinforcing pedal
Door and change-speed gearing gear etc. realize power output and transmission control；
2) with electric unicycle etc. as representative, using the vehicle of gravity sensor, then carried out using gravity sensing gyroscope
Direction and dynamic Control；
The control system of the above means of transport has been more conform with the non-human act of people, and user is by simple study
Can adopt.
Then, the means of transport commonly used in life, such as handcart, without good solution party on direction and dynamic Control
Method, presently preferred solution has：
1) power notch switch and direction switch, program major defect are set in handrail car:(1) it is difficult to particulate
The gear control of degree；(2) with user it is natural custom and body mechanics disagree；
2) electric wheelchair use direction handle travel direction is controlled, and the major defect of the program is:(1) people that accompanies and attends to is not suitable for
Member uses；(2) feedback for particularly carrying out resistance to natural obstacle is blunt；
Currently, it is widely used in the Luggage Cart on airport, with good safety automation braking property, is adapted to current airport
Road conditions preferably carry out the less scene of resistance, but it needs holding to push releasing brake, the design feature then carried out, also band
Following shortcoming is carried out：1) pressing action does not meet user's custom, so still needing a learning process, although comparison is short
Temporarily；2) be inconvenient to pull the reverse inverted running of push rod；3) program is applied under complex road condition, and pressing action can affect to carry out moving
Make.
On the whole, above-mentioned various modes of operation are not simple enough, and operation is relative complex, and those skilled in the art should
Study more simple and meet the mode of operation that user is accustomed to being consistent naturally.
It should be noted that the introduction of technical background is intended merely to above the convenient technical scheme to the application carry out it is clear,
Complete explanation, and facilitate the understanding of those skilled in the art and illustrate.Can not be merely because these schemes be the application's
Background section is set forth and thinks that above-mentioned technical proposal is known to those skilled in the art.
The content of the invention
In view of the drawbacks described above of prior art, the technical problem to be solved is to provide a kind of mode of operation more
The control method and control system of simple means of transport, and electric wheelchair.
For achieving the above object, the invention provides a kind of control method of means of transport, including step：
The direction of the ambient pressure that pressure sensing devices collection means of transport is subject to and size, convert thereof into pressure signal
Afterwards, analysis and controller are sent to；
Analysis and controller receive and analyze the pressure signal, are generated corresponding with the direction of ambient pressure and size
Control signal after, be sent to control device；
Control device receives the control signal, and controls means of transport and move to the direction suitable with the ambient pressure.
Further, when left pressure sensing devices and right pressure sensing devices are collected forward, backward, to the left or to the right just
To ambient pressure when；
The control device by according to the control signal for receiving, transport forward, backward, to the left or to the right by control means of transport
It is dynamic.In this programme, the control signal that the analysis and controller are generated is the ambient pressure collected according to pressure sensing devices
What direction and size were generated, in addition the direction of motion of final control means of transport operation all with the ambient pressure for collecting
Directional correlation connection, this meets the natural custom of the mankind so that user can by simply learning by complete haulagman
The use of tool.
Further, when left pressure sensing devices and right pressure sensing devices collect the ambient pressure of forward direction,
And during the sizableness of two ambient pressures, the control device travels forward means of transport is controlled；
When left pressure sensing devices and right pressure sensing devices collect the ambient pressure of backward directions, and two external worlds
During the sizableness of pressure, the control device is moved means of transport is controlled backward.In this programme, user is needing control
When means of transport travels forward, it is only necessary to apply the pressure of forward direction to left pressure sensing devices and right pressure sensing devices,
And two pressure are roughly the same, you can control it and travel forward；The difference of two pressure is within default threshold value, you can think
Two pressure sizes are suitable.
Further, when left pressure sensing devices and right pressure sensing devices collect the external world in direction forward or backward
Pressure, and left ambient pressure is when being not equal to right ambient pressure, by the direction for assert the ambient pressure be front left, front right, rear left or
Rear right, and means of transport is controlled to front left, to front right, to rear left or backward right direction is moved by the control device；
When left pressure sensing devices and right pressure sensing devices do not collect ambient pressure, the control device will be controlled
Means of transport braking processed.In this programme, the ambient pressure is in left pressure sensing devices and the applying direction of right pressure sensing devices
Predominantly forward or to the right, but due to the dynamics for applying it is different, so it is considered that its " with joint efforts " is front left, front right, rear left
Or rear right, turned to so as to control means of transport, such control steering mode, the direction controlling with " hutching " etc.
Have no big difference, and only mainly power output completed by impersonal forces such as electric power in its power, user according to the natural law and
Control, operation facility can quickly be learned and be completed to custom.
Further, it is when left pressure sensing devices and right pressure sensing devices collect ambient pressure forward and left
When ambient pressure is more than right ambient pressure, then it is assumed that the direction of the ambient pressure for collecting is right direction forward；
When left pressure sensing devices and right pressure sensing devices collect ambient pressure forward, and left ambient pressure is little
When right ambient pressure, then it is assumed that the direction of the ambient pressure for collecting is left direction forward；
When left pressure sensing devices and right pressure sensing devices collect ambient pressure backward, and left ambient pressure is big
When right ambient pressure, then it is assumed that the direction of the ambient pressure for collecting is right direction backward；
When left pressure sensing devices and right pressure sensing devices collect ambient pressure backward, and left ambient pressure is little
When right ambient pressure, then it is assumed that the direction of the ambient pressure for collecting is left direction backward.In this programme, make a concrete analysis of outer
The confining method in boundary direction.
Further, when left pressure sensing devices collect left ambient pressure forward, and right pressure sensing devices are gathered
During to right ambient pressure backward, then it is assumed that the ambient pressure for collecting is right direction；
When left pressure sensing devices collect left ambient pressure backward, and right pressure sensing devices collect the right side forward
During ambient pressure, then it is assumed that the ambient pressure for collecting is left direction.In this programme, make a concrete analysis of what extraneous direction was defined
Part Methods, wherein, defining for its ambient pressure main is made a concerted effort to associating with left ambient pressure with right ambient pressure；In addition,
In this programme, the power for being applied forward or to the right according to left ambient pressure and right ambient pressure in fact it is of different sizes, can control
Means of transport pivot stud processed, or steering of advancing, or turning backward, steering mode perspicuousness, user can be quick
Association simultaneously implements very well.
The present invention also provides a kind of control system for having used arbitrary disclosed control method of the invention, including：
Pressure sensing devices, including first pressure sensing apparatus and second pressure sensing apparatus, for gathering means of transport
The direction of the ambient pressure being subject to and size, after converting thereof into pressure signal, are sent to analysis and controller；
Analysis and controller, for receiving and analyze the pressure signal, is generated and ambient pressure direction and size
After corresponding control signal, control device is sent to；
Control device, including PTO, brake apparatus and direction-control apparatus, for receiving the control signal,
And control means of transport operation control is carried out according to control signal.
Present invention also offers a kind of electric wheelchair using the arbitrary disclosed control method of the present invention, including：
It is equipped with the left side holding rod of left pressure sensing devices, and the right side holding rod for being equipped with right pressure sensing devices；
The analysis being arranged on inside electric wheelchair and controller, for receiving and analyze the pressure signal, generated with
After the control signal corresponding with size of the direction of ambient pressure, control device is sent to；
The control device being arranged on inside electric wheelchair, including PTO, brake apparatus and direction controlling dress
Put, operation control is carried out according to control signal for receiving the control signal, and controlling means of transport.In this programme, this is electronic
Wheelchair is different from existing electric wheelchair, and suitable entourage uses, and because the motion of the electric wheelchair is that basis is applied
Be added in left side holding rod and right side holding rod on pressure and realize control, entourage can be very good to carry out for natural obstacle
Evade, excessively and by obstacle the generation of the problems such as cannot exiting is blocked without having to worry about to the operation of certain direction, operation is convenient and clever
It is quick.
Further, also include：
The front left side universal wheel in the left front portion of electric wheelchair is arranged on, the forward right side for being arranged on electric wheelchair right front portion is universal
Wheel；
The left rear side Electric Motor Wheel in left side after electric wheelchair is arranged on, the left rear side Electric Motor Wheel will be according to the left side holding rod
The direction of the ambient pressure for collecting and size, and determine the dynamics of traffic direction and power output；
The right lateral side Electric Motor Wheel in left side after electric wheelchair is arranged on, the right lateral side Electric Motor Wheel will be according to the right side holding rod
The direction of the ambient pressure for collecting and size, and determine the dynamics of traffic direction and power output.In this programme, the Electric Motor Wheel
In fact with the mode of operation of manual pushchair closely, the pressure that left side applies is larger for the operation of chair, then left side Electric Motor Wheel
Onward impulse output is just larger, and passes through the of different sizes of applying power, just can easily control electric wheelchair and advance, retreats
With turn to etc. operation, without having to worry about operation too complex problem, entourage or household etc. can very easily learn simultaneously
Using the electric wheelchair, and due to the management of impersonal force driving, the strength very little paid needed for entourage, without worry body
Power problem；And the setting of universal wheel will cause steering more light.
Further, the wheel direction of the left rear side Electric Motor Wheel and right lateral side Electric Motor Wheel is fixed, after can only being advanced
Move back and the adjustment of power output size；
The inside of the electric wheelchair is additionally provided with electric storage battery, electric for being the left rear side Electric Motor Wheel and right lateral side
Driving wheel provides power.In this programme, the wheel direction of the left rear side Electric Motor Wheel and right lateral side Electric Motor Wheel is fixed, thus, in left side
The pressure applied on holding rod and right side holding rod will be based on direction forward or backward, and turn to then will apply of different sizes by both sides
Power and be readily accomplished control, operation facility；And the use of the electric storage battery, power will be provided for electric wheelchair.
The invention has the beneficial effects as follows：The present invention is due to being provided with pressure sensing devices for gathering what means of transport was subject to
The direction of ambient pressure and size, so as to control the motion of means of transport；Wherein, the direction of motion of the means of transport will be with the external world
The direction of pressure is suitable, for example, handcart, the strength of oneself can be applied to body of handcart by you according to the wish of oneself
On, and control it and think motion according to oneself, certainly, said herein is quite an approximate description, the pressure of user
It is interval that force direction and the direction of motion are substantially at same level, is not necessarily completely the same, and error therein will be by this
Analysis and controller are analyzed and process；The means of transport being so designed that, will more meet the non-human act of people and is accustomed to naturally,
Meet body mechanics, user can use by simple study, and this will be different from the operation of brake pedal and gas pedal
Mode, and be more easy to study, can be approximate think is exactly hutching, but the go-cart be by dynamic Control, without the need for
Manual-pushing is leaned on completely, it is easy to operate.
With reference to explanation hereinafter and accompanying drawing, the particular implementation of the application is disclose in detail, specify the original of the application
Reason can be in adopted mode.It should be understood that presently filed embodiment is not so limited in scope.In appended power
In the range of the spirit and terms that profit is required, presently filed embodiment includes many changes, modifications and equivalent.
The feature for describing for a kind of embodiment and/or illustrating can be in same or similar mode one or more
It is combined with the feature in other embodiment used in individual other embodiment, or substitute the feature in other embodiment.
It should be emphasized that term "comprises/comprising" refers to the presence of feature, one integral piece, step or component when using herein, but and
It is not excluded for the presence of one or more further features, one integral piece, step or component or additional.
Description of the drawings
Included accompanying drawing is used for providing being further understood from the embodiment of the present application, which constitutes of specification
Point, for illustrating presently filed embodiment, and come together to explain the principle of the application with word description.It should be evident that under
Accompanying drawing in the description of face is only some embodiments of the present application, for those of ordinary skill in the art, is not paying wound
On the premise of the property made is laborious, can be with according to these other accompanying drawings of accompanying drawings acquisition.In the accompanying drawings：
A kind of flow charts of the control method of means of transport of Fig. 1；
Fig. 2 is a kind of schematic diagram of the control system for having used arbitrary disclosed control method of the invention of the present invention；
Fig. 3 is a kind of schematic diagram of the electric wheelchair for having used arbitrary disclosed control method of the invention of the present invention.
Description of the drawings：1st, first pressure sensing apparatus；2nd, second pressure sensing apparatus；3rd, analysis and controller；4th, power
Output device；5th, brake apparatus；6th, direction-control apparatus；31st, left side holding rod；32nd, right side holding rod；33rd, front left side universal wheel；
34th, forward right side universal wheel；35th, left rear side Electric Motor Wheel；36th, right lateral side Electric Motor Wheel；37th, electric storage battery.
Specific embodiment
In order that those skilled in the art more fully understand the technical scheme in the application, below in conjunction with the application reality
The accompanying drawing in example is applied, the technical scheme in the embodiment of the present application is clearly and completely described, it is clear that described enforcement
Example is only some embodiments of the present application, rather than the embodiment of whole.Based on the embodiment in the application, this area is common
All other embodiment that technical staff is obtained under the premise of creative work is not made, should all belong to the application protection
Scope.
A kind of flow charts of the control method of means of transport of Fig. 1, embodiment shown in Figure 1, the control of the means of transport
Method processed, including step：
S1:The direction of the ambient pressure that pressure sensing devices collection means of transport is subject to and size, convert thereof into pressure
After signal, analysis and controller are sent to；
S2:Analysis and controller receive and analyze the pressure signal, are generated the direction with ambient pressure and size phase
After corresponding control signal, control device is sent to；
S3:Control device receives the control signal, and controls means of transport and move to the direction suitable with the ambient pressure.
The invention has the beneficial effects as follows：The present invention is due to being provided with pressure sensing devices for gathering what means of transport was subject to
The direction of ambient pressure and size, so as to control the motion of means of transport；Wherein, the direction of motion of the means of transport will be with the external world
The direction of pressure is suitable, for example, handcart, the strength of oneself can be applied to body of handcart by you according to the wish of oneself
On, and control it and think motion according to oneself, certainly, said herein is quite an approximate description, the pressure of user
It is interval that force direction and the direction of motion are substantially at same level, is not necessarily completely the same, and error therein will be by this
Analysis and controller are analyzed and process；The means of transport being so designed that, will more meet the non-human act of people and is accustomed to naturally,
Meet body mechanics, user can use by simple study, and this will be different from the operation of brake pedal and gas pedal
Mode, and be more easy to study, can be approximate think is exactly hutching, but the go-cart be by dynamic Control, without the need for
Manual-pushing is leaned on completely, it is easy to operate.
Perceived by pressure inductor, pressure direction, pressure size of the person of exerting pressure in means of transport privileged site, to fortune
Defeated instrument carries out motion control, and the privileged site can be the positions such as hand push holding rod.
The present embodiment is preferred, in step S3, when left pressure sensing devices and right pressure sensing devices collect to
Before, backward, to the left or to the right the ambient pressure in direction when；
The control device by according to the control signal for receiving, transport forward, backward, to the left or to the right by control means of transport
It is dynamic.In this programme, the control signal that the analysis and controller are generated is the ambient pressure collected according to pressure sensing devices
What direction and size were generated, in addition the direction of motion of final control means of transport operation all with the ambient pressure for collecting
Directional correlation connection, this meets the natural custom of the mankind so that user can by simply learning by complete haulagman
The use of tool.
The present embodiment is preferred, in step S3, when left pressure sensing devices and right pressure sensing devices are collected
The ambient pressure of forward direction, and during the sizableness of two ambient pressures, the control device will control means of transport forward
Motion；
When left pressure sensing devices and right pressure sensing devices collect the ambient pressure of backward directions, and two external worlds
During the sizableness of pressure, the control device is moved means of transport is controlled backward.In this programme, user is needing control
When means of transport travels forward, it is only necessary to apply the pressure of forward direction to left pressure sensing devices and right pressure sensing devices,
And two pressure are roughly the same, you can control it and travel forward；The difference of two pressure is within default threshold value, you can think
Two pressure sizes are suitable.
The present embodiment is preferred, in step S3, when left pressure sensing devices and right pressure sensing devices are collected
When the ambient pressure in direction, and left ambient pressure forward or backward is not equal to right ambient pressure, the side of the ambient pressure will be assert
To for front left, front right, rear left or rear right, and by the control device control means of transport to front left, to front right, to rear left or
Right direction motion backward；
When left pressure sensing devices and right pressure sensing devices do not collect ambient pressure, the control device will be controlled
Means of transport braking processed.In this programme, the ambient pressure is in left pressure sensing devices and the applying direction of right pressure sensing devices
Predominantly forward or to the right, but due to the dynamics for applying it is different, so it is considered that its " with joint efforts " is front left, front right, rear left
Or rear right, turned to so as to control means of transport, such control steering mode, the direction controlling with " hutching " etc.
Have no big difference, and only mainly power output completed by impersonal forces such as electric power in its power, user according to the natural law and
Control, operation facility can quickly be learned and be completed to custom.
The present embodiment is preferred, in step S3, when left pressure sensing devices and right pressure sensing devices are collected
Ambient pressure forward, and left ambient pressure be more than right ambient pressure when, then it is assumed that the direction of the ambient pressure for collecting be to
Front right direction；
When left pressure sensing devices and right pressure sensing devices collect ambient pressure forward, and left ambient pressure is little
When right ambient pressure, then it is assumed that the direction of the ambient pressure for collecting is left direction forward；
When left pressure sensing devices and right pressure sensing devices collect ambient pressure backward, and left ambient pressure is big
When right ambient pressure, then it is assumed that the direction of the ambient pressure for collecting is right direction backward；
When left pressure sensing devices and right pressure sensing devices collect ambient pressure backward, and left ambient pressure is little
When right ambient pressure, then it is assumed that the direction of the ambient pressure for collecting is left direction backward.In this programme, make a concrete analysis of outer
The confining method in boundary direction.
The present embodiment is preferred, in step S3, when left pressure sensing devices collect left ambient pressure forward, and
When right pressure sensing devices collect right ambient pressure backward, then it is assumed that the ambient pressure for collecting is right direction；
When left pressure sensing devices collect left ambient pressure backward, and right pressure sensing devices collect the right side forward
During ambient pressure, then it is assumed that the ambient pressure for collecting is left direction.In this programme, make a concrete analysis of what extraneous direction was defined
Part Methods, wherein, defining for its ambient pressure main is made a concerted effort to associating with left ambient pressure with right ambient pressure；In addition,
In this programme, the power for being applied forward or to the right according to left ambient pressure and right ambient pressure in fact it is of different sizes, can control
Means of transport pivot stud processed, or steering of advancing, or turning backward, steering mode perspicuousness, user can be quick
Association simultaneously implements very well.
Control mode in this programme, refers to the common actions such as the push-and-pull of means of transport part of user and to haulagman
The pressure that tool is produced, in particular to realize means of transport horizontal movement, and in the horizontal pressure force of applying, i.e. the direction of pressure can
To be approximately considered and means of transport direction of motion level, to distinguish with accelerator pedal of automobile.
Pressure, pressure size, pressure of the controller of this programme based on collection user to the different parts of means of transport
Direction etc., analyzes the movement effects that user is expected that by produced by the push pull maneuver to means of transport, and then to haulagman
Direction facility, power facility, brake equipment of tool etc. make scheduling, realize such as turning to, reinforce motion, brake auxiliaring effect.
Different brake pedal, gas pedals with automobile of this programme etc., its pressure direction is inconsistent with direction of vehicle movement,
The pressure direction of person is substantially at same level space with the direction of motion used in this programme, and such as user applies power forward
For controlling the propulsion of means of transport.
To further illustrate the feature of this technology effect, using its direction of motion acceleration direction user in this programme to fortune
The force direction of defeated instrument, is substantially at same level space.
Motion control is included：Direction controlling, movement velocity control (the power output size control of power facility), braking control
System (brake) etc..
Fig. 2 is a kind of schematic diagram of the control system for having used arbitrary disclosed control method of the invention of the present invention, reference
Embodiment shown in Fig. 2, understands with reference to Fig. 1：The control system, including：
Pressure sensing devices, including first pressure sensing apparatus 1 and second pressure sensing apparatus 2, for gathering haulagman
The direction of the ambient pressure that tool is subject to and size, after converting thereof into pressure signal, are sent to analysis and controller 3；
Analysis and controller 3, for receiving and analyze the pressure signal, is generated and ambient pressure direction and size
After corresponding control signal, control device is sent to；
Control device, including PTO 4, brake apparatus 5 and direction-control apparatus 6, for receiving the control letter
Number, and control means of transport operation control is carried out according to control signal.
The invention has the beneficial effects as follows：The present invention passes through to arrange first pressure sensing apparatus and second pressure sensing apparatus,
The direction of the ambient pressure that means of transport is subject to and the size collected by two pressure sensing devices is so possible to, and is obtained
The intention of operation of user is known, so as to control the motion of means of transport；Wherein, the direction of motion of the means of transport will be with extraneous pressure
The direction of power is suitable, for example, handcart, you can be applied to the strength of oneself on body of handcart according to the wish of oneself,
And control it and think motion according to oneself, certainly, said herein is quite an approximate description, the pressure side of user
It is interval to same level is substantially at the direction of motion, it is not necessarily completely the same, and error therein will be by the analysis
It is analyzed with controller and processes；The means of transport being so designed that, will more meet the non-human act of people and is accustomed to naturally, that is, accord with
Body mechanics is closed, user can use by simple study, and this will be different from the mode of operation of brake pedal and gas pedal,
And study is more easy to, can be approximate think is exactly hutching, but the go-cart is by dynamic Control, without the need for leaning on completely
Manual-pushing, it is easy to operate.
Fig. 3 is a kind of schematic diagram of the electric wheelchair for having used arbitrary disclosed control method of the invention of the present invention, reference
Embodiment shown in Fig. 3, understands with reference to Fig. 1 and Fig. 2：
Present invention also offers a kind of electric wheelchair using the arbitrary disclosed control method of the present invention, including：
It is equipped with the left side holding rod 31 of left pressure sensing devices, and the right side holding rod for being equipped with right pressure sensing devices
32；
The analysis being arranged on inside electric wheelchair and controller (not shown), for receiving and analyze pressure letter
Number, after being generated the control signal corresponding with the direction of ambient pressure and size, it is sent to control device；
The control device (not shown) being arranged on inside electric wheelchair, including PTO (do not show in figure
Go out), brake apparatus (not shown) and direction-control apparatus (not shown), for receiving the control signal, and control
Means of transport carries out operation control according to control signal.
Certainly, as long as the analysis and the setting of controller, PTO, brake apparatus and direction-control apparatus are suitable for
, being arranged on everywhere does not have, without the need for adhering rigidly to.
The invention has the beneficial effects as follows：The present invention is due to being provided with pressure sensing devices for gathering what means of transport was subject to
The direction of ambient pressure and size, so as to control the motion of means of transport；Wherein, the direction of motion of the means of transport will be with the external world
The direction of pressure is suitable, for example, handcart, the strength of oneself can be applied to body of handcart by you according to the wish of oneself
On, and control it and think motion according to oneself, certainly, said herein is quite an approximate description, the pressure of user
It is interval that force direction and the direction of motion are substantially at same level, is not necessarily completely the same, and error therein will be by this
Analysis and controller are analyzed and process；The means of transport being so designed that, will more meet the non-human act of people and is accustomed to naturally,
Meet body mechanics, user can use by simple study, and this will be different from the operation of brake pedal and gas pedal
Mode, and be more easy to study, can be approximate think is exactly hutching, but the go-cart be by dynamic Control, without the need for
Manual-pushing is leaned on completely, it is easy to operate；In this programme, the electric wheelchair is different from existing electric wheelchair, and the people that suitably accompanies and attends to
Member uses, and because the motion of the electric wheelchair is to realize control according to the pressure on being applied to left side holding rod and right side holding rod
System, entourage can be very good to evade for natural obstacle, be hindered without having to worry about running excessively to certain direction
Hinder the generation for blocking the problems such as cannot exiting, it is convenient and sensitive to operate.
The present embodiment is preferred, and the electric wheelchair also includes：
The front left side universal wheel 33 in the left front portion of electric wheelchair is arranged on, the forward right side for being arranged on electric wheelchair right front portion is universal
Wheel 34；
The left rear side Electric Motor Wheel 35 in left side after electric wheelchair is arranged on, the left rear side Electric Motor Wheel 35 will be according to the left side
The direction of the ambient pressure that holding rod 31 is collected and size, and determine the dynamics of traffic direction and power output；
The right lateral side Electric Motor Wheel 36 in left side after electric wheelchair is arranged on, the right lateral side Electric Motor Wheel 36 will be according to the right side
The direction of the ambient pressure that holding rod 32 is collected and size, and determine the dynamics of traffic direction and power output.In this programme, should
In fact with the mode of operation of manual pushchair closely, the pressure that left side applies is larger for the operation of electric wheelchair, then left side electricity
The onward impulse output of driving wheel is just larger, and passes through the of different sizes of applying power, just can easily control before electric wheelchair
The operation such as enter, retreat and turn to, without having to worry about the problem of operation too complex, entourage or household etc. can be very easily
Association and using the electric wheelchair, and due to impersonal force drive management, the strength very little paid needed for entourage, without
Worry physical problem；And the setting of universal wheel will cause steering more light.
This enforcement is preferred, and the wheel direction of left rear side Electric Motor Wheel 35 and right lateral side Electric Motor Wheel 36 is fixed, before can only carrying out
Enter to retreat and the adjustment of power output size；
The inside of the electric wheelchair is additionally provided with electric storage battery 37, after for the left rear side Electric Motor Wheel 35 and the right side
Side Electric Motor Wheel 36 provides power.In this programme, the wheel direction of the left rear side Electric Motor Wheel and right lateral side Electric Motor Wheel is fixed, thus,
The pressure applied on left side holding rod and right side holding rod will be based on direction forward or backward, and turn to then will apply big by both sides
Little different power and be readily accomplished control, operation facility；And the use of the electric storage battery, power will be provided for electric wheelchair.
Wherein, this motion is implemented on electric wheelchair to facilitate caregiver to use, it is mainly characterized by caregiver and leads to
The push-and-pull to the holding rod on rear side of electric wheelchair is crossed, applies the pressure to holding rod, to realize the motion control to electric wheelchair.
1) power output direction controlling：When left side holding rod 31 is subject to propulsion pressure (pushing away holding rod), then left rear side is controlled
Electric Motor Wheel 35 carries out propulsion output；When left side holding rod 31 is subject to reverse pressure (drawing holding rod), then left rear side electricity is controlled
Driving wheel 35 carries out reverse
2) power output size control：The pressure that left side holding rod 31 is subject to is bigger, then the output of left rear side Electric Motor Wheel 35 is dynamic
Power is also bigger
Control of the right side holding rod 32 to right lateral side Electric Motor Wheel 36 is identical with this.
By the control of left side holding rod 31 and right side holding rod 32 to left rear side Electric Motor Wheel 35 and right lateral side Electric Motor Wheel 36, can be with
Realize the motion control to electric wheelchair：
1) course changing control
1) when force person is more than the forward direction thrust of left side holding rod 31 to the forward direction thrust of right side holding rod 32, right lateral side can be caused
The advance output of Electric Motor Wheel 36 is exported more than the advance of left rear side Electric Motor Wheel 35, so as to realize turning to the left
2) force person applies backward pulling force to right side holding rod 32, when applying forward thrust to left side holding rod 31, can cause the right side
Rear side Electric Motor Wheel 36 carries out backward power output, and left rear side Electric Motor Wheel 35 carries out onward impulse output, so as to realize turning to
2) propulsion
1) when force person is close to the thrust of left side holding rod 31 and right side holding rod 32, left rear side Electric Motor Wheel 35 and right lateral side electricity
The onward impulse output of driving wheel 36 is close to, so as to realize advancing
3) reverse
1) when force person is close to the pulling force of left side holding rod 31 and right side holding rod 32, left rear side Electric Motor Wheel 35 and right lateral side electricity
The backward power output of driving wheel 36 is close to, so as to realize reverse
The preferred embodiment of the present invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Need creative work just can make many modifications and variations with design of the invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (10)
1. a kind of control method of means of transport, wherein, including step：
The direction of the ambient pressure that pressure sensing devices collection means of transport is subject to and size, after converting thereof into pressure signal,
It is sent to analysis and controller；
Analysis and controller receive and analyze the pressure signal, are generated the control corresponding with the direction of ambient pressure and size
After signal processed, control device is sent to；
Control device receives the control signal, and controls means of transport and move to the direction suitable with the ambient pressure.
2. the control method of means of transport as claimed in claim 1, wherein, when left pressure sensing devices and right pressure sensitive set
It is standby collect forward, backward, to the left or to the right the ambient pressure in direction when；
By according to the control signal for receiving, control means of transport is moved forward, backward, to the left or to the right the control device.
3. the control method of means of transport as claimed in claim 2, wherein, when left pressure sensing devices and right pressure sensitive set
The standby ambient pressure for collecting forward direction, and during the sizableness of two ambient pressures, the control device will control fortune
Defeated instrument travels forward；
When left pressure sensing devices and right pressure sensing devices collect the ambient pressure of backward directions, and two ambient pressures
Sizableness when, the control device by control means of transport move backward.
4. the control method of means of transport as claimed in claim 2, wherein, when left pressure sensing devices and right pressure sensitive set
When being not equal to right ambient pressure for the ambient pressure for collecting direction forward or backward, and left ambient pressure, will assert that this is outer
The direction of boundary's pressure be front left, front right, rear left or rear right, and by the control device control means of transport to front left, forward
It is right, to rear left or backward right direction is moved；
When left pressure sensing devices and right pressure sensing devices do not collect ambient pressure, the control device will control fortune
Defeated instrument braking.
5. the control method of means of transport as claimed in claim 4, wherein, when left pressure sensing devices and right pressure sensitive set
When being more than right ambient pressure for the ambient pressure for collecting forward, and left ambient pressure, then it is assumed that the ambient pressure for collecting
Direction be right direction forward；
When left pressure sensing devices and right pressure sensing devices collect ambient pressure forward, and left ambient pressure less than the right side
During ambient pressure, then it is assumed that the direction of the ambient pressure for collecting is left direction forward；
When left pressure sensing devices and right pressure sensing devices collect ambient pressure backward, and left ambient pressure more than the right side
During ambient pressure, then it is assumed that the direction of the ambient pressure for collecting is right direction backward；
When left pressure sensing devices and right pressure sensing devices collect ambient pressure backward, and left ambient pressure less than the right side
During ambient pressure, then it is assumed that the direction of the ambient pressure for collecting is left direction backward.
6. the control method of means of transport as claimed in claim 4, wherein, when left pressure sensing devices collect a left side forward
Ambient pressure, and right pressure sensing devices are when collecting right ambient pressure backward, then it is assumed that the ambient pressure for collecting be to
Right direction；
When left pressure sensing devices collect left ambient pressure backward, and right pressure sensing devices collect the right external world forward
During pressure, then it is assumed that the ambient pressure for collecting is left direction.
7. it is a kind of used weigh 1- power 6 it is arbitrary as described in control method control system, wherein, including：
Pressure sensing devices, including first pressure sensing apparatus and second pressure sensing apparatus, are subject to for gathering means of transport
Ambient pressure direction and size, after converting thereof into pressure signal, be sent to analysis and controller；
Analysis and controller, for receiving and analyze the pressure signal, are generated relative with the direction of ambient pressure and size
After the control signal answered, control device is sent to；
Control device, including PTO, brake apparatus and direction-control apparatus, for receiving the control signal, and control
Means of transport processed carries out operation control according to control signal.
8. it is a kind of using as power 1- weigh 6 it is arbitrary as described in control method electric wheelchair, wherein, including：
It is equipped with the left side holding rod of left pressure sensing devices, and the right side holding rod for being equipped with right pressure sensing devices；
The analysis being arranged on inside electric wheelchair and controller, for receiving and analyze the pressure signal, generated with it is extraneous
After the control signal corresponding with size of the direction of pressure, control device is sent to；
The control device being arranged on inside electric wheelchair, including PTO, brake apparatus and direction-control apparatus, use
In receiving the control signal, and control means of transport operation control is carried out according to control signal.
9. electric wheelchair as claimed in claim 8, wherein, also include：
The front left side universal wheel in the left front portion of electric wheelchair is arranged on, the forward right side universal wheel of electric wheelchair right front portion is arranged on；
The left rear side Electric Motor Wheel in left side after electric wheelchair is arranged on, the left rear side Electric Motor Wheel will be gathered according to the left side holding rod
The direction of the ambient pressure for arriving and size, and determine the dynamics of traffic direction and power output；
The right lateral side Electric Motor Wheel in left side after electric wheelchair is arranged on, the right lateral side Electric Motor Wheel will be gathered according to the right side holding rod
The direction of the ambient pressure for arriving and size, and determine the dynamics of traffic direction and power output.
10. electric wheelchair as claimed in claim 9, wherein, the wheel side of the left rear side Electric Motor Wheel and right lateral side Electric Motor Wheel
To fixation, forward-reverse and the adjustment of power output size can only be carried out；
The inside of the electric wheelchair is additionally provided with electric storage battery, for for the left rear side Electric Motor Wheel and right lateral side Electric Motor Wheel
Power is provided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611201607.1A CN106627709A (en) | 2016-12-22 | 2016-12-22 | Controlling method and controlling system of transport tool and electric wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611201607.1A CN106627709A (en) | 2016-12-22 | 2016-12-22 | Controlling method and controlling system of transport tool and electric wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106627709A true CN106627709A (en) | 2017-05-10 |
Family
ID=58827089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611201607.1A Pending CN106627709A (en) | 2016-12-22 | 2016-12-22 | Controlling method and controlling system of transport tool and electric wheelchair |
Country Status (1)
| Country | Link |
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| CN (1) | CN106627709A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107536311A (en) * | 2017-10-17 | 2018-01-05 | 国家康复辅具研究中心 | Intelligent multifunctional seat system |
| CN108524120A (en) * | 2018-03-29 | 2018-09-14 | 北京点域科技有限公司 | A kind of medical rehabilitation wheelchair |
| CN110077171A (en) * | 2019-05-31 | 2019-08-02 | 上海途加箱包商贸有限公司 | Power-assisted wheel and its control method and luggage case for luggage case |
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Application publication date: 20170510 |