CN106667678A - Intelligent electrically-powered wheelchair - Google Patents
Intelligent electrically-powered wheelchair Download PDFInfo
- Publication number
- CN106667678A CN106667678A CN201510739917.8A CN201510739917A CN106667678A CN 106667678 A CN106667678 A CN 106667678A CN 201510739917 A CN201510739917 A CN 201510739917A CN 106667678 A CN106667678 A CN 106667678A
- Authority
- CN
- China
- Prior art keywords
- circuit
- module
- arm core
- intelligent electric
- electric wheelchair
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
- A61G5/047—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven by a modular detachable drive system
-
- 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
-
- 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
- A61G5/1005—Wheelchairs having brakes
-
- 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
Abstract
The invention discloses an intelligent electrically-powered wheelchair which is easy to install, simple to control, convenient to operate, and high in stability and practicability. The intelligent electrically-powered wheelchair comprises a mechanical part, a control part and a lithium batter powering part, and is structurally characterized in that the mechanical part is a wheelchair body, and the control part is formed by an upper computer and a lower computer combined together; the upper computer comprises a first ARM core processor, and a speed display module, an electric quantity display module, an acceleration reading module, a Hall shifter control module, a reversing module and a braking module connected with the first ARM core processor; the lower computer comprises a second ARM core processor, a position detection circuit, a power drive circuit and a protection circuit connected with the second ARM core processor, and an inverter circuit connected with the power drive circuit which is simultaneously connected with the position detection circuit and the protection circuit respectively; and the upper computer and the lower computer communicate with each other in a serial port communication manner.
Description
Technical field
The invention belongs to electrodynamic type wheelchair technical field, more particularly to a kind of intelligent electric wheelchair.
Background technology
With growth in the living standard, people day by day improve to the attention rate of the elderly and the disabled, increasing electrodynamic type wheelchair enters the sight line of consumer, but because most electrodynamic type wheelchair has two extremely, but import wheelchair possesses preferable performance expensive mostly, beyond the consuming capacity of general public, and the more universal electric wheel-chair vehicle power consumption in the country is big, endurance is poor, therefore now mostly family expenses or the wheelchair used by hospital remain traditional hand-cranked wheel chair.And now Motor drive adopts the control mode of position sensor mostly, control model is single, stability is limited, and reliability and security are relatively low for handicapped crowd, thus is difficult to old man and disabled person's provides convenient, safety, free trip in actual applications.
But just from the point of view of current actual form, the population structure of China comes into astogeny period, and the elderly's quantity of more than 60 years old is 1.32 hundred million, over-65s have then reached 90,000,000.And the handicapped people of existing more than 8,000 ten thousand limbs of China, although their action is not so good as Healthy People, psychologically they still thirst for being enjoyed life as Healthy People.
The content of the invention
The present invention is aiming at present the more expensive present situation of electric wheelchair on the market, there is provided a kind of intelligent electric wheelchair；The present invention is easily installed, and control is simple, easy to operate, with very high stability and practicality.
To realize the above-mentioned purpose of the present invention, the present invention is adopted the following technical scheme that.
A kind of intelligent electric wheelchair of the present invention, including mechanical part, control section, lithium battery power supply part；Its structural feature is：The mechanical part is wheelchair entity, and the control section is combined using host computer and slave computer；The host computer includes an ARM core processors, and speed display module, electricity quantity display module, acceleration read module, Hall handle control module, reversing module, the brake module being connected with an ARM core processors；The slave computer includes the 2nd ARM core processors; and position detecting circuit, power driving circuit, the protection circuit being connected with the 2nd ARM core processors; and the inverter circuit being connected with the power driving circuit, while inverter circuit is also connected with position detecting circuit, protection circuit respectively；Communicated by serial communication mode between the host computer and slave computer.
Used as a preferred embodiment of the present invention, the ARM core processors adopt LPC2103 chips.
Used as another kind of preferred version of the present invention, the inverter circuit is connected to form by motor drive ic IR2136 and three-phase full-bridge inverting circuit；HO1, HO3, HO5 port of the motor drive ic IR2136 connects respectively Q5, Q3, Q1 of three-phase full-bridge inverting circuit by resistance R9, R7, R5, and LO1, LO2, LO3 port of the motor drive ic IR2136 connects respectively Q6, Q4, Q2 of three-phase full-bridge inverting circuit by resistance R10, R8, R6.
Used as another kind of preferred version of the present invention, the Hall handle control module inside includes magnet and and Hall element.
Used as another kind of preferred version of the present invention, the acceleration read module adopts MEMS acceleration transducers.
The invention has the beneficial effects as follows.
1st, a kind of intelligent electric wheelchair that the present invention is provided, it is based on the common wheelchair modifying system of ARM microprocessor LPC2013, a kind of safety and stability, green energy conservation, cheap electric wheelchair modifying system, freely quickly can repack common wheelchair into electric wheelchair.The system adopts lithium battery power supply, and brshless DC motor drives and dismountable mechanical erection structure, the wherein driving of brshless DC motor using having Hall element pattern and without Hall element pattern and by the way of depositing, while being furnished with perfect protection circuit；The system is easily installed, and control is simple, easy to operate, with very high stability and practicality.
2nd, of the invention compared with existing electric wheelchair, the system can be reequiped to existing common wheelchair, low price, using stable convenient, while the use of Double Motor Control pattern and various protection circuits also substantially increase the reliability and security of system；Intelligent electric wheelchair of the present invention can be travelled stably more than 2 hours on smooth-riding surface, be turned to flexibly, and reversing, brake can be used normally, show that working state of system is relatively stable by observation circuit, can meet functional need.
Description of the drawings
Fig. 1 is a kind of system global structure block diagram of intelligent electric wheelchair of the invention.
Fig. 2 is a kind of inverter circuit circuit connection diagram of intelligent electric wheelchair of the invention.
Fig. 3 is a kind of protection circuit connection figure of intelligent electric wheelchair of the invention.
Specific embodiment
As shown in figure 1, for a kind of system global structure block diagram of intelligent electric wheelchair of the invention.In figure, including mechanical part, control section, lithium battery power supply part；Its structural feature is：The mechanical part is wheelchair entity, and the control section is combined using host computer and slave computer；The host computer includes an ARM core processors, and speed display module, electricity quantity display module, acceleration read module, Hall handle control module, reversing module, the brake module being connected with an ARM core processors；The slave computer includes the 2nd ARM core processors; and position detecting circuit, power driving circuit, the protection circuit being connected with the 2nd ARM core processors; and the inverter circuit being connected with the power driving circuit, while inverter circuit is also connected with position detecting circuit, protection circuit respectively；Communicated by serial communication mode between the host computer and slave computer.
The ARM core processors adopt LPC2103 chips；LPC2103 chips have 32 high speed GPIO lines of the external interrupt pin of up to 13 edges or level triggers, all timers have 4 registers that can be configured to PWM patterns, it is possible to while being exported as the PWM of single edge control using 3 matching outputs；It is particularly suitable for the control of motor.
As shown in Fig. 2 for a kind of inverter circuit circuit connection diagram of intelligent electric wheelchair of the invention.In figure, the inverter circuit is connected to form by motor drive ic IR2136 and three-phase full-bridge inverting circuit；HO1, HO3, HO5 port of the motor drive ic IR2136 connects respectively Q5, Q3, Q1 of three-phase full-bridge inverting circuit by resistance R9, R7, R5, and LO1, LO2, LO3 port of the motor drive ic IR2136 connects respectively Q6, Q4, Q2 of three-phase full-bridge inverting circuit by resistance R10, R8, R6.Inverter circuit is Y-connection three-phase bridge with armature winding combination, using PWM half-bridge modulation systems, in 120 ° of conductings are interval, and 60 ° of Heng Tongs before each switching tube, afterwards 60 ° adopt PWM；Power switch pipe is operated in two or two conduction modes, six kinds of conducting states of each power cycles, 60 ° of electrical angles of each state；The rotating of motor can be realized by changing the switching sequence of power switch.
The Hall handle control module inside includes magnet and and Hall element；Handle rotational band moving magnet is rotated, and Hall element senses that magnetic force signal just exports different magnitudes of voltage by holding wire, so as to reach the purpose of accurate manipulation controlled motor rotating speed.
The acceleration read module adopts MEMS acceleration transducers；The electricity quantity display module carries out level Four and shows using LED；Alarm is carried out when acceleration transducer has been detected substantially clashes into momentum or not enough power supply；Operator can easily detecting system practical operation situation, and be adjusted correspondingly.
As shown in figure 3, for a kind of protection circuit connection figure of intelligent electric wheelchair of the invention；The current value for collecting is by flowing through resistance R11 and R12, then is amplified through amplifying circuit, and the signal after amplification is compared again by the comparison circuit AD0.3 and scheduled current Iref being previously set；It is judged to excessively stream when electric current exceeds scheduled current, now slave computer Master control chip produces interrupt INT 1 and enters excessively stream adjustment programme, while generating abnormal frame and being sent to host computer.
It is understandable that, above with respect to the specific descriptions of the present invention, it is merely to illustrate the present invention and is not limited to the technical scheme described by the embodiment of the present invention, it will be understood by those within the art that, still the present invention can be modified or equivalent, to reach identical technique effect；As long as satisfaction uses needs, all within protection scope of the present invention.
Claims (5)
1. a kind of intelligent electric wheelchair, including mechanical part, control section, lithium battery power supply part；It is characterized in that：The mechanical part is wheelchair entity, and the control section is combined using host computer and slave computer；The host computer includes an ARM core processors, and speed display module, electricity quantity display module, acceleration read module, Hall handle control module, reversing module, the brake module being connected with an ARM core processors；The slave computer includes the 2nd ARM core processors; and position detecting circuit, power driving circuit, the protection circuit being connected with the 2nd ARM core processors; and the inverter circuit being connected with the power driving circuit, while inverter circuit is also connected with position detecting circuit, protection circuit respectively；Communicated by serial communication mode between the host computer and slave computer.
2. a kind of intelligent electric wheelchair according to claim 1, it is characterised in that：The ARM core processors adopt LPC2103 chips.
3. a kind of intelligent electric wheelchair according to claim 1, it is characterised in that：The inverter circuit is connected to form by motor drive ic IR2136 and three-phase full-bridge inverting circuit；HO1, HO3, HO5 port of the motor drive ic IR2136 connects respectively Q5, Q3, Q1 of three-phase full-bridge inverting circuit by resistance R9, R7, R5, and LO1, LO2, LO3 port of the motor drive ic IR2136 connects respectively Q6, Q4, Q2 of three-phase full-bridge inverting circuit by resistance R10, R8, R6.
4. a kind of intelligent electric wheelchair according to claim 1, it is characterised in that：The Hall handle control module inside includes magnet and and Hall element.
5. a kind of intelligent electric wheelchair according to claim 1, it is characterised in that：The acceleration read module adopts MEMS acceleration transducers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510739917.8A CN106667678A (en) | 2015-11-04 | 2015-11-04 | Intelligent electrically-powered wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510739917.8A CN106667678A (en) | 2015-11-04 | 2015-11-04 | Intelligent electrically-powered wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106667678A true CN106667678A (en) | 2017-05-17 |
Family
ID=58858153
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510739917.8A Pending CN106667678A (en) | 2015-11-04 | 2015-11-04 | Intelligent electrically-powered wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106667678A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107343833A (en) * | 2017-06-27 | 2017-11-14 | 上海互邦智能康复设备股份有限公司 | The brake method and driving and braking circuit of a kind of electric wheelchair using brushless electric machine driving |
| CN107450556A (en) * | 2017-09-11 | 2017-12-08 | 河北农业大学 | A kind of independent navigation intelligent wheel chair based on ROS |
-
2015
- 2015-11-04 CN CN201510739917.8A patent/CN106667678A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107343833A (en) * | 2017-06-27 | 2017-11-14 | 上海互邦智能康复设备股份有限公司 | The brake method and driving and braking circuit of a kind of electric wheelchair using brushless electric machine driving |
| CN107450556A (en) * | 2017-09-11 | 2017-12-08 | 河北农业大学 | A kind of independent navigation intelligent wheel chair based on ROS |
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Legal Events
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170517 |