CN108403319A - A kind of omnidirectional's electric wheelchair control system based on three-dimensional Hall control stick - Google Patents

A kind of omnidirectional's electric wheelchair control system based on three-dimensional Hall control stick Download PDF

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Publication number
CN108403319A
CN108403319A CN201810131237.1A CN201810131237A CN108403319A CN 108403319 A CN108403319 A CN 108403319A CN 201810131237 A CN201810131237 A CN 201810131237A CN 108403319 A CN108403319 A CN 108403319A
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China
Prior art keywords
control
wheelchair
wheel
omnidirectional
speed
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Chinese (zh)
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曾伟明
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Fujian Mingxin Intelligence Technology Co Ltd
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Fujian Mingxin Intelligence Technology Co Ltd
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Priority to CN201810131237.1A priority Critical patent/CN108403319A/en
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10Parts, details or accessories
    • A61G5/1051Arrangements for steering
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2200/00Information related to the kind of patient or his position
    • A61G2200/30Specific positions of the patient
    • A61G2200/34Specific positions of the patient sitting
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/10General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/14Joysticks

Abstract

The present invention relates to automatic control technology fields, especially a kind of omnidirectional's electric wheelchair control system based on three-dimensional Hall control stick, compared with prior art, the system is using the driving of 4 wheel omnidirectionals, realize any direction movement and original place rotation, it has been well adapted for narrow space, the environment more than barrier, has allowed electric wheelchair can be at home using more convenient;Parallel processing is carried out using different controllers using wheelchair status display and wheel chair sport control, the information exchange between controller is realized by bus, not only the real-time of Guarantee control system, but also system can be allowed to have good scalability;Brshless DC motor realizes speed adjustment by position closed loop, improves the stationarity of omni-directional wheel velocity of rotation, in addition, so that the synchronism of omnidirectional's wheelchair four wheels speed is more preferable by speed adjustment is realized in position, therefore, the movement of wheelchair is more steady;Perfect electric power detection, liquid crystal display, emergency stop processing, seat lifting module are added, hommization and security performance are enhanced.

Description

A kind of omnidirectional's electric wheelchair control system based on three-dimensional Hall control stick
Technical field
The present invention relates to automatic control technology field, especially a kind of omnidirectional's electric wheelchair based on three-dimensional Hall control stick Control system.
Background technology
Chinese population aging constantly aggravation, due to disease or physiological defect, the handicapped size of population is also continuous Increase, the problem of these people influence quality of life because handicapped as social concerns one of Important Problems.Electric wheelchair As a kind of simple, convenient, economic vehicles, ability to act of the elderly with disabled person is greatly improved, and then improve Their quality of life.But the Servo Control or turning radius of common two-wheel drive electric wheelchair currently on the market Greatly, it or needs first to move further along from after going to special angle, turning motion efficiency is low, at home answering more than this barrier It manipulates very convenient in miscellaneous environment, the applicability of electric wheelchair is affected, in addition, existing omnidirectional's wheelchair control system mostly uses Single Controller centralized control, lacks bus structures, and poor expandability is unfavorable for the intelligentized control method of wheelchair.
Invention content
For solve the problems, such as defect present in electric wheelchair in the prior art and, provide a kind of based on three-dimensional Hall control stick Omnidirectional's electric wheelchair control system.
The present invention is technical solution used by solving its technical problem:One kind of the present invention being based on three-dimensional Hall and manipulates Omnidirectional's electric wheelchair control system of bar includes three-dimensional Hall control stick, Joystick controller, master control circuit board, sub-control electricity Road plate, power module, LCD MODULE, wheelchair seat lifting module and motor servo drive module and 4 omni-directional wheels;Institute Three road output voltage signals of the three-dimensional Hall control stick of Joystick controller acquisition stated, three-dimensional motion is calculated according to voltage signal After controlling information, master control circuit board is sent information to;The master control circuit board handles motion control information, root It is calculated according to the Motion Controlling Model of 4 omni-directional wheels and obtains rotating speed and steering needed for each wheel, retransmit motor speed and steering Corresponding control signal gives motor servo drive module, to drive 4 brshless DC motors, motor to subtract by planet wheel decelerator After speed, omni-directional wheel rotation, and then controling wheelchair omnidirectional moving are driven, the movement is including planar movement at any angle and around vertical The rotation of ground central shaft, while the current movement of wheelchair and velocity of rotation value are sent to sub-control circuit plate;The sub-control Board receiver main control circuit partitioned signal detects battery dump energy, and counts remaining mileage number, then drives liquid crystal display Module shows current wheelchair speed, remaining mileage number and remaining capacity information;The power module is powered to entire circuit system; The raising and decline of the wheelchair seat lifting module control seat.
4 omni-directional wheels of omnidirectional's wheelchair being distributed as in the plane:The plane projection of (1) 4 wheel subcenter point On the same circle, round radius is R;(2) company of wheelchair direction of advance forward right side the wheel plane projection of W1 central points and center of circle O Line L1, the angle with the right side straight line L2 of vertical direction of advance is A1 degree;(3) it is directed toward wheel the shaft L3's and L2 on the outside of wheel Angle is A2 degree;(4) wheelchair direction of advance right lateral side wheel W4 and W1 relative rectilinears L2 is distributed for mirror image, and wheelchair direction of advance is left Side wheel W2, W3 wheelchair direction of advance straight line L opposite with right-hand wheel W4, W1 are distributed for mirror image.
The three-dimensional motion control information includes the advance axial velocity Va of omni-directional wheel chair, vertical direction of advance right-hand axis To speed Vb, and around the velocity of rotation Vc of axis by center of circle O and perpendicular to the ground, 3 speed and three-dimensional Hall control stick Correspondence be:(1) the ranging from 0-U of three road output voltage signal of operating lever, export U when correspond to maximum forward speed Vam, Maximum moves to right speed Vbm and maximum right-hand rotation speed Vcm, maximum astern speed-Vam is corresponded to when exporting 0, maximum moves to left speed-Vbm With maximum left-hand rotation speed-Vcm, Va=0, Vb=0, Vc=0 are corresponded to when exporting U/2;(2) when three road output voltage values of operating lever are When Ua, Ub and Uc, if 0<Ua<U/2, then Va=(1-2 ╳ Ua ÷ U) ╳ Vam, if U/2<Ua<U, then Va=(2 ╳ Ua ÷ U-1) ╳ Vam, if 0<Ub<U/2, then Va=(1-2 ╳ Ub ÷ U) ╳ Vbm, if U/2<Ub<U, then Va=(2 ╳ Ub ÷ U- 1) ╳ Vbm, if 0<Uc<U/2, then Vc=(1-2 ╳ Uc ÷ U) ╳ Vcm, if U/2<Uc<U, then Vc=(2 ╳ Uc ÷ U-1) ╳Vcm。
The Motion Controlling Model is:
V1=Va ╳ sin (A1+A2)-Vb ╳ cos (A1+A2)-Vc ╳ R ╳ cos (A2);
V2=Va ╳ sin (A1+A2)+Vb ╳ cos (A1+A2)-Vc ╳ R ╳ cos (A2);
V3=Va ╳ sin (A1+A2)-Vb ╳ cos (A1+A2)+Vc ╳ R ╳ cos (A2);
V4=Va ╳ sin (A1+A2)+Vb ╳ cos (A1+A2)+Vc ╳ R ╳ cos (A2);
Wherein:V1, V2, V3, V4 are respectively the rotation linear velocity of omni-directional wheel W1, W2, W3, W4, and unit is:Meter per second:;V1、 V2, V3, V4 are that timing indicates that wheel rotates forward, and indicate that wheel reversion, wheel have driven the rotation direction that wheelchair advances when being negative For forward direction;The velocity of rotation calculating formula of motor corresponding with omni-directional wheel is:
D1=10800 ╳ i ╳ V1 ÷ r ÷ ∏;
D2=10800 ╳ i ╳ V2 ÷ r ÷ ∏;
D3=10800 ╳ i ╳ V3 ÷ r ÷ ∏;
D4=10800 ╳ i ╳ V4 ÷ r ÷ ∏;
Wherein:D1, D2, D3, D4 are respectively the velocity of rotation that 4 omni-directional wheels correspond to motor, and unit is:Rev/min, r is The radius of omni-directional wheel, unit are:M, i are the reduction ratio of planet wheel decelerator.
The Three dimensional steerable rod controller includes a piece of 8 8-digit microcontroller MCU, passes through RS-485 buses and main control electricity Road plate connection.
The master control circuit board includes a piece of 32 8-digit microcontroller MCU, by I/O input signal detections and is handled The signal of scram button when needing emergency stop, forbids servo driver of motor to work by enable signal first, then by sending 4 Road analog voltage signal Uz gives the brake of 4 motors, and motor braking is stopped;Main control board also receives motor servo driving The pulse signal for 4 encoders that module feedback is returned, is calculated the actual rotation speed of 4 motors, is controlled in conjunction with movement Simulation carries out the calculating of wheelchair current movement speed and velocity of rotation.
The sub-control circuit plate includes a piece of 32 microcontrollers, and the sub-control circuit plate passes through modulus ADC conversion acquisition cell voltages carry out battery capacity detection, battery voltage value and charge value, and there are specific correspondences, by electricity Amount is insufficient to take 5 voltage values at equal intervals, the value to demarcate and determine by special instrument to electricity is full up.
The master control circuit board is connect with sub-control circuit plate by RS-485 buses;The power module is by 4 Block 12V lead-acid accumulators are composed in series, and are attached to key switch and are carried out switch control to power supply power supply;The liquid crystal display mode Block is 12864 liquid crystal displays.
The motor servo drive module is made of 4 direct current motor servo drivers, and brshless DC motor is by Hall Signal and back encoder signals realize current closed-loop, speed closed loop and position closed loop ring to direct current motor servo driver SERVO CONTROL, master control circuit board control turning for motor by being sent to the P-pulse number of driver in the control unit interval Speed, the rotation direction of the I/O signal control motors by being sent to driver, after planet wheel decelerator, drive is connected Omni-directional wheel does corresponding movement.
The seat lifting module is made of 2 relays, 1 electric putter, 2 buttons, button control relay It closes, controlling the flexible of electric putter by relay controls the lifting of seat.
The beneficial effects of the invention are as follows:Compared with prior art, of the invention a kind of based on the complete of three-dimensional Hall control stick To electric wheelchair control system using the driving of 4 wheel omnidirectionals, any direction movement and original place rotation are realized, sky has been well adapted for Between environment narrow, more than barrier, allow electric wheelchair can be at home using more convenient, 4 wheel omnidirectionals drivings and 3 wheel omnidirectionals drive phases Than chassis supports are more steady;Using 485 bus line connecting structure of multi-controller, by rocking bar signal processing, wheelchair status display and Wheel chair sport control carries out parallel processing using different controllers, realizes the information exchange between controller by bus, both protected The real-time of control system is demonstrate,proved, and system can be allowed to have good scalability;Brshless DC motor is realized by position closed loop Speed adjusts, and improves the stationarity of omni-directional wheel velocity of rotation, in addition, so that omnidirectional's wheelchair by speed adjustment is realized in position The synchronism of four wheels speed is more preferable, and therefore, the movement of wheelchair is more steady;Add perfect electric power detection, liquid crystal Show, emergency stop processing, seat lifting module, enhance hommization and security performance.
Description of the drawings
It is electronic to a kind of omnidirectional based on three-dimensional Hall control stick of the present invention with reference to the accompanying drawings and detailed description Wheelchair control system is described further.
Fig. 1 is that a kind of four-wheel drive of omnidirectional's electric wheelchair control system based on three-dimensional Hall control stick of the present invention is complete To wheelchair wheel distribution schematic diagram;
Fig. 2 is a kind of three-dimensional Hall of omnidirectional's electric wheelchair control system based on three-dimensional Hall control stick of the present invention Rocking bar signal and omnidirectional's wheelchair movable information compares figure;
Fig. 3 is a kind of wheelchair control system of omnidirectional's electric wheelchair control system based on three-dimensional Hall control stick of the present invention System general hardware block schematic illustration;
Fig. 4 is a kind of wheelchair seat liter of omnidirectional's electric wheelchair control system based on three-dimensional Hall control stick of the present invention Module diagram drops.
Specific implementation mode
As shown in Figures 1 to 4, a kind of omnidirectional's electric wheelchair control system packet based on three-dimensional Hall control stick of the invention Include three-dimensional Hall control stick, Joystick controller, master control circuit board, sub-control circuit plate, power module, liquid crystal display mode Block, wheelchair seat lifting module and motor servo drive module and 4 omni-directional wheels.LCD MODULE is 12864 liquid crystals Display screen.
As shown in Figures 1 to 4,4 omni-directional wheels of omnidirectional's wheelchair being distributed as in the plane:(1) 4 wheel subcenter point On the same circle, round radius is R for plane projection;(2) the W1 central points plane projection of wheelchair direction of advance forward right side wheel with The line L1 of center of circle O, the angle with the right side straight line L2 of vertical direction of advance is A1 degree;(3) wheel on the outside of wheel is directed toward to turn The angle of axis L3 and L2 are A2 degree;(4) wheelchair direction of advance right lateral side wheel W4 and W1 relative rectilinears L2 is distributed for mirror image, wheelchair Direction of advance left-hand wheel W2, W3 wheelchair direction of advance straight line Ls opposite with right-hand wheel W4, W1 is distributed for mirror image.This example takes R =0.36666 meter, A1=42.13 degree, A2=7.86 degree, r=0.12 meters, i=21, Vam=0.5 meter per seconds, Vbm=0.5 meters/ Second, Vcm=0.4 degrees seconds.
As shown in Figures 1 to 4, three road output voltage signals of the three-dimensional Hall control stick of Joystick controller acquisition, according to After voltage signal calculates three-dimensional motion control information, master control circuit board is sent information to.Three-dimensional Hall control stick generation X, Y, tri- axis signals of Z, Y-axis correspond to the movement speed value of wheelchair Y-axis component, and X-axis corresponds to the movement speed value of wheelchair Y-axis component, Z pairs Answer wheelchair Z axis velocity of rotation value, axis output voltage signal maximum value U=5V.Joystick controller includes a piece of 8 8-digit microcontroller MCU is connect by RS-485 buses with master control circuit board.Joystick controller uses PIC16F877 microcontrollers, serial interface Mouth connection RS485 electrical level transferring chips constitute 485 communication interfaces, and the three-dimensional Hall manipulation of AD input channels acquisition is carried by chip Gan tri- road voltage signal Ua, Ub and Uc, and three-dimensional Hall remote pole signal according to Fig.2, and omnidirectional's wheelchair movable information pair According to the calculated relationship in figure, wheelchair is obtained along X, Y, the velocity amplitude and directional velocity of Z-direction component, then by the velocity amplitude and speed Degree direction is sent to master control circuit board by RS485 interfaces.
As shown in Figures 1 to 4, three-dimensional motion control information includes the advance axial velocity Va of omni-directional wheel chair, vertical to advance Axial velocity Vb on the right side of direction, and around the velocity of rotation Vc of axis by center of circle O and perpendicular to the ground, 3 speed and three-dimensional The correspondence of Hall control stick is:(1) the ranging from 0-U of three road output voltage signal of operating lever, before corresponding to maximum when exporting U Speed Vbm and maximum right-hand rotation speed Vcm are moved to right into speed Vam, maximum, it is left that maximum astern speed-Vam, maximum are corresponded to when exporting 0 Speed-Vbm and maximum left-hand rotation speed-Vcm are moved, Va=0, Vb=0, Vc=0 are corresponded to when exporting U/2;(2) when three road of operating lever is defeated Go out voltage value be Ua, Ub and Uc when, if 0<Ua<U/2, then Va=(1-2 ╳ Ua ÷ U) ╳ Vam, if U/2<Ua<U, then Va =(2 ╳ Ua ÷ U-1) ╳ Vam, if 0<Ub<U/2, then Va=(1-2 ╳ Ub ÷ U) ╳ Vbm, if U/2<Ub<U, then Va= (2 ╳ Ub ÷ U-1) ╳ Vbm, if 0<Uc<U/2, then Vc=(1-2 ╳ Uc ÷ U) ╳ Vcm, if U/2<Uc<U, then (2 Vc= ╳Uc÷U-1)╳Vcm。
As shown in Figures 1 to 4, master control circuit board includes a piece of 32 8-digit microcontroller MCU, passes through I/O input signals The signal for detecting and handling scram button when needing emergency stop, forbids servo driver of motor to work by enable signal first, then By sending 4 road analog voltage signal Uz to the brake of 4 motors, motor braking is stopped;Main control board also receives electricity The actual rotation speed of 4 motors is calculated in the pulse signal for 4 encoders that machine servo-driven module is fed back, then The calculating of wheelchair current movement speed and velocity of rotation is carried out in conjunction with Motion Controlling Model.
As shown in Figures 1 to 4, master control circuit board handles motion control information, according to the movement of 4 omni-directional wheels Controlling model, which calculates, obtains rotating speed and steering needed for each wheel, retransmits motor speed and turns to corresponding control signal to electricity Machine servo-driven module after motor is slowed down by planet wheel decelerator, drives omnidirectional's rotation to drive 4 brshless DC motors Dynamic, and then controling wheelchair omnidirectional moving, which includes planar movement and the rotation around central shaft perpendicular to the ground at any angle, The current movement of wheelchair and velocity of rotation value are sent to sub-control circuit plate simultaneously;The sub-control circuit plate receives main control electricity Road partitioned signal detects battery dump energy, and counts remaining mileage number, and LCD MODULE is then driven to show current wheelchair speed Degree, remaining mileage number and remaining capacity information;The power module is powered to entire circuit system;The wheelchair seat lifts mould Block controls the raising and decline of seat.
As shown in Figures 1 to 4, master control circuit board controls chip, serial line interface connection using STM32F207VCT6 RS485 electrical level transferring chips build 2 road RS485 communication interfaces, are connect all the way with operation rod controller, receive Joystick controller The three-dimensional motion control information sent, connect all the way with sub-control plate, for sending the practical movement speed of wheelchair and velocity of rotation. It controls chip and rotating speed and direction of motor rotation needed for information calculating motor is controlled according to three-dimensional motion, and be converted to motor servo drive Unit interval pulse value needed for dynamic model block, and pulse value is exported by controlling capture/comparison module of chip, it realizes The given speed value of brshless DC motor controls, and direction of motor rotation is controlled by the I/O modules of motor drive module, given Determine high level to indicate to rotate forward, gives low level and indicate reversion.Control chip detects scram button by way of external interrupt, when When scram button is pressed, external interrupt is triggered, control chip forbids its work by the enabled I/O of motor servo drive module first Make, then by metal-oxide-semiconductor drive amplification circuit directly to the brake guaranties of 4 motors of connection so that brake, it will be electric Mechanism is dynamic, thus by wheelchair brake.Control chip acquires what motor servo drive module sended over by capture/comparison module Encoder pulse information, and calculate the practical movement speed and velocity of rotation for obtaining wheelchair.
As shown in Figures 1 to 4, Motion Controlling Model is:
V1=Va ╳ sin (A1+A2)-Vb ╳ cos (A1+A2)-Vc ╳ R ╳ cos (A2);
V2=Va ╳ sin (A1+A2)+Vb ╳ cos (A1+A2)-Vc ╳ R ╳ cos (A2);
V3=Va ╳ sin (A1+A2)-Vb ╳ cos (A1+A2)+Vc ╳ R ╳ cos (A2);
V4=Va ╳ sin (A1+A2)+Vb ╳ cos (A1+A2)+Vc ╳ R ╳ cos (A2);
Wherein:V1, V2, V3, V4 are respectively the rotation linear velocity of omni-directional wheel W1, W2, W3, W4, and unit is:Meter per second:;V1、 V2, V3, V4 are that timing indicates that wheel rotates forward, and indicate that wheel reversion, wheel have driven the rotation direction that wheelchair advances when being negative For forward direction;The velocity of rotation calculating formula of motor corresponding with omni-directional wheel is:
D1=10800 ╳ i ╳ V1 ÷ r ÷ ∏;
D2=10800 ╳ i ╳ V2 ÷ r ÷ ∏;
D3=10800 ╳ i ╳ V3 ÷ r ÷ ∏;
D4=10800 ╳ i ╳ V4 ÷ r ÷ ∏;
Wherein:D1, D2, D3, D4 are respectively the velocity of rotation that 4 omni-directional wheels correspond to motor, and unit is:Rev/min, r is The radius of omni-directional wheel, unit are:M, i are the reduction ratio of planet wheel decelerator.
As shown in Figures 1 to 4, the Master control chip of sub-control circuit plate uses STM32F031C4T6, serial line interface to connect It connects RS485 electrical level transferring chips and builds 1 road RS485 communication interfaces, the wheelchair movement which sends Speed and velocity of rotation information, sub-control circuit plate drive 12864 liquid crystal displays to show remaining capacity, wheelchair movement speed Value, wheelchair velocity of rotation value and remaining mileage number.Sub-control circuit plate includes a piece of 32 microcontrollers, sub-control electricity Road plate carries out battery capacity detection by modulus ADC conversion acquisition cell voltages, and battery voltage value and charge value exist specific Correspondence takes 5 voltage values at equal intervals, the value to demarcate and determine by special instrument by not enough power supply to electricity is full up.Master control Circuit board processed is connect with sub-control circuit plate by RS-485 buses.
As shown in Figures 1 to 4, power module is composed in series by 4 pieces of 12V lead-acid accumulators, and is attached to key switch to electricity Source power supply carries out switch control.Electric quantity of lead-acid storage battery detection is obtained by acquiring the voltage value of lead-acid batteries, voltage There are specific correspondences for value and charge value, take 5 voltage values, the value to pass through special instrument to electricity is full up by not enough power supply Calibration obtains, first by operational amplifier scale smaller after, then by the Master control chip of sub-control circuit plate The A D interface of STM32F031C4T6 is acquired.4 pieces of 12V lead-acid accumulators are composed in series the power supply of 48V in power module, and Subsidiary key switch carries out switch control to power supply power supply.Operate rod controller, master control circuit board and sub-control circuit plate electricity Machine is powered for 48V, and 48V power supplys are depressured by voltage reduction module and lift module for power supply to Three dimensional steerable bar and seat at 24V.
As shown in Figures 1 to 4, motor servo drive module is made of 4 direct current motor servo drivers, brushless dc Hall signal and back encoder signals to direct current motor servo driver, are realized current closed-loop, speed closed loop and position by machine The SERVO CONTROL of closed loop ring, master control circuit board are controlled by being sent to the P-pulse number of driver in the control unit interval The rotating speed of motor, the rotation direction of the I/O signal control motors by being sent to driver, after planet wheel decelerator, band It moves connected omni-directional wheel and does corresponding movement.
As shown in Figures 1 to 4, the pulse and direction signal that motor servo drive module is sent according to master control circuit board, Drive 4 brshless DC motors according to the pulse equivalency of regulation direction rotation response, it is straight that the acquisition of motor servo drive module is brushless The operating current of galvanic electricity machine, the pulse value of pulse coder carry out the Close loop servo control of position, while encoder pulse being turned Issue master control circuit board.
As shown in Figures 1 to 4, seat lifting module is made of 2 relays, 1 electric putter, 2 buttons, button control The closing of relay controls the flexible of electric putter by relay and controls the lifting of seat.Button control seat is increased to increase, It reduces button control seat to decline, two Relay Link Circuits constitute mutex relation, i.e., when pressing raising button, control electricity pushes away Bar rise relay be attracted, and another relay disconnect, otherwise when press reduce button when, control electric putter shrink after Electric appliance is attracted, and another relay disconnects, and then is controlled electric putter and stretched, and the lifting of wheelchair seat is driven.
In summary it is found that compared with prior art, a kind of omnidirectional based on three-dimensional Hall control stick of the invention is electronic Wheelchair control system is realized any direction movement and original place rotation, it is narrow to be well adapted for space using the driving of 4 wheel omnidirectionals Environment narrow, more than barrier electric wheelchair can be used at home more convenient, and 4 wheel omnidirectionals drivings drive with 3 wheel omnidirectionals and compare, Chassis supports are more steady;Using 485 bus line connecting structure of multi-controller, by rocking bar signal processing, wheelchair status display and wheel Chair motion control carries out parallel processing using different controllers, realizes the information exchange between controller by bus, both ensured The real-time of control system, and system can be allowed to have good scalability;Brshless DC motor realizes speed by position closed loop Degree adjustment, improves the stationarity of omni-directional wheel velocity of rotation, in addition, so that omnidirectional's wheelchair four by speed adjustment is realized in position The synchronism of a wheel speed is more preferable, and therefore, the movement of wheelchair is more steady;Add perfect electric power detection, liquid crystal display, Emergency stop processing, seat lift module, enhance hommization and security performance.
The description of property and not restrictive that the present invention is described according to an embodiment of the invention, it should be appreciated that In the case of not departing from relevant scope defined by the claims, those skilled in the art can make change or repair Change.

Claims (10)

1. a kind of omnidirectional's electric wheelchair control system based on three-dimensional Hall control stick, it is characterised in that:It is grasped including three-dimensional Hall Vertical pole, Joystick controller, master control circuit board, sub-control circuit plate, power module, LCD MODULE, wheelchair seat liter Module and motor servo drive module and 4 omni-directional wheels drop;The three-dimensional Hall control stick of Joystick controller acquisition Three road output voltage signals send information to master control circuit board after calculating three-dimensional motion control information according to voltage signal; The master control circuit board handles motion control information, is calculated and is obtained often according to the Motion Controlling Model of 4 omni-directional wheels Rotating speed and steering needed for a wheel retransmit motor speed and turn to corresponding control signal and give motor servo drive module, with 4 brshless DC motors are driven, after motor is slowed down by planet wheel decelerator, drive omni-directional wheel rotation, and then controling wheelchair is complete To movement, which includes planar movement and the rotation around central shaft perpendicular to the ground at any angle, while wheelchair when Forward Dynamic and velocity of rotation value is sent to sub-control circuit plate;The sub-control circuit plate receives main control circuit partitioned signal, detection electricity Pond remaining capacity, and count remaining mileage number, then drive LCD MODULE show current wheelchair speed, remaining mileage number and Remaining capacity information;The power module is powered to entire circuit system;The liter of the wheelchair seat lifting module control seat High and decline.
2. omnidirectional's electric wheelchair control system according to claim 1 based on three-dimensional Hall control stick, it is characterised in that: 4 omni-directional wheels of omnidirectional's wheelchair being distributed as in the plane:The plane projection of (1) 4 wheel subcenter point is same On circle, round radius is R;(2) the line L1 of the W1 central points plane projection of wheelchair direction of advance forward right side wheel and center of circle O, with The angle of the right side straight line L2 of vertical direction of advance is A1 degree;(3) angle of wheel the shaft L3 and L2 on the outside of direction wheel are A2 degree;(4) wheelchair direction of advance right lateral side wheel W4 and W1 relative rectilinears L2 is distributed for mirror image, wheelchair direction of advance left-hand wheel W2, W3 wheelchair direction of advance straight line L opposite with right-hand wheel W4, W1 are distributed for mirror image.
3. omnidirectional's electric wheelchair control system according to claim 1 based on three-dimensional Hall control stick, it is characterised in that: The three-dimensional motion control information includes the advance axial velocity Va of omni-directional wheel chair, vertical direction of advance right side axial velocity Vb, and around the velocity of rotation Vc of axis by center of circle O and perpendicular to the ground, 3 speed are corresponding with three-dimensional Hall control stick Relationship is:(1) the ranging from 0-U of three road output voltage signal of operating lever corresponds to maximum forward speed Vam, the maximum right side when exporting U Speed Vbm and maximum right-hand rotation speed Vcm are moved, maximum astern speed-Vam is corresponded to when exporting 0, maximum moves to left speed-Vbm and maximum Left-hand rotation speed-Vcm corresponds to Va=0, Vb=0, Vc=0 when exporting U/2;(2) when three road output voltage values of operating lever are Ua, Ub When with Uc, if 0<Ua<U/2, then Va=(1-2 ╳ Ua ÷ U) ╳ Vam, if U/2<Ua<U, then Va=(2 ╳ Ua ÷ U-1) ╳ Vam, if 0<Ub<U/2, then Va=(1-2 ╳ Ub ÷ U) ╳ Vbm, if U/2<Ub<U, then Va=(2 ╳ Ub ÷ U-1) ╳ Vbm, if 0<Uc<U/2, then Vc=(1-2 ╳ Uc ÷ U) ╳ Vcm, if U/2<Uc<U, then Vc=(2 ╳ Uc ÷ U-1) ╳ Vcm。
4. omnidirectional's electric wheelchair control system according to claim 1 based on three-dimensional Hall control stick, it is characterised in that: The Motion Controlling Model is:
V1=Va ╳ sin (A1+A2)-Vb ╳ cos (A1+A2)-Vc ╳ R ╳ cos (A2);
V2=Va ╳ sin (A1+A2)+Vb ╳ cos (A1+A2)-Vc ╳ R ╳ cos (A2);
V3=Va ╳ sin (A1+A2)-Vb ╳ cos (A1+A2)+Vc ╳ R ╳ cos (A2);
V4=Va ╳ sin (A1+A2)+Vb ╳ cos (A1+A2)+Vc ╳ R ╳ cos (A2);
Wherein:V1, V2, V3, V4 are respectively the rotation linear velocity of omni-directional wheel W1, W2, W3, W4, and unit is:Meter per second:;V1、V2、 V3, V4 are that timing indicates that wheel rotates forward, and indicate that wheel reversion, the rotation direction that wheel has driven wheelchair to advance are just when being negative Turn direction;The velocity of rotation calculating formula of motor corresponding with omni-directional wheel is:
D1=10800 ╳ i ╳ V1 ÷ r ÷ ∏;
D2=10800 ╳ i ╳ V2 ÷ r ÷ ∏;
D3=10800 ╳ i ╳ V3 ÷ r ÷ ∏;
D4=10800 ╳ i ╳ V4 ÷ r ÷ ∏;
Wherein:D1, D2, D3, D4 are respectively the velocity of rotation that 4 omni-directional wheels correspond to motor, and unit is:Rev/min, r is omnidirectional The radius of wheel, unit are:M, i are the reduction ratio of planet wheel decelerator.
5. omnidirectional's electric wheelchair control system according to claim 1 based on three-dimensional Hall control stick, it is characterised in that: The Three dimensional steerable rod controller includes a piece of 8 8-digit microcontroller MCU, is connected by RS-485 buses and master control circuit board It connects.
6. omnidirectional's electric wheelchair control system according to claim 1 based on three-dimensional Hall control stick, it is characterised in that: The master control circuit board includes a piece of 32 8-digit microcontroller MCU, by I/O input signal detections and handles scram button Signal, when needing emergency stop, forbid servo driver of motor to work by enable signal first, then pass through send 4 tunnels simulation electricity Signal Uz is pressed to stop motor braking to the brake of 4 motors;Main control board also receives motor servo drive module feedback The actual rotation speed of 4 motors is calculated in the pulse signal of 4 encoders back, in conjunction with Motion Controlling Model into The calculating of row wheelchair current movement speed and velocity of rotation.
7. omnidirectional's electric wheelchair control system according to claim 1 based on three-dimensional Hall control stick, it is characterised in that: The sub-control circuit plate includes a piece of 32 microcontrollers, and the sub-control circuit plate is adopted by modulus ADC conversions Current collection cell voltage carries out battery capacity detection, and battery voltage value and charge value are arrived there are specific correspondence by not enough power supply Electricity is full up to take 5 voltage values at equal intervals, the value to demarcate and determine by special instrument.
8. omnidirectional's electric wheelchair control system according to claim 1 based on three-dimensional Hall control stick, it is characterised in that: The master control circuit board is connect with sub-control circuit plate by RS-485 buses;The power module is by 4 blocks of 12V plumbic acids Accumulator is composed in series, and is attached to key switch and is carried out switch control to power supply power supply;The LCD MODULE is 12864 Liquid crystal display.
9. omnidirectional's electric wheelchair control system according to claim 1 based on three-dimensional Hall control stick, it is characterised in that: The motor servo drive module is made of 4 direct current motor servo drivers, and brshless DC motor is by hall signal and volume Code device signal feeds back to direct current motor servo driver, realizes the SERVO CONTROL of current closed-loop, speed closed loop and position closed loop ring, Master control circuit board controls the rotating speed of motor by being sent to the P-pulse number of driver in the control unit interval, passes through hair The rotation direction for giving the I/O signal control motors of driver drives connected omni-directional wheel to do phase after planet wheel decelerator The movement answered.
10. omnidirectional's electric wheelchair control system according to claim 1 based on three-dimensional Hall control stick, feature exist In:The seat lifting module is made of 2 relays, 1 electric putter, 2 buttons, the closing of button control relay, The flexible of electric putter, which is controlled, by relay controls the lifting of seat.
CN201810131237.1A 2018-02-09 2018-02-09 A kind of omnidirectional's electric wheelchair control system based on three-dimensional Hall control stick Pending CN108403319A (en)

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