CN109363844A - A kind of obstacle crosses over control device and control method - Google Patents
A kind of obstacle crosses over control device and control method Download PDFInfo
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- CN109363844A CN109363844A CN201811526170.8A CN201811526170A CN109363844A CN 109363844 A CN109363844 A CN 109363844A CN 201811526170 A CN201811526170 A CN 201811526170A CN 109363844 A CN109363844 A CN 109363844A
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- wheel
- power wheel
- supporting leg
- movable pulley
- horizontally
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- 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
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
-
- 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
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/068—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with extensible supports pushing upwards, e.g. telescopic legs
-
- 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
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/34—General characteristics of devices characterised by sensor means for pressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/40—General characteristics of devices characterised by sensor means for distance
Abstract
The invention discloses a kind of obstacles to cross over control device and control method, passes through setting mobile device and control system；Mobile devices are formed using fixed bracket and at least two rows of mobile supporting legs disposed in parallel for being fixed on lower end, in the fixed movable pulley in mobile supporting leg lower end, using electrodeless telescopic rod as mobile supporting leg, the mobile supporting leg of each can independently carry out electrodeless lifting, it is respectively driven by Retractive leg driving motor, every row's steamboat installation front position obstacle avoidance sensor and base pressure sensor, the contact situation of the detection of wheel preceding object and wheel with ground may be implemented, control system in real time controls motor driver using obstacle avoidance algorithm according to range sensor detection data, automatic lifting steamboat leaping over obstacles during forward-reverse, when encountering barrier, whole horizontality is kept using multiple mobile supporting leg difference collapsing lengths, the function of the automatic leaping over obstacles of electric wheelchair and stair activity is realized with this.
Description
Technical field
The invention belongs to mobile device control technology fields, and in particular to a kind of obstacle crosses over control device and controlling party
Method.
Background technique
The appearance of the vehicles substantially improves people and lives looks, wheeled vehicle ride instead of walk, in terms of it is great
People's lives are facilitated, improve the efficiency of every profession and trade, however Conventional drum vehicle is when in face of obstacles such as ladders, due to knot
Structure limitation, it is difficult to realize the walking on the obstacles such as ladder.Many producers design in recent years produces some obstacle detourings that can be realized
Mobile device has the wheelchair for climbing building function such as disability crowd design, it is auxiliary to can use the structures such as crawler belt, planetary gear
Wheelchair is helped to carry out obstacle detouring；Such as multi-foot robot, it can use a plurality of supporting leg free walker and walk to complete obstacle detouring task.However planetary gear
Scheme upstairs need to take people and adjust planetary gear and obstacle relative position in real time, upstairs by other people's auxiliary；Caterpillar belt structure is easy
Wheelchair direction is caused to deviate disequilibrium, it is also desirable to which other people's nurse, the self-determination climbing stairs that cannot be fully achieved under no other people's nurse are got over
Hinder function, while the whole process for climbing building and obstacle detouring is also required to take a long time；Multi-foot robot design is complicated, at high cost,
Practicability is poor.
Summary of the invention
The purpose of the present invention is to provide a kind of obstacles to cross over control device and control method, to overcome the prior art not
Foot.
In order to achieve the above objectives, the present invention adopts the following technical scheme:
A kind of obstacle crosses over control device, including mobile device and control system；
Wherein mobile device includes fixed bracket, mobile supporting leg and movable pulley, and fixed pedestal lower end is fixed at least two
The mobile supporting leg of arranging longitudinally parallel setting, transversely mobile supporting leg disposed in parallel, movable pulley are fixed at least three rows
Mobile supporting leg lower end, mobile supporting leg are electrodeless telescopic rod, are fixed on fixed bracket for driving mobile supporting leg electrodeless
Flexible electric expansion push-rod electric machine, mobile supporting leg lower end are equipped with the power wheel driving motor for driving movable pulley, driving
The output shaft of movable pulley and power wheel driving motor is fixed；Each driving movable pulley is fixedly arranged at the front end with a range sensor；
Control system includes master controller and the power for being used to control power wheel driving motor connecting with master controller
Wheel drive motor driver and electric expansion push-rod electric machine driver for controlling electric expansion push-rod electric machine；Master controller,
Power wheel drive motor driver and electric expansion push-rod electric machine driver are both secured on fixed bracket, range sensor connection
In master controller, fixed pedestal lower end is fixed with battery.
Further, power wheel driving motor uses brush direct current motor, power wheel driving motor and mobile supporting leg it
Between be fixedly connected by motor frame, motor frame lower end is equipped with driving motor mounting groove, and power wheel driving motor fixes
In in driving motor mounting groove, driving motor mounting groove one end is encapsulated by end cap, and dynamic movable pulley is fixed on power wheel drive electricity
On the output shaft of machine.
Further, fixed pedestal upper end is for fixing mobile vehicle；It is fixed with attitude transducer on fixed bracket, each
It is fixed with a force snesor between motor frame and mobile supporting leg, each force snesor is individually connect with master controller；
Force snesor is embedded in mobile supporting leg.
Further, attitude transducer uses six axis Together, digital gyroscope of MPU6050.
It further, is hollow structure, power wheel driving motor and controller and battery connecting line inside mobile supporting leg
It is placed in the hollow structure of mobile supporting leg.
Further, master controller uses ARM single-chip microcontroller.
A kind of obstacle crosses over the control method of control device, comprising the following steps: main controller controls respectively drive movable pulley
Driving while the traffic information for acquiring each driving movable pulley front end in real time by the range sensor of each driving movable pulley front end, when
When one of range sensor detects that there are barrier or tunnel in one of driving movable pulley front end, movable pulley is respectively driven
Stop driving, the mobile supporting leg that main controller controls fix the driving movable pulley is shunk or elongation, makes to drive movable pulley front end
Range sensor detect that the driving movable pulley in barrier or tunnel can contact barrier or tunnel surface, control each drive
Dynamic mobile wheel drive is mobile, successively detects other each driving wheel front end traffic informations, successively changes solid with other driving movable pulleys
Surely the mobile support leg length connected, passes through the barrier or tunnel.
Further, when one of mobile supporting leg is shunk or elongation to extreme position, other movement supporting legs are same
Shi Shenchang or contraction, until barrier or tunnel surface can be contacted by encountering barrier or the driving movable pulley in tunnel；If its
In a mobile supporting leg contraction and other movement supporting leg extended length maximum values to be less than obstacle height or tunnel deep
Degree, then alarm cannot be passed through by issuing.
Further, if being horizontally-arranged perpendicular to row's movable pulley along moving direction, if the first horizontally-arranged power wheel is the 1st horizontal
Skate, last horizontally-arranged power wheel are the horizontally-arranged wheel of M, and whether the range sensor before each movable pulley persistently detects power wheel front
There are obstacles；If there are obstacle, each power wheel driving motors to stop operating in front, if there are obstacle in front of the 1st horizontally-arranged wheel,
Other all mobile supporting legs in addition to the 1st horizontally-arranged wheel are extended, until free of obstacles in front of the 1st horizontally-arranged wheel, drives other
Movable pulley moves on；If not in front of the 1st horizontally-arranged wheel, there are obstacles, then shorten this horizontally-arranged power wheel supporting leg, be individually lifted this
Mobile supporting leg is arranged, so far free of obstacles stops in front of horizontally-arranged power wheel, and the rotation of remaining power wheel driving motor moves on,
Thus cross-domain barrier process is completed.
Further, the range sensor in moving process before each movable pulley persistently detects in front of power wheel with the presence or absence of hole
Road, then power wheel driving motor stop operating original place waiting, if M row power wheel it is hanging, then shorten except M row power wheel stretch
All Retractive legs, decline vehicle outside contracting leg, and M skate declines with vehicle, until M skate contacts ground；If hanging power
Wheel is not M skate, then extends this row's Retractive leg to row's power wheel and contact ground, remaining power wheel driving motor starts turning
Start to advance.
Further, if constant airspeed is V0 when the present apparatus moves forward, if in front of the 1st horizontally-arranged wheel when detection obstacle or inspection
When hanging out, the horizontally-arranged wheel of record the 1st is shunk or the height of elongation is L0, remembers this movement for movement J；Subsequent wheelchair with speed V0 after
It is continuous to move forward, in front of the 2nd horizontally-arranged wheel when detection obstacle or when detection is hanging, J directly is acted to the 2nd horizontally-arranged wheel execution, together
Shi Jicong the 1st is horizontally-arranged, and the work that moves in turn completes wheelchair and starts to move forward at the time of the 2nd horizontally-arranged wheel detects state change wheelchair forward
Mobile total time is Tj, and wheelchair normally advances after record；Setting after the i-th skate execution movement j in time Tj, to i-th+
1 skate execution acts j, and normal traveling of the wheelchair in going up or down stairway and obstacle detouring can successively be rapidly completed.
Compared with prior art, the invention has the following beneficial technical effects:
A kind of obstacle of the present invention crosses over control device, passes through setting mobile device and control system；Using fixed bracket and
At least two rows of mobile supporting leg composition mobile devices disposed in parallel of lower end are fixed on, in the fixed movement in mobile supporting leg lower end
Wheel, using electrodeless telescopic rod as mobile supporting leg, the mobile supporting leg of each can independently carry out electrodeless lifting, by Retractive leg
Driving motor respectively drives, every row's steamboat installation front position obstacle avoidance sensor and base pressure sensor, before wheel may be implemented
The contact situation of square obstacle detection and wheel with ground, control system utilize obstacle avoidance algorithm according to range sensor detection data
Motor driver is controlled in real time, automatic lifting steamboat leaping over obstacles during forward-reverse, when encountering barrier,
Whole horizontality is kept using multiple mobile supporting leg difference collapsing lengths, the automatic leaping over obstacles of electric wheelchair is realized with this
And the function of stair activity.
A kind of obstacle of the present invention crosses over control device control method, detects road in front of each movable pulley using range sensor
Face situation controls the collapsing length of different mobile supporting legs, controller combination posture sensing according to different road conditions barrier situations
Device keeps the horizontality of single unit system, to realize the purpose of single unit system across obstacle.
Detailed description of the invention
Fig. 1 is structure of the invention main view.
Fig. 2 is structure of the invention side view.
Fig. 3 is that the present invention crosses over single-stage rising step schematic diagram.
Fig. 4 is that spanning multilevel of the present invention rises step schematic diagram.
Fig. 5 is that the present invention crosses over single-stage decline step schematic diagram
Fig. 6 is dimensional parameters schematic diagram of the present invention.
Fig. 7 is that the multistage obstacle of the present invention passes through parameter schematic diagram.
Fig. 8 is mobile support leg structure schematic diagram.
Fig. 9 is power wheel driving motor mounting structure cross-sectional view.
Figure 10 is power wheel driving motor side view.
Figure 11 is control system block diagram of the present invention.
Figure 12 is control method flow chart of the present invention.
Figure 13 is control method optimization algorithm flow chart of the present invention.
In figure, 1, fixed bracket；2, mobile supporting leg；3, movable pulley；4, power wheel driving motor；5, electric expansion push rod
Motor；6, power wheel drive motor driver；7, electric expansion push-rod electric machine driver；8, battery；9, mobile vehicle；10, main
Controller；11, range sensor；12, attitude transducer；13, force snesor；14, motor frame.
Specific embodiment
The invention will be described in further detail with reference to the accompanying drawing:
As shown in Figure 1 and Figure 2, a kind of obstacle crosses over control device, including mobile device and control system；
Wherein mobile device includes fixed bracket 1, mobile supporting leg 2 and movable pulley 3, is vertical with present apparatus moving direction
To perpendicular to present apparatus moving direction for laterally, fixed 1 lower end of bracket is fixed with the movement of at least two rows of longitudinally parallel settings
Transversely mobile supporting leg 2 disposed in parallel, movable pulley 3 are fixed on mobile 2 lower end of supporting leg by supporting leg 2, at least three rows, mobile
Supporting leg 2 is electrodeless telescopic rod, is fixed on fixed bracket 1 for driving the electrodeless flexible electric expansion of mobile supporting leg 2 to push away
Bar motor 5, mobile 2 lower end of supporting leg are equipped with the power wheel driving motor 4 for driving movable pulley 3, drive movable pulley 3 and power
The output shaft of wheel drive motor 4 is fixed；Each driving movable pulley 3 is fixedly arranged at the front end with a range sensor 11, for detecting this
Whether whether driving wheel leading portion section have obstacle or be tunnel；
As shown in Figures 9 and 10, power wheel driving motor 4 uses brush direct current motor, power wheel driving motor 4 and mobile branch
It is fixedly connected between support leg 2 by motor frame 14,14 lower end of motor frame is equipped with driving motor mounting groove, and power wheel drives
Dynamic motor 4 is fixed in driving motor mounting groove, and driving motor mounting groove one end is encapsulated by end cap 5, end cap 5 and driving motor
Frame 14 is fixedly connected by screw, and driving movable pulley 3 is fixed on the output shaft of power wheel driving motor 4, and driving power wheel 3 is complete
Movement before and after forming apparatus；Motor frame 14 is fixedly connected with mobile 2 lower end of supporting leg；Each driving 3 front end of movable pulley
Range sensor 11 is fixed in the motor frame 14 fixed with respective drive movable pulley 3；
Fixed 1 upper end of bracket is for fixing mobile vehicle 9；It is fixed with attitude transducer 12 on fixed bracket 1, such as Fig. 8 institute
Show, be fixed with a force snesor 13 between each motor frame 14 and mobile supporting leg 2, each force snesor 13 individually with
Master controller 10 connects, and range sensor 11 is connected to master controller 10, and range sensor 11 transmits signal and each power senses
The corresponding setting of device 13；Force snesor 13 is embedded in mobile supporting leg 2；
As shown in Figure 4 and 11: control system includes master controller 10 and connect with master controller 10 multiple for controlling
The power wheel drive motor driver 6 of power wheel driving motor 4 and the electric expansion for controlling electric expansion push-rod electric machine 5 push away
Bar motor driver 7；The independent one power wheel drive motor driver 6 of connection of each power wheel driving motor 4, it is each electronic to stretch
Contracting push-rod electric machine 5 individually connects an electric expansion push-rod electric machine driver 7；Master controller 10, the driving of power wheel driving motor
Device 6 and electric expansion push-rod electric machine driver 7 are both secured on fixed bracket 1, and fixed 1 lower end of bracket is fixed with battery 8, battery
8 provide power supply for whole system；
Attitude transducer uses six axis Together, digital gyroscope of MPU6050；
It is that hollow structure, power wheel driving motor 4 and controller and battery connecting line are placed in movement inside mobile supporting leg 2
In the hollow structure of supporting leg 2；Or power wheel driving motor 4 is fixed on mobile supporting leg 2 with controller and battery connecting line
Outside；
Wheelchair using DC brushless motor provide power, driving power wheel complete wheelchair before and after movement, select direct current without
Brush motor drives the elongation of stepless retractable supporting leg to shorten leaping over obstacles.
Master controller uses ARM single-chip microcontroller, cooperate distance detection sensor and attitude transducer complete automatic stari creeping, across
Obstacle-overpass function.
As shown in Figures 1 to 5, the present invention specifically gives the mobile wheelchair that control device is crossed over based on obstacle, and user is logical
It crosses rocking bar and issues forward or backward instruction, it is setting in motion that power wheel driving motor, which receives instruction, drives wheelchair forward or backward
Traveling.
The mobile driving functions of wheelchair are completed using multiple rows of steamboat, every row is located at wheelchair chair body two there are two power wheel
Side installs the power wheel of different numbers of rows according to different chair body lengths, drains into M row for the 1st.Have on each power wheel electrodeless flexible
Supporting leg connection, each supporting leg can be adjusted with independent telescope, as shown in figure 3, when wheelchair encounters single-stage ladder, each support
Leg is adjustable to the position being bonded with landform at this time；As shown in figure 4, each supporting leg is same when wheelchair encounters multistage ladder
Sample is adjustable to the position being bonded with multistage terrace relief；
Each supporting leg can be extending or foreshorten to any in adjustable range with stepless retractable, independent control
Length simultaneously remains unchanged support wheelchair chair body, is adapted to various step shapes and obstacle height.
As shown in Figure 12 and Figure 13, the present invention is that fixed mobile vehicle explains with wheelchair, and a kind of obstacle crosses over control device
Control method, master controller 10 control each driving movable pulley 3 driving while by the range sensors of each driving 3 front end of movable pulley
11 acquire the traffic information of each driving 3 front end of movable pulley in real time, when one of range sensor 11 detects one of drive
Each that movable pulley 3 is driven to stop driving when there are barrier or tunnel in dynamic 3 front end of movable pulley, the drive is fixed in the control of master controller 10
The mobile supporting leg 2 of dynamic movable pulley 3 is shunk or elongation, and the range sensor 11 for driving 3 front end of movable pulley is made to detect barrier
Or the driving movable pulley 3 in tunnel can contact barrier or tunnel surface, control each driving of driving movable pulley 3 movement, successively
Other each driving wheel front end traffic informations are detected, it is long successively to change the mobile supporting leg 2 being fixedly connected with other driving movable pulleys 3
Degree, passes through the barrier or tunnel.When one of mobile contraction of supporting leg 2 or elongation to extreme position, other movement branch
Support leg 2 is extended or is shunk simultaneously, until barrier or tunnel table can be contacted by encountering barrier or the driving movable pulley 3 in tunnel
Face；If the contraction of one of mobile supporting leg 2 and other movement 2 extended length maximum values of supporting leg be less than obstacle height or
Person tunnel depth, then alarm cannot be passed through by issuing.
Specifically, when all mobile supporting legs are in flexible limiting condition when driving, if perpendicular to along the present apparatus side of movement
To row's movable pulley be it is horizontally-arranged, if the first horizontally-arranged power wheel be the 1st horizontally-arranged wheel, last horizontally-arranged power wheel be the horizontally-arranged wheel of M,
Range sensor before each movable pulley persistently detects in front of power wheel with the presence or absence of obstacle；If there are obstacle, each power in front
Wheel drive motor stalls original place waits；Judge whether it is the 1st horizontally-arranged wheel, if the 1st horizontally-arranged wheel, then it is horizontally-arranged to remove the 1st for elongation
Other all mobile supporting legs other than wheel are lifted vehicle height, and the 1st horizontally-arranged wheel is mobile to support leg length constant, power wheel with
Vehicle lifting, until free of obstacles stops in front of the 1st horizontally-arranged wheel, at this time except remaining power wheel driving motor of the 1st horizontally-arranged wheel turns
It is dynamic to move on；If not the 1st horizontally-arranged wheel, then shorten this horizontally-arranged power wheel supporting leg, is individually lifted this row's wheel, it is so far horizontally-arranged
Free of obstacles stops in front of power wheel, and the rotation of remaining power wheel driving motor moves on, and thus completes cross-domain barrier mistake
Journey；Each force snesor persistently detects whether that dynamic wheel is hanging simultaneously, if dynamic wheel is hanging, power wheel driving motor stops
Original place is rotated to wait；Judged according to power wheel row number, it is hanging if M row's power wheel, then shorten except M row's power wheel is stretched
All Retractive legs, decline vehicle outside contracting leg, and M skate declines with vehicle, until M skate contacts ground；If hanging power
Wheel is not M skate, then extends this row's Retractive leg to row's power wheel and contact ground, power wheel driving motor starts turning beginning
Advance, so far completes process of getting out of a predicament or an embarrassing situation.
Wheelchair user, which is sitting on wheelchair, only needs to operate the instructions such as control mechanism sending forward-reverse steering, in detection i.e.
Function of getting out of a predicament or an embarrassing situation is automatically performed by controller.
To promote the obstacle detouring efficiency of wheelchair, wheelchair is improved in the travel speed for having obstacle road surface, optimization algorithm, only to the
1 horizontally-arranged wheel carries out preceding object detection and hanging detection with the 2nd horizontally-arranged wheel, calculates the action step of remaining row's power wheel, if
Constant airspeed is V0 when wheelchair moves forward, if in front of the 1st horizontally-arranged wheel when detection obstacle or when detection is hanging, according to step before
The contraction or elongation of mobile supporting leg are carried out, the horizontally-arranged wheel of record the 1st is shunk or the height of elongation is L0, is located at before this movement
The 1st skate movement j-1 has been recorded, that is, has remembered this movement for movement J；Subsequent wheelchair is continued to move along with speed V0, when the 2nd cross
In front of skate when detection state change, J directly is acted to the 2nd horizontally-arranged wheel execution, while remembering from the 1st horizontally-arranged move in turn and making completion wheelchair
The total time that wheelchair moves forward at the time of starting to move forward to the 2nd horizontally-arranged wheel detection state change is Tj, wheelchair after record
It is normal to advance；Setting acts j after execution acts j to the i-th (M > i > 1) skate in time Tj, to i+1 skate execution, successively
Normal traveling of the wheelchair in going up or down stairway and obstacle detouring can be rapidly completed.
Whether wheelchair, which can normally complete up/down steps process, following decision algorithm, in top bar, as shown in figure 13,
When original state, all telescopic support legs are in shrinkage limit state, if the maximum length that telescopic support legs can stretch out is H,
First row power wheel and M row's power wheel distance are L, and in top bar process, first row power wheel detects first order step
Afterwards, wheelchair is lifted according to mode described in Figure 12 and detects the first skate of obstacle, if first row power wheel, which is raised to, to be lifted
When the limit of rise, detecting in front of the power wheel of obstacle still has obstacle, then the step can not be crossed over, and sounds an alarm, if wheel
Chair can normally advance, and when first row power wheel detects second level step, record the width h and height l of the step, when
When H < (L/l+1) * h, which can not be crossed over, and sound an alarm；
When getting out of a predicament or an embarrassing situation process, all telescopic support legs are in elongation limiting condition, and first row power wheel detects vacantly
Afterwards, if first row supporting leg is extended to the extending limit, first row power wheel is still hanging, then is unable to complete successfully and got out of a predicament or an embarrassing situation
Journey, when first row power wheel detects hanging for the second time, automatically records the width of the step if this process can smoothly advance
H and height l sets the maximum length that supporting leg can stretch out equally as H, and first row power wheel is with M row's power wheel distance
L can not normally complete the process of getting out of a predicament or an embarrassing situation, sound an alarm as H < (L/l+1) * h.
Claims (10)
1. a kind of obstacle crosses over control device, which is characterized in that including mobile device and control system；
Wherein mobile device includes fixed bracket (1), mobile supporting leg (2) and movable pulley (3), and fixed bracket (1) lower end is fixed
There are the mobile supporting legs (2) of at least two rows of longitudinally parallel settings, at least three rows transversely mobile supporting leg disposed in parallel
(2), movable pulley (3) is fixed on mobile supporting leg (2) lower end, and mobile supporting leg (2) are electrodeless telescopic rod, on fixed bracket (1)
It is fixed with for driving the electrodeless flexible electric expansion push-rod electric machine (5) of mobile supporting leg (2), mobile supporting leg (2) lower end is set
There is the power wheel driving motor (4) for driving movable pulley (3), drives the output of movable pulley (3) and power wheel driving motor (4)
Axis is fixed；Each driving movable pulley (3) is fixedly arranged at the front end with a range sensor (11)；
Control system include master controller (10) and connect with master controller (10) for controlling power wheel driving motor (4)
Power wheel drive motor driver (6) and for controlling electric expansion push-rod electric machine (5) electric expansion push-rod electric machine driving
Device (7)；Master controller (10), power wheel drive motor driver (6) and electric expansion push-rod electric machine driver (7) are both secured to
On fixed bracket (1), range sensor (11) is connected to master controller (10), and fixed bracket (1) lower end is fixed with battery (8).
2. a kind of obstacle according to claim 1 crosses over control device, which is characterized in that power wheel driving motor (4) is adopted
With brush direct current motor, connect between power wheel driving motor (4) and mobile supporting leg (2) by the way that motor frame (14) are fixed
It connects, motor frame (14) lower end is equipped with driving motor mounting groove, and power wheel driving motor (4) is fixed on driving motor mounting groove
Interior, driving motor mounting groove one end is encapsulated by end cap (5), and dynamic movable pulley (3) are fixed on the output of power wheel driving motor (4)
On axis.
3. a kind of obstacle according to claim 2 crosses over control device, which is characterized in that fixed bracket (1) upper end is used for
Fixed mobile vehicle (9)；It is fixed with attitude transducer (12) on fixed bracket (1), each motor frame (14) and mobile branch
A force snesor (13) is fixed between support leg (2), each force snesor (13) individually connect with master controller (10)；Power passes
Sensor (13) is embedded in mobile supporting leg (2).
4. a kind of obstacle according to claim 1 crosses over control device, which is characterized in that attitude transducer uses
Six axis Together, digital gyroscope of MPU6050.
5. a kind of obstacle according to claim 1 crosses over control device, which is characterized in that master controller uses ARM monolithic
Machine.
6. a kind of control method for crossing over control device based on a kind of obstacle described in claim 1, which is characterized in that including with
Lower step: each driving movable pulley (3) of master controller (10) control drives while passing through the distance biography of each driving movable pulley (3) front end
Sensor (11) acquires the traffic information of each driving movable pulley (3) front end in real time, when one of range sensor (11) detects
When there are barrier or tunnel in one of driving movable pulley (3) front end, respectively movable pulley (3) is driven to stop driving, master controller
(10) control fix the driving movable pulley (3) mobile supporting leg (2) shrink or elongation, make drive movable pulley (3) front end away from
It detects that the driving movable pulley (3) in barrier or tunnel can contact barrier or tunnel surface from sensor (11), controls
Each driving movable pulley (3) driving movement, successively detects other each driving wheel front end traffic informations, successively changes and moves with other drivings
Mobile supporting leg (2) length that driving wheel (3) is fixedly connected, passes through the barrier or tunnel.
7. the control method that a kind of obstacle according to claim 6 crosses over control device, which is characterized in that when one of them
When mobile supporting leg (2) contraction or elongation to extreme position, other movements supporting leg (2) extend simultaneously or contraction, up to encountering
The driving movable pulley (3) in barrier or tunnel can contact barrier or tunnel surface；One of if mobile supporting leg (2)
Contraction and other movement supporting leg (2) extended length maximum values be less than obstacle height or tunnel depth, then issue cannot
Pass through alarm.
8. the control method that a kind of obstacle according to claim 6 crosses over control device, which is characterized in that set perpendicular to edge
One row's movable pulley of moving direction is horizontally-arranged, if the first horizontally-arranged power wheel is the 1st horizontally-arranged wheel, last horizontally-arranged power wheel is M
Horizontally-arranged wheel, the range sensor before each movable pulley persistently detect in front of power wheel with the presence or absence of obstacle；If front there are obstacle,
Each power wheel driving motor stops operating, if there are obstacles in front of the 1st horizontally-arranged wheel, extends other in addition to the 1st horizontally-arranged wheel
All mobile supporting legs, until free of obstacles in front of the 1st horizontally-arranged wheel, drives other movable pulleys to move on；If not the 1st is horizontally-arranged
There are obstacles in wheel front, then shorten this horizontally-arranged power wheel supporting leg, are individually lifted this and arrange mobile supporting leg, so far horizontally-arranged power wheel
Front free of obstacles stops, and the rotation of remaining power wheel driving motor moves on, and thus completes cross-domain barrier process.
9. the control method that a kind of obstacle according to claim 6 crosses over control device, which is characterized in that in moving process
Range sensor before each movable pulley is persistently detected with the presence or absence of tunnel in front of power wheel, then power wheel driving motor stops operating
Original place waits, hanging if M row's power wheel, then shortens all Retractive legs in addition to M arranges power wheel Retractive leg, make under vehicle
Drop, M skate decline with vehicle, until M skate contacts ground；If hanging power wheel is not M skate, extends this row and stretch
Contracting leg to row's power wheel contacts ground, remaining power wheel driving motor, which starts turning, to be started to advance.
10. the control method that a kind of obstacle according to claim 8 crosses over control device, which is characterized in that set the present apparatus
Constant airspeed is V0 when forward movement, if in front of the 1st horizontally-arranged wheel when detection obstacle or when detection is hanging, the horizontally-arranged wheel of record the 1st is received
The height of contracting or elongation is L0, remembers this movement for movement J；Subsequent wheelchair is continued to move along with speed V0, before the 2nd horizontally-arranged wheel
When side's detection obstacle or when detection is hanging, J directly is acted to the 2nd horizontally-arranged wheel execution, while remembering from the 1st horizontally-arranged work that moves in turn and completing wheel
The total time that wheelchair moves forward at the time of chair starts to move forward to the 2nd horizontally-arranged wheel detection state change is Tj, records rear-wheel
Chair normally advances；Setting acts j after execution acts j to the i-th skate in time Tj, to i+1 skate execution, successively can be fast
Speed completes normal traveling of the wheelchair in going up or down stairway and obstacle detouring.
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| CN201811526170.8A CN109363844A (en) | 2018-12-13 | 2018-12-13 | A kind of obstacle crosses over control device and control method |
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| CN201811526170.8A CN109363844A (en) | 2018-12-13 | 2018-12-13 | A kind of obstacle crosses over control device and control method |
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| CN109363844A true CN109363844A (en) | 2019-02-22 |
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| CN201811526170.8A Pending CN109363844A (en) | 2018-12-13 | 2018-12-13 | A kind of obstacle crosses over control device and control method |
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| CN110693652A (en) * | 2019-10-12 | 2020-01-17 | 秦蓓 | Restraint chair suitable for neurology department |
| CN111267793A (en) * | 2020-02-11 | 2020-06-12 | 北京眸视科技有限公司 | Obstacle-surmountable robot and obstacle-surmountable method thereof |
| CN112228505A (en) * | 2020-10-21 | 2021-01-15 | 纪艳 | Textile machine with damping function |
| CN112276447A (en) * | 2020-10-23 | 2021-01-29 | 金陵科技学院 | Electric welding device for building construction |
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| CN115024907A (en) * | 2022-05-19 | 2022-09-09 | 浙江大学 | Manpower contraction type barrier-free mobile hospitalizing system for ophthalmologic hospitalizing |
| CN114948465A (en) * | 2022-05-19 | 2022-08-30 | 浙江大学 | Barrier-free hospitalizing method for ophthalmologic hospitalizing disorder |
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