CN109374206A - The method and apparatus of electric intelligent wheelchair balance are determined according to acceleration ball - Google Patents
The method and apparatus of electric intelligent wheelchair balance are determined according to acceleration ball Download PDFInfo
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- CN109374206A CN109374206A CN201811471799.7A CN201811471799A CN109374206A CN 109374206 A CN109374206 A CN 109374206A CN 201811471799 A CN201811471799 A CN 201811471799A CN 109374206 A CN109374206 A CN 109374206A
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- 230000001133 acceleration Effects 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000012360 testing method Methods 0.000 claims abstract description 16
- 238000005096 rolling process Methods 0.000 claims abstract description 14
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 8
- 239000004744 fabric Substances 0.000 claims abstract description 4
- 229910052742 iron Inorganic materials 0.000 claims abstract description 4
- 229920003023 plastic Polymers 0.000 claims abstract description 4
- 239000004033 plastic Substances 0.000 claims abstract description 4
- 238000005259 measurement Methods 0.000 claims description 13
- 238000009434 installation Methods 0.000 abstract description 3
- 238000013112 stability test Methods 0.000 abstract description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000035882 stress Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/14—Determining imbalance
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/14—Determining imbalance
- G01M1/16—Determining imbalance by oscillating or rotating the body to be tested
- G01M1/28—Determining imbalance by oscillating or rotating the body to be tested with special adaptations for determining imbalance of the body in situ, e.g. of vehicle wheels
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of method and apparatus that electric intelligent wheelchair balance is determined according to acceleration ball.The equal bearing of two radius is specially arranged in parallel, wheelchair front wheel is placed on a bearing, and rear-wheel is placed on a bearing, wheelchair front wheel and rear-wheel can be driven to roll with the rolling of bearing；Bearing is equipped with rotation drive motor, and the frictional force for adjusting wheelchair two-wheel is arranged by electromotor velocity, and sensor is imbedded in iron sheet, cloth or plastics, is then wrapped on rolling bearing, forms sensing layer；The outer surface of tire of wheelchair, sensor is either wrapped in not move with wheel or bearing element or close to tire and the installation of bearing touch point, sensor directly.The present invention is set by the position of sensor, the three-dimensional acceleration of wheelchair in traveling process is measured simultaneously, according to the shape of acceleration ball, determine whether to balance, wheelchair balance result can be obtained in durability test, avoid slope test and the stability test of wheelchair, reliable test result.
Description
Technical field
The present invention relates to the detection methods of moving trolley, determine electronic intelligence according to acceleration ball more particularly, to a kind of
The method and apparatus of energy wheelchair balance.
Background technique
With the development of intelligent control and lithium battery technology, vehicle technology obtains development at full speed.Electric wheel-chair vehicle,
For some elderly populations or handicapped crowd, it is considered to be present optimal walking-replacing tool is especially increasingly tight
The aging of weight makes daily necessities of the electric wheelchair as the elderly.With China's expanding economy and living standards of the people
It improves, China electric vehicle market nor normalizing are quick-fried.That be mainly directed towards due to intelligent electric wheelchair is the elderly and handicapped people
Scholar, safety are put forward higher requirements.
According to statistics, the whole world uses about 100,000,000 people of wheelchair person, wherein annual about 10% people is sent out during using wheelchair
Gave birth to accident, wherein 60% or more be due to wheelchair balance it is bad caused by.Meanwhile these example ratios are also increasing year by year
Add.
Currently, wheelchair durability test is tried by two-wheel rolling according to standard GB/T/T-2012 " electric wheel-chair vehicle "
Completion is tested, which can directly detect the durability of wheelchair, can only detect balance indirectly.Wheelchair can straight line advance then
It tests and completes by slope art skating, although intuitive simple, need a large amount of manpower and material resources and time.
Patent " a kind of wheelchair stability detector and method, 201710589767.7 ", which discloses, a kind of to exist wheelchair
Quadrangle has on the platform of sensor, the method for calculating center of gravity according to platform stress condition.But it not can solve wheelchair and traveling across
Whether balanced in journey (including two wheel height consistent and the left and right wheels depth of parallelism).
Summary of the invention
1, goal of the invention.
Since the front and back of wheelchair and the diameter of left and right wheels are not fully identical, its balance and deflection are difficult to obtain
Validity test, the present invention in order to solve this problem, and propose a kind of according to acceleration ball judgement electric intelligent wheelchair
The method and apparatus of balance.
2, the technical solution adopted in the present invention.
The present invention is provided and a kind of determines electronic intelligence according to acceleration ball to accurately test the equilibrium problem of wheelchair
The device of energy wheelchair balance, including the equal bearing of two radius is arranged in parallel, wheelchair front wheel is placed on a bearing, rear-wheel
It is placed on a bearing, wheelchair front wheel and rear-wheel can be driven to roll with the rolling of bearing；It is electronic that bearing is equipped with rotation driving
Machine, the frictional force for adjusting wheelchair two-wheel is arranged by electromotor velocity, and sensor is imbedded in iron sheet, cloth or plastics, then wraps
It is rolled on rolling bearing, forms sensing layer.
Another test position mounting means of the invention, is arranged in parallel the equal bearing of two radius, and wheelchair front wheel is placed
On a bearing, rear-wheel is placed on a bearing, wheelchair front wheel and rear-wheel can be driven to roll with the rolling of bearing；Bearing
Equipped with rotation drive motor, the frictional force for adjusting wheelchair two-wheel is set by electromotor velocity, is wrapped in outside the tire of wheelchair
Surface.
Another test position mounting means of the invention, is arranged in parallel the equal bearing of two radius, and wheelchair front wheel is placed
On a bearing, rear-wheel is placed on a bearing, wheelchair front wheel and rear-wheel can be driven to roll with the rolling of bearing；Bearing
Equipped with rotation drive motor, the frictional force for adjusting wheelchair two-wheel is set by electromotor velocity, sensor directly or lean on
Nearly tire and bearing touch point are installed, and sensor is not moved with wheel or bearing element.
The above-mentioned three kinds proposed by the present invention devices according to acceleration ball judgement electric intelligent wheelchair balance, it is described
Bearing be 25-100 centimetres of radius.
The method proposed by the present invention that electric intelligent wheelchair balance is determined according to acceleration ball, it is characterised in that press
It is carried out according to following steps:
Step 1 starts electric intelligent wheelchair, and setting speed, bearing is with rotation, and the motor with dynamic bearing is according to test
It is required that determining setting power；
Step 2, acceleration transducer are started to work, and three-dimensional acceleration is measured, measurement frequency is taken turns not less than 10 times/turns
Tire rotation is primary, at least to measure 10 times；The relative error of measurement is not higher than 10%；
In the constant rear beginning of the wheelchair speed of service, the result of measurement inputs computer software, forms three-dimensional add for step 3, measurement
Speed spherical chart；Judge to balance according to sphere volume:
(1) if sphere volume very little, illustrates in operational process, up and down, left and right, anterior-posterior balance is fine, wheel and bearing
It does not need to award many external force holding wheelchair balance movements；
(2) if volume is bigger, illustrate that the external force needed is bigger；
(3) if the center of acceleration no longer origin, illustrate to need the external force of a direction for a long time to keep balancing；
Step 4 judges whether wheel deflects according to the average acceleration of two wheels in left and right:
(1) average acceleration vertically upward of two wheels in left and right is contrary, then illustrates the different height of wheel；
(2) the acceleration average value of two wheels in left and right is in range of balance, and direction is identical, illustrates wheelchair towards same side
To offset, left avertence or right avertence；It is contrary, then it is inclined or interior inclined outwardly.
Further, in the step 4, if acceleration sphere volume is V, respective radius R；
(1) if the corresponding acceleration value of the centre of sphere of acceleration ball is greater than 15%*R, or post-acceleration is repeatedly measured
The volume change of vector ball is greater than 15%*V, is determined as serious imbalance；
(2) 10%, it is determined as wheelchair imbalance；(3) 5%, it is determined as that wheelchair balance is qualified.
3, technical effect caused by the present invention.
The present invention, by the way that sensor is arranged on location, surveys simultaneously on the basis of existing two-wheel rolling technology
The three-dimensional acceleration of wheelchair determines whether to balance according to the shape of acceleration ball in amount traveling process.The present invention can be
Wheelchair balance is obtained in durability test as a result, avoiding slope test and the stability test of wheelchair；Instrument and equipment is simple,
Required cost is less, reliable test result.
Detailed description of the invention
Fig. 1 is wheelchair bearing scheme of installation.
Fig. 2 is that acceleration transducer installs specific embodiment one.
Fig. 3 is that acceleration transducer installs specific embodiment two.
Fig. 4 is that acceleration transducer installs specific embodiment three.
Fig. 5 is three-dimensional acceleration spherical chart.
Fig. 6 is X-direction acceleration.
Fig. 7 is Y-direction acceleration.
Fig. 8 is Z-direction acceleration.
Fig. 9 is acceleration figure (acceleration ball).
Figure 10 is that ball mentions radius analysis chart.
Appended drawing reference:
1, bearing, 2, wheelchair front wheel, 3 weights, 4 wheelchair rear wheels.
Specific embodiment
Embodiment 1
Measuring device test method: as shown in Figure 1, wheelchair front and back wheel is placed on 25-100 centimetres of radius of bearing, with
The advance of wheelchair, bearing element, bearing also carry motor, can oneself rotation.There is double centner weight on wheelchair, acts on
It is that simulation adult is sitting on wheelchair.Bearing is adjustable to the frictional force of wheelchair two-wheel, and adjusting method is driven using motor
Bearing changes the revolving speed of bearing.
Sensor is imbedded in iron sheet, cloth or plastics, is then wrapped on rolling bearing, and sensing layer, such as Fig. 2 are formed.
Embodiment 2
It is wrapped in the outer surface of tire of wheelchair, such as Fig. 3.
Embodiment 3
Sensor is directly or close to tire and the installation of bearing touch point, and such as Fig. 4, sensor is not with wheel or bearing rolling
It moves and moves.
Embodiment 4
Measurement method: starting electric intelligent wheelchair, and speed is determined by test request, and bearing is with rotation, with dynamic bearing
Motor determines injecting power according to test request.Acceleration transducer is started to work, and measures three-dimensional acceleration, measurement frequency is not
Lower than 10 times/turns, i.e., tyre rotation is primary, at least to measure 10 times.The relative error of measurement is not higher than 10%.
Measurement starts after the wheelchair speed of service is constant, and the result of measurement inputs computer software, forms three-dimensional acceleration ball
Shape figure, such as Fig. 5.
If sphere volume very little, illustrates in operational process, up and down, left and right, anterior-posterior balance is fine, and wheel and bearing are not
It needs to award many external force and keeps wheelchair balance movement.
If volume is bigger, illustrate that the external force needed is bigger.
If the center of acceleration no longer origin, illustrate to need the external force of a direction for a long time to keep balancing.
1. or so two wheels Z-direction average acceleration it is contrary, then illustrate the different height of wheel；
2. or so the acceleration average value of two wheels be not zero, direction is identical, illustrates that wheelchair deviates in the same direction, left
Inclined or right avertence；It is contrary, then it is inclined or interior inclined outwardly.
If acceleration sphere volume is V, respective radius R, if (the XYZ direction vector synthesis of the corresponding acceleration of the centre of sphere
Value) it is greater than 15%, it is determined as serious imbalance；10%, it is determined as imbalance；5%, it is determined as balance qualification.
Experimental verification
On wheelchair tire plus sensor, the acceleration measured are as follows: as Fig. 6 is X-direction acceleration, Fig. 7 is the side Y
It is Z-direction acceleration to acceleration, such as Fig. 8, Fig. 9 is acceleration figure (acceleration ball).
Analysis: as shown in Figure 10, radius of sphericity, sphere center position (0.1,0,1.12), conclusion: X-direction balance is 10%
In range, tire or so needs to adjust, and traveling can turn round automatically for a long time.Z-direction acceleration is excessive, the height of two wheels of wheelchair
It spends inconsistent, must be adjusted before factory.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (6)
1. a kind of device for determining electric intelligent wheelchair balance according to acceleration ball, it is characterised in that: be arranged in parallel two
The equal bearing of radius, wheelchair front wheel are placed on a bearing, and rear-wheel is placed on a bearing, can be with the rolling of bearing
Wheelchair front wheel and rear-wheel is driven to roll；Bearing is equipped with rotation drive motor, is arranged by electromotor velocity and adjusts wheelchair two-wheel
Frictional force, sensor is imbedded in iron sheet, cloth or plastics, is then wrapped on rolling bearing, forms sensing layer.
2. a kind of device for determining electric intelligent wheelchair balance according to acceleration ball, it is characterised in that: be arranged in parallel two
The equal bearing of radius, wheelchair front wheel are placed on a bearing, and rear-wheel is placed on a bearing, can be with the rolling of bearing
Wheelchair front wheel and rear-wheel is driven to roll；Bearing is equipped with rotation drive motor, is arranged by electromotor velocity and adjusts wheelchair two-wheel
Frictional force, be wrapped in the outer surface of tire of wheelchair.
3. a kind of device for determining electric intelligent wheelchair balance according to acceleration ball, it is characterised in that: be arranged in parallel two
The equal bearing of radius, wheelchair front wheel are placed on a bearing, and rear-wheel is placed on a bearing, can be with the rolling of bearing
Wheelchair front wheel and rear-wheel is driven to roll；Bearing is equipped with rotation drive motor, is arranged by electromotor velocity and adjusts wheelchair two-wheel
Frictional force, sensor directly installs or close to tire and bearing touch point, sensor not with wheel or bearing element and
Movement.
4. the device according to claim 1 to 3 that electric intelligent wheelchair balance is determined according to acceleration ball,
It is characterized by: the bearing is 25-100 centimetres of radius.
5. a kind of method that acceleration ball according to claim 1 to 3 determines electric intelligent wheelchair balance,
It is characterized in that carrying out in accordance with the following steps:
Step 1 starts electric intelligent wheelchair, and setting speed, bearing is with rotation, and the motor with dynamic bearing is according to test request
Determine setting power；
Step 2, acceleration transducer are started to work, and measure three-dimensional acceleration, measurement frequency is not less than 10 times/turns, i.e. tyre revolution
It is dynamic primary, it at least to measure 10 times；The relative error of measurement is not higher than 10%；
Step 3, measurement start after the wheelchair speed of service is constant, and the result input of measurement forms three-dimensional acceleration spherical chart；Root
Judge to balance according to sphere volume:
(1) if sphere volume very little, illustrates in operational process, up and down, left and right, anterior-posterior balance is fine, and wheel and bearing are not required to
It awards many external force and keeps wheelchair balance movement；
(2) if volume is bigger, illustrate that the external force needed is bigger；
(3) if the center of acceleration no longer origin, illustrate to need the external force of a direction for a long time to keep balancing；
Step 4 judges whether wheel deflects according to the average acceleration of two wheels in left and right:
(1) average acceleration vertically upward of two wheels in left and right is contrary, then illustrates the different height of wheel；
(2) the acceleration average value of two wheels in left and right is in range of balance, and direction is identical, illustrates that wheelchair is inclined in the same direction
It moves, left avertence or right avertence；It is contrary, then it is inclined or interior inclined outwardly.
6. the method according to claim 5 for determining electric intelligent wheelchair balance according to acceleration ball, feature
It is: in the step 4, if acceleration sphere volume is V, respective radius R；
(1) if the corresponding acceleration value of the centre of sphere of acceleration ball is greater than 15%*R, or repeatedly measurement post-acceleration vector
The volume change of ball is greater than 15%*V, is determined as serious imbalance；
(2) 10%, it is determined as wheelchair imbalance；(3) 5%, it is determined as that wheelchair balance is qualified.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811471799.7A CN109374206B (en) | 2018-12-04 | 2018-12-04 | Method for judging balance of electric intelligent wheelchair according to acceleration vector ball |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811471799.7A CN109374206B (en) | 2018-12-04 | 2018-12-04 | Method for judging balance of electric intelligent wheelchair according to acceleration vector ball |
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| Publication Number | Publication Date |
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| CN109374206A true CN109374206A (en) | 2019-02-22 |
| CN109374206B CN109374206B (en) | 2020-06-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811471799.7A Active CN109374206B (en) | 2018-12-04 | 2018-12-04 | Method for judging balance of electric intelligent wheelchair according to acceleration vector ball |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116046259A (en) * | 2022-12-31 | 2023-05-02 | 太仓腾辉金属制品有限公司 | Device for testing sliding deviation of rear wheel frame of exercise wheelchair |
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|---|---|---|---|---|
| CN101509820A (en) * | 2009-03-13 | 2009-08-19 | 哈尔滨工业大学 | Triaxial air bearing table balance method and apparatus thereof |
| CN202439771U (en) * | 2012-01-11 | 2012-09-19 | 吕亚兵 | Balanced rudder device for motor vehicle |
| CN202843960U (en) * | 2012-10-29 | 2013-04-03 | 天津市长静康复器具有限公司 | Electrically powered wheelchair capable of running stably |
| CN203396545U (en) * | 2013-07-10 | 2014-01-15 | 长沙高新开发区天骄电子有限公司 | Non-contact imbalance detection apparatus |
| CN203869794U (en) * | 2014-04-30 | 2014-10-08 | 东南大学 | Wheel motion state vector acquisition apparatus |
| CN104977126A (en) * | 2015-07-08 | 2015-10-14 | 沈阳建筑大学 | Method and system for detecting and calculating dynamic unbalance of main shaft |
| CN106667679A (en) * | 2015-08-31 | 2017-05-17 | 合肥龙图腾信息技术有限公司 | Self-balancing electric wheelchair |
| CN107797563A (en) * | 2017-11-07 | 2018-03-13 | 陆珉灏 | wheelchair dynamic balance system |
-
2018
- 2018-12-04 CN CN201811471799.7A patent/CN109374206B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101509820A (en) * | 2009-03-13 | 2009-08-19 | 哈尔滨工业大学 | Triaxial air bearing table balance method and apparatus thereof |
| CN202439771U (en) * | 2012-01-11 | 2012-09-19 | 吕亚兵 | Balanced rudder device for motor vehicle |
| CN202843960U (en) * | 2012-10-29 | 2013-04-03 | 天津市长静康复器具有限公司 | Electrically powered wheelchair capable of running stably |
| CN203396545U (en) * | 2013-07-10 | 2014-01-15 | 长沙高新开发区天骄电子有限公司 | Non-contact imbalance detection apparatus |
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| CN104977126A (en) * | 2015-07-08 | 2015-10-14 | 沈阳建筑大学 | Method and system for detecting and calculating dynamic unbalance of main shaft |
| CN106667679A (en) * | 2015-08-31 | 2017-05-17 | 合肥龙图腾信息技术有限公司 | Self-balancing electric wheelchair |
| CN107797563A (en) * | 2017-11-07 | 2018-03-13 | 陆珉灏 | wheelchair dynamic balance system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116046259A (en) * | 2022-12-31 | 2023-05-02 | 太仓腾辉金属制品有限公司 | Device for testing sliding deviation of rear wheel frame of exercise wheelchair |
| CN116046259B (en) * | 2022-12-31 | 2024-02-20 | 太仓腾辉金属制品有限公司 | Device for testing sliding deviation of rear wheel frame of exercise wheelchair |
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| CN109374206B (en) | 2020-06-30 |
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