CN109498297A - Balancing seat controller - Google Patents
Balancing seat controller Download PDFInfo
- Publication number
- CN109498297A CN109498297A CN201811653680.1A CN201811653680A CN109498297A CN 109498297 A CN109498297 A CN 109498297A CN 201811653680 A CN201811653680 A CN 201811653680A CN 109498297 A CN109498297 A CN 109498297A
- Authority
- CN
- China
- Prior art keywords
- box body
- sensor
- motor driver
- ultrasonic distance
- seat controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1089—Anti-tip devices
-
- 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
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
-
- 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
-
- 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
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
- A61G2203/72—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention
Abstract
The invention discloses balancing seat controllers, including box body, the side side wall of box body is connected with multiaxis gyroscope sensor, the side of multiaxis gyroscope sensor is provided with ultrasonic distance-measuring sensor, the side of ultrasonic distance-measuring sensor is equipped with the electric quantity acquisition sensor connecting with box side wall, and box body is internally provided with circuit board, is connected with CPU on circuit board, the side of CPU is provided with motor driver, and the side of motor driver is provided with buzzer.The present invention perceives front seat posture by gyro sensor, after Kalman filtering is adjusted, the execution unit (push-rod electric machine) of wheelchair is driven to adjust seat state to initial value；The present invention calculates travel condition of vehicle using gyro module by the reversing radar of wheelchair, if it is state of rolling backward, prompts user's rear obstacle situation according to ultrasonic distance measurement result；The present invention controls motor by using the motor driver of PID approach, while can significantly improving system response time.
Description
Technical field
The present invention relates to wheelchair technical field more particularly to balancing seat controllers.
Background technique
It is constantly huge as China human mortality Aging Problem is increasingly severe and extremity disabled persons quantity gradually increases
Demand of the deformity of limbs group to auxiliary walking tool increasingly improves.
Existing wheelchair function is single, can not to seat carry out autobalance, when wheelchair is moved backward, need people head to
After look at, but still be easy encounter barrier in the process of backing up, practicability is reduced, for this purpose, we have proposed a kind of balances
Seat controller.
Summary of the invention
The purpose of the present invention is to solve disadvantages existing in the prior art, and the balancing seat controller proposed.
To achieve the goals above, present invention employs following technical solutions:
The side side wall of balancing seat controller, including box body, the box body is connected with multiaxis gyroscope sensor, multiaxis
The side of gyro sensor is provided with ultrasonic distance-measuring sensor, and the side of the ultrasonic distance-measuring sensor is equipped with and box
The electric quantity acquisition sensor of body sidewall connection, the box body is internally provided with circuit board, CPU is connected on circuit board, described
The side of CPU is provided with motor driver, and the side of motor driver is provided with buzzer.
Preferably, box cover is provided with above the box body.
Preferably, the side side wall of the box body offers multiple threading holes.
Preferably, the box body is internally provided with battery, and battery passes through conducting wire and multiaxis gyroscope sensor, super
Sound ranging sensor, electric quantity acquisition sensor, circuit board, motor driver and buzzer are powered.
Preferably, the input terminal of the battery is connected with plug by conducting wire.
Preferably, it is fixed between the box body and box cover by being detachably connected.
Compared with prior art, the beneficial effects of the present invention are:
The present invention perceives front seat posture by gyro sensor, after Kalman filtering is adjusted, drives wheelchair
Execution unit (push-rod electric machine) adjust seat state to initial value；
The present invention calculates travel condition of vehicle using gyro module by the reversing radar of wheelchair, if it is reversing shape
State prompts user's rear obstacle situation according to ultrasonic distance measurement result；
The present invention controls motor by using the motor driver of PID approach, can significantly improve system response time
While, keep motor action softer, improves user experience.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of balancing seat controller proposed by the present invention.
In figure: 1 box body, 2 multiaxis gyroscope sensors, 3 ultrasonic distance-measuring sensors, 4 electrical quantity sensors, 5CPU, 6 motors
Driver, 7 buzzers, 8 batteries, 9 threading holes, 10 box covers, 11 circuit boards.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1, balancing seat controller, including box body 1, the side side wall of box body 1 are connected with multiaxis gyroscope sensing
Device 2, the side of multiaxis gyroscope sensor 2 are provided with ultrasonic distance-measuring sensor 3, the side peace of ultrasonic distance-measuring sensor 3
Equipped with the electric quantity acquisition sensor 4 connecting with 1 side wall of box body, box body 1 is internally provided with circuit board 11, connects on circuit board 11
There is CPU5, the side of CPU5 is provided with motor driver 6, and the side of motor driver 6 is provided with buzzer 7.
The top of box body 1 is provided with box cover 10, and the side side wall of box body 1 offers multiple threading holes 9, the inside of box body 1
It is provided with battery 8, battery 8 is passed by conducting wire and multiaxis gyroscope sensor 2, ultrasonic distance-measuring sensor 3, electric quantity acquisition
Sensor 4, circuit board 11, motor driver 6 and buzzer 7 are powered, and the input terminal of battery 8 is connected with slotting by conducting wire
Head is fixed between box body 1 and box cover 10 by being detachably connected.
Embodiment: box body 1 and box cover 10 are fixed by being detachably connected, then by multiaxis gyroscope sensor 2,
Ultrasonic distance-measuring sensor 3, motor driver 6 and buzzer 7 pass through threading hole 9 and the line that is correspondingly connected with of wheelchair is connected
It connects, when wheelchair is moved backward, rear obstacle distance is detected by ultrasonic distance-measuring sensor 3, works as hypotelorism
When, buzzer 7 carries out warning reminding and is perceived when seat is not at equilibrium state by multiaxis gyroscope sensor 2,
After Kalman filtering is adjusted, the execution unit (push-rod electric machine) of wheelchair is driven to adjust seat state to initial value (equilibrium-like
State).
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (6)
1. balancing seat controller, including box body (1), which is characterized in that the side side wall of the box body (1) is connected with multiaxis top
Spiral shell instrument sensor (2), the side of multiaxis gyroscope sensor (2) are provided with ultrasonic distance-measuring sensor (3), the ultrasound
Side away from sensor (3) is equipped with the electric quantity acquisition sensor (4) connecting with box body (1) side wall, the inside of the box body (1)
It is provided with circuit board (11), is connected on circuit board (11) CPU (5), the side of the CPU (5) is provided with motor driver
(6), the side of motor driver (6) is provided with buzzer (7).
2. balancing seat controller according to claim 1, which is characterized in that be provided with box above the box body (1)
It covers (10).
3. balancing seat controller according to claim 1, which is characterized in that the side side wall of the box body (1) opens up
There are multiple threading holes (9).
4. balancing seat controller according to claim 1, which is characterized in that the box body (1) is internally provided with storage
Battery (8), battery (8) are passed by conducting wire and multiaxis gyroscope sensor (2), ultrasonic distance-measuring sensor (3), electric quantity acquisition
Sensor (4), circuit board (11), motor driver (6) and buzzer (7) are powered.
5. balancing seat controller according to claim 4, which is characterized in that the input terminal of the battery (8) passes through
Conducting wire is connected with plug.
6. balancing seat controller according to claim 1, which is characterized in that between the box body (1) and box cover (10)
It is fixed by being detachably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811653680.1A CN109498297A (en) | 2018-12-30 | 2018-12-30 | Balancing seat controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811653680.1A CN109498297A (en) | 2018-12-30 | 2018-12-30 | Balancing seat controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109498297A true CN109498297A (en) | 2019-03-22 |
Family
ID=65757260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811653680.1A Pending CN109498297A (en) | 2018-12-30 | 2018-12-30 | Balancing seat controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109498297A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202136503U (en) * | 2011-07-01 | 2012-02-08 | 山东科技大学 | Voice controlled obstacle-avoidance wheelchair |
| CN104000693A (en) * | 2014-05-08 | 2014-08-27 | 河南科技大学 | Fully-automatic wheelchair and control method |
| CN105816280A (en) * | 2016-05-03 | 2016-08-03 | 薄和秋 | Intelligent stair climbing wheelchair with effect of automatic distance measurement |
| CN106074026A (en) * | 2016-06-24 | 2016-11-09 | 张俊 | Electric stairs-climbing wheelchair control system based on ultrasonic observing and controlling and method |
| CN107174422A (en) * | 2017-06-16 | 2017-09-19 | 江苏科技大学 | A kind of Self-balancing electronic stair-climbing wheel chair |
| CN107344587A (en) * | 2017-07-27 | 2017-11-14 | 南京信息工程大学 | A kind of Self-Balancing vehicle obstacle avoidance system based on PID controller |
| CN107656528A (en) * | 2017-10-24 | 2018-02-02 | 南京航空航天大学 | A kind of two-wheeled wireless remote controlled intelligent dolly based on STM32 |
| CN107985487A (en) * | 2017-12-22 | 2018-05-04 | 许昌学院 | Autobalance vehicle control |
-
2018
- 2018-12-30 CN CN201811653680.1A patent/CN109498297A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202136503U (en) * | 2011-07-01 | 2012-02-08 | 山东科技大学 | Voice controlled obstacle-avoidance wheelchair |
| CN104000693A (en) * | 2014-05-08 | 2014-08-27 | 河南科技大学 | Fully-automatic wheelchair and control method |
| CN105816280A (en) * | 2016-05-03 | 2016-08-03 | 薄和秋 | Intelligent stair climbing wheelchair with effect of automatic distance measurement |
| CN106074026A (en) * | 2016-06-24 | 2016-11-09 | 张俊 | Electric stairs-climbing wheelchair control system based on ultrasonic observing and controlling and method |
| CN107174422A (en) * | 2017-06-16 | 2017-09-19 | 江苏科技大学 | A kind of Self-balancing electronic stair-climbing wheel chair |
| CN107344587A (en) * | 2017-07-27 | 2017-11-14 | 南京信息工程大学 | A kind of Self-Balancing vehicle obstacle avoidance system based on PID controller |
| CN107656528A (en) * | 2017-10-24 | 2018-02-02 | 南京航空航天大学 | A kind of two-wheeled wireless remote controlled intelligent dolly based on STM32 |
| CN107985487A (en) * | 2017-12-22 | 2018-05-04 | 许昌学院 | Autobalance vehicle control |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6461480B2 (en) | System and method for performing biometric identification in a vehicle | |
| JP5576234B2 (en) | Biological condition monitoring device | |
| KR101539302B1 (en) | Vehicle and control method for the same | |
| JP6662080B2 (en) | Driver status judgment device | |
| CN110037865B (en) | Novel electric nursing wheelchair and control method thereof | |
| CN105996990A (en) | Fatigue driving early warning bracelet integrating heart rate and driving action and early warning method | |
| JP4650720B2 (en) | Vehicle periphery information transmission device | |
| JP5997410B1 (en) | Driver abnormality occurrence detector and safety device using the same | |
| CN109498297A (en) | Balancing seat controller | |
| JP4962360B2 (en) | Biological signal detection device | |
| JP5765095B2 (en) | Robot, situation recognition method and situation recognition program | |
| Naeem et al. | Voice controlled intelligent wheelchair using raspberry pi | |
| WO2018211966A1 (en) | Driver monitoring device, driver monitoring method and program for monitoring driver | |
| KR101973784B1 (en) | Apparatus for assisting the drive of electric wheel chair and electric wheel chair having the same | |
| JP6402554B2 (en) | Information output control device for vehicle | |
| CN209048611U (en) | The walking stick for having obstacle detection and intelligent navigation | |
| JPH04183439A (en) | Device for detecting dozing of driver | |
| Kallam et al. | Development of intelligent powerd wheelchair | |
| KR101799058B1 (en) | Apparatus for controlling active upper extremity exercise assist device and method thereof | |
| CN111838907A (en) | Intelligent walking stick for blind person | |
| CN210078239U (en) | Blind stick applying ultrasonic wave to avoid obstacles | |
| CN109806121A (en) | Avoidance guide is explored the way vehicle | |
| JP5397703B2 (en) | Vehicle control device | |
| Park et al. | An electronic aid for a visually impaired person using an ultrasonic sensor | |
| KR102542038B1 (en) | Motorized walking assistance apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190322 |
|
| RJ01 | Rejection of invention patent application after publication |