CN110037865B

CN110037865B - Novel electric nursing wheelchair and control method thereof

Info

Publication number: CN110037865B
Application number: CN201910414958.8A
Authority: CN
Inventors: 刁建
Original assignee: Guangzhou Zubu Medical Technology Co ltd
Current assignee: Zhejiang Yihengyue Medical Technology Co Ltd
Priority date: 2019-05-17
Filing date: 2019-05-17
Publication date: 2020-08-14
Anticipated expiration: 2039-05-17
Also published as: CN110037865A

Abstract

The invention relates to the technical field of electric wheelchairs, in particular to a novel electric nursing wheelchair and a control method thereof. Compared with the prior art, the novel electric nursing wheelchair and the control method thereof can well make up the vacancy of the conventional electric power assisting system, and estimate various intentions of nursing staff through different use modes, so that different driving forces are provided, and the burden of the nursing staff for pushing the wheelchair is reduced.

Description

Novel electric nursing wheelchair and control method thereof

[ technical field ] A method for producing a semiconductor device

The invention relates to the technical field of electric wheelchairs, in particular to a novel electric nursing wheelchair and a control method thereof.

[ background of the invention ]

At present, a motor driving wheel is added on a manual wheelchair, and then the wheelchair is simply controlled to advance and retreat in a handle or button switch mode, namely, the wheelchair is simply switched on and off, and is similar to a forward button, so that the wheelchair is switched on forwards and backwards, and the wheelchair is switched on backwards and has a wired handle remote control function in technical terms.

The existing electric wheelchair has the following problems: 1. the speed is inconvenient to change, only constant speed can be provided for power, nursing staff need to follow the constant speed all the time, and the nursing staff do not need to walk when wanting slow spots and fast spots, so that the nursing staff is labor-consuming; 2. the steering power cannot be provided, the traditional solution only provides forward power and backward power, the steering power is not supported, and the steering is laborious; or the steering is controlled by a switch, and the steering angle cannot be adjusted; 3. open and stop and have obvious pause and frustrate the sense, experienced by the nursing staff and felt poor, unstable, have the sense of jolting.

[ summary of the invention ]

In order to overcome the problems, the invention provides a novel electric nursing wheelchair and a control method thereof, which can effectively solve the problems.

The invention provides a technical scheme for solving the technical problems, which comprises the following steps: the utility model provides a novel electronic nursing wheelchair, including frame main part, driver, mutual instrument, drive wheel and battery, battery and driver are fixed in the base below of frame main part, and on mutual instrument was fixed in the handrail of frame main part, the drive wheel set up in the rear below of frame main part, mutual instrument, drive wheel, battery are connected with the driver respectively.

Preferably, mutual instrument outside is provided with LCD screen, switch machine button, direction switch button, the gear button, the constant speed indicates to hold in the palm, vital sign perceiving module, the mouth that charges, inside is provided with microcontroller, power management module, gesture detection module, bluetooth module, voice module, loudspeaker, bee calling organ, LCD screen, switch machine button, the direction switches the button, the gear button, the constant speed indicates to hold in the palm, vital sign perceiving module, the mouth that charges, power management module, gesture detection module, bluetooth module, voice module, loudspeaker, bee calling organ connect respectively in microcontroller.

Preferably, the driver includes an MCU, a current detection module, a voltage detection module, a speed detection module, a motor driving module, an attitude detection module, a power management module, a battery interface, and an instrument interface, wherein the current detection module, the voltage detection module, the speed detection module, the motor driving module, the attitude detection module, the power management module, and the instrument interface are respectively connected to the MCU, and the battery interface is connected to the power management module.

Preferably, the driving wheel includes a motor and a wheel.

Preferably, a manual brake is further arranged below the frame body armrest.

Preferably, the control method of the novel electric nursing wheelchair is characterized by comprising the following steps:

step S1, the control system is started through the startup and shutdown key, at this time, whether the system self-check has a fault or not is judged, the interactive instrument and the driver establish communication connection after the self-check is finished, and data can be exchanged after the connection is successful;

step S2, the interactive instrument detects whether the hand holds the armrest, transmits the instruction to the driver, if the hand does not hold the armrest, the wheelchair is braked and locked, if the hand holds the armrest, the wheelchair enters the running state;

step S3, detecting the battery voltage before actual operation, and forbidding operation under low voltage;

and step S4, the interactive instrument detects whether to trigger the constant speed finger rest, the system enters an automatic power assisting mode or a constant speed power assisting mode according to the instruction, and the two modes are mutually switched by the constant speed finger rest instruction.

Preferably, in step S4, if the constant speed finger rest is not touched, the automatic power assist mode is entered:

step S411, the load of the wheelchair at the moment can be calculated by collecting the current and the speed of the motor, and the power-assisted grade is automatically matched according to the load;

step S412, after the assistance level is determined, calculating the current road condition by combining the data of the two attitude detection modules, if the wheelchair tilts backwards, increasing the assistance threshold value, tilting forwards, decreasing the assistance threshold value, tilting leftwards, increasing the assistance threshold value of a left motor, tilting rightwards, increasing the assistance threshold value of a right motor, wherein the set range of the threshold values is-100- + 100;

and step S413, pushing the wheelchair to enable the wheelchair to generate an initial speed and a running direction, detecting the current direction, speed and acceleration of the wheelchair by using a speed detection module, predicting the force required by the rotation speed of the wheelchair by combining the power-assisted grade and the power-assisted threshold value according to the current speed and acceleration of the wheelchair by using an FOC vector control method under the control of the motor, calculating a final SVPWM value, and outputting the final SVPWM value to a motor drive.

Preferably, in step S4, the constant speed power assist mode is entered by touching the constant speed finger rest:

step S421, the direction switching key and the gear key of the interactive instrument can set the direction and the speed of the wheelchair in constant-speed running;

step S422, the rotating speeds of the left motor and the right motor are considered to be interfered by twisting the handrail, and the rotating direction and the rotating angle can be calculated by detecting the rotating speed of the motors, so that the speed of the left motor and the speed of the right motor are adjusted to realize differential steering;

and step S423, the speed control uses the speed PID closed loop control to output the final SVPWM value to the motor driving system.

Compared with the prior art, the novel electric nursing wheelchair and the control method thereof can well make up the vacancy of the conventional electric power assisting system, and estimate various intentions of nursing staff through different use modes, so that different driving forces are provided, and the burden of the nursing staff for pushing the wheelchair is reduced. The existing manual wheelchair can be improved and upgraded according to the scheme, and a new product can be designed in a brand-new way.

[ description of the drawings ]

FIG. 1 is an overall structural view of the novel electric nursing wheelchair of the invention;

FIG. 2 is a structural diagram of an interactive instrument of the novel electric nursing wheelchair;

FIG. 3 is a block diagram of the driver of the novel electric nursing wheelchair;

fig. 4 is a flow chart of a control method of the novel electric nursing wheelchair.

[ detailed description ] embodiments

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It should be noted that all directional indications (such as up, down, left, right, front, and back … …) in the embodiments of the present invention are limited to relative positions on a given view, not absolute positions.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Referring to fig. 1 to 4, the novel electric nursing wheelchair of the present invention includes a frame main body 10, a driver 20, an interactive meter 30, a driving wheel 40 and a battery 50, wherein the battery 50 and the driver 20 are fixed below a base of the frame main body 10, the interactive meter 30 is fixed on a handrail of the frame main body 10, the driving wheel 40 is disposed below a rear portion of the frame main body 10, and the interactive meter 30, the driving wheel 40 and the battery 50 are respectively connected to the driver 20. The driving wheel 40 comprises a motor and wheels, and the driving wheel 40 can provide power for the nursing wheelchair and is a power source.

Mutual instrument 30 outside is provided with LCD screen 31, switch button 32, direction switches button 33, the gear button 34, the constant speed indicates to hold in the palm 35, vital sign perception module 36, charge mouthful 37, inside is provided with microcontroller, power management module, gesture detection module, bluetooth module, voice module, loudspeaker, bee calling organ, LCD screen 31, switch button 32, direction switches button 33, the gear button 34, the constant speed indicates to hold in the palm 35, vital sign perception module 36, charge mouthful 37, power management module, gesture detection module, bluetooth module, voice module, loudspeaker, bee calling organ connect respectively in microcontroller. The vital sign sensing module 36 can detect whether the wheelchair is held by hands, and the wheelchair can be moved only by holding the wheelchair, so that the safety of the wheelchair-sitting person is ensured, and the wheelchair can be immediately stopped after the armrests are loosened.

The driver comprises an MCU, a current detection module, a voltage detection module, a speed detection module, a motor driving module, an attitude detection module, a power management module, a battery interface and an instrument interface, wherein the current detection module, the voltage detection module, the speed detection module, the motor driving module, the attitude detection module, the power management module and the instrument interface are respectively connected with the MCU, and the battery interface is connected with the power management module.

The novel electric nursing wheelchair comprises an automatic power-assisted mode and a constant-speed power-assisted mode.

Automatic power-assisted mode: the handrail is held by a hand, the user pushes the wheelchair, the system generates corresponding assistance according to the speed of pushing the wheelchair by the user and feeds the assistance back to the motor, the moving speed of the wheelchair is ensured to be close to the walking speed of the user, the relative speed of the wheelchair and the user is close to zero, no acting force is used between the wheelchair and the user, and the user can easily push the wheelchair to move at the moment. When the system turns, the user applies different forces to the left handrail and the right handrail, the left motor and the right motor form differential speed, so that the purpose of turning is achieved, the system predicts the turning intention and the turning angle according to the force applied by the user, the left motor and the right motor are controlled to reach different rotating speeds, and automatic turning is achieved.

Constant speed boost mode: the automatic power assisting mode can ensure that a user can use the electric vehicle on a relatively flat road surface, and when the electric vehicle runs on a pothole road surface, a grassland, a snowfield and a large-angle ascending and descending slope, the constant speed mode can be used for providing stronger power, so that the electric vehicle can be pushed easily and freely. The user places the thumb on the constant-speed finger rest, the system enters a constant-speed mode, the user can set different gears according to the step frequency and the step length of the user, and the wheelchair runs at a constant speed to achieve the assistance effect. When the finger of the user leaves the finger support, the automatic boosting mode is switched back. The two modes can be freely switched back and forth.

A manual brake is arranged below the armrest of the frame body 10, a user can move the manual brake below the armrest to realize physical braking or loosen the armrest to realize electronic braking, and the wheelchair is locked after braking, so that slipping and abnormal movement on a slope can be prevented.

The driver 20 and the interactive instrument 30 are integrated with a posture detection module, which is an important sensor for road condition estimation, and the two modules can be mutually checked to ensure accurate data.

The battery 50 is the energy of the whole system and can be charged repeatedly, and the battery 50 contains a battery management system to provide charge and discharge management, low-power alarm, overcurrent and undervoltage protection, overheat protection and the like.

The control method of the novel electric nursing wheelchair comprises the following steps:

step S1, the control system is started through the startup and shutdown key 32, at this time, whether the system self-test has a fault or not is judged, the interactive instrument 30 and the driver 20 establish communication connection after the self-test is finished, and data can be exchanged after the connection is successful;

step S2, the interactive instrument 30 detects whether the hand grips the armrest, and transmits the instruction to the driver 20, if the hand grips the armrest, the wheelchair is braked and locked, if the hand grips the armrest, the wheelchair enters the running state;

step S3, the system needs to detect the voltage of the battery 50 before actual operation, and the operation is forbidden under the condition of low voltage;

step S4, the interactive instrument 30 detects whether the constant speed finger rest 35 is triggered, and the system enters into the automatic power-assisted mode or the constant speed power-assisted mode according to the instruction, and the two modes are mutually switched by the instruction of the constant speed finger rest 35.

In step S4, the constant speed finger rest 35 is not touched, and the automatic assist mode is entered:

Touching the constant-speed finger rest 35 to enter a constant-speed boosting mode:

step S421, the direction switching button 33 and the gear button 34 of the interactive instrument 30 can set the direction and the speed of the wheelchair in constant speed;

In the wheelchair operation process, the current acquisition module acquires the motor current in real time, so that the system is prevented from being damaged by overlarge current. The armrests are loosened to enter a braking state, the motor generates force opposite to the movement direction of the wheelchair until the speed is zero, and the force is relieved.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and any modifications, equivalents, improvements, etc. made within the spirit of the present invention should be included in the scope of the present invention.

Claims

1. The novel electric nursing wheelchair is characterized by comprising a frame main body, a driver, an interactive instrument, a driving wheel and a battery, wherein the battery and the driver are fixed below a base of the frame main body; the driving wheel comprises a motor and a wheel; the interactive instrument is used for detecting whether the constant-speed finger support is triggered or not, the system enters an automatic power-assisted mode or a constant-speed power-assisted mode according to the instruction, and the two modes are automatically switched through the constant-speed finger support instruction;

the novel electric nursing wheelchair comprises an automatic power-assisted mode and a constant-speed power-assisted mode;

automatic power-assisted mode: calculating the load of the wheelchair at the moment by collecting the current and the speed of the motor, and automatically matching the power-assisted grade according to the load; after the assistance grade is determined, calculating the current road condition by combining data of the two attitude detection modules, if the wheelchair tilts backwards, increasing the assistance threshold value, tilting forwards, reducing the assistance threshold value, tilting leftwards, increasing the assistance threshold value of a left motor, tilting rightwards and increasing the assistance threshold value of a right motor; the wheelchair is pushed to generate an initial speed and a running direction, the speed detection module can detect the current moving direction, speed and acceleration of the wheelchair, the motor control uses an FOC vector control method, the force required by the rotating speed of the wheelchair is estimated by combining the assistance grade and the assistance threshold value according to the current speed and acceleration of the wheelchair, the final SVPWM value is calculated, and the SVPWM value is output to the motor drive;

constant speed boost mode: the user places the thumb on the constant-speed finger rest, the system enters a constant-speed mode, the user can set different gears according to the step frequency and the step length of the user, and the wheelchair runs at a constant speed to achieve the assistance effect;

when the user finger leaves the constant-speed finger rest, the automatic power assisting mode is switched back, and the two modes can be freely switched back and forth.

2. The novel electric nursing wheelchair as claimed in claim 1, wherein the interactive meter is externally provided with an LCD screen, a switch button, a direction switch button, a gear button, a vital sign sensing module, and a charging port, and internally provided with a microcontroller, a power management module, an attitude detection module, a bluetooth module, a voice module, a speaker, and a buzzer, and the LCD screen, the switch button, the direction switch button, the gear button, a constant-speed finger holder, the vital sign sensing module, the charging port, the power management module, the attitude detection module, the bluetooth module, the voice module, the speaker, and the buzzer are respectively connected to the microcontroller.

3. The new electric nursing wheelchair as claimed in claim 1, wherein the driver comprises an MCU, a current detection module, a voltage detection module, a speed detection module, a motor driving module, an attitude detection module, a power management module, a battery interface and a meter interface, the current detection module, the voltage detection module, the speed detection module, the motor driving module, the attitude detection module, the power management module and the meter interface are respectively connected with the MCU, and the battery interface is connected with the power management module.

4. The novel electric nursing wheelchair as claimed in claim 1, wherein a manual brake is further provided below the frame body armrest.

5. The control method of the novel electric nursing wheelchair is characterized by comprising the following steps:

step S4, detecting whether to trigger the constant speed finger rest by the interactive instrument, entering an automatic power assisting mode or a constant speed power assisting mode according to the instruction system, and automatically switching the two modes through a constant speed finger rest instruction;

in the step S4, the constant-speed finger rest is not touched, the automatic power-assisted mode is entered, the armrest is held by the hand, the user pushes the wheelchair, and at this time, the system generates corresponding power-assisted feedback to the motor according to the speed of the user pushing the wheelchair, so as to ensure that the relative speed between the moving speed of the wheelchair and the walking speed of the user is zero; when the vehicle turns, a user applies different forces to the left handrail and the right handrail, the left motor and the right motor form a differential speed, so that the purpose of turning is achieved, the system predicts the turning intention and the turning angle according to the force applied by the user, controls the left motor and the right motor to reach different rotating speeds, and achieves automatic turning, and the step S4 comprises the following steps:

6. The method as claimed in claim 5, wherein in step S4, the constant speed finger rest is touched to enter the constant speed assisting mode, so that the user can set different gears according to his step frequency and step length, and the wheelchair operates at a constant speed to achieve the assisting effect, and step S4 includes: