CN110609508B - CAN communication awakening-based standby zero-power-consumption wheelchair control system and method - Google Patents
CAN communication awakening-based standby zero-power-consumption wheelchair control system and method Download PDFInfo
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- CN110609508B CN110609508B CN201910987825.XA CN201910987825A CN110609508B CN 110609508 B CN110609508 B CN 110609508B CN 201910987825 A CN201910987825 A CN 201910987825A CN 110609508 B CN110609508 B CN 110609508B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S20/00—Management or operation of end-user stationary applications or the last stages of power distribution; Controlling, monitoring or operating thereof
- Y04S20/20—End-user application control systems
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Abstract
The invention discloses a standby zero-power wheelchair control system based on CAN communication awakening, relating to the technical field of rehabilitation medical equipment and comprising: the device comprises a main controller 1, a CAN bus, a secondary controller 2, a battery power supply 3, a driving motor 4, a charger 5 and a power switch 6. The invention drives the slave controller 2 to prompt the CAN bus to send a signal to the switch control circuit to work, so that the switch controller is conducted. Main control unit 1 and driving motor 4 power supply work are favorable to stopping the drive from controller 2 back for CAN bus no signal output breaks off isolation control ware U1, further makes the open year controller end, and the circuit voltage of switch controller output is 0V, and main control unit 1 and driving motor CAN't work, realize zero-power consumption. When being favorable to using charger 5 to connect external power source, through being connected from controller 2 and main control unit 1, realize directly charging to battery power 3 to can't switch on the circumstances of getting electricity through main control unit 1's standby state, realize not losing the power and give driving motor 4.
Description
Technical Field
The invention relates to the technical field of rehabilitation medical equipment, in particular to a mobile rehabilitation assistive device powered by a battery power supply for reducing standby power consumption.
Background
As the aging process accelerates, the interest in the elderly and disabled people is gaining more and more social and governmental attention. For people who are disabled to move, old people and the like who need to rely on wheelchair for a long time, the electric quantity of the power supply on the movable wheelchair is guaranteed for going out and moving, and particularly when the movable wheelchair cannot be charged, the standby state of the wheelchair becomes a key index for measuring the maximum driving mileage of the wheelchair.
In a master-slave control system of the wheelchair, the master-slave system exchanges data through an agreed communication protocol, when the system is in a standby state, a master machine and a slave machine are in a weak power consumption state, and particularly when the master machine is closed and cannot be controlled by a power switch, a battery power supply can continuously supply power to the master machine, a driving motor and other systems. If the power supply of the system is a battery, long standby losses can result in a battery starvation, leading to problems of shortened range or mileage.
Therefore, how to reduce the standby power consumption of the system to the maximum is a difficult problem for engineers and technicians. Various proposals and methods for reducing standby power consumption have been proposed. Many of these methods have direct consequences of increased cost and reduced reliability, while the requirement of zero power consumption cannot be achieved.
The invention aims to solve the problems and provides a standby zero-power-consumption power supply control circuit based on CAN communication awakening. The master-slave control system provides an effective solution for a master-slave control system in the digital control of wheelchairs and even mobile accessories, and realizes the functions of low standby power consumption of slave machines and zero standby power consumption of a master machine. And the slave machine realizes the system awakening by multiplexing the CAN communication line on the premise of not increasing a special awakening control signal.
Disclosure of Invention
One of the objectives of the present invention is to solve the problem that the mobile accessory awakened based on CAN communication will continuously consume power to the internal battery of the device (the main controller and the driving motor of the present invention) in the standby state.
The invention also aims to provide a zero-power consumption method of the standby zero-power consumption wheelchair control system based on CAN communication awakening, and the problem of power consumption of a battery in the device caused by standby continuous operation is solved.
The invention also aims to provide a wheelchair.
The invention also aims to provide a method for facilitating charging, which solves the problem that the external charging of a sealed battery consumes power of a battery in the device.
In order to achieve one of the purposes, the invention adopts the following technical scheme: a standby zero-power wheelchair control system based on CAN communication awakening comprises: the main controller is provided with an on-off control circuit, and the on-off control circuit is a zero-power-consumption control circuit awakened by CAN communication; the right end of the CAN bus is connected with the main controller; the slave controller is connected with the left end of the CAN bus, the charger is connected with the slave controller, and the charger is used for being in butt joint with an external power supply; the battery power supply is electrically connected with the master controller and the slave controllers, the battery power supply supplies power to the slave controllers, and the slave controllers transmit voltage to the master controller; the power switch is arranged on the slave controller and is used for turning on and off the circulation of the battery power supply; the CAN bus is a data communication control line of the master controller and the slave controller, and is provided with a CANH signal line and a CANL signal line which are used for communication of the CAN bus; the positive and negative electrodes of the battery power supply are respectively a VBAT port and a GND port.
In the technical scheme, the power switch is started firstly, so that the battery power supply supplies power to the slave controller; and then the driven controller (such as a manual operator, a hand lever and the like) is driven to move, the CAN bus is prompted to send signals, the switch control circuit is triggered to work, and finally the main controller is conducted to supply power to a driving element in the wheelchair control system.
Further, in the embodiment of the invention, the standby zero-power wheelchair control system based on CAN communication wakeup further comprises a driving motor, and the driving motor is connected with the main controller.
Further, in an embodiment of the present invention, the switch control circuit includes: the circuit comprises a first resistor, a second resistor, an isolation controller, a switch controller, a voltage reduction circuit and a singlechip.
Further, in the embodiment of the present invention, the isolation controller is a phototransistor photo-coupler.
Furthermore, in the embodiment of the present invention, the switch controller is a chip having a dual fet.
Further, in an embodiment of the present invention, the switch controller has: the first input end is connected with the anode and the cathode of the battery power supply; the second input end is connected with the right end of the CAN bus; the switch controller and the battery power supply are provided with: the input end of the first diode is connected with the battery power supply, and the output end of the first diode is connected with the first input end of the switch controller; the input end of the fifth resistor is connected with the output end of the first diode, and the output end of the fifth resistor is connected with the second input end of the switch controller; and the input end and the output end of the first capacitor are connected with a VBAT port and a GND port of a battery power supply.
Further, in an embodiment of the present invention, the isolation controller has: one end of the first resistor is connected with the first input port, and the other end of the first resistor is connected with a CANH signal line; one end of a second resistor is connected with the second input port, the other end of the second resistor is connected with a CANL signal line, and the resistance values of the first resistor and the second resistor are the same; and the first output port is connected with the input end of the fifth resistor and the first input end of the switch controller.
Furthermore, in an embodiment of the present invention, the isolation controller has a second output port, and the second output port and the switch controller have: the input end of the third resistor is connected with the second output port of the isolation controller; the input end of the fourth resistor is connected with the output end of the third resistor, and the output end of the fourth resistor is grounded; the input end of the second capacitor is connected with the output end of the third resistor, and the output end of the second capacitor is grounded; the base electrode of the first triode is connected with the output end of the third resistor, and the emitting electrode of the first triode is grounded; and the input end of the sixth resistor is connected with the collector of the first triode, and the output end of the sixth resistor is connected with the second input end of the switch controller.
The voltage of the battery power supply forms a loop through the first diode, the fifth resistor, the sixth resistor, the first triode and the grounding treatment, so that the voltage difference exists between the first input end and the second input end of the switching main controller and is greater than the conduction voltage of the switching controller, and a field effect tube in the main controller is conducted to transmit VCC voltage to a voltage reduction circuit.
After CAN communication is adopted for awakening, the power supply problem of components in the main controller is realized through one path of field effect tube of the switch controller.
Further, in an embodiment of the present invention, the switch controller further includes: a first output terminal; the input end of the voltage reduction circuit is connected with the first output end and the second output end of the main controller; and the input end of the singlechip is connected with the output end of the voltage reduction circuit, and the output end of the singlechip is connected with the fourth input end of the switch controller.
Furthermore, in the embodiment of the present invention, the fourth input terminal of the switch controller and the single chip microcomputer have: the base electrode of the second triode is connected with the output end of the singlechip, and the emitting electrode of the second triode is grounded; and the input end of the seventh resistor is connected with the collector electrode of the second triode, and the output end of the seventh resistor is connected with the fourth input end of the main controller.
The main controller is conducted to supply power to the voltage reduction circuit to transmit VCC voltage, the voltage reduction circuit outputs 5V voltage to the single chip microcomputer, and the single chip microcomputer outputs high and low potential signals to the second triode under the action of the 5V voltage.
Furthermore, in the embodiment of the present invention, the switch controller further has a first output terminal, a second output terminal, a third input terminal, and a fourth input terminal, and the first and second output terminals and the third and fourth input terminals of the switch controller include: the input end of the second diode is connected with the first output end and the second output end of the switch controller; the input end of the ninth resistor is connected with the output end of the second diode; the input end of the tenth resistor is connected with the output end of the second diode, the ninth resistor is connected with the tenth resistor in parallel, and the output ends of the ninth resistor and the tenth resistor are connected with the third input end of the switch controller; and the input end of the eighth resistor is connected with the output ends of the ninth resistor and the tenth resistor, and the output end of the eighth resistor is connected with the fourth input end of the switch controller.
Furthermore, in the embodiment of the present invention, the switch controller further has a third output terminal and a fourth output terminal, and the driving motor is connected to the third output terminal and the fourth output terminal of the switch controller.
When the single chip microcomputer outputs a high-potential signal, the VCC voltage is greater than the conduction voltage of the second triode, the collector and the emitter of the second triode are conducted, the VCC voltage forms a loop through the second diode, the tenth resistor, the eighth resistor, the seventh resistor, the second triode and the grounding treatment, a voltage difference is formed between the third input end and the fourth input end of the main controller and is greater than the conduction voltage of the switch controller, a field effect tube in the switch controller is conducted, and further a VBUS voltage is output from a third output end of the switch controller to supply power to the driving motor.
After CAN communication is adopted for awakening, the power supply of the driving motor is realized through the other path of field effect tube of the switch controller, and the logic relation of ring-to-ring buckling is realized.
The invention has the beneficial effects that:
the first invention drives the slave controller to drive the CAN bus to send a signal to activate the switch control circuit to work, so that the master controller is powered on, after the power switch is switched off, the CAN bus does not output a signal to switch off the switch control circuit, the circuit voltage output by the master controller is further 0V, and zero power consumption is realized. The digital control device is simple, low in cost and reliable in work, is suitable for the digital control master controller and the digital control slave controller which exchange data through an appointed communication protocol, and does not need to carry out independent wake-up signals like the prior art.
The second invention realizes the problem of no power consumption in the main controller and the driving element in the charging state by the condition that the standby state can not be conducted for power supply, shortens the charging time, avoids the reduction of the service life of the battery power supply, and has unexpected technical effects.
In order to achieve the second purpose, the invention adopts the following technical scheme: a zero-power consumption method of a standby zero-power consumption wheelchair control system based on CAN communication awakening comprises the following steps:
-activating the power switch so that the battery power supply supplies power to the slave controller;
the driving slave controller sends a signal through the CAN bus to excite the switch control circuit to work, so that the master controller is conducted to supply power for the driving motor;
and stopping driving the slave controller, enabling the slave controller to be in a standby state, further enabling the CAN bus to have no signal output, enabling the switch control circuit to be incapable of conducting work, and enabling the circuit voltage output by the master controller to the driving motor to be 0V, so that zero power consumption is realized.
Furthermore, in the embodiment of the present invention, the conducting power supply process of the master controller is specifically output from the slave controller via a CANH signal line and a CANL signal line, under the action of a first resistor and a second resistor, the isolating controller is activated to start operating, so that the first diode and the third resistor are conducted, the voltage of the battery power forms a loop through the first diode, the third resistor, the fourth resistor and the grounding process, therefore, the base and the emitter of the first triode have a voltage difference which is greater than the conducting voltage of the first triode, so that the collector and the emitter of the first triode are conducted, the voltage of the battery power forms a loop through the first diode, the fifth resistor, the sixth resistor, the first triode and the grounding process, so that the voltage difference between the first input end and the second input end of the switching master controller is greater than the conducting voltage of the switching controller, so that the field effect transistor in the main controller is conducted to the voltage reduction circuit to transmit VCC voltage.
Furthermore, in the embodiment of the invention, the main controller is powered on to supply power to the voltage reducing circuit, and the voltage reducing circuit is switched during the process of transmitting the VCC voltage to the voltage reducing circuit, so that the voltage reducing circuit outputs 5V of voltage to the single chip microcomputer, and the single chip microcomputer outputs high and low potential signals to the second triode under the action of the 5V of voltage.
Furthermore, in the embodiment of the present invention, after the VCC voltage outputted by the switch controller is conducted by the second diode, the ninth resistor and the tenth resistor, the power supply to the third input end of the switch controller is realized, the power supply to the fourth input end of the switch controller is realized through a seventh resistor and an eighth resistor, when the single chip outputs a high-potential signal which is greater than the conduction voltage of the second triode, the collector and the emitter of the second triode are conducted, the VCC voltage forms a loop through the second diode, the tenth resistor, the eighth resistor, the seventh resistor, the second transistor and the ground process, a voltage difference is formed between the third input end and the fourth input end of the main controller and is greater than the conduction voltage of the switch controller, and a field effect tube in the switch controller is conducted, and the third output end of the switch controller outputs VBUS voltage to supply power to the drive motor for working.
In order to achieve the third purpose, the invention adopts the following technical scheme: an electric wheelchair comprises a vehicle body, a rear driving wheel and a front universal wheel which are connected with the vehicle body, and the electric wheelchair has a standby zero-power wheelchair control system awakened based on CAN communication in any one of the purposes.
In order to achieve the fourth purpose, the invention adopts the following technical scheme: a method for facilitating charging, wherein the zero power consumption method of the standby zero power consumption wheelchair control system based on CAN communication wakeup in any one of the above embodiments, the method for facilitating charging further comprises the following steps:
and connecting a charger with an external power supply, charging the slave controller, directly charging the battery power supply by connecting the slave controller with the master controller, and charging the battery power supply without consuming the power supply in the drive motor by the condition that the standby state of the master controller cannot be conducted to obtain power.
Further, in the embodiment of the present invention, when the battery power source is charged by using the charger, the power switch is turned off (in a standby state at this time), so that the slave controller cannot operate, the CAN bus communication line is disconnected, and CAN not output CANH and CANL signals, which results in that the isolation controller cannot operate, therefore, the field effect transistor of the switch controller forms an open circuit, the base and the emitter of the first triode are not in a voltage difference, the collector and the emitter of the first triode cannot be conducted, so that the VBAT voltage of the battery power source is output to the first input terminal and the second input terminal of the switch controller at this time, which are the same voltage, the first input terminal and the second input terminal of the switch controller cannot form a voltage difference, the field effect transistor cannot operate, the first input terminal and the first output terminal cannot be conducted, which results in that the output VCC voltage is 0V, and further, the third input terminal and the fourth input terminal of the switch controller cannot be conducted for power supply, so that the Vbus output of the switch controller to the drive motor is also 0V. Finally, in the charging process, the switch controller can cut off the power supply to the main controller and the circuit of the driving motor (namely, the problem that a battery power supply in the prior art can have weak current in a standby state to influence the power supply in the main controller and the driving motor and cause power feeding is solved), and the battery power supply is directly supplied.
The invention does not need to turn on a power switch, does not wake up the work of the master and slave controllers, and cuts off and isolates the circuit loop with the master and slave controllers and the driving motor.
Drawings
FIG. 1 is a plan view of a wheelchair in accordance with an embodiment of the present invention.
Fig. 2 is a schematic diagram of a power supply and charging circuit of the standby zero-power wheelchair control system based on CAN communication wakeup according to the embodiment of the invention.
Fig. 3 is a schematic block diagram of a switch control circuit according to an embodiment of the present invention.
Fig. 4 is a partial detailed circuit diagram of the switch control circuit according to the embodiment of the invention.
Fig. 5 is a schematic diagram of a voltage reduction circuit in the prior art, which is convenient for those skilled in the art to understand.
In the attached drawings
1. Master controller 2, slave controller 3, battery power supply
4. Drive motor 5, charger 6, switch
7. Voltage reduction circuit 8, single chip microcomputer 9 and rear driving wheel
10. Front universal wheel 11 and switch control circuit
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clear and fully described, embodiments of the present invention are further described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of some embodiments of the invention and are not limiting of the invention, and that all other embodiments obtained by those of ordinary skill in the art without the exercise of inventive faculty are within the scope of the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "inner", "outer", "top", "bottom", "side", "vertical", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
For the purposes of simplicity and explanation, the principles of the embodiments are described by referring mainly to examples. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the embodiments. But it is obvious. To one of ordinary skill in the art, the embodiments may be practiced without limitation to these specific details. In some instances, well-known methods and structures for facilitating charging have not been described in detail so as not to unnecessarily obscure the embodiments. In addition, all embodiments may be used in combination with each other.
The first embodiment is as follows:
for the sake of understanding fig. 4, it should be noted that, first, "R" is an abbreviation of the english word "resistance" of "resistance", and the size of the resistance, i.e., the resistance value, is expressed in "ohm" and has the symbol Ω. The Q value of the triode is the parameter of the quiescent operating point, which is generally the base voltage Vb, the collector current Ic and the collector-emitter voltage Vce. Followed by the capacitance, denoted by the letter C, english name: a capacitor. Defined as a capacitor, as the name implies, is an 'electrically charged container', a device that contains an electrical charge. Finally, the symbol D in the diode is the character code of the diode in the circuit, which are all represented by the capital form of the initial letter of the English word, and the English word of the diode is the diode.
A standby zero-power wheelchair control system based on CAN communication awakening, as shown in figures 1 and 2, comprises: the device comprises a main controller 1, a CAN bus, a secondary controller 2, a charger 5, a battery power supply 3 and a power switch 6.
The main controller 1 has a switch control circuit 11, and the switch control circuit 11 is a zero power consumption control circuit for CAN communication wakeup.
The right end of the CAN bus is connected with the main controller 1.
From the left end of controller 2 connection CAN bus.
Battery power 3, battery power 3 electricity main control unit 1 with from controller 2, battery power 3 is for supplying power from controller 2, from controller 2 for follow controller 1 voltage transmission.
A power switch 6 is provided on the slave controller 2, the power switch 6 being used to turn on and off the flow of the battery power supply 3.
As shown in fig. 3 and 4, the CAN bus is a data communication control line of the master controller and the slave controller 2, and the CAN bus has a CANH signal line and a CANL signal line, and the CANH signal line and the CANL signal line are used for communication of the CAN bus. The positive and negative electrodes of the battery power supply 3 are respectively a VBAT port and a GND port.
The steps of the embodiment are as follows: the power switch 6 is first activated so that the battery power supply 3 is supplying power from the controller 2. And then the slave controller 2 (which CAN be a hand operator, a hand lever and the like) is driven to move, the CAN bus is prompted to send signals, the switch control circuit 11 is excited to work, and finally the master controller 1 is conducted to supply power to a driving element in the wheelchair control system.
According to the invention, the slave controller 2 is driven to enable the CAN bus to send a signal to activate the switch control circuit 11 to work, so that the master controller 1 is powered on, the switch control circuit 11 is turned off without signal output of the CAN bus after the power switch 6 is turned off, the circuit voltage output by the master controller 1 is further enabled to be 0V, and zero power consumption is realized.
The second invention realizes the problem of no power consumption in the main controller 1 and the driving element (the following driving motor 4) in the charging state by the condition that the standby state can not conduct power supply, shortens the charging time, avoids the reduction of the service life of the battery power supply 3, and has unexpected technical effects.
Preferably, as shown in fig. 2, the standby zero power consumption wheelchair control system based on CAN communication wakeup further comprises a driving motor 4, and the driving motor 4 is connected with the main controller 1. The drive motor 4 is a drive element in the wheelchair control system described above.
Preferably, as shown in fig. 3, 4 and 5, the switch control circuit 11 includes: the circuit comprises a first resistor R1, a second resistor R2, an isolation controller U1, a switch controller U2, a voltage reduction circuit 7 and a single chip microcomputer 8.
More preferably, the isolation controller U1 is a phototransistor optocoupler.
More preferably, the switch controller U2 is a chip with dual fets.
More preferably, as shown in fig. 3 and 4, the switch controller U2 has: a first input terminal X1, a second input terminal X2. The main controller 1 and the battery power supply 3 have: a first diode D1, a fifth resistor R5, and a first capacitor C1.
The first input terminal X1 is connected to the positive and negative poles of the battery power supply 3. The second input terminal X2 is connected to the right end of the CAN bus.
An input terminal of the first diode D1 is connected to the battery power supply 3, and an output terminal of the first diode D1 is connected to a first input terminal X1 of the switch controller U2. The resistance of the fifth resistor R5 is 47K (K) Ω, the input terminal of the fifth resistor R5 is connected to the output terminal of the first diode D1, and the output terminal of the fifth resistor R5 is connected to the second input terminal X2 of the switch controller U2. The first capacitor C1 has a capacitor of 1uF, and the input and output terminals of the first capacitor C1 are connected to the VBAT port and the GND port of the battery power supply 3.
More preferably, as shown in fig. 3, the isolation controller U1 has: the first input port A, the second input port K and the first output port C.
As shown in fig. 3 and 4, one end of the first resistor R1 is connected to the first input port a, and the other end of the first resistor R1 is connected to the CANH signal line. One end of the second resistor R2 is connected with the second input port K, the other end of the second resistor R2 is connected with a CANL signal wire, the resistance values of the first resistor R1 and the second resistor R2 are the same, the resistance value of the first resistor R1 is 1K (thousand) omega, and the resistance value of the second resistor R2 is 1K (thousand) omega. The first output port C connects the input terminal of the fifth resistor R5 with the first input terminal X1 of the switch controller U2.
More preferably, as shown in fig. 4, the isolation controller U1 has a second output port, and the second output port and the switch controller U2 have: the circuit comprises a third resistor R3, a fourth resistor R4, a second capacitor C2, a first triode Q1 and a sixth resistor R6.
The resistance value of the third resistor R3 is 10K (kilo) omega, and the input end of the third resistor R3 is connected with the second output port of the isolation controller U1. The resistance of the fourth resistor R4 is 47K (thousand) Ω, the input terminal of the fourth resistor R4 is connected to the output terminal of the third resistor R3, and the output terminal of the fourth resistor R4 is Grounded (GND). The capacitor of the second capacitor C2 is 1uF, the input end of the second capacitor C2 is connected to the output end of the third resistor R3, and the output end of the second capacitor C2 is Grounded (GND). The base of the first triode Q1 is connected with the output end of the third resistor R3, and the emitter of the first triode is Grounded (GND). The resistance of the sixth resistor R6 is 10K (kilo) Ω, the input terminal of the sixth resistor R6 is connected to the collector of the first triode Q1, and the output terminal of the sixth resistor R6 is connected to the second input terminal X2 of the switch controller U2.
When the controller 2 is driven, the controller is driven through a CANH signal line and a CANL signal line, under the action of a first resistor R1 and a second resistor R2, the excitation isolation controller U1 starts to work, so that a first diode D1 and a third resistor R3 are conducted, the voltage of the battery power supply 3 forms a loop through a first diode D1, a third resistor R3, a fourth resistor R4 and ground processing (GND), therefore, the voltage difference between the base and the emitter of the first triode Q1 is larger than the conducting voltage of the first triode Q1, so that the collector and the emitter of the first triode Q1 are conducted, the voltage of the battery power supply 3 forms a loop through a first diode D1, a fifth resistor R5, a sixth resistor R6, a first triode Q1 and ground processing (GND), therefore, the voltage difference between a first input terminal X1 and a second input terminal X2 of the switch 1 is larger than the conducting voltage of the switch controller U2, so that the field effect transistors S1 and D1 in the main controller 1 are turned on to deliver VCC voltage for the voltage step-down circuit 7.
After CAN communication is adopted for awakening, the power supply problem of components in the main controller 1 is realized through one path of field effect tube S1 and D1 of the switch controller U2.
More preferably, as shown in fig. 3 and 4, the switch controller U2 further includes: a first output terminal Y1, a second output terminal Y2, and a fourth input terminal X4.
It is noted that the connection relationship with VCC is understood to be the connection of the VCC power supply line. The input terminals (VCC and GEN) of the voltage step-down circuit 7 are connected to the first output terminal Y1 and the second output terminal Y2 of the main controller 1. The input end (VCC) of the singlechip 8 is connected with the output end of the voltage reduction circuit 7, and the output end (POWER _ ON port) of the singlechip 8 is connected with the fourth input end X4 of the switch controller U2.
More preferably, the single chip microcomputer 8(POWER _ ON port) and the fourth input terminal X4 of the switch controller U2 have: a second triode Q2 and a seventh resistor R7.
The base electrode of the second triode Q2 is connected with the output end of the singlechip 8, and the emitter electrode of the second triode Q2 is Grounded (GND). The resistance of the seventh resistor R7 is 10K (thousand) Ω, the input terminal of the seventh resistor R7 is connected to the collector of the second triode Q2, and the output terminal of the seventh resistor R7 is connected to the fourth input terminal X4 of the main controller 1.
As shown in fig. 3-5, the main controller 1 is powered on to supply power to the voltage dropping circuit 7, and the voltage dropping circuit 7 converts the VCC voltage to output 5V voltage to the single chip microcomputer 8, and the single chip microcomputer 8 outputs high and low potential signals to the second triode Q2 under the action of the 5V voltage.
More preferably, as shown in fig. 4, the switch controller U2 further has a first output terminal Y1, a second output terminal Y2, a third input terminal X3 and a fourth input terminal X4, and the first and second output terminals X1 and X2 of the switch controller U2 and the third and fourth input terminals Y3 and Y4 include: a second diode D2, a ninth resistor R9, a tenth resistor R10, and an eighth resistor R8.
An input terminal of the second diode D2 is connected to the first output terminal Y1 and the second output terminal Y2 of the switch controller U2. The ninth resistor R9 and the tenth resistor R10 both have resistance of 33R and electric energy of 0.25W, and the input terminal of the ninth resistor R9 is connected to the output terminal of the second diode D2. An input end of the tenth resistor R10 is connected to an output end of the second diode D2, the ninth resistor R9 is connected in parallel with the tenth resistor R10, and output ends of the ninth resistor R9 and the tenth resistor R10 are connected to a third input end X3 of the switch controller U2. The resistance value of the eighth resistor R8 is 47K (thousand) Ω, the input end of the eighth resistor R8 is connected with the output ends of the ninth resistor R9 and the tenth resistor R10, and the output end of the eighth resistor R8 is connected with the fourth input end X4 of the switch controller U2.
More preferably, as shown in fig. 3 and 4, the switch controller U2 further has a third output terminal Y3 and a fourth output terminal Y4, and the driving motor 4 is connected to the third output terminal Y3 and the fourth output terminal Y4 of the switch controller U2.
As shown in fig. 4, after the VCC voltage output by the switch controller U2 is turned on through the second diode D2, the ninth resistor R9, and the tenth resistor R10, power is supplied to the third input terminal X3 of the switch controller U2, and power is supplied to the fourth input terminal X4 of the switch controller U2 through the seventh resistor R7 and the eighth resistor R8, when the single chip microcomputer 8 outputs a high-level signal, the voltage is greater than the turn-on voltage of the second triode, the collector and the emitter of the second triode Q2 are turned on, the VCC voltage forms a voltage difference with the fourth input terminal X4 through the second diode D2, the tenth resistor R10, the eighth resistor R8, the seventh resistor R7, the second triode Q2, and the Ground (GND) and is greater than the turn-on voltage of the switch controller U2, so that the field effect transistor D2 and the S8269556 in the switch controller U9 are turned on, and the output voltage of the third switch controller U8653 is further turned on, and supplying power to the driving motor 4 for working.
After CAN communication is adopted for awakening, the power supply of the driving motor 4 is realized through the other path of field effect tube D2 and S2 of the switch controller U2, and the logic relation of ring-to-ring buckling is realized.
A zero-power consumption method of a standby zero-power consumption wheelchair control system based on CAN communication awakening comprises the following steps:
-activating the power switch 6 so that the battery power supply 3 supplies power to the slave controller 2.
And the driving slave controller 2 sends a signal through the CAN bus to activate the switch control circuit 11 to work, so that the master controller 1 is conducted to supply power to the driving motor 4.
And stopping driving the slave controller 2 to enable the slave controller 2 to be in a standby state, further enabling the CAN bus to have no signal output, enabling the switch control circuit 11 to be incapable of conducting work, and enabling the master controller 1 to enable the circuit voltage output to the driving motor 4 to be 0V, so that zero power consumption is realized.
More preferably, the main controller 1 starts to operate when the power supply process is conducted, specifically, when the power supply process is driven by the controller 2 via the CANH signal line and the CANL signal line, under the action of the first resistor R1 and the second resistor R2, the isolation controller U1 is activated, so that the first diode D1 and the third resistor R3 are conducted, the voltage of the battery power supply 3 forms a loop via the first diode D1, the third resistor R3, the fourth resistor R4, and the ground connection (GND), therefore, the base and the emitter of the first transistor Q1 have a voltage difference, which is greater than the conduction voltage of the first transistor Q1, so that the collector and the emitter of the first transistor Q1 are conducted, the voltage of the battery power supply 3 forms a loop via the first diode D1, the fifth resistor R5, the sixth resistor R6, the first transistor Q1, and the ground connection (GND), therefore, the voltage difference exists between the first input terminal X1 and the second input terminal X2 of the switching main controller 1, and is greater than the turn-on voltage of the switch controller U2, so that the field effect transistors S1 and D1 in the main controller 1 are turned on to supply the VCC voltage to the step-down circuit 7.
More preferably, the main controller 1 is powered on to supply power to the voltage reducing circuit 7, and the voltage reducing circuit 7 converts the VCC voltage to output a voltage of 5V to the single chip microcomputer 8, and the single chip microcomputer 8 outputs a high-low potential signal to the second triode Q2 under the action of the voltage of 5V.
More preferably, after the switch controller U2 is turned on by the second diode D2, the ninth resistor R9, and the tenth resistor R10, the VCC voltage output by the switch controller U2 is supplied to the third input terminal X3 of the switch controller U2, and is supplied to the fourth input terminal X4 of the switch controller U2 through the seventh resistor R7 and the eighth resistor R8, when the single chip microcomputer 8 outputs a high-level signal, the VCC voltage is greater than the conduction voltage of the second triode, the collector and the emitter of the second triode Q2 are turned on, the VCC voltage forms a voltage difference with the fourth input terminal X4 through the second diode D2, the tenth resistor R10, the eighth resistor R8, the seventh resistor R7, the second triode Q2, and the Ground (GND) and is greater than the conduction voltage of the switch controller U2, so that the field effect transistors D6862 and S8269556 in the switch controller U9 are turned on, and the output voltage of the third input terminal X4 is further turned on, the output terminal vb8653, and supplying power to the driving motor 4 for working.
Example two:
an electric wheelchair, as shown in fig. 1, comprises a vehicle body, and a rear driving wheel 9 and a front universal wheel 10 connected with the vehicle body, wherein the electric wheelchair is provided with a standby zero-power wheelchair control system based on CAN communication wake-up in any one of the above embodiments.
Example three:
a method for facilitating charging, wherein the zero power consumption method of the standby zero power consumption wheelchair control system based on CAN communication wakeup in any one of the above embodiments, the method for facilitating charging further comprises the following steps:
using the charger 5 to connect with an external power supply, for charging from the controller 2, by connecting from the controller 2 with the main controller 1, direct charging of the battery power supply 3 is realized, and by the condition that the standby state of the main controller 1 cannot be conducted to obtain power, charging of the battery power supply 3 is realized without loss of power supply in the driving motor 4.
Preferably, when the charger 5 is used to charge the battery power supply 3, the power switch 6 is first turned off (in a standby state) to disable the controller 2, the CAN bus line is disconnected, and CAN h and CANL signals cannot be output, so that the isolation controller U1 cannot be operated, therefore, the fet D1 and the fet R3 of the switch controller U2 form an open circuit, the base and the emitter of the first transistor Q1 have no voltage difference, the collector and the emitter of the first transistor Q1 cannot be conducted, so that the VBAT voltage output from the battery power supply 3 to the first input terminal X1 and the second input terminal X2 of the switch controller U2 are the same voltage, and at this time, the first input terminal X1 and the second input terminal X2 of the switch controller U2 cannot form a voltage difference, the fet cannot be operated, the first input terminal X1 and the first output terminal Y1 cannot be conducted to cause the output VCC voltage to be 0V, further cause the third input terminal X3 and the fourth input terminal X4 of the switch controller U2 to be also unable to supply power, so that the Vbus output of the switch controller U2 to the drive motor 4 is also 0V. Finally, in the charging process, the switch controller U2 can cut off the power supply to the circuits of the main controller 1 and the driving motor 4 (that is, the problem of feeding caused by the fact that weak current can still exist in the standby state of the battery power supply 3 in the prior art to affect the internal power supplies of the main controller 1 and the driving motor 4 is solved), and the direct power supply to the battery power supply 3 is realized.
Although the illustrative embodiments of the present invention have been described above to enable those skilled in the art to understand the present invention, the present invention is not limited to the scope of the embodiments, and it is apparent to those skilled in the art that all the inventive concepts using the present invention are protected as long as they can be changed within the spirit and scope of the present invention as defined and defined by the appended claims.
Claims (6)
1. A standby zero-power wheelchair control system based on CAN communication awakening comprises:
the main controller is provided with an on-off control circuit, and the on-off control circuit is a zero-power-consumption control circuit awakened by CAN communication;
the right end of the CAN bus is connected with the main controller;
the slave controller is connected with the left end of the CAN bus;
the charger is connected with the slave controller and is used for being in butt joint with an external power supply;
the battery power supply is electrically connected with the master controller and the slave controller, the battery power supply supplies power to the slave controller, and the slave controller transmits voltage to the master controller;
a power switch disposed on the slave controller, the power switch for turning on and off circulation of a battery power supply;
the CAN bus is a data communication control line of a master controller and a slave controller, and is provided with a CANH signal line and a CANL signal line which are used for communication of the CAN bus;
the positive electrode and the negative electrode of the battery power supply are respectively a VBAT port and a GND port;
the switch control circuit includes: the circuit comprises a first resistor, a second resistor, an isolation controller, a switch controller, a voltage reduction circuit and a singlechip;
the switch controller has a first output terminal, a second output terminal, a third input terminal and a fourth input terminal, the input terminal of the voltage-reducing circuit is connected to the first output terminal of the switch controller, the input terminal of the single-chip microcomputer is connected to the output terminal of the voltage-reducing circuit, the output terminal of the single-chip microcomputer is connected to the fourth input terminal of the switch controller, and the first and second output terminals and the third and fourth input terminals of the switch controller include:
a second diode, an input terminal of the second diode being connected to the first output terminal of the switch controller;
the input end of the ninth resistor is connected with the output end of the second diode;
a tenth resistor, an input terminal of which is connected to the output terminal of the second diode, the ninth resistor and the tenth resistor are connected in parallel, and an output terminal of the ninth resistor and the tenth resistor are connected to the third input terminal of the switch controller;
an input end of the eighth resistor is connected with output ends of the ninth resistor and the tenth resistor, and an output end of the eighth resistor is connected with the fourth input end of the switch controller;
the singlechip and the fourth input end of the switch controller are provided with:
the base electrode of the second triode is connected with the output end of the singlechip, and the emitting electrode of the second triode is grounded;
the input end of the seventh resistor is connected with the collector of the second triode, and the output end of the seventh resistor is connected with the fourth input end of the switch controller;
the switch controller has:
the first input end is connected with the anode and the cathode of the battery power supply;
a second input terminal;
the switch controller and the battery power supply are provided with:
a first diode, an input end of the first diode is connected with the battery power supply, and an output end of the first diode is connected with the first input end of the switch controller;
an input end of the fifth resistor is connected with an output end of the first diode, and an output end of the fifth resistor is connected with the second input end of the switch controller;
the input end and the output end of the first capacitor are connected with a VBAT port and a GND port of the battery power supply;
the isolation controller has:
one end of the first resistor is connected with the first input port, and the other end of the first resistor is connected with the CANH signal line;
one end of the second resistor is connected with the second input port, the other end of the second resistor is connected with the CANL signal line, and the resistance values of the first resistor and the second resistor are the same;
a first output port, said first output port connecting an input terminal of said fifth resistor with said first input terminal of said switch controller;
the isolation controller is provided with a second output port, and the second output port and the switch controller are provided with:
the input end of the third resistor is connected with the second output port of the isolation controller;
the input end of the fourth resistor is connected with the output end of the third resistor, and the output end of the fourth resistor is grounded;
the input end of the second capacitor is connected with the output end of the third resistor, and the output end of the second capacitor is grounded;
a base electrode of the first triode is connected with the output end of the third resistor, and an emitting electrode of the first triode is grounded;
the input end of the sixth resistor is connected with the collector of the first triode, and the output end of the sixth resistor is connected with the second input end of the switch controller.
2. The CAN communication wake-up based standby zero power wheelchair control system of claim 1, wherein the CAN communication wake-up based standby zero power wheelchair control system further comprises a driving motor, and the driving motor is connected with the main controller.
3. The CAN communication wake-up based standby zero power wheelchair control system of claim 2, wherein the switch controller further comprises a third output terminal and a fourth output terminal, the power supply of the driving motor is connected to the third output terminal of the switch controller, and the fourth output terminal is grounded.
4. An electric wheelchair, wherein the electric wheelchair comprises a vehicle body, and a rear driving wheel and a front universal wheel which are connected with the vehicle body, and the electric wheelchair is provided with the standby zero-power wheelchair control system based on CAN communication awakening as claimed in any one of the claims 1-3.
5. A zero-power consumption method of a standby zero-power consumption wheelchair control system based on CAN communication awakening comprises the following steps:
-activating the power switch so that the battery power supply powers the slave controller;
the driving slave controller sends a signal through the CAN bus to excite the switch control circuit to work, so that the master controller is conducted to supply power for the driving motor;
stopping driving the slave controller, enabling the slave controller to be in a standby state, further enabling a CAN bus to have no signal output, enabling a switch control circuit to be incapable of conducting work, prompting the master controller to be incapable of working, enabling the circuit voltage output to the driving motor to be 0V, and achieving zero power consumption;
VCC voltage output by the switch controller is supplied to a third input end of the switch controller and is supplied to a fourth input end of the switch controller through a seventh resistor and an eighth resistor after being conducted by a second diode, a ninth resistor and a tenth resistor, when a single chip microcomputer outputs a high-potential signal, the VCC voltage is greater than the conduction voltage of a second triode, a collector and an emitter of the second triode are conducted, a loop is formed by the VCC voltage through the second diode, the tenth resistor, the eighth resistor, the seventh resistor, the second triode and grounding treatment, a voltage difference is formed between the third input end and the fourth input end of the main controller and is greater than the conduction voltage of the switch controller, a field effect tube in the switch controller is conducted, and a VBUS voltage is further output by a third output end of the switch controller, supplying power to the driving motor for working;
the conducting power supply process of the main controller is specifically that the voltage of the battery power supply forms a loop through the first diode, the third resistor, the fourth resistor and the grounding process under the action of the first resistor and the second resistor after being output through a CANH signal line and a CANL signal line in the driving process of the slave controller, so that the voltage of the battery power supply forms a loop through the first diode, the third resistor, the fourth resistor and the grounding process, therefore, the base electrode and the emitter electrode of the first triode have a voltage difference which is larger than the conducting voltage of the first triode, so that the collector electrode and the emitter electrode of the first triode are conducted, the voltage of the battery power supply forms a loop through the first diode, the fifth resistor, the sixth resistor, the first triode and the grounding process, so that the voltage difference between the first input end and the second input end of the switch controller is larger than the conducting voltage of the switch controller, so that the field effect tube in the main controller is conducted to transmit VCC voltage to the voltage reduction circuit.
6. The zero-power method of the CAN communication wake-up based standby zero-power wheelchair control system as claimed in claim 5, wherein the main controller is powered on to supply power to the voltage reduction circuit, and the voltage reduction circuit outputs 5V voltage to the single chip microcomputer through the conversion of the voltage reduction circuit in the process of transmitting VCC voltage to the voltage reduction circuit, and the single chip microcomputer outputs high and low potential signals to the second triode under the action of the 5V voltage.
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