CN111067725A

CN111067725A - Integrated electric wheelchair control system, power-on self-checking method and child lock method of electric wheelchair

Info

Publication number: CN111067725A
Application number: CN202010007197.7A
Authority: CN
Inventors: 张建兰
Original assignee: Fuyoukang Intelligent Medical Technology Kunshan Co Ltd
Current assignee: Fuyoukang Intelligent Medical Technology Kunshan Co Ltd
Priority date: 2020-01-04
Filing date: 2020-01-04
Publication date: 2020-04-28

Abstract

The invention discloses an integrated electric wheelchair control system, a power-on self-checking method and a child locking method of an electric wheelchair, wherein the electric wheelchair comprises a power battery, an operating rocker, a lamp, a folding power component and a motor, and the integrated electric wheelchair control system comprises a main control drive board and a function control board which are communicated and connected with each other; the function control panel is respectively connected with various lamps and folding power parts of the electric wheelchair, and is suitable for a user to input corresponding control instructions, control corresponding lamp actions according to the lamp control instructions input by the user, and drive and control the folding power parts to execute corresponding actions according to the folding instructions input by the user; the corresponding control commands at least comprise a lamp control command, a folding command and a wheelchair action execution command. The invention at least integrates the light control and electric folding functions of the wheelchair light, not only can meet the illumination requirements of users, but also simplifies the structure, saves unnecessary troubles for installation and maintenance of manufacturers, and brings better experience and lower expenditure for users.

Description

Integrated electric wheelchair control system, power-on self-checking method and child lock method of electric wheelchair

Technical Field

The invention relates to an integrated electric wheelchair control system, a power-on self-checking method and a child locking method of an electric wheelchair, and belongs to the technical field of electric wheelchairs.

Background

At present, a wheelchair controller, a wheelchair light control system and an electric folding control system in the market are respectively designed, and a module is additionally added for solving the problems of light control and electric folding for a user. Therefore, the user needs to add extra expenses, and the additional module brings inconvenience to the production, manufacturing, maintenance, user experience and other links.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides an integrated electric wheelchair control system, which is designed by integrating at least the light control function and the electric folding function of a wheelchair light, can meet the illumination requirements of users, simplifies the structure, saves unnecessary troubles for installation and maintenance of manufacturers, and brings better experience and lower expenditure for the users.

In order to solve the technical problems, the technical scheme of the invention is as follows: an integrated electric wheelchair control system comprises a power battery, an operation rocker, a lamp, a folding power component and a motor, wherein the folding power component is suitable for being controlled and driven to fold or unfold the electric wheelchair, the motor is suitable for being controlled and driven to enable wheels of the electric wheelchair to execute corresponding actions, and the electric wheelchair comprises a main control drive plate and a function control plate which are communicated and connected with each other; wherein the content of the first and second substances,

the function control panel is respectively connected with various lamps and folding power components of the electric wheelchair and is suitable for a user to input corresponding control instructions, control corresponding lamp actions according to the lamp control instructions input by the user and drive and control the folding power components to execute corresponding actions according to the folding instructions input by the user; the corresponding control instructions at least comprise a lamp control instruction, a folding instruction and a wheelchair action execution instruction;

the function control board is suitable for transmitting a wheelchair action execution instruction input by a user to the main control drive board;

the main control drive board is respectively connected with the control rocker and the motor and is suitable for driving and controlling the motor to execute corresponding actions according to corresponding action direction information of the control rocker and/or corresponding wheelchair action execution instructions input by a user;

the main control driving board is also electrically connected with the power battery.

Furthermore, in order to detect the working state of each module in the system and timely find out the fault problem to display the fault problem to a user and realize shutdown, the main control drive board is also suitable for monitoring the working state information of at least part of modules in the main control drive board and transmitting the working state information to the function control board, and is suitable for generating fault information when the working state of at least one module is abnormal and transmitting the fault information to the function control board and at least stopping the working of the main control drive board and/or the function control board;

the function control board is also suitable for monitoring the working state information of at least part of modules in the function control board and generating fault information when the working state of at least one module is abnormal and at least stopping the main control drive board and/or the function control board;

the function control board is also suitable for displaying the working state information and the generated fault information monitored by the main control drive board and the working state information and the generated fault information monitored by the function control board to a user.

Further, in order to display various information to a user well, the function control panel comprises a display module, and the display module is used for displaying working state information and/or fault information.

Further, the main control driving board includes:

the main control processing module is connected with the operating rocker and is suitable for receiving corresponding action direction information sent by the operating rocker and/or a corresponding wheelchair action execution instruction input by a user and generating a corresponding driving control instruction;

the motor drive axle module is respectively connected with the main control processing module and the motor and is suitable for driving the motor to execute corresponding actions according to corresponding driving control instructions;

the motor drive axle detection module is respectively connected with the motor drive axle module and the main control processing module, and is suitable for detecting the working state of the motor drive axle module in real time and feeding back a detection result to the main control processing module;

the electromagnetic brake driving module is respectively connected with the main control processing module and the motor and is suitable for driving an electromagnetic brake in the motor to execute corresponding actions according to corresponding brake control instructions sent by the main control processing module;

the electromagnetic brake detection module is respectively connected with the electromagnetic brake driving module and the master control processing module, and the electromagnetic brake detection module is suitable for detecting the working state of the electromagnetic brake driving module in real time and feeding back a detection result to the master control processing module.

Further, the main control drive board further comprises a relay drive module, and the relay drive module is used for switching on or switching off the electric connection between the power battery and the motor drive bridge module according to a corresponding instruction sent by the main control processing module.

Further, the main control drive board further includes:

the storage module is used for storing at least control instructions and/or working state information and/or alarm information input by a user;

and/or a battery electric quantity detection module for monitoring the residual electric quantity of the power battery in real time;

and/or the temperature detection module is used for monitoring the temperature of the main control drive board and/or the functional control board at least in real time, the temperature detection module is connected with the main control processing module, and the main control processing module is suitable for controlling the motor drive bridge module and/or the relay drive module to work or close according to the temperature signal acquired by the temperature detection module.

Further, the function control board includes:

the signal input module is suitable for acquiring a corresponding control instruction input by a user;

the function control processing module is communicated with the main control processing module and is also connected with the instruction input module, and the function control processing module is suitable for generating corresponding control driving signals according to corresponding control instructions input by the signal input module; the control driving signals at least comprise lamp control driving signals corresponding to the lamp control instructions and folding driving signals corresponding to the folding instructions;

the light driving module is used for driving at least part of the light of the electric wheelchair to work or close according to the corresponding light control driving signal sent by the function control processing module;

and the electric folding control module is used for driving a folding power part of the electric wheelchair to execute corresponding actions according to corresponding folding driving signals sent by the function control processing module.

Further, the function control board further includes:

the remote control signal receiving module is connected with the function control processing module and used for receiving and decoding the command sent by the remote controller and transmitting the analyzed remote control command to the function control processing module, and the function control processing module drives the folding power part of the electric wheelchair to execute corresponding actions according to the corresponding folding driving signal sent by the received remote control signal.

Further, the main control drive board comprises a power conversion module, the power conversion module is respectively connected with the power battery and the function control board, and the power conversion module is used for transforming the electric energy output by the power battery and at least supplying the transformed electric energy to the main control drive board and the function control board.

Furthermore, in order to integrate the USB quick charging function and the illumination function in the system, the integrated electric wheelchair control system also comprises a USB quick charging and illumination plate; wherein, USB fills soon and illumination plate includes:

the lighting lamp driving module is electrically connected with the power battery and comprises a lighting lamp, the lighting lamp driving module is connected with the function control panel, the corresponding control instruction also comprises a lighting lamp instruction, the function control panel is suitable for generating a corresponding lighting lamp driving signal according to the lighting lamp instruction input by a user, and the lighting lamp driving module is suitable for driving and controlling the lighting lamp to be turned on or turned off according to the lighting lamp driving signal sent by the function control panel;

the USB quick-charging module is electrically connected with the power battery and is suitable for converting electric energy input by the power battery into electric energy with corresponding output power according to a quick-charging protocol supported by the identified external USB equipment so as to quickly charge the external USB equipment.

In order to improve the safety of the integrated wheelchair control system, the invention also provides a power-on self-checking method of the electric wheelchair, the electric wheelchair comprises a power battery, an operating rocker and a motor which is suitable for being controlled and driven by the motor drive axle module and the electromagnetic brake drive module to enable wheels of the electric wheelchair to execute corresponding actions, and the method comprises the following steps:

s1: starting up the power battery, and accessing the electric energy of the power battery;

s2: detecting whether the connection of the operating rocker is normal: when the detection result is normal, entering the next step; when the detection result is abnormal, prompting the user that the operation rocker fails and stopping starting the machine;

s3: detecting whether the operating rocker is at the origin: when the detection result is at the origin, entering the next step; when the detection result is that the joystick is not at the original point, prompting a user that the joystick is not at the original point and stopping starting;

s4: detecting whether a motor exists: when the detection result is that the detection result exists, the next step is carried out; when the detection result is that the motor is not connected, prompting a user that the motor is not connected and stopping starting the motor;

s5: detecting whether the motor drive axle module works normally: when the detection result is normal, entering the next step; when the detection result is abnormal, prompting the user of the motor drive axle module failure and stopping starting;

s6: detecting whether the electromagnetic brake driving module is normal: when the detection result is normal, entering the next step; when the detection result is abnormal, prompting the user of the electromagnetic brake fault and stopping starting;

s7: and entering a normal starting mode.

In order to avoid accidents caused by misoperation of children, the invention also provides a child locking method of the electric wheelchair, which is realized based on an integrated electric wheelchair control system, and the method comprises the following steps:

after at least a first operation group is executed in sequence, at least a function control panel and a main control drive panel in the integrated electric wheelchair control system stop working, and a child lock shutdown mode is entered;

after at least the second operation group is executed in sequence, the child lock power-off mode is released, and the integrated electric wheelchair control system enters a normal power-on mode; wherein the first operation group is:

inputting a shutdown instruction to the function control panel and keeping the shutdown instruction for a period of time;

pushing the operating rocker to the maximum advancing direction and keeping for a period of time;

pushing the operating rocker to the maximum backward direction and keeping for a period of time;

the second group of operations is:

inputting a shutdown instruction to the function control panel;

pushing the operating rocker to the maximum backward direction and holding for a period of time.

After the technical scheme is adopted, the invention has the following beneficial effects:

1. according to the integrated electric wheelchair control system, the design of the main control drive plate and the function control plate is adopted, and the electric wheelchair control function, the electric folding function and the wheelchair action are integrated, so that the lighting requirement of a user can be met, the structure of the integrated electric wheelchair control system is simplified, unnecessary troubles are saved for installation and maintenance of a producer, and better experience and lower expenditure are brought to the user;

2. the integrated electric wheelchair control system is also provided with a USB quick charging and lighting plate, so that the USB quick charging function and the lighting function are realized;

3. in order to avoid accidents caused by misoperation of children, the integrated wheelchair control system also has a child lock function;

4. in order to improve the safety of the integrated wheelchair control system, the integrated wheelchair control system is also provided with a starting self-checking function and a fault information display function.

Drawings

FIG. 1 is a control schematic diagram of an integrated electric wheelchair control system of the present invention;

FIG. 2 is an exploded view of the assembly of the integrated electric wheelchair control system of the present invention;

FIG. 3 is a circuit diagram of a power conversion module according to the present invention;

FIG. 4 is a circuit diagram of a memory module according to the present invention;

FIG. 5 is a circuit diagram of a battery power detection module according to the present invention;

FIG. 6 is a circuit diagram of a temperature detection module according to the present invention;

FIG. 7 is a circuit diagram of a relay driver module according to the present invention;

FIG. 8 is a circuit diagram of a motor drive axle module of the present invention;

FIG. 9 is a circuit diagram of a motor drive axle detection module of the present invention;

FIG. 10 is a circuit diagram of an electromagnetic brake actuation module according to the present invention;

FIG. 11 is a circuit diagram of an electromagnetic brake detection module according to the present invention;

FIG. 12 is a circuit diagram of a key module according to the present invention;

FIG. 13 is a circuit diagram of a display module according to the present invention;

FIG. 14 is a circuit diagram of a lamp driving module according to the present invention;

FIG. 15 is a circuit diagram of an electric folding control module according to the present invention;

FIG. 16 is a circuit diagram of a USB flash module according to the present invention;

fig. 17 is a circuit diagram of a lighting lamp driving module according to the present invention;

FIG. 18 is a power-on self-test flow chart of the integrated electric wheelchair control system of the present invention;

FIG. 19 is a flow chart of the locking operation of the child lock function in the present invention;

FIG. 20 is a flowchart illustrating an operation of unlocking the child lock function according to the present invention;

FIG. 21 is a schematic circuit diagram of a remote control signal receiving module according to the present invention;

fig. 22 is a detailed structure diagram of the anti-pinch detection switch S1 in fig. 15.

Detailed Description

In order that the present invention may be more readily and clearly understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.

Example one

As shown in fig. 1 to 17, an integrated electric wheelchair control system, an electric wheelchair comprising a power battery 10, an operation rocker 20, a lamp and a folding power component suitable for being controlled and driven to fold or unfold the electric wheelchair, and a motor 30 suitable for being controlled and driven to make wheels of the electric wheelchair perform corresponding actions, comprises a main control drive plate 1 and a function control plate 2 which are communicated with each other; wherein the content of the first and second substances,

the function control panel 2 is respectively connected with various lamps and folding power components of the electric wheelchair, and the function control panel 2 is suitable for a user to input corresponding control instructions, control corresponding lamp actions according to the lamp control instructions input by the user and drive and control the folding power components to execute corresponding actions according to the folding instructions input by the user; the corresponding control instructions at least comprise a lamp control instruction, a folding instruction and a wheelchair action execution instruction;

the function control board 2 is suitable for transmitting wheelchair action execution instructions input by a user to the main control drive board 1;

the main control drive board 1 is respectively connected with the control rocker 20 and the motor 30, and the main control drive board 1 is suitable for driving and controlling the motor 30 to execute corresponding actions according to corresponding action direction information of the control rocker 20 and/or corresponding wheelchair action execution instructions input by a user;

the main control driving board 1 is also electrically connected with the power battery 10.

In the present embodiment, the power battery 10 includes, but is not limited to, a lead-acid battery or a lithium-ion battery; the motor 30 includes, but is not limited to, a brushed or brushless dc motor.

In order to improve the safety of the integrated electric wheelchair control system, the main control drive board 1 is further adapted to monitor the working state information of at least some modules in the main control drive board 1 and transmit the working state information to the function control board 2, and is adapted to generate fault information when the working state of at least one module is abnormal and transmit the fault information to the function control board 2 and at least stop the main control drive board 1 and/or the function control board 2 from working;

the function control board 2 is also suitable for monitoring the working state information of at least part of modules in the function control board 2 and generating fault information when the working state of at least one module is abnormal and at least stopping the main control drive board 1 and/or the function control board 2;

the function control board 2 is also adapted to display the working state information and the generated fault information monitored by the main control driving board 1 and the working state information and the generated fault information monitored by the function control board 2 to a user.

As shown in fig. 1, the function control board 2 includes a display module 21, and the display module 21 is configured to display operating status information and/or fault information.

In this embodiment, in the whole process of the control system operation, the main control drive board 1 and the function control board 2 perform real-time detection on the function modules respectively responsible for control, and the sent instruction is consistent with the received feedback. And if the abnormal condition occurs, immediately stopping the control system and displaying corresponding fault information to a user through the display module 21.

As shown in fig. 1, the main control driving board 1 includes:

the main control processing module 11 is connected with the control rocker 10, and the main control processing module 11 is suitable for receiving corresponding action direction information sent by the control rocker 10 and/or a corresponding wheelchair action execution instruction input by a user and generating a corresponding driving control instruction;

the motor drive axle module 12, the motor drive axle module 12 is respectively connected with the main control processing module 11 and the motor 30, and the motor drive axle module 12 is adapted to drive the motor 30 to execute corresponding actions according to corresponding driving control instructions;

the motor drive axle detection module 13 is connected with the motor drive axle module 12 and the main control processing module 11 respectively, and the motor drive axle detection module 13 is suitable for detecting the working state of the motor drive axle module 12 in real time and feeding back the detection result to the main control processing module 11;

the electromagnetic brake driving module 14 is respectively connected with the main control processing module 11 and the motor 30, and the electromagnetic brake driving module 14 is adapted to drive an electromagnetic brake inside the motor 30 to execute a corresponding action according to a corresponding brake control instruction sent by the main control processing module 11;

electromagnetic brake detection module 15, electromagnetic brake detection module 15 respectively with electromagnetic brake drive module 14 with master control processing module 11 links to each other, electromagnetic brake detection module 15 is suitable for real-time detection electromagnetic brake drive module 14's operating condition and feeds back the testing result to master control processing module 11.

As shown in fig. 1, the main control driving board 1 further includes a relay driving module 16, and the relay driving module 16 is configured to connect or disconnect an electrical connection between the power battery 10 and the motor drive bridge module 12 according to a corresponding instruction sent by the main control processing module 11.

In this embodiment, fig. 7 shows a circuit diagram of a relay driving module 16, the relay driving module 16 comprises D9, RL1, Q31, R172 and R169, + B _ RLY is a motor drive bridge module power supply, + B is a power battery power supply, where RL1 is divided into an RL1A electromagnetic coil portion and an RL1B contact portion; the Q31 is an NPN type triode and is used for controlling the suction and the release of a relay RL 1; d19 is the free wheel diode of the electromagnetic coil when the relay RL1 releases, used for releasing the ability stored in RL1 electromagnetic coil, protect Q31; r172 is a current-limiting resistor of the base of a triode Q31; the base of Q31 is connected to GND through R169, when GPIO port PD2 of main control processing module 11 is set to low level, Q31 emitter junction is reverse biased, Q31 works in cut-off state, RL1 electromagnetic coil part has no current flowing, relay RL1 contact is released, power battery voltage + B and motor drive bridge module power supply + B _ RLY are disconnected; when the GPIO port PD2 of the main control processing module 11 is set to high level, after R172 and R169 resistor voltage division, the Q31 emitter junction is forward biased, Q31 works in saturation conducting state, current flows through the RL1 electromagnetic coil part, the relay RL1 contact is attracted, and the power battery voltage + B is communicated with the motor drive bridge module power supply + B _ RLY.

The main control driving board 1 further includes:

a storage module 17 for storing at least control instructions, working state information and alarm information input by users;

a battery power detection module 18 for monitoring the residual power of the power battery 10 in real time;

the temperature detection module 19 is used for monitoring the temperature of the main control drive board 1 and/or the functional control board 2 at least in real time, the temperature detection module 19 is connected with the main control processing module 11, and the main control processing module 11 is suitable for controlling the motor drive bridge module 12 and/or the relay drive module 16 to work or close according to the temperature signal collected by the temperature detection module 19.

In this embodiment, fig. 4 shows a circuit diagram of the memory module 17, wherein the IC22 is an EEPROM with an SPI communication interface, and the pin 1 is a chip selection pin, the pin 2 is a clock pin, the pin 3 is a data input pin, the pin 4 is a data output pin, the pin 5 is a GND pin, the pin 6 is not used inside a chip, the pin 7 is a chip storage mode selection pin, and the pin 8 is a power supply pin. R163 is a pull-down resistor of the chip selection pin of IC22, when the control system does not need to read and write data inside IC22, GPIO port PA4 of the main control processing module 11 is set to low level, pin No. 1 of IC22 is pulled down through R163 resistor, and IC22 enters a suspension mode; when the control system needs to read and write data in the IC22, the GPIO port PA4 of the main control processing module 11 is set to a high level, the pin 1 of the IC22 is set to a high level, the IC22 enters a working mode, and the SPI communication ports PA5, PA6, and PA7 of the main control processing module 11 are respectively connected to the

pins

2, 3, and 4 of the IC22 for reading and writing data.

Pins

5 and 6 of the IC22 are connected with GND, and pin 8 is connected with a 3.3V power supply. Pin 7 of IC22 is connected to 3.3V power supply, and IC22 is set to operate in 16-bit data mode.

In this embodiment, fig. 5 shows a circuit diagram of the battery power detection module 18, where + B is a power battery voltage, which is divided by resistors R154 and R159 and then sent to the a/D port PF7 of the main control processing module 11, and an a/D conversion module inside the main control processing module 11 performs measurement to obtain the battery voltage.

In the present embodiment, fig. 6 shows a circuit diagram of a temperature detection module 19, wherein the temperature detection module 19 is composed of R178, a thermistor ZR2 and a filter capacitor C98. The thermistor ZR2 is a thermal sensitive element, and its characteristic is that its resistance value changes with the temperature. As used herein, a Negative Temperature Coefficient (NTC) thermistor has its own resistance value that decreases with increasing temperature. The specific working principle is as follows: when the control system starts to work, the temperature of the control system is room temperature, at this time, the voltage detected by the a/D port PF7 of the main control processing module 11 is 5V, and the voltage is divided by the R178 and the thermistor ZR2 at room temperature, and along with the work of the control system, the temperature of the control system is increased due to heat generated by the control system, so that the resistance value of the thermistor ZR2 is reduced, the voltage detected by the a/D port PF7 of the main control processing module 11 is also reduced, when the detected voltage is smaller than a preset value, the main control processing module 11 determines that the temperature of the control system is too high, the main control processing module 11 sends an instruction to close the motor drive bridge module 12 and the relay drive module 16, and the control system enters an over-temperature protection mode. Meanwhile, the main control processing module 11 notifies the function control processing module 22 through the UART communication interface, and the function control processing module 22 prompts the user that the temperature of the control system is too high through the display module 21.

In this embodiment, fig. 8 shows a circuit diagram of a motor drive bridge module 12, where IC14 and IC15 are half-bridge drivers, and pin 1 is a control signal input pin, pin 2 is a chip off pin, pin 3 is a GND pin, pin 4 is a low-side output pin, pin 5 is a power supply pin, pin 6 is a high-side bootstrap input pin, pin 7 is a high-side output pin, and pin 8 is a high-side bootstrap power supply pin; q24, Q25, Q26 and Q27 are N-channel field effect transistors (N-MOSFETs); r122, R123, R125 and R126 are current-limiting resistors of the grid electrode of the N-channel field effect transistor; d12 and D13 are unidirectional diodes, and prevent the current of the motor drive bridge module 12 from flowing backwards to a 12V power supply; c67 and C68 are bootstrap capacitors output by the high side of the half-bridge driver; when all the modules of the control system work normally, the GPIO port PG0 of the main control processing module 11 is set to be at a high level, and after voltage division is performed through resistors R120 and R127, and resistors R121 and R128, the pin 2 of the IC14 and the pin 2 of the IC15 are at a high level, and the motor drive bridge module 12 starts to work. Reverse rotation control of the motor 30: when the duty ratio of the PWM port PA6 of the main control processing module 11 is set to 0%, the PWM port PA6 of the main control processing module 11 continues to be at a high level, the output of pin 7 of the IC14 is high, the high level is output to the gate of Q24 after passing through the R122 current-limiting resistor, Q24 is turned on, the output of pin 4 is low, the high level is output to the gate of Q27 through the current-limiting resistor R125, Q27 is pinched off, and the motor drive bridge power supply is connected to the negative electrode of the motor 30 through Q24, at this time, the main control processing module 11 adjusts the rotation speed of the motor 30 by adjusting the output duty ratio of the PWM port PA7 of the main control processing module 11, and further adjusting the on time of Q. Normal rotation control of the motor 30: when the duty ratio of the PWM port PA7 of the main control processing module 11 is set to 0%, the PWM port PA7 of the main control processing module 11 continues to be at a high level, the output of pin 7 of the IC15 is high, the high level is output to the gate of Q25 after passing through the R123 current-limiting resistor, Q25 is turned on, the output of pin 4 is low, the high level is output to the gate of Q26 through the current-limiting resistor R126, Q26 is pinched off, and the motor drive bridge power supply is connected to the positive electrode of the motor through Q25, at this time, the main control processing module 11 adjusts the rotation speed of the motor 30 by adjusting the output duty ratio of the PWM port PA6 of the main control processing module 11, and further adjusting the on time of Q. When the main control processing module 11 detects that the control system has a module failure, the GPIO port PG0 of the main control driver board MCU is set to a low level, pin 2 of the IC14 is pulled down through the R127 resistor, pin 2 of the IC15 is pulled down through the R128 resistor, and the motor drive bridge module 12 stops working to protect the control system.

As shown in fig. 9, when the motor drive bridge module 12 controls the motor 30 to rotate reversely, the negative electrode of the motor 30 is the motor drive bridge module power supply + B _ RLY, the positive electrode of the motor 30 is the PWM output of the motor drive bridge module 12, the PWM output is divided by R107 and R104 and then is supplied to an integration network formed by R103 and C51, the PWM square wave is integrated to obtain a voltage which changes with the PWM duty ratio, and the voltage is supplied to the a/D port PC0 of the main control processing module 11, and the a/D conversion module inside the main control processing module 11 performs measurement to obtain the output voltage of the motor drive bridge module 12. Similarly, when the motor drive bridge module 12 controls the motor 30 to rotate forward, the positive electrode of the motor 30 is the motor drive bridge module power supply + B _ RLY, the negative electrode of the motor 30 is the PWM output of the motor drive bridge module 12, the PWM output is divided by R90 and R91 and then is supplied to an integration network formed by R92 and C42, the PWM square wave is integrated to obtain a voltage which changes with the PWM duty ratio and is supplied to the a/D port PF10 of the main control processing module 11, and the a/D conversion module inside the main control processing module 11 performs measurement to obtain the output voltage of the motor drive bridge module 12. When the motor drive bridge module 12 fails, the voltages detected by the a/D ports PF10 and PC0 of the main control processing module 11 will not exceed the normal range, the main control processing module 11 will determine that the motor drive bridge module 12 fails, the main control processing module 11 will notify the function control processing module 22 through the UART communication interface to prompt the user of the motor drive bridge module to fail through the display module 21, when the motor 30 fails to connect, the a/D ports PF10 and PC0 of the main control processing module 11 will be pulled down to GND by R91 and R104, at this moment, the main control processing module 11 will determine that the motor connection fails, and the main control processing module 11 will notify the function control processing module 22 through the UART communication interface to prompt the user of the motor connection to fail through the display module 21.

As shown in fig. 10, a specific circuit diagram of the electromagnetic brake driving module 14 is shown, the electromagnetic brake driving module 14 is composed of R135, R137, Q21, R143, R145, Q20, D16 and D17, wherein Q20 is an NPN type triode, Q21 is a P-channel field effect transistor (P-MOSFET), and + B _ RLY is a power source of the motor drive bridge module, and the main control processing module 11 controls the electromagnetic brake driving module 14 through a GPIO port PD 4. When the GPIO port PD4 of the main control processing module 11 is set to a low level, the base of Q20 is connected to GND through R145, the Q20 emitter junction is reverse biased, Q20 operates in an off state, the gate (G) of Q21 is connected to the source (S) through R138, at this time, the gate-source (GS) of Q21 has no bias voltage, the drain-source (GS) of Q21 is pinched off, electric energy cannot flow through Q21 to reach a subsequent circuit, and the electromagnetic brake is released; when the GPIO port PD4 of the main control processing module 11 is set to high level, after voltage division by R143 and R145, the base voltage of Q20 is high level, the Q20 emitter junction is forward biased, Q20 is saturated and turned on, R140 is connected to GND, the gate (G) of Q21 is divided by R138 and R140, the voltage is lower than the source (S) voltage thereof, i.e., the Gate Source (GS) of Q21 is extremely negative, and Q21 is turned on. After the Q21 is conducted, the output voltage of the drain (D) pole is + B _ RLY, the D16 is connected to the electromagnetic brake, and the electromagnetic brake is electrified and attracted. Q16 is one-way diode for prevent that the electric energy in the electromagnetic brake from flowing backward to control system, and Q17 is freewheel diode, provides the freewheel return circuit for the inside electromagnetic energy release of electromagnetic brake coil when electromagnetic brake releases.

Fig. 11 shows a specific circuit diagram of an electromagnetic brake detection module 14, wherein the electromagnetic brake detection module 14 is composed of R148, R150, R146 and C85. The a/D port PF6 of the main control processing module 11 is used for detecting the working state of the electromagnetic brake. The specific detection principle is as follows: when the electromagnetic brake is not attracted, the voltage detected by the A/D port PF6 of the main control processing module 11 is + B _ RLY, and the voltage is divided by R148 and R150 and R146 in series, and is recorded as V1; when the electromagnetic brake is attracted, the voltage detected by the a/D port PF6 of the main control processing module 11 is + B _ RLY, and the voltage is divided by R150 and R146, and is denoted as V2, and when the a/D port PF6 of the main control processing module 11 detects that the voltage is V1, the main control processing module 11 determines that the electromagnetic brake is not attracted. When the a/D port PF6 of the main control processing module 11 detects that the voltage is V2, the main control processing module 11 determines that the electromagnetic brake is attracted.

Specifically, as shown in fig. 1, the function control board 2 includes:

the instruction input module is suitable for acquiring a corresponding control instruction input by a user;

the function control processing module 22, the function control processing module 22 is connected to the main control processing module 11 in a communication manner, the function control processing module 22 is further connected to the instruction input module, and the function control processing module 22 is adapted to generate a corresponding control driving signal according to a corresponding control instruction input by the instruction input module; the control driving signals at least comprise lamp control driving signals corresponding to the lamp control instructions and folding driving signals corresponding to the folding instructions;

the light driving module 23 is used for driving at least part of the lights of the electric wheelchair to work or close according to the corresponding light control driving signals sent by the function control processing module 22;

and the electric folding control module 24 is used for driving the folding power component of the electric wheelchair to execute corresponding actions according to the corresponding folding driving signal sent by the function control processing module 22.

Specifically, as shown in fig. 1, the function control board 2 further includes:

the remote control signal receiving module 25 is connected with the function control processing module 22, the remote control signal receiving module 25 is used for receiving and decoding the instruction sent by the remote controller, and transmitting the analyzed remote control instruction to the function control processing module 22, and the function control processing module 22 drives the folding power part of the electric wheelchair to execute corresponding action according to the corresponding folding driving signal sent by the received remote control signal.

In this embodiment, the function control processing module 22 is an MCU module, and the specific model is STM8S105C6T6TR, or may be another model of STM3S10 series. The function control processing module 22 includes therein: EEPROM module, AD conversion module, UART communication module. The function control processing module 22 can be used to display various information transmitted from the main control processing module 11 through the UART communication interface to the user through the display module 21.

In the present embodiment, the command input module is a key module 26, and fig. 12 shows a specific circuit diagram of the key module 26, where the key module 26 is composed of resistors R30 and R31, a capacitor C10, and a function key S5. Wherein R30 is a pull-up resistor, when the function key S5 is not pressed, the corresponding GPIO port of the function control processing module 22 is pulled up to the 5V power supply by R30 and R31; r31 is a current limiting resistor of the corresponding GPIO port of the function control processing module 22, which plays a role of current limiting when the function key S5 is pressed, and is used to protect the GPIO port of the function control processing module 22; when the function key S5 is pressed, the corresponding GPIO port of the function control processing module 22 is pulled low by the function key S5, and when the function control processing module 22 detects that the corresponding GPIO port is low, it is determined that the corresponding function key S5 is pressed. C10 is a filter capacitor for filtering out interference signals and preventing the function control processing module 22 from misjudging.

In this embodiment, fig. 13 shows a specific circuit diagram of a display module, where U1 and U2 are novel seven-channel high-voltage-withstanding and high-current darlington transistor arrays, LEDs 1, LED3, LED4, LEDs 6-LED9 are control system speed indicators, and LEDs 11-LED15 are control system power battery remaining power indicators; the LED19 is an electric folding start indicator lamp, the LED20 is a folding work indicator lamp, and the R1, the R3, the R4, the R6-R9, the R21-R25, the R44 and the R50 are current-limiting resistors of the LED indicator lamp. The working principle of one path is taken as an example to be described in detail: when the output of the GPIO port PE0 of the function control processing module 22 is at a low level, the output of pin 16 of U1 is at a high impedance state, so that current cannot flow into U1, no current flows through the LED11, and the LED11 is turned off. When the output of the GPIO port PE0 of the function control processing module 22 is at a high level, the output of pin 16 of U1 is at a low level, the current of the 5V power source flows through the current-limiting resistor R21, flows through the LED11, and flows into pin 16 of U1, and the LED11 is turned on. The lighting and extinguishing principles of the other LEDs are the same.

In this embodiment, fig. 14 shows a circuit diagram of a lamp driving module 23, in which U3 is a novel seven-channel high-voltage-withstanding and high-current darlington transistor array; TR1-TR3 is a P-channel field effect transistor (P-MOSFET), here functioning as a switch; f5, F7 and F8 are self-recovery fuses for protecting the control system when the light circuit fails; the LED20 is a lighting lamp indicator lamp and is used for prompting the working state of the lighting lamp to a user; the LED16 is a left turn indicator light and is used for prompting the working state of the left turn light to a user; the LED17 is a right turn indicator light and is used for prompting the working state of the right turn light to a user; the LED10 is a double-flashing indicator light and is used for prompting the working state of the double-flashing indicator light to a user; r46 and R52 establish resistance for the operating conditions of TR 1. R51 and R53 establish resistance for the operating conditions of TR 2. R48 and R49 establish resistance for the operating conditions of TR 3. The working principle of the lighting lamp is explained in detail below: when the output of the GPIO port PA0 of the function control processing module 22 is at a low level, the output of the pin No. 16 of the U3 is at a high impedance state, the current cannot flow into the U1, the gate (G) of the TR1 is connected to the source (S) through the R52, the gate-source (GS) of the TR1 has no bias voltage, the drain-source (GS) of the TR1 is pinched off, the electric energy cannot flow through the TR1 to reach the rear-stage circuit, and the illumination lamp is turned off. Meanwhile, since the No. 16 pin of the U3 outputs the high-impedance LED20, no current flows, and the LED20 is turned off, indicating to the user that the illumination lamp is in an off state. When the output of the GPIO port PA0 of the function control processing module 22 is at a high level, the output of the pin 16 of the U3 is at a low level, the current of the 12V power supply flows into the pin 16 of the U3 through the R52, the R46 and the LED20, at this time, the gate (G) voltage of the TR1 is 12V, the power supply is divided by the R52, the R46 and the LED20 in series, the Gate Source (GS) of the TR1 is at a negative voltage, the drain source (GS) of the TR1 is turned on, the power flows through the TR1 to reach a rear-stage circuit, and the illumination lamp is turned on. Meanwhile, as the current flows through the LED20, the LED20 is lightened to prompt the user that the illuminating lamp is in an on state. The working principle of the left-turn lamp and the right-turn lamp is the same, and the description is omitted here. When a user presses a double-flash key of the key module 26 in the function control panel 2, the function control processing module 22 controls the left-turn lamp and the right-turn lamp to work simultaneously; meanwhile, the output of the GPIO port PA3 of the function control processing module 22 is at a high level, the pin 13 of the U3 outputs a low level, the electric energy of the 5V power supply flows into the pin 13 of the U3 through the R10 and the LED10, and the LED10 is lit to prompt that the dual flashing light is in an on state. When the user presses the double flashing keys of the key module 26 of the function control panel 2 for the second time, the function control processing module 22 controls the left-turn lamp and the right-turn lamp to stop working at the same time; meanwhile, the output of the GPIO port PA3 of the function control processing module 22 is low, the output of the pin 13 of the U3 is high impedance, so that electric energy cannot flow into the pin 13 of the U3, and the LED10 is turned off because no current flows through, thus prompting the user that the dual flash lamp is in an off state.

In this embodiment, fig. 15 shows a specific circuit diagram of the electric folding control module 15, wherein + B is a power battery power source, and D15 is a unidirectional diode for preventing the electric folding control module 15 from flowing backward to the control system; c25 is a filter capacitor for supplying instantaneous current to the electric folding control module 15; f9 is a self-recovery fuse for protecting the control system when the electric folding control module 15 fails; r71 is a current sampling resistor for collecting the working current of the electric folding control module 15; u8 is a current detection IC, pin 1 is a high level off pin, where the pin is connected to GND, i.e. the chip is always on, the chip inside pin 2 is not connected, pin 3 is a positive input terminal, and pin 4 is a ground pin. Pin 5 is an open-circuit collector logic output, and is not used here, pin 6 is a negative input terminal, pin 7 is a power supply pin, and pin 8 is a detection result output pin, and is used for detecting the working current of the electric folding control module 15; K1A and K1B are relays for switching the positive and negative directions of the action of the folding electric cylinder (folding power component); q6 and Q8 are NPN type triodes and are used for controlling the relay to work; s1 is an anti-pinch detection switch, is connected in series in a folding electric cylinder loop, can be installed below a seat of the electric wheelchair and is used for detecting whether a person sits on the seat of the electric wheelchair and preventing the person from being pinched during the folding process of the electric wheelchair. The electric folding control module 15 has the following specific working principle: a. electric folding forward motion: the power supply in the power battery 10 is connected to the common contact of the relay K1A through D15, F9 and R71, the common contact of the relay K1A is connected to the normally closed contact thereof, the normally closed contact thereof is connected to the positive pole of the folding electric cylinder, the GPIO port PB6 of the function control processing module 22 outputs high level, after voltage division through R65 and R62, the power supply is connected to the base of Q8, Q8 emits a junction forward bias, Q8 is in saturation conduction, the electromagnetic coil of the relay K1B is electrified, the action contact thereof is attracted to the normally open contact, the negative pole of the folding electric cylinder is connected to GND through the common contact of K1B to the normally open contact, the electric cylinder is electrified, the forward action is started, the folding action is shown on the electric wheelchair, when the PB port 6 of the function control processing module 22 outputs low level, the base of Q8 is connected to GND through R62, Q8 emits a junction reverse bias, Q8 is in a cut-off state, the electromagnetic coil of the relay K1B is, the common contact of the relay K1B is connected to the normally closed contact, the negative electrode of the folding electric cylinder is connected to the positive electrode of the folding electric cylinder, no current flows in the folding electric cylinder at the moment, and the folding electric cylinder stops acting. Electric folding reverse action: the power supply in the power battery 10 is connected to the common contact of the relay K1B through D15, F9 and R71, the common contact of the relay K1B is connected to the normally closed contact thereof, the normally closed contact thereof is connected to the negative electrode of the folding electric cylinder, the GPIO port PA6 of the function control processing module 22 outputs high level, after voltage division through R66 and R63, the common contact is connected to the base of Q6, Q6 emission junction forward bias, Q6 is saturated and conducted, the electromagnetic coil of the relay K1A is electrified, the action contact thereof is attracted to the normally open contact, the positive electrode of the folding electric cylinder is connected to GND through the common contact of K1A to the normally open contact, the folding electric cylinder is electrified, reverse action is represented on the electric wheelchair as the stretch-out action, when the GPIO port PA6 of the function control processing module 22 outputs low level, the base of Q6 is connected to GND through R63, Q6 emission junction reverse bias, Q6 is in the cut-off state, the electromagnetic coil of the relay 1A is released, the common contact of the relay K1A is connected to the normally closed contact, the negative electrode of the folding electric cylinder is connected to the positive electrode of the folding electric cylinder, no current flows in the folding electric cylinder at the moment, and the folding electric cylinder stops acting. The working current detection principle of the electric folding control module is as follows: when the electric folding control module 15 works, current flows through the sampling resistor R71, and due to the resistance of the resistor to the current, a potential difference is generated at two ends of the sampling resistor R71, and the potential difference is sent to the pin 3 and the pin 6 of the U8 through the R70 and the R68, amplified by the internal circuit of the U8, and then sent to the AD port PE6 of the function control processing module 22 from the pin 8. If the function control processing module 22 detects that the operating current of the electric folding control module 15 is out of the normal range, the function control processing module 22 will shut off the electric folding control module 15 to stop operating by controlling the relays K1A and K1B. The folding electric cylinder loop is connected with a right anti-pinch detection switch S1 in series, and the pin No. 1 is a normally open contact, the pin No. 2 is a common contact, and the pin No. 3 is a normally closed contact. The working principle is as follows: the electric current of folding electric cylinder during operation under normal conditions is through No. 3 pins of No. 2 pin normally closed contacts of its public contact, folding electric cylinder return circuit switch-on, electronic folding control module 15 normally works, when sitting right personnel or placing right heavy object on the seat of electronic wheelchair, because the action contact of factor S1 of gravity will be connected to No. 1 pin of its normally open contact, folding electric cylinder return circuit cuts off, electronic folding control module 15 normally works and stops working owing to there is not the electric current return circuit, in order to realize preventing the function of pressing from both sides wounded personnel or article. The anti-pinch detection switch S1 is specifically configured as shown in fig. 22.

In this embodiment, as shown in fig. 21, the remote control signal receiving module 25 mainly includes an Antenna, a remote control signal receiving module RCM, a remote control signal decoding chip RFIC, a magnetic bead LR, a crystal oscillator XT2, a pull-up resistor R72, and a remote controller pairing key S10; the No. 1 pin of the remote control signal receiving module RCM is a power supply ground pin, the No. 2 pin is an antenna input pin, the No. 3 pin is a power supply pin, the No. 4 pin is a module enabling pin, and is connected with GND, so that the remote control signal receiving module RCM is always in an enabling state, the No. 5 pin is a data output pin, the No. 6 pin is a clock 1 pin, and the No. 7 pin is a clock 2 pin; no. 1 pin of the remote control signal decoding chip RFIC is a power supply pin, No. 2 pin is a data input pin, No. 3 pin is a control pin, No. 4-7 pins are data output pins D0, D1, D2 and D3 respectively, and No. 8 pin is a power supply ground pin. XT2 is a crystal oscillator for setting the listening frequency of remote control signal receiving module RCM. The 5V power supply of the system supplies power to the remote control signal receiving module RCM through the magnetic bead LR, wherein the magnetic bead LR is a high-frequency filter inductor and is used for preventing high-frequency components in the remote control signal receiving module RCM from interfering with the 5V power supply of the system. The remote control signal receiving module RCM begins to monitor the wireless signal received on the antenna pin after getting electricity, and when the remote control signal receiving module RCM received the modulation signal of corresponding frequency, the remote control signal receiving module RCM can filter out the modulation signal on the wireless signal to from No. 5 foot output to remote control signal decoder chip RFIC. The remote control signal decoding chip RFIC receives the data sent by the remote control signal receiving module RCM, analyzes the data, the data analyzed by the remote control signal decoding chip RFIC is the corresponding remote control key value, the key value of the remote control is output to the function control processing module 22 from the No. 4-7 pin of the remote control signal decoding chip RFIC, and the function control processing module 22 drives the folding power component of the electric wheelchair to execute the corresponding action according to the corresponding folding driving signal sent by the obtained remote control according to the key value.

As shown in fig. 3, the main control drive board 1 includes a power conversion module 1a, the power conversion module 1a is respectively connected to the power battery 10 and the function control board 2, and the power conversion module 1a is configured to transform electric energy output by the power battery 10 and supply the transformed electric energy to at least the main control drive board 1 and the function control board 2.

In this embodiment, the power conversion module 1a can convert the electric energy into 5V, 3.3V, 12V working power. As shown in fig. 3, VCC _ BAT is a power battery power supply, and D15 is a unidirectional conducting diode, which prevents the power in the power conversion module 1a from flowing backward to the power battery 10. After VCC _ BAT passes through D15, one path is connected to pin 7 of IC16 through R124, C71, C72, where R124 is a fuse resistor, which is used for protection when the rear-stage circuit of the power conversion module 1a fails. C71 and C72 are input filter capacitors of the IC16 and provide instantaneous current for the IC 6. The IC16 is a 5V power conversion chip, in which pin 7 is an input pin, pin 5 is an enable pin, pin 6 is GND, pin 8 is an output pin, and pin 4 is a voltage feedback pin. Pin 5 of IC16 is directly connected to GND to make IC16 always in enabled state, pin 8 of IC16 is connected to D14, L1 and C75, and L1 and C75 are output filter circuits of IC16 for eliminating output ripple voltage of IC 16. D14 is the freewheeling diode of IC16 to provide a freewheeling circuit for the subsequent load during No. 8 turn-off of IC 16. Pin 4 of the IC16 is directly connected to the output terminal, and feeds back the output voltage to the IC16 for use in a voltage stabilizing circuit inside the IC 16; in fig. 3, IC17 is a low dropout linear regulator (LDO) chip, in which pin 3 is an input pin, pin 2 is an output pin, and pin 1 is an output voltage regulation pin. The 5V power converted by IC16 and its peripheral circuits is connected to the input pin of IC17 through C76, and C76 is the input filter capacitor of IC 17. The output pin of the IC17 is connected to R130 and C77, where C77 is the output filter capacitor of the IC17, R130 and R133 form a voltage divider circuit, the divided voltage is connected to the voltage regulator pin of the IC17, the output voltage of the IC17 can be regulated by regulating the resistances of the resistors R130 and R133, and the relationship between R130, R133 and the output voltage is: vout — 1.25 (1+ R133/R130) + Iadj R133, where the output voltage of IC17 is 3.3V by adjusting the resistance of the R130 and R133 resistors; in addition, after VCC _ BAT passes through D15, the other path is connected to R135 and the source (S) pole of IC 18. The IC18, R135, R137, Q28, R139 and R141 form a 12V power supply control circuit, wherein the IC18 is a P-channel field effect transistor (P-MOSFET), and the Q28 is an NPN type triode; the main control processing module 11 controls the 12V power supply control circuit through the GPIO port PF 3. When the GPIO port PF3 of the main control processing module 11 is set to a low level, the base of the Q28 is connected to GND through R141, the Q28 emitter junction is reverse biased, the Q28 operates in an off state, the gate (G) of the IC18 is connected to the source (S) through R135, at this time, the gate-source (GS) of the IC18 has no bias voltage, the drain-source (GS) of the IC18 is pinched off, the electric energy cannot flow through the IC18 to reach the subsequent circuit, and the 12V power supply voltage is turned off; when the GPIO port PF3 of the main control processing module 11 is set to a high level, after voltage division by R139 and R141, the base voltage of Q28 is at a high level, the Q28 emitter junction is forward biased, Q28 is saturated and turned on, R137 is connected to GND, after voltage division by R135 and R137, the gate (G) of the IC18 is lower than the source (S) voltage thereof, that is, the Gate Source (GS) of the IC18 is extremely negative, and the IC18 is turned on. After the IC18 is turned on, one path of the drain (D) pole of the IC is connected to + B _ RLY (+ B _ RLY is the driving power supply of the motor drive bridge module 12) via the resistor R129, and is used as the detection power supply of the motor drive bridge; after the IC18 is turned on, the other path of the drain (D) electrode of the IC18 is connected to the No. 3 pin of the IC19 through the C80, the IC19 is a low dropout linear regulator (LDO) chip, the No. 3 pin is an input pin, the No. 2 pin is an output pin, and the No. 1 pin is an output voltage regulation pin. C80 is the filter capacitance of IC19 input end, and the output pin of IC19 is connected to R134 and C82, and wherein C82 is the output filter capacitance of IC19, and R134 and R136 constitute the bleeder circuit, and the voltage that divides is connected to the voltage regulation pin of IC19, can adjust the output voltage of IC19 through adjusting the resistance of R134 and R136 resistance, and the relation formula of R134, R136 and output voltage is: vout — 1.25 (1+ R136/R134) + Iadj R136, where the output voltage of IC19 is made 12V by adjusting the resistance of the R134 and R136 resistors.

In this embodiment, the main control processing module 11 is an MCU module, and its specific model is STM32F103VFT6, or may be another model of STM32F10 series. The main control processing module 11 is internally integrated with an A/D conversion module, a PWM control module, a GPIO module, an SPI communication module and a UART communication module. The main control processing module 11 can communicate with the function control processing module 22 through a UART communication interface.

Specifically, in the present embodiment, when the user pushes the manipulation lever 20, the magnetic field detection element inside the manipulation lever 20 can measure the magnetic flux density of the lever magnetic rod (axial magnetization) moving above the IC in a non-contact manner, and two 2 pieces of angle information are calculated from 2 vector components (i.e., BX and BY) of the flux density. The magnetic field detection element outputs two linear analog signals to the main control processing module 11.

Specifically, as shown in fig. 1, the integrated electric wheelchair control system may further include a USB quick charging and lighting panel 3; wherein, the USB fills soon and illumination plate 3 includes:

the lighting lamp driving module 31 is electrically connected with the power battery 10, the lighting lamp driving module 31 comprises a lighting lamp, the lighting lamp driving module 31 is connected with the function control board 2, the corresponding control instruction further comprises a lighting lamp instruction, the function control board 2 is suitable for generating a corresponding lighting lamp driving signal according to the lighting lamp instruction input by a user, and the lighting lamp driving module 31 is suitable for driving and controlling the lighting lamp to be turned on or turned off according to the lighting lamp driving signal sent by the function control board 2;

the USB quick charging module 32 is electrically connected with the power battery 10, and the USB quick charging module 32 is suitable for converting electric energy input by the power battery 10 into electric energy with corresponding output power according to a quick charging protocol supported by the identified external USB equipment so as to quickly charge the external USB equipment.

Fig. 16 shows a specific circuit diagram of a USB fast charging module 32, where, + B is a power supply of a power battery, C2 bits of input filter capacitor, U18 is a USB fast charging management chip, a power MOS is built in, and a maximum output of 24W integrates various fast charging output protocols (DCP/QC2.0/QC3.0/MTK PE1.1/PE2.0/FCP/SCP/AFC/SFCP), pins 1 and 2 are DCDC switching nodes, a connection inductor, pin 3 is a bootstrap circuit pin, pin 4 is a frequency adjustment pin, an external resistor adjusts its operating frequency, pin 5 is a USB fast charging identification signal 1, pin 5 is a USB fast charging identification signal 2, pin 7 is a power supply input pin, and pin 8 is an output voltage feedback pin. Pin 9 is the power ground and heat dissipation ground. R4 is the working frequency setting capacitance, and C8 is the bootstrap capacitance, is used for providing operating voltage for the upper tube gate drive for the chip inside. L3 is output energy storage filter inductance, C5 is output energy storage filter capacitance, F2 is the self-resuming fuse for prevent that external USB equipment short circuit from causing control system to damage, and R3 is the virtual load of U18, is used for establishing operating condition for U18 chip. The USB PORT is an output interface, and when the output interface is connected to an external USB device, the U18 identifies a fast charging protocol supported by the external USB device through communication between the pin 5 and the pin 6 of the U18 and the connected external USB device, and the U18 automatically adjusts the output mode after the device succeeds.

Fig. 17 shows a specific circuit diagram of a lighting lamp driving module, wherein the lighting lamp driving module is composed of C4, D1, U19, L2, R2 and a lighting lamp. Wherein + B is the power battery power, C4 is the input filter capacitance, D2 is freewheeling diode, L2 is the output energy storage inductance, the light uses high-power emitting diode, R2 is the current sampling resistance, U19 is the driver chip of light, the hourglass (D) utmost point of its No. 1 foot internal power tube, No. 2 foot is the earthing terminal of signal and power, No. 3 foot is the enable end of chip, No. 4 foot is the current sampling input, No. 5 foot is power input end. The specific working principle is as follows: the power supply of the power battery is input into the No. 1 pin of the U19 through the input filter capacitor C4, at the moment, the No. 3 pin enabling end of the U19 is pulled down by the R1, the U19 works in a standby mode, the No. 1 pin of the U19 does not output, and the illuminating lamp is turned off. When the GPIO port PA0 of the function control processing module 22 outputs a high level, the enable terminal of the pin 3 of the U19 starts to operate at a high level, the pin 1 starts to output a PWM square wave, the current in the power battery 10 flows through the illumination lamp via the current limiting resistor R2, and flows into the U19 via the L2, the illumination lamp is turned on, the current flows through the current limiting resistor R2, and due to the blocking effect of the resistor on the current, a potential difference is generated at the two ends of the sampling resistor R2, and the potential difference is input into the pin 4 of the U19 for internal regulation and output.

Example two

In order to improve the safety of the integrated electric wheelchair control system, as shown in fig. 18, the present embodiment describes a power-on self-test method for an electric wheelchair, which includes a power battery 10, an operation rocker 20, and a motor 30 adapted to be driven by a motor-driven axle module 12 and an electromagnetic brake driving module 14 to cause wheels of the electric wheelchair to perform corresponding actions, and can be implemented based on the integrated electric wheelchair control system in the first embodiment, and the method includes the following steps:

s1: starting up, the power battery 10 is connected with electric energy;

s2: detecting whether the connection of the operating rocker 20 is normal: when the detection result is normal, entering the next step; when the detection result is abnormal, prompting the user that the operation rocker fails and stopping starting the machine;

s3: detecting whether the steering rocker 20 is at the origin: when the detection result is at the origin, entering the next step; when the detection result is that the control rocker 20 is not at the original point, prompting the user that the control rocker 20 is not at the original point and stopping starting;

s4: detecting the presence of the motor 30: when the detection result is that the detection result exists, the next step is carried out; when the detection result is that the motor 30 is not connected, prompting the user that the motor 30 is not connected and stopping starting;

s5: detecting whether the motor drive axle module 12 works normally: when the detection result is normal, entering the next step; when the detection result is abnormal, prompting the user that the motor drive axle module 12 has a fault and stopping starting;

s6: detecting whether the electromagnetic brake driving module 14 is normal: when the detection result is normal, entering the next step; when the detection result is abnormal, prompting the user of the electromagnetic brake fault and stopping starting;

s7: and entering a normal starting mode.

In this embodiment, when the control system is powered on, the function control processing module 22 and the main control processing module 11 perform power on self-test on the respective functional modules responsible for control, and the control system will enter the normal power on mode only when the functional modules of the power on self-test are all working normally. If one or more functional modules are detected to work abnormally in the power-on self-test process, the control system displays corresponding fault information to a user through the display module 21 and stops the power-on.

The display of the fault information is displayed by the power indicator lamp and the speed indicator lamp in the display module 21. When the main control processing module 11 of the main control drive board 1 detects that each functional module of the main control drive board 1 has a fault, the relay drive module 16 is immediately controlled to release the relay, and the power supply conversion module 1a is controlled to disconnect the power supply of the motor drive bridge. Meanwhile, the main control processing module 11 of the main control driver board 1 notifies the function control processing module 22 of the corresponding fault location through the UART communication interface, and the power conversion module 1a displays the corresponding fault information to the user through the display module 21 after receiving the fault information, in a specific display manner as shown in the following table.

EXAMPLE III

In order to avoid accidents caused by misoperation of children, the embodiment introduces a child locking method of an electric wheelchair, which is realized based on an integrated electric wheelchair control system in the first embodiment, and the method comprises the following steps:

after at least a first operation group is executed in sequence, at least a function control panel 2 and a main control drive panel 1 in the integrated electric wheelchair control system stop working, and a child lock shutdown mode is entered;

inputting a shutdown instruction to the function control panel 2 and keeping for a period of time;

pushing the operating rocker 20 to the maximum forward direction and holding for a period of time;

pushing the operating rocker 20 to the maximum backward direction and holding for a period of time;

the second group of operations is:

inputting a shutdown instruction to the function control panel 2;

pushing the operating rocker 20 to the maximum backward direction and holding for a while.

When the method of this embodiment is implemented, as shown in fig. 19 and 20, the method may be:

after the user presses the on/off key for 3 seconds, the function control processing module 22 drives the horn to make a sound by dropping, then the user pushes the operation rocker 20 to the maximum forward direction and keeps the maximum forward direction for 2 seconds, the function control processing module 22 drives the horn to make a sound by dropping again, then the user pushes the operation rocker 20 to the maximum backward direction and keeps the maximum backward direction for 2 seconds, the function control processing module 22 drives the horn to make a sound by dropping to a long sound for the third time, then all modules of the control system are closed, and the control system enters a child lock off mode.

In the child lock power-off mode, the user presses the power-on/off button again, and the speed display indicator lamp of the function control processing module 22 displays the running water display to prompt the user that the system is in the locked state at this time. In the locked state of the system, the user pushes the operating rocker 20, and the control system does not drive the motor to avoid accidents caused by misoperation of children.

Releasing the child lock mode: in the child lock shutdown mode, the user presses the down/shutdown key again, the function control processing module 22 drives the speed indicator to perform running display, the user pushes the operation rocker 20 to the maximum forward direction and keeps the maximum forward direction for 2 seconds, the function control processing module 22 drives the horn to perform a "dropping" sound again, then the user pushes the operation rocker 20 to the maximum backward direction and keeps the maximum backward direction for 2 seconds, the function control processing module 22 drives the horn to perform a "dropping to" long sound again, the child lock mode is released, and the system enters the normal startup mode.

The above embodiments are described in further detail to solve the technical problems, technical solutions and advantages of the present invention, and it should be understood that the above embodiments are only examples of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms indicating an orientation or positional relationship are based on the orientation or positional relationship shown in the drawings only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the present invention, unless otherwise expressly stated or limited, the first feature may be present on or under the second feature in direct contact with the first and second feature, or may be present in the first and second feature not in direct contact but in contact with another feature between them. Also, the first feature being above, on or above the second feature includes the first feature being directly above and obliquely above the second feature, or merely means that the first feature is at a higher level than the second feature. A first feature that underlies, and underlies a second feature includes a first feature that is directly under and obliquely under a second feature, or simply means that the first feature is at a lesser level than the second feature.

Claims

1. An integrated electric wheelchair control system, an electric wheelchair comprising a power battery (10), an operating rocker (20), a light and a folding power unit adapted to be controlled to be driven to fold or unfold the electric wheelchair, and a motor (30) adapted to be controlled to be driven to cause wheels of the electric wheelchair to perform corresponding actions,

the intelligent control system comprises a main control drive board (1) and a function control board (2) which are communicated and connected with each other; wherein the content of the first and second substances,

the function control panel (2) is respectively connected with various lamps and folding power parts of the electric wheelchair, and the function control panel (2) is suitable for a user to input corresponding control instructions, control corresponding lamp actions according to the lamp control instructions input by the user and drive and control the folding power parts to execute corresponding actions according to the folding instructions input by the user; the corresponding control instructions at least comprise a lamp control instruction, a folding instruction and a wheelchair action execution instruction;

the function control board (2) is suitable for transmitting wheelchair action execution instructions input by a user to the main control drive board (1);

the main control drive plate (1) is respectively connected with the control rocker (20) and the motor (30), and the main control drive plate (1) is suitable for driving and controlling the motor (30) to execute corresponding actions according to corresponding action direction information of the control rocker (20) and/or corresponding wheelchair action execution instructions input by a user;

the main control driving board (1) is also electrically connected with the power battery (10).

2. The integrated electric wheelchair control system of claim 1,

the main control drive board (1) is also suitable for monitoring the working state information of at least part of modules in the main control drive board (1) and transmitting the working state information to the function control board (2), and is suitable for generating fault information when the working state of at least one module is abnormal and transmitting the fault information to the function control board (2) and at least stopping the main control drive board (1) and/or the function control board (2) from working;

the function control board (2) is also suitable for monitoring the working state information of at least part of modules in the function control board (2) and generating fault information when the working state of at least one module is abnormal and at least stopping the main control drive board (1) and/or the function control board (2) from working;

the function control board (2) is also suitable for displaying the working state information and the generated fault information monitored by the main control drive board (1) and the working state information and the generated fault information monitored by the function control board (2) to a user.

3. The integrated electric wheelchair control system of claim 2,

the function control panel (2) comprises a display module (21), and the display module (21) is used for displaying working state information and/or fault information.

4. The integrated electric wheelchair control system of claim 1,

the main control drive board (1) comprises:

the main control processing module (11), the main control processing module (11) is connected with the control rocker (10), and the main control processing module (11) is suitable for receiving corresponding action direction information sent by the control rocker (10) and/or corresponding wheelchair action execution instructions input by a user and generating corresponding driving control instructions;

the motor drive axle module (12), the motor drive axle module (12) is respectively connected with the main control processing module (11) and the motor (30), and the motor drive axle module (12) is suitable for driving the motor (30) to execute corresponding actions according to corresponding driving control instructions;

the motor drive axle detection module (13), the motor drive axle detection module (13) is respectively connected with the motor drive axle module (12) and the main control processing module (11), and the motor drive axle detection module (13) is suitable for detecting the working state of the motor drive axle module (12) in real time and feeding back the detection result to the main control processing module (11);

the electromagnetic brake driving module (14), the electromagnetic brake driving module (14) is respectively connected with the main control processing module (11) and the motor (30), and the electromagnetic brake driving module (14) is suitable for driving the electromagnetic brake in the motor (30) to execute corresponding actions according to corresponding brake control instructions sent by the main control processing module (11);

electromagnetic brake detection module (15), electromagnetic brake detection module (15) respectively with electromagnetic brake drive module (14) with master control processing module (11) link to each other, electromagnetic brake detection module (15) are suitable for the operating condition of real-time detection electromagnetic brake drive module (14) and feed back the testing result to master control processing module (11).

5. The integrated electric wheelchair control system of claim 4,

the main control drive board (1) further comprises a relay drive module (16), and the relay drive module (16) is used for connecting or disconnecting the power battery (10) and the motor drive bridge module (12) according to a corresponding instruction sent by the main control processing module (11).

6. The integrated electric wheelchair control system as claimed in claim 5, characterized in that the master drive plate (1) further comprises:

a storage module (17) for storing at least control instructions and/or operating state information and/or alarm information input by a user;

and/or a battery power detection module (18) for monitoring the residual power of the power battery (10) in real time;

and/or a temperature detection module (19) for monitoring the temperature of the main control drive board (1) and/or the functional control board (2) at least in real time, wherein the temperature detection module (19) is connected with the main control processing module (11), and the main control processing module (11) is suitable for controlling the motor drive bridge module (12) and/or the relay drive module (16) to work or close according to a temperature signal acquired by the temperature detection module (19).

7. The integrated electric wheelchair control system of claim 1,

the function control board (2) includes:

the function control processing module (22), the function control processing module (22) is connected with the main control processing module (11) in a communication mode, the function control processing module (22) is also connected with the instruction input module, and the function control processing module (22) is suitable for generating corresponding control driving signals according to corresponding control instructions input by the instruction input module; the control driving signals at least comprise lamp control driving signals corresponding to the lamp control instructions and folding driving signals corresponding to the folding instructions;

the light driving module (23) is used for driving at least part of the light of the electric wheelchair to work or close according to the corresponding light control driving signal sent by the function control processing module (22);

the electric folding control module (24), the electric folding control module (24) is used for driving the folding power component of the electric wheelchair to execute corresponding actions according to the corresponding folding driving signals sent by the function control processing module (22).

8. The integrated electric wheelchair control system of claim 7,

the function control board (2) further comprises:

the remote control signal receiving module (25) is connected with the function control processing module (22), the remote control signal receiving module (25) is used for receiving and decoding instructions sent by a remote controller and transmitting the analyzed remote control instructions to the function control processing module (22), and the function control processing module (22) drives a folding power component of the electric wheelchair to execute corresponding actions according to corresponding folding driving signals sent by the received remote control signals.

9. The integrated electric wheelchair control system of claim 1,

the main control drive plate (1) comprises a power conversion module (1 a), the power conversion module (1 a) is respectively connected with the power battery (10) and the function control plate (2), and the power conversion module (1 a) is used for transforming the electric energy output by the power battery (10) and at least supplying the transformed electric energy to the main control drive plate (1) and the function control plate (2).

10. The integrated electric wheelchair control system as claimed in claim 1, further comprising a USB quick-fill and illumination panel (3); wherein the USB quick-fill and lighting panel (3) comprises:

the lighting lamp driving module (31) is electrically connected with the power battery (10), the lighting lamp driving module (31) comprises a lighting lamp, the lighting lamp driving module (31) is connected with the function control panel (2), the corresponding control instruction further comprises a lighting lamp instruction, the function control panel (2) is suitable for generating a corresponding lighting lamp driving signal according to a lighting lamp instruction input by a user, and the lighting lamp driving module (31) is suitable for driving and controlling the lighting lamp to be turned on or turned off according to a lighting lamp driving signal sent by the function control panel (2);

the USB fast charging module (32), the USB fast charging module (32) with power battery (10) electric connection, USB fast charging module (32) are suitable for according to the fast protocol of charging that the external USB equipment that discerns supported and change the electric energy of power battery (10) input into corresponding output power's electric energy and charge for external USB equipment fast.

11. A power-on self-test method for an electric wheelchair, wherein the electric wheelchair comprises a power battery (10), an operating rocker (20) and a motor (30) which is suitable for being controlled and driven by a motor drive axle module (12) and an electromagnetic brake drive module (14) to enable wheels of the electric wheelchair to execute corresponding actions, and the method is characterized by comprising the following steps:

s1: starting up, the power battery (10) is connected with electric energy;

s2: detecting whether the connection of the operating rocker (20) is normal: when the detection result is normal, entering the next step; when the detection result is abnormal, prompting the user that the operation rocker fails and stopping starting the machine;

s3: detecting whether the operating rocker (20) is at the origin: when the detection result is at the origin, entering the next step; when the detection result is that the control rocker is not at the original point, the control rocker (20) is prompted to the user not to be at the original point and the starting is stopped;

s4: detecting the presence of the motor (30): when the detection result is that the detection result exists, the next step is carried out; when the detection result is that the motor (30) is not connected, prompting a user that the motor (30) is not connected and stopping starting;

s5: detecting whether the motor drive axle module (12) works normally: when the detection result is normal, entering the next step; when the detection result is abnormal, prompting the user that the motor drive axle module (12) is in failure and stopping starting;

s6: detecting whether the electromagnetic brake driving module (14) is normal: when the detection result is normal, entering the next step; when the detection result is abnormal, prompting the user of the electromagnetic brake fault and stopping starting;

s7: and entering a normal starting mode.

12. A child lock method for an electric wheelchair, which is implemented based on the integrated electric wheelchair control system as claimed in any one of claims 1 to 10, and comprises the following steps:

after at least a first operation group is executed in sequence, at least a function control panel (2) and a main control drive panel (1) in the integrated electric wheelchair control system stop working, and a child lock shutdown mode is entered;

inputting a shutdown instruction to the function control panel (2) and keeping for a period of time;

pushing the operating rocker (20) to the maximum forward direction and holding for a period of time;

pushing the operating rocker (20) to the maximum backward direction and keeping for a period of time;

the second group of operations is:

inputting a shutdown instruction to the function control panel (2);

the operating rocker (20) is pushed to the maximum backward direction and held for a while.