CN111407539A - Power-assisted control system and power-assisted control method for electric wheelchair - Google Patents
Power-assisted control system and power-assisted control method for electric wheelchair Download PDFInfo
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- CN111407539A CN111407539A CN202010273063.XA CN202010273063A CN111407539A CN 111407539 A CN111407539 A CN 111407539A CN 202010273063 A CN202010273063 A CN 202010273063A CN 111407539 A CN111407539 A CN 111407539A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/34—General characteristics of devices characterised by sensor means for pressure
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Abstract
The invention relates to a power-assisted control system and a power-assisted control method for an electric wheelchair. The electric wheelchair power-assisted control system comprises: the device comprises a gyroscope sensor, a first pressure sensor, a second pressure sensor, a handle controller and a motor driver; the gyroscope sensor, the first pressure sensor, the second pressure sensor and the motor driver are all connected with the handle controller; the first pressure sensor is arranged at the position where the left hand of the electric wheelchair is pushed to contact, the second pressure sensor is arranged at the position where the right hand of the electric wheelchair is pushed to contact, and the handle controller is arranged on the wheelchair; the motor driver is respectively connected with a left wheel driving motor and a right wheel driving motor of the electric wheelchair. According to the invention, the gyroscope sensor, the first pressure sensor, the second pressure sensor, the handle controller and the motor driver are arranged, so that the effect that the electric wheelchair can be pushed to move forwards or backwards without labor under the condition of people is realized.
Description
Technical Field
The invention relates to the field of electric wheelchairs, in particular to a power-assisted control system and a power-assisted control method for an electric wheelchair.
Background
With the development and progress of social civilization, the aging problem of the population becomes more and more prominent, and the quality of life of vulnerable groups such as the old and the disabled is guaranteed and improved, so that the people in all circles pay general attention to the technology. The wheelchair is as a tool of riding instead of walk, and the people who just receives the handicapped person looks like from beating, and traditional hand push wheelchair must rely on manpower push-and-pull to go forward, if nobody looks after, still must oneself hand push gyro wheel, and is really painstaking, and electronic wheelchair is then different, as long as fill the electricity, also need not accompany when the family is the time, and oneself just can be able to reach everywhere, makes things convenient for the family, more makes things convenient for oneself. Therefore, wheelchairs are also developed from the original single manual wheelchair to the current electric wheelchair which is both manual and electric, and the sales of the electric wheelchair are also increasing year by year. The traditional electric wheelchair can also advance by being pushed and pulled by manpower, but the power supply of a wheelchair control system needs to be turned off, a band-type brake at the motor is turned on to enable the motor to run, and once a passenger on the wheelchair is heavy and needs to go up and down a slope, the wheelchair is difficult to advance by being pushed and pulled by manpower, so that the electric wheelchair capable of assisting power in a manpower push-pull mode needs to be provided.
Disclosure of Invention
The invention aims to provide a power-assisted control system and a power-assisted control method of an electric wheelchair, so as to realize the effect of pushing the wheelchair to move forward or backward without labor when people push the wheelchair.
In order to achieve the purpose, the invention provides the following scheme:
an electric wheelchair power assist control system comprising: the device comprises a gyroscope sensor, a first pressure sensor, a second pressure sensor, a handle controller and a motor driver; the gyroscope sensor, the first pressure sensor, the second pressure sensor and the motor driver are all connected with the handle controller;
the gyroscope sensor is used for detecting the position states of the electric wheelchair, wherein the position states comprise a level road, an ascending slope and a descending slope; the first pressure sensor is arranged at a place where the left hand of the electric wheelchair is pushed to be in contact with, the second pressure sensor is arranged at a place where the right hand of the electric wheelchair is pushed to be in contact with, the first pressure sensor is used for acquiring a first pressure signal when a pusher pushes the electric wheelchair and transmitting the first pressure signal to the handle controller, and the second pressure sensor is used for acquiring a second pressure signal when the pusher pushes the electric wheelchair and transmitting the second pressure signal to the handle controller;
the handle controller is arranged on the electric wheelchair; the handle controller is used for converting the first pressure signal into a first speed value, converting the second pressure signal into a second speed value and transmitting the position state, the first speed value and the second speed value to the motor driver; the motor driver is respectively connected with a left wheel driving motor and a right wheel driving motor of the electric wheelchair and is used for acquiring a first Hall signal fed back by the left wheel driving motor and a second Hall signal fed back by the right wheel driving motor; the motor driver is used for controlling the left wheel driving motor and the right wheel driving motor to rotate according to the first speed value, the second speed value, the first Hall signal, the second Hall signal and the position state.
Optionally, the power-assisted control system of the electric wheelchair further includes: a first AD interface through which the first pressure sensor is connected with the handle controller.
Optionally, the power-assisted control system of the electric wheelchair further includes: a second AD interface through which the second pressure sensor is connected with the handle controller.
Optionally, the power-assisted control system of the electric wheelchair further includes: and the motor driver is connected with the handle controller through the SCI.
Optionally, the power-assisted control system of the electric wheelchair further includes: and the gyroscope sensor is connected with the handle controller through the IIC interface.
A power assist control method applied to the power assist control system of the electric wheelchair, the method comprising:
acquiring the position state and the motion state of the electric wheelchair, wherein the position state is measured by a gyroscope sensor, and the position state comprises a level road, an ascending slope and a descending slope; the motion state is obtained according to a first Hall signal and a second Hall signal, the first Hall signal is a signal fed back by the left wheel driving motor, and the second Hall signal is a signal fed back by the right wheel driving motor; the motion states comprise left turning, right turning, straight going, advancing and retreating;
acquiring a first speed value and a second speed value, wherein the first speed value is obtained by calculating according to a first pressure signal by a handle controller, the first pressure signal is a pressure signal measured by a first pressure sensor, the second speed value is obtained by calculating according to a second pressure signal by the handle controller, and the second pressure signal is a pressure signal measured by a second pressure sensor;
and controlling the operation of a left wheel driving motor and a right wheel driving motor according to the position state, the motion state, the first Hall signal, the second Hall signal, the first speed value and the second speed value.
Optionally, the controlling the operation of the left wheel driving motor and the right wheel driving motor according to the position state, the motion state, the first hall signal, the second hall signal, the first speed value, and the second speed value specifically includes:
calculating a third speed value according to the first Hall signal, and calculating a fourth speed value according to the second Hall signal; the third speed value is the running speed of the left wheel driving motor; the fourth speed value is the running speed of the right wheel driving motor;
and controlling the operation of the left wheel driving motor and the right wheel driving motor according to the position state, the motion state, the first speed value, the second speed value, the third speed value and the fourth speed value.
Optionally, the controlling the operation of the left wheel driving motor and the right wheel driving motor according to the position state, the motion state, the first speed value, the second speed value, the third speed value, and the fourth speed value specifically includes:
judging whether the third speed value is smaller than the first speed value or not to obtain a first judgment result;
if the first judgment result is that the third speed value is smaller than or equal to the first speed value, keeping the speed of the left wheel driving motor unchanged and controlling the left wheel driving motor to operate according to the position state and the motion state;
if the first judgment result is that the third speed value is greater than the first speed value, setting the speed of the left wheel driving motor as the first speed value, and controlling the operation of the left wheel driving motor according to the position state and the motion state;
judging whether the fourth speed value is smaller than the second speed value or not to obtain a second judgment result;
if the second judgment result is that the fourth speed value is smaller than or equal to the second speed value, keeping the speed of the right wheel driving motor unchanged, and controlling the operation of the right wheel driving motor according to the position state and the motion state;
and if the second judgment result is that the fourth speed value is greater than the second speed value, setting the speed of the right wheel driving motor as the second speed value, and controlling the operation of the right wheel driving motor according to the position state and the motion state.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: by arranging the first pressure sensor, the second pressure sensor, the handle controller, the gyroscope sensor and the motor driver, when the passenger on the wheelchair needs to push, the power supply of the wheelchair control system is not required to be cut off, at the moment, when the wheelchair is pushed to run by external force, the motor driver judges the current motion state of the wheelchair according to the first Hall signal and the second Hall signal, the current position state of the wheelchair is judged according to the gyroscope sensor, the current running speed of the electric wheelchair is judged according to the first speed value obtained by the first pressure sensor, the second speed value obtained by the second pressure sensor, the first Hall signal and the second Hall signal, the motor driver can automatically start the wheelchair motor to assist a walker in a low-speed running mode according to the information, and the effect of pushing the wheelchair to advance or retreat without labor when the wheelchair is pushed by a person is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of an electric wheelchair power assistance control system according to embodiment 1 of the present invention;
fig. 2 is a connection diagram of an electric wheelchair power assistance control system according to embodiment 1 of the present invention applied to an electric wheelchair;
FIG. 3 is a flow chart showing the use of the power assist control system for an electric wheelchair according to embodiment 1 of the present invention;
fig. 4 shows a power assist control method of an electric wheelchair power assist control system according to embodiment 1 of the present invention.
Description of the symbols:
1-handle controller, 2-motor driver, 3-pressure sensor, 4-left wheel driving motor, 5-right wheel driving motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a power assisting control system and a power assisting control method for an electric wheelchair. The invention is provided with a first pressure sensor, a second pressure sensor, a handle controller, a gyroscope sensor and a motor driver, when the passenger on the wheelchair needs to push, the power supply of the wheelchair control system is not required to be cut off, at the moment, when the wheelchair is pushed to run by external force, the motor driver judges the current motion state of the wheelchair according to the first Hall signal and the second Hall signal, the current position state of the wheelchair is judged according to the gyroscope sensor, the current running speed of the electric wheelchair is judged according to the first speed value obtained by the first pressure sensor, the second speed value obtained by the second pressure sensor, the first Hall signal and the second Hall signal, the motor driver can automatically start the wheelchair motor to assist a walker in a low-speed running mode according to the information, and the effect of pushing the wheelchair to advance or retreat without labor when the wheelchair is pushed by a person is achieved.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example 1
As shown in fig. 1, the power-assisted control system for electric wheelchair includes: a gyroscope sensor, a handle controller 1, a pressure sensor 3 and a motor driver 2; the pressure sensor 3 includes a first pressure sensor and a second pressure sensor. The gyroscope sensor, the first pressure sensor, the second pressure sensor and the motor driver 2 are all connected with the handle controller 1.
The gyroscope sensor is used for detecting the position states of the electric wheelchair, wherein the position states comprise a level road, an ascending slope and a descending slope; the first pressure sensor is arranged at a place where the left hand of the electric wheelchair is pushed to contact, the second pressure sensor is arranged at a place where the right hand of the electric wheelchair is pushed to contact, the first pressure sensor is used for acquiring a first pressure signal when a pusher pushes the electric wheelchair and transmitting the first pressure signal to the handle controller 1, and the second pressure sensor is used for acquiring a second pressure signal when the pusher pushes the electric wheelchair and transmitting the second pressure signal to the handle controller 1.
The handle controller 1 is arranged on the electric wheelchair; the handle controller 1 is used for converting the first pressure signal into a first speed value, converting the second pressure signal into a second speed value, and transmitting the position state, the first speed value and the second speed value to the motor driver 2; the motor driver 2 is respectively connected with a left wheel driving motor 4 (a motor 1 in fig. 1) and a right wheel driving motor 5 (a motor 2 in fig. 1) of the electric wheelchair, and the motor driver 2 is used for acquiring a first hall signal fed back by the left wheel driving motor 4 and a second hall signal fed back by the right wheel driving motor 5; the motor driver 2 is used for controlling the rotation of the left wheel driving motor 4 and the right wheel driving motor 5 according to the first speed value, the second speed value, the first Hall signal, the second Hall signal and the position state.
When the wheelchair is pushed to run by external force, the power supply of the wheelchair control system does not need to be cut off, the wheelchair control system can judge whether to advance or retreat according to the Hall signal of the motor, judge whether to be in a flat road state, an ascending slope state or a descending slope state according to a gyroscope sensor in the wheelchair handle controller, and after the states are known, the wheelchair control system can automatically start the wheelchair motor to assist a walker in a low-speed running mode.
Fig. 2 is a connection relation diagram of the electric wheelchair power assisting control system of this embodiment when applied to an electric wheelchair, as shown in fig. 2, a gyroscope sensor can be connected with a handle controller through an IIC interface, a pressure sensor can be connected with the handle controller through an AD interface, a motor driver can be connected with the handle controller through an SCI interface, a power switch key, a speed adding key, a speed reducing key, a horn key and an electric quantity display lamp are sequentially connected with the handle controller through an IO port respectively, a bluetooth module and a mobile phone module are sequentially connected with a serial port peripheral of the handle controller respectively, and a joystick is sequentially connected with the handle controller through an AD port.
The scheme integrates the telephone module, and realizes the one-key help calling function of the user in outdoor driving.
Fig. 3 is a flow chart showing the application of the power-assisted control system of the electric wheelchair of the present embodiment to an electric wheelchair, and as shown in fig. 3, when the electric wheelchair is to be used as a manual wheelchair, i.e. when the electric wheelchair cannot be operated and needs to be assisted by other people, the operation mode of the electric wheelchair needs to be changed only by pressing a button, i.e. the power-assisted mode of the wheelchair is enabled. Can make control system' S power through the switch button of handle controller, then press speed simultaneously and add the button and the speed subtracts the button lasts more than 10S time, and the wheelchair will be shifted into the helping hand mode by normal operating mode at this moment, detects slope information through the gyroscope chip simultaneously, and motor driver judges the positive and negative state of motor according to hall signal.
The pressure sensor is used for detecting the force used by the left hand and the right hand of a pushing person when pushing the wheelchair, the feedback signal of the pressure sensor is connected to the handle controller, when the handle controller receives the signal of the pressure sensor, the detection signal of the pressure sensor is converted into a corresponding speed signal (the reference speed of the wheelchair power assistance) and sent to the motor driver below, and the motor driver calculates the running speed of the left motor and the right motor of the wheelchair according to the Hall signal fed back by the motor at the moment, and then judges whether the wheelchair is in a straight line or is turned left or is turned right according to the speeds of the left motor and the right motor. After the information is obtained, when the running speed of the motor is basically equal to the reference speeds of the left motor and the right motor sent by the handle controller, the motor driver can automatically start the wheelchair to run according to the direction signal sent by the handle controller, judge whether the speeds of the left motor and the right motor are less than 2km/h or not, if the speeds of the left motor and the right motor are less than 2km/h, the automatic running mode of the wheelchair is started by detecting the speeds of the left motor and the right motor, and if the speeds of the left motor and the right motor are not less than 2km/h, the given value of the wheelchair speed of the left motor and the right motor is set to be 2 km/h. Thus providing help for the pushing personnel, and leading the pushing personnel to easily push the patient to walk.
The power assisting function of the electric wheelchair is realized based on the pressure sensor, the motor driver, the handle controller and the gyroscope sensor, when the electric wheelchair is used as a manual wheelchair, the power supply does not need to be turned off or a band brake of the motor does not need to be turned on, when a person beside the wheelchair pushes the electric wheelchair, the electric wheelchair automatically enables the electric wheelchair to run according to the speed of a person pushing the wheelchair and the running speed is automatically matched with the pushing speed, so that great convenience is brought to users.
Example 2
As shown in fig. 4, a power assist control method applied to the electric wheelchair power assist control system according to embodiment 1 includes:
s1: and acquiring the position state and the motion state of the electric wheelchair.
The position states are measured by a gyroscope sensor, and the position states comprise a level road, an ascending slope and a descending slope; the motion state is obtained according to a first Hall signal and a second Hall signal, the first Hall signal is a signal fed back by the left wheel driving motor, and the second Hall signal is a signal fed back by the right wheel driving motor; the motion states include left turn, right turn, straight, forward and backward.
S2: a first speed value and a second speed value are obtained.
The first speed value is calculated by the handle controller according to a first pressure signal, the first pressure signal is a pressure signal measured by the first pressure sensor, the second speed value is calculated by the handle controller according to a second pressure signal, and the second pressure signal is a pressure signal measured by the second pressure sensor.
S3: and controlling the operation of a left wheel driving motor and a right wheel driving motor according to the position state, the motion state, the first Hall signal, the second Hall signal, the first speed value and the second speed value.
S301: calculating a third speed value according to the first Hall signal, and calculating a fourth speed value according to the second Hall signal; the third speed value is the running speed of the left wheel driving motor; the fourth speed value is the running speed of the right wheel driving motor.
S302: and controlling the operation of the left wheel driving motor and the right wheel driving motor according to the position state, the motion state, the first speed value, the second speed value, the third speed value and the fourth speed value.
S3021: and judging whether the third speed value is smaller than the first speed value or not to obtain a first judgment result.
And if the first judgment result is that the third speed value is smaller than or equal to the first speed value, keeping the speed of the left wheel driving motor unchanged and controlling the left wheel driving motor to operate according to the position state and the motion state.
And if the first judgment result is that the third speed value is greater than the first speed value, setting the speed of the left wheel driving motor as the first speed value, and controlling the left wheel driving motor to operate according to the position state and the motion state.
S3022: and judging whether the fourth speed value is smaller than the second speed value or not to obtain a second judgment result.
And if the second judgment result is that the fourth speed value is smaller than or equal to the second speed value, keeping the speed of the right wheel driving motor unchanged, and controlling the operation of the right wheel driving motor according to the position state and the motion state.
And if the second judgment result is that the fourth speed value is greater than the second speed value, setting the speed of the right wheel driving motor as the second speed value, and controlling the operation of the right wheel driving motor according to the position state and the motion state.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. An electric wheelchair power-assisted control system, comprising: the device comprises a gyroscope sensor, a first pressure sensor, a second pressure sensor, a handle controller and a motor driver; the gyroscope sensor, the first pressure sensor, the second pressure sensor and the motor driver are all connected with the handle controller;
the gyroscope sensor is used for detecting the position states of the electric wheelchair, wherein the position states comprise a level road, an ascending slope and a descending slope; the first pressure sensor is arranged at a place where the left hand of the electric wheelchair is pushed to be in contact with, the second pressure sensor is arranged at a place where the right hand of the electric wheelchair is pushed to be in contact with, the first pressure sensor is used for acquiring a first pressure signal when a pusher pushes the electric wheelchair and transmitting the first pressure signal to the handle controller, and the second pressure sensor is used for acquiring a second pressure signal when the pusher pushes the electric wheelchair and transmitting the second pressure signal to the handle controller;
the handle controller is arranged on the electric wheelchair; the handle controller is used for converting the first pressure signal into a first speed value, converting the second pressure signal into a second speed value and transmitting the position state, the first speed value and the second speed value to the motor driver; the motor driver is respectively connected with a left wheel driving motor and a right wheel driving motor of the electric wheelchair and is used for acquiring a first Hall signal fed back by the left wheel driving motor and a second Hall signal fed back by the right wheel driving motor; the motor driver is used for controlling the left wheel driving motor and the right wheel driving motor to rotate according to the first speed value, the second speed value, the first Hall signal, the second Hall signal and the position state.
2. The electric wheelchair power assist control system of claim 1 further comprising: a first AD interface through which the first pressure sensor is connected with the handle controller.
3. The electric wheelchair power assist control system of claim 1 further comprising: a second AD interface through which the second pressure sensor is connected with the handle controller.
4. The electric wheelchair power assist control system of claim 1 further comprising: and the motor driver is connected with the handle controller through the SCI.
5. The electric wheelchair power assist control system of claim 1 further comprising an IIC interface through which the gyroscope sensor is connected to the handle controller.
6. A power assist control method applied to a power-driven wheelchair power assist control system according to any one of claims 1 to 5, the method comprising:
acquiring the position state and the motion state of the electric wheelchair, wherein the position state is measured by a gyroscope sensor, and the position state comprises a level road, an ascending slope and a descending slope; the motion state is obtained according to a first Hall signal and a second Hall signal, the first Hall signal is a signal fed back by the left wheel driving motor, and the second Hall signal is a signal fed back by the right wheel driving motor; the motion states comprise left turning, right turning, straight going, advancing and retreating;
acquiring a first speed value and a second speed value, wherein the first speed value is obtained by calculating according to a first pressure signal by a handle controller, the first pressure signal is a pressure signal measured by a first pressure sensor, the second speed value is obtained by calculating according to a second pressure signal by the handle controller, and the second pressure signal is a pressure signal measured by a second pressure sensor;
and controlling the operation of a left wheel driving motor and a right wheel driving motor according to the position state, the motion state, the first Hall signal, the second Hall signal, the first speed value and the second speed value.
7. An assist control method according to claim 6, wherein the controlling the operation of the left wheel drive motor and the right wheel drive motor based on the position status, the motion status, the first hall signal, the second hall signal, the first speed value, and the second speed value comprises:
calculating a third speed value according to the first Hall signal, and calculating a fourth speed value according to the second Hall signal; the third speed value is the running speed of the left wheel driving motor; the fourth speed value is the running speed of the right wheel driving motor;
and controlling the operation of the left wheel driving motor and the right wheel driving motor according to the position state, the motion state, the first speed value, the second speed value, the third speed value and the fourth speed value.
8. A power assist control method as set forth in claim 7 wherein controlling the operation of the left wheel drive motor and the right wheel drive motor based on the position status, the motion status, the first speed value, the second speed value, the third speed value, and the fourth speed value comprises:
judging whether the third speed value is smaller than the first speed value or not to obtain a first judgment result;
if the first judgment result is that the third speed value is smaller than or equal to the first speed value, keeping the speed of the left wheel driving motor unchanged and controlling the left wheel driving motor to operate according to the position state and the motion state;
if the first judgment result is that the third speed value is greater than the first speed value, setting the speed of the left wheel driving motor as the first speed value, and controlling the operation of the left wheel driving motor according to the position state and the motion state;
judging whether the fourth speed value is smaller than the second speed value or not to obtain a second judgment result;
if the second judgment result is that the fourth speed value is smaller than or equal to the second speed value, keeping the speed of the right wheel driving motor unchanged, and controlling the operation of the right wheel driving motor according to the position state and the motion state;
and if the second judgment result is that the fourth speed value is greater than the second speed value, setting the speed of the right wheel driving motor as the second speed value, and controlling the operation of the right wheel driving motor according to the position state and the motion state.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010273063.XA CN111407539B (en) | 2020-04-09 | 2020-04-09 | Power-assisted control system and power-assisted control method for electric wheelchair |
| PCT/CN2021/072647 WO2021203792A1 (en) | 2020-04-09 | 2021-01-19 | Electric wheelchair power-assisted control system and power-assisted control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010273063.XA CN111407539B (en) | 2020-04-09 | 2020-04-09 | Power-assisted control system and power-assisted control method for electric wheelchair |
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| CN111407539A true CN111407539A (en) | 2020-07-14 |
| CN111407539B CN111407539B (en) | 2022-01-14 |
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| WO (1) | WO2021203792A1 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112022530A (en) * | 2020-08-12 | 2020-12-04 | 广东欣会铝制品有限公司 | Control method for wheelchair and wheelchair |
| WO2021203792A1 (en) * | 2020-04-09 | 2021-10-14 | 广州思智科技有限公司 | Electric wheelchair power-assisted control system and power-assisted control method |
| CN114366467A (en) * | 2021-12-25 | 2022-04-19 | 南京科桥电气有限公司 | Electric wheelchair control method, device, control equipment and storage medium |
| CN114404236A (en) * | 2022-02-18 | 2022-04-29 | 国家康复辅具研究中心 | Follow-up walking-aid control system |
| CN116617013A (en) * | 2023-05-18 | 2023-08-22 | 国家康复辅具研究中心 | Wheelchair walker integrated machine control method and system |
| WO2024087857A1 (en) * | 2022-10-26 | 2024-05-02 | 浙江足步医疗科技有限公司 | Movable seat, power-assisted control method thereof and device with storage function |
| WO2024087856A1 (en) * | 2022-10-26 | 2024-05-02 | 浙江益恒悦医疗科技有限公司 | Movable seat and control method therefor, and apparatus having storage function |
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| CN114404236B (en) * | 2022-02-18 | 2023-12-01 | 国家康复辅具研究中心 | Follow-up walking control system |
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| CN116617013B (en) * | 2023-05-18 | 2023-12-08 | 国家康复辅具研究中心 | Wheelchair walker integrated machine control method and system |
Also Published As
| Publication number | Publication date |
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| CN111407539B (en) | 2022-01-14 |
| WO2021203792A1 (en) | 2021-10-14 |
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