CN112022530A - Control method for wheelchair and wheelchair - Google Patents
Control method for wheelchair and wheelchair Download PDFInfo
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- CN112022530A CN112022530A CN202010808651.9A CN202010808651A CN112022530A CN 112022530 A CN112022530 A CN 112022530A CN 202010808651 A CN202010808651 A CN 202010808651A CN 112022530 A CN112022530 A CN 112022530A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000001960 triggered effect Effects 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 3
- 230000007547 defect Effects 0.000 abstract description 5
- 238000013461 design Methods 0.000 abstract description 4
- 230000008859 change Effects 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 5
- 125000004432 carbon atom Chemical group C* 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 206010033799 Paralysis Diseases 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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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
- A61G5/047—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven by a modular detachable drive system
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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
- A61G5/1005—Wheelchairs having brakes
- A61G5/1035—Wheelchairs having brakes manipulated by wheelchair user
Abstract
The embodiment of the application provides a control method for a wheelchair and the wheelchair, and belongs to the field of wheelchairs. When the control instruction is the starting instruction, the control device monitors the running speed of a driving wheel on the body and controls the boosting device to start so that the boosting device pushes the body to move at a constant speed at the running speed; when the control instruction is in the parking instruction, the control device controls the boosting device to stop working, so that after the boosting device stops working, a user parks the vehicle through a hand brake arranged on the body. The application can change the defect of complex and heavy design of the existing similar type of machine in the market, and improves convenience.
Description
Technical Field
The application relates to the field of wheelchair vehicles, in particular to a control method for a wheelchair vehicle and the wheelchair vehicle.
Background
At present, a wheelchair becomes an indispensable tool for riding instead of walk for old people and disabled people with inconvenient actions, and the applicable objects are very wide, but the existing wheelchair has certain defects, and cannot meet the daily life and trip requirements of some users in terms of functionality. Such as a hand-wheel wheelchair, lacks power efficiency. When driving, the bicycle has certain requirements on physical ability and endurance of a user. Most of old people and disabled people have weak physical strength and are difficult to support hand-push running for a long time.
And for users with severe paralysis and long-distance running, the electric wheelchair and the moped wheel with the driving motor arranged on the rear large wheel are good choices. However, the pure electric wheelchair in the market is too heavy and generally has higher price, and is difficult to popularize in the elderly, the infirm and the disabled. The traction or boosting device is not easy to carry, and has the defects of small application range, large refitting amount and the like.
Therefore, how to solve the above problems is a problem that needs to be solved at present.
Disclosure of Invention
The present application provides a control method for a wheelchair and a wheelchair, aiming to improve the above-mentioned problems.
In a first aspect, the present application provides a control method for a wheelchair including a body, a boosting device detachably mounted on the body, and a control device for controlling the operation of the boosting device; the method comprises the following steps:
when the control instruction is the starting instruction, the control device monitors the running speed of a driving wheel on the body and controls the boosting device to start so that the boosting device pushes the body to move at a constant speed at the running speed;
when the control instruction is in the parking instruction, the control device controls the boosting device to stop working, so that after the boosting device stops working, a user parks the vehicle through a hand brake arranged on the body.
In a possible embodiment, the parking instruction is triggered by a user based on a wearable device, wherein the wearable device is in wireless communication with the control device, and a parking button is arranged on the wearable device and used for triggering the control device to control the boosting device to stop working.
In a possible embodiment, the method further comprises:
when the control device monitors that the running speed of the driving wheel is increased, the control device collects a second running speed of the current driving wheel; and controlling the boosting device to drive the body to run at a constant speed at the second running speed.
In a possible embodiment, the method further comprises:
the control device acquires a deceleration instruction input by a user;
and the control device controls the running speed of the boosting device according to the deceleration instruction.
In a possible embodiment, the deceleration instruction is triggered by the user based on wearing equipment or when the user brakes by operating the hand brake;
wherein, wearing equipment with controlling means wireless communication, be equipped with the speed reduction button on the wearing equipment, in order to be used for triggering controlling means control the boosting device slows down.
In a second aspect, the present application provides a wheelchair comprising: the boosting device comprises a body, a boosting device and a control device for controlling the operation of the boosting device;
the boosting device is detachably arranged on the body;
the boosting device is used as a driven wheel of the body when a control switch on the body is not turned on, so as to provide driven energy for the body; and the number of the first and second groups,
the boosting device is also used for pushing the body to run at a constant speed by a first threshold value under the control of the control device when a control switch on the body is turned on;
the control device is arranged in the boosting device; the control device is used for controlling the boosting device to drive the body to run at a constant speed by the first threshold value when the control switch on the body is turned on and the initial speed of the driving wheel on the body is monitored to be the first threshold value; and the number of the first and second groups,
when the control device receives a parking instruction, the control device is further used for controlling the boosting device to stop working, so that a user can park the vehicle through a hand brake on the body.
In a possible embodiment, the boosting device comprises a driving motor, a Hall sensor, a boosting piece and a wheel; the first end of the boosting member is detachably arranged on the body, and the wheel is arranged on the second end of the boosting member;
the Hall sensor is arranged on the driving motor, and an output shaft of the driving motor is connected with a rotating shaft of the wheel and used for driving the wheel to rotate;
the Hall sensor and the driving motor are electrically connected with the control device;
the Hall sensor and the gyroscope are used for acquiring the running speed of the body and the inclination angle of the body during running.
In a possible embodiment, the control device further comprises a wired control switch, and the wired control switch is electrically connected with the control device through a power line.
In a possible embodiment, the control device comprises a controller and a bluetooth wireless transmission module, and the controller is electrically connected with the bluetooth wireless transmission module, the hall sensor, the driving motor and the wired control switch respectively.
In a possible embodiment, the wired control switch comprises a first interface for management control lines and power management and a functional mode key interface; the first interface and the functional mode key interface are respectively and electrically connected with the controller.
The control method for the wheelchair and the wheelchair provided by the application are characterized in that the body and the detachable are arranged on the body, the boosting device on the body is controlled, the boosting device runs, and therefore the boosting device can be conveniently detached and carried, the defect of complex and heavy design of the existing similar type in the market is overcome, and convenience is improved. The boosting device and the control device are partially integrated, so that the performance of the whole machine is improved, more functions are realized depending on the control device, and the operation is flexible. Because the boosting device can be quickly installed on the manual wheelchair, the modification amount can be reduced, and the application range is widened.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural view of a wheelchair according to an embodiment of the present disclosure;
fig. 2 is a schematic structural view of a boosting device in a wheelchair according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a circuit structure in a wheelchair according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of another electrical circuit configuration of a wheelchair according to an embodiment of the present disclosure;
fig. 5 is a schematic circuit diagram of a controller and a wired control switch in a wheelchair according to an embodiment of the present disclosure;
fig. 6 is a flowchart of a control method for a wheelchair according to a second embodiment of the present disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present application. 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 application.
The first embodiment is as follows:
referring to fig. 1 to 5, the present embodiment provides a wheelchair 100, where the wheelchair 100 includes: the booster comprises a body 110, a boosting device 120 and a control device 130 for controlling the operation of the boosting device 120.
Optionally, the body 110 is for seating a user.
For example, the body 110 may be an existing conventional manual wheelchair.
Optionally, the boosting device 120 is detachably mounted on the body 110.
The boosting device 120 is used as a driven wheel of the body 110 when a control switch on the body 110 is not turned on, so as to provide driven energy for the body 110; and the boosting device 120 is further configured to, when the control switch on the body 110 is turned on, boost the body 110 to run at a constant speed by a first threshold value under the control of the control device 130.
Optionally, the boosting device 120 includes a driving motor 121, a hall sensor 123, a boosting member 125, and a wheel 127.
The first end of the boosting member 125 is detachably mounted on the body 110 (for example, the first end of the boosting member 125 is provided with a slot structure, so that the boosting member 125 is clamped on the connecting shafts of the two driving wheels on the body 110 through the slot structure, or can be clamped at other positions of the body 110, which is not limited specifically), and the wheel 127 is disposed on the second end of the boosting member 125. A first end of assist member 125 is disposed opposite a second end of assist member 125.
Optionally, the hall sensor 123 is disposed on the driving motor 121, and an output shaft of the driving motor 121 is connected to a rotating shaft of the wheel 127, so as to drive the wheel 127 to rotate.
The hall sensor 123 and the driving motor 121 are electrically connected to the control device 130.
Optionally, the hall sensor 123 is used for acquiring the operation speed and the inclination angle of the body 110 during driving.
In a possible embodiment, the boosting device 120 further comprises an acceleration sensor 122 and a gyroscope 124.
The acceleration sensor 122 and the gyroscope 124 are integrated on the drive motor 121. The acceleration sensor 122 and the gyroscope 124 are respectively connected to the control device 130.
Optionally, a handle may be provided on the pushing aid 125 to allow the user to carry the pushing aid 120 when it is detached from the body 110.
Optionally, the handle is of arcuate configuration.
Alternatively, the number of handles may be plural, for example 2.
In one possible embodiment, an electronic lock is provided on the first end of the booster 125, and the electronic lock is connected to the control device 130 (controller 131).
Optionally, an electronic lock for locking a connection region (e.g., a connection shaft of two driving wheels on the body 110) on the body 110 when the pushing aid 125 is mounted on the body 110, so as to make the connection of the pushing aid 125 and the body 110 more stable; in addition, when needing to dismantle booster 120, open through controller 131 control electronic lock to realize quick dismantlement, and then more laborsaving.
Of course, in actual use, the electronic lock can be replaced by other locking structures. Here, the number of the carbon atoms is not particularly limited.
The control device 130 is installed in the boosting device 120, and the control device 130 is connected to the driving motor 121.
Optionally, the control device 130 is configured to, when a control switch on the body 110 is turned on and it is monitored that an initial speed of a driving wheel on the body 110 is the first threshold, control the boosting device 120 to drive the body 110 to travel at a constant speed according to the first threshold; and when the control device 130 receives a parking instruction, the control device 130 is further configured to control the boosting device 120 to stop working, so that a user can park the vehicle through a hand brake provided on the body 110.
Optionally, the control device 130 includes a controller 131 and a bluetooth wireless transmission module 133, and the controller 131 is electrically connected to the bluetooth wireless transmission module 133, the hall sensor 123, the driving motor 121, the wired control switch 150, the acceleration sensor 122, and the gyroscope 124, respectively.
Alternatively, the controller 131 may be a central processing unit CPU or a micro control unit MCU.
In a possible embodiment, the wheelchair 100 further comprises a wired control switch 150, and the wired control switch 150 is electrically connected to the control device 130 through a power cord.
Optionally, the wired control switch 150 includes a first interface 151 for management control line and power supply management and a functional mode key interface 153; the first interface 151 and the functional mode key interface 153 are electrically connected to the controller 131, respectively.
In one possible embodiment, the wheelchair 100 further includes a power source 160, the power source 160 being mounted within the thrusters 125, the power source 160 being connected to the controller 131 and the drive motor 121, respectively.
Alternatively, power source 160 is a rechargeable battery. For example, when charging, the booster 120 may be detached from the main body 110, and then the power supply in the booster 120 may be charged.
Of course, the power source 160 of the booster 120 attached to the main body 110 may be directly charged without detaching the booster 120.
In one possible embodiment, the wheelchair 100 further includes a battery management module 170, and the battery management module 170 is coupled to the controller 131 and the power supply 160, respectively.
And the battery management module 170 is used for managing the use condition of the power supply 160 so as to facilitate the timely charging of a user.
In one possible embodiment, the wheelchair 100 further includes a display provided on the body 110 for displaying the usage of the power supply 160 in real time.
Example two:
referring to a flowchart of a control method for a wheelchair shown in fig. 6, the method is applied to the wheelchair described in the first embodiment, and the method specifically includes the following steps:
step S201, the control device receives a control instruction, wherein the control instruction at least comprises a starting instruction and a stopping instruction.
Optionally, the control instructions may also include acceleration instructions and/or deceleration instructions.
For example, the control command may be triggered by a control button provided on the body, or may be triggered by a wearable device (e.g., a bracelet) worn on the user. At this time, it should be understood that physical buttons or virtual buttons for starting, stopping, accelerating and/or decelerating, etc. should be provided on the bracelet.
For example, when the start, stop, acceleration and/or deceleration button is a virtual button, the user may trigger the start, stop, acceleration and/or deceleration virtual button to implement a corresponding function by touching. For example, when the user touches the start virtual button, a start instruction is triggered at this time, so that the control device controls the boosting device to start.
Of course, a start button can be clicked to trigger a start instruction; when the start button is double-clicked, a parking instruction is triggered.
Of course, the bracelet may also be configured with a voice input module, so that the user can control the boosting device to start or stop working through voice.
Step S203, when the control instruction is the starting instruction, the control device monitors the running speed of the driving wheel on the body and controls the boosting device to start so that the boosting device can drive the body to move at a constant speed at the running speed.
Alternatively, the setting of the first threshold may be set according to actual requirements, for example, the first threshold is 5 Km/h. Here, the number of the carbon atoms is not particularly limited.
For example, when the control switch on the body is turned on, when the user pushes the handwheel of the wheelchair by about 1/4 circles to drive the motor wheel to roll by 300 degrees, and the operation is finished once, the boosting device detects that the maximum initial speed is V1 and keeps moving forward by V1. If an uphill slope is encountered, only the output power of the driving motor is changed, and the movement speed is kept unchanged.
And S205, when the control instruction is the parking instruction, the control device controls the boosting device to stop working, so that a user parks the vehicle through a hand brake arranged on the body after the boosting device stops running.
The parking instruction is triggered by a user based on wearable equipment, wherein the wearable equipment is in wireless communication with the control device, and the wearable equipment is provided with a parking button for triggering the control device to control the boosting device to stop working.
For example, when the user parks the vehicle, the user may stop the operation by clicking or holding the brake by the controller. Of course, can also rely on bluetooth wireless transmission module to receive the parking instruction that the bracelet sent, for example the user sends the parking instruction that the motor stopped working after the response through beating the bracelet. After the driving motor stops working, a user can hold the hand wheel to brake until the vehicle stops.
In a possible embodiment, the method further comprises: when the control device monitors that the running speed of the driving wheel is increased, the control device collects a second running speed of the current driving wheel; and controlling the boosting device to drive the body to run at a constant speed at the second running speed.
Alternatively, the setting of the second operation speed may be set according to actual requirements, and is not particularly limited herein.
In a possible embodiment, the method further comprises: the control device acquires a deceleration instruction input by a user; and the control device controls the running speed of the boosting device according to the deceleration instruction.
The deceleration instruction is triggered by the user based on wearing equipment or when the user brakes by operating the hand brake; wherein, wearing equipment with controlling means wireless communication, be equipped with the speed reduction button on the wearing equipment, in order to be used for triggering controlling means control the boosting device slows down.
In a possible embodiment, the method further comprises: when the inclined plane is detected to be larger than 5 degrees, the control device controls the boosting device to stop working and sends prompt information to prompt a user to receive operation so as to avoid side tilting.
Of course, in actual use, the angle of the inclined plane can be adjusted according to the requirements of users. For example 7 degrees or 4 degrees. Here, the number of the carbon atoms is not particularly limited.
It should be noted that, in a normal use state, when a user needs to turn around or move backward for a short distance when using the wheelchair, the user can use the wheelchair in a reverse direction, and at this time, the hub of the driving motor in the boosting device is also rotated in a reverse direction. In this case, the reverse rotation of the driving motor cannot be detected, that is, the motor cannot be started, so that the motor is started in the reverse direction, and the reverse speed is difficult to control and causes damage.
That is, the booster can boost when going forward, and when backing, its drive motor does not operate.
Alternatively, when the slope of travel is detected to be greater than 3 degrees, the motor wheel will not roll back even if the thrust of the drive motor is insufficient, at which point the booster is used as an electronic brake.
It should be noted that when the vehicle is running in parallel, i.e., when no gradient is detected, the rollback prevention function of the booster is not activated.
To sum up, the control method and the wheelchair for the wheelchair that this application provided are installed through setting up body and detachable boosting device and control on the body boosting device operation's controlling means to make boosting device can convenient to detach, with the current numerous and heavy design defect of the same type model in change market, promote the convenience. And the operation is flexible, and the performance of the whole machine is improved by the integrated design of the boosting device and the control device part, so that more functions can be realized depending on the control device. Meanwhile, a rapid dismounting mode is adopted, and the manual wheelchair is 80% oriented to the market. Because the boosting device has small volume, the boosting device can be conveniently placed into a trunk of an automobile or carried on a bus after being disassembled from the wheelchair, and the structure and the performance of the original wheelchair can not be changed.
It should be noted that the above functions, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Claims (10)
1. A control method for a wheelchair is characterized in that the wheelchair comprises a body, a boosting device detachably arranged on the body and a control device for controlling the operation of the boosting device; the method comprises the following steps:
the control device receives a control instruction, wherein the control instruction at least comprises a starting instruction and a stopping instruction;
when the control instruction is the starting instruction, the control device monitors the running speed of a driving wheel on the body and controls the boosting device to start so that the boosting device pushes the body to move at a constant speed at the running speed;
when the control instruction is in the parking instruction, the control device controls the boosting device to stop working, so that after the boosting device stops working, a user parks the vehicle through a hand brake arranged on the body.
2. The method of claim 1, wherein the parking instruction is triggered by a user based on a wearable device, wherein the wearable device is in wireless communication with the control device, and a parking button is provided on the wearable device for triggering the control device to control the boosting device to stop working.
3. The method of claim 1, further comprising:
when the control device monitors that the running speed of the driving wheel is increased, the control device collects a second running speed of the current driving wheel; and controlling the boosting device to drive the body to run at a constant speed at the second running speed.
4. The method of claim 1, further comprising:
the control device acquires a deceleration instruction input by a user;
and the control device controls the running speed of the boosting device according to the deceleration instruction.
5. The method of claim 4, wherein the deceleration command is triggered by the user upon wearing a device or when the user brakes by operating the handbrake;
wherein, wearing equipment with controlling means wireless communication, be equipped with the speed reduction button on the wearing equipment, in order to be used for triggering controlling means control the boosting device slows down.
6. A wheelchair vehicle, comprising: the boosting device comprises a body, a boosting device and a control device for controlling the operation of the boosting device;
the boosting device is detachably arranged on the body;
the boosting device is used as a driven wheel of the body when a control switch on the body is not turned on, so as to provide driven energy for the body; and the number of the first and second groups,
the boosting device is also used for pushing the body to run at a constant speed by a first threshold value under the control of the control device when a control switch on the body is turned on;
the control device is arranged in the boosting device; the control device is used for controlling the boosting device to drive the body to run at a constant speed by the first threshold value when the control switch on the body is turned on and the initial speed of the driving wheel on the body is monitored to be the first threshold value; and the number of the first and second groups,
when the control device receives a parking instruction, the control device is further used for controlling the boosting device to stop working, so that a user can park the vehicle through a hand brake on the body.
7. The wheelchair of claim 6 wherein the boost device comprises a drive motor, a hall sensor, a boost and wheels; the first end of the boosting member is detachably arranged on the body, and the wheel is arranged on the second end of the boosting member;
the Hall sensor is arranged on the driving motor, and an output shaft of the driving motor is connected with a rotating shaft of the wheel and used for driving the wheel to rotate;
the Hall sensor and the driving motor are electrically connected with the control device;
the Hall sensor, the acceleration sensor and the gyroscope are used for acquiring the running speed of the body and the inclination angle of the body during running.
8. The wheelchair of claim 7 further comprising a wired control switch electrically connected to the control device via a power cord.
9. The wheelchair of claim 8 wherein the control means comprises a controller and a bluetooth wireless transmission module, the controller being electrically connected to the bluetooth wireless transmission module, the hall sensor, the drive motor and the wired control switch, respectively.
10. The wheelchair of claim 9 wherein the wired control switch includes a first interface for managing control lines and power management and a functional mode key interface; the first interface and the functional mode key interface are respectively and electrically connected with the controller.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010808651.9A CN112022530A (en) | 2020-08-12 | 2020-08-12 | Control method for wheelchair and wheelchair |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010808651.9A CN112022530A (en) | 2020-08-12 | 2020-08-12 | Control method for wheelchair and wheelchair |
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| CN112022530A true CN112022530A (en) | 2020-12-04 |
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| CN202010808651.9A Pending CN112022530A (en) | 2020-08-12 | 2020-08-12 | Control method for wheelchair and wheelchair |
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| CN113180938A (en) * | 2021-04-22 | 2021-07-30 | 广东职业技术学院 | Modular automatic power assisting device |
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| CN111407539A (en) * | 2020-04-09 | 2020-07-14 | 广州思智科技有限公司 | Power-assisted control system and power-assisted control method for electric wheelchair |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113180938A (en) * | 2021-04-22 | 2021-07-30 | 广东职业技术学院 | Modular automatic power assisting device |
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Application publication date: 20201204 |