CN112274345A - Two-dimensional Hall rocker device and calibration method - Google Patents
Two-dimensional Hall rocker device and calibration method Download PDFInfo
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- CN112274345A CN112274345A CN202011201937.7A CN202011201937A CN112274345A CN 112274345 A CN112274345 A CN 112274345A CN 202011201937 A CN202011201937 A CN 202011201937A CN 112274345 A CN112274345 A CN 112274345A
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- rocker
- base
- flange seat
- ball
- hall
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring 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
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/14—Joysticks
Abstract
The invention discloses a rocker and a calibration method thereof, wherein the rocker comprises a base, a flange seat, a rocker ball, a rocker, a spring and a circuit board with a Hall element; the base is detachably connected with the flange seat, and the rocker ball is positioned and installed in a spherical cavity formed by the base and the flange seat; the rocker ball is internally provided with a magnetic component, and a circuit board with a Hall element is arranged below the rocker ball and is opposite to the magnetic component in the rocker ball in a non-contact way; one end of the rocker penetrates through the flange seat and the base, is connected with the rocker ball and drives the rocker ball to rotate in the spherical cavity, the magnetic component makes arc circular motion relative to the Hall element under the driving of the rocker ball, and the Hall element collects and outputs an analog signal according to the relative motion of the magnetic component, so that the rotating speed of the motor is controlled. The invention has compact structure, simplifies the calibration and test flow in the production process, effectively improves the control hand feeling, can integrate the control circuit board and the control algorithm in the rocker, and can realize the miniaturization of the rocker control equipment.
Description
Technical Field
The invention relates to automatic control of a rocker, in particular to a two-dimensional Hall rocker device, and also relates to a calibration method of the rocker.
Background
The wheelchair is mainly used for disabled people with inconvenient legs and feet, and in the current wheelchair structure, besides a simple wheelchair generally used for manual pushing, the wheelchair is also provided with a power device and a rocker device for controlling, the power device is operated by the rocker device to move, so that a motor of the power device can be positively or reversely rotated, and a controller connected with the wheelchair is controlled by the rocker device to control the motor, so that the wheelchair can be operated to move forwards, backwards, leftwards or rightwards.
The Hall rocker measures the change of a magnetic field through an internal magnetic sensor to acquire the motion state of the rocker. Once the sensor and the magnetic component are selected, the measuring range and the precision of the rocker are determined; the programmable hall sensor needs complicated calibration and programming work, which brings higher cost and more complicated process flow for production.
In an electrically controlled operation system, a rocker is generally used to control the moving direction, the moving speed, and the like of an electric wheelchair. The two-dimensional Hall rocker based on the Hall effect is convenient to operate, good in linearity and high in working stability, and gradually becomes a mainstream device in a handle rocker of a wheelchair of an electric vehicle. The electric wheelchair generally adopts a structure mode that two motors drive two wheels to follow up, and the matching of stable and reliable controllers becomes an important factor for the success of the product. The layout of each part in the existing control rocker is loose, so that the whole volume of the existing control rocker is large. Meanwhile, the output of a rocker on the market is mostly in the form of analog quantity, an internal MCU and a gyroscope are not provided, and a control algorithm cannot be integrated.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems in the prior art, the invention aims to provide a two-dimensional Hall rocker device which is convenient to operate, good in linearity and high in working stability, and the invention also aims to provide a calibration method of the rocker device.
The technical scheme is as follows: the rocker device comprises a base, a flange seat, a rocker ball, a rocker, a spring and a circuit board with a Hall element, wherein the base is provided with a flange seat; the base comprises a hemispherical cavity I, the flange seat comprises a hemispherical cavity II matched with the hemispherical cavity I in size, the base is detachably connected with the flange seat, and the rocker ball is positioned and installed in a spherical cavity formed by the hemispherical cavity I and the hemispherical cavity II; the circuit board with the Hall element is arranged below the rocker ball and is opposite to the magnetic component in the rocker ball in a non-contact way; one end of the rocker penetrates through the flange seat and the base, is connected with the rocker ball and drives the rocker ball to rotate in the spherical cavity, the magnetic component makes arc circular motion relative to the Hall element under the driving of the rocker ball, and the Hall element acquires and outputs an analog signal according to the relative motion of the magnetic component, so that the rotating speed of the controlled device is controlled.
Further, the circuit board with the hall element comprises a microprocessor, a magnetic sensor module, an attitude sensor module and a communication module; (ii) a The microprocessor receives a magnetic signal of the magnetic sensor module and an attitude signal detected by the attitude sensor module, and the communication module sends various data and signals fed back by the algorithm to the system bus and sends a control signal to the controlled device.
Furthermore, a positioning ring is arranged between the base and the flange seat; and one side of the positioning column extending out of the two ends of the positioning ring is connected with the groove I of the flange seat and abuts against the two ends of the rocker ball, and the other side of the positioning column is connected with the groove II of the base. The grooves I and II are preferably annular grooves.
Furthermore, the device also comprises a limit sleeve and a limit check ring; the limiting sleeve is arranged at the lower end of the rocker and abuts against the flange seat, and the limiting retainer ring is arranged at the upper end of the rocker. The rocker is also sleeved with a spring, one end of the spring is abutted to a limit retainer ring at the upper end of the rocker, and the other end of the spring is sleeved on the limit sleeve and abutted to the limit sleeve.
Furthermore, the lower extreme of flange seat is equipped with a plurality of centers on the trip that hemisphere cavity I distributes, be equipped with on the base a plurality of with the draw-in groove of trip adaptation, the flange seat passes through trip and base joint are fixed.
Furthermore, the flange seat and the base are connected in a reinforcing mode through a positioning structure, the positioning structure comprises a positioning column on the base and a positioning hole in the flange seat, and the positioning column is in interference fit with the positioning hole.
Further, the device also comprises a base; four connecting columns extend out of one side of the base, threaded holes are formed in the connecting columns, and the connecting columns are fixedly connected with the circuit board and the base through bolts.
A rocker calibration method based on the two-dimensional Hall rocker device comprises the following steps:
(1) swinging the rocker to each limit position by adopting a programming clamp, and calibrating the range, amplitude and linearity of the rocker;
(2) swinging the rocker to a preset swing angle and swing amplitude by using a testing device, recording an output value, comparing the output value with an ideal value, and screening out unqualified condition information according to a test result after batch testing; the unqualified condition comprises that when the testing device tests the rocker, the voltage amplitude at the preset swing angle position exceeds the ideal range, the rocker is judged to be an unqualified product by the testing device, and the unqualified product is subjected to recalibration treatment or corresponding fault parts are replaced to enable the rocker to reach a qualified state meeting the testing requirements.
Compared with the prior art, the invention has the following remarkable effects:
1. simple structure is compact, and installation easy maintenance, the operation is felt smoothly, can realize rocker controlgear's miniaturization.
2. And integrating the MCU and the gyroscope sensor, outputting alarm information and correcting output of a rocker to improve the control performance.
3. The calibration and test processes in the production process are simplified by means of the matched calibration fixture and the matched test tool.
Drawings
FIG. 1 is a perspective view of the structure of the present invention;
FIG. 2 is a cross-sectional view A-A of FIG. 1;
FIG. 3 is a cross-sectional view B-B of FIG. 1;
FIG. 4 is a perspective view of FIG. 1;
FIG. 5 is an exploded view of FIG. 4;
FIG. 6 is a perspective view of the flange seat of FIG. 4;
FIG. 7 is a perspective view of the base of FIG. 4;
FIG. 8 is a perspective view of the retaining ring of FIG. 4;
FIG. 9 is a block diagram of the control system of the present invention;
FIG. 10 is a signal diagram of the output of the present invention;
FIG. 11 is a schematic view of a calibration apparatus according to the present invention;
FIG. 12 is a schematic view of a testing apparatus according to the present invention; (a) the rocker is in the release state (natural state), (b) the rocker is in the test state.
Detailed Description
The technical solution of the present invention will be further described in detail with reference to the following examples and accompanying drawings.
A rocker device comprises a base 1, a flange seat 2, a rocker 3, a base 4, a spring 5, a rocker ball 6, a positioning ring 7 and a circuit board (PCB)11 with a Hall element, wherein the flange seat 2 comprises a hemispherical cavity I, the base 1 comprises a hemispherical cavity II, the rocker ball 6 with a magnetic component (selected from a magnet or other metal) is positioned in a spherical cavity 2-1 formed by the adaptation of the hemispherical cavity I and the hemispherical cavity II, the flange seat 2 is provided with a positioning hole 2-4, the base 1 is provided with a positioning column I1-4, one end of the rocker 3 passes through the flange seat 2 and the base 1 to be connected with the rocker ball 6 and can drive the rocker ball 6 to rotate in the spherical cavity 2-1, a limiting sleeve 10 is sleeved on the rocker 3 and is abutted against the flange seat 2, the spring 5 is sleeved on the rocker 3, and one end of the limiting retaining ring 9 at the upper end of the rocker 3 is abutted against, the other end is sleeved on the limit sleeve 10 and is propped against the limit sleeve, and the spring 5 plays a role in positioning and resetting the rocker 3. The limiting retainer ring 9 is clamped on the rocker 3, one side of a positioning column II 7-1 extending out of the two ends of the positioning ring 7 is installed with the annular groove I2-3 of the flange seat 2 and abuts against the grooves III 6-1 at the two ends of the rocker ball 6, and the other side of the positioning column II is installed with the annular groove II 1-3 of the base 1.
Referring to fig. 1, 2, 4, 5 and 6, a limit retainer ring 9 is arranged on the rocker 3, one end of the spring 5 is abutted against the limit retainer ring 9, and the other end is sleeved on the limit sleeve 10 and abutted against the limit sleeve 10; just so can make spring 5's one end support spacing retaining ring 9, and the other end also supports stop collar 10, just can make spring 5 fix a position 3 positions rocker and 2 terminal surfaces of flange seat are perpendicular under the condition that does not receive external force, and spring 5 mainly plays the reset effect, makes rocker 3 reset to the softness that the biggest possibility kept the spring reaches the best experience of manipulation.
Referring to fig. 4, 6, 7 and 8, one end of the flange seat 2 is provided with a clamping hook 2-5 and a threaded hole 2-2, one end of the base 1 is provided with a clamping groove 1-1 and a fixing hole 1-2, the clamping hook 2-5 is clamped in the clamping groove 1-1 and can be fastened by screws in a double mode, and a positioning column II 7-1 extending out of the positioning ring 7 is correspondingly placed in an annular groove 2-3 of the flange seat 2 and an annular groove 1-3 of the base 1, so that the flange seat 2 and the base 1 can be fixed together, and meanwhile, the positioning ring 7 can limit the rocker ball 6 and is convenient to assemble and disassemble. The upper connecting column of the base 1 is provided with a threaded hole which is respectively connected and fixed with the circuit board 11 and the base 4 by bolts.
The circuit board 11 with hall element arranges base 1 below in, under the prerequisite that does not influence control accuracy, has shortened the height of 1 stand of base, makes the rocker device can be used for the installation in the less space, is fixed and be equipped with two screw holes for the buckle between flange seat and the base to dual fail-safe when avoiding the buckle to lose efficacy is fixed.
Referring to fig. 9 and 10, the control part based on the two-dimensional hall rocker comprises a microprocessor, a magnetic sensor, an attitude sensor and a controlled device. The microprocessor may be an 8-bit, 16-bit, 32-bit microcontroller of a mobile platform, including but not limited to: STM32 series from st, STM8 series, PIC16 series from mircochip, and so on. The magnetic sensor is a device which can generate a control signal through man-machine interaction due to a Hall effect, and the attitude sensor is a device which can feed back the relevant position of the attitude sensor.
Preferably, the two-dimensional Hall rocker and the attitude sensor are 5V power supply equipment and are provided by a driver. The microprocessor (ARM single chip processor) is a 3.3V power supply device, and an AMS1117-3.3 power module is adopted to obtain a stable 3.3V/DC power supply.
The device is externally led out by a 6Pin line which is used for being connected with a controlled device and comprises a signal ground, a power supply, a TX, an RX, a CANH and a CANL. Please refer to fig. 1 for the wire-out manner of the connecting wires.
The two-dimensional Hall rocker in the product is not in physical contact with the magnetic sensor, the tail end of the rocker close to the PCB is a magnetic component, and the motion of the rocker drives the magnetic field near the PCB to change. The magnetic sensor in the PCB is MLX90333, and the running track of the rocker can be accurately judged by detecting the magnetic field intensity change near the PCB. The single chip microcomputer judges the position of the rocker by detecting the change of the output signal of the MLX 90333.
The power supply voltage of the two-dimensional Hall rocker is Va, the two-dimensional Hall rocker is supplied with direct current, two analog quantity output ends (0-Va) output signals as shown in figure 2, the X axis represents the left and right direction of the rocker, and the Y axis represents the front and back direction. When the rocker is in the default middle state, the X axis and the Y axis are both Va/2, when the rocker is pushed to the forefront, the Y axis outputs Va, and the X axis is Va/2. When the distance is pushed to the rear, the Y axis outputs 0V, and the X axis outputs Va/2. When the distance is pushed to the leftmost side, the X-axis output is 0V, the Y-axis output is Va/2, and when the distance is pushed to the rightmost side, the X-axis output is Va, and the Y-axis output is Va/2. These data are read directly through the AD conversion port of the microprocessor. After the equipment is normally started, the system can immediately detect two output signals of the two-dimensional Hall rocker, and the initial position output of the two-dimensional Hall rocker after being adjusted is (Va/2 ). If the difference between the detected signals and (Va/2 ) is too large, the system reports that the initial position of the rocker is wrong. If the detection signal is normal, the system enters a normal working state, when a user dials the rocker, the system CAN detect the change of the rocker signal, the movement track of the rocker is determined, and then the motor drive plate is instructed to drive the motor to do corresponding operation through the CAN/serial port signal. And the user sets the digital filtering mode and depth by configuring the parameters. Different filtering modes and depths are selected through configuration so as to adapt to different states such as rapid movement, smooth control and the like.
Onboard attitude sensor data is processed by the single chip microcomputer and then alarm information such as rollover and gradient overrun is output, and rocker output is corrected at the same time, so that performances of anti-lock and ramp driving of the mobile device in a wet and slippery state of a road are improved.
Referring to fig. 11, the rocker device is placed in a calibration device, by means of which the rocker can be moved to a maximum position in each direction, and the corresponding position is calibrated. In the calibration process, the rocker is sequentially moved to the maximum positions (0-8) in all directions, and calibration equipment connected with the rocker device sets output parameters, such as voltage output values and linearity, of corresponding positions; and then the calibration equipment calculates whether the set parameters have level jump according to the spatial sequence of each direction, and programs the parameters into the rocker device after calculation is correct.
Referring to fig. 12, the rocker device is connected to the testing device. Detecting the median of the rocker by means of a testing device, as shown in a figure (a), enabling the rocker to be in a release state (natural state), observing whether a target point changes in a small circle, if the target point exceeds a set small circle range, recalibrating the parameters of the rocker, and if the target point changes in the small circle, enabling the median to meet the requirement; and (c) carrying out limit value detection, as shown in a diagram (b), respectively pushing the rocker to the forefront, the last, the leftmost and the rightmost, pushing the rocker to draw a full circle at the limit position in the anticlockwise direction, observing whether the amplitude voltages at the four positions of the left screen meet the set theoretical value requirement, observing whether the running track of the rocker during the circle drawing is the full circle, and regarding the rocker as a qualified product if the abnormal conditions exist, and re-calibrating the rocker device or replacing and testing the parts with faults if the abnormal conditions exist, so as to achieve the qualified test standard.
Claims (10)
1. A two-dimensional Hall rocker device is characterized in that: the device comprises a base, a flange seat, a rocker ball, a rocker, a spring and a circuit board with a Hall element; the base comprises a hemispherical cavity I, the flange seat comprises a hemispherical cavity II matched with the hemispherical cavity I in size, the base is detachably connected with the flange seat, and the rocker ball is positioned and installed in a spherical cavity formed by the hemispherical cavity I and the hemispherical cavity II; the circuit board with the Hall element is arranged below the rocker ball and is opposite to the magnetic component in the rocker ball in a non-contact way; one end of the rocker penetrates through the flange seat and the base, is connected with the rocker ball and drives the rocker ball to rotate in the spherical cavity, the magnetic component makes arc circular motion relative to the Hall element under the driving of the rocker ball, and the Hall element acquires and outputs an analog signal according to the relative motion of the magnetic component, so that the rotating speed of the controlled device is controlled.
2. The two-dimensional hall rocker device of claim 1, wherein: the circuit board with the Hall element comprises a microprocessor, a magnetic sensor module, an attitude sensor module and a communication module; the microprocessor receives a magnetic signal of the magnetic sensor module and an attitude signal detected by the attitude sensor module, and the communication module sends various data and signals fed back by the algorithm to the system bus and sends a control signal to the controlled device.
3. The two-dimensional hall rocker device of claim 1, wherein: a positioning ring is arranged between the base and the flange seat; and one side of the positioning column extending out of the two ends of the positioning ring is connected with the groove I of the flange seat and abuts against the two ends of the rocker ball, and the other side of the positioning column is connected with the groove II of the base.
4. The two-dimensional hall rocker device of claim 3, wherein: the grooves I and II are annular grooves.
5. The two-dimensional hall rocker device of claim 1, wherein: the device also comprises a limiting sleeve and a limiting retainer ring; the limiting sleeve is arranged at the lower end of the rocker and abuts against the flange seat, and the limiting retainer ring is arranged at the upper end of the rocker.
6. The two-dimensional hall rocker device of claim 5, wherein: the rocker is sleeved with a spring, one end of the spring abuts against a limit retainer ring at the upper end of the rocker, and the other end of the spring is sleeved on the limit sleeve and abuts against the limit sleeve.
7. The two-dimensional hall rocker device of claim 1, wherein: the lower extreme of flange seat is equipped with a plurality of centers on the trip that hemisphere cavity I distributes, be equipped with on the base a plurality of with the draw-in groove of trip adaptation, the flange seat passes through trip and base joint are fixed.
8. The two-dimensional hall rocker device of claim 1, wherein: the flange seat and the base are connected in a reinforcing mode through a positioning structure, the positioning structure comprises a positioning column on the base and a positioning hole in the flange seat, and the positioning column is in interference fit with the positioning hole.
9. The two-dimensional hall rocker device of claim 4, wherein: comprises a base; four connecting columns extend out of one side of the base, threaded holes are formed in the connecting columns, and the connecting columns are fixedly connected with the circuit board and the base through bolts.
10. A rocker calibration method based on the two-dimensional hall rocker device of claim 1, comprising the steps of:
(1) swinging the rocker to each limit position by adopting a programming clamp, and calibrating the range, amplitude and linearity of the rocker;
(2) swinging the rocker to a preset swing angle and swing amplitude by using a testing device, recording an output value, comparing the output value with an ideal value, and screening out unqualified condition information according to a test result after batch testing; the unqualified condition is that when the testing device tests the rocker, the voltage amplitude at the preset swing angle position exceeds the ideal range, the rocker is judged to be an unqualified product by the testing device, and the unqualified product is subjected to recalibration treatment or corresponding fault parts are replaced to enable the rocker to reach a qualified state meeting the testing requirements.
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| CN202011201937.7A CN112274345B (en) | 2020-11-02 | 2020-11-02 | Two-dimensional Hall rocker device and calibration method |
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| CN202011201937.7A CN112274345B (en) | 2020-11-02 | 2020-11-02 | Two-dimensional Hall rocker device and calibration method |
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| CN113707488A (en) * | 2021-08-17 | 2021-11-26 | 广东控银实业有限公司 | Rocker correcting method and rocker device |
| CN113707488B (en) * | 2021-08-17 | 2024-01-30 | 广东控银实业有限公司 | Rocker correction method and rocker device |
| CN115077362A (en) * | 2022-08-19 | 2022-09-20 | 泉州市宇朔工业设计有限公司 | Plane movement position detection device and method and input equipment |
| CN115077362B (en) * | 2022-08-19 | 2022-11-22 | 泉州市以色工业设计有限公司 | Plane movement position detection device and method and input equipment |
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