CN112274345B

CN112274345B - Two-dimensional Hall rocker device and calibration method

Info

Publication number: CN112274345B
Application number: CN202011201937.7A
Authority: CN
Inventors: 黄达城; 张苏园; 张轶; 费凯成; 罗浩珏
Original assignee: Nanjing Kangni Intelligent Control Technology Co ltd
Current assignee: Nanjing Kangni Intelligent Control Technology Co ltd
Priority date: 2020-11-02
Filing date: 2020-11-02
Publication date: 2023-07-21
Anticipated expiration: 2040-11-02
Also published as: CN112274345A

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 magnetic component is arranged in the rocker ball, and the circuit board with the Hall element is arranged below the rocker ball and is in non-contact opposition with the magnetic component in the rocker ball; one end of the rocker passes 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 performs arc circular motion relative to the Hall element under the drive of the rocker ball, and the Hall element acquires and outputs analog signals 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 processes in the production process, effectively improves the operation hand feeling, integrates the control circuit board and the control algorithm in the rocker, and can realize the miniaturization of the rocker control equipment.

Description

Two-dimensional Hall rocker device and calibration method

Technical Field

The invention relates to automatic control of a rocker, in particular to a two-dimensional Hall rocker device and a calibration method of the rocker.

Background

The wheelchair is mainly used for handicapped people with inconvenient legs and feet, and in the current wheelchair structure, besides a simple wheelchair which is 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 to move by virtue of the rocker device, so that a motor of the power device can be positively transmitted 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 magnetic field change 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 complex and complicated calibration and programming work, and higher cost and more complex process flow are brought to production.

In an electric control operation system, a rocker is generally used to control a moving direction, a 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 main stream equipment in the handle rocker of the wheelchair of the electric vehicle. The electric wheelchair generally adopts a structure mode of driving two wheels to follow up by double motors, and the matched stable and reliable controller becomes an important factor of product success. The existing control rocker has loose layout of all parts inside, so that the whole volume of the existing control rocker is larger. Meanwhile, the output of the rocker in the market is mostly in the form of analog quantity, no internal MCU and gyroscope exist, and the control algorithm cannot be integrated.

Disclosure of Invention

The invention aims to: aiming at the problems existing 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 another aim of the invention is to provide a calibration method of the rocker device.

The technical scheme is as follows: the invention relates to a rocker device, which comprises a base, a flange seat, a rocker ball, a rocker, a spring and a circuit board with a Hall element, wherein the flange seat is arranged on the base; the base comprises a hemispherical cavity I, the flange seat comprises a hemispherical cavity II which is 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 in non-contact opposition to the magnetic component in the rocker ball; 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 moves in an arc circle relative to the Hall element under the drive of the rocker ball, and the Hall element acquires and outputs analog signals according to the relative movement 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; the method comprises the steps of carrying out a first treatment on the surface of the The microprocessor receives magnetic force signals of the magnetic sensor module and attitude signals 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 control signals to the controlled device.

Further, a positioning ring is arranged between the base and the flange seat; 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 props 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.

Further, 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 propped against the limit check ring at the upper end of the rocker, and the other end of the spring is sleeved on the limit sleeve and propped against the limit sleeve.

Further, the lower end of the flange seat is provided with a plurality of clamping hooks distributed around the hemispherical cavity I, the base is provided with a plurality of clamping grooves matched with the clamping hooks, and the flange seat is fixedly clamped with the base through the clamping hooks.

Further, the flange seat and the base are connected through the reinforcement of the positioning structure, the positioning structure comprises a positioning column on the base and a positioning hole on the flange seat, and the positioning column and the positioning hole are in interference fit.

Further, the device also comprises a base; four connecting columns extend out of one side of the base, and threaded holes are formed in the connecting columns and 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 limiting 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 means of a testing device, recording an output value, comparing the output value with an ideal value, and screening out unqualified condition information according to a testing result after batch testing; the failure condition comprises that when the testing device tests the rocker, the voltage amplitude at the preset swing angle position exceeds an ideal range, the rocker is judged to be a failure product by the testing device, and recalibration treatment is carried out on the failure product 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. the rocker control device has the advantages of simple and compact structure, convenient installation and maintenance and smooth operation, and can realize miniaturization of the rocker control device.

2. And integrating the MCU and the gyroscope sensor, outputting alarm information and correcting the rocker output so as to improve the control performance.

3. The procedures of calibration and test in the production process are simplified by means of the matched calibration fixture and the matched test fixture.

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 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 mount 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 a control system of the present invention;

FIG. 10 is a schematic diagram of the output signals of the present invention;

FIG. 11 is a schematic view of a calibration device of the present invention;

FIG. 12 is a schematic diagram of a testing apparatus according to the present invention; (a) The rocking bar is in a release state (natural state), and (b) the rocking bar is in a test state.

Detailed Description

The technical scheme of the invention is further described in detail below with reference to the examples and the attached 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 a hemispherical cavity I is arranged in the flange seat 2, a hemispherical cavity II is arranged in the base 1, the rocker ball 6 with a magnetic component (optionally a magnet or other metals) is positioned in a spherical cavity 2-1 formed by the hemispherical cavity I and the hemispherical cavity II in an adapting way, a positioning hole 2-4 is formed in the flange seat 2, a positioning column I1-4 is formed in the base 1, 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 limit 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, one end of the spring 5 is abutted against a limit retainer 9 at the upper end of the rocker 3, the other end of the spring 5 is sleeved on the limit sleeve 10 and is abutted against the limit sleeve, and the spring 5 plays roles in positioning and resetting of 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 two ends of the positioning ring 7 is installed with the annular groove I2-3 of the flange seat 2 and props against the groove III 6-1 at 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 limiting check ring 9 is arranged on the rocker 3, one end of the spring 5 is propped against the limiting check ring 9, and the other end is sleeved on a limiting sleeve 10 and propped against the limiting sleeve 10; therefore, one end of the spring 5 is propped against the limit retainer ring 9, and the other end is propped against the limit sleeve 10, so that the spring 5 can position the rocker 3 to be perpendicular to the end face of the flange seat 2 under the condition of not being subjected to external force, the spring 5 mainly plays a resetting role, the rocker 3 is reset, the softness of the spring is maintained to the greatest extent, and the optimal experience of operation is achieved.

Referring to fig. 4, 6, 7, 8, one end on 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 double, 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 a rocker ball 6 and is convenient to assemble and disassemble. The connecting column on the base 1 is provided with threaded holes which are respectively connected and fixed with the circuit board 11 and the base 4 by bolts.

The circuit board 11 with the Hall element is arranged below the base 1, the height of the stand column of the base 1 is shortened on the premise of not affecting the control precision, the rocker device can be used for installation in a smaller space, and the flange seat and the base are fixed by a buckle and are provided with two threaded holes, so that double insurance fixation during failure of the buckle is avoided.

Referring to fig. 9 and 10, a control section based on a two-dimensional hall rocker includes 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 the mobile platform, including but not limited to: STM32 series from st company, STM8 series, PIC16 series from migochip company, etc. The magnetic sensor is a device capable of generating a control signal through man-machine interaction due to the Hall effect, and the attitude sensor is a device capable of feeding back the self-related position.

Preferably, the two-dimensional Hall rocker and the gesture sensor are 5V power supply equipment and are provided by a driver. The microprocessor (ARM single-chip processor) is 3.3V power supply equipment, and a stable 3.3V/DC power supply is obtained by adopting an AMS1117-3.3 power supply module.

The device is externally led out of a 6Pin line and is used for being connected with a controlled device, and comprises a signal ground, a power supply and TX, RX, CANH, CANL. Please refer to fig. 1 for the wire outgoing mode of the connecting wire.

The two-dimensional Hall rocking bar in the product is not in physical contact with the magnetic sensor, the tail end of the rocking bar, which is close to the PCB, is a magnetic component, and the movement of the rocking bar can drive the magnetic field near the PCB to change. The magnetic sensor in the PCB is MLX90333, and the moving track of the rocker can be accurately judged by detecting the magnetic field intensity change near the PCB. The singlechip judges the position of the rocker by detecting the change of the output signal of the MLX 90333.

The two-dimensional Hall rocker power supply voltage is Va, direct current power is supplied, two analog output ends (0-Va) are used for outputting signals, the X axis represents the left-right direction of the rocker, and the Y axis represents the front-back direction as shown in fig. 2. When the rocker is in a default middle state, the X axis and the Y axis are Va/2, and when the rocker is pushed to the forefront, the Y axis outputs Va, and the X axis is Va/2. Pushing to the rearmost, the Y-axis outputs 0V and the X-axis outputs Va/2. When pushing to the leftmost direction, the X-axis output is 0V, the Y-axis output is Va/2, and when pushing to the rightmost direction, the X-axis output is Va, the Y-axis output is Va/2. These data are read directly through the AD conversion port of the microprocessor. After the device is normally started, the system can immediately detect two output signals of the two-dimensional Hall rocking rod, and the initial position output of the two-dimensional Hall rocking rod after the two-dimensional Hall rocking rod is regulated is (Va/2 and Va/2). If the detected signal is too far from (Va/2 ), the system will report the error of the initial position of the rocker. If the detection signal is normal, the system enters a normal working state, after a user dials the rocker, the system detects the change of the rocker signal, the movement track of the rocker is determined, and then the motor is commanded to drive the motor to perform corresponding operation through the CAN/serial port signal. The user sets the mode and depth of the digital filtering by configuring parameters. Different filtering modes and depths are selected through configuration so as to adapt to different states of fast movement, smooth control and the like.

The on-board attitude sensor data are processed by the singlechip and then output alarm information such as rollover, gradient overrun and the like, and meanwhile, the rocker output is corrected, so that performances such as anti-lock, ramp running and the like of the road wet and slippery state of the mobile device are improved.

Referring to fig. 11, the rocker device is placed in the calibration device, and the rocker device can be moved to the maximum position in each direction by the calibration device to calibrate the corresponding position. In the calibration process, the rocker is sequentially moved to the maximum position (0-8) in each direction, and the calibration equipment connected with the rocker device is provided with output parameters such as voltage output value and linearity at the corresponding positions; and the calibration equipment calculates whether the set parameters have level jump conditions according to the spatial sequence of each direction, and programs the parameters into the rocker device after calculating without errors.

Referring to fig. 12, the rocker device is connected to the test device. Detecting the median value of the rocker by means of a testing device, wherein the rocker is in a release state (natural state) as shown in a graph (a), observing whether a target point changes in a small circle, if the target point exceeds the set small circle range, the parameters of the rocker need to be recalibrated, and if the target point changes in the small circle, the median value meets the requirement; and then carrying out limit value detection, as shown in a graph (b), respectively pushing the rocker to the forefront, the rearmost, the leftmost and the rightmost, drawing a full circle at the limit position according to the anticlockwise direction, observing whether the amplitude voltages at four positions at the left screen meet the set theoretical value requirement, observing whether the moving track of the rocker in the process of drawing the circle is the full circle, and if the moving track of the rocker in the process of drawing the circle is the full circle, the situation that the abnormal points and the shape are deformed is avoided, wherein the amplitude voltages at the median and each point meet the theoretical value requirement, and if the moving track displayed at the left screen is the smooth full circle, the rocker device is re-calibrated or the parts with faults are replaced and tested according to the abnormal situation, so that the standard of testing qualification is achieved.

Claims

1. A rocker calibration method of a two-dimensional Hall rocker device is characterized by comprising the following steps of: the two-dimensional Hall rocker device comprises a base, a flange seat, a rocker ball, a rocker, a spring and a circuit board with Hall elements; the base comprises a hemispherical cavity I, the flange seat comprises a hemispherical cavity II which is 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 in non-contact opposition to the magnetic component in the rocker ball; one end of the rocker passes 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 moves in an arc circle relative to the Hall element under the drive of the rocker ball, and the Hall element acquires and outputs an analog signal according to the relative movement of the magnetic component, so that the rotating speed of the controlled device is controlled;

the rocker calibration method comprises the following steps:

(1) Calibrating output parameters: swinging the rocker to each limiting position by adopting a calibration device, and setting output parameters of corresponding positions in calibration equipment connected with the rocker device, wherein the output parameters comprise a measuring range, a voltage output value and linearity; according to the spatial sequence of each direction, calculating whether the set parameters have level jump conditions, and programming the parameters into the rocker device after calculating without errors;

(2) And (3) detecting the median value: connecting the rocker device with the testing device to enable the rocker to be in a release state, observing the relative position condition of a target point in the testing device and a set small circle range, and judging whether the median value meets the requirement or not: if the target point exceeds the set small circle range, the parameters of the rocker are required to be recalibrated, and if the target point is in the small circle range and is changed, the median value meets the requirement;

(3) And (3) limit value detection: pushing the rockers with the median value meeting the requirement to the forefront, the rearmost, the leftmost and the rightmost respectively, pushing the rockers to draw a whole circle at the limit position according to the anticlockwise direction, observing whether the amplitude voltages at four positions in the testing device meet the set theoretical value requirement, judging whether the movement track of the rockers is a whole circle, whether abnormal points exist and whether the shape deformation exists when the rockers draw the circles, and judging whether the rockers are qualified or not: and if the amplitude voltage of each point meets the theoretical value requirement and the running track displayed in the testing device is a smooth whole circle, the whole circle is regarded as a qualified product, if the abnormal condition exists, the whole circle is judged to be unqualified, and the unqualified rocker device is subjected to recalibration or replacement of the faulty part and then testing, so that the standard of qualified testing is achieved.

2. The rocker calibration method of a 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 magnetic force signals of the magnetic sensor module and attitude signals 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 control signals to the controlled device.

3. The rocker calibration method of a two-dimensional hall rocker device of claim 1, wherein: the two-dimensional Hall rocker device is provided with a positioning ring between the base and the flange seat; 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 props 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. A rocker calibration method for a two-dimensional hall rocker device according to claim 3, characterized by: the grooves I and II are annular grooves.

5. The rocker calibration method of a two-dimensional hall rocker device of claim 1, wherein: the two-dimensional Hall rocker device further 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.

6. The rocker calibration method of a two-dimensional hall rocker device of claim 5, wherein: the rocker is sleeved with a spring, one end of the spring abuts against a limiting check ring at the upper end of the rocker, and the other end of the spring abuts against the limiting sleeve.

7. The rocker calibration method of a two-dimensional hall rocker device of claim 1, wherein: the lower extreme of flange seat is equipped with a plurality of centers on trip of hemisphere cavity I distribution, be equipped with on the base a plurality of with trip adaptation draw-in groove, the flange seat passes through trip and base joint are fixed.

8. The rocker calibration method of a two-dimensional hall rocker device of claim 1, wherein: the flange seat is connected with the base in a reinforcing mode through a positioning structure, the positioning structure comprises a positioning column on the base and a positioning hole on the flange seat, and the positioning column is in interference fit with the positioning hole.

9. The rocker calibration method of a two-dimensional hall rocker device of claim 4, wherein: the two-dimensional Hall rocker device comprises a base; four connecting columns extend out of one side of the base, and threaded holes are formed in the connecting columns and are fixedly connected with the circuit board and the base through bolts.