CN117348964B - System UI dynamic switching method based on equipment PID identification - Google Patents

System UI dynamic switching method based on equipment PID identification Download PDF

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Publication number
CN117348964B
CN117348964B CN202311641153.XA CN202311641153A CN117348964B CN 117348964 B CN117348964 B CN 117348964B CN 202311641153 A CN202311641153 A CN 202311641153A CN 117348964 B CN117348964 B CN 117348964B
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electric wheelchair
energy recovery
charging
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CN117348964A (en
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苏贤洪
姚军
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Shenzhen Vicont Hi Tech Electronics Co ltd
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Shenzhen Vicont Hi Tech Electronics Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/451—Execution arrangements for user interfaces
    • 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
    • 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
    • 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
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
    • 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
    • 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
    • A61G2203/20—Displays or monitors

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  • Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention relates to the technical field of UI management, and discloses a system UI dynamic switching method based on equipment PID identification, which comprises the following steps: receiving a UI switching instruction of the electric wheelchair, confirming a speed controller, a weight controller, a current running speed and a current bearing capacity of the electric wheelchair, accessing an energy recovery controller of the electric wheelchair to obtain a movement bumping value, respectively filling the current running speed and the current bearing capacity of the electric wheelchair into a 1 st group UI when the movement bumping value is zero to obtain a UI to be displayed with basic parameters, displaying the UI to be displayed with a UI display screen, charging a power supply battery of the electric wheelchair by using an energy recovery device when the movement bumping value is not zero, activating a charging identification component of the energy recovery display UI while charging, and replacing the UI to be displayed with the basic parameters in the UI display screen by using the energy recovery display UI after activating the charging identification component. The invention defines the switching condition of the system UI and optimizes the display of the important data after switching.

Description

System UI dynamic switching method based on equipment PID identification
Technical Field
The invention relates to a system UI dynamic switching method based on equipment PID identification, and belongs to the technical field of UI management.
Background
Along with the continuous development of the scientific technology, control data generated by the PID of the equipment are displayed in a system UI for reminding operators of the equipment to start to spread gradually, wherein the PID is called a pro-port-integrated-Derivative controller, and the stability of the equipment is maintained by collecting the control data in the equipment and then continuously monitoring and adjusting the equipment where the PID is located based on the control data. The typical application scene is the electric wheelchair, and through displaying a proper UI on the UI display screen of the electric wheelchair, the electric wheelchair can be effectively helped to avoid safety risks for passengers. However, the system UI of most devices is relatively solidified at present, and only partial control data can be displayed, for example, the current electric quantity and the running speed of the electric wheelchair are displayed on the UI display screen of the electric wheelchair, so that the reminding degree is relatively weak.
In order to improve the reminding degree of equipment operators, a system UI dynamic switching method has been generated, taking an electric wheelchair as an example, a UI display screen of the electric wheelchair can be used for displaying two groups of UIs, and the definition and the function distinction of the two groups of UIs are different by research and development teams of different electric wheelchairs, but in comprehensive terms, under the condition of considering safety and user experience, a method for displaying more comprehensive data based on a plurality of groups of UIs is rarely available at present, and the switching condition of UI switching is not clear enough and is relatively fuzzy.
That is, a more definite UI switching condition is still lacking at present, and a display method based on important data under the definite switching condition is based.
Disclosure of Invention
The invention provides a system UI dynamic switching method and device based on equipment PID identification and a computer readable storage medium, which mainly aim at defining the switching conditions of the system UI and optimizing the display of important data after switching.
In order to achieve the above object, the present invention provides a system UI dynamic switching method based on device PID identification, including:
receiving a UI switching instruction of a PID control system of equipment, and accessing 2 groups of UIs corresponding to the PID control system according to the UI switching instruction, wherein the equipment is an electric wheelchair, the electric wheelchair comprises a UI display screen for displaying the UI, the 1 st group of UIs are basic parameter display UIs of the electric wheelchair, and the 2 nd group of UIs are energy recovery display UIs of the electric wheelchair;
the method comprises the steps of confirming PID controllers related to basic parameters to obtain a basic parameter controller set, and obtaining control data corresponding to each basic parameter controller from a PID control system, wherein the basic parameter controllers comprise speed controllers and weight controllers, and the control data comprise inducer radius, bogie radius, current running speed of an electric wheelchair and current bearing capacity of the electric wheelchair;
Judging whether the current running speed of the electric wheelchair is zero, if the current running speed of the electric wheelchair is zero, executing screen-extinguishing operation on the UI display screen, and if the current running speed of the electric wheelchair is not zero, accessing an energy recovery controller of the electric wheelchair by using a PID control system to obtain a motion jolt value;
judging whether the motion jolt value is zero, and when the motion jolt value is zero, respectively filling the current running speed of the electric wheelchair and the current bearing capacity of the electric wheelchair into a current running speed component and a current bearing capacity component of a 1 st group UI to obtain a basic parameter UI to be displayed, wherein the basic parameter UI to be displayed also comprises a current electric quantity component and a current time component;
the UI display screen is used for displaying a UI to be displayed of basic parameters, and the PID controller is used for modifying the numerical values of the current running speed component, the current bearing capacity component, the current electric quantity component and the current time component at the moment when the UI to be displayed is displayed;
when the motion jolt value is not zero, the energy recovery device controlled by the energy recovery controller is used for charging the power supply battery of the electric wheelchair, and the charging identification component of the energy recovery display UI is activated while charging;
and after the charging identification component is activated, replacing a basic parameter UI to be displayed in the UI display screen by using the energy recovery display UI, wherein the charging identification component can be displayed in the UI display screen, and when the motion jolt value is zero, replacing the energy recovery display UI in the UI display screen by using the basic parameter UI to be displayed again until the electric wheelchair finishes the running, and closing the UI display screen.
Optionally, if the current running speed of the electric wheelchair is zero, executing a screen-extinguishing operation on the UI display screen, including:
if the current running speed of the electric wheelchair is zero and the electric wheelchair simultaneously executes the power-off operation, directly closing the UI display screen, so that the UI display screen does not display any UI;
if the current running speed of the electric wheelchair is zero but the electric wheelchair does not execute the power-off operation, acquiring a 3 rd group UI corresponding to the PID control system, wherein the 3 rd group UI is a power-saving UI of the electric wheelchair, and the power-saving UI only comprises a current electric quantity component and a current time component and is used for displaying the current electric quantity and the current time of the electric wheelchair;
and displaying a power saving UI by using the UI display screen, and completing screen-extinguishing operation of the UI display screen when the display is successful.
Optionally, the accessing the energy recovery controller of the electric wheelchair by using the PID control system to obtain the motion jolt value includes:
the energy recovery controller can acquire an electric energy value generated by the energy recovery device in real time, the energy recovery device comprises an upper lifting lug, a lower lifting lug, a piston rod, a coil and a magnet, the energy recovery controller and the energy recovery device are connected with a power supply battery of the electric wheelchair through a charging circuit, the energy recovery device can charge the power supply battery by using the charging circuit, the energy recovery controller can record and control a motion jolt value generated by the energy recovery device in real time and adjust voltage and current charged by the battery, meanwhile, a motion detector for detecting whether the magnet moves is arranged in the piston rod, and detection data of the motion detector can be directly transmitted to the energy recovery controller;
And acquiring detection data of the motion detector by using an energy recovery controller, wherein the detection data is the motion jolt value.
Optionally, go up the lug and be used for fixed electronic wheelchair's cushion device, lower lug links to each other with electronic wheelchair's bogie, and when the bogie jolts takes place, will jolt and feel and pass back to the piston rod through lower lug, and energy recuperation device still includes the spring, can initiate the spring when jolting and take place deformation, causes to drive the magnet up-and-down motion and produces electromagnetic induction phenomenon.
Optionally, the step of respectively filling the current running speed of the electric wheelchair and the current bearing capacity of the electric wheelchair into the current running speed component and the current bearing capacity component of the 1 st group UI to obtain the UI to be displayed with basic parameters includes:
respectively importing the current electric quantity and the current time into a current electric quantity component and a current time component of the 1 st group UI;
after the guiding is successful, a gradient calculation coordinate system is established according to the inducer and the bogie, wherein the origin of the gradient calculation coordinate system is the circle center of the inducer, and the circle center of the bogie is also positioned in the plane of the gradient calculation coordinate system;
calculating a deviation angle of the inducer according to a gradient calculation coordinate system, and generating a gradient value of the electric wheelchair at the current time by using the deviation angle;
And filling the current running speed into the current running speed component, filling the current bearing capacity into the current bearing capacity component, acquiring a gradient component of the 1 st group UI, and guiding the gradient value into the gradient component of the 1 st group UI to obtain the UI with basic parameters to be displayed.
Optionally, the calculating the deviation angle of the inducer according to the gradient calculation coordinate system includes:
respectively calculating distances between the circle center of the bogie wheel and the circle center of the inducer along the X direction and the Y direction in the gradient calculation coordinate system to obtain a horizontal wheel distance and a vertical wheel distance;
respectively acquiring an inducer radius and a bogie radius from the control data;
calculating to obtain the wheel radius difference of the inducer and the road wheel according to the inducer radius and the road wheel radius, wherein the wheel radius difference needs to take an absolute value;
invoking a gradient controller in the electric wheelchair, wherein the gradient controller comprises a preset deviation angle calculation formula of an inducer;
and taking the horizontal wheel distance, the vertical wheel distance and the wheel radius difference as input parameters of a deviation angle calculation formula, and calculating to obtain the deviation angle of the inducer.
Optionally, the calculating the deviation angle of the inducer using the horizontal wheel distance, the vertical wheel distance, and the wheel radius difference as input parameters of the deviation angle calculation formula includes:
The deflection angle of the inducer is calculated according to the following formula:
wherein,represents the deflection angle of the inducer, +.>Represents the horizontal wheel distance>Represents vertical wheel distance +.>Representing wheel radius difference +.>And->Representing an inverse trigonometric function.
Optionally, the modifying the values of the current running speed component, the current bearing weight component, the current electric quantity component and the current time component by using the PID controller at the moment includes:
modifying the display time of the current time component by using the time controller, and each time the display time of the current time component is modified,
acquiring the electric quantity, the running speed, the bearing capacity and the gradient value of the electric wheelchair in the current state in real time by utilizing an electric quantity controller, a speed controller, a weight controller and a gradient controller, and continuously modifying the display values of a current electric quantity component, a current running speed component, a current bearing capacity component and a gradient component by utilizing the acquired electric quantity, running speed, bearing capacity and gradient value;
and while modifying, judging whether the acquired electric quantity is smaller than a preset electric quantity threshold value, and whether the running speed, the bearing capacity and the gradient value are respectively larger than a preset speed threshold value, a preset bearing threshold value and a preset gradient threshold value;
And if the electric quantity is smaller than the electric quantity threshold value or the running speed, the bearing capacity and the gradient value are larger than any one of the speed threshold value, the bearing threshold value and the gradient threshold value, triggering an alarm component in the UI of the basic parameters to be displayed and generating a corresponding voice prompt.
Optionally, the charging device controlled by the energy recovery controller performs charging on a power supply battery of the electric wheelchair, and activates a charging identification component of the energy recovery display UI while charging, including:
the energy recovery controller is utilized to activate the charging circuit, the energy recovery device is used as power equipment of the charging circuit, and a power supply battery of the electric wheelchair is used as electric equipment of the charging circuit;
when the energy recovery device utilizes the charging circuit to charge the electric wheelchair, the charging electric energy generated in unit time is calculated, wherein the calculation method of the charging electric energy is as follows:
wherein,represents the charging power generated per unit time, < >>For the absolute value of the difference from the point in time when the motion jolt value is not zero to the current time, +.>For the induction electromotive force generated according to the magnet and the coil, < >>A current for the charging circuit;
meanwhile, a charging identification component of the energy recovery display UI is obtained, wherein the charging identification component consists of a charging component and a bumping component, the charging component can display the value of the charging electric energy of the electric wheelchair, and the bumping component can display the bumping degree of the electric wheelchair;
And the calculated charging electric energy is led into the charging assembly, the motion jolt value is quantized into jolt degree and then is led into the jolt assembly, and activation of the charging identification assembly of the energy recovery display UI is completed.
Optionally, the replacing the UI to be displayed with the basic parameters in the UI display screen with the energy recovery display UI includes:
different PID controllers are utilized to obtain corresponding current time, electric quantity, running speed, bearing capacity and gradient values;
and importing the current time, the electric quantity, the running speed, the bearing capacity and the gradient value into corresponding components in the energy recovery display UI, replacing the basic parameters in the UI display screen with the energy recovery display UI comprising the charging identification component to display the UI after the current time, the electric quantity, the running speed, the bearing capacity and the gradient value are successfully imported, and positioning the charging identification component at the right center position of the UI display screen after the charging identification component is successfully replaced.
In order to solve the above-mentioned problems, the present invention also provides an electronic apparatus including:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to implement the system UI dynamic switching method based on device PID identification described above.
In order to solve the above-mentioned problems, the present invention further provides a computer readable storage medium, in which at least one instruction is stored, the at least one instruction being executed by a processor in an electronic device to implement the above-mentioned system UI dynamic switching method based on device PID identification.
Compared with the problems in the prior art, the method and the device for controlling the energy recovery of the electric wheelchair have the advantages that the UI switching instruction of the PID control system of the device is received firstly, 2 groups of UIs corresponding to the PID control system are accessed according to the UI switching instruction, wherein the device is the electric wheelchair, the electric wheelchair comprises a UI display screen for displaying the UIs, the 1 st group of UIs are basic parameters of the electric wheelchair, and the 2 nd group of UIs are energy recovery display UIs of the electric wheelchair. Secondly, confirming PID controllers related to basic parameters to obtain a basic parameter controller set, and acquiring control data corresponding to each basic parameter controller from a PID control system, wherein the basic parameter controllers comprise speed controllers and weight controllers, the control data comprise inducer radius, bogie radius, current running speed of the electric wheelchair and current bearing capacity of the electric wheelchair, and the acquisition of control data required by subsequent quick execution of UI can be facilitated by traversing each PID controller of the electric wheelchair, so that the switching speed of UI switching is improved. Then, judging whether the current running speed of the electric wheelchair is zero, if the current running speed of the electric wheelchair is zero, executing screen-extinguishing operation on the UI display screen, and if the current running speed of the electric wheelchair is not zero, accessing an energy recovery controller of the electric wheelchair by utilizing a PID control system to obtain a motion jolt value. Further, judging whether the motion jolt value is zero, and when the motion jolt value is zero, respectively filling the current running speed of the electric wheelchair and the current bearing capacity of the electric wheelchair into the current running speed component and the current bearing capacity component of the 1 st group UI to obtain a basic parameter UI to be displayed, wherein the basic parameter UI to be displayed also comprises a current electric quantity component and a current time component, displaying the basic parameter UI to be displayed by using a UI display screen, and when the basic parameter UI to be displayed is displayed, modifying the numerical values of the current running speed component, the current bearing capacity component, the current electric quantity component and the current time component by using a PID controller at the moment. These data are critical to the user's knowledge of the current state of the wheelchair, and also include current power and time information. The information is updated in real time along with the change of time and electric quantity, so that a user is ensured to know the battery condition and the time information at any time, and the switching condition of the system UI is clarified through double UI switching judgment adjustment with zero speed and zero motion jolt value. And finally, when the motion jolt value is not zero, the energy recovery device controlled by the energy recovery controller is used for charging the power supply battery of the electric wheelchair, and the charging identification component of the energy recovery display UI is activated while charging, after the charging identification component is activated, the basic parameter to be displayed UI in the UI display screen is replaced by the energy recovery display UI, wherein the charging identification component can be displayed in the UI display screen, when the motion jolt value is zero, the basic parameter to be displayed UI is replaced by the energy recovery display UI in the UI display screen again until the electric wheelchair finishes the running, the UI display screen is closed, and the energy recovery controller of the system disclosed by the invention executes battery charging operation. Therefore, the system UI dynamic switching method based on the equipment PID identification provided by the invention has the advantages that the switching conditions of the system UI are clarified, and the important data display after the switching is optimized.
Drawings
FIG. 1 is a flow chart of a system UI dynamic switching method based on device PID identification according to an embodiment of the invention;
fig. 2 is a schematic structural diagram of an energy recovery device in a system UI dynamic switching method based on device PID identification according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a deviation angle of an inducer in a system UI dynamic switching method based on PID identification according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device for implementing the system UI dynamic switching method based on device PID identification according to an embodiment of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The embodiment of the application provides a system UI dynamic switching method based on equipment PID identification. The execution main body of the system UI dynamic switching method based on the device PID identification comprises at least one of a server, a terminal and the like which can be configured to execute the method provided by the embodiment of the application. In other words, the system UI dynamic switching method based on the device PID identification may be performed by software or hardware installed in a terminal device or a server device. The service end includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, and the like.
Example 1:
referring to fig. 1, a flow chart of a system UI dynamic switching method based on device PID identification according to an embodiment of the present invention is shown. In this embodiment, the method for dynamically switching the UI of the system based on the PID identification of the device includes:
s1, receiving a UI switching instruction of a PID control system of equipment, and accessing 2 groups of UIs corresponding to the PID control system according to the UI switching instruction, wherein the equipment is an electric wheelchair, the electric wheelchair comprises a UI display screen for displaying the UI, the 1 st group of UIs are basic parameter display UIs of the electric wheelchair, and the 2 nd group of UIs are energy recovery display UIs of the electric wheelchair.
It should be explained that the PID in the embodiment of the present invention is called as a pro-port-integrated-Derivative controller, which is a feedback loop used in a control system, and continuously monitors and adjusts the device where the PID is located by the collected data to keep the device stable. The device is an electric wheelchair, intelligent control of the electric wheelchair can be achieved through PID by monitoring various data of the electric wheelchair, and therefore stability of the electric wheelchair is improved.
Further, in the embodiment of the invention, the PID control system is a control system capable of uniformly managing all PIDs, and also capable of recycling control data collected by the PIDs in real time, so that PID research personnel can trace back problems, locate problems and optimize the PIDs conveniently.
In addition, in the embodiment of the invention, the electric wheelchair further comprises a UI display screen for displaying different types of UIs, wherein the UIs mainly comprise 2 groups, and one group is a basic parameter display UI of the electric wheelchair, for example, basic parameters such as current electric quantity, current running speed, current bearing capacity and the like of the electric wheelchair can be displayed. The other group is an energy recovery display UI of the electric wheelchair, wherein the energy recovery is a battery power recovery mechanism, such as the electric wheelchair is downhill or driven to an uneven road surface, the downhill is affected by gravity, battery power can be not used, the electric wheelchair can be automatically downhill, an embedded energy recovery device of the electric wheelchair can be started when the electric wheelchair is automatically downhill, a power supply battery in the electric wheelchair is charged, and similarly, when the electric wheelchair is driven to the uneven road surface, a wheelchair occupant can bump due to the uneven road surface, and the generated potential energy can be recovered by the energy recovery device while the wheelchair occupant is up and down bumpy, and the potential energy can be converted into the electric energy of the power supply battery. Therefore, when energy recovery occurs, the running speed of the general electric wheelchair is lower, and the display of the parameters related to energy recovery is more meaningful, so the main purpose of the embodiment of the invention is to dynamically switch 2 groups of UIs in the UI display screen through an intelligent method.
For example, the accidental car accident of the small sheet bumps the legs, the person needs to rely on the electric wheelchair, and the small sheet needs to go to the hospital from home to check the recovery condition of the legs today, so that the electric wheelchair is started, and meanwhile, the electric wheelchair automatically initiates a UI switching instruction to assist the information of the small sheet in timely feedback when driving the electric wheelchair.
S2, confirming PID controllers related to the basic parameters to obtain a basic parameter controller set, and obtaining control data corresponding to each basic parameter controller from a PID control system, wherein the basic parameter controllers comprise speed controllers and weight controllers, and the control data comprise inducer radius, bogie radius, current running speed of the electric wheelchair and current bearing capacity of the electric wheelchair.
It can be understood that the number and types of the PID controllers included in different devices are different, and in the embodiment of the present invention, the PID controllers of the electric wheelchair mainly include a speed controller and a weight controller, so when the electric wheelchair is started by a small sheet, the current running speed and the current bearing capacity of the electric wheelchair can be timely obtained through control data fed back to the PID control system by the speed controller and the weight controller.
In addition, the control data of the embodiment of the invention also comprises the radius of the inducer and the radius of the bogie wheel of the electric wheelchair, wherein the inducer is also called as a front wheel of the electric wheelchair, the radius of the inducer is relatively smaller, no driving power is required to drive the inducer to advance under one-time condition, the inducer is required to drive the inducer to advance by virtue of the driving force of the bogie wheel, and compared with the rear wheel of the bogie wheel which is also called as the electric wheelchair, the radius of the inducer is relatively larger, the inducer and a power supply battery of the electric wheelchair are in circuit connection, and the inducer can be driven to advance together under one-time condition.
S3, judging whether the current running speed of the electric wheelchair is zero, if the current running speed of the electric wheelchair is zero, executing screen-extinguishing operation on the UI display screen, and if the current running speed of the electric wheelchair is not zero, accessing an energy recovery controller of the electric wheelchair by using a PID control system to obtain a motion jolt value.
It should be understood that the current running speed of the electric wheelchair can be obtained through the speed controller in the PID controller, but it should be understood that the current running speed is zero and the power-off of the electric wheelchair is 2 concepts, the power-off of the electric wheelchair indicates that a fault occurs or the wheelchair occupant actively turns off the electric wheelchair, and when the current running speed is zero, the wheelchair occupant may encounter acquaintances or buy things on the road and temporarily stops running, so if the current running speed of the electric wheelchair is zero, the UI display screen is operated by executing the screen-extinguishing operation, which includes:
If the current running speed of the electric wheelchair is zero and the electric wheelchair simultaneously executes the power-off operation, directly closing the UI display screen, so that the UI display screen does not display any UI;
if the current running speed of the electric wheelchair is zero but the electric wheelchair does not execute the power-off operation, acquiring a 3 rd group UI corresponding to the PID control system, wherein the 3 rd group UI is a power-saving UI of the electric wheelchair, and the power-saving UI only comprises a current electric quantity component and a current time component and is used for displaying the current electric quantity and the current time of the electric wheelchair;
and displaying a power saving UI by using the UI display screen, and completing screen-extinguishing operation of the UI display screen when the display is successful.
For example, the small sheet encounters xiao Zhao on the road going to the hospital, so that the running is suspended and the small sheet is Zhang Pan, at this time, the current running speed is found to be zero by the judgment of the PID control system, but the electric wheelchair does not execute the power-off operation, so that the 3 rd group UI corresponding to the PID control system is mobilized to be displayed on the UI display screen of the electric wheelchair, and thus the important information (the current electric quantity and the current time) is ensured to be displayed, and meanwhile, the electric energy of the power supply battery can be saved to the greatest extent.
Further, if the current running speed of the electric wheelchair is not zero, it indicates that the electric wheelchair is running at the moment, and according to the foregoing, the electric wheelchair in the running state may further feed back to the power supply battery due to energy generated by jolting, so that it is required to determine whether a jolting value is generated, specifically, the accessing the energy recovery controller of the electric wheelchair by using the PID control system to obtain the jolting value includes:
The energy recovery controller can acquire an electric energy value generated by the energy recovery device in real time, the energy recovery device comprises an upper lifting lug, a lower lifting lug, a piston rod, a coil and a magnet, the energy recovery controller and the energy recovery device are connected with a power supply battery of the electric wheelchair through a charging circuit, the energy recovery device can charge the power supply battery by using the charging circuit, the energy recovery controller can record and control a motion jolt value generated by the energy recovery device in real time and adjust voltage and current charged by the battery, meanwhile, a motion detector for detecting whether the magnet moves is arranged in the piston rod, and detection data of the motion detector can be directly transmitted to the energy recovery controller;
and acquiring detection data of the motion detector by using an energy recovery controller, wherein the detection data is the motion jolt value.
It should be explained that one of the important innovative points of the embodiments of the present invention is that the dynamic switching of the UI display screen by using the 3 rd group UI shows the main effect of the current time of the electric wheelchair, for example, when the UI display screen displays the above 3 rd group power saving UI, it indicates that the electric wheelchair is in a stationary state but the power supply battery is in a power supply state, when the UI display screen displays the 1 st group basic parameter display UI, it indicates that the electric wheelchair is in a running state but the energy recovery device does not generate a motion jolt value, and when the UI display screen displays the 2 nd group energy recovery display UI, it indicates that the electric wheelchair is in a running state, and the energy recovery device also generates electric energy for charging the power supply battery.
Further, referring to the schematic structural diagram of the energy recovery device shown in fig. 2, in detail, the upper lifting lug is located at the uppermost part of the energy recovery device and is connected with the cushion device of the electric wheelchair, the lower lifting lug is located at the lowermost part of the energy recovery device and is connected with the bogie wheel of the electric wheelchair, the piston rod comprises a coil, a magnet and a spring, and the magnet is located inside the coil and can move up and down inside the coil through the driving of the spring.
It is understood that the upper lifting lug is generally used for fixing the cushion device of the electric wheelchair, so that the integrity of the electric wheelchair is ensured, and the lower lifting lug is connected with the bogie wheel of the electric wheelchair, so that when the bogie wheel jolts, the jolt feeling can be transmitted back to the piston rod through the lower lifting lug. It should be noted that, the energy recovery device of the embodiment of the present invention further includes a spring, which is deformed when jolting occurs, so as to drive the magnet to move up and down to generate a magneto electricity generation phenomenon, thereby generating a motion jolting value.
And S4, judging whether the motion jolt value is zero, and when the motion jolt value is zero, respectively filling the current running speed of the electric wheelchair and the current bearing capacity of the electric wheelchair into the current running speed component and the current bearing capacity component of the 1 st group UI to obtain a basic parameter UI to be displayed, wherein the basic parameter UI to be displayed further comprises a current electric quantity component and a current time component.
As described in S3 above, when the motion jolt value is zero, it means that the energy recovery device is not moving, and therefore the electric wheelchair is running at this time, but the energy recovery device is not generating the motion jolt value, so the UI display screen is corresponding to the UI display screen to display the 1 st set of basic parameters, and therefore, in detail, the step of filling the current running speed of the electric wheelchair and the current bearing capacity of the electric wheelchair into the current running speed component and the current bearing capacity component of the 1 st set of UIs respectively to obtain the basic parameters to be displayed UI includes:
respectively importing the current electric quantity and the current time into a current electric quantity component and a current time component of the 1 st group UI;
after the guiding is successful, a gradient calculation coordinate system is established according to the inducer and the bogie, wherein the origin of the gradient calculation coordinate system is the circle center of the inducer, and the circle center of the bogie is also positioned in the plane of the gradient calculation coordinate system;
calculating a deviation angle of the inducer according to a gradient calculation coordinate system, and generating a gradient value of the electric wheelchair at the current time by using the deviation angle;
and filling the current running speed into the current running speed component, filling the current bearing capacity into the current bearing capacity component, acquiring a gradient component of the 1 st group UI, and guiding the gradient value into the gradient component of the 1 st group UI to obtain the UI with basic parameters to be displayed.
It should be explained that the electric wheelchair often needs to go up and down a slope, and the slope value of the electric wheelchair at the current time is effectively displayed, and it is extremely necessary to remind the occupant of the electric wheelchair to drive safely according to the slope value, so that the embodiment of the invention also calculates the slope value of the electric wheelchair at the current time before displaying the 1 st UI.
In detail, the calculating the deviation angle of the inducer according to the gradient calculation coordinate system includes:
respectively calculating distances between the circle center of the bogie wheel and the circle center of the inducer along the X direction and the Y direction in the gradient calculation coordinate system to obtain a horizontal wheel distance and a vertical wheel distance;
respectively acquiring an inducer radius and a bogie radius from the control data;
calculating to obtain the wheel radius difference of the inducer and the road wheel according to the inducer radius and the road wheel radius, wherein the wheel radius difference needs to take an absolute value;
invoking a gradient controller in the electric wheelchair, wherein the gradient controller comprises a preset deviation angle calculation formula of an inducer;
and taking the horizontal wheel distance, the vertical wheel distance and the wheel radius difference as input parameters of a deviation angle calculation formula, and calculating to obtain the deviation angle of the inducer.
It should be explained that the gradient calculation coordinate system is mainly used for calculating the gradient of the electric wheelchair, and before the electric wheelchair leaves the factory, the circle center of the bogie wheel and the circle center of the inducer wheel are generally adjusted to be in a uniform horizontal plane with the running direction of the electric wheelchair, so that the uniform horizontal plane is the horizontal plane where the gradient calculation coordinate system is located, and the origin is the circle center of the inducer wheel. Of course, in another embodiment of the present invention, the origin may be the center of the bogie wheel, and the main effect of the origin difference is that the formulas for calculating the deviation angle of the inducer are different, but there is no difference in essence.
Further, fig. 3 shows an embodiment of the present invention for calculating the deviation angle, wherein the deviation angle of the inducer needs to be calculated when the electric wheelchair is ascending. Deviation angleThe confirmation process of (2) is: firstly, drawing a straight line vertical to the slope surface by taking the circle center of the bogie wheel as a starting point, namely the vertical line of the bogie wheel and the slope surface for short, and then drawing a vertical line vertical to the bogie wheel and the slope surface, namely a parallel line parallel to the slope surface for short, wherein an included angle formed by the parallel line and a Y-axis of a gradient calculation coordinate system is the deviation angle of the inducer >。
Further, the calculating the deviation angle of the inducer by using the horizontal wheel distance, the vertical wheel distance and the wheel radius difference as input parameters of a deviation angle calculation formula includes:
the deflection angle of the inducer is calculated according to the following formula:
wherein,represents the deflection angle of the inducer, +.>Represents the horizontal wheel distance>Represents vertical wheel distance +.>Representing wheel radius difference +.>And->Representing an inverse trigonometric function.
Further, when the deviation angle of the inducer is calculated, the next step is to generate a gradient value of the electric wheelchair at the current time by using the deviation angle, and the calculation of the gradient value needs to be specifically analyzed according to the specific model of the electric wheelchair.
And S5, displaying a UI to be displayed of basic parameters by using a UI display screen, and modifying the numerical values of the current running speed component, the current bearing weight component, the current electric quantity component and the current time component by using a PID controller at the moment when the UI to be displayed is displayed.
It can be understood that when the values in the UI to be displayed of the basic parameters are all imported into the corresponding components, the values can be directly displayed on the UI display screen, and the values in the corresponding components are modified by the PID controller in the display process. In detail, the step of using the PID controller to modify the values of the current running speed component, the current bearing weight component, the current electric quantity component and the current time component at the moment includes:
modifying the display time of the current time component by using the time controller, and each time the display time of the current time component is modified,
acquiring the electric quantity, the running speed, the bearing capacity and the gradient value of the electric wheelchair in the current state in real time by utilizing an electric quantity controller, a speed controller, a weight controller and a gradient controller, and continuously modifying the display values of a current electric quantity component, a current running speed component, a current bearing capacity component and a gradient component by utilizing the acquired electric quantity, running speed, bearing capacity and gradient value;
and while modifying, judging whether the acquired electric quantity is smaller than a preset electric quantity threshold value, and whether the running speed, the bearing capacity and the gradient value are respectively larger than a preset speed threshold value, a preset bearing threshold value and a preset gradient threshold value;
And if the electric quantity is smaller than the electric quantity threshold value or the running speed, the bearing capacity and the gradient value are larger than any one of the speed threshold value, the bearing threshold value and the gradient threshold value, triggering an alarm component in the UI of the basic parameters to be displayed and generating a corresponding voice prompt.
For example, if the grade value of the small sheet is too high when going to a road of a hospital and is larger than the grade threshold value set by the electric wheelchair, an alarm component in a UI (user interface) of basic parameters to be displayed is triggered, and a voice prompt of attention danger of the too high grade is simultaneously generated.
And S6, when the motion jolt value is not zero, the energy recovery device controlled by the energy recovery controller is used for charging the power supply battery of the electric wheelchair, and the charging identification component of the energy recovery display UI is activated while charging.
It is understood that when the motion jolt value is not zero, it means that the electric wheelchair jolts, so that the magnet moves up and down under the importance of the occupant, and thus an electromagnetic induction phenomenon occurs, and thus the energy recovery device generates electric energy. In detail, the energy recovery device controlled by the energy recovery controller performs charging on a power supply battery of the electric wheelchair, and activates a charging identification component of the energy recovery display UI while charging, including:
The energy recovery controller is utilized to activate the charging circuit, the energy recovery device is used as power equipment of the charging circuit, and a power supply battery of the electric wheelchair is used as electric equipment of the charging circuit;
when the energy recovery device utilizes the charging circuit to charge the electric wheelchair, the charging electric energy generated in unit time is calculated, wherein the calculation method of the charging electric energy is as follows:
wherein,represents the charging power generated per unit time, < >>For the absolute value of the difference from the point in time when the motion jolt value is not zero to the current time, +.>For the induction electromotive force generated according to the magnet and the coil, < >>A current for the charging circuit;
meanwhile, a charging identification component of the energy recovery display UI is obtained, wherein the charging identification component consists of a charging component and a bumping component, the charging component can display the value of the charging electric energy of the electric wheelchair, and the bumping component can display the bumping degree of the electric wheelchair;
and the calculated charging electric energy is led into the charging assembly, the motion jolt value is quantized into jolt degree and then is led into the jolt assembly, and activation of the charging identification assembly of the energy recovery display UI is completed.
It may be understood that the main components of the energy recovery display UI in the embodiment of the present invention are a charging component and a jolt component, where the charging component is used to display the calculated charging energy, and when the charging component is displayed, there is a color identifier, for example, when the charging energy is displayed as 20, or when the dynamic display is displayed as 20, the jolt component is used to display a motion jolt value, according to the foregoing, the motion jolt value is detected by a motion detector in the piston rod, where the motion detector detects whether the magnet moves, that is, the detected data is the motion jolt value, and when the motion jolt value is larger, the greater the distance of the magnet in the coil is indicated, and thus the jolt degree is higher, so the jolt degree can be calculated by a proportional piecewise function by using the motion jolt value as a proportional piecewise function. In the embodiment of the invention, the bumping degree is divided into 5 stages, and the bumping degree corresponding to which segment the current motion bumping value belongs to is calculated through a proportional piecewise function, namely, the bumping degree is displayed in a bumping assembly.
And S7, after the charging identification component is activated, replacing a basic parameter UI to be displayed in the UI display screen by using the energy recovery display UI, wherein the charging identification component can be displayed in the UI display screen, and when the motion jolt value is zero, replacing the energy recovery display UI in the UI display screen by using the basic parameter UI to be displayed again until the electric wheelchair finishes the running, and closing the UI display screen.
It can be understood that after the jolt occurs to generate the charging electric energy, the energy recovery display UI needs to be switched in the UI display screen, and in detail, the replacing the UI to be displayed with the basic parameters in the UI display screen with the energy recovery display UI includes:
different PID controllers are utilized to obtain corresponding current time, electric quantity, running speed, bearing capacity and gradient values;
and importing the current time, the electric quantity, the running speed, the bearing capacity and the gradient value into corresponding components in the energy recovery display UI, replacing the basic parameters in the UI display screen with the energy recovery display UI comprising the charging identification component to display the UI after the current time, the electric quantity, the running speed, the bearing capacity and the gradient value are successfully imported, and positioning the charging identification component at the right center position of the UI display screen after the charging identification component is successfully replaced.
It will be appreciated that the primary purpose of the energy recovery display UI is to tell the occupant two-point information: 1. at present, an electric wheelchair is in a bumpy state and is carefully driven, and if the gradient and the bumpy degree exceed preset thresholds, an alarm assembly is triggered as well; 2. the jolt process can generate electric energy to charge the power supply battery due to the fact that the occupant squeezes the springs in the energy recovery device, so that the occupant of the electric wheelchair is reminded, and the electric wheelchair is charged at present.
It will be appreciated that when the electric wheelchair is not bumpy, i.e. the jolt value is zero again, there is no need to continue to display the energy recovery display UI, so that the basic parameters can be switched back to the UI to be displayed in the UI display of the electric wheelchair.
It should be noted that in another embodiment of the present invention, there is no essential difference between the UI for displaying energy recovery and the UI for displaying basic parameters, that is, a charging identification component is built in the UI for displaying basic parameters, when jolt occurs, the charging identification component is automatically activated, and the activated charging identification component is displayed in the UI display screen.
Compared with the problems in the prior art, the method and the device for controlling the energy recovery of the electric wheelchair have the advantages that the UI switching instruction of the PID control system of the device is received firstly, 2 groups of UIs corresponding to the PID control system are accessed according to the UI switching instruction, wherein the device is the electric wheelchair, the electric wheelchair comprises a UI display screen for displaying the UIs, the 1 st group of UIs are basic parameters of the electric wheelchair, and the 2 nd group of UIs are energy recovery display UIs of the electric wheelchair. Secondly, confirming PID controllers related to basic parameters to obtain a basic parameter controller set, and acquiring control data corresponding to each basic parameter controller from a PID control system, wherein the basic parameter controllers comprise speed controllers and weight controllers, the control data comprise inducer radius, bogie radius, current running speed of the electric wheelchair and current bearing capacity of the electric wheelchair, and the acquisition of control data required by subsequent quick execution of UI can be facilitated by traversing each PID controller of the electric wheelchair, so that the switching speed of UI switching is improved. Then, judging whether the current running speed of the electric wheelchair is zero, if the current running speed of the electric wheelchair is zero, executing screen-extinguishing operation on the UI display screen, and if the current running speed of the electric wheelchair is not zero, accessing an energy recovery controller of the electric wheelchair by utilizing a PID control system to obtain a motion jolt value. Further, judging whether the motion jolt value is zero, and when the motion jolt value is zero, respectively filling the current running speed of the electric wheelchair and the current bearing capacity of the electric wheelchair into the current running speed component and the current bearing capacity component of the 1 st group UI to obtain a basic parameter UI to be displayed, wherein the basic parameter UI to be displayed also comprises a current electric quantity component and a current time component, displaying the basic parameter UI to be displayed by using a UI display screen, and when the basic parameter UI to be displayed is displayed, modifying the numerical values of the current running speed component, the current bearing capacity component, the current electric quantity component and the current time component by using a PID controller at the moment. These data are critical to the user's knowledge of the current state of the wheelchair, and also include current power and time information. The information is updated in real time along with the change of time and electric quantity, so that a user is ensured to know the battery condition and the time information at any time, and the switching condition of the system UI is clarified through double UI switching judgment adjustment with zero speed and zero motion jolt value. And finally, when the motion jolt value is not zero, the energy recovery device controlled by the energy recovery controller is used for charging the power supply battery of the electric wheelchair, and the charging identification component of the energy recovery display UI is activated while charging, after the charging identification component is activated, the basic parameter to be displayed UI in the UI display screen is replaced by the energy recovery display UI, wherein the charging identification component can be displayed in the UI display screen, when the motion jolt value is zero, the basic parameter to be displayed UI is replaced by the energy recovery display UI in the UI display screen again until the electric wheelchair finishes the running, the UI display screen is closed, and the energy recovery controller of the system disclosed by the invention executes battery charging operation. Therefore, the system UI dynamic switching method based on the equipment PID identification provided by the invention has the advantages that the switching conditions of the system UI are clarified, and the important data display after the switching is optimized.
Example 2:
fig. 4 is a schematic structural diagram of an electronic device for implementing a system UI dynamic switching method based on device PID identification according to an embodiment of the present invention.
The electronic device 1 may comprise a processor 10, a memory 11, a bus 12 and a communication interface 13, and may further comprise a computer program stored in the memory 11 and executable on the processor 10, such as a system UI dynamic switching program based on device PID identification.
The memory 11 includes at least one type of readable storage medium, including flash memory, a mobile hard disk, a multimedia card, a card memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. The memory 11 may in some embodiments be an internal storage unit of the electronic device 1, such as a removable hard disk of the electronic device 1. The memory 11 may in other embodiments also be an external storage device of the electronic device 1, such as a plug-in mobile hard disk, a smart memory card (SmartMediaCard, SMC), a secure digital (SecureDigital, SD) card, a flash card (FlashCard) or the like, provided on the electronic device 1. Further, the memory 11 may also include both an internal storage unit and an external storage device of the electronic device 1. The memory 11 may be used not only to store application software installed in the electronic device 1 and various types of data, such as codes of a system UI dynamic switching program based on device PID identification, but also to temporarily store data that has been output or is to be output.
The processor 10 may be comprised of integrated circuits in some embodiments, for example, a single packaged integrated circuit, or may be comprised of multiple integrated circuits packaged with the same or different functions, including one or more central processing units (CentralProcessingunit, CPU), microprocessors, digital processing chips, graphics processors, a combination of various control chips, and the like. The processor 10 is a control unit (control unit) of the electronic device, connects respective components of the entire electronic device using various interfaces and lines, executes or executes programs or modules (e.g., a system UI dynamic switching program based on device PID identification, etc.) stored in the memory 11, and invokes data stored in the memory 11 to perform various functions of the electronic device 1 and process data.
The bus may be an Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus may be classified as an address bus, a data bus, a control bus, etc. The bus is arranged to enable a connection communication between the memory 11 and at least one processor 10 etc.
Fig. 4 shows only an electronic device with components, it being understood by a person skilled in the art that the structure shown in fig. 4 does not constitute a limitation of the electronic device 1, and may comprise fewer or more components than shown, or may combine certain components, or may be arranged in different components.
For example, although not shown, the electronic device 1 may further include a power source (such as a battery) for supplying power to each component, and preferably, the power source may be logically connected to the at least one processor 10 through a power management device, so that functions of charge management, discharge management, power consumption management, and the like are implemented through the power management device. The power supply may also include one or more of any of a direct current or alternating current power supply, recharging device, power failure detection circuit, power converter or inverter, power status indicator, etc. The electronic device 1 may further include various sensors, bluetooth modules, wi-Fi modules, etc., which will not be described herein.
Further, the electronic device 1 may also comprise a network interface, optionally the network interface may comprise a wired interface and/or a wireless interface (e.g. WI-FI interface, bluetooth interface, etc.), typically used for establishing a communication connection between the electronic device 1 and other electronic devices.
The electronic device 1 may optionally further comprise a user interface, which may be a Display, an input unit, such as a Keyboard (Keyboard), or a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (organic light-emitting diode) touch, or the like. The display may also be referred to as a display screen or display unit, as appropriate, for displaying information processed in the electronic device 1 and for displaying a visual user interface.
It should be understood that the embodiments described are for illustrative purposes only and are not limited to this configuration in the scope of the patent application.
The system UI dynamic switching program based on device PID identification stored in the memory 11 in the electronic device 1 is a combination of a plurality of instructions, which when executed in the processor 10, can implement:
receiving a UI switching instruction of a PID control system of equipment, and accessing 2 groups of UIs corresponding to the PID control system according to the UI switching instruction, wherein the equipment is an electric wheelchair, the electric wheelchair comprises a UI display screen for displaying the UI, the 1 st group of UIs are basic parameter display UIs of the electric wheelchair, and the 2 nd group of UIs are energy recovery display UIs of the electric wheelchair;
The method comprises the steps of confirming PID controllers related to basic parameters to obtain a basic parameter controller set, and obtaining control data corresponding to each basic parameter controller from a PID control system, wherein the basic parameter controllers comprise speed controllers and weight controllers, and the control data comprise inducer radius, bogie radius, current running speed of an electric wheelchair and current bearing capacity of the electric wheelchair;
judging whether the current running speed of the electric wheelchair is zero, if the current running speed of the electric wheelchair is zero, executing screen-extinguishing operation on the UI display screen, and if the current running speed of the electric wheelchair is not zero, accessing an energy recovery controller of the electric wheelchair by using a PID control system to obtain a motion jolt value;
judging whether the motion jolt value is zero, and when the motion jolt value is zero, respectively filling the current running speed of the electric wheelchair and the current bearing capacity of the electric wheelchair into a current running speed component and a current bearing capacity component of a 1 st group UI to obtain a basic parameter UI to be displayed, wherein the basic parameter UI to be displayed also comprises a current electric quantity component and a current time component;
the UI display screen is used for displaying a UI to be displayed of basic parameters, and the PID controller is used for modifying the numerical values of the current running speed component, the current bearing capacity component, the current electric quantity component and the current time component at the moment when the UI to be displayed is displayed;
When the motion jolt value is not zero, the energy recovery device controlled by the energy recovery controller is used for charging the power supply battery of the electric wheelchair, and the charging identification component of the energy recovery display UI is activated while charging;
and after the charging identification component is activated, replacing a basic parameter UI to be displayed in the UI display screen by using the energy recovery display UI, wherein the charging identification component can be displayed in the UI display screen, and when the motion jolt value is zero, replacing the energy recovery display UI in the UI display screen by using the basic parameter UI to be displayed again until the electric wheelchair finishes the running, and closing the UI display screen.
Specifically, the specific implementation method of the above instruction by the processor 10 may refer to descriptions of related steps in the corresponding embodiments of fig. 1 to 4, which are not repeated herein.
Further, the modules/units integrated in the electronic device 1 may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as separate products. The computer readable storage medium may be volatile or nonvolatile. For example, the computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a Read-only memory (ROM).
The present invention also provides a computer readable storage medium storing a computer program which, when executed by a processor of an electronic device, can implement:
receiving a UI switching instruction of a PID control system of equipment, and accessing 2 groups of UIs corresponding to the PID control system according to the UI switching instruction, wherein the equipment is an electric wheelchair, the electric wheelchair comprises a UI display screen for displaying the UI, the 1 st group of UIs are basic parameter display UIs of the electric wheelchair, and the 2 nd group of UIs are energy recovery display UIs of the electric wheelchair;
the method comprises the steps of confirming PID controllers related to basic parameters to obtain a basic parameter controller set, and obtaining control data corresponding to each basic parameter controller from a PID control system, wherein the basic parameter controllers comprise speed controllers and weight controllers, and the control data comprise inducer radius, bogie radius, current running speed of an electric wheelchair and current bearing capacity of the electric wheelchair;
judging whether the current running speed of the electric wheelchair is zero, if the current running speed of the electric wheelchair is zero, executing screen-extinguishing operation on the UI display screen, and if the current running speed of the electric wheelchair is not zero, accessing an energy recovery controller of the electric wheelchair by using a PID control system to obtain a motion jolt value;
Judging whether the motion jolt value is zero, and when the motion jolt value is zero, respectively filling the current running speed of the electric wheelchair and the current bearing capacity of the electric wheelchair into a current running speed component and a current bearing capacity component of a 1 st group UI to obtain a basic parameter UI to be displayed, wherein the basic parameter UI to be displayed also comprises a current electric quantity component and a current time component;
the UI display screen is used for displaying a UI to be displayed of basic parameters, and the PID controller is used for modifying the numerical values of the current running speed component, the current bearing capacity component, the current electric quantity component and the current time component at the moment when the UI to be displayed is displayed;
when the motion jolt value is not zero, the energy recovery device controlled by the energy recovery controller is used for charging the power supply battery of the electric wheelchair, and the charging identification component of the energy recovery display UI is activated while charging;
and after the charging identification component is activated, replacing a basic parameter UI to be displayed in the UI display screen by using the energy recovery display UI, wherein the charging identification component can be displayed in the UI display screen, and when the motion jolt value is zero, replacing the energy recovery display UI in the UI display screen by using the basic parameter UI to be displayed again until the electric wheelchair finishes the running, and closing the UI display screen.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, may be located in one place, or may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units can be realized in a form of hardware or a form of hardware and a form of software functional modules.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.
Finally, it should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention.

Claims (10)

1. The system UI dynamic switching method based on the equipment PID identification is characterized by comprising the following steps:
receiving a UI switching instruction of a PID control system of equipment, and accessing 2 groups of UIs corresponding to the PID control system according to the UI switching instruction, wherein the equipment is an electric wheelchair, the electric wheelchair comprises a UI display screen for displaying the UI, the 1 st group of UIs are basic parameter display UIs of the electric wheelchair, and the 2 nd group of UIs are energy recovery display UIs of the electric wheelchair;
the method comprises the steps of confirming PID controllers related to basic parameters to obtain a basic parameter controller set, and obtaining control data corresponding to each basic parameter controller from a PID control system, wherein the basic parameter controllers comprise speed controllers and weight controllers, and the control data comprise inducer radius, bogie radius, current running speed of an electric wheelchair and current bearing capacity of the electric wheelchair;
judging whether the current running speed of the electric wheelchair is zero, if the current running speed of the electric wheelchair is zero, executing screen-extinguishing operation on the UI display screen, and if the current running speed of the electric wheelchair is not zero, accessing an energy recovery controller of the electric wheelchair by using a PID control system to obtain a motion jolt value;
Judging whether the motion jolt value is zero, and when the motion jolt value is zero, respectively filling the current running speed of the electric wheelchair and the current bearing capacity of the electric wheelchair into a current running speed component and a current bearing capacity component of a 1 st group UI to obtain a basic parameter UI to be displayed, wherein the basic parameter UI to be displayed also comprises a current electric quantity component and a current time component;
the UI display screen is used for displaying a UI to be displayed of basic parameters, and the PID controller is used for modifying the numerical values of the current running speed component, the current bearing capacity component, the current electric quantity component and the current time component at the moment when the UI to be displayed is displayed;
when the motion jolt value is not zero, the energy recovery device controlled by the energy recovery controller is used for charging the power supply battery of the electric wheelchair, and the charging identification component of the energy recovery display UI is activated while charging;
and after the charging identification component is activated, replacing a basic parameter UI to be displayed in the UI display screen by using the energy recovery display UI, wherein the charging identification component can be displayed in the UI display screen, and when the motion jolt value is zero, replacing the energy recovery display UI in the UI display screen by using the basic parameter UI to be displayed again until the electric wheelchair finishes the running, and closing the UI display screen.
2. The method for dynamically switching system UI based on PID identification of a device according to claim 1, wherein if the current running speed of the electric wheelchair is zero, executing a screen-off operation on the UI display screen, includes:
if the current running speed of the electric wheelchair is zero and the electric wheelchair simultaneously executes the power-off operation, directly closing the UI display screen, so that the UI display screen does not display any UI;
if the current running speed of the electric wheelchair is zero but the electric wheelchair does not execute the power-off operation, acquiring a 3 rd group UI corresponding to the PID control system, wherein the 3 rd group UI is a power-saving UI of the electric wheelchair, and the power-saving UI only comprises a current electric quantity component and a current time component and is used for displaying the current electric quantity and the current time of the electric wheelchair;
and displaying a power saving UI by using the UI display screen, and completing screen-extinguishing operation of the UI display screen when the display is successful.
3. The system UI dynamic switching method based on the device PID identification according to claim 2, wherein the accessing the energy recovery controller of the electric wheelchair by using the PID control system to obtain the motion jolt value includes:
the energy recovery controller can acquire an electric energy value generated by the energy recovery device in real time, the energy recovery device comprises an upper lifting lug, a lower lifting lug, a piston rod, a coil and a magnet, the energy recovery controller and the energy recovery device are connected with a power supply battery of the electric wheelchair through a charging circuit, the energy recovery device can charge the power supply battery by using the charging circuit, the energy recovery controller can record and control a motion jolt value generated by the energy recovery device in real time and adjust voltage and current charged by the battery, meanwhile, a motion detector for detecting whether the magnet moves is arranged in the piston rod, and detection data of the motion detector can be directly transmitted to the energy recovery controller;
And acquiring detection data of the motion detector by using an energy recovery controller, wherein the detection data is the motion jolt value.
4. The system UI dynamic switching method based on the PID identification of the device according to claim 3, wherein the upper lifting lug is used for fixing a cushion device of an electric wheelchair, the lower lifting lug is connected with a bogie wheel of the electric wheelchair, when the bogie wheel jolts, the jolts are transmitted back to the piston rod through the lower lifting lug, and the energy recovery device further comprises a spring, when jolts occurs, the spring is triggered to deform, so that the magnet is driven to move up and down to generate an electromagnetic induction phenomenon.
5. The method for dynamically switching system UI based on device PID identification according to claim 4, wherein the step of respectively filling the current running speed of the electric wheelchair and the current bearing capacity of the electric wheelchair into the current running speed component and the current bearing capacity component of the 1 st UI to obtain the UI to be displayed as the basic parameters includes:
respectively importing the current electric quantity and the current time into a current electric quantity component and a current time component of the 1 st group UI;
after the guiding is successful, a gradient calculation coordinate system is established according to the inducer and the bogie, wherein the origin of the gradient calculation coordinate system is the circle center of the inducer, and the circle center of the bogie is also positioned in the plane of the gradient calculation coordinate system;
Calculating a deviation angle of the inducer according to a gradient calculation coordinate system, and generating a gradient value of the electric wheelchair at the current time by using the deviation angle;
and filling the current running speed into the current running speed component, filling the current bearing capacity into the current bearing capacity component, acquiring a gradient component of the 1 st group UI, and guiding the gradient value into the gradient component of the 1 st group UI to obtain the UI with basic parameters to be displayed.
6. The system UI dynamic switching method based on the device PID identification according to claim 5, wherein the calculating the deviation angle of the inducer according to the gradient calculation coordinate system includes:
respectively calculating distances between the circle center of the bogie wheel and the circle center of the inducer along the X direction and the Y direction in the gradient calculation coordinate system to obtain a horizontal wheel distance and a vertical wheel distance;
respectively acquiring an inducer radius and a bogie radius from the control data;
calculating to obtain the wheel radius difference of the inducer and the road wheel according to the inducer radius and the road wheel radius, wherein the wheel radius difference needs to take an absolute value;
invoking a gradient controller in the electric wheelchair, wherein the gradient controller comprises a preset deviation angle calculation formula of an inducer;
And taking the horizontal wheel distance, the vertical wheel distance and the wheel radius difference as input parameters of a deviation angle calculation formula, and calculating to obtain the deviation angle of the inducer.
7. The method for dynamically switching system UI based on PID identification of a device according to claim 6, wherein the calculating the deviation angle of the inducer using the horizontal wheel distance, the vertical wheel distance, and the wheel radius difference as input parameters of the deviation angle calculation formula comprises:
the deflection angle of the inducer is calculated according to the following formula:
wherein (1)>Represents the deflection angle of the inducer, +.>Indicating the distance between the horizontal wheels,represents vertical wheel distance +.>Representing wheel radius difference +.>And->Representing an inverse trigonometric function.
8. The system UI dynamic switching method based on the device PID identification according to claim 7, wherein the modifying the values of the current running speed component, the current load weight component, the current power component, and the current time component by using the PID controller at the moment includes:
modifying the display time of the current time component by using the time controller, and each time the display time of the current time component is modified,
acquiring the electric quantity, the running speed, the bearing capacity and the gradient value of the electric wheelchair in the current state in real time by utilizing an electric quantity controller, a speed controller, a weight controller and a gradient controller, and continuously modifying the display values of a current electric quantity component, a current running speed component, a current bearing capacity component and a gradient component by utilizing the acquired electric quantity, running speed, bearing capacity and gradient value;
And while modifying, judging whether the acquired electric quantity is smaller than a preset electric quantity threshold value, and whether the running speed, the bearing capacity and the gradient value are respectively larger than a preset speed threshold value, a preset bearing threshold value and a preset gradient threshold value;
and if the electric quantity is smaller than the electric quantity threshold value or the running speed, the bearing capacity and the gradient value are larger than any one of the speed threshold value, the bearing threshold value and the gradient threshold value, triggering an alarm component in the UI of the basic parameters to be displayed and generating a corresponding voice prompt.
9. The system UI dynamic switching method based on the device PID identification of claim 8, wherein the charging the power supply battery of the electric wheelchair with the energy recovery device controlled by the energy recovery controller, and activating the charging identification component of the energy recovery display UI while charging, comprises:
the energy recovery controller is utilized to activate the charging circuit, the energy recovery device is used as power equipment of the charging circuit, and a power supply battery of the electric wheelchair is used as electric equipment of the charging circuit;
when the energy recovery device utilizes the charging circuit to charge the electric wheelchair, the charging electric energy generated in unit time is calculated, wherein the calculation method of the charging electric energy is as follows:
Wherein (1)>Represents the charging power generated per unit time, < >>For the absolute value of the difference from the point in time when the motion jolt value is not zero to the current time, +.>For the induction electromotive force generated according to the magnet and the coil, < >>A current for the charging circuit;
meanwhile, a charging identification component of the energy recovery display UI is obtained, wherein the charging identification component consists of a charging component and a bumping component, the charging component can display the value of the charging electric energy of the electric wheelchair, and the bumping component can display the bumping degree of the electric wheelchair;
and the calculated charging electric energy is led into the charging assembly, the motion jolt value is quantized into jolt degree and then is led into the jolt assembly, and activation of the charging identification assembly of the energy recovery display UI is completed.
10. The system UI dynamic switching method based on the device PID identification according to claim 9, wherein the replacing the basic parameter UI to be displayed in the UI display screen with the energy recovery display UI includes:
different PID controllers are utilized to obtain corresponding current time, electric quantity, running speed, bearing capacity and gradient values;
and importing the current time, the electric quantity, the running speed, the bearing capacity and the gradient value into corresponding components in the energy recovery display UI, replacing the basic parameters in the UI display screen with the energy recovery display UI comprising the charging identification component to display the UI after the current time, the electric quantity, the running speed, the bearing capacity and the gradient value are successfully imported, and positioning the charging identification component at the right center position of the UI display screen after the charging identification component is successfully replaced.
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