CN117885543A - Electric wheelchair energy recovery system and electric wheelchair based on lithium battery - Google Patents

Electric wheelchair energy recovery system and electric wheelchair based on lithium battery Download PDF

Info

Publication number
CN117885543A
CN117885543A CN202311856219.7A CN202311856219A CN117885543A CN 117885543 A CN117885543 A CN 117885543A CN 202311856219 A CN202311856219 A CN 202311856219A CN 117885543 A CN117885543 A CN 117885543A
Authority
CN
China
Prior art keywords
wheelchair
electric wheelchair
converter
direct current
electric
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202311856219.7A
Other languages
Chinese (zh)
Other versions
CN117885543B (en
Inventor
叶鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dongguan Bobesi New Energy Technology Co ltd
Original Assignee
Dongguan Bobesi New Energy Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dongguan Bobesi New Energy Technology Co ltd filed Critical Dongguan Bobesi New Energy Technology Co ltd
Priority to CN202311856219.7A priority Critical patent/CN117885543B/en
Publication of CN117885543A publication Critical patent/CN117885543A/en
Application granted granted Critical
Publication of CN117885543B publication Critical patent/CN117885543B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • 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
    • A61G5/1005—Wheelchairs having brakes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1005—Wheelchairs having brakes
    • A61G5/1013—Wheelchairs having brakes engaging the wheel
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1005—Wheelchairs having brakes
    • A61G5/1032—Wheelchairs having brakes engaging an element of the drive or transmission, e.g. drive belt, electrodynamic brake
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/18—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
    • H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
    • H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
    • H02J9/061—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems for DC powered loads
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
    • H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
    • H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
    • H02J9/068—Electronic means for switching from one power supply to another power supply, e.g. to avoid parallel connection
    • 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
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • 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
    • A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/34—Wheel chairs

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Power Engineering (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Electromagnetism (AREA)
  • Physics & Mathematics (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The application relates to the technical field of electric energy recovery type braking, in particular to an electric wheelchair energy recovery system and an electric wheelchair based on a lithium battery. The electric wheelchair energy recovery system is used for locking the electric wheelchair after the electromagnetic brake is powered off, and the electric wheelchair energy recovery system comprises: the main power supply detection device is used for detecting whether the main power supply supplies power outwards or not and sending a result to the microcontroller; the kinetic energy recovery system comprises a driving motor, an alternating current-direct current converter and a switch switching module; the driving motor can convert kinetic energy of the electric wheelchair into electric energy to be output outwards, and the input end of the alternating current-direct current converter is connected to the output end of the driving motor; when the microcontroller detects that the main power supply does not supply power outwards, the control switch switching module conducts the output end of the alternating current-direct current converter and the input end of the electromagnetic brake, so that the driving motor supplies power to the electromagnetic brake. The safety performance of the wheelchair can be improved.

Description

Electric wheelchair energy recovery system and electric wheelchair based on lithium battery
Technical Field
The application relates to the technical field of electric energy recovery type braking, in particular to an electric wheelchair energy recovery system and an electric wheelchair based on a lithium battery.
Background
The electric wheelchair provides a trip choice for people with inconvenient actions.
In the prior art, an electric wheelchair generally directly imitates the practice of an electric automobile, and electromagnetic brakes are arranged on two sides of wheels to provide a braking function for the electric wheelchair. Meanwhile, in order to prevent the electric wheelchair from slipping on the ramp after power failure, the electromagnetic brake is configured to lock the wheel after power failure.
However, the electric wheelchair in the prior art still has some problems, so that the safety performance of the wheelchair is not strong.
Disclosure of Invention
In order to solve the technical problems or at least partially solve the technical problems, the application provides an electric wheelchair energy recovery system and an electric wheelchair based on a lithium battery, which can improve the safety performance of the wheelchair.
In a first aspect, the present application provides an electric wheelchair energy recovery system for use with an electric wheelchair having an electromagnetic brake that locks after power off, the electric wheelchair energy recovery system comprising:
the main power supply detection device is used for detecting whether the main power supply supplies power outwards or not and sending a result to the microcontroller;
the kinetic energy recovery system comprises a driving motor, an alternating current-direct current converter and a switch switching module;
the driving motor can convert kinetic energy of the electric wheelchair into electric energy to be output outwards, and the input end of the alternating current-direct current converter is connected to the output end of the driving motor;
when the microcontroller detects that the main power supply does not supply power outwards, the control switch switching module conducts the output end of the alternating current-direct current converter and the input end of the electromagnetic brake, so that the driving motor supplies power to the electromagnetic brake.
Optionally, the electric wheelchair energy recovery system further comprises a first dc-dc converter;
one end of the first direct current-direct current converter is connected to the output end of the alternating current-direct current converter, and the other end of the first direct current-direct current converter is connected to the input end of the electromagnetic brake;
the switch switching module is used for controlling the duty ratio of the first DC-DC converter so as to regulate and control the voltage input by the AC-DC converter to the electromagnetic brake.
Optionally, the electric wheelchair energy recovery system further comprises a voltage detection device, a second direct current-direct current converter and a sounder array;
the voltage detection device is connected with the output end of the alternating current-direct current converter so as to detect the output voltage of the alternating current-direct current converter;
one end of the second direct current-direct current converter is connected to the output end of the alternating current-direct current converter, and the other end of the second direct current-direct current converter is connected to the input end of the sound generator array;
the switch switching module is used for controlling the duty ratio of the second DC-DC converter to regulate and control the voltage input by the AC-DC converter to the sound generator array;
when the output voltage of the alternating current-direct current converter is smaller than a preset voltage value, the switch switching module independently enables the alternating current-direct current converter to input voltage to the electromagnetic brake through the first direct current-direct current converter;
when the output voltage of the AC-DC converter is larger than a preset voltage value, the switch switching module adjusts the duty ratio of the first DC-DC converter, so that the AC-DC converter inputs the voltage with the preset voltage value to the electromagnetic brake, and meanwhile, the switch switching module adjusts the duty ratio of the second DC-DC converter, so that the rest voltage is input to the sound generator array.
Optionally, the microcontroller can send a control signal to the switch switching module to control the switch switching module to adjust the duty cycle of the first dc-dc converter so as to regulate the voltage input by the ac-dc converter to the electromagnetic brake.
Alternatively, the electric wheelchair energy recovery systems are respectively and independently arranged on the power wheels at two sides of the electric wheelchair, and the microcontroller can respectively control the braking force of the electromagnetic brakes at two sides through the switch switching module.
In a second aspect, the present application provides a lithium battery-based electric wheelchair, the lithium battery-based electric wheelchair comprising a lithium power battery, an electric wheelchair body and any one of the electric wheelchair energy recovery systems of the first aspect, the lithium power battery being the main power source of the electric wheelchair body.
In a third aspect, embodiments of the present application provide another lithium battery-based electric wheelchair, the lithium battery-based electric wheelchair including an auxiliary wheel that prevents the electric wheelchair from leaning forward or backward and the electric wheelchair energy recovery system of the first aspect;
the electric wheelchair further comprises a space attitude sensor and a wheel speed sensor, wherein the wheel speed sensors are respectively and independently arranged on power wheels at two sides;
acquiring whether the electric wheelchair runs on an inclined ramp or not according to the data of the space attitude sensor;
if the electric wheelchair runs on an inclined ramp, acquiring an azimuth angle when the electric wheelchair runs straight along the ramp as a reference angle;
when a user controls the wheelchair to deflect, updating the rollover risk value at each moment through a preset rollover risk value estimation function;
when the rollover risk value is higher than a preset risk value threshold, a reference angle is sent to the microcontroller;
when the main power supply does not supply power outwards, the microcontroller acquires the running angle of the current wheelchair through the space attitude sensor, and controls the wheel speeds of the two sides of the wheelchair through respectively regulating and controlling the braking force of the electromagnetic brakes of the two sides of the wheelchair, so that the running direction of the wheelchair is parallel to the straight running direction of the ramp.
Optionally, the preset rollover risk value estimation function is:
wherein R is a rollover risk value, L is the wheelbase of the wheelchair, g is the gravity acceleration, alpha is the gradient of the ramp, v is the speed of the wheelchair, θ is the deflection angle of the wheelchair running direction relative to the ramp straight direction, and mu is the road friction coefficient.
Optionally, the wheel speeds of the two sides of the wheelchair are controlled by respectively regulating and controlling the braking forces of the electromagnetic brakes of the two sides of the wheelchair, so that the running direction of the wheelchair is parallel to the direction of the straight running of the ramp, and the method comprises the following steps:
taking the current running ground of the wheelchair as a plane reference system, acquiring two included angles formed by the running direction of the current wheelchair and the straight direction of the ramp in the plane reference system, taking the included angle with a smaller angle as the reference system, and taking the direction of the running direction of the wheelchair pointing to the straight direction of the ramp as a correction direction;
when the correction direction is towards the left, the electromagnetic braking force on the right side of the wheelchair is weaker than the electromagnetic braking force on the left side of the wheelchair;
when the correction direction is directed to the right, the electromagnetic braking force on the left side of the wheelchair is made weaker than the electromagnetic braking force on the right side of the wheelchair.
Optionally, when the running direction of the wheelchair is parallel to the direction of the ramp straight, the microcontroller controls the switch switching module to disconnect the output end of the alternating current-direct current converter from the input end of the electromagnetic brake.
Compared with the prior art, the technical scheme provided by the application has the following advantages:
the ride quality of the driver of an electric wheelchair is generally not high. Therefore, in the driving process, the driver of the electric wheelchair is likely to lose electricity in the driving process or the driver operates the manual power supply by mistake because the driver does not know the residual electric quantity, so that the electromagnetic brake is lost electricity to lock the wheels. If the speed of the electric wheelchair is higher when the power is off, the driver is easy to fall off the wheelchair directly due to inertia, so that safety accidents are caused, and the safety performance of the prior art is not high.
The application provides an electric wheelchair energy recovery system, which combines a kinetic energy recovery system and an electromagnetic brake to realize a self-adjusting braking system. The basic principle of this system is to use the kinetic energy of the wheels to generate electricity, which is then used to drive an electromagnetic brake. As the vehicle speed decreases, the recovered kinetic energy and the generated voltage decrease, causing the electromagnetic brake to gradually increase the braking force until the wheels are completely locked.
When the main battery of the electric wheelchair running at high speed is powered off, because the initial kinetic energy is higher, the generated electric energy can drive the electromagnetic brake to prevent the electromagnetic brake from being directly locked, and the brake pad inside the electromagnetic brake is connected by reducing the electric energy provided to the electromagnetic brake, so that the braking force of the electromagnetic brake is increased. With the slow reduction of the kinetic energy of the wheels, the electric energy provided to the electromagnetic brake is further reduced until the electromagnetic brake is locked after the power is off.
The electric wheelchair energy recovery system provided by the embodiment of the application can avoid the direct locking of wheels due to the power failure of the electromagnetic brake when the electric wheelchair runs at high speed, so that the safety performance of the electric wheelchair can be improved.
When the electric wheelchair slides on a slope, because the initial kinetic energy is not high, the generated electric energy cannot drive the electromagnetic brake at all, so that the electromagnetic brake can directly lock the tire of the electric wheelchair, and the electric wheelchair is prevented from sliding on the slope.
Therefore, the electric wheelchair can prevent the electric wheelchair from sliding on a slope when losing electricity, and can prevent the tire of the electric wheelchair from being locked when the electric wheelchair is powered off during high-speed running, so that the safety performance of the electric wheelchair is improved.
Meanwhile, because the electric wheelchair needs to be frequently started and stopped when the vehicle speed is generally not high, the method of directly carrying the electric vehicle directly recovers kinetic energy to a kinetic energy battery to increase the endurance capacity, firstly, the lithium battery is damaged by frequent charging, and secondly, the whole endurance is prolonged only by little recovered electric energy. Therefore, the effect of directly adding the kinetic energy recovery system on the electric wheelchair is poor. The electric wheelchair energy recovery system provided by the application is used for improving the safety performance of the wheelchair by using the recovered electric energy instead, and the practicability of the electric wheelchair energy recovery system is improved.
Drawings
Fig. 1 is a schematic structural diagram of an energy recovery system of an electric wheelchair according to an embodiment of the present application.
Detailed Description
The technical solutions in the present application will be described below with reference to the accompanying drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the application. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.
The embodiment of the application provides an electronic wheelchair energy recuperation system, electronic wheelchair energy recuperation system is used for having the electronic wheelchair that locks after the electromagnetic braking ware outage, electronic wheelchair energy recuperation system includes:
the main power supply detection device is used for detecting whether the main power supply supplies power outwards or not and sending a result to the microcontroller;
the kinetic energy recovery system comprises a driving motor, an alternating current-direct current converter and a switch switching module;
the driving motor can convert kinetic energy of the electric wheelchair into electric energy to be output outwards, and the input end of the alternating current-direct current converter is connected to the output end of the driving motor;
when the microcontroller detects that the main power supply does not supply power outwards, the control switch switching module conducts the output end of the alternating current-direct current converter and the input end of the electromagnetic brake, so that the driving motor supplies power to the electromagnetic brake.
In this embodiment of the present application, the main power supply detection device is an ammeter that detects a power supply bus that the main battery supplies power to the outside.
In the embodiment of the present application, the switch switching module is actually a microcontroller, and is described as a separate function execution module for convenience of description.
In the embodiment of the application, the microcontroller is an MCU.
In the embodiment of the application, after the main power supply is powered off to the driving motor, the driving motor is in a power generation state, and a rotor in the driving motor cuts a magnetic induction wire to generate and output induction alternating current outwards.
The ac-dc converter converts ac power into dc power, and can output the dc power to the electromagnetic brake.
The electric wheelchair energy recovery system has the beneficial effects that the application provides an electric wheelchair energy recovery system, and a self-adjusting braking system is realized by combining a kinetic energy recovery system and an electromagnetic brake. The basic principle of this system is to use the kinetic energy of the wheels to generate electricity, which is then used to drive an electromagnetic brake. As the vehicle speed decreases, the recovered kinetic energy and the generated voltage decrease, causing the electromagnetic brake to gradually increase the braking force until the wheels are completely locked.
When the main battery of the electric wheelchair running at high speed is powered off, because the initial kinetic energy is higher, the generated electric energy can drive the electromagnetic brake to prevent the electromagnetic brake from being directly locked, and the brake pad inside the electromagnetic brake is connected by reducing the electric energy provided to the electromagnetic brake, so that the braking force of the electromagnetic brake is increased. With the slow reduction of the kinetic energy of the wheels, the electric energy provided to the electromagnetic brake is further reduced until the electromagnetic brake is locked after the power is off.
The electric wheelchair energy recovery system provided by the embodiment of the application can avoid the direct locking of wheels due to the power failure of the electromagnetic brake when the electric wheelchair runs at high speed, so that the safety performance of the electric wheelchair can be improved.
When the electric wheelchair slides on a slope, because the initial kinetic energy is not high, the generated electric energy cannot drive the electromagnetic brake at all, so that the electromagnetic brake can directly lock the tire of the electric wheelchair, and the electric wheelchair is prevented from sliding on the slope.
Therefore, the electric wheelchair can prevent the electric wheelchair from sliding on a slope when losing electricity, and can prevent the tire of the electric wheelchair from being locked when the electric wheelchair is powered off during high-speed running, so that the safety performance of the electric wheelchair is improved.
Meanwhile, because the electric wheelchair needs to be frequently started and stopped when the vehicle speed is generally not high, the method of directly carrying the electric vehicle directly recovers kinetic energy to a kinetic energy battery to increase the endurance capacity, firstly, the lithium battery is damaged by frequent charging, and secondly, the whole endurance is prolonged only by little recovered electric energy. Therefore, the effect of directly adding the kinetic energy recovery system on the electric wheelchair is poor. The electric wheelchair energy recovery system provided by the application is used for improving the safety performance of the wheelchair by using the recovered electric energy instead, and the practicability of the electric wheelchair energy recovery system is improved.
Specifically, the electric wheelchair energy recovery system further comprises a first direct current-direct current conversion. One end of the first DC-DC converter is connected to the output end of the AC-DC converter, and the other end of the first DC-DC converter is connected to the input end of the electromagnetic brake.
The switch switching module is used for controlling the duty ratio of the first DC-DC converter so as to regulate and control the voltage input by the AC-DC converter to the electromagnetic brake.
Specifically, the electric wheelchair energy recovery system further comprises a voltage detection device, a second direct current-direct current converter and a sound generator array;
the voltage detection device is connected with the output end of the alternating current-direct current converter so as to detect the output voltage of the alternating current-direct current converter;
one end of the second direct current-direct current converter is connected to the output end of the alternating current-direct current converter, and the other end of the second direct current-direct current converter is connected to the input end of the sound generator array;
the switch switching module is used for controlling the duty ratio of the second DC-DC converter to regulate and control the voltage input by the AC-DC converter to the sound generator array;
when the output voltage of the AC-DC converter is smaller than a preset voltage value, the switch switching module independently enables the AC-DC converter to input voltage to the electromagnetic brake through the first DC-DC converter.
In this embodiment of the present application, the voltage detection device is a voltmeter.
In this embodiment of the present application, the preset voltage value is generally set to 80% of the voltage when the brake pads in the electromagnetic brake are completely separated.
The self-regulating braking system has the advantages that when the driving motor generates and outputs voltage below a preset voltage value outwards through the AC-DC converter, the voltage is directly output to the electromagnetic brake, and a self-regulating braking system can be formed.
When the output voltage of the AC-DC converter is larger than a preset voltage value, the switch switching module adjusts the duty ratio of the first DC-DC converter, so that the AC-DC converter inputs the voltage with the preset voltage value to the electromagnetic brake, and meanwhile, the switch switching module adjusts the duty ratio of the second DC-DC converter, so that the rest voltage is input to the sound generator array.
The wheelchair has the advantages that when the driving motor generates and outputs voltage above a preset voltage value outwards through the alternating current-direct current converter, the kinetic energy is higher when the main power supply is powered off, so that the wheelchair can be braked only by a higher braking path, and the wheelchair is prevented from colliding with people as much as possible when the kinetic energy is higher at the beginning. According to the embodiment of the application, the electric energy peak generated when the kinetic energy of the electric wheelchair is higher can be utilized, the electric energy recovered is utilized and simultaneously is input to the sounder array, other traffic participants on a sounded warning sound warning road can be sent out when the initial voltage is higher, the probability of traffic accidents when the initial kinetic energy is higher is reduced, and meanwhile, the recovered redundant electric energy can be fully utilized, and the electric energy is not directly consumed by using a resistor.
Specifically, the microcontroller can send a control signal to the switch switching module to control the switch switching module to adjust the duty ratio of the first DC-DC converter so as to regulate the voltage input by the AC-DC converter to the electromagnetic brake.
The electromagnetic brake has the advantages that the voltage input to the electromagnetic brake can be adjusted by adjusting the duty ratio of the first direct current-direct current converter, and when larger braking force is needed, the voltage input to the electromagnetic brake by the first direct current-direct current converter can be reduced, so that the contact of a brake pad in the electromagnetic brake is tighter.
The embodiment of the application provides an electric wheelchair based on a lithium battery, which comprises a lithium power battery, an electric wheelchair main body, auxiliary wheels for preventing the electric wheelchair from tilting forwards or backwards, and the electric wheelchair energy recovery system;
specifically, the lithium power battery is used as a main power supply of the electric wheelchair main body.
Specifically, the electric wheelchair energy recovery systems are respectively and independently arranged on the power wheels at two sides of the electric wheelchair, and the microcontroller can respectively control the braking force of the electromagnetic brakes at two sides through the switch switching module.
The electric wheelchair further comprises a space attitude sensor and a wheel speed sensor, wherein the wheel speed sensors are respectively and independently arranged on power wheels at two sides;
acquiring whether the electric wheelchair runs on an inclined ramp or not according to the data of the space attitude sensor;
if the electric wheelchair runs on an inclined ramp, acquiring an azimuth angle when the electric wheelchair runs straight along the ramp as a reference angle;
when a user controls the wheelchair to deflect, updating the rollover risk value at each moment through a preset rollover risk value estimation function;
when the rollover risk value is higher than a preset risk value threshold, a reference angle is sent to the microcontroller;
when the main power supply does not supply power outwards, the microcontroller acquires the running angle of the current wheelchair through the space attitude sensor, and controls the wheel speeds of the two sides of the wheelchair through respectively regulating and controlling the braking force of the electromagnetic brakes of the two sides of the wheelchair, so that the running direction of the wheelchair is parallel to the straight running direction of the ramp.
Specifically, the spatial attitude sensor is an IMU, i.e., an inertial measurement unit.
Specifically, the preset rollover risk value estimation function is as follows:
wherein R is a rollover risk value, L is the wheelbase of the wheelchair, g is the gravity acceleration, alpha is the gradient of the ramp, v is the speed of the wheelchair, θ is the deflection angle of the wheelchair running direction relative to the ramp straight direction, and mu is the road friction coefficient.
In the embodiment of the application, the wheelbase of the wheelchair is set according to the wheelbase of the actual wheelchair, the gradient of the ramp is obtained according to the spatial attitude sensor when the wheelchair is straight along the ramp, the speed of the wheelchair is obtained according to the wheel speed sensor, the deflection angle is obtained by detecting the forward direction of the wheelchair at each moment through the spatial attitude sensor and comparing with the direction when the wheelchair is straight before, and the road surface friction coefficient is generally set to be 0.8.
Specifically, in the embodiment of the present application, the preset risk value threshold is 0.7-0.8.
Specifically, the wheel speeds of the two sides of the wheelchair are controlled by respectively regulating and controlling the braking force of the electromagnetic brakes of the two sides of the wheelchair so that the running direction of the wheelchair is parallel to the direction of the straight running of the ramp, and the method comprises the following steps:
the method comprises the steps of taking the ground on which a wheelchair is currently running as a plane reference system, obtaining two included angles formed by the running direction of the wheelchair and the direction of the straight running of a ramp in the plane reference system, taking the included angle with a smaller angle as the reference system, and taking the direction of the running of the wheelchair pointing to the direction of the straight running of the ramp as a correction direction.
When the correction direction is directed to the left, the electromagnetic braking force on the right side of the wheelchair is weaker than the electromagnetic braking force on the left side of the wheelchair, so that the speed of the right side wheel is faster than that of the left side wheel, and the running direction of the vehicle is deflected to the left.
When the correction direction is towards the right, the electromagnetic braking force on the left side of the wheelchair is weaker than the electromagnetic braking force on the right side of the wheelchair, so that the speed of the left side wheel is faster than that of the right side wheel, and the running direction of the vehicle is deflected to the right.
Specifically, when the running direction of the wheelchair is parallel to the direction of the straight running of the ramp, the microcontroller controls the switch switching module to disconnect the output end of the alternating current-direct current converter from the input end of the electromagnetic brake.
The advantage of this is that when driving on a ramp, in particular when stopping during a turn, the force component due to gravity increases the risk of the wheelchair tilting sideways due to the inclination of the ramp, which risk is further exacerbated by the inertia of the passenger when stopping the turn.
Meanwhile, in order to ensure the passing performance of the wheelchair, only auxiliary wheels for preventing forward tilting or backward tilting are arranged in front of and behind the wheelchair, but the auxiliary wheel sets have limited capability of resisting lateral tilting during turning. According to the technical scheme, the electric wheelchair is righted and locked by utilizing the recovered electric energy, so that the auxiliary wheel shares the component force of gravity, the risk of the component force generated by the gravity on the lateral inclination of the wheelchair is greatly reduced, the side-tipping force caused by the ramp is reduced, and the wheelchair is ensured to be stopped safely. According to the technical scheme provided by the embodiment of the application, the side turning risk can be obviously reduced, so that the safety performance of the electric wheelchair is improved.
In the embodiment of the application, the active electric components except the electromagnetic brake are powered by a separate 36V lithium battery.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. In addition, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Moreover, in the description of the embodiments of the present application, "/" means or, unless otherwise indicated, for example, a/B may represent a or B; "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. Also, in the description of the embodiments of the present application, "plurality" means two or more than two.
The foregoing is merely a specific embodiment of the application to enable one skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The electric wheelchair energy recovery system is characterized in that the electric wheelchair energy recovery system is used for an electric wheelchair which is locked after an electromagnetic brake is powered off, and the electric wheelchair energy recovery system comprises:
the main power supply detection device is used for detecting whether the main power supply supplies power outwards or not and sending a result to the microcontroller;
the kinetic energy recovery system comprises a driving motor, an alternating current-direct current converter and a switch switching module;
the driving motor can convert kinetic energy of the electric wheelchair into electric energy to be output outwards, and the input end of the alternating current-direct current converter is connected to the output end of the driving motor;
when the microcontroller detects that the main power supply does not supply power outwards, the control switch switching module conducts the output end of the alternating current-direct current converter and the input end of the electromagnetic brake, so that the driving motor supplies power to the electromagnetic brake.
2. The electric wheelchair energy recovery system of claim 1 further comprising a first dc-dc converter;
one end of the first direct current-direct current converter is connected to the output end of the alternating current-direct current converter, and the other end of the first direct current-direct current converter is connected to the input end of the electromagnetic brake;
the switch switching module is used for controlling the duty ratio of the first DC-DC converter so as to regulate and control the voltage input by the AC-DC converter to the electromagnetic brake.
3. The electric wheelchair energy recovery system of claim 2 further comprising a voltage detection device, a second dc-dc converter, and a sound emitter array;
the voltage detection device is connected with the output end of the alternating current-direct current converter so as to detect the output voltage of the alternating current-direct current converter;
one end of the second direct current-direct current converter is connected to the output end of the alternating current-direct current converter, and the other end of the second direct current-direct current converter is connected to the input end of the sound generator array;
the switch switching module is used for controlling the duty ratio of the second DC-DC converter to regulate and control the voltage input by the AC-DC converter to the sound generator array;
when the output voltage of the alternating current-direct current converter is smaller than a preset voltage value, the switch switching module independently enables the alternating current-direct current converter to input voltage to the electromagnetic brake through the first direct current-direct current converter;
when the output voltage of the AC-DC converter is larger than a preset voltage value, the switch switching module adjusts the duty ratio of the first DC-DC converter, so that the AC-DC converter inputs the voltage with the preset voltage value to the electromagnetic brake, and meanwhile, the switch switching module adjusts the duty ratio of the second DC-DC converter, so that the rest voltage is input to the sound generator array.
4. The electric wheelchair energy recovery system of claim 3 wherein the microcontroller is capable of sending a control signal to the switch-over module to control the switch-over module to adjust the duty cycle of the first dc-dc converter to regulate the voltage input by the ac-dc converter to the electromagnetic brake.
5. The electric wheelchair energy recovery system of claim 1, wherein the electric wheelchair energy recovery systems are individually mounted on power wheels on both sides of the electric wheelchair, respectively, and the microcontroller is capable of controlling braking forces of the electromagnetic brakes on both sides, respectively, through the switch switching module.
6. The electric wheelchair based on the lithium battery is characterized by comprising a lithium power battery, an electric wheelchair body and the electric wheelchair energy recovery system according to any one of claims 1-5, wherein the lithium power battery is used as a main power supply of the electric wheelchair body.
7. An electric wheelchair based on a lithium battery, characterized in that the electric wheelchair based on the lithium battery comprises auxiliary wheels for preventing the electric wheelchair from tilting forward or backward and the electric wheelchair energy recovery system of claim 5;
the electric wheelchair further comprises a space attitude sensor and a wheel speed sensor, wherein the wheel speed sensors are respectively and independently arranged on power wheels at two sides;
acquiring whether the electric wheelchair runs on an inclined ramp or not according to the data of the space attitude sensor;
if the electric wheelchair runs on an inclined ramp, acquiring an azimuth angle when the electric wheelchair runs straight along the ramp as a reference angle;
when a user controls the wheelchair to deflect, updating the rollover risk value at each moment through a preset rollover risk value estimation function;
when the rollover risk value is higher than a preset risk value threshold, a reference angle is sent to the microcontroller;
when the main power supply does not supply power outwards, the microcontroller acquires the running angle of the current wheelchair through the space attitude sensor, and controls the wheel speeds of the two sides of the wheelchair through respectively regulating and controlling the braking force of the electromagnetic brakes of the two sides of the wheelchair, so that the running direction of the wheelchair is parallel to the straight running direction of the ramp.
8. The lithium battery-based electric wheelchair of claim 7, wherein the preset rollover risk value estimation function is:
wherein R is a rollover risk value, L is the wheelbase of the wheelchair, g is the gravity acceleration, alpha is the gradient of the ramp, v is the speed of the wheelchair, θ is the deflection angle of the wheelchair running direction relative to the ramp straight direction, and mu is the road friction coefficient.
9. The lithium battery-based electric wheelchair according to claim 7, wherein the wheel speeds of both sides of the wheelchair are controlled by respectively regulating braking forces of the electromagnetic brakes of both sides of the wheelchair so that the traveling direction of the wheelchair is parallel to the direction in which the ramp is straight, comprising the steps of:
taking the current running ground of the wheelchair as a plane reference system, acquiring two included angles formed by the running direction of the current wheelchair and the straight direction of the ramp in the plane reference system, taking the included angle with a smaller angle as the reference system, and taking the direction of the running direction of the wheelchair pointing to the straight direction of the ramp as a correction direction;
when the correction direction is towards the left, the electromagnetic braking force on the right side of the wheelchair is weaker than the electromagnetic braking force on the left side of the wheelchair;
when the correction direction is directed to the right, the electromagnetic braking force on the left side of the wheelchair is made weaker than the electromagnetic braking force on the right side of the wheelchair.
10. The lithium battery-based electric wheelchair of claim 7, wherein the microcontroller controls the switch-switching module to disconnect the output of the ac-dc converter from the input of the electromagnetic brake when the direction of travel of the wheelchair is parallel to the direction of straight travel of the ramp.
CN202311856219.7A 2023-12-29 2023-12-29 Electric wheelchair energy recovery system and electric wheelchair based on lithium battery Active CN117885543B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311856219.7A CN117885543B (en) 2023-12-29 2023-12-29 Electric wheelchair energy recovery system and electric wheelchair based on lithium battery

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311856219.7A CN117885543B (en) 2023-12-29 2023-12-29 Electric wheelchair energy recovery system and electric wheelchair based on lithium battery

Publications (2)

Publication Number Publication Date
CN117885543A true CN117885543A (en) 2024-04-16
CN117885543B CN117885543B (en) 2024-06-07

Family

ID=90645209

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311856219.7A Active CN117885543B (en) 2023-12-29 2023-12-29 Electric wheelchair energy recovery system and electric wheelchair based on lithium battery

Country Status (1)

Country Link
CN (1) CN117885543B (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2926019A1 (en) * 2008-01-04 2009-07-10 Sojadis Equipement Sarl Foldable motorized wheel chair, has tubular body structure forming chassis of chair, motorized unit driving chair, and energy storage unit supplying energy to motorized unit, where storage unit is housed in body structure
US20170368958A1 (en) * 2015-01-20 2017-12-28 Jsyoungtech Co.,Ltd Hybrid energy storage module system
CN115208036A (en) * 2021-04-12 2022-10-18 广东博方众济医疗科技有限公司 Electric wheelchair and energy recovery system thereof

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2926019A1 (en) * 2008-01-04 2009-07-10 Sojadis Equipement Sarl Foldable motorized wheel chair, has tubular body structure forming chassis of chair, motorized unit driving chair, and energy storage unit supplying energy to motorized unit, where storage unit is housed in body structure
US20170368958A1 (en) * 2015-01-20 2017-12-28 Jsyoungtech Co.,Ltd Hybrid energy storage module system
CN115208036A (en) * 2021-04-12 2022-10-18 广东博方众济医疗科技有限公司 Electric wheelchair and energy recovery system thereof

Also Published As

Publication number Publication date
CN117885543B (en) 2024-06-07

Similar Documents

Publication Publication Date Title
US6988779B2 (en) Hybrid vehicle
CN110936822B (en) Control method and control system for coasting energy feedback and vehicle
CN109466536B (en) Method for controlling electric four-wheel drive hybrid vehicle
US8849538B2 (en) Torque distribution apparatus, torque distribution method, torque distribution value generation method, and program
KR101339231B1 (en) Torque control system for fulltime 4 wheel drive green car and method thereof
EP2394890B1 (en) Vehicle trailer equipped with an additional traction system, vehicle with said trailer, and method for managing the additional traction system
KR101714232B1 (en) Method for controlling regenerative braking co-operative control system for vehicle
US20120232737A1 (en) Electronic car and control method thereof
EP3375656A1 (en) Braking/driving force control method and braking/driving force control device
KR20180058322A (en) Brake control system and method for electric vehicle
US20110000725A1 (en) Hybrid vehicle
WO2004028852A1 (en) Driver of electric automobile
JP2010247782A (en) Control device for electric vehicle
KR102585749B1 (en) System and method for managing battery of eco-friendly vehicle and trailer connected thereto
EP2394889B1 (en) Vehicle trailer equipped with an additional traction system, vehicle with said trailer, and method for managing the additional traction system
CN107791885A (en) The fail safe devices and methods therefor of ECM systems
KR102224145B1 (en) System and method for regenerative braking of vehicle
TW200823079A (en) Vehicle travel control system
JP3689908B2 (en) Hybrid car
CN117885543B (en) Electric wheelchair energy recovery system and electric wheelchair based on lithium battery
JP2014184759A (en) Braking force control unit of vehicle
JP5648581B2 (en) Electric cart equipped with lithium ion battery and charging method of lithium ion battery for electric cart
JP2010233403A (en) Vehicle system
CN103863277B (en) System for realizing improved ABS performance in parallel regeneration braking process
US10099560B2 (en) System and method for maintaining the speed of a vehicle

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant