CN205698281U - A kind of electric wheelchair of Self Adaptive Control - Google Patents
A kind of electric wheelchair of Self Adaptive Control Download PDFInfo
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- CN205698281U CN205698281U CN201620133984.5U CN201620133984U CN205698281U CN 205698281 U CN205698281 U CN 205698281U CN 201620133984 U CN201620133984 U CN 201620133984U CN 205698281 U CN205698281 U CN 205698281U
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- electric wheelchair
- wheelchair
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Abstract
The utility model discloses the electric wheelchair of a kind of Self Adaptive Control, including wheelchair body and control system, described control system includes a rocking bar, a controller and a motor-drive circuit；Described controller can accept the signal of described rocking bar transmission and be controlled direct current motor drive circuit, thus realizes the control advancing wheelchair；Described controller includes a control module and an adaptation module, and described adaptation module is connected with described control module, is optimized controlling bar control logic for the action according to wheelchair user.Adaptation module can collect the operating habit of user, calculate the control bar direction of operating of applicable user, and automatically be adjusted replacing to control bar control logic, the direction that controller controls is automatically adjusted to the direction into the comfortable use of another user, thus promotes the control accuracy that user is advanced for electric wheelchair.
Description
Technical field
This utility model relates to medical instruments field, the electric wheelchair of a kind of Self Adaptive Control.
Background technology
China comes into aging society, and the aged is in accelerated growth, additionally, due to the patient of motor dysfunction of lower limb that the reason such as disease and disaster causes also is dramatically increasing, above-mentioned crowd, because the restriction of lower limb exercise ability, creates impact to its go off daily activity.And help the elderly, the type electric wheelchair of helping the disabled is that the trip of old people and lower limb disability people provides conveniently.Electric wheelchair divides according to maneuverability pattern, useful rocking bar list hand-guided, and the human-computer interaction device such as the most useful head or pressure-vaccum system controls, and operates for the patient such as high paraplegia or hemiplegia.Its function, for advancing, retreating and turn (including the rotation of 360 ° of original place), can use in indoor and outdoor.
The speed of travel of national Specification electric wheelchair not can exceed that 15km/h, and electric wheelchair is typically with electromagnetic brake, and general braking distance is less than 1m.Controller panel generally comprises: the regulation of power supply, speed, buzzer, stick.Electric wheelchair controller is the critical component of electric wheelchair.At present, domestic electric wheelchair market is also in initial stage, and more than about 60 producers, yield about 20,000, the manipulation form of domestic electric wheelchair mainly has 2 kinds, and one is to arrange speed with controller；Another kind of electric wheelchair is external import except controller, and other parts are domestic, and its controller is mainly Britain PG and New Zealand DYNAMIC, and its direction controlling is all to be realized by a rocking bar, and one hand can be handled.
But above-mentioned existing controller all cannot solve the following problems that the user great majority of i.e. electric wheelchair are all the rear patients of health inconvenience, these rear patients are most with the inconvenience on limbs, what inconvenience on this limbs was adjoint is probably using rocking bar when, obviously wish to control electric wheelchair forward, but the reason due to health, rocking bar accurately cannot be twisted the angle needed, and cause direction controlling inaccurate, this problem is critically important for the user of electric wheelchair, because if having no idea to be accurately controlled electric wheelchair, user is probably caused danger.But, before and after electric wheelchair controller is controlled, left and right directions is changeless, and user has no idea to adjust left and right directions before and after controller is controlled very easily, say, that cannot be from the control logic of Row sum-equal matrix controller.
But the direction controlling of controller is adjusted by the most domestic use habit not the most being capable of according to user, i.e. the domestic controller of the adaptive maturation of direction controlling.
In view of drawbacks described above, this utility model creator obtains this utility model finally through research for a long time and practice.
Utility model content
For solving above-mentioned technological deficiency, the technical solution adopted in the utility model is, it is provided that the electric wheelchair of a kind of Self Adaptive Control, including wheelchair body, it is characterized in that, also include that control system, described control system include a rocking bar, a controller and a motor-drive circuit；
Described controller can accept the signal of described rocking bar transmission and be controlled direct current motor drive circuit, thus realizes the control advancing wheelchair；
Described controller includes a control module and an adaptation module, and described adaptation module is connected with described control module, is optimized controlling bar control logic for the action according to wheelchair user.
Preferably, described adaptation module includes an acquisition module, a computing module and the debugging module being sequentially connected with, described control module is delivered on signal one road that described rocking bar transmits, described acquisition module is delivered on another road, described acquisition module is connected with described computing module, described computing module processes and generates optimum results, and optimum results is delivered to described debugging module, and described control module is controlled by described debugging module according to described optimum results.
It is also preferred that the left described controller also includes a memory module being connected with described control module, described adaptation module respectively, it is used for storing control bar and controls logic.
It is also preferred that the left also include one for showing that controlling bar controls the panel of logic, and the torsion structure being connected with described controller；
Described torsion structure is fixed with described panel and is connected and the control described panel rotation of drive of the hard to bear described controller of energy.
It is also preferred that the left also include that one around the sub-display of described control bar, described sub-display is connected with described controller, is used for showing that described control bar controls logic and changes display content described control bar controls logic change when.
It is also preferred that the left also include a display, it is connected with described controller, is used for showing wheelchair traveling gear and dump energy.
It is also preferred that the left also include a power supply, power for described controller, described display, described motor-drive circuit.
It is also preferred that the left described rocking bar is connected with described controller by an A/D change-over circuit.
Compared with prior art, the beneficial effects of the utility model are: be provided with adaptive structure, automatically control bar can be controlled logic according to the use habit of user to be replaced, thus improve user, especially the control accuracy of the user of upper extremity exercise inconvenience；
Adaptive structure takes stepping adjustment mechanism, it is possible to eliminate the operation brought due to disposable bigger adjustment uncomfortable；Control bar display floater and can carry out adaptive adjustment according to self adaptation result, during not detectable, realize the optimization that electric wheelchair is controlled.
Accompanying drawing explanation
Fig. 1 is that usual electric wheelchair rocking bar controls logic chart；
Fig. 2 is that the electric wheelchair rocking bar after adjusting controls logic chart；
Fig. 3 is this utility model wheelchair control system structure chart；
Fig. 4 is this utility model controller architecture figure.
Detailed description of the invention
Below in conjunction with accompanying drawing, to this utility model, above-mentioned and other technical characteristic and advantage are described in more detail.
Shown in Figure 1, it is that current electric wheelchair control direction divides schematic diagram.
The control logic controlling bar of electric wheelchair is as shown in Figure 1 at present, rocking bar is forwarded to 1～8 eight different quadrant by user, then can control electric wheelchair towards different direction motions, consider the limited accuracy of manual operation simultaneously, rocking bar can not be promoted accurately according to the rectilinear direction of X or Y, so thought based on fuzzy control, set rocking bar in dotted line interval, be rectilinear direction accurately.It is to say, rocking bar is controlled in dotted line space by user, electric wheelchair still moves forward, rather than with turning left or turning right.
But during actually used, we have found such a kind of situation, this situation be a considerable amount of electric wheelchair user either control electric wheelchair forward or control electric wheelchair backward, jack back (or counterclockwise) will deflect certain angle clockwise, so, as a example by deflection clockwise, user is wishing going straight ahead when, owing to limb control rocking bar deflects clockwise, so rocking bar probably falls at 1 quadrant, electronic chair starts to move ahead to left front, so user is brought inconvenience.
Additionally also having other situation, such as user always will control bar to left avertence, such user, either advancing or retreat when, all can control wheelchair and carry out advancing and turn left or turn left to retreat；If to the user of right avertence can control electric wheelchair always turn right advance or turn right retreat.
It has been found that user is during carrying out straight ahead and straight line retrogressing also in the number of statistics during using, always points at same direction, the most significantly can't swing in the range of a direction.
Shown in Figure 2, it is the logic chart after control rocking bar logistic transformation, as a example by the user that shake rocking bar all can deflect clockwise every time, be suitable for the rocking bar of this user control logic should appearance as shown in Figure 2, so, each quadrant has carried out clockwise rotation to a certain extent, with the use of the use habit of person, it is possible to ensure that each action obtains and wishes to control the control result that result is identical.
But this customizing electric wheelchair can produce the extra cost of costliness, the situation of each electric wheelchair user is different, the wheelchair of this patient can not be suitable for according to the practical situation customization that each patient is different, in this case can solve by the technical solution of the utility model.
Shown in Figure 3, it is electric wheelchair control system structure chart.
Electric wheelchair with Self Adaptive Control described in the utility model includes the control system shown in described Fig. 3, and this control system includes rocking bar 11, A/D change-over circuit 12, power supply 14, controller 13, display 15 and a motor-drive circuit 16.
Described rocking bar 11 is operated by the user of electric wheelchair, it can produce analogue signal, analogue signal is changed through described A/D change-over circuit 12, it is converted into digital signal and inputs in described control 13, described controller 13 is according to the instruction of the signal identification electric wheelchair user of input, and control described motor-drive circuit 16 according to instruction and operate motor, the motion of driving electric wheelchair.
Described controller 13 is connected with described display 15, and described display 15 accepts the signal of described controller 13, shows current electric wheelchair speed threshold information and battery level information.
Described power supply 14 connects described controller 13, described motor-drive circuit 16 respectively and powers for it.
Shown in Figure 4, it is electric wheelchair controller 13 structure chart described in the utility model.
Controller 13 described in the utility model includes control module 131, memory module 132, adaptation module, described adaptation module is connected with described control module 131 with described memory module, is optimized correction for the action according to wheelchair user to controlling bar control logic.
Described adaptation module includes acquisition module 133, computing module 134 and the debugging module 135 being sequentially connected with.
Under normal operating conditions, described memory module 132 stores the control logic of rocking bar, when the signal of described rocking bar 11 is sent to described controller 13 by described A/D change-over circuit 12, enter described control module 131, described control module 131 calls the control logic in described memory module 132, be converted to control signal, send extremely described motor-drive circuit 16 and realize the control to motor.
Carry out with normal operating conditions is self adaptation work process simultaneously, the signal of described rocking bar 11 is sent while described controller 13 by described A/D change-over circuit 12, also described acquisition module 133 is sent the signal to, the signal collected is carried out storing, analyzing by acquisition module 133, the direction frequency used due to electric wheelchair has universality, such as most of time user is to control wheelchair by remote sensing to go ahead rather than spin in original place, it is all to advance or retreat after generally turning to, and few people will turn to be divided into and repeatedly carry out.
The information collected is sent to described 134 by described acquisition module 133, computing is carried out in described computing module 134, the data that described computing module passes over according to described acquisition module 133 calculate, described computing module 134, according to a certain amount of data, calculates control bar control logic and should carry out adjustment how.
The optimum results finally calculated can be sent to described debugging module 135 by described computing module 134, described debugging module 135 is adjusted controlling bar operation according to described computing module 134 result of calculation, specifically, the described direct action to described control module 131 of debugging module 135 is finely adjusted, fine setting described here refers to, is in course of adjustment, and decomposes optimum results, progressively adjust, and use feedback to be modified according to electric wheelchair operator.So adjustment modes of fine setting, can go to adjust the control logic of action bars step by step, the scope adjustment that the most this adjustment likely can cause left-hand rotation, turn right, fine setting can reduce the inadaptable sense of user, it is also possible to avoids the burst operation caused owing to significantly adjusting abnormal.
Described acquisition module 133, described computing module 134, described debugging module 135 constantly the feeding back of user, retry under form final optimization pass scheme, it is sent to described memory module 132 by described computing module 134 store, when calling, described control module will directly invoke the optimum results control logic as action bars next time.
During actually used, optimizing logical AND actual logic can as multiple selectable option, select for user simultaneously and deposit.
As a kind of improved plan, this wheelchair also includes one for showing that controlling bar controls the panel of logic, with a torsion structure being connected with described controller；Described torsion structure is fixed with described panel and is connected and the control described panel rotation of drive of the hard to bear described controller of energy.Described memory module 132 can be connected with a torsion structure, and described memory module 132 can control described torsion structure and rotate controlling bar control logic panel, so that controlling bar to control the practical operation bar operation logic after logic panel represents optimization.This torsion structure can also be received other modules and control, the most described control module 131.
As a kind of improved plan, also include the sub-display around described control bar, described sub-display can be connected with described memory module 132, display controls bar and controls logic, after memory module 132 has carried out change to control bar control logic, this change can be displayed on described word display, and so, sub-display can show that the control bar of reality controls logical image the most all the time.
Although this utility model being described in detail with reference to previous embodiment; for a person skilled in the art; technical scheme described in foregoing embodiments still can be modified by it; or wherein portion of techniques feature is carried out equivalent; all within spirit of the present utility model and principle; the any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (8)
1. an electric wheelchair for Self Adaptive Control, including wheelchair body, it is characterised in that also include that control system, described control system include a rocking bar, a controller and a motor-drive circuit；
Described controller can accept the signal of described rocking bar transmission and be controlled direct current motor drive circuit, thus realizes the control advancing wheelchair；
Described controller includes a control module and an adaptation module, and described adaptation module is connected with described control module, is optimized controlling bar control logic for the action according to wheelchair user.
2. electric wheelchair as claimed in claim 1, it is characterized in that, described adaptation module includes an acquisition module, a computing module and the debugging module being sequentially connected with, described control module is delivered on signal one road that described rocking bar transmits, described acquisition module is delivered on another road, described acquisition module is connected with described computing module, described computing module processes and generates optimum results, and optimum results is delivered to described debugging module, described control module is controlled by described debugging module according to described optimum results.
3. electric wheelchair as claimed in claim 1, it is characterised in that described controller also includes a memory module being connected respectively with described control module, described adaptation module, is used for storing control bar and controls logic.
4. the electric wheelchair as described in claim 1,2 or 3, it is characterised in that also include for showing that controlling bar controls the panel of logic, and the torsion structure being connected with described controller；
Described torsion structure is fixed with described panel and is connected and the control described panel rotation of drive of the hard to bear described controller of energy.
5. the electric wheelchair as described in claim 1,2 or 3, it is characterized in that, also include that one around the sub-display of described control bar, described sub-display is connected with described controller, is used for showing that described control bar controls logic and changes display content described control bar controls logic change when.
6. the electric wheelchair as described in claim 1,2 or 3, it is characterised in that also include a display, be connected with described controller, is used for showing wheelchair traveling gear and dump energy.
7. electric wheelchair as claimed in claim 5, it is characterised in that also include a power supply, power for described controller, described display, described motor-drive circuit.
8. the electric wheelchair as described in claim 1,2 or 3, it is characterised in that described rocking bar is connected with described controller by an A/D change-over circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620133984.5U CN205698281U (en) | 2016-02-22 | 2016-02-22 | A kind of electric wheelchair of Self Adaptive Control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620133984.5U CN205698281U (en) | 2016-02-22 | 2016-02-22 | A kind of electric wheelchair of Self Adaptive Control |
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| CN205698281U true CN205698281U (en) | 2016-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620133984.5U Expired - Fee Related CN205698281U (en) | 2016-02-22 | 2016-02-22 | A kind of electric wheelchair of Self Adaptive Control |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107714331A (en) * | 2017-09-13 | 2018-02-23 | 西安交通大学 | The intelligent wheel chair control of view-based access control model inducting brain-machine interface and method for optimizing route |
| WO2018119981A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳市大疆创新科技有限公司 | Control method, control device and control system for movable device |
| CN110448415A (en) * | 2019-09-06 | 2019-11-15 | 浙江海洋大学 | A kind of Wheel-chair type bed |
-
2016
- 2016-02-22 CN CN201620133984.5U patent/CN205698281U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018119981A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳市大疆创新科技有限公司 | Control method, control device and control system for movable device |
| CN107714331A (en) * | 2017-09-13 | 2018-02-23 | 西安交通大学 | The intelligent wheel chair control of view-based access control model inducting brain-machine interface and method for optimizing route |
| CN110448415A (en) * | 2019-09-06 | 2019-11-15 | 浙江海洋大学 | A kind of Wheel-chair type bed |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 213000 sirxiang Road, Wujin District, Changzhou, Jiangsu Province, No. 33 Patentee after: Changzhou China Medical equipment Limited by Share Ltd Address before: 213149 No. 1 Lake Hing Road, Wujin Economic Development Zone, Jiangsu, Changzhou Patentee before: Changzhou Zhongjin Medical Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161123 Termination date: 20210222 |