JP2893587B2 - Electric wheelchair control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric wheelchair control device used by a physically handicapped person, an elderly person and the like.

[0002]

2. Description of the Related Art As disclosed in Japanese Utility Model Laid-Open Publication No. 64-6702 and Japanese Utility Model Laid-Open Publication No. 2-142322, for example, an operating device for an electric wheelchair is provided with an accelerator lever near a stop of a steering wheel. The running / stopping and changing of the running speed can be performed while pushing and turning the lever with fingers.

[0003]

The accelerator lever has an angular position at which the drive motor is turned on and off when the accelerator lever is turned by a predetermined angle. ON / OFF when traveling at extremely low speed
Although the angle position that has been rotated slightly larger than the operation angle position will be maintained, if the vehicle body shakes or it is difficult to hold the accelerator lever in the home position, the accelerator lever sets the ON / OFF action angle position. Since the vehicle travels back and forth and repeats running and stopping, the rider's feelings of motivation deteriorate. In view of the above, an object of the present invention is to prevent the vehicle from stopping even if the accelerator lever is slightly moved once the vehicle starts running when traveling at an extremely low speed.

[0004]

SUMMARY OF THE INVENTION The steering of an electric wheelchair provided with an accelerator lever 1 reversibly provided with a turning angle from a stop position A to turn on a wheel driving motor M to increase the speed sequentially by turning on the motor M. in the apparatus, the motor M of the ON action pivot angle B that the motor M is turned ON by the rotation of the speed increasing direction of the accelerator lever 1 by the rotation of the stop direction
Is set to be larger than the OFF action rotation angle C at which is turned off.

[0005]

When the vehicle starts running, the stop position A
By pivoting the accelerator lever 1 to the speed-increasing direction beyond the ON action pivot angle B, and when the motor M is although raise the sequential running speed after ON, to stop from running,
By returning the accelerator lever 1 at the traveling position to the stop position A, the motor M is decelerated and stopped. Motor M when pivoted I suited the ON action pivot angle B to ON the motor M when pivoted accelerating direction acceleration lever 1 from the stop position A, the stop position A from the traveling in the present invention OFF to turn off
By varying the working pivot angle C, and ON action pivot angle B O
The since it is set to be larger than FF acting rotation angle C, after the accelerator lever 1 starts traveling beyond the ON action angle B from the stop state, the accelerator lever 1 even has O
N action OFF action even when returned to an angle smaller than the rotation angle B
Since the traveling is not stopped unless the rotation angle C is reached, even if the accelerator lever 1 is slightly returned when the accelerator lever 1 is maintained at a position slightly exceeding the ON operation angle B in order to travel at an extremely low speed. If motor M is off
Without stopping and running repeatedly, comfortable running can be performed.

[0006]

Next, embodiments of the present invention will be described. FIG.
FIG. 3 is a block diagram illustrating a connection state between a signal input unit and a control unit. First, an ON / OFF signal is input from a power switch 11 to a central processing unit (CPU) 10, and the output voltage of a variable resistor that is rotationally adjusted by an accelerator lever 1 is represented by A.
The speed change switch 12 inputs high / medium / low speed running speed selection, and inputs signals from various sensors 13 such as a collision detection sensor, a turning angle sensor, and an outside air temperature sensor. A rotation sensor 1 for detecting the number of rotations of the motor M
Through the rotation speed detection circuit 15 from 4, the rotational direction is typing speed.

A power source is a battery 16, which supplies power to the CPU 10 through a CPU power supply circuit 17, inputs a voltage into the CPU 10 through a battery voltage detection circuit 18, performs arithmetic processing, and reduces the charge amount of the battery to five stations. This is indicated on the battery meter 23 composed of an LED. The battery 16 includes a main relay 19 and a forward / reverse switching circuit 2.
0, the motor dynamic braking circuit 21, a motor driving circuit 22 via
Then, it is connected to the motor M to supply electric power.

[0008] The CPU 10 outputs a drive command to the main relay 19, outputs a braking pulse to the motor power generation braking circuit 21, and outputs a driving pulse to the motor driving circuit 22. The forward / reverse switching circuit 20 is supplied to the CPU 10 by the rotation direction of the accelerator lever 1 or another control signal.
Outputs a forward or reverse switching command. Electromagnetic brake 24, the car with what power becomes braking in the OFF state, the power is the brake release state in the ON state
The brake works when the body is stopped.

Next, the operation state will be described. When the rotation angle α is input to the CPU 10 by the rotation operation of the accelerator lever 1, an ON signal is output to the main relay 19, and then the rotation is performed according to the rotation angle. A drive pulse is output to the motor drive circuit 22 so that the vehicle travels at the traveling speed, and a braking pulse is output to the motor power generation braking circuit 21 so that the speed does not become faster than the commanded speed. In the present invention, the main relay 19 is
The N-OFF timing is changed depending on whether the accelerator lever 1 is turned to the speed increasing side or to the stop side. The judgment is made by the CPU 10 as shown in the flowchart of FIG. I have.

At the start, the operation mode is "stop", and when the accelerator lever 1 is rotated, the operation mode is determined first. At first, since the mode is the “stop” mode, it is determined whether or not the rotation holding angle α of the accelerator lever 1 is within ± 10 °, and if not, the stop state is continued.
If it has been turned by more than + 10 ° or -10 °, the main relay 19 is turned on and the operation proceeds to running control. Once replaced with the operation mode shifts to the travel control to the "running", receives the discrimination rotational retention angle α of the accelerator lever 1 is whether 8 ° hereinafter ±, to continue the traveling control if the following, hereinafter If so, the control is shifted to stop control, the output duty of the drive pulse is gradually reduced to zero, then the main relay 19 is turned off to stop the motor M, and the electromagnetic brake 24 is turned off to stop traveling of the vehicle body. Completion of the stop control is determined by the electromagnetic brake 2
4 is determined by the OFF signal.

The above control relationship is illustrated in FIG. 3. When the accelerator lever 1 is in the free state, it is held at the stop position A, and when the accelerator lever 1 is rotated forward or backward, the stop position A becomes 10 degrees. ° Rotated ON action
At the rotation angle B, a drive command is output from the CPU 10 to the main relay 19, and the motor M starts rotating. Thereafter, the rotation speed of the motor M is controlled by setting the output duty of the drive pulse so as to be a high speed, a medium speed, or a low speed according to the speed set by the speed change switch 12.

When the vehicle is stopped during traveling, the accelerator lever 1 may be returned to the stop position A. Then, the output duty of the drive pulse decreases and the traveling speed also decreases. When the operation mode is “traveling”, the traveling speed is set to a predetermined 0.
At a speed of 5 km / h, the main relay 19 is turned off and the rotation of the motor M is stopped when the rotation holding angle α of the accelerator lever 1 becomes 8 ° or less of the OFF operation angle C without decreasing to less than 5 km / h. With electromagnetic brake 24
Is turned off to apply a brake to completely stop the movement of the vehicle body.

With the above control, when the accelerator lever 1 is once turned beyond the ON operation angle B of 10 ° to start traveling, for example, when traveling at an extremely low speed of about 0.5 km / h. In addition, unless the accelerator lever 1 is returned to the OFF operation angle C of 8 ° or less, the vehicle continues to travel, and the operator holds the accelerator lever 1 at the rotation holding angle α.
It is possible to drive comfortably without having to worry too much.

[Brief description of the drawings]

FIG. 1 is a flowchart showing a control operation.

FIG. 2 is a block diagram of control.

FIG. 3 is a diagram showing a relationship between a rotation holding angle of an accelerator lever and a traveling set speed.

[Explanation of symbols]

 1 Accelerator lever A Stop position B ON operating angle C OFF operating angle M Motor

Claims (1)

(57) [Claims] 1. An electric wheelchair having a reversibly provided accelerator lever (1) for increasing the rotational angle from a stop position (A) to turn on a wheel drive motor (M) to sequentially increase the speed. mode in control apparatus, by the rotation of the ON action pivot angle to ON the motor (M) is the rotation of the speed increasing direction of the accelerator lever (1) (B) to the stop direction
An electric wheelchair control device which is set to be larger than the OFF action rotation angle (C) at which the motor (M) is turned off.