JP3558314B2 - Electric wheelchair - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an electric wheelchair having an electric motor that adds an auxiliary force to a manual operation force.
[0002]
[Prior art]
A conventional wheelchair has a main wheel with handling for operating the wheelchair with the hand of the rider, detects the direction and magnitude of the operating force applied to the handling, and the operating force exceeds the predetermined value Accordingly, an electric wheelchair provided with a pair of left and right motors for adding auxiliary force to the main wheels and drive control means for driving and controlling the motors is known as disclosed in JP-A-6-304205. .
[0003]
FIG. 12 shows an overall block diagram of a conventional electric wheelchair.
In FIG. 12, the electric wheelchair 1 includes a right main wheel rotation speed sensor 103, a left main wheel rotation speed sensor 106, a right manual torque sensor 11R, a left manual torque sensor 11L, a rotation direction determination unit (107, 112), a vehicle speed calculation unit. (108, 111), A / D converter (109, 110), control means 102 comprising right control signal processing means 120 and left control signal processing means 121, right drive control means 113, left drive control means 114 right motor The driving unit 115, the left motor driving unit 116, the right motor 117, and the left motor 118 are configured.
[0004]
The electric wheelchair 1 includes a microcomputer (hereinafter abbreviated as a microcomputer) and the like, and various calculations and controls performed here are performed centering on the microcomputer.
[0005]
The right main wheel rotation speed sensor 103 detects the rotation speed of the right main wheel and detects the right main wheel rotation speed signal U. _R Is output to the rotation direction discriminating means 107 and the vehicle speed calculating means 108.
[0006]
The rotation direction discriminating means 107 is a right main wheel rotation speed signal U. _R To determine the rotation direction of the right main wheel with a microcomputer or the like and determine the right main wheel rotation direction determination signal D _R Is output to the right control signal processing means 120.
The vehicle speed calculation means 108 is a right main wheel rotation speed signal U of the right main wheel rotation speed sensor 103. _R The vehicle speed is calculated by a microcomputer etc. from the right vehicle speed signal V _R Is output to the right control signal processing means 120.
[0007]
The right manual torque sensor 11R detects the magnitude and direction of the operating force applied to the handling laid on the right main wheel, and detects the right manual torque analog signal T. _PR Is output to the A / D converter 109.
The A / D converter 109 outputs the right manual torque analog signal T _PR Is converted into a digital signal and the right manual torque signal T _R Is output to the right control signal processing means 120.
[0008]
The left main wheel rotation speed sensor 106, the left manual torque sensor 11L, the rotation direction determination means 112, the vehicle speed calculation means 111, and the A / D converter 110 are the right main wheel rotation speed sensor 103, the right manual torque sensor 11R, and the rotation direction described above. The configuration and operation are the same as the determination unit 107, the vehicle speed calculation unit 108, and the A / D converter 109.
[0009]
The right control signal processing means 120 is a right main wheel rotation direction discrimination signal D. _R , Right vehicle speed signal V _R , Right manual torque signal T _R A control signal S for adding an auxiliary force according to the above to the right main wheel _R Is output to the right drive control means 113, and the left control signal processing means 121 outputs the left main wheel rotation direction discrimination signal D. _L , Left vehicle speed signal V _L , Left manual torque signal T _L A control signal S for adding an auxiliary force corresponding to the left main wheel to the left main wheel _L Is output to the left drive control means 114.
[0010]
The right drive control means 113 receives the control signal S _R Based on the right drive control signal P of pulse width modulation (PWM) _WR Is output to the right motor drive means 115, and the left drive control means 114 is controlled by the control signal S. _L Based on the left drive control signal P of the pulse width modulation (PWM) _WL Is output to the left motor driving means 116.
[0011]
The right motor driving means 115 receives the right drive control signal P _WR For example, the right motor 117 is driven by a bipolar drive circuit composed of, for example, four field effect transistors (FETs), and the left motor drive means 116 outputs a left drive control signal P. _WL For example, the left motor 118 is driven by a bipolar drive circuit composed of, for example, four field effect transistors (FETs).
[0012]
FIG. 13 shows a vehicle speed signal V (V _LW , V _MD , V _HI ) Shows a characteristic diagram of manual torque signal (T) -control signal (S) with parameters.
In FIG. 13, V of the vehicle speed signal V _LW , V _MD And V _HI Indicates a low vehicle speed region, a medium vehicle speed region, and a high vehicle speed region, respectively, and even if the manual torque signal T is the same, the vehicle speed signal V increases (V _LW → V _MD → V _HI ), The control signal S is preset so as to decrease.
In addition, a dead zone is provided in which the control signal S with respect to the manual torque signal T equal to or less than a predetermined value is zero so that the electric motor follows the small operating force and does not impair the straight traveling performance of the vehicle of the electric wheelchair.
[0013]
In this way, the control signal processing means of the electric wheelchair is used in the low vehicle speed region (V _LW ) Outputs a large control signal S so as to obtain a large assisting force with respect to the manual torque signal T, while the high vehicle speed region (V _HI ) Is configured to output a small control signal S so as to suppress the auxiliary force with respect to the manual torque signal T and to obtain good vehicle operability.
[0014]
[Problems to be solved by the invention]
Since conventional electric wheelchairs determine the assisting force by the motor based on the operating force applied to the handling by the occupant and the vehicle speed, the driving resistance (inclination of the travel path, etc.) causes the assisting force by the motor to be excessive and insufficient. There is a problem of impairing feeling.
[0015]
The present invention has been made to solve such a problem, and its object is to detect the running resistance and control the auxiliary force by the electric motor based on the operating force applied to the handling, the vehicle speed, and the running resistance. An object of the present invention is to provide an electric wheelchair that generates an appropriate assisting force even when the running resistance changes and has a good running feeling.
[0016]
[Means for Solving the Problems]
In order to solve the above-described problem, the electric wheelchair according to claim 1 provides a control signal processing means with a target signal that determines the magnitude and direction of the auxiliary force by the electric motor based on the values of the signals from the rotation speed sensor and the manual torque sensor. Target signal setting means for setting, target acceleration setting means for setting a target acceleration signal based on a manual torque signal obtained from a manual torque sensor, and calculating an acceleration from a vehicle speed signal obtained from a rotation speed sensor and outputting an acceleration signal An acceleration calculation means for calculating an acceleration difference between the target acceleration signal and the acceleration signal and outputting an acceleration difference signal, a correction coefficient setting means for setting a correction coefficient based on the acceleration difference signal, and a correction coefficient And target signal correction calculation means for correcting and calculating the target signal based on the above.
[0017]
As described above, the control signal processing means of the electric wheelchair includes the target signal setting means, the target acceleration setting means, the acceleration calculation means, the difference calculation means, the correction coefficient setting means, and the target signal correction calculation means. Even if the running resistance changes, it is possible to generate an auxiliary force by an appropriate electric motor that is not excessive or insufficient.
[0018]
In the electric wheelchair according to claim 2, the control means calculates an average vehicle speed from a vehicle speed signal obtained from the left and right rotational speed sensors and outputs an average vehicle speed signal; and an acceleration from the average vehicle speed signal. A target signal setting for setting a target signal for determining the magnitude and direction of the auxiliary force by the motor based on the values of signals from the rotation speed sensor and the manual torque sensor. Means, target acceleration setting means for setting a target acceleration signal based on a manual torque signal obtained from a manual torque sensor, and difference calculation means for calculating an acceleration difference between the target acceleration signal and the acceleration signal and outputting an acceleration difference signal A correction coefficient setting means for setting a correction coefficient based on the acceleration difference signal, and a target signal for correcting the target signal based on the correction coefficient. Characterized by comprising a correction calculation means, a control signal processing means comprising.
[0019]
Thus, the control means of the electric wheelchair includes the average vehicle speed calculation means and the acceleration calculation means, and the target signal setting means, the target acceleration setting means, the difference calculation means, the correction coefficient setting means, the target signal Since the control signal processing means including the correction calculation means is provided, it is possible to add a left-right balanced auxiliary force, improve the straightness of the electric wheelchair, and even if the running resistance changes Auxiliary force can be generated by an appropriate electric motor without excess or deficiency.
[0020]
Furthermore, the electric wheelchair according to claim 3 sets in the control signal processing means a target signal for setting a target signal for determining the magnitude and direction of the assisting force by the electric motor based on the values of the signals from the rotational speed sensor and the manual torque sensor. Means, target acceleration setting means for setting a target acceleration signal based on a manual torque signal obtained from a manual torque sensor, acceleration calculation means for calculating acceleration from a vehicle speed signal obtained from a rotation speed sensor and outputting an acceleration signal A difference calculating means for calculating an acceleration difference between the target acceleration signal and the acceleration signal and outputting an acceleration difference signal; a correction coefficient setting means for setting a correction coefficient based on the acceleration difference signal; and a manual torque based on the correction coefficient Manual torque that corrects the manual torque signal obtained from the sensor and outputs the corrected manual torque signal to the target signal setting means A positive operation means, characterized by comprising a.
[0021]
As described above, the control signal processing means of the electric wheelchair includes the target signal setting means, the target acceleration setting means, the acceleration calculation means, the difference calculation means, the correction coefficient setting means, and the manual torque correction calculation means. Therefore, even if the running resistance changes, it is possible to generate auxiliary force by a more appropriate electric motor that is not excessive or insufficient.
[0022]
The electric wheelchair according to claim 4 is a target signal setting for setting a target signal for determining the magnitude and direction of the auxiliary force by the electric motor based on the values of the signals from the rotation speed sensor and the manual torque sensor in the control signal processing means. Means, target acceleration setting means for setting a target acceleration signal based on a manual torque signal obtained from a manual torque sensor, acceleration calculation means for calculating acceleration from a vehicle speed signal obtained from a rotation speed sensor and outputting an acceleration signal A difference calculating means for calculating an acceleration difference between the target acceleration signal and the acceleration signal and outputting an acceleration difference signal; a hold time control means for outputting a hold time control signal based on the acceleration difference signal; and a target signal setting means Hold the decreasing target signal so that the target signal gently decreases when the target signal decreases rapidly. Characterized by comprising the hold processing means for the holding and processed on the basis of the between control signals.
[0023]
As described above, the control signal processing means of the electric wheelchair includes the target signal setting means, the target acceleration setting means, the acceleration calculation means, the difference calculation means, the hold time control means, and the hold processing means. When the target signal from the signal setting means suddenly decreases, the target signal to be decreased can be held and reduced according to the running resistance, and the running performance of the electric wheelchair can be improved. .
[0024]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the accompanying drawings.
1 to 4 are viewed in the direction of the reference numerals.
FIG. 1 is a front view of an electric wheelchair according to the present invention. An electric wheelchair 1 (hereinafter abbreviated as “wheelchair 1”) includes a body frame 3 including a step 2 and left and right front auxiliary wheels 4, 4 and left and right. The main wheels 5 and 5 are rotatably attached, and the main wheels 5 and 5 are provided with handlings 6 and 6. The appearance is the same as that of an ordinary manual wheelchair. , 5 (details will be described later), and the battery 8, the control unit 9, and the torque sensors 11, 11 are different.
[0025]
FIG. 2 is a side view of the wheelchair according to the present invention, in which an occupant M sits on a seat (not shown) attached to the vehicle body frame 3 and operates the handling 6 with his / her hand on the step 2. Can do.
The main wheel 5 includes a hub 5a, a spoke 5b, a tire rim 5c, and a tire 5d.
[0026]
The front auxiliary wheel 4 is a so-called free wheel, a block 4a attached to the sub-frame 3a of the vehicle body frame 3, a swing arm 4b attached to the block 4a so as to be swingable about the vertical axis, and the swing arm. It consists of an auxiliary wheel 4c that is pivotally supported by 4b, and swings in accordance with the forward direction of the wheelchair to facilitate direction change.
The position of the block 4a can be changed along the subframe 3a.
It also shows that the battery 8 and the control unit 9 are attached to a sheet (not shown).
[0027]
FIG. 3 is a principle diagram of the torque detection mechanism according to the present invention. The torque detection mechanism 20 includes a handling 6 suspended from the tire rim 5c by eight springs 21, one end locked to the handling 6, and the other end. Wires 22, 22 extending in the center of the wheel, relay pulleys 23, 23 on the tire rim 5 c side that relays the wires, and a transmission member that transmits the pulling force of the wires 22, 22 to the torque sensor 11 (see FIG. 1) And a torque sensor 11.
[0028]
3 will be described first. When the handling 6 in the neutral state is forcibly turned clockwise (arrow 1) by the spring 21, the wires 22 and 22 are pulled (arrow 2). .
The degree to which the wires 22 and 22 are pulled increases as the force (torque) that turns the handling 6 increases.
[0029]
FIG. 4 is an enlarged cross-sectional view of the hub of the main wheel according to the present invention. A transmission member that connects the other end of the wire 22 and the torque sensor 11 will be described. This transmission member is formed on the outer race 32 of the bearing 31. 33 and 33, and a rod 36 whose one end is locked to the inner race 34 of the bearing 31 by a nut 35. The rod 36 does not rotate, and the rods 33 and 33 rotate together with the wires 22 and 22.
By pulling the wire 22, the rod 36 is pulled, and the trick sensor 11 detects the degree.
The torque sensor 11 is fixed to the boss 41 on the vehicle body frame side with a nut 42, a bracket 43 and a screw 44.
[0030]
Next, the motor and the two-stage planetary speed reduction mechanism built in the hub will be described.
The motor 50 is referred to as a wheel-in motor. The motor housing 51 is fixed to the boss 41 and the tube 45 attached integrally to the boss 41, the coil 52 is attached to the motor housing 51, and the coil 52 is used. And a rotor 54 that supports these magnets 53.
Specifically, the rotor 54 includes a cup 54a that directly supports the magnet 53 and a cylinder 54b that supports the cup 54a.
[0031]
A first sun gear 61 carved at one end of the cylinder 54b, a first inner gear 62 carved at one end of the housing 51, and a first planetary gear 63 meshing with the first sun gear 61 and the first inner gear 62; The first planetary reduction mechanism 60 is constituted by the first carrier 64 extending from the first planetary gear 63, and the second sun gear 71 engraved at one end of the first carrier 64 and the one end of the housing 51 are engraved. The second planetary reduction mechanism 70 is composed of the second inner gear 72, the second planetary gear 73 meshing with the second sun gear 71 and the second inner gear 72, and the second carrier (also used as the hub 5a) extending from the second planetary gear 73. Configure.
The first and second planetary speed reduction mechanisms 60 and 70 reduce the speed to several hundred to several thousandths, thereby converting the high rotation of the motor into a low rotation suitable for traveling.
[0032]
The overall block configuration diagram of the electric wheelchair according to the present invention is basically the same as the overall block configuration diagram of the electric wheelchair shown in FIG. 12 as the conventional technique, but the left and right control signals constituting the control means of the electric wheelchair The processing means is provided with target acceleration setting means, acceleration calculation means, and correction coefficient setting means, and differs from the conventional point in that the driving resistance of the road is detected to control the auxiliary force by the electric motor.
In FIG. 12, since the configuration and operation of the blocks other than the right control signal processing means 120 and the left control signal processing means 121 have been described as conventional examples, description thereof is omitted here.
[0033]
Since the left and right control signal processing means shown in FIGS. 5, 7, 8, and 9 have the same configuration and operation as the embodiment of the present invention, the configuration and operation of the right control signal processing means will be described below. Explanation will be given, and explanation of the left control signal processing means will be omitted.
[0034]
The electric wheelchair 1 includes a microcomputer (hereinafter abbreviated as a microcomputer) and the like, and includes a right control signal processing means (122, 124, 126, 128) and a left control signal processing means (123, 125, 127, 129) according to the present invention. Various calculations and controls are performed with this microcomputer as the center.
[0035]
FIG. 5 is a block diagram of the main part of the control signal processing means of the electric wheelchair according to claim 1.
In FIG. 5, the right control signal processing means 122 includes a target signal setting means 140, a target acceleration setting means 141, an acceleration calculation means 142, a difference calculation means 143, a correction coefficient setting means 144, and a target signal correction calculation means. 145.
[0036]
The target signal setting means 140 includes a memory such as a RAM or a rewritable ROM, and the right manual torque signal T is stored in the memory. _R And the right main wheel rotation direction determination signal D _R And right vehicle speed signal V _R And target signal T corresponding to each value _MR Is the right manual torque signal T _R And the right main wheel rotation direction determination signal D _R And right vehicle speed signal V _R And the manual torque signal T. _R And the right main wheel rotation direction determination signal D _R And right vehicle speed signal V _R And the target signal T as the memory read address. _MR Is read from the memory and output to the target signal correction calculating means 145.
[0037]
The target signal setting means 140 is a vehicle speed signal V (V _LW , V _MD , V _HI ) As a parameter Manual torque signal (T) -control signal (S) {target signal (T _MR )} Characteristics, V of vehicle speed signal V _LW , V _MD And V _HI Indicates a low vehicle speed region, a medium vehicle speed region, and a high vehicle speed region, respectively, and even if the manual torque signal T is the same, the vehicle speed signal V increases (V _LW → V _MD → V _HI ), The target signal T _MR Is set in advance to decrease, and the target signal T with respect to the manual torque signal T equal to or less than a predetermined value so that the electric motor follows the small operating force and does not impair the straight traveling performance of the vehicle of the electric wheelchair. _MR There is a dead zone where is zero.
[0038]
The target acceleration setting means 141 includes a memory such as a RAM or a rewritable ROM, and the right manual torque signal T is stored in the memory. _R Target acceleration signal A according to the value of _TR To the right manual torque signal T _R The right manual torque signal T is stored in the address according to the value of _R The target acceleration signal A with the value corresponding to the value of the memory as the read address of the memory _TR Is read from the memory and output to the difference calculation means 143.
[0039]
The acceleration calculation means 142 is a right vehicle speed signal V _R The acceleration is calculated from the acceleration signal A to the difference calculation means 143. _VR Is output.
[0040]
The difference calculation means 143 is configured to output the target acceleration signal A _TR And acceleration signal A _VR Acceleration difference signal △ A _R Is output to the correction coefficient setting means 144.
[0041]
The correction coefficient setting unit 144 includes a memory such as a RAM or a rewritable ROM, and the memory includes an acceleration difference signal ΔA. _R Correction coefficient K shown in FIG. _R Acceleration difference signal △ A _R Acceleration difference signal ΔA stored in the address corresponding to the value of _R The correction coefficient K with the value corresponding to the value of the memory as the read address of the memory _R Is read from the memory and output to the target signal correction calculating means 145.
[0042]
FIG. 6 shows a correction coefficient (K) -acceleration difference signal (ΔA) according to the present invention. _R FIG.
In FIG. 6, the correction coefficient K (K _R ) Is the speed difference signal (+ ΔA) _R ) And acceleration difference signal (-ΔA) _R ) And an acceleration difference signal ΔA below a predetermined value. _R Is “1”.
Further, the acceleration difference signal ΔA _R As the value increases beyond a predetermined value, the increase rate of the correction coefficient K increases.
[0043]
The target signal correction calculation means 145 is a target signal T from the target signal setting means 140. _MR And correction coefficient K _R And the control signal S _R Is output to the right drive control means 113.
[0044]
In the memory of the target acceleration setting means, for example, the target acceleration signal A for the value of the manual torque signal T that provides a good running feeling on a flat and paved running road _T Write the characteristics.
The operating force applied to the handling by the occupant's hand for acceleration is detected by a manual torque sensor and input to the target acceleration setting means as a manual torque signal T.
[0045]
The target acceleration setting means is a target acceleration signal A corresponding to the input manual torque signal T. _T Is output to the difference calculation means.
The wheelchair is accelerated by the operating force applied to the handling for acceleration, and the acceleration calculation means calculates the vehicle speed signal V from the main wheel rotation speed sensor to calculate the acceleration signal A _V And the acceleration signal A _V Is output to the difference calculation means.
[0046]
Target acceleration signal A output from the target acceleration setting means to the difference calculation means _T Is the target acceleration signal A for the value of the manual torque signal T that provides a good running feeling on a flat and paved road. _T Acceleration signal A which is a characteristic value and is output from the acceleration calculation means to the difference calculation means _V For example, in the case of uphill, the running resistance is large and the target acceleration signal A _T It becomes a small value for.
The difference calculation means is the target acceleration signal A _T And a small acceleration signal A _V Is calculated to obtain an acceleration difference signal ΔA, and the acceleration difference signal ΔA is output to the correction coefficient setting means.
[0047]
As indicated by the correction coefficient (K) -acceleration difference signal (ΔA) characteristic of FIG. 6, the correction coefficient setting means outputs a larger correction coefficient K to the target signal correction calculation means as the acceleration difference signal ΔA increases.
The target signal correction calculation means is a target signal T output from the target signal setting means. _M And the correction coefficient K, and the result is output as a control signal S to the drive control means.
An auxiliary force corresponding to the control signal S output from the target signal correction calculation means is generated by the electric motor, and this auxiliary force is applied to the main wheel of the wheelchair to accelerate the wheelchair.
[0048]
Then, the vehicle speed signal V from the main wheel rotation speed sensor of the accelerated wheelchair is fed back to the acceleration calculation means, and the acceleration calculation means calculates the vehicle speed signal V to obtain the acceleration signal A _V And the acceleration signal A _V Is output to the difference calculation means.
The difference calculation means is the target acceleration signal A _T Acceleration signal A and feedback _V And the acceleration difference signal ΔA is output to the correction coefficient setting means.
[0049]
As described above, the control signal processing means is used for the target acceleration signal A. _T Acceleration signal A and feedback _V Are controlled to be equal.
[0050]
As described above, the control signal processing means of the electric wheelchair includes the target signal setting means, the target acceleration setting means, the acceleration calculation means, the difference calculation means, the correction coefficient setting means, and the target signal correction calculation means. Even if the resistance changes, it is possible to generate an auxiliary force by an appropriate electric motor without excess or deficiency.
[0051]
FIG. 7 is a block diagram of a main part of the control means of the electric wheelchair according to claim 2.
In FIG. 7, the control means 130 comprises a right control signal processing means 124, a left control signal processing means 125, an average vehicle speed calculation means 162, and an acceleration calculation means 163. The right control signal processing means 124 is a target signal. Setting means 152, target acceleration setting means 153, difference calculation means 154, correction coefficient setting means 155, and target signal correction calculation means 156 are provided.
[0052]
The target signal setting means 152, the target acceleration setting means 153, the difference calculation means 154, the correction coefficient setting means 155, and the target signal correction calculation means 156 of the right control signal processing means 124 are shown in FIG. Since the target signal setting means 140, the target acceleration setting means 141, the difference calculation means 143, the correction coefficient setting means 144, and the target signal correction calculation means 145 of the right control signal processing means 122 are the same in configuration and operation, they are detailed. A description of the operation is omitted.
[0053]
The average vehicle speed calculation means 162 receives the right main wheel rotation direction discrimination signal D. _R And right vehicle speed signal V _R And left main wheel rotation direction discrimination signal D _L And left vehicle speed signal V _L Calculate the average vehicle speed from the average vehicle speed signal V _A Is output to the acceleration calculation means 163.
In the average vehicle speed calculation means 162, when the main wheel rotation direction determination signal D means the forward direction of the wheelchair, the vehicle speed signal V has a positive sign and the main wheel rotation direction determination signal D means the backward direction of the wheelchair. The vehicle speed signal V has a negative sign.
The acceleration calculation means 163 is an average vehicle speed signal V output from the average vehicle speed calculation means 162. _A Acceleration is calculated from the acceleration signal A _V Is output to the difference calculation means 154.
[0054]
The difference calculation means 154 is a target acceleration signal A _TR And acceleration signal A _VR Acceleration difference signal △ A _R Is output to the correction coefficient setting means 155, and the correction coefficient setting means 155 outputs the acceleration difference signal ΔA. _R Correction coefficient K according to the value of _R Is output to the target signal correction calculation means 156.
[0055]
The target signal correction calculating means 156 is a target signal T from the target signal setting means 152. _MR And correction coefficient K _R And the control signal S _R Is output to the right drive control means 113.
The control signal S output from the target signal correction calculation means 156 _R The right electric motor 117 generates an assisting force corresponding to the above, and this assisting force is applied to the right main wheel of the wheelchair to accelerate the wheelchair 1.
The left control signal processing unit 125 performs the same operation as the right control signal processing unit 124.
[0056]
Then, the right vehicle speed signal V from the right main wheel rotation speed sensor 103 of the wheelchair 1 that has been accelerated. _R And the left vehicle speed signal V from the left main wheel rotation speed sensor 106 _L Are returned to the average vehicle speed calculation means 162, and the average vehicle speed calculation means 162 _R And left vehicle speed signal V _L Calculate the average vehicle speed from the average vehicle speed signal V _A Is output to the acceleration calculation means 163.
[0057]
The acceleration calculation means 163 is an average vehicle speed signal V output from the average vehicle speed calculation means 162. _A Acceleration is calculated from the acceleration signal A _V Is output to the difference calculation means 154, and the difference calculation means 154 outputs the target acceleration signal A. _TR And acceleration signal A _VR Acceleration difference signal △ A _R Is output to the correction coefficient setting means 155, and the correction coefficient setting means 155 outputs the acceleration difference signal ΔA. _R Correction coefficient K according to the value of _R Is output to the target signal correction calculation means 156.
The left control signal processing unit 125 performs the same operation as the right control signal processing unit 124.
[0058]
As described above, the control signal processing means is used for the target acceleration signal A. _T Acceleration signal A and feedback _V Are controlled to be equal.
[0059]
Thus, the control means of the electric wheelchair includes the average vehicle speed calculation means and the acceleration calculation means, and the target signal setting means, the target acceleration setting means, the difference calculation means, the correction coefficient setting means, the target signal And a control signal processing means comprising a correction calculating means, can add a left-right balanced auxiliary force, can improve the straightness of the electric wheelchair, and is excessive or insufficient even if the running resistance changes It is possible to generate an assisting force by an appropriate electric motor without any problem.
[0060]
FIG. 8 is a block diagram of the main part of the control signal processing means of the electric wheelchair according to claim 3.
In FIG. 8, the right control signal processing means 126 includes a target signal setting means 164, a target acceleration setting means 165, an acceleration calculating means 166, a difference calculating means 167, a correction coefficient setting means 168, and a manual torque correction calculating means. 169.
[0061]
The target signal setting means 164, the target acceleration setting means 165, the acceleration calculation means 166, the difference calculation means 167, and the correction coefficient setting means 168 of the right control signal processing means 126 according to claim 1 shown in FIG. Since the target signal setting means 140, the target acceleration setting means 141, the acceleration calculating means 142, the difference calculating means 143, and the correction coefficient setting means 144 of the right control signal processing means 122 have the same configuration and operation, a detailed operation description will be given. Is omitted.
[0062]
The correction coefficient setting means 168 is an acceleration difference signal ΔA output from the difference calculation means 167. _R Correction coefficient K according to _R Is output to the manual torque correction calculation means 169.
The manual torque correction calculation means 169 receives the right manual torque signal T from the right manual torque sensor 11R. _R And correction coefficient K _R And the corrected manual torque signal T _HR Is output to the target signal setting means 164.
[0063]
The target signal setting means 164 is a vehicle speed signal V (V shown in FIG. _LW , V _MD , V _HI ) As a parameter Manual torque signal (T) -control signal (S) {target signal (T _MR )} Characteristic, the manual torque signal (T) is converted into the right manual torque signal T by the manual torque correction calculation means 169. _R , The acceleration difference signal ΔA shown in FIG. _R Correction coefficient K according to _R Corrected manual torque signal T multiplied by _HR Target signal T with the characteristic _MR Control signal S _R To the right drive control means 113.
[0064]
The control signal S output from the target signal setting means 164 _R The auxiliary electric power corresponding to is generated by the right electric motor 117, and this auxiliary power is applied to the right main wheel of the wheelchair 1 to accelerate the wheelchair 1.
The left control signal processing means 127 performs the same operation as the right control signal processing means 126.
[0065]
Then, the right vehicle speed signal V from the right main wheel rotation speed sensor 103 of the wheelchair 1 that has been accelerated. _R Is returned to the acceleration calculation means 166, and the acceleration calculation means 166 receives the right vehicle speed signal V. _R Acceleration is calculated from the acceleration signal A _VR And the acceleration signal A _VR Is output to the difference calculation means 167, and the difference calculation means 167 outputs the target acceleration signal A. _TR Acceleration signal A and feedback _VR And the acceleration difference signal ΔA _R Is output to the correction coefficient setting means 168.
[0066]
As described above, the control signal processing means 126 is controlled by the target acceleration signal A. _TR Acceleration signal A and feedback _VR Are controlled to be equal.
[0067]
As described above, the control signal processing means of the electric wheelchair includes the target signal setting means, the target acceleration setting means, the acceleration calculation means, the difference calculation means, the correction coefficient setting means, and the manual torque correction calculation means. Even if the resistance changes, it is possible to generate an auxiliary force by an appropriate electric motor without excess or deficiency.
[0068]
FIG. 9 is a block diagram of the main part of the control signal processing means of the electric wheelchair according to claim 4.
In FIG. 9, the right control signal processing means 128 includes a target signal setting means 176, a target acceleration setting means 177, an acceleration calculation means 178, a difference calculation means 179, a hold time control means 180, and a hold processing means 181. Consists of.
[0069]
The target signal setting means 176, the target acceleration setting means 177, the acceleration calculating means 178, and the difference calculating means 179 of the right control signal processing means 128 are the same as those of the right control signal processing means 122 according to claim 1 shown in FIG. Since the target signal setting unit 140, the target acceleration setting unit 141, the acceleration calculation unit 142, and the difference calculation unit 143 have the same configuration and operation, detailed description of the operation is omitted.
[0070]
The operating force applied to the handling by the occupant's hand is not a constant continuous amount, but the operating force for acceleration is applied to the handling, and after it has been applied, the operating force for handling once becomes zero and accelerates again. In general, it is a pulse-like discontinuous amount so that the operating force of the above is applied to the handling.
The manual torque signal T detected by the manual torque sensor, which is a pulse discontinuity applied to the handling, becomes a pulse discontinuity signal, and the assist force by the motor is also pulsed and discontinuous.
[0071]
Since the conventional electric wheelchair shown in FIG. 12 loses its assisting force immediately when the operating force applied to handling is lost, it is difficult to run a smooth wheelchair especially when the running resistance such as uphill is large.
The right control signal processing means 128 includes target signal setting means 176, target acceleration setting means 177, acceleration calculation means 178, difference calculation means 179, hold time control means 180, and hold processing means 181. Smooth wheelchair travel is possible even on roads with large travel resistance such as slopes.
[0072]
The hold time control means 180 is an acceleration difference signal ΔA from the difference calculation means 179. _R Hold time control signal H according to _TR Is output to the hold processing unit 181, and the hold processing unit 181 outputs the target signal T from the target signal setting unit 176. _MR The target signal T that decreases so that the target signal gently decreases even if the value decreases rapidly. _MR Hold process.
[0073]
FIG. 10 shows a hold time (t _H ) -Acceleration difference signal (ΔA) characteristic diagram.
In FIG. 10, the hold time t with respect to the acceleration difference signal ΔA of a predetermined value or less so that the electric motor follows the small operating force and does not impair the straightness of the vehicle of the electric wheelchair. _H There is a dead band with zero, and the hold time t for the acceleration difference signal ΔA exceeding a predetermined value _H Increases as the acceleration differential signal ΔA increases.
[0074]
FIG. 11 is a schematic operation explanatory view of the hold processing means according to claim 4.
In FIG. 11, the hold processing unit 181 includes a target signal T from the target signal setting unit 176. _MR (T _M ) Decreases the target signal TM so that the target signal gently decreases even if it decreases rapidly. _R The hold signal is processed according to the control signal S _R (S) is output to the right drive control means 113.
The control signal S is a hold time t in the hold processing means where the allowable target signal attenuation is ΔT. _H Is a signal that is controlled so as to decrease gently with the characteristics shown in FIG. 10 with respect to the acceleration difference signal ΔA.
The control signal S has an amplitude value T _A As the value becomes equal to or less than a predetermined threshold value and converges to zero, the allowable target signal attenuation ΔT is decreased and gradually approaches zero.
[0075]
As described above, the control signal processing means of the electric wheelchair includes the target signal setting means, the target acceleration setting means, the acceleration calculation means, the difference calculation means, the hold time control means, and the hold processing means. When the target signal from the means rapidly decreases, the decreasing target signal can be held and reduced according to the running resistance, so that the running performance of the electric wheelchair can be improved.
The above embodiment is an example of the present invention, and the present invention is not limited to the above embodiment.
[0076]
【The invention's effect】
The present invention exhibits the following effects by the above configuration.
[0077]
The electric wheelchair according to claim 1 has a target signal setting means for setting a target signal for determining the magnitude and direction of the auxiliary force by the electric motor based on the values of the signals from the rotation speed sensor and the manual torque sensor in the control signal processing means. Target acceleration setting means for setting a target acceleration signal based on a manual torque signal obtained from a manual torque sensor; acceleration calculation means for calculating an acceleration from a vehicle speed signal obtained from a rotation speed sensor; A difference calculating means for calculating an acceleration difference between the acceleration signal and the acceleration signal and outputting the acceleration difference signal, a correction coefficient setting means for setting a correction coefficient based on the acceleration difference signal, and correcting the target signal based on the correction coefficient Target signal correction calculating means for calculating, and generating an assist force by an appropriate electric motor that is not excessive or insufficient even if the running resistance changes. Since it is, it is possible to provide a good electric wheelchair of traveling feeling.
[0078]
In the electric wheelchair according to claim 2, the control means calculates an average vehicle speed from a vehicle speed signal obtained from the left and right rotational speed sensors and outputs an average vehicle speed signal; and an acceleration from the average vehicle speed signal. And a target signal setting means for setting a target signal for determining the magnitude and direction of the auxiliary force by the electric motor based on the values of the signals from the rotation speed sensor and the manual torque sensor. And target acceleration setting means for setting a target acceleration signal based on a manual torque signal obtained from a manual torque sensor, and difference calculation means for calculating an acceleration difference between the target acceleration signal and the acceleration signal and outputting an acceleration difference signal Correction coefficient setting means for setting a correction coefficient based on the acceleration difference signal, and a target signal for correcting the target signal based on the correction coefficient It has control signal processing means consisting of positive arithmetic means, can add left and right balanced auxiliary force, and can generate auxiliary force by an appropriate electric motor that is not excessive or insufficient even if running resistance changes As a result, it is possible to provide an electric wheelchair that is excellent in straight running performance and excellent in driving feeling.
[0079]
Furthermore, the electric wheelchair according to claim 3 sets in the control signal processing means a target signal for setting a target signal for determining the magnitude and direction of the assisting force by the electric motor based on the values of the signals from the rotational speed sensor and the manual torque sensor. Means, target acceleration setting means for setting a target acceleration signal based on a manual torque signal obtained from a manual torque sensor, acceleration calculation means for calculating acceleration from a vehicle speed signal obtained from a rotation speed sensor and outputting an acceleration signal A difference calculating means for calculating an acceleration difference between the target acceleration signal and the acceleration signal and outputting an acceleration difference signal; a correction coefficient setting means for setting a correction coefficient based on the acceleration difference signal; and a manual torque based on the correction coefficient Manual torque that corrects the manual torque signal obtained from the sensor and outputs the corrected manual torque signal to the target signal setting means And a positive operation means, since the assist force than by a suitable motor running resistance just enough be varied can be generated, it is possible to provide a better electric wheelchair driving feeling.
[0080]
The electric wheelchair according to claim 4 is a target signal setting for setting a target signal for determining the magnitude and direction of the auxiliary force by the electric motor based on the values of the signals from the rotation speed sensor and the manual torque sensor in the control signal processing means. Means, target acceleration setting means for setting a target acceleration signal based on a manual torque signal obtained from a manual torque sensor, acceleration calculation means for calculating acceleration from a vehicle speed signal obtained from a rotation speed sensor and outputting an acceleration signal A difference calculating means for calculating an acceleration difference between the target acceleration signal and the acceleration signal and outputting an acceleration difference signal; a hold time control means for outputting a hold time control signal based on the acceleration difference signal; and a target signal setting means Hold the decreasing target signal so that the target signal gently decreases when the target signal decreases rapidly. An electric wheelchair having a smooth running feeling is provided, because it has a hold processing means for holding and processing based on a control signal between the two, and can generate an assisting force by an appropriate electric motor corresponding to a change in running resistance. can do.
[0081]
Therefore, it is possible to provide an electric wheelchair that is excellent in straightness and has a smooth running feeling.
[Brief description of the drawings]
FIG. 1 is a front view of an electric wheelchair according to the present invention.
FIG. 2 is a side view of a wheelchair according to the present invention.
FIG. 3 is a principle diagram of a torque detection mechanism according to the present invention.
FIG. 4 is an enlarged sectional view of a hub of a main wheel according to the present invention.
FIG. 5 is a block diagram of the main part of the control signal processing means of the electric wheelchair according to claim 1;
FIG. 6 shows a correction coefficient (K) -acceleration difference signal (ΔA) according to the present invention. _R ) Characteristics
FIG. 7 is a block diagram of the main part of the control means for the electric wheelchair according to claim 2;
FIG. 8 is a block diagram of the main part of the control signal processing means of the electric wheelchair according to claim 3;
FIG. 9 is a block diagram of the main part of the control signal processing means of the electric wheelchair according to claim 4;
FIG. 10 shows a hold time (t according to claim 4; _H )-Acceleration difference signal (△ A) characteristic diagram
FIG. 11 is a schematic operation explanatory view of the hold processing means according to claim 4;
FIG. 12 is an overall block diagram of a conventional electric wheelchair.
FIG. 13 shows a vehicle speed signal V (V _LW , V _MD , V _HI ) Parameter of manual torque signal (T) -control signal (S)
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Electric wheelchair, 2 ... Step, 3 ... Body frame, 3a ... Sub frame, 4 ... Front auxiliary wheel, 4a ... Block, 4b ... Swing arm, 4c ... Auxiliary wheel, 5 ... Main wheel, 5a ... Hub, 5b ... spoke, 5c ... tire rim, 5d ... tire, 6 ... handling, 8 ... battery, 11R ... right manual torque sensor, 11L ... left manual torque sensor, 20 ... torque detection mechanism, 21 ... spring, 22 ... wire, 23 ... Relay pulley, 31 ... bearing, 32 ... outer race, 33 ... 鍔, 34 ... inner race, 35 ... nut, 36 ... rod, 41 ... boss, 42 ... nut, 43 ... bracket, 44 ... screw, 45 ... tube, 50 ... Motor: 51 ... Motor housing, 52 ... Coil, 53 ... Magnet, 54 ... Rotor, 54a ... Cup, 54b ... Cylinder, 60 ... First planetary reduction Mechanism: 61 ... first sun gear, 62 ... first inner gear, 63 ... first planetary gear, 64 ... first carrier, 70 ... second planetary reduction mechanism, 71 ... second sun gear, 72 ... second inner gear, 73 ... second Planetary gear, 102, 130 ... control means, 103 ... right main wheel rotation speed sensor, 106 ... left main wheel rotation speed sensor, 107 ... rotation direction discrimination means, 108 ... vehicle speed calculation means, 109 ... A / D converter, 110 ... A / D converter, 111: vehicle speed calculation means, 112: rotation direction discrimination means, 113: right drive control means, 114 ... left drive control means, 115 ... right motor drive means, 116 ... left motor drive means, 117 ... right Motor 118, Left motor 120, 122, 124, 126, 128 Right control signal processing means 121, 123, 125, 127, 129 Left control signal processor Stage, 140, 146, 152, 157, 164, 170, 176, 182, ... target signal setting means, 141, 147, 153, 158, 165, 171, 177, 183 ... target acceleration setting means, 142, 148, 163 166, 172, 178, 184 ... acceleration calculation means, 143, 149, 154, 159, 167, 173, 179, 185 ... difference calculation means, 144, 150, 155, 160, 168, 174 ... correction coefficient setting means, 145 151, 156, 161 ... target signal correction calculation means, 162 ... average vehicle speed calculation means, 169, 175 ... manual torque correction calculation means, 180, 186 ... hold time control means, 181, 187 ... hold processing means, A _TL , A _TR ... Target acceleration signal, A _V , A _VL , A _VR ... Acceleration signal, D _L ... Left main wheel rotation direction discrimination signal, D _R ... right main wheel rotation direction judgment signal, FET ... field effect transistor, H _TL ... Hold time control signal, H _TR ... Hold time control signal, M ... Crew, K _L , K _R ... Correction coefficient, P _DL ... Left motor drive signal, P _DR ... Right motor drive signal, P _WL ... Left motion control signal, P _WR ... right motion control signal, PWM ... pulse width modulator, S, S _L , S _R ... Control signal, T ... Manual torque signal, T _A ... Signal amplitude value, T _HL , T _HR ... corrected manual torque signal, T _L ... Left manual torque signal, T _M , T _ML , T _MR ... Target signal, T _PL ... Left manual torque analog signal, T _PR ... Right manual torque analog signal, T _L ... Left manual torque signal, T _R ... Right manual torque signal, t _H ... Hold time, U _R ... Right wheel rotation speed signal, V ... Vehicle speed signal, V _A ... Average vehicle speed signal, V _HI ... High vehicle speed range, V _LW ... Low vehicle speed range, V _MD ... Medium vehicle speed range, V _R ... Right vehicle speed signal, V _L ... Left vehicle speed signal, △ A, △ A _L , △ A _R ... Acceleration difference signal, ΔT ... Allowable target signal attenuation.

Claims (4)

A main wheel provided with handling for manipulating the vehicle body manually, a main wheel rotation speed sensor for detecting the rotation speed of the main wheel, a manual torque sensor for detecting an operation force applied to the handling, and the main wheel An electric motor for adding auxiliary force, a drive control means for driving and controlling the electric motor, and a motor driving means for driving the electric motor by a signal from the drive control means are provided in a pair of left and right, respectively.
In the electric wheelchair constituted by the control means provided with a pair of left and right control signal processing means for processing the signals from the rotational speed sensor and the manual torque sensor and controlling the magnitude and direction of the auxiliary force by the electric motor,
Target signal setting means for setting, in the control signal processing means, a target signal for determining the magnitude and direction of the auxiliary force by the electric motor based on values of signals from the rotational speed sensor and the manual torque sensor; and the manual torque sensor Target acceleration setting means for setting a target acceleration signal based on a manual torque signal obtained from the above, acceleration calculation means for calculating an acceleration from a vehicle speed signal obtained from the rotational speed sensor and outputting an acceleration signal, a target acceleration signal, A difference calculating means for calculating an acceleration difference from the acceleration signal and outputting an acceleration difference signal, a correction coefficient setting means for setting a correction coefficient based on the acceleration difference signal, and a target for correcting and calculating the target signal based on the correction coefficient An electric wheelchair comprising: a signal correction calculation unit. A main wheel provided with handling for manipulating the vehicle body manually, a main wheel rotation speed sensor for detecting the rotation speed of the main wheel, a manual torque sensor for detecting an operation force applied to the handling, and the main wheel An electric motor for adding auxiliary force, a drive control means for driving and controlling the electric motor, and a motor driving means for driving the electric motor by a signal from the drive control means are provided in a pair of left and right, respectively.
In the electric wheelchair constituted by the control means provided with a pair of left and right control signal processing means for processing the signals from the rotational speed sensor and the manual torque sensor and controlling the magnitude and direction of the auxiliary force by the electric motor,
An average vehicle speed calculating means for calculating an average vehicle speed from the vehicle speed signals obtained from the left and right rotational speed sensors and outputting an average vehicle speed signal to the control means, and an acceleration for calculating an acceleration from the average vehicle speed signal and outputting an acceleration signal Computing means,
And target signal setting means for setting a target signal for determining the magnitude and direction of the auxiliary force by the electric motor based on signal values from the rotational speed sensor and the manual torque sensor, and a manual torque signal obtained from the manual torque sensor A target acceleration setting means for setting a target acceleration signal based on the difference, a difference calculation means for calculating an acceleration difference between the target acceleration signal and the acceleration signal and outputting an acceleration difference signal, and a correction coefficient based on the acceleration difference signal An electric wheelchair comprising the control signal processing means comprising: correction coefficient setting means for performing correction and target signal correction calculation means for correcting and calculating a target signal based on the correction coefficient. A main wheel provided with handling for manipulating the vehicle body manually, a main wheel rotation speed sensor for detecting the rotation speed of the main wheel, a manual torque sensor for detecting an operation force applied to the handling, and the main wheel An electric motor for adding auxiliary force, a drive control means for driving and controlling the electric motor, and a motor driving means for driving the electric motor by a signal from the drive control means are provided in a pair of left and right, respectively.
In the electric wheelchair constituted by the control means provided with a pair of left and right control signal processing means for processing the signals from the rotational speed sensor and the manual torque sensor and controlling the magnitude and direction of the auxiliary force by the electric motor,
Target signal setting means for setting, in the control signal processing means, a target signal for determining the magnitude and direction of the auxiliary force by the electric motor based on values of signals from the rotational speed sensor and the manual torque sensor; and the manual torque sensor Target acceleration setting means for setting a target acceleration signal based on a manual torque signal obtained from the above, acceleration calculation means for calculating an acceleration from a vehicle speed signal obtained from the rotational speed sensor and outputting an acceleration signal, a target acceleration signal, Obtained from the manual torque sensor based on a correction coefficient, difference calculation means for calculating an acceleration difference from the acceleration signal and outputting an acceleration difference signal, correction coefficient setting means for setting a correction coefficient based on the acceleration difference signal Manual torque correction for correcting the manual torque signal and outputting the corrected manual torque signal to the target signal setting means Electric wheelchair, characterized in that it and a calculation unit. A main wheel provided with handling for manipulating the vehicle body manually, a main wheel rotation speed sensor for detecting the rotation speed of the main wheel, a manual torque sensor for detecting an operation force applied to the handling, and the main wheel An electric motor for adding auxiliary force, a drive control means for driving and controlling the electric motor, and a motor driving means for driving the electric motor by a signal from the drive control means are provided in a pair of left and right, respectively.
In the electric wheelchair constituted by the control means provided with a pair of left and right control signal processing means for processing the signals from the rotational speed sensor and the manual torque sensor and controlling the magnitude and direction of the auxiliary force by the electric motor,
Target signal setting means for setting, in the control signal processing means, a target signal for determining the magnitude and direction of the auxiliary force by the electric motor based on values of signals from the rotational speed sensor and the manual torque sensor; and the manual torque sensor Target acceleration setting means for setting a target acceleration signal based on a manual torque signal obtained from the above, acceleration calculation means for calculating an acceleration from a vehicle speed signal obtained from the rotational speed sensor and outputting an acceleration signal, a target acceleration signal, A difference calculation means for calculating an acceleration difference from the acceleration signal and outputting an acceleration difference signal, a hold time control means for outputting a hold time control signal based on the acceleration difference signal, and a target signal from the target signal setting means In the case of a sudden decrease, the target signal that decreases is held in the hold time system so that the target signal decreases gently. Electric wheelchair, characterized in that it comprises a hold processing means for the holding and processing based on the signal.

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