KR101739275B1 - Motor driven moving device - Google Patents

Motor driven moving device Download PDF

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KR101739275B1
KR101739275B1 KR1020150128881A KR20150128881A KR101739275B1 KR 101739275 B1 KR101739275 B1 KR 101739275B1 KR 1020150128881 A KR1020150128881 A KR 1020150128881A KR 20150128881 A KR20150128881 A KR 20150128881A KR 101739275 B1 KR101739275 B1 KR 101739275B1
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speed
lever
control unit
motor
mobile device
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Korean (ko)
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KR20170031822A (en
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이순걸
정인양
이범주
장훈
김동한
이현민
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주식회사 포스코
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven

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  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

An electric mobile device is disclosed. An electric moving apparatus according to an embodiment of the present invention is an electromotive moving apparatus for switching a traveling direction in accordance with a moving direction of an operating lever. The moving type moving apparatus includes a operation detecting unit for detecting a moving direction of the operating lever, And a control unit for causing the vehicle to travel at a constant speed on the basis of a predetermined time.

Description

[0001] MOTOR DRIVEN MOVING DEVICE [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric mobile device, and more particularly, to an electric mobile device that moves by driving a motor that rotates a wheel by an operation of a driver.

2. Description of the Related Art In general, an electric mobile device such as an electric car or a boarding mobile device travels by the operation of a driver.

In many cases, the driver operates the control device repeatedly and continuously when driving the electric mobile device.

Therefore, in recent years, the number of times the driver operates the operating device is increased, so there is a great demand for convenience in reducing the number of operations of the operating device.

Particularly, in the case of an electric mobile device such as an electric wheelchair, in which the driver moves by operating the joystick lever, the driver must advance the joystick lever continuously to the driving position at the time of driving, so that the driver may feel tired at the time of driving for a long time.

U.S. Published Patent Application No. 2006/0180368

An embodiment of the present invention is to provide an electric moving device that automatically travels at constant speed when an operation lever is fixedly operated at the time of traveling.

According to an aspect of the present invention, there is provided an electromotive moving apparatus for changing a running direction in accordance with a moving direction of an operating lever, the electromotive moving apparatus comprising: an operation sense section for sensing a moving direction and an operation amount of the operation lever; And a controller for automatically traveling at a constant speed when the sensed movement direction is a forward direction and the detected manipulated variable holds an arbitrary value for a preset time period.

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In addition, the control unit may cause the vehicle to travel at a constant speed at a traveling speed corresponding to the detected manipulated variable at a time point when the sensed traveling direction is the forward direction and the detected manipulated variable holds an arbitrary value for a predetermined time.

In addition, the control unit may release the constant-speed running when the moving direction of the operating lever during the constant-speed running is the backward direction with respect to the neutral position.

The control unit may release the cruise control based on the rotational speed difference between the left and right wheels sensed by the motor sensing unit. The control unit senses the rotational speed of the left and right wheels, .

The control unit may continue the constant-speed running in the changed running direction when the moving direction of the operating lever during the constant-speed running is changed to the left or right turning direction.

A left and right motor for driving the left and right wheels for driving the electric mobile device to rotate; And a motor driving unit for driving the left and right motors. The control unit drives the left and right motors through the motor driving unit using input molding so as to prevent the left and right wheels from being rapidly changed in comparison with the operating speed of the operating lever .

According to another aspect of the present invention, there is provided an electromotive moving device for changing a running direction in accordance with an operation direction of a joystick lever, the joystick including the joystick lever and outputting a signal corresponding to an operation direction and an operation amount of the joystick lever; And a controller for receiving a signal corresponding to an operation direction and an operation amount of the joystick lever output from the joystick and analyzing the received signal to determine whether the operation direction of the joystick lever is a forward direction and the operation amount is an arbitrary value for a predetermined time An electric mobile device including a control portion that automatically travels at a constant speed can be provided.

In addition, when the joystick lever is moved in the reverse direction with respect to the neutral position during the constant speed running, the control unit may release the constant speed running.

In the embodiment of the present invention, when the operation lever is fixedly operated, the embodiment of the present invention can automatically perform the constant-speed running so that the constant-speed running can be performed conveniently, thereby improving the convenience in long-time operation.

1 is a configuration diagram of an electric mobile device according to an embodiment of the present invention.
2 is a control block diagram of an electric mobile device according to an embodiment of the present invention.
3 is a view for explaining an operation unit in an electric mobile device according to an embodiment of the present invention.
4 is a view showing the operation of the operation lever of the operation unit and the operation of the electric wheel chair in the electric mobile device according to the embodiment of the present invention.
5 is a diagram for explaining how the control unit selectively switches between a normal driving mode and a cruise mode in an electric mobile device according to an embodiment of the present invention.
6 is a view for explaining the execution of the cruise mode according to the operation lever operation in the electric mobile device according to the embodiment of the present invention.
7 is a view for explaining generation of a reference trajectory for a target speed in a controller of an electric mobile device according to an embodiment of the present invention.
8 is a view for explaining speed-position control in a control unit of an electric mobile device according to an embodiment of the present invention.
9 is a diagram for explaining a motor control algorithm in a controller of an electric mobile device according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiments to be described below are provided by way of example so that those skilled in the art can fully understand the spirit of the present invention. The present invention is not limited to the embodiments described below, but may be embodied in other forms. In the drawings, the width, length, thickness, etc. of components are exaggerated for the sake of convenience. Like reference numerals designate like elements throughout the specification.

The electric mobile device according to the embodiment of the present invention is a mobile device in which a driver operates to operate an operation device in the form of an operating lever and is a mobile device such as an electric wheelchair, an electric scooter, a electric forklift, Lt; RTI ID = 0.0 > remote < / RTI >

Hereinafter, for the sake of convenience of explanation, the electric moving device will be limited to a ride-on electric wheelchair.

1 is a configuration diagram of an electric mobile device according to an embodiment of the present invention.

1, an armrest 2 of one of two armrests of a main body 1 of an electric wheelchair, which is an electric mobile device, is provided with an operating portion 10 for operating an electric wheelchair by an occupant. The operation unit 10 is provided with an operation lever 11 which is vertically movable.

Left and right driving wheels 3a and 3b are provided below the main body 1 of the electric wheelchair. A motor device 20 for independently driving the left and right drive wheels 3a and 3b is provided between the left and right drive wheels 3a and 3b on the lower side of the main body 1. [

The auxiliary wheel 4 is provided on the rear side of the lower portion of the main body.

When the occupant operates the operating lever 11 of the operating portion 10, the motorized device moves the left and right driving wheels 3a and 3b by driving the motor device 20 in accordance with the operating lever operating information Drive.

2 is a control block diagram of an electric mobile device according to an embodiment of the present invention.

Referring to FIG. 2, the electric mobile device includes a control unit 30 that performs overall control.

An input unit of the control unit 30 is electrically connected to an operation unit 10 operated by a passenger and a motor sensing unit 60 that detects the rotation of the left and right motors 20a and 20b of the motor device 20.

The motor drive unit 40 for driving the left and right motors 20a and 20b of the motor device 20 is electrically connected to the output side of the control unit 30. [

On the output side of the control unit 30, a display unit 50 for indicating the operating state of the electric wheel chair is electrically connected.

FIG. 3 is a view for explaining an operation unit in an electric mobile device according to an embodiment of the present invention, and FIG. 4 is a view for explaining an operation relationship between an operation lever operation of an operation unit and an electric wheelchair in an electric mobile device according to an embodiment of the present invention Fig.

3 and 4, the operating portion 10 includes an operating lever 11 operated by a passenger. The operation lever 11 can be moved forward, backward and leftward and rightward so that the electric wheelchair can be driven to travel forward (+ X axis direction), backward (-X axis direction), leftward (+ Y axis direction) . For example, the operation lever 11 is configured in the form of a normal joystick so that it can be easily operated by one hand.

The operation unit 10 includes a operation detection unit 14 that detects operation lever operation information including an operation direction and an operation amount of the operation lever 11. [ The operation sensor unit 14 includes a first sensor 12 and a second sensor 13. [

The first sensor 12 detects an operation and an operation amount in the X-axis direction, which is the front-rear direction, of the operation lever 11. The first sensor 12 outputs X-axis direction manipulation information including the manipulation amount and the manipulation amount of the manipulation lever 11 in the X-axis direction. And transmits the X-axis direction manipulation information output from the first sensor 12 to the controller 30. [

The second sensor 13 detects an operation and an operation amount in the Y-axis direction of the operation lever 11 in the lateral direction. The second sensor 13 outputs the Y-axis direction manipulation information including the manipulation amount and the manipulation amount of the manipulation lever 11 in the Y-axis direction. Axis direction operation information output from the second sensor 13 to the control unit 30. [

The occupant sits on the chair of the electric wheelchair and operates the operating unit 10 to travel the electric wheelchair in a desired direction. The occupant receives the traveling direction command of the occupant by tilting the operating lever 11 in the desired direction, and transmits the operating direction and the manipulated variable to the control section 30. [

The control unit 30 receives the X axis direction operation information and the Y axis direction operation information through the first sensor and the second sensor 12 and 13, 20b of the motor unit 20 through the motor driving unit 40 on the basis of the determined rotational speed and rotational direction to determine the rotational speed and the rotational direction for driving the drive motors 20a, .

For example, when the operating lever 11 of the operating portion 10 is tilted in the advancing direction (+ X-axis direction) to fill the lever moving range, the controller 30 moves the electric wheelchair to the maximum speed set in the advancing direction Determines the rotational direction and speed of the required left and right motors 20a, 20b.

When the operating lever 11 of the operating portion 10 is tilted in the direction of the turning rotation (+ Y-axis direction) to less than the lever moving range, the controller 30 controls the operation of the operating lever 10 to move the electric wheelchair at a speed corresponding to the lever operation amount And determines the rotational direction and speed of the right and left motors 20a and 20b.

The control unit 30 also receives the operation direction and the operation amount of the operation lever 11 of the operation unit 10 in the same manner for the other movement directions (-X axis direction and -Y axis direction) , The driving speeds of the left and right motors 20a and 20b are individually determined and the electric wheelchair is driven in a desired direction of the occupant.

2, the motor sensing unit 60 detects the rotational speed and the rotational direction of the first encoder 61 and the right motor 20, which detect the rotational speed and rotational direction of the left motor 20a, And a second encoder 62 for outputting a signal. The motor sensing unit 60 may include various types of speed sensors instead of an encoder. The signal detected by the motor sensing unit 60 is transmitted to the control unit 30.

The control unit 30 recognizes the rotation speed and the rotation direction of the left and right motors 20a and 20b using the signal detected through the motor sensing unit 60. [

5 is a diagram for explaining how the control unit selectively switches between a normal driving mode and a cruise mode in an electric mobile device according to an embodiment of the present invention.

Referring to FIG. 5, the controller 30 performs mode switching between the normal driving mode and the cruise mode using a mode switching algorithm.

The mode switching algorithm receives the operation direction of the operation lever 11, the operation amount, and the operation time, and determines whether the control mode is the general running mode or not, based on the operation direction of the operation lever 11, the operation amount, . The mode switching algorithm executes the determined mode after determining the mode.

When the operation direction of the operation lever 11 is the + X axis direction and the manipulated variable keeps a certain value constant and the operating time continuously exceeds a preset time, the control unit 30 sets the mode switching algorithm To switch the control mode to the cruise mode. At this time, the predetermined time can be changed by the passenger. That is, when the passenger holds the operation lever 11 forwardly at a predetermined angle for a predetermined time or longer, the control unit 30 determines that the driver intends to straighten the electric wheelchair at the same speed for a predetermined time, Switch to cruise mode.

6 is a view for explaining the execution of the cruise mode according to the operation lever operation in the electric mobile device according to the embodiment of the present invention.

Referring to FIG. 6, the horizontal axis represents time and the vertical axis represents the running speed of the electric wheel chair.

When the occupant operates the operation lever 11 in the advancing direction (+ X-axis direction) from the dotted line in the neutral state to the solid line and the continuous operation time is longer than t1 in the state where the operation amount of the operation lever 11 is within the preset range , The control mode is switched from the normal running mode to the cruise mode. At this time, even if the passenger places the operation lever 11 or places it at the neutral position by the operation, the electric wheelchair runs at the traveling speed V1 corresponding to the last operation lever manipulation amount by executing the cruise mode.

Referring again to FIG. 5, the control unit 30 continues to perform the cruise mode even if the operation lever operation of the left turn or the right turn is performed in the cruise mode. Instead, the direction turn is performed together with the left turn or right turn operation information.

On the other hand, when the operating direction of the operating lever 11 is the -X-axis direction which is the backward direction, the control unit 30 switches the control mode from the cruise mode to the normal driving mode by using the mode switching algorithm. That is, the control unit 30 releases the cruise mode by moving the operation lever 11 backward.

Even if the operation lever 11 is set in the neutral state after the lapse of the predetermined time after the occupant has carried the operation lever 11 forward for a predetermined time or more after the rider boarded the electric wheelchair, And controls to continue running at the speed at that time.

The operation in the left and right travel direction during cruising is performed by operating the operating lever 11 by the occupant. When the operating lever 11 is moved in a desired direction, the traveling direction of the electric wheelchair is changed. At this time, the traveling speed of the electric wheelchair is kept constant even when the electric wheelchair is turned left or right during the cruise mode operation.

To stop the cruise driving function, once the operating lever 11 is pulled in the opposite direction of the traveling direction, the cruise mode is canceled.

When the occupant keeps the electric wheelchair straight ahead at the same speed for a predetermined time or more, that is, when the occupant holds the operation lever 11 forward for the set time, the controller 30 controls the control mode The cruising mode is set and the running speed corresponding to the operating lever operation amount at the cruise mode switching point is set to the target running speed in the cruise mode.

At the same time, the control unit 30 sets the wheel rotation speed corresponding to the operation lever operation amount to the target wheel rotation speed.

The controller 30 controls the rotational speeds of the left and right wheels 3a and 3b by driving the left and right motors 20a and 20b using the target driving speed and the target wheel rotational speed set through the motor driving unit 40. [

If the radius of the wheels r, the wheel distance between the d, the rotational speed of right wheels (3b) ω r, the rotational speed of the left wheel (3a) ω l as a target traveling speed v c is the following formula [1] As shown in Fig.

Figure 112015088510046-pat00001
Equation [1]

The target wheel speed ω c can be expressed by the following equation [2].

Figure 112015088510046-pat00002
Equation [2]

At this time, the right wheel rotational speed? R and the left wheel rotational speed? 1 can be expressed by the following equation [3].

Figure 112015088510046-pat00003

Figure 112015088510046-pat00004
Equation [3]

The signal input from the operation unit 10 during the execution of the cruise mode can be divided into a straight forward speed amount and a rotational speed amount. The change and the magnitude of the straight forward speed amount are ignored and the difference in rotational speed between the left and right wheels 3a and 3b of the electric wheel chair is controlled according to the rotational speed amount input value. Of course, in this case, the average value of the rotational speeds by the left and right wheels 3a, 3b maintains the target running speed of the cruise mode.

Thus, the rotation of the left and right wheels 3a and 3b is performed according to the operation control method by the locus control. That is, when a direction change input is given by a passenger, a sudden change of direction may occur, and when the right and left wheels 3a and 3b are controlled by reflecting the increase / decrease value of the speed as it is, Which can cause overturning.

Therefore, it is necessary to construct a system capable of increasing the sense of boarding while following a given direction switching command.

FIG. 7 is a diagram for explaining generation of a reference trajectory with respect to a target speed in a controller of an electric mobile device according to an embodiment of the present invention. FIG. 8 is a block diagram of a control unit of an electric mobile device according to an embodiment of the present invention FIG. 9 is a view for explaining a motor control algorithm in a control unit of an electric mobile device according to an embodiment of the present invention. FIG.

7 to 9, if there is a difference between the target rotation speed generated by the controller 30 and the current motor speed, a stepwise input corresponding to the difference will be an input value for changing the current speed of the motor In order to prevent a sudden change in the speed of the motor, the response of the secondary system is obtained in which the target rotation speed - the value corresponding to the rotation speed of the current motor is input.

That is, in order to prevent the sudden change in speed of the current rotation speed of each wheel to the target rotation speed (ω i , where i is r or l), the target speed of each motor is input to a general secondary impedance control system ( R, i ) is used as the speed difference drive command of the two motors. This is called input shaping, which prevents the reference rotation speed ( r, i ) of each motor from changing rapidly even if the joystick is quickly changed (that is, the manipulated amount (y i ) of the joystick changes rapidly).

The transfer function formula of the second system can be expressed as the following equation [4].

Figure 112015088510046-pat00005
Equation [4]

Where ζ is the damping ratio, and ω n is the resonant frequency.

The control unit 30 codes an algorithm having various control cycles, and all the algorithms are processed in an interrupt. The rotational speed command ω r, r of the right motor and the rotational speed command ω r, l of the left motor obtained in the above equation [4] are processed by interrupt-based speed control. At this time, the obtained response becomes the reference speed and the damping coefficient is held at 1, for example, so that there is no overshoot.

Figs. 4 and 5 are block diagrams of control loops for driving the motor with respect to the reference trajectory values for the reference speeds obtained every moment. Fig. For example, a reference trajectory for driving the motor is generated every 400 Hz with respect to the target speed transmitted from the joystick, and a position and speed control loop for the generated reference trajectory is controlled at a speed of 0.4 kHz, for example, A loop current control algorithm is performed to determine the duty cycle of a pulse width modulation (PWM) signal that directly drives the motor.

In the embodiment of the present invention, the automatic cruise mode switching operation is performed only in the forward traveling. In order to use the constant-speed cruising function, the occupant first selects the function menu of the operating unit 10 in the stop state. The function setting condition is 3 km / h at 4 km / h or more and sets the speed at that time as constant cruising speed when 3 seconds pass. When the speed of the constant-speed travel is set, the user is visually and audibly informed through the display unit 50.

The visual display causes an appropriate phrase to blink on the display window of the display unit 50, and audibly generates a warning sound. When the user operates the constant-speed-cruise function and pushes the operation lever 11 forwards and wants to travel at a speed higher than the set speed, such traveling is possible. When the operation lever 11 is set to the neutral position, the vehicle runs at the previous set speed.

The release of the running function is performed when the user pulls the operation lever 11 backward once. At this time, the electric wheelchair can be stopped. When the function is released, it informs the user visually and audibly.

In order to secure the safety of the user during the rotation section and the unexpected situation during the constant speed running, the constant speed running function is automatically released when the preset standard is exceeded. At this time, the electric wheelchair can be stopped.

If the deviation of the rotational speed of the left and right wheels 20a and 20b is greater than a predetermined value based on the rotational speeds of the left and right motors 20a and 20b detected through the motor sensing unit 60 sensing the respective rotational speeds of the left and right motors 20a and 20b The cruise mode can be switched to the normal running mode by releasing the cruise control function.

For example, when the running speed is less than 4 km / h to 6 km / h, if the deviation of the rotational speed of the left and right wheels is 30%, the constant speed running function is canceled.

In addition, when the running speed is less than 6 km / h to 8 km / h, if the deviation of the rotational speed of the left and right wheels is 20%, the constant speed running function is canceled.

Also, when the running speed is 8 km / h or more, if the deviation of the rotational speed of the left and right wheels is 10% or more, the constant speed running function is canceled.

On the other hand, when a sudden situation such as an overspeed obstacle, an obstacle, an obstacle collision, a departure of a passenger seat, or the like occurs, the cruise mode can be switched to the normal driving mode by releasing the cruise control function.

10: Operation part 11: Operation lever
12: first sensor 13: second sensor
20: motor device 20a, 20b: right and left motor
30: control unit 40: motor driving unit
50: Display section 60: Motor sensing section

Claims (10)

An electric mobile device for switching a traveling direction in accordance with a moving direction of an operating lever,
A operation sensor for sensing a moving direction and an operation amount of the operation lever; And
And a controller for automatically running at a constant speed when the detected movement direction is a forward direction and the detected manipulated variable holds an arbitrary value for a predetermined time. delete delete The method according to claim 1,
Wherein the controller moves the vehicle at a constant speed at a traveling speed corresponding to the detected manipulated variable when the sensed traveling direction is the forward direction and the detected manipulated variable holds an arbitrary value for a predetermined time. The method according to claim 1,
Wherein the control unit releases the constant speed running if the moving direction of the operating lever during the constant speed running is a backward direction with respect to the neutral position. The method according to claim 1,
And a motor sensing unit for sensing a rotation speed of left and right wheels for driving the electric mobile device,
Wherein the control unit releases the cruise control based on a difference in rotational speed between the left and right wheels sensed by the motor sensing unit. The method according to claim 1,
Wherein the control section continues the constant-speed running in the changed running direction when the moving direction of the operating lever during the constant-speed running is changed to the left or right turning direction. 8. The method of claim 7,
A left and right motor for driving the left and right wheels for driving the electric mobile device to rotate;
And a motor driver for driving the left and right motors,
Wherein the control unit drives the left and right motors through the motor driving unit using input molding to prevent the left and right wheels from rapidly changing in comparison with the operating speed of the operating lever. An electric mobile device for switching a traveling direction in accordance with an operating direction of a joystick lever,
A joystick including the joystick lever and outputting a signal corresponding to an operation direction and an operation amount of the joystick lever; And
And a control unit for receiving a signal corresponding to an operation direction and an operation amount of the joystick lever output from the joystick and analyzing the received signal to determine whether the operation direction of the joystick lever is a forward direction and the manipulated variable holds an arbitrary value for a predetermined time And a control unit that automatically travels at a constant speed. 10. The method of claim 9,
Wherein the control unit releases the cruise control when the joystick lever moves in the backward direction with respect to the neutral position during the constant speed running.
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JP2022138312A (en) * 2021-03-10 2022-09-26 ヤマハ発動機株式会社 Power-assisted wheelchair, drive unit, control method, and computer program
KR102643693B1 (en) * 2022-04-05 2024-03-05 오봉석 Environment-sensitive electric wheelchair system using a geomagnetic joystick

Citations (4)

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Publication number Priority date Publication date Assignee Title
JP2000024048A (en) 1998-07-14 2000-01-25 Hitachi Ltd Motor-driven wheelchair
JP2002233008A (en) 2001-02-05 2002-08-16 Mitsubishi Automob Eng Co Ltd Speed-control device for motor-driven vehicle
JP2010254285A (en) 2009-03-31 2010-11-11 Equos Research Co Ltd Vehicle
JP2011139567A (en) 2009-12-28 2011-07-14 Sanyo Electric Co Ltd Drive control device and electric vehicle mounted with the same

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Publication number Priority date Publication date Assignee Title
TWI285547B (en) 2005-02-16 2007-08-21 Kwang Yang Motor Co Fixed speed control device of electric wheelchair

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000024048A (en) 1998-07-14 2000-01-25 Hitachi Ltd Motor-driven wheelchair
JP2002233008A (en) 2001-02-05 2002-08-16 Mitsubishi Automob Eng Co Ltd Speed-control device for motor-driven vehicle
JP2010254285A (en) 2009-03-31 2010-11-11 Equos Research Co Ltd Vehicle
JP2011139567A (en) 2009-12-28 2011-07-14 Sanyo Electric Co Ltd Drive control device and electric vehicle mounted with the same

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