TWI643609B - Electric wheelchair, control method thereof and control system thereof - Google Patents

Abstract

The present disclosure provides an electric wheelchair, a control method thereof, and a control system therefor. The control method includes the following steps. First, according to the posture of the handheld controller, the control signal is output to the electric wheelchair in a wireless manner. Then, the electric wheelchair performs corresponding motion according to the control signal.

Description

Electric wheelchair, control method thereof and control system thereof

The present disclosure relates to an electric wheelchair, a control method thereof and a control system thereof, and more particularly to an electric wheelchair according to the posture movement of the hand-held controller, a control method thereof and a control system thereof.

Conventional wheelchairs typically require the occupant to push the wheels themselves to operate the wheelchair forward, backward or steering. Or, someone needs to push the wheelchair forward, back or turn behind. In order to care for patients with inconvenient movements, some traditional wheelchairs can be operated with a rocker. However, this type of operation is still not very convenient for some patients, such as muscle atrophy patients.

Therefore, there is an urgent need to propose a new technology to improve the aforementioned problems. In addition, the conventional electric wheelchair is usually determined by a single controller and controls the speed and direction of the left and right wheels at the same time. The left and right wheels cannot be independently controlled and operate independently.

Accordingly, the present disclosure proposes an electric wheelchair, a control method thereof, and a control system thereof that can improve the aforementioned conventional problems.

According to an embodiment of the present disclosure, a method of controlling an electric wheelchair is provided. The control method of the electric wheelchair includes the following steps. According to a posture of a handheld controller, wirelessly outputting a plurality of control signals to a plurality of driving devices of an electric wheelchair, wherein the number of control signals and the number of driving devices are the same; and the driving devices of the electric wheelchair are respectively controlled according to the controls The signal performs corresponding motion; detects whether the handheld controller is in an abnormal state; and if the handheld controller is in an abnormal state, temporarily stops issuing the control signals to the electric wheelchair.

According to another embodiment of the present disclosure, a control system for an electric wheelchair is provided. The control system of the electric wheelchair includes a handheld operator and an electric wheelchair. The handheld operator includes an acceleration sensor and a controller. The acceleration sensor is configured to output corresponding acceleration information according to a posture of the handheld controller. The controller outputs a complex control signal according to the acceleration information. The electric wheelchair includes a wheelchair body and a plurality of driving devices. The wheelchair body includes a plurality of wheels. The driving devices are detachably mounted on the wheels of the wheelchair body, respectively, for controlling the rotation of the wheels according to the control signals to perform a corresponding movement, wherein the number of control signals, the driving device and the wheels are the same. The controller of the handheld controller is further configured to: detect whether the handheld controller is in an abnormal state according to the acceleration information; and, if the handheld controller is in an abnormal state, stop issuing the control signals to the electric wheelchair.

According to another embodiment of the present disclosure, an electric wheelchair is provided. The electric wheelchair includes a wheelchair body and a plurality of driving devices. The wheelchair body includes a plurality of wheels. The driving devices are detachably mounted on the wheels of the wheelchair body. Wherein, the driving devices are respectively configured to be based on the controls from a handheld controller The control signal controls the wheelchair body to perform a corresponding motion, and the control signal is determined according to a posture of the handheld controller, wherein the control signal, the driving device and the number of wheels are the same; and the driving devices are further configured to respond to the handheld operator The multiple stops the signal and stops the wheels.

In order to better understand the above and other aspects of the present disclosure, the preferred embodiments are described below in detail with reference to the accompanying drawings.

100‧‧‧Control system

110‧‧‧Electric wheelchair

111‧‧‧ Wheelchair body

1111‧‧‧Right wheel

1112‧‧‧Revolver

112‧‧‧Right drive

1121‧‧‧First wireless control module

1122‧‧‧First controller

1123‧‧‧Speed Sensor

1124‧‧‧Drive Module

120‧‧‧Handheld manipulator

120u‧‧‧ display surface

121‧‧‧Second wireless control module

122‧‧‧Second controller

123‧‧‧Acceleration sensor

113‧‧‧Left drive

a, a ₁ ~ a ₅₀ , a _c1 ‧ ‧ acceleration average

A1, A2‧‧‧ angle

C1‧‧‧ counting parameters

C2‧‧‧ Drop parameters

P1‧‧‧Vertical orientation

P2‧‧‧ horizontal orientation

S1‧‧‧ control signal

S110, S120, S130, S205~S265‧‧‧ steps

X, y, z, X, Y, Z‧‧‧ axial

FIG. 1 is a schematic diagram of a control system in accordance with an embodiment of the present disclosure.

FIG. 2 is a functional block diagram of the right driving device and the handheld operating device of FIG. 1 .

FIG. 3 is a flow chart showing a control method of an electric wheelchair according to an embodiment of the present disclosure.

4A to 4C are schematic views showing several control methods in accordance with an embodiment of the present disclosure.

5A to 5D are schematic views showing several control methods in accordance with an embodiment of the present disclosure.

FIG. 6 is a flow chart showing whether the handheld operator is in an abnormal state according to an embodiment of the present disclosure.

FIG. 7 is a schematic diagram showing an array of acceleration averages according to an embodiment of the invention.

Please refer to FIG. 1 , which illustrates a schematic diagram of a control system 100 in accordance with an embodiment of the present disclosure. Control system 100 includes an electric wheelchair 110 and a hand-held manipulator 120. The electric wheelchair 110 can be controlled to perform different movements by changing the posture of the handheld operator 120. For example, the hand-held manipulator 120 has an X-axis, a Y-axis, and a Z-axis that are perpendicular to each other, and the aforementioned posture is, for example, a posture in which the hand-held manipulator 120 rotates around at least one of the X-axis, the Y-axis, and the Z-axis. In an embodiment, an operator (such as a patient) of the handheld operator 120 can sit in the wheelchair body 111 to operate the electric wheelchair 110. However, the disclosed embodiment is not limited thereto, and the operator can of course be located outside the electric wheelchair 110. The electric wheelchair 110 is operated.

The electric wheelchair 110 includes a wheelchair body 111 and a plurality of driving devices such as a right driving device 112 and a left driving device 113. The disclosed embodiments are not limited to the type of wheelchair body 111, which may be a wheelchair of any kind or construction. The wheelchair body 111 includes a plurality of wheels, such as a right wheel 1111 and a left wheel 1112. The right driving device 112 and the left driving device 113 are respectively detachably mounted on the right wheel 1111 and the left wheel 1112 of the wheelchair body 111 to drive the right wheel 1111 and the left wheel 1112 to rotate. The right driving device 112 and the left driving device 113 can respectively control the rotational speeds of the right wheel 1111 and the left wheel 1112 to control the moving speed of the wheelchair body 111 and change the moving direction. In another embodiment, the number of wheels of the wheelchair body 111 may be one or more than two, such as three or more. The number of driving devices may be equal to the number of wheels of the wheelchair body 111.

For example, the right driving device 112 and the left driving device 113 can respectively control the rotation speed of the right wheel 1111 and the rotation speed of the left wheel 1112 to control the steering of the wheelchair body 111. For example, when the rotational speed of the control left wheel 1112 is faster than the rotational speed of the right wheel 1111, the wheel The chair body 111 can be turned right or forward right. For another example, when the rotation speed of the right wheel 1111 is controlled to be faster than the rotation speed of the left wheel 1112, the wheelchair body 111 can be turned left or left in the forward direction. However, the disclosed embodiment is not limited thereto. By controlling the rotational speed of the right wheel 1111 and the rotational speed of the left wheel 1112, the wheelchair body 111 can be subjected to a variety of other different motions.

FIG. 2 is a functional block diagram of the right driving device 112 and the handheld operator 120 of FIG. 1 . The right driving device 112 includes a first wireless control module 1121, a first controller 1122, a rotational speed sensor 1123, and a driving module 1124. The first wireless control module 1121 is, for example, a module using wireless communication technologies such as Bluetooth communication, Radio Frequency Identification (RFID), WiFi, Near Field Communication (NFC), or Long Term Evolution (LTE). . The rotational speed sensor 1123 can sense the rotational speed of the right wheel 1111 or calculate the rotational speed of the right wheel 1111 according to the rotational speed of the drive shaft of the drive module 1124. The speed value sensed or calculated by the speed sensor 1123 can be transmitted to the handheld operator 120 through the first wireless control module 1121 for display on the display surface 120u of the handheld operator 120. The first controller 1122 is configured to control the driving module 1124 to drive the right wheel 1111 to rotate. The structure of the left driving device 113 is similar to that of the right driving device 112, and details are not described herein again. The present disclosure embodiment does not limit the configuration of the left driving device 113 and the right driving device 112 as long as it is capable of receiving the control signal S1 of the hand-held manipulator 120 and driving the right wheel 1111 and the left wheel 1112 of the wheelchair body 111 accordingly.

As shown in FIG. 2, the handheld controller 120 includes a second wireless control module 121, a second controller 122, and an acceleration sensor 123. The control signal S1 of the handheld controller 120 can be transmitted to the right driving device through the second wireless control module 121. The first wireless control module 1121 of 112 and the first wireless control module of the left drive device 113. The second wireless control module 121 is, for example, a module using wireless communication technologies such as Bluetooth communication, wireless radio frequency, WiFi, near field communication or long term evolution technology, so that the handheld controller 120 can pass through the second wireless control module 121 and the electric device. The right drive unit 112 and the left drive unit 113 of the wheelchair 110 can communicate via the aforementioned wireless communication protocol.

Please refer to FIG. 3 , which is a flow chart of a method for controlling an electric wheelchair according to an embodiment of the present disclosure.

In step S110, a connection between the handheld manipulator 120 and the electric wheelchair 110 is established. For example, in the case of Bluetooth communication technology, the handheld operator 120 and the right driving device 112 and the left driving device 113 of the electric wheelchair 110 can be paired through the Bluetooth communication protocol, when the handheld operator 120 and the right driving device 112 and When the left driving device 113 is successfully paired at the same time, the process proceeds to step S120, otherwise the connection is attempted. In another embodiment, the handheld operator 120 and the right driving device 112 and the left driving device 113 of the electric wheelchair 110 can be connected through other wireless communication protocols, but only when the handheld operator 120 and the right driving device 112 and the left When the driving device 113 is successfully connected at the same time, the process proceeds to step S120, otherwise the connection is continued.

In addition, prior to step S110, the handheld controller 120 may be first authenticated. For example, the handheld controller 120 must be registered in advance on a cloud server (not shown). When the electric wheelchair 110 is to be operated, the handheld operator 120 can scan the barcode on the electric wheelchair 110 (such as a two-dimensional barcode), and then the cloud server (not shown) obtains the identity data of the handheld operator 120, and then confirms the handheld manipulation. The identity of the instrument 120. Since the handheld controller 120 has completed the identity registration in advance, it is verified After the identity of the manipulator 120 is held, the process proceeds to step S110 to start the connection between the two.

In step S120, referring to FIG. 1 simultaneously, the handheld controller 120 wirelessly outputs the corresponding two control signals S1 to the right driving device 112 and the left driving device 113 of the electric wheelchair 110 according to the posture thereof to control The movement of the wheelchair body 111. The control signal S1 transmitted by the hand-held controller 120 to the right driving device 112 and the control signal S1 of the left driving device 113 may be the same or different. Compared with the single signal control two driving device, since the second embodiment controls the right driving device 112 and the left driving device 113 by the two control signals S1, the electric wheelchair 110 has better maneuverability and can perform more kinds of movements. .

The aforementioned "attitude" is, for example, a posture in which the display surface 120u of the hand-held manipulator 120 is in a horizontal orientation, in a vertical orientation, or on one side, such as front, rear, left, and right sides. In the present embodiment, the handheld controller 120 includes an acceleration sensor (G sensor) 123. When the posture of the handheld controller 120 is changed, the axes of the acceleration sensor 123 (such as X, Y, and Z axes) are sensed. The measured acceleration component changes accordingly, and the second controller 122 of the handheld operator 120 outputs different (or corresponding) control signals S1 to the electric wheelchair 110 to control the wheelchair body 111 to perform different (or corresponding) motion.

In an embodiment, the relationship between the acceleration component sensed by each axis of the acceleration sensor 123 and the motion of the electric wheelchair 110 can be stored in a database (not shown), and the second controller 122 can The database queries or determines the corresponding wheelchair movement after calculation to output a corresponding control signal S1. This database is available Stored in the electric wheelchair 110, the handheld operator 120 or the cloud server. The aforementioned relationship between the respective axial acceleration components and the movement of the electric wheelchair 110 can be set or modified by an application (APP), and the application can be loaded and executed by the second controller 122 of the handheld operator 120. In addition, the method for controlling the electric wheelchair of the embodiment of the present disclosure can also be completed by the application.

In step S130, referring to FIG. 1 simultaneously, the right driving device 112 and the left driving device 113 of the electric wheelchair 110 respectively control the electric wheelchair 110 to perform corresponding motion according to the second control signal S1, such as stationary and forward (eg, toward the +y axis). Toward, retreat (such as to -y axis), right turn (such as around -z axial rotation) or left turn (such as around +z axial rotation). The x-axis, the y-axis, and the z-axis of the electric wheelchair 110 of FIG. 1 are perpendicular to each other, and the plane defined by the X-axis and the Y-axis of the hand-held manipulator 120 is substantially parallel to the display surface of the hand-held manipulator 120. 120u.

In addition, in step S120 and S130, if the electric wheelchair 110 and the hand-held manipulator 120 are disconnected, the process returns to step S110 until the hand-held manipulator 120 and the right driving device 112 and the left driving device 113 are successfully connected to the step S120. And S130.

Please refer to FIGS. 4A-4C for a schematic diagram of several control methods in accordance with an embodiment of the present disclosure. As shown in FIG. 4A, when the hand-held manipulator 120 is in a horizontal posture, if the X-Y plane is in a horizontal orientation P2, the wheelchair body 111 is stationary. As shown in FIG. 4B, when the hand-held manipulator 120 is tilted forward, such as about -X axial rotation, the wheelchair body 111 is advanced, as in the +y axial direction. As shown in FIG. 4C, when the hand-held manipulator 120 is tilted backward, such as about the +X axis, the wheelchair body 111 is retracted. As in the -y axial direction. In addition, the speed at which the wheelchair body 111 advances or retreats may be proportional to the tilt angle of the hand-held manipulator 120. For example, the smaller the angle A1 between the display surface 120u and the vertical orientation P1 (the more inclined), the faster the wheelchair body 111 advances or retreats, but the disclosed embodiment is not limited thereto.

Please refer to FIGS. 5A-5D for a schematic diagram of several control methods in accordance with an embodiment of the present disclosure. As shown in FIG. 5A, when the hand-held manipulator 120 is tilted to the right, such as about the +Y axis, the wheelchair body 111 turns to the right, as in the -z axis. When the angle A2 between the display surface 120u and the vertical orientation P1 is smaller (the more inclined), the speed at which the wheelchair body 111 turns right is faster. As shown in FIG. 5B, when the hand-held manipulator 120 is rotated to the vertical orientation P1, if the display surface 120u is in the vertical orientation P1, the wheelchair body 111 is the fastest to turn right. As shown in FIG. 5C, when the hand-held manipulator 120 of FIG. 5B continues to rotate about the +Y axis, the right-hand speed of the wheelchair body 111 begins to slow down. For example, the larger the angle A2 between the display surface 120u of the 5Cth diagram and the vertical orientation P1, the slower the speed at which the wheelchair body 111 turns right. When the display surface 120u of the hand-held manipulator 120 is horizontal and downward, the wheelchair body 111 is stationary. As shown in FIG. 5D, when the hand-held manipulator 120 is tilted to the left, as in the -Y axis, the wheelchair body 111 turns to the left, as in the +z axis. Similarly, the smaller the angle A2 between the display surface 120u and the vertical orientation P1 (the more inclined), the faster the leftward rotation of the wheelchair body 111. The other leftward tilting posture of the handheld manipulator 120 of FIG. 5D (eg, the display surface 120u is in the vertical orientation P1, and the rotation from the vertical orientation P1 to the downward orientation) may be similar to the corresponding motion of the electric wheelchair 110. The relationship between the posture and the corresponding movement of the electric wheelchair 110 will not be described herein.

In summary, the second controller 122 can determine whether the display surface 120u is inclined from the horizontal orientation P2 to the vertical orientation P1 (as shown in FIGS. 5A-5B). If the display surface 120u is inclined from the horizontal orientation P2 to the vertical orientation P1, then The smaller the angle A2 between the display surface 120u and the vertical orientation P1, the faster the speed of the electric wheelchair 110. In addition, the second controller 122 can determine whether the display surface 120u is inclined from the vertical orientation P1 to the horizontal orientation P2 (as shown in FIGS. 5B-5C), and if the display surface 120u is inclined from the vertical orientation to the horizontal orientation P2, the display surface The larger the angle A1 between 120u and the vertical orientation P1, the slower the speed of movement of the electric wheelchair 110.

In one embodiment, the hand-held manipulator 120 can tilt right and forward at the same time to control the wheelchair body 111 to turn right during advancement. In another embodiment, the hand-held manipulator 120 can simultaneously tilt left and lean forward to control the wheelchair body 111 to turn left during advancement.

In one embodiment, the handheld operator 120 can respond to a stop command and stop issuing the control signal S1 to the electric wheelchair 110 to suspend control of the wheelchair body 111. For example, the display surface 120u of the handheld operator 120 displays a virtual button, and after triggering the virtual button (ie, issuing a stop command), the operator desires to stop the movement of the wheelchair body 111. The handheld operator 120 responds to the stop command and sends two stop signals to the right drive unit 112 and the left drive unit 113 of the electric wheelchair 110 to stop the electric wheelchair 110. The stop signal of the present invention is a type of control signal S1 that represents a signal that causes the electric wheelchair 110 to stop moving. For example, when the right driving device 112 and the left driving device 113 receive the stop operation signal, the driving of the electric wheelchair 110 is stopped to perform any movement, or the forced stopping (such as braking) is being exercised. Electric wheelchair 110 in the middle. Then, unless the stop command is released, the handheld operator 120 no longer sends any control signal S1 to the electric wheelchair 110, so that the electric wheelchair 110 can be prevented from performing unintended actions to ensure the safety of the occupant.

In another embodiment, the handheld operator 120 can respond to a reply command and reply to issue the control signal S1 to the electric wheelchair 110. For example, when the operator triggers the aforementioned virtual button again (ie, issues a reply command), it indicates that the operator wants to restart the operation of the wheelchair body 111. In response to the reply command, the hand-held manipulator 120 continues to issue the control signal S1 to the electric wheelchair 110 to restart control of the wheelchair body 111. The aforementioned virtual buttons can also be replaced by physical buttons. In addition, during the process of stopping the issuance of the control signal S1 to the electric wheelchair 110, the hand-held manipulator 120 and the electric wheelchair 110 can still remain connected, but in another embodiment, the line can also be disconnected, when a reply command is received. The connection between the handheld operator 120 and the electric wheelchair 110 is performed (as in step S110).

In an embodiment, the second controller 122 can detect whether the handheld operator 120 is in an abnormal state. If the handheld operator 120 is in an abnormal state, any control signal S1 may be stopped from being sent to the electric wheelchair 110 to prevent the handheld operator 120 in an abnormal state from causing unintended control of the electric wheelchair 110. The following is an example of Figure 6.

Please refer to FIG. 6 , which illustrates a flow chart for detecting whether the handheld operator 120 is in an abnormal state according to an embodiment of the present disclosure.

First, the acceleration sensor 123 outputs the current average value a of the acceleration, wherein the acceleration average value a is, for example, the square of each axial acceleration component of the acceleration sensor 123, and then adds the root value, and may also be the acceleration sensing. The root mean square value of each axis acceleration component of the device 123. As shown in FIG. 7, a schematic diagram of an array P1 of acceleration averages a according to an embodiment of the present invention is shown. The second controller 122 temporarily stores the second predetermined amount of acceleration averages a ₁ to a ₅₀ in the array P1 according to the timing, wherein the second predetermined amount is, for example, 50, but more or less.

Then, in step S205, the second controller 122 advances the acceleration average value a ₂ to a ₅₀ other than the acceleration average value a ₁ of the first pen (counting parameter C1=1) in the array P1, that is, as in the first As shown in Fig. 7, the acceleration average value a _{i is} replaced by the acceleration average value a _i , where i is a positive integer between 2 and 50, and the latest acceleration average value a is temporarily stored in the array P1. One stroke becomes the acceleration average a ₅₀ .

In step S210, the second controller 122 sets the value of the count parameter C1 to a value of the second predetermined amount, for example, 50, and sets the initial value of the drop parameter C2 to zero.

In step S215, the second controller 122 determines whether the acceleration average value a _c1 (in this step, a ₅₀ ) is equal to a preset value, for example, a value between 5 and 9.8, but may be other values. Range, where the subscript C1 of a represents the value of the count parameter C1. If the acceleration average value a _c1 is equal to the preset value, indicating that the handheld operator 120 is in normal operation, not in an abnormal state, then proceeding to step S220, continuing to transmit the corresponding control signal S1 to the electric wheelchair 110 according to the posture of the handheld operator 120, and then Returning to step S205, it continues to judge the latest acceleration average value a of the next stroke. The aforementioned abnormal state is, for example, that the hand-held manipulator 120 is falling or the hand-held manipulator 120 is not shaking properly but has not fallen. If the acceleration average value a _c1 falls outside the preset value, it means that the handheld operator 120 may be in an abnormal state, so the process goes to step S225 to temporarily stop transmitting the control signal S1 to the electric wheelchair 110 to avoid the hand-held control that may be falling. Meter 120 causes unintended control of electric wheelchair 110.

Next, in step S230, the second controller 122 sets the value of the count parameter C1 to ₁ to judge from the average value a ₁ of the acceleration of the first pen (C1 = 1) in the array P1 until the average value of all the accelerations The determination of a ₁ to a _{50 is} completed to determine whether the hand-held manipulator 120 is falling.

In step S235, the second controller 122 determines whether the acceleration average value a _c1 is less than a predetermined value (for example, 1); if so, it indicates that the handheld operator 120 may be falling, and proceeds to step S240; if not, proceeds to step S260.

In step S240, since the acceleration average value a _{c1 is} less than 1, the second controller 122 accumulates the value of the drop parameter C2. As shown in step S245, if the value of the drop parameter C2 is accumulated to the first predetermined amount, for example, five strokes, it is judged that the hand-held manipulator 120 is in a state of being dropped, and therefore proceeds to step S250. In step S250, the second controller 122 transmits a stop operation signal to the electric wheelchair 110, and unless the handheld operator 120 receives the reply command as described above, the handheld operator 120 no longer transmits any control signal S1 to the electric wheelchair 110. The handheld operator 120 that is falling is prevented from causing unintended control of the electric wheelchair 110, thereby ensuring the safety of the occupant. In step S245, if the value of the drop parameter C2 is not accumulated to the first predetermined amount, then the process proceeds to step S255, the second controller 122 accumulates the value of the count parameter C1, and then continues to the next acceleration average value a in the array P1. _C1 makes a judgment.

In step S260, the second controller 122 determines whether the value of the count parameter C1 is set to a second predetermined amount, that is, whether the acceleration average value a _c1 is the last data in the array P1; if so, indicating the total acceleration in the array P1 The average value a _c1 has been judged to be completed, and the process returns to step S205 to continue to judge the next latest acceleration average value a; if not, the process proceeds to step S265 to accumulate the value of the count parameter C1, and proceeds to step S235 to continue to the array P1. The next acceleration average value a _c1 is judged.

As can be seen from the above, the second controller 122 temporarily stores the second predetermined amount of acceleration average a in the array P1, and then lists the latest acceleration average a as one of the arrays P1, and when the latest acceleration average When a falls within an abnormal value range (indicating that the hand-held manipulator 120 is in an abnormal state, which may be falling or shaking too much), the second controller 122 then determines all the acceleration averages a in the array P1 to determine the hand-held manipulator 120. Whether it is falling. When the number of strokes in the array P1 in which the average value of the acceleration a is less than 1 is equal to or exceeds the first predetermined amount, the hand-held manipulator 120 is judged to be falling.

In summary, in the method for controlling an electric wheelchair according to the embodiment, the electric wheelchair is controlled to perform corresponding motion by changing the posture of the handheld operator. The "attitude" is, for example, a posture in which the display surface of the hand-held manipulator is horizontally oriented, vertically oriented, and/or to one side, such as front, back, left, and/or right, and the "corresponding motion" is, for example, forward and backward. , turn right and / or turn left. In addition, the different postures of the handheld operator can also control the speed of the corresponding movement of the electric wheelchair. The relationship between the posture of the hand-held manipulator and the corresponding motion of the electric wheelchair is not limited by the foregoing embodiments, Any of the postures of the manipulator can control the electric wheelchair to perform any of the aforementioned plurality of exercises. In addition, the relationship between the posture of the handheld controller and the corresponding movement of the electric wheelchair can also be changed through the setting of the application.

In the above, the disclosure has been disclosed in the above preferred embodiments, and is not intended to limit the disclosure. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the disclosure. Therefore, the scope of protection of this disclosure is subject to the definition of the scope of the appended claims.

Claims (12)

The invention relates to a method for controlling an electric wheelchair, comprising: wirelessly outputting a plurality of control signals to a plurality of driving devices of an electric wheelchair according to a posture of a handheld operator, wherein the control signals are the same as the number of the driving devices; The driving devices of the electric wheelchair respectively control the electric wheelchair to perform a corresponding motion according to the control signals; detect whether the handheld operating device is in an abnormal state; and if the handheld operating device is in the abnormal state, temporarily stop issuing the The control signal is sent to the electric wheelchair; wherein the step of detecting whether the handheld controller is in the abnormal state comprises: calculating an average value of the acceleration of the handheld controller; determining whether the average value of the acceleration is equal to a preset value; If the average value of the acceleration is not equal to the preset value, it is determined that the handheld controller is in the abnormal state. The control method of claim 1, wherein the control method further comprises: determining whether the handheld controller is tilted from a horizontal orientation to a vertical orientation; and if the handheld operator tilts from a horizontal orientation to a vertical orientation, when the handheld The smaller the angle between the manipulator and the vertical orientation, the electric wheelchair controls the corresponding movement The faster the speed. The control method of claim 1, further comprising: when the handheld controller is in a vertical orientation, the electric wheelchair controls the corresponding motion to be the fastest. The control method of claim 1, further comprising: determining whether the handheld controller is tilted from a vertical orientation to a horizontal orientation; and if the handheld operator tilts from a vertical orientation to a horizontal orientation, when the handheld controller is The greater the angle between the vertical orientations, the slower the speed of the electric wheelchair controlling the corresponding motion. The control method of claim 1, wherein the handheld controller has an X-axis, a Y-axis, and a Z-axis perpendicular to each other, the posture being the handheld operator about the X-axis, the Y-axis, and the Z-axis At least one of the gestures of rotation. The control method of claim 1, further comprising: in response to a stop command, stopping sending the control signals to the electric wheelchair. The control method of claim 6, wherein after the step of stopping the instruction and stopping the sending of the control signals to the electric wheelchair, the control method further comprises: In response to a reply command, the response is sent to the electric wheelchair. The control method of claim 1, wherein the step of detecting whether the handheld controller is in the abnormal state comprises: calculating a plurality of the acceleration averages of the handheld controller; determining the average values of the accelerations It is not equal to whether the number of the preset values exceeds a predetermined amount; and if the number of the acceleration averages that is not equal to the preset value exceeds the predetermined amount, it is determined that the handheld controller is in a falling state. The control method of claim 8, wherein the step of detecting whether the handheld controller is in the abnormal state further comprises: once it is determined that any of the acceleration averages is not equal to the preset value, Temporarily stopping to send the control signals to the electric wheelchair; and if the number of the acceleration averages that is not equal to the preset value does not exceed the predetermined amount, replies to the control signals to the electric wheelchair. The control method of claim 8, wherein the step of detecting whether the handheld controller is in the abnormal state further comprises: once it is determined that any of the acceleration averages is not equal to the preset value, Temporarily stopping sending the control signals to the electric wheelchair; and not sending the control signals to the electric wheel before receiving a reply command chair. A control system for an electric wheelchair includes: a handheld control device, comprising: an acceleration sensor for outputting corresponding acceleration information according to a posture of the handheld controller; and a controller for outputting a plurality of signals according to the acceleration information And an electric wheelchair comprising: a wheelchair body including a plurality of wheels; and a plurality of driving devices respectively detachably mounted on the plurality of wheels of the wheelchair body for respectively controlling the plurality of signals according to the control signals The wheel rotates to perform a corresponding movement, wherein the control signals and the driving devices are the same as the number of the wheels; wherein the controller of the handheld controller is further configured to: detect according to the acceleration information Whether the handheld controller is in an abnormal state; and if the handheld controller is in the abnormal state, respectively issuing a plurality of stop signals to the driving devices, and then stopping sending the control signals to the electric wheelchair; wherein the handheld control The controller of the instrument is further configured to: detect whether the handheld controller is in the abnormality State comprises the step of: Calculating an average value of the acceleration of the handheld controller; determining whether the average value of the acceleration is equal to a preset value; and if the average value of the acceleration is not equal to the preset value, determining that the handheld controller is in the abnormal state. An electric wheelchair includes: a wheelchair body including a plurality of wheels; and a plurality of driving devices respectively detachably mounted on the wheels of the wheelchair body; wherein the driving devices are respectively configured to be controlled according to a hand The plurality of control signals of the device control the body of the wheelchair to perform a corresponding motion, wherein the control signals are determined according to a posture of the handheld controller, wherein the control signals, the driving devices are the same as the number of the wheels; The driving device is further configured to stop the running of the plurality of wheels in response to the plurality of stop signals from the handheld operator; wherein the handheld controller is configured to: detect whether the handheld controller is in the abnormal state, including Calculating an acceleration average of the handheld controller; determining whether the acceleration average is equal to a preset value; and if the acceleration average is not equal to the preset value, determining that the handheld controller is in the abnormal state.