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Electric wheelchair driving control method and system

An electric wheelchair and driving control technology, which is applied in vehicle ambulance, patient chairs or special transportation tools, medical transportation, etc., can solve problems affecting the driving stability of the vehicle, the increase of the yaw angular velocity of the wheelchair, and the insecurity of the occupants. To achieve the effect of improving control stability, increasing the sense of security, and avoiding safety risks and discomfort

Active Publication Date: 2021-02-05
NANJING INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If a person using an electric wheelchair has an excessively large steering angle when the vehicle speed is high due to poor physical coordination and insufficient operating experience, the yaw rate of the wheelchair will increase, which may not only affect the driving stability of the vehicle, but also cause the occupants to feel unsafe. It may even cause the electric wheelchair to tip over

Method used

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  • Electric wheelchair driving control method and system
  • Electric wheelchair driving control method and system

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Embodiment Construction

[0043] First, use figure 1 The configuration of the electric wheelchair travel control system of this embodiment will be described. figure 1 It is a diagram of the driving control system of the electric wheelchair according to the present embodiment.

[0044] The driving control system of the electric wheelchair mainly includes a joystick 1, a left wheel speed sensor 2, a right wheel speed sensor 3, a wheelchair controller 4, a left drive motor 5, and a right drive motor 6.

[0045] The joystick 1 is installed on the armrest of the electric wheelchair together with the wheelchair display and switches. The wheelchair user can transmit the control signal to the wheelchair controller 4 through the direction and angle of the joystick 1, and then control the electric wheelchair steering and / or The direction and size of travel. In this embodiment, the control handle adopts a 4-20mA current type output handle, and adopts dual-axis output. Manipulating forward along the direction o...

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PUM

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Abstract

The invention provides an electric wheelchair driving control method and system. According to the method, the current speed of an electric wheelchair and the intention of a user for operating a handleare detected; the possible yaw velocity of the electric wheelchair is calculated according to a target speed and a target turning radius; when the possible yaw velocity exceeds a preset value, the actual yaw velocity is controlled not to exceed the preset value by automatically controlling the rotating speeds of a left driving wheel motor and a right driving wheel motor; therefore, the control stability of the electric wheelchair is improved; the steering safety during high-speed driving is improved; and the tipping risk of the electric wheelchair is reduced. Automatic control is completed through a control algorithm set by a controller; the hardware cost does not need to be increased; and the electric wheelchair is easy to operate by a user and easy to popularize.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a driving control method and system for an electric wheelchair. Background technique [0002] The electric wheelchair is based on the traditional manual wheelchair, superimposed with high-performance power drive device, intelligent control device, battery and other components, transformed and upgraded, and is an important auxiliary tool for people with disabilities to travel. The driving and steering of the electric wheelchair are mainly realized by controlling the speed of two driving wheel motors through a joystick. If the rotational speeds of the two driving wheel motors are the same, the wheelchair will move forward or backward in a straight line; if the rotational speeds of the two driving wheel motors are not the same, the wheelchair will turn to the side where the rotational speed of the driving wheels is slow during the forward or backward process. [0003] The...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61G5/04A61G5/10
CPCA61G5/04A61G5/1051A61G2203/14A61G2203/42Y02T10/72
Inventor 朱长建史金飞赵伟军
Owner NANJING INST OF TECH
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