Damping control method

Abstract

The invention discloses a damping control method which is applied to a medical rehabilitation wheelchair. The damping control method comprises the following steps: acquiring a control law currently configured by the first electromagnetic shock absorber; acquiring balance height information of the medical rehabilitation wheelchair in a balance state; acquiring actual height information of the medical rehabilitation wheelchair in the current period; and the balance height information and the actual height information are input to the currently configured control law to update a disturbance term and a weight matrix of the currently configured control law, so that a trained control law is obtained, and the trained control law is used for controlling the working voltage of the first electromagnetic shock absorber. It can be understood that in the process that the control law controls the first electromagnetic shock absorber, the control law configured for the first electromagnetic shock absorber is updated according to the result fed back by the medical rehabilitation wheelchair, and therefore the rolling wheel mechanism is better controlled, and vibration generated by the road surface to the medical rehabilitation wheelchair is reduced.

Description

[0001] This application is a divisional application of the invention patent application with the application date of August 26, 2014, application number 202411171561.8, and invention name "A medical rehabilitation wheelchair and its shock absorption control method". Technical Field

[0002] The present invention relates to the technical field of medical equipment, and in particular to a shock absorption control method. Background Art

[0003] Medical rehabilitation wheelchairs are a common medical device. When patients have difficulty walking, they usually need to use medical rehabilitation wheelchairs to complete walking. Especially for automatic medical rehabilitation wheelchairs, when patients are not accompanied by their family members, the driving first control module of the medical rehabilitation wheelchair can automatically drive the medical rehabilitation wheelchair to walk, so that patients can complete physical examinations and other actions alone.

[0004] In the related art, in order to make the medical rehabilitation wheelchair have a shock-absorbing effect, the roller mechanism of the medical device is usually rotatably arranged on the body frame of the medical device, and a shock absorber is rotatably arranged between the two, so that the medical device has a shock-absorbing effect. However, for patients with more serious conditions, the above-mentioned medical rehabilitation wheelchair still has a poor shock-absorbing effect, resulting in poor comfort for patients when using it. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a shock absorption control method to improve the comfort of the wheelchair when in use.

[0006] In the first aspect, an embodiment of the present application provides a shock absorption control method, which is applied to a medical rehabilitation wheelchair, wherein the medical rehabilitation equipment includes a frame, four roller mechanisms, a seat body and a pneumatic spring, wherein the four roller mechanisms are respectively arranged on both sides of the front part of the body frame and on both sides of the rear part of the body frame; the seat body is lifted and slidably arranged on the top of the body frame; the base of the pneumatic spring is connected to the body frame, and the telescopic part of the pneumatic spring is connected to the bottom of the seat body; wherein each of the roller mechanisms includes: a first cantilever, one end of the first cantilever is rotatably connected to the lower part of the body frame; a second cantilever, one end of the second cantilever is rotatably connected to the upper part of the body frame; a transmission shaft, the transmission shaft is extended along the width direction of the body frame, and Located between the first cantilever and the second cantilever, the transmission shaft is rotatably connected to the vehicle body frame; a transmission joint, the end of the transmission shaft is universally movably connected to one end of the transmission joint, and can drive the transmission joint to rotate synchronously; a connecting seat, rotatably arranged on the outside of the transmission joint, the other end of the first cantilever is rotatably connected to the lower part of the connecting seat, and the other end of the second cantilever is rotatably connected to the upper part of the connecting seat; a rolling wheel, connected to the transmission joint; a first electromagnetic shock absorber, the two ends of the first electromagnetic shock absorber are rotatably connected to the first cantilever and the vehicle body frame respectively; a first control module, connected to the first electromagnetic shock absorber, the first control module controls the working voltage of the first electromagnetic shock absorber based on road surface fluctuations;

[0007] The damping control method comprises:

[0008] Obtaining a control law of a current configuration of the first electromagnetic shock absorber;

[0009] Acquiring balance height information of the medical rehabilitation wheelchair when it is in a balanced state;

[0010] Obtaining actual height information of the medical rehabilitation wheelchair in the current cycle;

[0011] The balance height information and the actual height information are input into the currently configured control law to update the disturbance term and weight matrix of the currently configured control law, thereby obtaining a trained control law, and the trained control law is used to control the operating voltage of the first electromagnetic shock absorber.

[0012] According to some embodiments of the present invention, before obtaining the control law of the current configuration of the first electromagnetic shock absorber, the method includes:

[0013] Selecting pre-trained disturbance terms and weight matrices according to the current application scenario of the medical rehabilitation wheelchair;

[0014] Acquiring actual road surface fluctuation information of the medical rehabilitation wheelchair to determine whether the selected disturbance term and weight matrix are wrong;

[0015] If yes, a disturbance term and a weight matrix are calculated according to the actual road surface fluctuation information of the medical rehabilitation wheelchair, and loaded into the initial control law to obtain a control law for the current configuration, and the control law of the current configuration is used to control the working voltage of the first electromagnetic shock absorber;

[0016] If not, loading the selected disturbance term and the weight matrix into the initial control law to obtain a control law for the current configuration, wherein the control law for the current configuration is used to control the operating voltage of the first electromagnetic shock absorber;

[0017] Or, before obtaining the control law of the current configuration of the first electromagnetic shock absorber, the method includes:

[0018] Acquiring actual road surface fluctuation information of the medical rehabilitation wheelchair;

[0019] The disturbance term and the weight matrix are calculated based on the actual road surface fluctuation information of the medical rehabilitation wheelchair and loaded into the initial control law to obtain the control law for the current configuration. The control law of the current configuration is used to control the operating voltage of the first electromagnetic shock absorber.

[0020] According to some embodiments of the present invention, the step of inputting the balance height information and the actual height information into the control law of the current configuration to update the disturbance term and the weight matrix of the control law of the current configuration, thereby obtaining a trained control law, wherein the trained control law is used to control the working voltage of the first electromagnetic shock absorber, comprises:

[0021] Determine whether the difference between the current and past road surface fluctuation information of the medical rehabilitation wheelchair is too large;

[0022] If yes, select the pre-trained disturbance term and weight matrix according to the current road surface fluctuation information, and load them into the initial control law to obtain the control law for the current configuration, and return to the step of obtaining the control law for the current configuration of the first electromagnetic shock absorber;

[0023] If not, return to the step of obtaining the control law of the current configuration of the first electromagnetic shock absorber.

[0024] According to some embodiments of the present invention, the medical rehabilitation wheelchair also includes a road surface monitoring module for detecting road surface conditions; wherein the first control module is connected to the road surface monitoring module and the first electromagnetic shock absorber, and the first control module controls the working voltage of the first electromagnetic shock absorber based on the monitoring conditions of the road surface by the road surface monitoring module.

[0025] According to some embodiments of the present invention, the medical rehabilitation wheelchair further includes a driving component, which is disposed on the body frame and is used to drive the transmission shaft to rotate.

[0026] According to some embodiments of the present invention, the rolling surface of the rolling wheel is provided with a Meronym roller.

[0027] According to some embodiments of the present invention, the medical rehabilitation wheelchair further includes a shock absorbing mechanism, and the shock absorbing mechanism includes:

[0028] A second electromagnetic shock absorber, the vehicle body frame includes a front vehicle body and a rear vehicle body that are separated from each other, and a base of the second electromagnetic shock absorber is connected to the front vehicle body and is arranged toward the rear vehicle body;

[0029] A transmission assembly comprises a rotating seat, a first transmission rod, a second transmission rod, a third transmission rod and a fourth transmission rod, wherein the rotating seat is rotatably connected to the front body and is obliquely extended upward, one end of the first transmission rod is rotatably connected to the telescopic end of the second electromagnetic shock absorber, and the other end is rotatably connected to the side of the rotating seat, one end of the second transmission rod is rotatably connected to an end of the rotating seat away from the front body and is obliquely extended downward, one end of the third transmission rod is rotatably connected to the front body, the other end is obliquely extended upward and connected to the rear body, the end of the second transmission rod away from the front body is rotatably connected to the side of the third transmission rod, one end of the fourth transmission rod is rotatably connected to the telescopic end of the second electromagnetic shock absorber, and the other end is obliquely set downward and rotatably connected to the front body.

[0030] According to some embodiments of the present invention, the shock absorbing mechanism further includes a second control module, and the second control module is connected to the second electromagnetic shock absorber to control the operating voltage of the second electromagnetic shock absorber based on road surface fluctuations.

[0031] According to some embodiments of the present invention, the medical rehabilitation wheelchair further includes an auxiliary mechanism, and the auxiliary mechanism includes:

[0032] An extension bracket, connected to the body frame or the seat body, and extending toward the front of the medical rehabilitation wheelchair;

[0033] A first linkage member, one end of which is rotatably connected to the extension bracket;

[0034] an auxiliary wheel, rotatably connected to the first linkage member;

[0035] A third electromagnetic shock absorber, two ends of which are rotatably connected to the extension bracket and the first linkage member respectively;

[0036] A second linking member, one end of which is rotatably connected to the other end of the first linking member;

[0037] A third linking member, one end of which is rotatably connected to the other end of the second linking member, and the other end of which is rotatably connected to the extension bracket;

[0038] The third control module is connected to the third electromagnetic shock absorber, and the third control module controls the working voltage of the third electromagnetic shock absorber based on road surface fluctuations.

[0039] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages: a first electromagnetic shock absorber is provided between the first cantilever and the vehicle body frame, and the first electromagnetic shock absorber has a shock absorbing effect on the movement of the parallelogram connecting rod structure, so that the rolling wheel has a shock absorbing effect when in motion; at the same time, the seat body is connected to the vehicle body frame through a gas spring, so that the gas spring has a shock absorbing effect on the seat body. Therefore, during the application of the medical rehabilitation wheelchair, the first electromagnetic shock absorber is used in conjunction with the gas spring, that is, the first electromagnetic shock absorber gives the rolling wheel a shock absorbing effect, and the gas spring gives the seat body a shock absorbing effect, so that the medical rehabilitation wheelchair has a better shock absorbing effect, and even in the face of patients with more serious conditions, the patient's comfort when using the medical rehabilitation wheelchair is guaranteed.

[0040] Furthermore, in the shock absorption control method, during the process of controlling the first electromagnetic shock absorber, the control law configured by the first electromagnetic shock absorber is updated according to the feedback result of the medical rehabilitation wheelchair, so that the roller mechanism is better controlled to reduce the vibration of the medical rehabilitation wheelchair caused by the road surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a schematic diagram of the overall structure of a medical rehabilitation wheelchair according to an embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram of the exploded structure of a medical rehabilitation wheelchair according to an embodiment of the present invention;

[0043] Figure 3 is a structural schematic diagram of a roller mechanism according to an embodiment of the present invention;

[0044] Figure 4 is a structural schematic diagram of a shock absorbing mechanism according to an embodiment of the present invention;

[0045] Figure 5 It is a structural schematic diagram of the auxiliary mechanism of an embodiment of the present invention;

[0046] Figure 6 is a flow chart of a damping control method according to an embodiment of the present invention;

[0047] Figure 7 A schematic diagram of the initial acquisition process of the control law according to an embodiment of the present invention;

[0048] Figure 8 Schematic diagram of a cyclic update process of a control law according to an embodiment of the present invention.

[0049] The meanings of the reference numerals are as follows:

[0050] 100, body frame; 110, front body; 120, rear body; 130, mounting seat; 200, roller mechanism; 210, first cantilever; 220, second cantilever; 230, transmission shaft; 230, transmission joint; 240, connecting seat; 250, rolling wheel; 251, Meronym roller; 260, first electromagnetic shock absorber; 300, seat body; 400, pneumatic spring; 500, shock absorbing mechanism; 510, second electromagnetic shock absorber; 520, transmission assembly; 521, rotating seat; 522, first transmission rod; 523, second transmission connecting rod; 524, third transmission rod; 525, fourth transmission rod; 600, auxiliary mechanism; 610, extension bracket; 620, first linkage; 630, second linkage; 640, third linkage; 650, third electromagnetic shock absorber; 660, auxiliary wheel. DETAILED DESCRIPTION

[0051] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0052] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, upper, lower, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0053] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0054] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0055] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0056] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0057] See also Figures 1 to 3 The present invention discloses a shock absorption control method, which is applied to a medical rehabilitation wheelchair. The medical rehabilitation wheelchair includes a body frame 100, four roller mechanisms 200, a seat body 300 and a pneumatic spring 400, wherein the four roller mechanisms 200 are respectively arranged on both sides of the front of the body frame 100 and both sides of the rear of the body frame 100, and the specific structures are basically the same; the seat body 300 is arranged on the top of the body frame 100 for lifting and sliding, the base of the pneumatic spring 400 is connected to the body frame 100, and the telescopic part of the pneumatic spring 400 is connected to the bottom of the seat body 300.

[0058] Each roller mechanism 200 includes a first cantilever 210, a second cantilever 220, a transmission shaft 230, a transmission joint 230, a connecting seat 240, a rolling wheel 250, a first electromagnetic shock absorber 260 and a first control module, wherein one end of the first cantilever 210 is rotatably connected to the lower part of the vehicle body frame 100; one end of the second cantilever 220 is rotatably connected to the upper part of the vehicle body frame 100; the transmission shaft 230 is extended along the width direction of the vehicle body frame 100 and is located between the first cantilever 210 and the second cantilever 220, and the transmission shaft 230 is rotatably connected to the vehicle body frame 100; the end of the transmission shaft 230 is universally movably connected to one end of the transmission joint 230, and can drive the transmission joint 230 to rotate synchronously, for example, the end of the transmission shaft 230 and the end of the transmission joint 230 are connected by The first cantilever 210 is connected to the vehicle body frame 100 by a Hooke's hinge structure; the connecting seat 240 is rotatably arranged on the outside of the transmission joint 230, the other end of the first cantilever 210 is rotatably connected to the lower part of the connecting seat 240, and the other end of the second cantilever 220 is rotatably connected to the upper part of the connecting seat 240; the rolling wheel 250 is fixedly connected to the transmission joint 230; the two ends of the first electromagnetic shock absorber 260 are rotatably connected to the first cantilever 210 and the vehicle body frame 100 respectively, for example, the base of the first electromagnetic shock absorber 260 is rotatably connected to the middle position in the length direction of the first cantilever 210, and the telescopic part of the first electromagnetic shock absorber 260 is rotatably connected to the mounting seat 130 on the vehicle body frame 100; the first control module is connected to the first electromagnetic shock absorber 260, and the first control module controls the working voltage of the first electromagnetic shock absorber 260 based on the road surface fluctuation.

[0059] Among them, in order to obtain the fluctuation of the road surface, a variety of methods can be used, for example, the fluctuation of the road surface can be directly monitored by means of cameras, laser sensors, etc.; or, the fluctuation of the road surface can be indirectly determined by monitoring the working status of the rehabilitation wheelchair during use, for example, by monitoring the changes in the height of the seat body 300 and the changes in the working voltage of the first electromagnetic shock absorber 260.

[0060] It can be understood that the rolling wheel 250 is connected to the transmission joint 230, and the transmission joint 230 is connected to the transmission shaft 230, thereby, the rolling wheel 250 is rotatably connected to the vehicle body frame 100 through the transmission shaft 230, so that it can roll along the road surface. In addition, the vehicle body frame 100, the first cantilever 210, the second cantilever 220 and the connecting seat 240 are connected in sequence, which is equivalent to forming a parallelogram connecting rod structure, and the connecting seat 240 is rotatably set on the transmission joint 230, thereby, the rolling wheel 250 is equivalent to being connected to the side of the vehicle body frame 100 by swinging up and down through the parallelogram connecting rod structure. Among them, the connecting seat 240 is rotatably connected to the transmission joint 230, and the rolling wheel 250 is universally movably connected to the transmission shaft 230 through the transmission joint 230, thereby, the transmission joint 230 and the parallelogram connecting rod structure do not interfere with each other, so that the rolling wheel 250 can be stably swung up and down when rolling on the road surface, so as to have a stable shock absorption effect.

[0061] Among them, a first electromagnetic shock absorber 260 is arranged between the first cantilever 210 and the vehicle body frame 100, and the first electromagnetic shock absorber 260 has a shock absorbing effect on the movement of the parallelogram connecting rod structure, so that the rolling wheel 250 has a shock absorbing effect when moving; at the same time, the seat body 300 is connected to the vehicle body frame 100 through a gas spring, so that the gas spring has a shock absorbing effect on the seat body 300. Therefore, during the use of the medical rehabilitation wheelchair, the first electromagnetic shock absorber 260 is used in conjunction with the gas spring, that is, the first electromagnetic shock absorber 260 gives the rolling wheel 250 a shock absorbing effect, and the gas spring gives the seat body 300 a shock absorbing effect, so that the medical rehabilitation wheelchair has a better shock absorbing effect, even for patients with more serious conditions, it also ensures the comfort of the patient when using the medical rehabilitation wheelchair.

[0062] It should be emphasized that a first electromagnetic shock absorber 260 is used between the first cantilever 210 and the vehicle body frame 100. The first control module controls the working voltage of the first electromagnetic shock absorber 260 based on the road surface fluctuation. With this arrangement, the first electromagnetic shock absorber 260 can always keep the medical rehabilitation wheelchair in a state close to balance, thereby further ensuring the patient's comfort when using the medical rehabilitation wheelchair.

[0063] In some embodiments, the medical rehabilitation wheelchair also includes a road surface monitoring module (not shown in the figure) for detecting road surface conditions; wherein the first control module is connected to the road surface monitoring module and the first electromagnetic shock absorber 260, and the first control module controls the working voltage of the first electromagnetic shock absorber 260 based on the monitoring conditions of the road surface by the road surface monitoring module.

[0064] Among them, the road surface monitoring module can adopt detection modules such as cameras and laser sensors.

[0065] Specifically, when the medical rehabilitation wheelchair is moving upward from the ground, the road surface monitoring module monitors the flatness of the road surface in real time. Therefore, the first control module can control the working voltage of the first electromagnetic shock absorber 260 in real time according to the flatness of the road surface, thereby controlling the movement of the telescopic part of the first electromagnetic shock absorber 260, and then controlling the up and down swing of the rolling wheel 250 through the parallelogram connecting rod structure to reduce the vibration of the medical rehabilitation wheelchair caused by the road surface.

[0066] In some embodiments, the medical rehabilitation wheelchair further includes a driving member (not shown in the figure), which is disposed on the body frame 100 and is used to drive the transmission shaft 230 to rotate, and the rolling surface of the rolling wheel 250 is provided with a Meronym roller 251.

[0067] There are usually two driving members, which drive two rolling wheels 250 at the rear side through the transmission shaft 230, so that the medical rehabilitation wheelchair can automatically walk on the ground without manual force. Of course, there can also be four driving members, which drive the rolling wheels 250 at the front and rear positions through the transmission shaft 230. At the same time, the rolling surface of the rolling wheel 250 is provided with a Meronym roller 251. With this arrangement, the control system can conveniently control the reversing and rotation of the original position of the medical rehabilitation wheelchair by controlling the rotational force of the left and right rolling wheels 250.

[0068] In some embodiments, reference Figure 2 and Figure 4 The medical rehabilitation wheelchair also includes a shock absorbing mechanism 500, which includes a second electromagnetic shock absorber 510 and a transmission assembly 520, wherein the body frame 100 includes a front body 110 and a rear body 120 that are separated from each other, two roller mechanisms 200 are arranged on the left and right sides of the front body 110, and the other two roller mechanisms 200 are arranged on the left and right sides of the rear body 120, the base of the second electromagnetic shock absorber 510 is connected to the front body 110 and is arranged toward the rear body 120, and the telescopic part of the second electromagnetic shock absorber 510 is transmission-connected to the rear body 120 through the transmission assembly 520, so that the shock absorbing mechanism 500 gives the rear body 120 a shock absorbing effect, and at the same time, the second electromagnetic shock absorber 510 can also drive the rear body 120 to swing up and down to reduce the vibration effect of the road on the medical rehabilitation wheelchair.

[0069] The transmission assembly 520 includes a rotating seat 521, a first transmission rod 522, a second transmission rod 523, a third transmission rod 524 and a fourth transmission rod 525, wherein the rotating seat 521 is rotatably connected to the front body 110 and is arranged to extend upwardly at an angle, one end of the first transmission rod 522 is rotatably connected to the telescopic end of the second electromagnetic shock absorber 510, and the other end is rotatably connected to the side of the rotating seat 521, and one end of the second transmission rod 523 is rotatably connected to the end of the rotating seat 521 away from the front body 110 and is arranged to extend upwardly at an angle. The third transmission rod 524 is extended, one end of which is rotatably connected to the front body 110, and the other end is extended upward at an angle and connected to the rear body 120. The end of the second transmission rod 523 away from the front body 110 is rotatably connected to the side of the third transmission rod 524. One end of the fourth transmission rod 525 is rotatably connected to the telescopic end of the second electromagnetic shock absorber 510, and the other end is rotatably downward and rotatably connected to the front body 110. The first transmission rod 522 and the fourth transmission rod 525 can be arranged coaxially without interfering with each other.

[0070] Furthermore, the shock absorbing mechanism 500 also includes a second control module, which is connected to the second electromagnetic shock absorber 510 to control the working voltage of the second electromagnetic shock absorber 510 based on road surface fluctuations.

[0071] In the specific application process, the second control module controls the second electromagnetic shock absorber 510 according to the road conditions, and the telescopic part of the second electromagnetic shock absorber 510 moves forward and backward. For example, the telescopic part of the second electromagnetic shock absorber 510 moves forward, the first transmission rod 522 pulls the rotating seat 521 to rotate downward, the second transmission rod 523 and the rotating seat 521 are relatively unfolded and rotated, thereby driving the third transmission rod 524 to rotate downward, the third transmission rod 524 drives the rear body 120 to rotate downward, and the rolling mechanism on the rear side moves downward synchronously. With such a configuration, the medical rehabilitation wheelchair can smoothly go up the stairs. On the contrary, the telescopic part of the second electromagnetic shock absorber 510 moves backward, the first transmission rod 522 pushes the rotating seat 521 to rotate upward, the second transmission rod 523 and the rotating seat 521 are relatively contracted and rotated, thereby driving the third transmission rod 524 to rotate upward, the third transmission rod 524 drives the rear body 120 to rotate upward, and the rolling mechanism on the rear side moves upward synchronously. With such a configuration, the medical rehabilitation wheelchair has a better shock absorption effect when going down the stairs.

[0072] In addition, through the setting of the fourth transmission rod 525, the fourth transmission rod 525 has a guiding function on the telescopic part of the second electromagnetic shock absorber 510, thereby ensuring that the second electromagnetic shock absorber 510 can stably push and pull the first transmission rod 522 to rotate, and then drive the rear body 120 to swing up and down to reduce the vibration of the medical rehabilitation wheelchair.

[0073] In some embodiments, reference Figure 2 and Figure 5 The medical rehabilitation wheelchair also includes an auxiliary mechanism 600, which includes an extension bracket 610, a first linkage 620, an auxiliary wheel 660, a third electromagnetic shock absorber 650, a second linkage 630, a third linkage 640 and a third control module, wherein the extension bracket 610 is connected to the vehicle frame 100 or the seat body 300 and extends toward the front of the medical rehabilitation wheelchair, one end of the first linkage 620 is rotatably connected to the extension bracket 610; the auxiliary wheel 660 is rotatably connected to the other end of the first linkage 620; the base of the third electromagnetic shock absorber 650 is connected to the first linkage The side portion of the third electromagnetic shock absorber 620 is rotationally connected, and the telescopic portion of the third electromagnetic shock absorber 650 rotates with the extension bracket 610, thereby, the third electromagnetic shock absorber 650 can drive the first linking member 620 to rotate relative to the extension bracket 610; one end of the second linking member 630 is rotationally connected to the other end of the first linking member 620; one end of the third linking member 640 is rotationally connected to the other end of the second linking member 630, and the other end is rotationally connected to the extension bracket 610; the third control module is connected to the third electromagnetic shock absorber 650, and the third control module controls the working voltage of the third electromagnetic shock absorber 650 based on road fluctuations.

[0074] Specifically, when the medical rehabilitation wheelchair is climbing stairs, the third control module controls the third electromagnetic shock absorber 650 based on the step conditions of the road surface, and the telescopic part of the third electromagnetic shock absorber 650 extends or contracts. For example, the telescopic part of the third electromagnetic shock absorber 650 extends, and the second linkage 630 rotates upward, thereby driving the auxiliary wheel 660 to rotate upward, so as to assist the medical rehabilitation wheelchair to climb higher stairs; conversely, the telescopic part of the third electromagnetic shock absorber 650 contracts, and the second linkage 630 rotates downward, thereby driving the auxiliary wheel 660 to rotate downward, so as to assist the medical rehabilitation wheelchair to climb lower stairs. At the same time, the third electromagnetic shock absorber 650 can effectively reduce the vibration effect of the ground on the auxiliary wheel 660 by controlling the auxiliary wheel 660 to swing upward.

[0075] In addition, the extension bracket 610, the first link 620, the second link 630 and the third link 640 form a parallelogram linkage structure, and the auxiliary wheel 660 is equivalent to being rotatably arranged on the front side of the medical rehabilitation wheelchair through the parallelogram linkage structure. In this way, the third electromagnetic shock absorber 650 can stably control the auxiliary wheel 660 to swing up and down to adapt to steps of different heights.

[0076] In some embodiments, the first control module controls the first electromagnetic shock absorber 260 based on the shock absorption control method, referring to Figure 3 and Figure 6 , the method comprising:

[0077] S100 obtains the control law of the current configuration of the first electromagnetic shock absorber 260 .

[0078] Control law refers to a set of rules, algorithms or mathematical models designed to control the behavior of the first control module. It is an extremely important concept in the theory of the first control module of automatic control, especially in the engineering field such as electrical, mechanical, aerospace and other professional applications.

[0079] During application, the control law can control the working voltage of the first electromagnetic shock absorber 260 according to the road surface fluctuation, thereby controlling the telescopic part of the first electromagnetic shock absorber 260, and further controlling the vibration effect of the ground on the medical rehabilitation wheelchair.

[0080] S200 obtains the balance height information of the medical rehabilitation wheelchair when it is in a balanced state.

[0081] Specifically, when obtaining the balance height information of the medical rehabilitation wheelchair in a balanced state, the patient sits on the seat body 300, and the medical rehabilitation wheelchair is usually on a flat road surface, at this time, the medical rehabilitation wheelchair is in a balanced state. An infrared sensor or other sensor can be used to detect the height from the seat body 300 to the ground, and the height is the balance height information.

[0082] S300 obtains actual height information of the medical rehabilitation wheelchair in the current cycle.

[0083] Specifically, when the medical rehabilitation wheelchair is moving on the road, infrared sensors are used but not limited to infrared sensors to obtain actual height information of the seat body 300 within a current period of time (the height from the seat body 300 to the ground), wherein one cycle is usually controlled within a few seconds.

[0084] S400 inputs the balance height information and the actual height information into the currently configured control law to update the disturbance term and weight matrix of the currently configured control law, thereby obtaining a trained control law, and the trained control law is used to control the operating voltage of the first electromagnetic shock absorber 260.

[0085] Specifically, the balance height information and the actual height information of the current cycle are input into the control system, and the control system determines the disturbance term according to the difference between the actual height information and the balance height information in the current cycle; similarly, the control system can also determine the quality of the weight according to the difference between the actual height information and the balance height information in the current cycle, thereby adjusting the weight matrix to obtain a new weight matrix. In the specific procedure, after receiving the balance height information and the actual height information of the current cycle, the control system adopts the fast descent method to converge calculation under the constraint of the cost function, adjusts the weight matrix and the disturbance term through the hidden layer Cr it ic, and loads it into the control law obtained in step S100, thereby obtaining the trained control law. The trained control law starts to control the working voltage of the first electromagnetic shock absorber 260, thereby controlling the movement of the telescopic part of the first electromagnetic shock absorber 260, and then controls the up and down swing of the rolling wheel 250 through the parallelogram connecting rod structure to reduce the vibration of the road surface to the medical rehabilitation wheelchair. Therefore, even in the face of patients with more serious conditions, the comfort of the medical rehabilitation wheelchair when in use is guaranteed.

[0086] It should be noted that before the trained control law controls the working voltage of the first electromagnetic shock absorber 260, it is necessary to obtain the effective length of the first cantilever 210 and the second cantilever 220, the mass of the first cantilever 210 and the second cantilever 220, the mass center position of the first cantilever 210 and the second cantilever 220 (the geometric center of the equivalent rod length), the moment of inertia of the first cantilever 210 and the second cantilever 220 and other data, and bring them into the given motion equation to calculate K1 K2 (linear terms in the control law), and load them into the trained control law. Therefore, when the trained control law controls the working voltage of the first electromagnetic shock absorber 260, it can control the working voltage of the first electromagnetic shock absorber 260 according to the linear term, thereby controlling the telescopic part of the first electromagnetic shock absorber 260, and then effectively eliminating the vibration effect of the road on the medical rehabilitation wheelchair.

[0087] It can be understood that in the process of controlling the first electromagnetic shock absorber 260 in steps S100 to S400 of the present application, the control law updates the control law configured for the first electromagnetic shock absorber 260 according to the feedback result of the medical rehabilitation wheelchair (the height information of the seat body 300), so that the roller mechanism 200 is better controlled to reduce the vibration caused by the road surface to the medical rehabilitation wheelchair.

[0088] In some embodiments, reference Figure 3 and Figure 7 , before step S100 obtains the control law currently configured for the first electromagnetic shock absorber 260 , it includes steps S101 to S104 .

[0089] S101 selects pre-trained disturbance terms and weight matrices according to the current application scenario of the medical rehabilitation wheelchair.

[0090] In the control system, the corresponding disturbance terms and weight matrices are trained in advance according to various application scenarios, such as parks, hospitals, subways, roads, supermarkets, etc. Of course, they can also be based on other required disturbance terms and weight matrices that have been trained.

[0091] In the specific application process, the patient can select the nearest disturbance term and weight matrix from the trained ones according to the road conditions to load the initial control law. Of course, if the patient does not select the disturbance term and weight matrix, the default disturbance term and weight matrix (untrained and no offset weight) will be used.

[0092] S102 obtains actual road surface fluctuation information of the medical rehabilitation wheelchair to determine whether the selected disturbance item and weight matrix are wrong.

[0093] In the process of obtaining the actual road surface fluctuation information of the medical rehabilitation wheelchair, a laser sensor, a camera, etc. may be used to obtain the current road surface fluctuation information.

[0094] In the specific judgment process, the road surface fluctuation information of the current one or more cycles is obtained by using a laser sensor, and converted into digital features such as mean difference and variance, which is the first mean. At the same time, each trained disturbance item and weight matrix is ​​set with a corresponding second mean, so the second mean corresponding to the disturbance item and weight matrix selected in step S101 is obtained. Comparing the difference between the first mean and the second mean, if the continuous difference between the first mean and the second mean is large, it means that there is a problem with the selected disturbance item and the weight matrix; if the continuous difference between the first mean and the second mean is small, it means that there is no problem with the selected disturbance item and the weight matrix.

[0095] If yes, S103 calculates the disturbance term and the weight matrix according to the actual road surface fluctuation information of the medical rehabilitation wheelchair, and loads them into the initial control law to obtain the control law for the current configuration, and the control law of the current configuration is used to control the working voltage of the first electromagnetic shock absorber 260.

[0096] Specifically, if it is determined in step 102 that there are problems with the selected disturbance term and weight matrix, the control system calculates the target disturbance term and weight matrix according to the actual road surface fluctuation information of the medical rehabilitation wheelchair. Then, the calculated target disturbance term and weight matrix are loaded into the initial control law to obtain the control law for the current configuration, and the control law of the current configuration is used to control the working voltage of the first electromagnetic shock absorber 260, that is, the control law is the control law of the current configuration in step S100.

[0097] If not, in S104 , the selected disturbance term and the weight matrix are loaded into the initial control law to obtain a control law for the current configuration, where the control law for the current configuration is used to control the operating voltage of the first electromagnetic shock absorber 260 .

[0098] Specifically, if it is determined in step 102 that there is no problem with the selected disturbance term and the weight matrix, the control system loads the selected disturbance term and the weight matrix into the initial control law to obtain a control law for the current configuration. The control law of the current configuration is used to control the operating voltage of the first electromagnetic shock absorber 260, that is, the control law is the control law of the current configuration in step S100.

[0099] It can be understood that in steps S101 to S104 of the present application, the control system quickly and accurately configures an initial control law for the first electromagnetic shock absorber 260 to control the working voltage of the first electromagnetic shock absorber 260, thereby ensuring that the medical rehabilitation wheelchair quickly achieves a better shock absorption effect when used.

[0100] In other possible embodiments, before step S100 obtains the control law of the current configuration of the first electromagnetic shock absorber 260 , steps S101 to S102 are included.

[0101] S101 obtains actual road surface fluctuation information of the medical rehabilitation wheelchair.

[0102] S102 calculates the disturbance term and the weight matrix according to the actual road surface fluctuation information of the medical rehabilitation wheelchair, and loads them into the initial control law to obtain the control law for the current configuration, and the control law of the current configuration is used to control the working voltage of the first electromagnetic shock absorber 260.

[0103] Specifically, in step S101 to step S102, if the patient does not select the disturbance term and the weight matrix, the control system uses a laser sensor to scan the actual road surface fluctuation information of the medical rehabilitation wheelchair, and the first control module calculates the target disturbance term and the weight matrix according to the actual road surface fluctuation information of the medical rehabilitation wheelchair. Then, the calculated target disturbance term and the weight matrix are loaded into the initial control law to obtain the control law for the current configuration, and the control law of the current configuration is used to control the working voltage of the first electromagnetic shock absorber 260, that is, the control law is used as the control law of the current configuration in step S100.

[0104] In a further embodiment, referring to Figure 3 and Figure 8, step S400 inputs the balance height information and the actual height information into the currently configured control law to update the disturbance term and weight matrix of the currently configured control law, thereby obtaining a trained control law. The trained control law is used to control the working voltage of the first electromagnetic shock absorber 260, and then includes steps S401 to S403.

[0105] S401 determines whether the difference between the current and past road surface fluctuation information of the medical rehabilitation wheelchair is too large.

[0106] In the specific judgment process, the road surface fluctuation information of the past cycle is obtained and converted into digital features such as mean difference and variance, which is the first mean; the road surface fluctuation information of the current cycle is obtained and converted into digital features such as mean difference and variance, which is the second mean; then, the first mean is compared with the second mean. If the difference between the first mean and the second mean is too large, it is determined that the difference between the current and past road surface fluctuation information of the medical rehabilitation wheelchair is too large; if the difference between the first mean and the second mean is small, it is determined that the difference between the current and past road surface fluctuation information of the medical rehabilitation wheelchair is small.

[0107] It should be noted that in order to ensure the accuracy of the judgment, the difference between the previous and next mean values ​​can be compared multiple times. For example, the control system continuously obtains road surface fluctuation information for three cycles, that is, it is converted into the first mean, the second mean and the third mean respectively. The first mean and the second mean are the means obtained in the past two consecutive cycles, and the third mean is the mean obtained in the current cycle. If the first mean is significantly different from the second mean, and the third mean is significantly different from the second mean, it is determined that the difference between the current and past road surface fluctuation information of the medical rehabilitation wheelchair is too large. Otherwise, it is determined that the difference between the current and past road surface fluctuation information of the medical rehabilitation wheelchair is small.

[0108] If yes, S402 selects the pre-trained disturbance term and weight matrix according to the current road surface fluctuation information, and loads them into the initial control law to obtain the control law for the current configuration, and returns to the execution step to obtain the control law for the current configuration of the first electromagnetic shock absorber 260.

[0109] Specifically, if it is determined in step S401 that the difference between the current and past road surface fluctuation information of the medical rehabilitation wheelchair is too large, it means that the currently used control law is no longer applicable. Therefore, the control system compares the mean of the road surface fluctuation situation in the current cycle with the mean corresponding to the trained disturbance item and the weight matrix, so as to accurately select the corresponding disturbance item and the weight matrix, so as to quickly update the currently applied control law for controlling the working voltage of the first electromagnetic shock absorber 260. At the same time, the control system loops step S100 to obtain the control law currently configured by the first electromagnetic shock absorber 260, so as to further update the control law configured by the first electromagnetic shock absorber 260.

[0110] If no, in step S403 , the process returns to the step of obtaining the control law of the current configuration of the first electromagnetic shock absorber 260 .

[0111] Specifically, if it is determined in step S401 that the difference between the current and past road surface fluctuation information of the medical rehabilitation wheelchair is too small, it means that the currently configured control law is still applicable, and there is no need to reselect from the trained disturbance terms and weight matrix. At the same time, the control system loops step S100 to obtain the control law currently configured by the first electromagnetic shock absorber 260, thereby further updating the control law configured by the first electromagnetic shock absorber 260.

[0112] It can be understood that in steps S401 to S403, the control system cyclically and rapidly updates the control law of the first electromagnetic shock absorber 260, so that the first electromagnetic shock absorber 260 is effectively controlled, thereby better achieving the effect of eliminating the vibration of the road surface on the medical rehabilitation wheelchair.

[0113] It should be noted that if the wheelchair is turned off, the new parameters obtained through training will be averaged with the historical parameters and the results will be retained in the original data packet, thereby updating the original data.

[0114] The technical means disclosed in the scheme of the present invention are not limited to the technical means disclosed in the above-mentioned implementation mode, but also include technical schemes composed of any combination of the above-mentioned technical features. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications are also regarded as the protection scope of the present invention.

Claims

1. A vibration reduction control method, characterized in that: Applicable to a medical rehabilitation wheelchair, the medical rehabilitation equipment includes a frame, four roller mechanisms, a seat body and a pneumatic spring, the four roller mechanisms are respectively arranged on both sides of the front part of the body frame and on both sides of the rear part of the body frame; the seat body is lifted and slidably arranged on the top of the body frame; the base of the pneumatic spring is connected to the body frame, and the telescopic part of the pneumatic spring is connected to the bottom of the seat body; wherein each of the roller mechanisms includes: a first cantilever, one end of the first cantilever is rotatably connected to the lower part of the body frame; a second cantilever, one end of the second cantilever is rotatably connected to the upper part of the body frame; a transmission shaft, the transmission shaft is extended along the width direction of the body frame and is located between the first cantilever and the The transmission shaft is rotatably connected to the vehicle body frame between the first and second cantilevers; a transmission joint, the end of the transmission shaft is universally movably connected to one end of the transmission joint, and can drive the transmission joint to rotate synchronously; a connecting seat, rotatably arranged on the outside of the transmission joint, the other end of the first cantilever is rotatably connected to the lower part of the connecting seat, and the other end of the second cantilever is rotatably connected to the upper part of the connecting seat; a rolling wheel, connected to the transmission joint; a first electromagnetic shock absorber, the two ends of the first electromagnetic shock absorber are rotatably connected to the first cantilever and the vehicle body frame respectively; a first control module, connected to the first electromagnetic shock absorber, the first control module controls the working voltage of the first electromagnetic shock absorber based on road surface fluctuations; The damping control method comprises: Obtaining a control law of a current configuration of the first electromagnetic shock absorber; Acquiring balance height information of the medical rehabilitation wheelchair when it is in a balanced state; Obtaining actual height information of the medical rehabilitation wheelchair in the current cycle; The balance height information and the actual height information are input into the currently configured control law to update the disturbance term and weight matrix of the currently configured control law, thereby obtaining a trained control law, and the trained control law is used to control the operating voltage of the first electromagnetic shock absorber.

2. A shock absorption control method according to claim 1, characterized in that: Before obtaining the control law of the current configuration of the first electromagnetic shock absorber, the method includes: Selecting pre-trained disturbance terms and weight matrices according to the current application scenario of the medical rehabilitation wheelchair; Acquiring actual road surface fluctuation information of the medical rehabilitation wheelchair to determine whether the selected disturbance term and weight matrix are wrong; If yes, a disturbance term and a weight matrix are calculated according to the actual road surface fluctuation information of the medical rehabilitation wheelchair, and loaded into the initial control law to obtain a control law for the current configuration, and the control law of the current configuration is used to control the working voltage of the first electromagnetic shock absorber; If not, loading the selected disturbance term and the weight matrix into the initial control law to obtain a control law for the current configuration, wherein the control law for the current configuration is used to control the operating voltage of the first electromagnetic shock absorber; Or, before obtaining the control law of the current configuration of the first electromagnetic shock absorber, the method includes: Acquiring actual road surface fluctuation information of the medical rehabilitation wheelchair; The disturbance term and the weight matrix are calculated based on the actual road surface fluctuation information of the medical rehabilitation wheelchair and loaded into the initial control law to obtain the control law for the current configuration. The control law of the current configuration is used to control the operating voltage of the first electromagnetic shock absorber.

3. A shock absorption control method according to claim 2, characterized in that: The step of inputting the balance height information and the actual height information into the control law of the current configuration to update the disturbance term and the weight matrix of the control law of the current configuration, thereby obtaining a trained control law, wherein the trained control law is used to control the working voltage of the first electromagnetic shock absorber, comprises: Determine whether the difference between the current and past road surface fluctuation information of the medical rehabilitation wheelchair is too large; If yes, select the pre-trained disturbance term and weight matrix according to the current road surface fluctuation information, and load them into the initial control law to obtain the control law for the current configuration, and return to the step of obtaining the control law for the current configuration of the first electromagnetic shock absorber; If not, return to the step of obtaining the control law of the current configuration of the first electromagnetic shock absorber.

4. The vibration control method according to claim 1, characterized in that: The medical rehabilitation wheelchair also includes a road surface monitoring module for detecting road surface conditions; wherein the first control module is connected to the road surface monitoring module and the first electromagnetic shock absorber, and the first control module controls the working voltage of the first electromagnetic shock absorber based on the monitoring conditions of the road surface by the road surface monitoring module.

5. The vibration control method according to claim 1, characterized in that: The medical rehabilitation wheelchair also includes a driving component, which is arranged on the body frame and is used to drive the transmission shaft to rotate.

6. The vibration reduction control method according to claim 5, characterized in that: The rolling surface of the rolling wheel is provided with a Meronym roller.

7. The vibration control method according to claim 1, characterized in that: The medical rehabilitation wheelchair also includes a shock absorbing mechanism, which includes: A second electromagnetic shock absorber, the vehicle body frame includes a front vehicle body and a rear vehicle body that are separated from each other, and a base of the second electromagnetic shock absorber is connected to the front vehicle body and is arranged toward the rear vehicle body; A transmission assembly comprises a rotating seat, a first transmission rod, a second transmission rod, a third transmission rod and a fourth transmission rod, wherein the rotating seat is rotatably connected to the front body and is obliquely extended upward, one end of the first transmission rod is rotatably connected to the telescopic end of the second electromagnetic shock absorber, and the other end is rotatably connected to the side of the rotating seat, one end of the second transmission rod is rotatably connected to an end of the rotating seat away from the front body and is obliquely extended downward, one end of the third transmission rod is rotatably connected to the front body, the other end is obliquely extended upward and connected to the rear body, the end of the second transmission rod away from the front body is rotatably connected to the side of the third transmission rod, one end of the fourth transmission rod is rotatably connected to the telescopic end of the second electromagnetic shock absorber, and the other end is obliquely set downward and rotatably connected to the front body.

8. The vibration control method according to claim 7, characterized in that: The shock absorbing mechanism further includes a second control module, which is connected to the second electromagnetic shock absorber to control the operating voltage of the second electromagnetic shock absorber based on road surface fluctuations.

9. The vibration reduction control method according to claim 1, characterized in that: The medical rehabilitation wheelchair also includes an auxiliary mechanism, which includes: An extension bracket, connected to the body frame or the seat body, and extending toward the front of the medical rehabilitation wheelchair; A first linkage member, one end of which is rotatably connected to the extension bracket; an auxiliary wheel, rotatably connected to the first linkage member; A third electromagnetic shock absorber, two ends of which are rotatably connected to the extension bracket and the first linkage member respectively; A second linking member, one end of which is rotatably connected to the other end of the first linking member; A third linking member, one end of which is rotatably connected to the other end of the second linking member, and the other end of which is rotatably connected to the extension bracket; The third control module is connected to the third electromagnetic shock absorber, and the third control module controls the working voltage of the third electromagnetic shock absorber based on road surface fluctuations.

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