A shock absorbing control method

Abstract

The application discloses a damping control method applied to a medical rehabilitation wheelchair. The damping control method comprises the following steps: acquiring a control law of a current configuration of a first electromagnetic shock absorber; acquiring balance height information of the medical rehabilitation wheelchair in a balance state; acquiring actual height information of a current period of the medical rehabilitation wheelchair; inputting the balance height information and the actual height information into the control law of the current configuration to update a disturbance term and a weight matrix of the control law of the current configuration, so that a trained control law is acquired, and the trained control law is used for controlling a working voltage of the first electromagnetic shock absorber. It can be understood that, in the process of controlling the first electromagnetic shock absorber, the control law is updated according to a feedback result of the medical rehabilitation wheelchair, so that the first electromagnetic shock absorber is controlled preferably, and the vibration of the medical rehabilitation wheelchair caused by a road surface is reduced.

Description

[0001] This application is a divisional application of the invention patent application with the application date of August 26, 2014, the application number of 202411171561.8, and the invention name of "a medical rehabilitation wheelchair and its damping control method". TECHNICAL FIELD

[0002] The present application relates to the technical field of medical equipment, and particularly relates to a damping control method. BACKGROUND

[0003] The medical rehabilitation wheelchair is a common medical equipment, and when a patient has difficulty in walking, the medical rehabilitation wheelchair is usually used to complete walking. Especially for the automatic medical rehabilitation wheelchair, the patient can complete the physical examination and other actions alone under the accompaniment of no family members, because the driving first control module of the medical rehabilitation wheelchair can automatically drive the medical rehabilitation wheelchair to walk.

[0004] In the related art, in order to make the medical rehabilitation wheelchair have the damping effect, the roller mechanism of the medical equipment is usually rotationally arranged on the vehicle body frame of the medical equipment, and the damper is rotationally arranged between the two, so that the medical equipment has the damping effect. However, for the patients with serious conditions, the above-mentioned medical rehabilitation wheelchair still has poor damping effect, resulting in poor comfort of the patient when using. SUMMARY

[0005] The present application aims to at least solve one of the technical problems in the prior art. To this end, the present application provides a damping control method to improve the comfort of the wheelchair when used.

[0006] In a first aspect, the embodiments of the present application provide a damping control method applied to a medical rehabilitation wheelchair. The medical rehabilitation wheelchair comprises a vehicle body 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 vehicle body frame and on both sides of the rear part of the vehicle body frame. The seat body is arranged on the top of the vehicle body frame in a lifting and sliding manner. The base of the pneumatic spring is connected with the vehicle body frame, and the telescopic part of the pneumatic spring is connected with the bottom of the seat body. Each roller mechanism comprises a first suspension arm, one end of which is rotationally connected with the lower part of the vehicle body frame; a second suspension arm, one end of which is rotationally connected with the upper part of the vehicle body frame; a transmission shaft, which extends along the width direction of the vehicle body frame and is arranged between the first suspension arm and the second suspension arm, and which is rotationally connected with the vehicle body frame; a transmission joint, the end of the transmission shaft is universally connected with one end of the transmission joint, and the transmission shaft can drive the transmission joint to rotate synchronously; a connecting seat, which is rotationally arranged on the outside of the transmission joint, the other end of the first suspension arm is rotationally connected with the lower part of the connecting seat, and the other end of the second suspension arm is rotationally connected with the upper part of the connecting seat; a rolling wheel, which is connected with the transmission joint; a first electromagnetic shock absorber, both ends of which are rotationally connected with the first suspension arm and the vehicle body frame respectively; and a first control module, which is connected with the first electromagnetic shock absorber, and controls the working voltage of the first electromagnetic shock absorber based on the road surface fluctuation.

[0007] The damping control method comprises:

[0008] obtaining a control law currently configured for the first electromagnetic shock absorber;

[0009] obtaining balance height information of the medical rehabilitation wheelchair in a balanced state;

[0010] obtaining actual height information of the medical rehabilitation wheelchair in a current period;

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

[0012] According to some embodiments of the present application, before the control law currently configured for the first electromagnetic shock absorber is obtained, the method comprises:

[0013] selecting a pre-trained disturbance term and a weight matrix according to the current application scene of the medical rehabilitation wheelchair;

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

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

[0016] If no, the selected disturbance term and weight matrix are loaded into the initial control law to obtain the control law for the current configuration, which is used to control the working voltage of the first electromagnetic shock absorber.

[0017] Or, before the step of obtaining the control law for the current configuration of the first electromagnetic shock absorber, the method further comprises:

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

[0019] Calculating the disturbance term and weight matrix according to the actual road fluctuation information of the medical rehabilitation wheelchair and loading them into the initial control law to obtain the control law for the current configuration, which is used to control the working voltage of the first electromagnetic shock absorber.

[0020] According to some embodiments of the present application, after the step of inputting the balance height information and the actual height information into the control law for the current configuration to update the disturbance term and weight matrix of the control law for the current configuration and obtaining the trained control law used to control the working voltage of the first electromagnetic shock absorber, the method further comprises:

[0021] Determining whether the current road fluctuation information of the medical rehabilitation wheelchair is too different from the past road fluctuation information;

[0022] If yes, the pre-trained disturbance term and weight matrix are selected according to the current road fluctuation information and are loaded into the initial control law to obtain the control law for the current configuration, and the step of obtaining the control law for the current configuration of the first electromagnetic shock absorber is performed again.

[0023] If no, the step of obtaining the control law for the current configuration of the first electromagnetic shock absorber is performed again.

[0024] According to some embodiments of the present application, the medical rehabilitation wheelchair further comprises a road monitoring module for detecting road conditions; wherein the first control module is connected to the road 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 of the road monitoring module.

[0025] According to some embodiments of the present application, the medical rehabilitation wheelchair further comprises a driving member arranged on the vehicle body frame and configured to drive the transmission shaft to rotate.

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

[0027] According to some embodiments of the present application, the medical rehabilitation wheelchair further comprises a damping mechanism, which comprises:

[0028] A second electromagnetic shock absorber, the vehicle body frame comprises a front vehicle body and a rear vehicle body, the base of the second electromagnetic shock absorber is connected to the front vehicle body and is arranged towards the rear vehicle body;

[0029] A transmission assembly comprising 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 vehicle body and is arranged to extend obliquely upwards, 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 the end of the rotating seat away from the front vehicle body and is arranged to extend obliquely downwards, one end of the third transmission rod is rotatably connected to the front vehicle body, and the other end is arranged to extend obliquely upwards and is connected to the rear vehicle body, the end of the second transmission rod away from the front vehicle body is rotatably connected to the side of the third transmission rod, and 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 arranged to extend obliquely downwards and is rotatably connected to the front vehicle body.

[0030] According to some embodiments of the present application, the damping mechanism further comprises a second control module connected to the second electromagnetic shock absorber to control the working voltage of the second electromagnetic shock absorber based on road surface fluctuation.

[0031] According to some embodiments of the present application, the medical rehabilitation wheelchair further comprises an auxiliary mechanism, which comprises:

[0032] An extension support connected to the vehicle body frame or the seat body and arranged to extend towards the front of the medical rehabilitation wheelchair;

[0033] A first linkage rotatably connected to one end of the extension support;

[0034] An auxiliary wheel rotatably connected to the first linkage;

[0035] A third electromagnetic shock absorber, both ends of the third electromagnetic shock absorber are rotatably connected to the extension support and the first linkage, respectively;

[0036] A second linkage rotatably connected to the other end of the first linkage.

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

[0038] A third control module, connected to the third electromagnetic shock absorber, the third control module controls the working voltage of the third electromagnetic shock absorber based on the road surface fluctuation.

[0039] From the above technical solutions, the embodiments of the present application have the following advantages: the first electromagnetic shock absorber is arranged between the first cantilever and the vehicle body frame, and the first electromagnetic shock absorber has a damping effect on the movement of the parallelogram linkage structure, so that the rolling wheel has a damping effect when moving. At the same time, the seat body and the vehicle body frame are connected by the gas spring, so that the gas spring has a damping effect on the seat body. Therefore, in the application process of the medical rehabilitation wheelchair, the first electromagnetic shock absorber and the gas spring are used in cooperation, that is, the first electromagnetic shock absorber gives the rolling wheel a damping effect, and the gas spring gives the seat body a damping effect, so that the medical rehabilitation wheelchair has a good damping effect, and even for patients with serious conditions, the comfort of the patient when using the medical rehabilitation wheelchair is also ensured.

[0040] In addition, in the damping control method, the control law is updated according to the feedback result of the medical rehabilitation wheelchair during the control of the first electromagnetic shock absorber, so that the rolling wheel mechanism is better controlled to reduce the vibration of the medical rehabilitation wheelchair caused by the road surface. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 It is a schematic diagram of the overall structure of the medical rehabilitation wheelchair of the embodiment of the present application;

[0042] Figure 2 It is an exploded structure schematic diagram of the medical rehabilitation wheelchair of the embodiment of the present application;

[0043] Figure 3 It is a structure schematic diagram of the rolling wheel mechanism of the embodiment of the present application;

[0044] Figure 4 It is a structure schematic diagram of the damping mechanism of the embodiment of the present application;

[0045] Figure 5 It is a structure schematic diagram of the auxiliary mechanism of the embodiment of the present application;

[0046] Figure 6 It is a flowchart of the damping control method of the embodiment of the present application;

[0047] Figure 7 It is a starting acquisition flowchart of the control law of the embodiment of the present application;

[0048] Figure 8 A schematic diagram of a cycle updating process of the control law of an embodiment of the present application.

[0049] In the drawings, reference signs have the following meanings:

[0050] 100, vehicle body frame; 110, front vehicle body; 120, rear vehicle body; 130, mounting seat; 200, rolling wheel mechanism; 210, first cantilever; 220, second cantilever; 230, transmission shaft; 230, transmission joint; 240, connecting seat; 250, rolling wheel; 251, McKibben rolling wheel; 260, first electromagnetic shock absorber; 300, seat body; 400, pneumatic spring; 500, damping 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 support; 620, first connecting member; 630, second connecting member; 640, third connecting member; 650, third electromagnetic shock absorber; 660, auxiliary wheel. DETAILED DESCRIPTION

[0051] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0052] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, up, down, etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0053] In the description of the present application, if the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, more than, etc. is understood as not including the number, above, below, etc. is understood as including the number. If it is described as first, second, it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the order of indicated technical features.

[0054] In the description of the present application, unless otherwise explicitly limited, the words such as setting, mounting, connecting, etc. should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

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

[0056] The application will be further described in detail below with reference to the accompanying drawings.

[0057] Please refer to Figures 1 to 3 A damping control method is disclosed for a medical rehabilitation wheelchair. The medical rehabilitation wheelchair comprises a vehicle body frame 100, four roller mechanisms 200, a seat body 300, and a pneumatic spring 400. The four roller mechanisms 200 are arranged on both sides of the front part of the vehicle body frame 100 and on both sides of the rear part of the vehicle body frame 100, and the specific structures are basically the same. The seat body 300 is arranged on the top of the vehicle body frame 100 in a lifting and sliding manner. The base of the pneumatic spring 400 is connected with the vehicle body frame 100, and the telescopic part of the pneumatic spring 400 is connected with the bottom of the seat body 300.

[0058] Each of the roller mechanisms 200 comprises a first suspension arm 210, a second suspension arm 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. One end of the first suspension arm 210 is rotatably connected to the lower part of the vehicle body frame 100. One end of the second suspension arm 220 is rotatably connected to the upper part of the vehicle body frame 100. The transmission shaft 230 extends along the width direction of the vehicle body frame 100 and is located between the first suspension arm 210 and the second suspension arm 220. 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 is connected to the end of the transmission joint 230 through a hooke joint structure. The connecting seat 240 is rotatably arranged outside the transmission joint 230. The other end of the first suspension arm 210 is rotatably connected to the lower part of the connecting seat 240. The other end of the second suspension arm 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 suspension arm 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 of the first suspension arm 210 in the length direction. 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. The first control module controls the working voltage of the first electromagnetic shock absorber 260 based on the road surface fluctuation.

[0059] In the process of acquiring the road surface fluctuation, various methods can be used. For example, the road surface fluctuation can be directly monitored through a camera, a laser sensor, or the like. Alternatively, the working state of the rehabilitation wheelchair during application can be monitored to indirectly determine the road surface fluctuation. For example, the change in the height of the seat body 300 and the change in the working voltage of the first electromagnetic shock absorber 260 can be monitored.

[0060] It can be understood that the rolling wheel 250 is connected with the transmission joint 230, and the transmission joint 230 is connected with the transmission shaft 230, so that the rolling wheel 250 is rotatably connected with the vehicle body frame 100 through the transmission shaft 230, and can roll on the road surface. And the vehicle body frame 100, the first suspension arm 210, the second suspension arm 220 and the connecting seat 240 are connected in sequence, which is equivalent to forming a parallelogram linkage structure, and the connecting seat 240 is rotatably arranged on the transmission joint 230, so that the rolling wheel 250 is equivalent to being connected to the side of the vehicle body frame 100 through the up-down swing of the parallelogram linkage structure. Among them, the connecting seat 240 is rotatably connected with the transmission joint 230, and the rolling wheel 250 is connected with the transmission shaft 230 through the transmission joint 230, so that the transmission joint 230 and the parallelogram linkage structure do not interfere with each other, so that the rolling wheel 250 can stably swing up and down when rolling on the road surface, so as to have a stable damping effect.

[0061] Among them, the first electromagnetic shock absorber 260 is arranged between the first suspension arm 210 and the vehicle body frame 100, and the first electromagnetic shock absorber 260 has a damping effect on the movement of the parallelogram linkage structure, so that the rolling wheel 250 has a damping effect when moving; at the same time, the seat body 300 is connected with the vehicle body frame 100 through the gas spring, so that the gas spring has a damping effect on the seat body 300. Therefore, in the application process of the medical rehabilitation wheelchair, the first electromagnetic shock absorber 260 is used in cooperation with the gas spring, that is, the first electromagnetic shock absorber 260 gives the rolling wheel 250 a damping effect, and the gas spring gives the seat body 300 a damping effect, so that the medical rehabilitation wheelchair has a better damping effect, and even for patients with serious conditions, the comfort of patients using the medical rehabilitation wheelchair is ensured.

[0062] It should be emphasized that the first electromagnetic shock absorber 260 is arranged between the first suspension arm 210 and the vehicle body frame 100, and the first control module controls the working voltage of the first electromagnetic shock absorber 260 based on the road surface fluctuation, so that the first electromagnetic shock absorber 260 can keep the medical rehabilitation wheelchair in a state close to balance, thereby further ensuring the comfort of patients using the medical rehabilitation wheelchair.

[0063] In some embodiments, the medical rehabilitation wheelchair further comprises a road surface monitoring module (not shown in the figure) for detecting the road surface condition; wherein the first control module is connected with 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 of the road surface monitoring module.

[0064] Among them, the road surface monitoring module can adopt a camera, a laser sensor or the like.

[0065] Specifically, during the process of moving upward on the ground, the road surface monitoring module monitors the flatness of the road surface in real time, and 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, so as to control the movement of the telescopic part of the first electromagnetic shock absorber 260, and then control the up-and-down swing of the rolling wheel 250 through the parallelogram linkage structure, so as to reduce the vibration of the medical rehabilitation wheelchair caused by the road surface,

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

[0067] In some embodiments, the driving member is usually provided with two, and the two driving members drive the two rolling wheels 250 at the rear side position through the transmission shaft 230, so that the medical rehabilitation wheelchair can automatically walk on the ground without manual force. Of course, the driving member can also be provided with four, 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 McKibben roller 251, so that the control system can conveniently control the reversing and rotation of the original position of the medical rehabilitation wheelchair by controlling the rotating force of the left and right rolling wheels 250.

[0068] In some embodiments, referring to Figure 2 With Figure 4 , the medical rehabilitation wheelchair further comprises a shock absorption mechanism 500, which comprises a second electromagnetic shock absorber 510 and a transmission assembly 520. The vehicle body frame 100 comprises a front vehicle body 110 and a rear vehicle body 120, and the two rolling wheel mechanisms 200 are arranged on the left and right sides of the front vehicle body 110, and the other two rolling wheel mechanisms 200 are arranged on the left and right sides of the rear vehicle body 120. The base of the second electromagnetic shock absorber 510 is connected with the front vehicle body 110 and is arranged towards the rear vehicle body 120, and the telescopic part of the second electromagnetic shock absorber 510 is drivingly connected with the rear vehicle body 120 through the transmission assembly 520. In this way, the shock absorption mechanism 500 gives the rear vehicle body 120 a shock absorption effect, and at the same time, the second electromagnetic shock absorber 510 can also drive the rear vehicle body 120 to swing up and down, so as to reduce the vibration effect of the medical rehabilitation wheelchair caused by the road surface.

[0069] The transmission assembly 520 comprises 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. The rotating seat 521 is rotationally connected with the front vehicle body 110 and extends upwardly and obliquely. One end of the first transmission rod 522 is rotationally connected with the telescopic end of the second electromagnetic shock absorber 510, and the other end is rotationally connected with the side of the rotating seat 521. One end of the second transmission rod 523 is rotationally connected with the end of the rotating seat 521 away from the front vehicle body 110, and the second transmission rod 523 extends downwardly and obliquely. One end of the third transmission rod 524 is rotationally connected with the front vehicle body 110, and the other end extends upwardly and obliquely and is connected with the rear vehicle body 120. The end of the second transmission rod 523 away from the front vehicle body 110 is rotationally connected with the side of the third transmission rod 524. One end of the fourth transmission rod 525 is rotationally connected with the telescopic end of the second electromagnetic shock absorber 510, and the other end extends downwardly and is rotationally connected with the front vehicle body 110. The first transmission rod 522 and the fourth transmission rod 525 can be arranged on the same central axis but do not interfere with each other.

[0070] Further, the damping mechanism 500 further comprises a second control module connected with the second electromagnetic shock absorber 510 to control the working voltage of the second electromagnetic shock absorber 510 based on the road surface fluctuation.

[0071] In the specific application process, the second control module controls the second electromagnetic shock absorber 510 according to the road surface condition, and the telescopic part of the second electromagnetic shock absorber 510 moves forward and backward. For example, when 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 expands relative to the rotating seat 521 to rotate, thereby driving the third transmission rod 524 to rotate downward, and the third transmission rod 524 drives the rear vehicle body 120 to rotate downward, and the rear rolling mechanism moves downward synchronously. In this way, the medical rehabilitation wheelchair can smoothly climb the stairs. Conversely, when 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 contracts relative to the rotating seat 521 to rotate, thereby driving the third transmission rod 524 to rotate upward, and the third transmission rod 524 drives the rear vehicle body 120 to rotate upward, and the rear rolling mechanism moves upward synchronously. In this way, the medical rehabilitation wheelchair has a good damping effect when descending the stairs.

[0072] In addition, the fourth transmission rod 525 has a guiding effect 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 further drive the rear vehicle body 120 to swing up and down, so as to reduce the vibration of the medical rehabilitation wheelchair.

[0073] In some embodiments, with reference to Figure 2 andFigure 5 The medical rehabilitation wheelchair also includes an auxiliary mechanism 600, which includes an extension bracket 610, a first link 620, an auxiliary wheel 660, a third electromagnetic shock absorber 650, a second link 630, a third link 640 and a third control module, wherein the extension bracket 610 is connected to the vehicle body frame 100 or the seat body 300 and extends toward the front of the medical rehabilitation wheelchair, one end of the first link 620 is rotatably connected to the extension bracket 610; the auxiliary wheel 660 is rotatably connected to the other end of the first link 620; the base of the third electromagnetic shock absorber 650 is connected to the first link The side of the third electromagnetic shock absorber 620 is rotatably connected, and the telescopic part 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 rotatably connected to the other end of the first linking member 620; one end of the third linking member 640 is rotatably connected to the other end of the second linking member 630, and the other end is rotatably 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 the road surface fluctuation.

[0074] Specifically, when the medical rehabilitation wheelchair ascends stairs, the third control module controls the third electromagnetic shock absorber 650 based on the level of the road surface, causing the telescopic portion of the third electromagnetic shock absorber 650 to extend or retract. For example, when the telescopic portion of the third electromagnetic shock absorber 650 extends, the second linkage 630 rotates upward, thereby driving the auxiliary wheels 660 upward, thus assisting the medical rehabilitation wheelchair in climbing higher stairs. Conversely, when the telescopic portion of the third electromagnetic shock absorber 650 retracts, the second linkage 630 rotates downward, thereby driving the auxiliary wheels 660 downward, thus assisting the medical rehabilitation wheelchair in climbing lower stairs. Simultaneously, by controlling the upward swing of the auxiliary wheels 660, the third electromagnetic shock absorber 650 effectively reduces the vibration effect of the ground on the auxiliary wheels 660.

[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 rotated on the front side of the medical rehabilitation wheelchair through the parallelogram linkage structure. With this arrangement, 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 currently configured for the first electromagnetic shock absorber 260 .

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

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

[0080] S200 obtains the balance height information of the medical rehabilitation wheelchair in the balance state.

[0081] Specifically, when obtaining the balance height information of the medical rehabilitation wheelchair in the balance state, the patient sits on the seat body 300, and the medical rehabilitation wheelchair is usually on the flat road at this time, that is, the medical rehabilitation wheelchair is in the balance state. The height of the seat body 300 to the ground can be detected by using an infrared sensor or other sensors, which is the balance height information.

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

[0083] Specifically, during the movement of the medical rehabilitation wheelchair on the road, the actual height information (the height of the seat body 300 to the ground) of the seat body 300 in the current period is obtained by using an infrared sensor but not limited to an infrared sensor, wherein a period 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 the weight matrix of the currently configured control law, so as to obtain the trained control law, which is used to control the working voltage of the first electromagnetic shock absorber 260.

[0085] Specifically, the balance height information and the actual height information of the current period are input into the control system, and the control system determines the disturbance term according to the change of the difference between the actual height information in the current period and the balance height information. Similarly, the control system can also determine the degree of weight according to the change of the difference between the actual height information in the current period and the balance height information, so as to adjust 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 period, the control system converges and calculates under the constraint of the cost function, adjusts the weight matrix and the disturbance term through the hidden layer Critic, and loads the control law obtained in step S100, so as to obtain the trained control law. The trained control law starts to control the working voltage of the first electromagnetic shock absorber 260, so as to control the movement of the telescopic part of the first electromagnetic shock absorber 260, and then control the up-down swing of the rolling wheel 250 through the parallelogram linkage structure, so as to reduce the vibration of the medical rehabilitation wheelchair caused by the road surface. Therefore, even if the patient is in a serious condition, the comfort of the medical rehabilitation wheelchair during use is also ensured.

[0086] It should be noted that before the trained control law controls the working voltage of the first electromagnetic shock absorber 260, 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 (geometric center of the equivalent rod length) of the first cantilever 210 and the second cantilever 220, the moment of inertia of the first cantilever 210 and the second cantilever 220, etc. Data are brought into the given motion equation to calculate K1K2 (linear term in the control law), and loaded 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, so as to control the telescopic part of the first electromagnetic shock absorber 260, and effectively eliminate the vibration effect of the road surface on the medical rehabilitation wheelchair.

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

[0088] In some embodiments, with reference to Figure 3 With Figure 7 Before step S100 of obtaining the control law currently configured by the first electromagnetic shock absorber 260, steps S101 to S104 are included.

[0089] S101: Select a pre-trained disturbance term and weight matrix according to the current application scenario of the medical rehabilitation wheelchair.

[0090] In the control system, the corresponding disturbance term and weight matrix are trained in advance according to various application scenarios, such as park, hospital, subway, road, supermarket, etc. Of course, other trained disturbance terms and weight matrices can also be used.

[0091] In the specific application process, the patient can select the closest 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 without offset weight) are used.

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

[0093] In the process of obtaining the actual road fluctuation information of the medical rehabilitation wheelchair, laser sensors, cameras, etc. can be used to obtain the current road fluctuation information.

[0094] In the specific judgment process, the laser sensor is used to obtain the road fluctuation information of one or more periods, and the average difference, variance, etc. are converted into digital features, i.e. the first mean value. At the same time, each trained disturbance term and weight matrix is correspondingly provided with a second mean value, so the second mean value corresponding to the disturbance term and weight matrix selected in step S101 is obtained. By comparing the difference between the first mean value and the second mean value, if the continuous difference between the first mean value and the second mean value is large, it means that the selected disturbance term and weight matrix have problems; if the continuous difference between the first mean value and the second mean value is small, it means that the selected disturbance term and weight matrix do not have problems.

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

[0096] Specifically, if it is determined in step 102 that the selected disturbance term and weight matrix have problems, the control system calculates the target disturbance term and weight matrix according to the actual road 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, which is used to control the working voltage of the first electromagnetic shock absorber 260, i.e. the control law is the control law for the current configuration in step S100.

[0097] S104If no, the selected disturbance term and weight matrix are loaded to the initial control law to obtain the control law for the current configuration, which is used to control the working voltage of the first electromagnetic shock absorber 260.

[0098] Specifically, if it is determined in step 102 that the selected disturbance term and weight matrix are not problematic, the control system loads the selected disturbance term and weight matrix to the initial control law to obtain the control law for the current configuration, which is used to control the working voltage of the first electromagnetic shock absorber 260, i.e., the control law is the control law for the current configuration in step S100.

[0099] It can be understood that, in steps S101 to S104, the control system quickly and accurately configures the 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 enters the optimal shock absorption effect when applied.

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

[0101] S101Obtain the actual road fluctuation information of the medical rehabilitation wheelchair.

[0102] S102Calculate the disturbance term and weight matrix according to the actual road fluctuation information of the medical rehabilitation wheelchair, and load them to the initial control law to obtain the control law for the current configuration, which is used to control the working voltage of the first electromagnetic shock absorber 260.

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

[0104] In a further embodiment, with reference to Figure 3 and Figure 8S400, step S400 inputs the balance height information and the actual height information into the current configured control law to update the disturbance term and the weight matrix of the current configured control law, so as to obtain a trained control law, and the trained control law is used to control the working voltage of the first electromagnetic shock absorber 260, and the trained control law comprises steps S401-S403.

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

[0106] In the specific judgment process, the road fluctuation information of the past period is obtained and converted into digital features such as mean difference and variance, which is the first mean value; the road fluctuation information of the current period is obtained and converted into digital features such as mean difference and variance, which is the second mean value; then, the first mean value and the second mean value are compared, if the difference between the first mean value and the second mean value is too large, it is determined that the difference between the current road fluctuation information and the past road fluctuation information of the medical rehabilitation wheelchair is too large; if the difference between the first mean value and the second mean value is small, it is determined that the difference between the current road fluctuation information and the past road 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 mean values before and after can be compared multiple times, for example, the control system continuously obtains road fluctuation information of three periods, i.e. the first mean value, the second mean value and the third mean value are converted, the first mean value and the second mean value are the mean values obtained in the past two continuous periods, and the third mean value is the mean value obtained in the current period. If the difference between the first mean value and the second mean value is large, and the difference between the third mean value and the second mean value is large, it is determined that the difference between the current road fluctuation information and the past road fluctuation information of the medical rehabilitation wheelchair is too large, otherwise, it is determined that the difference between the current road fluctuation information and the past road fluctuation information of the medical rehabilitation wheelchair is small.

[0108] S402, if yes, the pre-trained disturbance term and weight matrix are selected according to the current road fluctuation information and loaded into the initial control law to obtain the control law for the current configuration, and the step of obtaining the control law for the current configuration of the first electromagnetic shock absorber 260 is executed.

[0109] Specifically, if it is determined in step S401 that the current road surface fluctuation information of the medical rehabilitation wheelchair is too different from the past road surface fluctuation information, it indicates that the currently used control law is no longer applicable, and therefore, the control system compares the average of the current one-period road surface fluctuation with the average of the trained disturbance term and weight matrix, so as to accurately select the corresponding disturbance term and weight matrix, and quickly update the currently used control law for controlling the working voltage of the first electromagnetic shock absorber 260. At the same time, the control system cyclically performs step S100 to obtain the control law currently configured for the first electromagnetic shock absorber 260, so as to further update the control law configured for the first electromagnetic shock absorber 260.

[0110] S403 If no, return to perform step S100 to obtain the control law currently configured for the first electromagnetic shock absorber 260.

[0111] Specifically, if it is determined in step S401 that the current road surface fluctuation information of the medical rehabilitation wheelchair is too different from the past road surface fluctuation information, it indicates that the currently used control law is no longer applicable, and therefore, the control system compares the average of the current one-period road surface fluctuation with the average of the trained disturbance term and weight matrix, so as to accurately select the corresponding disturbance term and weight matrix, and quickly update the currently used control law for controlling the working voltage of the first electromagnetic shock absorber 260. At the same time, the control system cyclically performs step S100 to obtain the control law currently configured for the first electromagnetic shock absorber 260, so as to further update the control law configured for the first electromagnetic shock absorber 260.

[0112] It can be understood that in steps S401 to S403, the control system cyclically and quickly updates the control law of the first electromagnetic shock absorber 260, so as to effectively control the first electromagnetic shock absorber 260, and better achieve the effect of eliminating the vibration of the medical rehabilitation wheelchair caused by the road surface.

[0113] It should be noted that if the wheelchair is powered off, the new parameters obtained by training will be averaged with the historical parameters, and the result will be retained in the original data packet, so as to update the original data.

[0114] The technical means disclosed in the scheme of the present application is not limited to the technical means disclosed in the above-mentioned embodiments, but also includes the technical solutions composed of any combination of the above technical features. It should be noted that for ordinary skilled persons in the art, without departing from the principle of the present application, some improvements and refinements can be made, and these improvements and refinements are also considered as the protection scope of the present application.

Claims

1. A vibration control method, characterized in that: Applicable to medical rehabilitation wheelchairs, the medical rehabilitation wheelchair includes a body 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 set to the top of the body frame for lifting and sliding; 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 second cantilever; a transmission joint, wherein 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 is connected to the transmission joint; a first electromagnetic shock absorber, wherein the two ends of the first electromagnetic shock absorber are respectively rotatably connected to the first cantilever and the vehicle body frame; a first control module is connected to the first electromagnetic shock absorber, and the first control module controls the operating voltage of the first electromagnetic shock absorber based on road surface fluctuations; The medical rehabilitation wheelchair further includes a shock absorbing mechanism, which includes: a second electromagnetic shock absorber, wherein 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 disposed toward the rear vehicle body; The transmission assembly includes a rotating base, a first transmission rod, a second transmission rod, a third transmission rod and a fourth transmission rod, wherein the rotating base is rotatably connected to the front body and is arranged to extend obliquely 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 base, one end of the second transmission rod is rotatably connected to an end of the rotating base away from the front body and extends obliquely downward, one end of the third transmission rod is rotatably connected to the front body, and the other end is extended obliquely 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 arranged obliquely downward and rotatably connected to the front body, and the first transmission rod and the fourth transmission rod can be arranged coaxially without interfering with each other; The vibration reduction control method comprises: Obtaining a control law for 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 control law of the current configuration to update the disturbance term and weight matrix of the control law of the current configuration, 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 based on 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, wherein the control law of the current configuration is used to control the operating 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; Alternatively, 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: Inputting 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 using the trained control law to control the operating voltage of the first electromagnetic shock absorber, comprises: Determining whether the difference between the current and past road surface fluctuation information of the medical rehabilitation wheelchair is too large; If yes, select a pre-trained disturbance term and weight matrix based on the current road surface fluctuation information and load them into the initial control law to obtain a 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, wherein: The medical rehabilitation wheelchair also includes a road surface monitoring module for detecting road 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 operating 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, wherein: The medical rehabilitation wheelchair further includes a driving component, which is arranged on the body frame and is used to drive the transmission shaft to rotate.

6. The vibration 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, wherein: The shock absorbing mechanism further includes a second control module connected to the second electromagnetic shock absorber to control an operating voltage of the second electromagnetic shock absorber based on road surface fluctuations.

8. The vibration control method according to claim 1, wherein: The medical rehabilitation wheelchair further includes an auxiliary mechanism, which includes: an extension bracket connected to the vehicle body frame or the seat body and extending toward the front of the medical rehabilitation wheelchair; a first linking 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 operating voltage of the third electromagnetic shock absorber based on road surface fluctuations.

Images