Power-on self-test method for electric wheelchair

Abstract

The invention discloses an integrated electrically propelled wheelchair control system, an electrically propelled wheelchair power-on self-test method and a child lock method, an electrically propelled wheelchair comprises a power battery, an operating rocker, a lamp, a folding power component and a motor, and the integrated electrically propelled wheelchair control system comprises a main control drive board and a function control board which are in communication connection with each other; the function control panel is respectively connected with various lamps and the folding power part of the electric wheelchair, the function control panel is suitable for a user to input corresponding control instructions, the corresponding lamps are controlled to act according to the lamp control instructions input by the user, and the folding power part is driven and controlled to execute the corresponding actions according to the folding instructions input by the user; the corresponding control instructions at least comprise a lamp control instruction, a folding instruction and a wheelchair action execution instruction. According to the invention, at least the light control function and the electric folding function of the wheelchair are integrally designed, so that the lighting requirement of a user can be met, the structure of the wheelchair is simplified, unnecessary troubles are saved for installation and maintenance of a producer, and better experience and lower overhead are brought to the user.

Description

[0001] This invention is a divisional application, the original application number is 202010007197.7, the application date is 20200104,

[0002] The invention is named as integrated electric wheelchair control system, electric wheelchair power-on self-check method and child lock method. Technical Field

[0003] The invention relates to a power-on self-checking method for an electric wheelchair, and belongs to the technical field of electric wheelchairs. Background Art

[0004] At present, the wheelchair controllers, wheelchair lighting control systems, and electric folding control systems on the market are designed separately. If users want to solve the lighting control and electric folding problems, they must add additional modules. This will increase the user's expenses, and the additional modules will bring many inconveniences to production, maintenance, user experience, and other aspects. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide an integrated electric wheelchair control system, which at least integrates the wheelchair lighting control and electric folding functions, which can not only meet the user's lighting needs, but also simplify its structure, save unnecessary trouble for the manufacturer's installation and maintenance, and bring better experience and lower expenses to users.

[0006] In order to solve the above technical problems, the technical solution of the present invention is: an integrated electric wheelchair control system, the electric wheelchair includes a power battery, a joystick, a light and a folding power component suitable for being controlled and driven to fold or unfold the electric wheelchair, and a motor suitable for being controlled and driven to make the wheels of the electric wheelchair perform corresponding actions, and it includes a main control drive board and a function control board that are connected to each other in communication; wherein,

[0007] The function control panel is respectively connected to various lights and folding power components of the electric wheelchair, and the function control panel is suitable for allowing the user to input corresponding control instructions, controlling the corresponding light actions according to the light control instructions input by the user, and driving and controlling the folding power components to perform corresponding actions according to the folding instructions input by the user; the corresponding control instructions at least include light control instructions, folding instructions and wheelchair action execution instructions;

[0008] The function control board is adapted to transmit the wheelchair action execution instruction input by the user to the main control drive board;

[0009] The main control driving board is connected to the joystick and the motor respectively, and the main control driving board is suitable for driving and controlling the motor to perform corresponding actions according to corresponding action direction information of the joystick and / or corresponding wheelchair action execution instructions input by the user;

[0010] The main control drive board is also electrically connected to the power battery.

[0011] Further, in order to detect the working status of each module in the system and timely discover fault problems to display to the user and realize shutdown, the main control driving board is also suitable for monitoring the working status information of at least part of the modules in the main control driving board and transmitting it to the function control board, and is suitable for generating fault information and transmitting it to the function control board when the working status of at least one module is abnormal, and at least stopping the main control driving board and / or the function control board from working;

[0012] The function control board is also adapted to monitor the working status information of at least some modules in the function control board and to generate fault information and at least stop the main control drive board and / or the function control board from working when the working status of at least one module is abnormal;

[0013] The function control board is also suitable for displaying the working status information and fault information generated by the main control drive board and the working status information and fault information generated by the function control board to the user.

[0014] Furthermore, in order to display various information to the user well, the function control panel includes a display module, and the display module is used to display working status information and / or fault information.

[0015] Furthermore, the main control driving board includes:

[0016] A main control processing module, the main control processing module is connected to the joystick, the main control processing module is adapted to receive corresponding motion direction information sent by the joystick and / or corresponding wheelchair motion execution instructions input by the user and generate corresponding travel control instructions;

[0017] A motor drive bridge module, the motor drive bridge module is connected to the main control processing module and the motor respectively, and the motor drive bridge module is suitable for driving the motor to perform corresponding actions according to corresponding driving control instructions;

[0018] A motor drive bridge detection module, the motor drive bridge detection module is connected to the motor drive bridge module and the main control processing module respectively, and the motor drive bridge detection module is suitable for real-time detection of the working state of the motor drive bridge module and feeding back the detection result to the main control processing module;

[0019] An electromagnetic brake driving module, the electromagnetic brake driving module is connected to the main control processing module and the motor respectively, and the electromagnetic brake driving module is suitable for driving the electromagnetic brake inside the motor to perform corresponding actions according to the corresponding brake control instructions issued by the main control processing module;

[0020] The electromagnetic brake detection module is connected to the electromagnetic brake drive module and the main control processing module respectively. The electromagnetic brake detection module is suitable for real-time detection of the working state of the electromagnetic brake drive module and feeding back the detection result to the main control processing module.

[0021] Furthermore, the main control driving board also includes a relay driving module, and the relay driving module is used to connect or disconnect the electrical connection between the power battery and the motor drive bridge module according to the corresponding instructions issued by the main control processing module.

[0022] Furthermore, the main control driving board also includes:

[0023] A storage module for storing at least control instructions and / or working status information and / or alarm information input by a user;

[0024] and / or a battery power detection module for real-time monitoring of the remaining power of the power battery;

[0025] And / or a temperature detection module for at least monitoring the temperature of the main control drive board and / or the functional control board in real time, the temperature detection module is connected to the main control processing module, and the main control processing module is suitable for controlling the motor drive bridge module and / or the relay drive module to work or shut down according to the temperature signal collected by the temperature detection module.

[0026] Furthermore, the function control panel includes:

[0027] An instruction input module, wherein the signal input module is adapted to collect corresponding control instructions input by a user;

[0028] A function control processing module, wherein the function control processing module is connected to the main control processing module for mutual communication, and the function control processing module is also connected to the instruction input module, and the function control processing module is adapted to generate a corresponding control drive signal according to a corresponding control instruction input by the signal input module; the control drive signal at least includes a light control drive signal corresponding to a light control instruction and a folding drive signal corresponding to a folding instruction;

[0029] A light driving module, the light driving module is used to drive the light of the electric wheelchair to at least partially work or turn off according to the corresponding light control driving signal sent by the function control processing module;

[0030] The electric folding control module is used to drive the folding power component of the electric wheelchair to perform corresponding actions according to the corresponding folding drive signal sent by the function control processing module.

[0031] Furthermore, the function control panel also includes:

[0032] A remote control signal receiving module, the remote control signal receiving module is connected to the function control processing module, the remote control signal receiving module is used to receive and decode the instructions issued by the remote control, and transmit the parsed remote control instructions to the function control processing module, and the function control processing module drives the folding power component of the electric wheelchair to perform corresponding actions according to the corresponding folding drive signal sent by the received remote control signal.

[0033] Furthermore, the main control drive board includes a power conversion module, which is respectively connected to the power battery and the function control board. The power conversion module is used to transform the electric energy output by the power battery and supply the transformed electric energy to at least the main control drive board and the function control board.

[0034] Furthermore, in order to integrate the USB fast charging function and the lighting function in the system, the integrated electric wheelchair control system also includes a USB fast charging and lighting board; wherein the USB fast charging and lighting board includes:

[0035] A lighting lamp driving module, the lighting lamp driving module is electrically connected to the power battery, the lighting lamp driving module includes a lighting lamp, the lighting lamp driving module is connected to the function control board, the corresponding control instruction also includes a lighting lamp instruction, the function control board is suitable for generating a corresponding lighting lamp driving signal according to the lighting lamp instruction input by the user, and the lighting lamp driving module is suitable for driving and controlling the lighting lamp to turn on or off according to the lighting lamp driving signal issued by the function control board;

[0036] A USB fast charging module, the USB fast charging module is electrically connected to the power battery, and the USB fast charging module is suitable for converting the electric energy input by the power battery into electric energy of corresponding output power for fast charging of the external USB device according to the fast charging protocol supported by the identified external USB device.

[0037] In order to improve the safety of the integrated wheelchair control system of the present invention, the present invention also provides a power-on self-test method for an electric wheelchair, wherein the electric wheelchair comprises a power battery, a joystick, and a motor adapted to be controlled and driven by a motor drive bridge module and an electromagnetic brake drive module so that the wheels of the electric wheelchair perform corresponding actions, and the steps of the method include:

[0038] S1: Turn on the machine and connect the power battery;

[0039] S2: Check whether the joystick connection is normal: if the test result is normal, proceed to the next step; if the test result is abnormal, prompt the user that the joystick is faulty and stop booting;

[0040] S3: Detect whether the joystick is at the origin: if the detection result is that it is at the origin, proceed to the next step; if the detection result is that it is not at the origin, prompt the user that the joystick is not at the origin and stop booting;

[0041] S4: Detect whether the motor exists: if the detection result is that the motor exists, proceed to the next step; if the detection result is that the motor does not exist, the user is prompted that the motor is not connected and the startup is stopped;

[0042] S5: Check whether the motor drive bridge module works normally: if the test result is normal, proceed to the next step; if the test result is abnormal, prompt the user that the motor drive bridge module is faulty and stop booting;

[0043] S6: Check whether the electromagnetic brake drive module is normal: if the test result is normal, proceed to the next step; if the test result is abnormal, the user is prompted with an electromagnetic brake failure and the boot is stopped;

[0044] S7: Enter normal boot mode.

[0045] In order to avoid accidents caused by children's misoperation, the present invention also provides a method for locking an electric wheelchair with a child, which is implemented based on an integrated electric wheelchair control system. The method includes the following steps:

[0046] After at least the first operation group is executed in sequence, at least the function control board and the main control drive board in the integrated electric wheelchair control system stop working and enter the child lock shutdown mode;

[0047] After at least the second operation group is executed in sequence, the child lock shutdown mode is released and the integrated electric wheelchair control system enters the normal startup mode; wherein the first operation group is:

[0048] Input the shutdown command to the function control panel and keep it for a while;

[0049] Push the joystick to the maximum forward direction and hold it for a while;

[0050] Push the joystick to the maximum backward direction and hold it for a while;

[0051] The second operation group is:

[0052] Input a shutdown command to the function control panel;

[0053] Push the joystick to the maximum forward direction and hold it for a while;

[0054] Push the joystick to the maximum backward direction and hold it there for a while.

[0055] After adopting the above technical solution, the present invention has the following beneficial effects:

[0056] 1. The integrated electric wheelchair control system of the present invention integrates the electric wheelchair light control function, electric folding function and wheelchair movement through the design of the main control drive board and the function control board, which can not only meet the user's lighting needs, but also simplify its structure, save unnecessary trouble for the manufacturer's installation and maintenance, and bring better experience and lower expenses to users;

[0057] 2. The integrated electric wheelchair control system of the present invention is also designed with a USB fast charging and lighting board, realizing the USB fast charging function and the lighting function;

[0058] 3. In order to avoid accidents caused by children's misoperation, the integrated wheelchair control system of the present invention also has a child lock function;

[0059] 4. In order to improve the safety of the integrated wheelchair control system of the present invention, it also has a power-on self-check function and a fault information display function. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 It is a control principle diagram of the integrated electric wheelchair control system of the present invention;

[0061] Figure 2 It is an assembly explosion diagram of the integrated electric wheelchair control system of the present invention;

[0062] Figure 3 is a circuit diagram of the power conversion module in the present invention;

[0063] Figure 4 is a circuit diagram of the storage module in the present invention;

[0064] Figure 5 The circuit diagram of the battery power detection module in the present invention;

[0065] Figure 6 is a circuit diagram of the temperature detection module in the present invention;

[0066] Figure 7 is a circuit diagram of the relay drive module in the present invention;

[0067] Figure 8 is a circuit diagram of the motor drive bridge module in the present invention;

[0068] Fig. 9 is a circuit diagram of the motor drive bridge detection module in the present invention;

[0069] Fig.10 This is a circuit diagram of the electromagnetic brake drive module in the present invention;

[0070] Fig.11 is a circuit diagram of the electromagnetic brake detection module in the present invention;

[0071] Fig.12 is a circuit diagram of the key module in the present invention;

[0072] Fig.13 is a circuit diagram of the display module in the present invention;

[0073] Fig.14 is a circuit diagram of the light driving module in the present invention;

[0074] Fig.15 is a circuit diagram of the electric folding control module in the present invention;

[0075] Fig.16 This is a circuit diagram of the USB fast charging module in the present invention;

[0076] Fig.17 is a circuit diagram of the lighting lamp driving module in the present invention;

[0077] Fig.18 This is a power-on self-test flow chart of the integrated electric wheelchair control system of the present invention;

[0078] Fig.19 This is a flowchart of the locking operation of the child lock function in the present invention;

[0079] Fig. 20 This is a flowchart of the unlocking operation of the child lock function in the present invention;

[0080] Fig.21 The circuit schematic diagram of the remote control signal receiving module in the present invention;

[0081] Fig. 22 for Fig.15 Specific structure diagram of the anti-pinch detection switch S1 in FIG. DETAILED DESCRIPTION

[0082] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0083] Embodiment 1

[0084] like Figures 1 to 17 As shown, an integrated electric wheelchair control system includes a power battery 10, a joystick 20, a lamp, a folding power component suitable for being controlled to fold or unfold the electric wheelchair, and a motor 30 suitable for being controlled to make the wheels of the electric wheelchair perform corresponding actions, and includes a main control drive board 1 and a function control board 2 that are connected to each other in communication; wherein,

[0085] The function control panel 2 is respectively connected to various lights and folding power components of the electric wheelchair, and the function control panel 2 is suitable for allowing the user to input corresponding control instructions, controlling the corresponding light actions according to the light control instructions input by the user, and driving and controlling the folding power components to perform corresponding actions according to the folding instructions input by the user; the corresponding control instructions at least include light control instructions, folding instructions and wheelchair action execution instructions;

[0086] The function control board 2 is adapted to transmit the wheelchair action execution instruction input by the user to the main control drive board 1;

[0087] The main control driving board 1 is connected to the joystick 20 and the motor 30 respectively, and the main control driving board 1 is suitable for driving and controlling the motor 30 to perform corresponding actions according to corresponding action direction information of the joystick 20 and / or corresponding wheelchair action execution instructions input by the user;

[0088] The main control driving board 1 is also electrically connected to the power battery 10 .

[0089] In this embodiment, the power battery 10 includes but is not limited to a lead-acid battery or a lithium-ion battery; the motor 30 includes but is not limited to a brushed DC motor or a brushless DC motor.

[0090] In order to improve the safety of the integrated electric wheelchair control system, the main control drive board 1 is also suitable for monitoring the working status information of at least some modules in the main control drive board 1 and transmitting it to the function control board 2, and is suitable for generating fault information when the working status of at least one module is abnormal and transmitting it to the function control board 2, and at least stopping the main control drive board 1 and / or the function control board 2 from working;

[0091] The function control board 2 is also adapted to monitor the working status information of at least some modules in the function control board 2 and to generate fault information and at least stop the main control drive board 1 and / or the function control board 2 from working when the working status of at least one module is abnormal;

[0092] The function control board 2 is also suitable for displaying the working status information and fault information generated by the main control drive board 1 and the working status information and fault information generated by the function control board 2 to the user.

[0093] like Figure 1 As shown, the function control panel 2 includes a display module 21, and the display module 21 is used to display working status information and / or fault information.

[0094] In this embodiment, during the whole process of the control system operation, the main control driving board 1 and the function control board 2 perform real-time detection on the function modules they are responsible for controlling, so that the instructions issued are always consistent with the feedback received. If an abnormality occurs, the control system will be stopped immediately, and the corresponding fault information will be displayed to the user through the display module 21.

[0095] like Figure 1 As shown, the main control driving board 1 includes:

[0096] A main control processing module 11, the main control processing module 11 is connected to the joystick 10, and the main control processing module 11 is adapted to receive corresponding motion direction information sent by the joystick 10 and / or corresponding wheelchair motion execution instructions input by the user and generate corresponding travel control instructions;

[0097] A motor drive bridge module 12, wherein the motor drive bridge module 12 is connected to the main control processing module 11 and the motor 30 respectively, and the motor drive bridge module 12 is suitable for driving the motor 30 to perform corresponding actions according to corresponding driving control instructions;

[0098] A motor drive bridge detection module 13, wherein the motor drive bridge detection module 13 is connected to the motor drive bridge module 12 and the main control processing module 11 respectively, and the motor drive bridge detection module 13 is suitable for real-time detection of the working state of the motor drive bridge module 12 and feeding back the detection result to the main control processing module 11;

[0099] An electromagnetic brake driving module 14, wherein the electromagnetic brake driving module 14 is connected to the main control processing module 11 and the motor 30 respectively, and the electromagnetic brake driving module 14 is adapted to drive the electromagnetic brake inside the motor 30 to perform corresponding actions according to corresponding brake control instructions issued by the main control processing module 11;

[0100] The electromagnetic brake detection module 15 is connected to the electromagnetic brake drive module 14 and the main control processing module 11 respectively. The electromagnetic brake detection module 15 is suitable for real-time detection of the working state of the electromagnetic brake drive module 14 and feeding back the detection result to the main control processing module 11.

[0101] like Figure 1 As shown, the main control driving board 1 also includes a relay driving module 16 , and the relay driving module 16 is used to connect or disconnect the electrical connection between the power battery 10 and the motor drive bridge module 12 according to the corresponding instructions issued by the main control processing module 11 .

[0102] In this embodiment, Figure 7The circuit diagram of a relay driving module 16 is shown. The relay driving module 16 includes D9, RL1, Q31, R172, and R169. +B_RLY is the power supply of the motor drive bridge module, and +B is the power supply of the power battery. RL1 is divided into the RL1A electromagnetic coil part and the RL1B contact part; Q31 is an NPN transistor, which is used to control the suction and release of the relay RL1; D19 is the freewheeling diode of the electromagnetic coil when the relay RL1 is released, which is used to release the energy stored in the RL1 electromagnetic coil and protect Q31; R172 is the current limiting resistor of the base of the transistor Q31; the base of Q31 is connected to GND through R169, When the GPIO port PD2 of the main control processing module 11 is set to a low level, the emitter junction of Q31 is reverse biased, Q31 works in a cut-off state, no current flows through the RL1 electromagnetic coil part, the relay RL1 contact is released, and the power battery voltage +B and the motor drive bridge module power supply +B_RLY are disconnected; when the GPIO port PD2 of the main control processing module 11 is set to a high level, after the R172 and R169 resistors divide the voltage, the emitter junction of Q31 is forward biased, Q31 works in a saturated conduction state, current flows through the RL1 electromagnetic coil part, the relay RL1 contact is attracted, and the power battery voltage +B and the motor drive bridge module power supply +B_RLY are connected.

[0103] The main control driving board 1 also includes:

[0104] A storage module 17 for storing at least control instructions input by a user, working status information, and alarm information;

[0105] A battery power detection module 18 for real-time monitoring of the remaining power of the power battery 10;

[0106] A temperature detection module 19 is used to monitor the temperature of the main control drive board 1 and / or the functional control board 2 in real time at least. The temperature detection module 19 is connected to the main control processing module 11. The main control processing module 11 is suitable for controlling the motor drive bridge module 12 and / or the relay drive module 16 to work or shut down according to the temperature signal collected by the temperature detection module 19.

[0107] In this embodiment, Figure 4The circuit diagram of a storage module 17 is shown, wherein IC22 is an EEPROM with an SPI communication interface, wherein pin 1 is a chip select pin, pin 2 is a clock pin, pin 3 is a data input pin, pin 4 is a data output pin, pin 5 is a GND pin, pin 6 is not used inside the chip, pin 7 is a chip storage mode selection pin, and pin 8 is a power pin. R163 is a pull-down resistor for the chip select pin of IC22. When the control system does not need to read and write data inside IC22, the GPIO port PA4 of the main control processing module 11 is set to a low level, and the pin 1 of IC22 is pulled down through the resistor R163, and IC22 enters a suspension mode; when the control system needs to read and write data inside IC22, the GPIO port PA4 of the main control processing module 11 is set to a high level, and the pin 1 of IC22 is a high level, and IC22 enters a working mode, and the SPI communication ports PA5, PA6, and PA7 of the main control processing module 11 are respectively connected to the pins 2, 3, and 4 of IC22 to read and write data. Connect pins 5 and 6 of IC22 to GND, and pin 8 to 3.3V power. Connect pin 7 of IC22 to 3.3V power, and set IC22 to work in 16-bit data mode.

[0108] In this embodiment, Figure 5 A circuit diagram of a battery power detection module 18 is shown, wherein +B is the power battery voltage, which is sent to the A / D port PF7 of the main control processing module 11 after being divided by resistors R154 and R159. The A / D conversion module inside the main control processing module 11 performs measurement to obtain the battery voltage.

[0109] In this embodiment, Figure 6A circuit diagram of a temperature detection module 19 is shown, wherein the temperature detection module 19 is composed of R178, thermistor ZR2 and filter capacitor C98. Thermistor ZR2 is a heat-sensitive element, and its characteristic is that its resistance value will change with the change of temperature. The thermistor used here is a negative temperature coefficient (NTC) thermistor, and its resistance value will decrease with the increase of temperature. Specific working principle: When the control system starts to work, the temperature of the control system is room temperature. At this time, the voltage detected by the A / D port PF7 of the main control processing module 11 is the voltage divided by the 5V power supply through R178 and the thermistor ZR2 at room temperature. As the control system works, the heat generated by the control system will cause the temperature of the control system to rise, then the resistance value of thermistor ZR2 will decrease accordingly, and the voltage detected by the A / D port PF7 of the main control processing module 11 will also decrease accordingly. When the detected voltage is less than the preset value, the main control processing module 11 will determine that the temperature of the control system is too high, and the main control processing module 11 will issue an instruction to shut down the motor drive bridge module 12 and the relay drive module 16, and the control system enters the over-temperature protection mode. At the same time, the main control processing module 11 notifies the function control processing module 22 through the UART communication interface, and the function control processing module 22 prompts the user through the display module 21 that the temperature of the control system is too high.

[0110] In this embodiment, Figure 8A circuit diagram of a motor drive bridge module 12 is shown, wherein IC14 and IC15 are half-bridge drivers, wherein pin 1 is a control signal input pin, pin 2 is a chip shutdown pin, pin 3 is a GND pin, pin 4 is a low-end output pin, pin 5 is a power pin, pin 6 is a high-side bootstrap input pin, pin 7 is a high-side output pin, and pin 8 is a high-side bootstrap power pin; Q24, Q25, Q26, and Q27 are N-channel field effect transistors (N-MOSFETs); R122, R123, R125, and R 126 is the current limiting resistor of the gate of the N-channel field effect transistor; D12 and D13 are unidirectional diodes to prevent the current of the motor drive bridge module 12 from flowing back to the 12V power supply; C67 and C68 are bootstrap capacitors for the high-side output of the half-bridge driver; when all modules of the control system are working normally, the GPIO port PG0 of the main control processing module 11 is set to a high level, and after the voltage is divided by the resistors R120 and R127, R121 and R128, the No. 2 pins of IC14 and IC15 are high, and the motor drive bridge module 12 starts to work. Reverse control of motor 30: When the PWM port PA6 of the main control processing module 11 is set to a duty cycle of 0%, that is, the PWM port PA6 of the main control processing module 11 is continuously at a high level, the output of pin 7 of IC14 is high, and after passing through the current limiting resistor R122, it is output to the gate of Q24, Q24 is turned on, and the output of pin 4 is low, and is output to the gate of Q27 through the current limiting resistor R125, Q27 is cut off, and the motor drive bridge power supply is connected to the negative pole of the motor 30 through Q24. At this time, the main control processing module 11 adjusts the output duty cycle of the PWM port PA7 of the main control processing module 11, and then adjusts the conduction time of Q26 to adjust the speed of the motor 30. Forward control of motor 30: When the PWM port PA7 of the main control processing module 11 is set to a duty cycle of 0%, that is, the PWM port PA7 of the main control processing module 11 is continuously at a high level, the output of pin 7 of IC15 is high, and after passing through the current limiting resistor R123, it is output to the gate of Q25, Q25 is turned on, the output of pin 4 is low, and it is output to the gate of Q26 through the current limiting resistor R126, Q26 is cut off, and the motor drive bridge power supply is connected to the positive pole of the motor through Q25. At this time, the main control processing module 11 adjusts the output duty cycle of the PWM port PA6 of the main control processing module 11, and then adjusts the conduction time of Q27 to adjust the speed of the motor 30. When the main control processing module 11 detects that a module of the control system has a fault, the GPIO port PG0 of the main control drive board MCU is set to a low level, the pin 2 of IC14 is pulled down through the resistor R127, the pin 2 of IC15 is pulled down through the resistor R128, and the motor drive bridge module 12 stops working to protect the control system.

[0111] like Fig. 9As shown, when the motor drive bridge module 12 controls the motor 30 to reverse, the negative pole of the motor 30 is the motor drive bridge module power supply +B_RLY, and the positive pole of the motor 30 is the PWM output of the motor drive bridge module 12. After voltage division by R107 and R104, it is given to the integration network composed of R103 and C51. After integration, the PWM square wave obtains a voltage that changes with the PWM duty cycle and is sent to the A / D port PC0 of the main control processing module 11. The A / D conversion module inside the main control processing module 11 performs measurement to obtain the output voltage of the motor drive bridge module 12. Similarly, when the motor drive bridge module 12 controls the motor 30 to rotate forward, the positive pole of the motor 30 is the motor drive bridge module power supply +B_RLY, and the negative pole of the motor 30 is the PWM output of the motor drive bridge module 12. After voltage division by R90 and R91, it is given to the integration network composed of R92 and C42. After integration, the PWM square wave obtains a voltage that changes with the PWM duty cycle and is sent to the A / D port PF10 of the main control processing module 11. The A / D conversion module inside the main control processing module 11 performs measurement to obtain the output voltage of the motor drive bridge module 12. When the motor drive bridge module 12 fails, the voltage detected by the A / D ports PF10 and PC0 of the main control processing module 11 will no longer be beyond the normal range, and the main control processing module 11 will determine that the motor drive bridge module 12 has failed. The main control processing module 11 will notify the function control processing module 22 through the UART communication interface and prompt the user through the display module 21 that the motor drive bridge module has failed. When the motor 30 connection fails, the A / D ports PF10 and PC0 of the main control processing module 11 will be pulled down to GND by R91 and R104. At this time, the main control processing module 11 will determine that the motor connection is faulty, and the main control processing module 11 will notify the function control processing module 22 through the UART communication interface and prompt the user through the display module 21 that the motor connection has failed.

[0112] like Fig.10A specific circuit diagram of an electromagnetic brake drive module 14 is shown. The electromagnetic brake drive module 14 is composed of R135, R137, Q21, R143, R145, Q20, D16, and D17, wherein Q20 is an NPN transistor, Q21 is a P-channel field effect transistor (P-MOSFET), +B_RLY is the power supply for the motor drive bridge module, and the main control processing module 11 controls the electromagnetic brake drive module 14 through the GPIO port PD4. When the GPIO port PD4 of the main control processing module 11 is set to a low level, the base of Q20 is connected to GND through R145, the emitter junction of Q20 is reverse biased, Q20 works in the cut-off state, and the gate (G) of Q21 is connected to the source (S) through R138. At this time, there is no bias voltage on the gate-source (GS) of Q21, the drain-source (GS) of Q21 is pinched off, the electric energy cannot flow through Q21 to the subsequent circuit, and the electromagnetic brake is released; when the GPIO port PD4 of the main control processing module 11 is set to a high level, after voltage division by R143 and R145, the base voltage of Q20 is high, the emitter junction of Q20 is forward biased, Q20 is saturated and turned on, R140 is connected to GND, and the gate (G) of Q21 is lower than its source (S) voltage after voltage division by R138 and R140, that is, the gate-source (GS) of Q21 is a negative voltage, and Q21 is turned on. After Q21 is turned on, its drain (D) output voltage is +B_RLY, which is connected to the electromagnetic brake through D16, and the electromagnetic brake is electrically absorbed. Q16 is a unidirectional diode, which is used to prevent the electric energy in the electromagnetic brake from flowing back to the control system. Q17 is a freewheeling diode, which provides a freewheeling circuit for the release of the electromagnetic energy stored in the electromagnetic brake coil when the electromagnetic brake is released.

[0113] Fig.11 The specific circuit diagram of an electromagnetic brake detection module 14 is shown. The electromagnetic brake detection module 14 is composed of R148, R150, R146 and C85. The A / D port PF6 of the main control processing module 11 is used to detect the working state of the electromagnetic brake. Specific detection principle: when the electromagnetic brake is not engaged, the voltage detected by the A / D port PF6 of the main control processing module 11 is +B_RLY, which is recorded as V1 through the voltage divided by R150 and R146 connected in series with R148; when the electromagnetic brake is engaged, the voltage detected by the A / D port PF6 of the main control processing module 11 is +B_RLY, which is recorded as V2 through the voltage divided by R150 and R146. When the A / D port PF6 of the main control processing module 11 detects that the voltage is V1, the main control processing module 11 will determine that the electromagnetic brake is not engaged. When the A / D port PF6 of the main control processing module 11 detects that the voltage is V2, the main control processing module 11 will determine that the electromagnetic brake is engaged.

[0114] Specifically, Figure 1 As shown, the function control panel 2 includes:

[0115] An instruction input module, wherein the instruction input module is adapted to collect corresponding control instructions input by a user;

[0116] A function control processing module 22, wherein the function control processing module 22 is connected to the main control processing module 11 for mutual communication, and the function control processing module 22 is also connected to the instruction input module, and the function control processing module 22 is adapted to generate a corresponding control drive signal according to a corresponding control instruction input by the instruction input module; the control drive signal at least includes a light control drive signal corresponding to a light control instruction and a folding drive signal corresponding to a folding instruction;

[0117] A light driving module 23, the light driving module 23 is used to drive the light of the electric wheelchair to at least partially work or turn off according to the corresponding light control driving signal sent by the function control processing module 22;

[0118] The electric folding control module 24 is used to drive the folding power component of the electric wheelchair to perform corresponding actions according to the corresponding folding drive signal sent by the function control processing module 22.

[0119] Specifically, Figure 1 As shown, the function control panel 2 also includes:

[0120] A remote control signal receiving module 25, the remote control signal receiving module 25 is connected to the function control processing module 22, the remote control signal receiving module 25 is used to receive and decode the instructions issued by the remote control, and transmit the parsed remote control instructions to the function control processing module 22, the function control processing module 22 drives the folding power component of the electric wheelchair to perform corresponding actions according to the corresponding folding drive signal issued by the received remote control signal.

[0121] In this embodiment, the function control processing module 22 is an MCU module, and the specific model is STM8S105C6T6TR, and it can also be other models of the STM3S10 series. The function control processing module 22 includes: an EEPROM module, an AD conversion module, and a UART communication module. The function control processing module 22 can be used to display various information transmitted by the main control processing module 11 through the UART communication interface to the user through the display module 21.

[0122] In this embodiment, the command input module is a key module 26. Fig.12The specific circuit diagram of a key module 26 is shown. The key module 26 is composed of resistors R30 and R31, capacitor C10, and function key S5. R30 is a pull-up resistor. When the function key S5 is not pressed, the corresponding GPIO port of the function control processing module 22 is pulled up to a 5V power supply by R30 and R31; R31 is a current limiting resistor of the corresponding GPIO port of the function control processing module 22. When the function key S5 is pressed, it plays a current limiting role and is used to protect the GPIO port of the function control processing module 22; when the function key S5 is pressed, the corresponding GPIO port of the function control processing module 22 is pulled down by the function key S5. When the function control processing module 22 detects that the corresponding GPIO port is at a low level, it determines that the corresponding function key S5 is pressed. C10 is a filter capacitor, which is used to filter out interference signals and prevent the function control processing module 22 from misjudging.

[0123] In this embodiment, Fig.13 A specific circuit diagram of a display module is shown, in which U1 and U2 are new seven-way high-voltage and high-current Darlington transistor arrays, LED1, LED3, LED4, LED6-LED9 are speed indicators of the control system, LED11-LED15 are power battery remaining indicators of the control system; LED19 is the electric folding start indicator, LED20 is the folding working indicator, and R1, R3, R4, R6-R9, R21-R25, R44, R50 are current-limiting resistors of the LED indicators. Now take one of the circuits as an example to introduce its working principle in detail: when the GPIO port PE0 output of the function control processing module 22 is low level, the output of pin 16 of U1 is high impedance, current cannot be poured into U1, no current flows through LED11, and LED11 goes out. When the GPIO port PE0 of the function control processing module 22 outputs a high level, the pin 16 of U1 outputs a low level, and the current of the 5V power supply flows through the current limiting resistor R21 through the LED 11 and flows into the pin 16 of U1, and the LED 11 lights up. The lighting and extinguishing principles of the other LEDs are the same.

[0124] In this embodiment, Fig.14The circuit diagram of a light driving module 23 is shown, wherein U3 is a new seven-way high-voltage, high-current Darlington transistor array; TR1-TR3 are P-channel field effect transistors (P-MOSFET), which act as switches; F5, F7, and F8 are self-recovery fuses, which are used to protect the control system when a fault occurs in the light circuit; LED20 is a lighting indicator light, which is used to prompt the user of the working status of the lighting; LED16 is a left turn indicator light, which is used to prompt the user of the working status of the left turn light; LED17 is a right turn indicator light, which is used to prompt the user of the working status of the right turn light; LED10 is a double flash indicator light, which is used to prompt the user of the working status of the double flash light; R46 and R52 are resistors for establishing the working conditions of TR1. R51 and R53 are resistors for establishing the working conditions of TR2. R48 and R49 are resistors for establishing the working conditions of TR3. The working principle of the lighting lamp is described in detail below: When the GPIO port PA0 output of the function control processing module 22 is low, the output of pin 16 of U3 is high impedance, and current cannot be injected into U1. The gate (G) of TR1 is connected to the source (S) through R52. At this time, there is no bias voltage at the gate-source (GS) of TR1, and the drain-source (GS) of TR1 is cut off. Electric energy cannot flow through TR1 to the subsequent circuit, and the lighting lamp is turned off. At the same time, since the output of pin 16 of U3 is high impedance, no current flows through LED20, and LED20 goes out, prompting the user that the lighting lamp is turned off. When the GPIO port PA0 output of the function control processing module 22 is high, the pin 16 of U3 is low, and the current of the 12V power supply is poured into the pin 16 of U3 through R52, R46 and LED20. At this time, the gate (G) voltage of TR1 is the 12V power supply divided by R52, R46 and LED20 in series, and the gate source (GS) of TR1 is negative voltage. The drain source (GS) of TR1 is turned on, and the electric energy flows through TR1 to the subsequent circuit, and the lighting lamp is turned on. At the same time, since there is current flowing through LED20, LED20 lights up, prompting the user that the lighting lamp is on. The working principle of the left turn signal and the right turn signal is the same, which will not be repeated here. When the user presses the double flash button of the key module 26 in the function control board 2, the function control processing module 22 controls the left turn light and the right turn light to work at the same time; at the same time, the GPIO port PA3 of the function control processing module 22 outputs a high level, the pin 13 of U3 outputs a low level, and the electric energy of the 5V power supply flows into the pin 13 of U3 through R10 and LED10, and LED10 lights up, indicating that the double flash lights are in the on state. When the user presses the double flash button of the key module 26 of the function control board 2 for the second time, the function control processing module 22 controls the left turn light and the right turn light to stop working at the same time; at the same time, the GPIO port PA3 of the function control processing module 22 outputs a low level, the pin 13 of U3 outputs a high impedance state, and the electric energy cannot flow into the pin 13 of U3, and the LED10 goes out due to no current flowing, indicating that the user's double flash lights are in the off state.

[0125] In this embodiment, Fig.15A specific circuit diagram of an electric folding control module 15 is shown, wherein +B is a power battery power source, D15 is a unidirectional diode, used to prevent the current of the electric folding control module 15 from flowing back to the control system; C25 is a filter capacitor, used to provide instantaneous current to the electric folding control module 15; F9 is a self-recovery fuse, used to protect the control system when a fault occurs in the electric folding control module 15; R71 is a current sampling resistor, used to collect the working current of the electric folding control module 15; U8 is a current detection IC, whose pin 1 is a high-level shutdown pin, and here the pin is connected to GND, that is, the chip is always in the on state, pin 2 is not connected inside the chip, pin 3 is the positive input terminal, and pin 4 is the ground pin. Pin 5 is the open collector logic output and is not used here. Pin 6 is the negative input terminal, pin 7 is the power pin, and pin 8 is the detection result output pin, which is used to detect the working current of the electric folding control module 15; K1A and K1B are relays, which are used to switch the positive and reverse directions of the folding cylinder (folding power component); Q6 and Q8 are NPN transistors, which are used to control the operation of the relay; S1 is an anti-pinch detection switch, which is connected in series in the folding cylinder circuit and can be installed under the seat of the electric wheelchair to detect whether there is anyone sitting on the electric wheelchair seat to prevent people from being pinched during the folding process of the electric wheelchair. The specific working principle of the electric folding control module 15 is as follows: a. Electric folding forward action: The power supply in the power battery 10 is connected to the common contact of the relay K1A through D15, F9, and R71. The common contact of the relay K1A is connected to its normally closed contact, and its normally closed contact is connected to the positive electrode of the folding electric cylinder. The GPIO port PB6 of the function control processing module 22 outputs a high level, which is connected to the base of Q8 after being divided by R65 and R62. The emitter junction of Q8 is forward biased, Q8 is saturated and turned on, and the electromagnetic coil of the relay K1B is energized. Its action contact is attracted to the normally open contact, and the folding electric cylinder The negative pole of Q8 passes through the common contact of K1B to the normally open contact and is connected to GND. At this point, the electric cylinder is energized and starts to move forward, which is manifested as a folding action on the electric wheelchair. When the GPIO port PB6 of the function control processing module 22 outputs a low level, the base of Q8 is connected to GND through R62, the emitter junction of Q8 is reverse biased, and Q8 is in the cut-off state. The electromagnetic coil of relay K1B loses power, and its action contact is released. The common contact of relay K1B is connected to its normally closed contact, and the negative pole of the folding electric cylinder is connected to the positive pole of the folding electric cylinder. At this time, no current flows through the folding electric cylinder, and the folding electric cylinder stops moving.Electric folding reverse action: the power supply in the power battery 10 is connected to the common contact of the relay K1B through D15, F9, and R71. The common contact of the relay K1B is connected to its normally closed contact, and its normally closed contact is connected to the negative pole of the folding electric cylinder. The GPIO port PA6 of the function control processing module 22 outputs a high level, which is connected to the base of Q6 after voltage division by R66 and R63. The emitter junction of Q6 is forward biased, and Q6 is saturated and turned on. The electromagnetic coil of the relay K1A is energized, and its action contact is attracted to the normally open contact. The positive pole of the folding electric cylinder passes through the common contact of K1A. The contact to the normally open contact is connected to GND. At this time, the folding electric cylinder is energized and starts to move in the reverse direction, which is manifested as an extension action on the electric wheelchair. When the GPIO port PA6 of the function control processing module 22 outputs a low level, the base of Q6 is connected to GND through R63, the emitter junction of Q6 is reverse biased, Q6 is in the cut-off state, the electromagnetic coil of the relay K1A loses power, its action contact is released, the common contact of the relay K1A is connected to its normally closed contact, and the negative pole of the folding electric cylinder is connected to the positive pole of the folding electric cylinder. At this time, no current flows through the folding electric cylinder, and the folding electric cylinder stops moving. Working current detection principle of the electric folding control module: When the electric folding control module 15 is working, current will flow through the sampling resistor R71. Due to the resistance to the current, a potential difference will be generated across the sampling resistor R71. This potential difference is sent to the 3rd and 6th pins of U8 through R70 and R68, and after being amplified by the internal circuit of U8, it is output from its 8th pin to the AD port PE6 of the function control processing module 22 for detection. If the function control processing module 22 detects that the working current of the electric folding control module 15 exceeds the normal range, the function control processing module 22 will cut off the electric folding control module 15 by controlling relays K1A and K1B to stop it from working. The right anti-pinch detection switch S1 is connected in series in the folding electric cylinder circuit, and its pin 1 is a normally open contact, pin 2 is a common contact, and pin 3 is a normally closed contact. Its working principle is: under normal circumstances, the current when the folding electric cylinder is working passes through its common contact pin 2 and normally closed contact pin 3, the folding electric cylinder circuit is connected, and the electric folding control module 15 works normally. When a person sits on the right side of the electric wheelchair seat or a heavy object is placed on the right side, due to the factor of gravity, the action contact of S1 will be connected to its normally open contact pin 1, and the folding electric cylinder circuit will be cut off. The electric folding control module 15 works normally and stops working due to the lack of a current circuit, so as to achieve the function of preventing people or objects from being pinched. The specific structure of the anti-pinch detection switch S1 is as follows. Fig. 22 shown.

[0126] In this embodiment, if Fig.21As shown, the remote control signal receiving module 25 is mainly composed of an antenna, a remote control signal receiving module RCM, a remote control signal decoding chip RFIC, a magnetic bead LR, a crystal oscillator XT2, a pull-up resistor R72 and a remote control pairing button S10; wherein the pin 1 of the remote control signal receiving module RCM is a power ground pin, the pin 2 is an antenna input pin, the pin 3 is a power pin, the pin 4 is a module enable pin, which is connected to GND so that the remote control signal receiving module RCM is always in an enabled state, the pin 5 is a data output pin, the pin 6 is a clock 1 pin, and the pin 7 is a clock 2 pin; the pin 1 of the remote control signal decoding chip RFIC is a power pin, the pin 2 is a data input pin, the pin 3 is a control pin, the pins 4-7 are data output D0, D1, D2 and D3 pins respectively, and the pin 8 is a power ground pin. XT2 is a crystal oscillator, which is used to set the monitoring frequency of the remote control signal receiving module RCM. The 5V power supply of the system supplies power to the remote control signal receiving module RCM through the magnetic bead LR. Here, the magnetic bead LR is a high-frequency filtering inductor, which is used to prevent the high-frequency components in the remote control signal receiving module RCM from interfering with the system 5V power supply. After the remote control signal receiving module RCM is powered on, it starts to monitor the wireless signal received on the antenna pin. When the remote control signal receiving module RCM receives the modulation signal of the corresponding frequency, the remote control signal receiving module RCM will filter out the modulation signal on the wireless signal and output it to the remote control signal decoding chip RFIC from pin 5. After the remote control signal decoding chip RFIC receives the data sent by the remote control signal receiving module RCM, it parses the data. The data parsed by the remote control signal decoding chip RFIC is the corresponding remote control key value. The key value of the remote control is output from pins 4-7 of the remote control signal decoding chip RFIC to the function control processing module 22. The function control processing module 22 sends a corresponding folding drive signal according to the obtained remote control key value to drive the folding power component of the electric wheelchair to perform the corresponding action.

[0127] like Figure 3 As shown, the main control drive board 1 includes a power conversion module 1a, which is respectively connected to the power battery 10 and the function control board 2. The power conversion module 1a is used to transform the electric energy output by the power battery 10 and supply the transformed electric energy to at least the main control drive board 1 and the function control board 2.

[0128] In this embodiment, the power conversion module 1a can convert electrical energy into 5V, 3.3V, or 12V working power. Figure 3As shown, VCC_BAT is the power battery power supply, and D15 is a unidirectional conducting diode to prevent the power energy in the power conversion module 1a from flowing back to the power battery 10. After passing through D15, VCC_BAT is connected to the 7th pin of IC16 through R124, C71, and C72, where R124 is a fuse resistor, which is used to protect when the subsequent circuit of the power conversion module 1a fails. C71 and C72 are IC16 input filter capacitors, which provide instantaneous current for IC6. IC16 is a 5V power conversion chip, whose 7th pin is the input pin, 5th pin is the enable pin, 6th pin is GND, 8th pin is the output pin, and 4th pin is the voltage feedback pin. The 5th pin of IC16 is directly connected to GND to keep IC16 in the enabled state, and the 8th pin of IC16 is connected to D14, L1 and C75. L1 and C75 are the output filter circuit of IC16, which are used to eliminate the output ripple voltage of IC16. D14 is the freewheeling diode of IC16, which is used to provide a freewheeling loop for the subsequent load during the shutdown period of IC16 pin 8. Pin 4 of IC16 is directly connected to the output terminal, feeding the output voltage back to IC16 for the voltage stabilization circuit inside IC16; Figure 3In the figure, IC17 is a low-dropout linear regulator (LDO) chip, with pin 3 as the input pin, pin 2 as the output pin, and pin 1 as the output voltage adjustment pin. The 5V power supply converted by IC16 and its surrounding circuits is connected to the input pin of IC17 through C76, which is the input filter capacitor of IC17. The output pin of IC17 is connected to R130 and C77, where C77 is the output filter capacitor of IC17. R130 and R133 form a voltage divider circuit, and the divided voltage is connected to the voltage adjustment pin of IC17. The output voltage of IC17 can be adjusted by adjusting the resistance values ​​of R130 and R133. The relationship between R130, R133 and the output voltage is: Vout = 1.25*(1+R133 / R130)+Iadj*R133. Here, the output voltage of IC17 is 3.3V by adjusting the resistance values ​​of R130 and R133. In addition, after VCC_BAT passes through D15, it is also connected to R135 and the source (S) electrode of IC18. IC18, R135, R137, Q28, R139 and R141 form a 12V power supply control circuit, wherein IC18 is a P-channel field effect transistor (P-MOSFET) and Q28 is an NPN transistor; the main control processing module 11 controls the 12V power supply control circuit through the GPIO port PF3. When the GPIO port PF3 of the main control processing module 11 is set to a low level, the base of Q28 is connected to GND through R141, the emitter junction of Q28 is reverse biased, Q28 works in a cut-off state, and the gate (G) of IC18 is connected to the source (S) through R135. At this time, there is no bias voltage on the gate-source (GS) of IC18, the drain-source (GS) of IC18 is pinched off, the electric energy cannot flow through IC18 to the subsequent circuit, and the 12V power supply voltage is turned off; when the GPIO port PF3 of the main control processing module 11 is set to a high level, after voltage division by R139 and R141, the base voltage of Q28 is high, the emitter junction of Q28 is forward biased, Q28 is saturated and turned on, R137 is connected to GND, and the gate (G) of IC18 is lower than its source (S) voltage after voltage division by R135 and R137, that is, the gate-source (GS) of IC18 is a negative voltage, and IC18 is turned on. After IC18 is turned on, one path of its drain (D) is connected to +B_RLY (+B_RLY is the driving power supply of the motor drive bridge module 12) via resistor R129, which serves as the detection power supply of the motor drive bridge; after IC18 is turned on, another path of its drain (D) is connected to pin 3 of IC19 via C80. IC19 is a low-dropout linear regulator (LDO) chip, whose pin 3 is the input pin, pin 2 is the output pin, and pin 1 is the output voltage adjustment pin.C80 is the filter capacitor at the input end of IC19, and the output pin of IC19 is connected to R134 and C82, where C82 is the output filter capacitor of IC19. R134 and R136 form a voltage divider circuit, and the divided voltage is connected to the voltage adjustment pin of IC19. The output voltage of IC19 can be adjusted by adjusting the resistance values ​​of resistors R134 and R136. The relationship between R134, R136 and the output voltage is: Vout = 1.25*(1+R136 / R134)+Iadj*R136. Here, the output voltage of IC19 is 12V by adjusting the resistance values ​​of resistors R134 and R136.

[0129] In this embodiment, the main control processing module 11 is an MCU module, and its specific model is STM32F103VFT6, and it can also be other models of the STM32F10 series. The main control processing module 11 integrates an A / D conversion module, a PWM control module, a GPIO module, an SPI communication module, and a UART communication module. The main control processing module 11 can communicate with the function control processing module 22 through a UART communication interface.

[0130] Specifically, in this embodiment, when the user pushes the joystick 20, the magnetic field detection element inside the joystick 20 can measure the magnetic flux density of the joystick magnetic bar (axial magnetization intensity) moving above the IC in a non-contact manner, and calculate two angle information according to the two vector components of the flux density (i.e., BX and BY). The magnetic field detection element outputs two linear analog signals to the main control processing module 11.

[0131] Specifically, Figure 1 As shown, the integrated electric wheelchair control system may further include a USB fast charging and lighting board 3; wherein the USB fast charging and lighting board 3 includes:

[0132] A lighting lamp driving module 31, the lighting lamp driving module 31 is electrically connected to the power battery 10, the lighting lamp driving module 31 includes a lighting lamp, the lighting lamp driving module 31 is connected to the function control board 2, the corresponding control instruction also includes a lighting lamp instruction, the function control board 2 is suitable for generating a corresponding lighting lamp driving signal according to the lighting lamp instruction input by the user, and the lighting lamp driving module 31 is suitable for driving and controlling the lighting lamp to be turned on or off according to the lighting lamp driving signal issued by the function control board 2;

[0133] The USB fast charging module 32 is electrically connected to the power battery 10, and the USB fast charging module 32 is suitable for converting the electric energy input by the power battery 10 into electric energy of corresponding output power for fast charging of the external USB device according to the fast charging protocol supported by the identified external USB device.

[0134] Fig.16 A specific circuit diagram of a USB fast charging module 32 is shown, in which +B is the power battery power supply, C2 is the input filter capacitor, U18 is the USB fast charging management chip, built-in power MOS, maximum output 24W, integrated with various fast charging output protocols (DCP / QC2.0 / QC3.0 / MTK PE1.1 / PE2.0 / FCP / SCP / AFC / SFCP), pins 1 and 2 are DCDC switch nodes, connected to inductors, pin 3 is the bootstrap circuit pin, pin 4 is the frequency adjustment pin, and the external resistor adjusts its operating frequency, pin 5 is the USB fast charging identification signal 1, pin 5 is the USB fast charging identification signal 2, pin 7 is the power input pin, and pin 8 is the output voltage feedback pin. Pin 9 is the power ground and heat dissipation ground. R4 is the operating frequency setting capacitor, and C8 is the bootstrap capacitor, which is used to provide operating voltage for the upper tube gate drive inside the chip. L3 is the output energy storage filter inductor, C5 is the output energy storage filter capacitor, F2 is a self-recovery fuse, which is used to prevent the external USB device from short-circuiting and causing damage to the control system, and R3 is the virtual load of U18, which is used to establish working conditions for the U18 chip. USB PORT is the output interface. When the output interface is connected to an external USB device, U18 communicates with the connected external USB device through its 5th and 6th pins to identify the fast charging protocol supported by the external USB device. After the device is successfully connected, U18 automatically adjusts the output mode.

[0135] Fig.17 The specific circuit diagram of a lighting lamp driver module is shown, wherein the lighting lamp driver module is composed of C4, D1, U19, L2, R2 and a lighting lamp. Among them, +B is the power battery power supply, C4 is the input filter capacitor, D2 is the freewheeling diode, L2 is the output energy storage inductor, the lighting lamp uses a high-power light-emitting diode, R2 is the current sampling resistor, U19 is the driver chip of the lighting lamp, its pin 1 is the drain (D) of the internal power tube, pin 2 is the ground terminal of the signal and power, pin 3 is the enable terminal of the chip, pin 4 is the current sampling input terminal, and pin 5 is the power input terminal. Specific working principle: The power battery power is input into pin 1 of U19 through the input filter capacitor C4. At this time, the enable terminal of pin 3 of U19 is pulled low by R1, U19 works in standby mode, its pin 1 has no output, and the lighting lamp is turned off. When the GPIO port PA0 of the function control processing module 22 outputs a high level, the enable terminal of pin 3 of U19 is at a high level and starts to work, and its pin 1 starts to output a PWM square wave. The current in the power battery 10 flows through the lighting lamp through the current limiting resistor R2 and flows into U19 through L2. The lighting lamp lights up, and the current passes through the R2 current limiting resistor. Due to the resistance to the current, a potential difference will be generated across the sampling resistor R2. This potential difference is input into pin 4 of U19 for its internal output adjustment.

[0136] Embodiment 2

[0137] In order to improve the safety of integrated electric wheelchair control systems, such as Fig.18 As shown, this embodiment introduces a method for self-checking an electric wheelchair when it is powered on. The electric wheelchair includes a power battery 10, a joystick 20, and a motor 30 adapted to be controlled and driven by a motor drive bridge module 12 and an electromagnetic brake drive module 14 so that the wheels of the electric wheelchair perform corresponding actions. The method can be implemented based on the integrated electric wheelchair control system in the first embodiment. The steps of the method include:

[0138] S1: Turn on the machine and connect the power battery 10;

[0139] S2: Check whether the joystick 20 is connected normally: if the test result is normal, proceed to the next step; if the test result is abnormal, prompt the user that the joystick is faulty and stop booting;

[0140] S3: Detect whether the joystick 20 is at the origin: if the detection result is that it is at the origin, proceed to the next step; if the detection result is that it is not at the origin, prompt the user that the joystick 20 is not at the origin and stop booting;

[0141] S4: Detect whether the motor 30 exists: if the detection result is that the motor 30 exists, proceed to the next step; if the detection result is that the motor 30 does not exist, prompt the user that the motor 30 is not connected and stop booting;

[0142] S5: Check whether the motor drive bridge module 12 works normally: if the test result is normal, proceed to the next step; if the test result is abnormal, prompt the user that the motor drive bridge module 12 is faulty and stop booting;

[0143] S6: Check whether the electromagnetic brake drive module 14 is normal: when the test result is normal, proceed to the next step; when the test result is abnormal, prompt the user that the electromagnetic brake is faulty and stop booting;

[0144] S7: Enter normal boot mode.

[0145] In this embodiment, when the control system is turned on, the function control processing module 22 and the main control processing module 11 perform a power-on self-test on the function modules they are responsible for controlling. Only when all the function modules in the power-on self-test are working normally, the control system will enter the normal power-on mode. If it is detected during the power-on self-test that one or more function modules are not working properly, the control system will display the corresponding fault information to the user through the display module 21 and stop the power-on.

[0146] The display of fault information is displayed through the power indicator light and speed indicator light in the display module 21. When the main control processing module 11 of the main control driving board 1 detects that the functional modules of the main control driving board 1 have faults, it will immediately control the relay driving module 16 to release the relay and control the power conversion module 1a to disconnect the power supply of the motor drive bridge. At the same time, the main control processing module 11 of the main control driving board 1 notifies the functional control processing module 22 of the corresponding fault location through the UART communication interface. After receiving the fault information, the power conversion module 1a will display the corresponding fault information to the user through the display module 21. The specific display method is shown in the following table.

[0147]

[0148]

[0149] Embodiment 3

[0150] In order to avoid accidents caused by children's misoperation, this embodiment introduces a method for locking an electric wheelchair with a child, which is implemented based on the integrated electric wheelchair control system in the first embodiment. The method includes the following steps:

[0151] After at least the first operation group is executed in sequence, at least the function control board 2 and the main control drive board 1 in the integrated electric wheelchair control system stop working and enter the child lock shutdown mode;

[0152] After at least the second operation group is executed in sequence, the child lock shutdown mode is released and the integrated electric wheelchair control system enters the normal startup mode; wherein the first operation group is:

[0153] Input a shutdown command to the function control panel 2 and keep it for a while;

[0154] Push the joystick 20 to the maximum forward direction and hold it for a while;

[0155] Push the joystick 20 to the maximum backward direction and hold it for a while;

[0156] The second operation group is:

[0157] Input a shutdown command to the function control panel 2;

[0158] Push the joystick 20 to the maximum forward direction and hold it for a while;

[0159] Push the joystick 20 to the maximum backward direction and hold it for a while.

[0160] When the method of this embodiment is implemented, Fig.19 and 20 As shown, it can be:

[0161] 3 seconds after the user presses the on / off button, the function control processing module 22 will drive the speaker to make a "beep" sound. Then, the user pushes the joystick 20 to the maximum forward direction and holds it for 2 seconds. The function control processing module 22 will drive the speaker to make a "beep" sound again. Then, the user pushes the joystick 20 to the maximum backward direction and holds it for 2 seconds. The function control processing module 22 will drive the speaker to make a long "beep" sound for the third time, and then all modules of the control system will be turned off and enter the child lock shutdown mode.

[0162] In the child lock shutdown mode, the user presses the on / off button again, and the speed display indicator of the function control processing module 22 displays in a running state, prompting the user that the system is in a locked state. In the system locked state, the user pushes the joystick 20, and the control system does not drive the motor to avoid accidents caused by children's misoperation.

[0163] Release of child lock mode: In child lock shutdown mode, the user presses the on / off button again, the function control processing module 22 will drive the speed indicator light to display in a flowing manner, the user pushes the joystick 20 to the maximum forward direction and holds it for 2 seconds, the function control processing module 22 will drive the horn to make a "beep" sound again, then the user pushes the joystick 20 to the maximum reverse direction and holds it for 2 seconds, the function control processing module 22 will drive the horn to make a long "beep" sound again, the child lock mode is released, and the system enters normal startup mode.

[0164] The specific embodiments described above further illustrate the technical problems, technical solutions and beneficial effects solved by the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0165] In the description of the present invention, it is necessary to understand that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0166] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0167] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They 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 position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0168] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0169] In the present invention, unless otherwise clearly specified and limited, a first feature being above or below a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them. Moreover, a first feature being above, above, and above a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being below, below, and below a second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

Claims

1. A method for self-checking an electric wheelchair when it is powered on, the electric wheelchair comprising a power battery (10), a joystick (20) and a motor (30) adapted to be controlled and driven by a motor drive bridge module (12) and an electromagnetic brake drive module (14) so ​​that the wheels of the electric wheelchair perform corresponding actions, characterized in that The steps of the method include: S1: Turn on the machine and connect the power battery (10) to the power source; S2: Detecting whether the joystick (20) is connected normally: if the detection result is normal, proceed to the next step; if the detection result is abnormal, prompt the user that the joystick is faulty and stop booting; S3: Detecting whether the joystick (20) is at the origin: when the detection result is that it is at the origin, proceeding to the next step; when the detection result is that it is not at the origin, prompting the user that the joystick (20) is not at the origin and stopping the boot; S4: Detecting whether the motor (30) exists: when the detection result is that the motor (30) exists, proceeding to the next step; when the detection result is that the motor (30) does not exist, prompting the user that the motor (30) is not connected and stopping the startup; S5: Detecting whether the motor drive bridge module (12) is working normally: when the detection result is normal, proceed to the next step; when the detection result is abnormal, the user is prompted that the motor drive bridge module (12) is faulty and the startup is stopped; S6: Check whether the electromagnetic brake drive module (14) is normal: if the test result is normal, proceed to the next step; if the test result is abnormal, prompt the user that the electromagnetic brake is faulty and stop booting; S7: Enter normal boot mode.

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