Push rod motor stretching in-place judgment method and judgment system thereof

Abstract

The invention discloses a push rod motor stretching in-place judgment method and a judgment system thereof, which are used for judging the in-place of a push rod motor by detecting the current of the push rod motor and acquiring, detecting and judging the change so as to realize the in-place stop execution control of the push rod motor. A Hall sensor does not need to be installed in the push rod motor, wiring and wire outgoing in the push rod motor are simple, an in-place sensor does not need to be additionally arranged on the whole vehicle structure, and the structure is simple. Whether the collected current of the push rod motor under different conditions meets the judgment condition mode that I is equal to 0A or not is judged through sampling detection, and then corresponding different control modes are executed, so that the situation that the electric push rod under different electric quantities of a power supply is different in unfolding or stretching time can be avoided; and the situation that the electric push rod is different in unfolding or stretching time due to different weights of the frame can be better avoided, and whether the push rod motor stretches in place or not can be better judged by directly judging a set fixed current judgment value.

Description

Technical Field

[0001] This invention relates to a push rod motor, and more particularly to a push rod motor extension and retraction positioning determination method and system for use in folding mobility scooters or electric wheelchairs. Background Technology

[0002] Mobility scooters or electric wheelchairs generally refer to transportation or assistive devices designed for mobility purposes. They are typically small cars, electric bicycles, electric mobility scooters, and electric wheelchairs used to replace human walking, meeting the needs of people with good mobility for longer distances or those with mobility impairments, thus improving efficiency in travel and errands. To further enhance the user experience of mobility scooters or electric wheelchairs, folding mobility scooters or electric wheelchairs have emerged. Folding mobility scooters or electric wheelchairs rely on a push rod motor to improve the ease of folding. The push rod motor pushes a push rod to fold or unfold the scooter. Current folding mobility scooters or electric wheelchairs typically use proximity sensors to detect and determine the push rod's extension length. However, this solution has assembly tolerances, requiring adjustments during production and debugging. Furthermore, the sensors need to be externally mounted, making the production and debugging process cumbersome and resulting in low production efficiency.

[0003] Furthermore, existing technologies that use sensors to detect and determine the extension / retraction time of the push rod have the following drawbacks: the extension / retraction time of the electric push rod varies depending on the power supply, making it difficult to directly set a fixed time point to determine whether the extension / retraction is complete. Additionally, the weight of the frame can also affect the accurate and effective determination of the extension / retraction time. Summary of the Invention

[0004] This invention addresses the current situation where existing folding mobility scooters or electric wheelchairs suffer from assembly tolerances, requiring adjustments during production and debugging, and necessitating external sensor installation, leading to cumbersome production and debugging processes and low production efficiency. It provides a simple push rod motor extension / retraction positioning determination method and system that eliminates the need for Hall effect sensors inside the push rod motor, simplifies wiring, and eliminates the need for additional positioning sensors in the vehicle structure.

[0005] To solve the above technical problems, the present invention employs a method for determining the extension and retraction position of a push rod motor, comprising the following determination and execution steps: A1. Start, system initialization; A2. Determine if there is any input from a human operator; if the determination is no, maintain the current state and continue to execute the task of determining if there is any input from a human operator. A3. In step A2 above, if the judgment is yes, the following judgment steps shall be executed according to different human operations; A4. In step A3 above, if the unfolding or folding operation is performed manually, then the task of collecting and judging the operating current of the push rod motor is executed, and I is judged to be 0A? A5. In step A4 above, if it is determined that I=0A, it is determined that the push rod of the push rod motor has reached the position, the push rod action stops, and the riding action is executed; A6. In step A4 above, if it is determined that I=0A, then it is determined that the push rod is not in place and the push rod action continues; A7. In step A3 above, if the remote control operation is performed manually, then the task of collecting and judging the operating current of the push rod motor is executed, and I is judged to be 0A? A8. In step A7 above, if the determination is I=0A, it is determined that the push lever has reached the position, the push lever action stops, and the riding action is executed; A9. In step A7 above, if it is determined that I=0A, then it is determined that the push rod is not in place and the push rod action continues; A10. In steps A6 and A9 above, after continuing to execute the push rod action, execute the task of collecting and judging the working current of the push rod motor again, and determine I=0A? A11. In step A10 above, if the determination is I=0A, then execute steps A5 and A8 above to determine that the push rod is in place, stop the push rod action, and execute the riding action; A12. In step A10 above, if it is determined that I=0A, then return to the tasks in steps A6 and A9 above, continue to execute the judgment that the push rod is not in place, continue to execute the push rod action, and continue to cycle back to step A10 above.

[0006] The system detects and monitors changes in the current of the push rod motor to determine its position and control its stop. The push rod motor itself does not require a Hall sensor, its internal wiring is simple, and the overall vehicle structure does not need additional position sensors, resulting in a simplified design. The I=0A sampling and detection mode avoids inconsistencies in extension or retraction times due to varying power levels or frame weight. It allows for direct determination of a fixed current value to confirm the push rod's position. By analyzing different human input, the system improves the safety and reliability of folding mobility scooters or electric wheelchairs, preventing potential safety hazards during operation.

[0007] Preferably, when determining I=0A, any detected operating current of the push rod motor ranging from I=0 to 0.2A is considered as I=0A. Since the no-load current of the motor in a folding mobility scooter or electric wheelchair is above 0.6A, considering the possibility of data acquisition bias, I=0 to 0.2A is determined as I=0A, thus improving the accuracy, reliability, and effectiveness of the determination of the push rod motor's operating current.

[0008] Preferably, the unfolding or folding operation includes the operator manually performing the unfolding or folding operation directly, the operator performing the unfolding or folding operation through a smart terminal client, or the operator performing the unfolding or folding operation through an in-vehicle operation control screen. This improves the convenience, flexibility, simplicity, variety, and effectiveness of the manual operation mode.

[0009] Preferably, in steps A5, A8, and A11 above, if I=0A, it is determined that the push rod of the push rod motor has been opened or folded into place. After it is in place, the internal circuit is automatically cut off, and the push rod of the push rod motor stops performing the opening or folding action. This improves the accuracy, reliability, and effectiveness of the push rod motor's determination.

[0010] Preferably, the operating current of the push rod motor is acquired using a sampling resistor applied to the push rod motor. This improves the accuracy, stability, reliability, and effectiveness of the detection line for the push rod motor's extension / retraction position.

[0011] Preferably, the acquisition resistor has a power rating of 2±0.5W and a resistance value of 5±1mΩ. This improves the stability, safety, reliability, and effectiveness of the acquisition resistor detection operation.

[0012] Another objective of this invention application is to provide a push rod motor extension / retraction positioning determination system, including a wheelchair frame and a push rod motor. The push rod motor is used to drive the wheelchair to fold or unfold. The system is characterized by further including an MCU processing module, a push rod driver chip, and an LDO linear regulator module. The MCU processing module and the push rod driver chip use the push rod motor extension / retraction positioning determination method described in one of the above-mentioned technical solutions to perform the opening or folding action determination control of the wheelchair frame. The LDO linear regulator module provides a stable operating current for the determination system. The MCU processing module monitors the current-analog signal collected by the push rod driver chip and controls the extension and folding of the push rod motor through the push rod driver chip. The push rod driver chip collects the standby current, operating current, and positioning current of the push rod motor, and drives the push rod of the push rod motor to extend and retract. The system determines the push rod motor to be in position by detecting changes in the push rod motor current, thus achieving stop positioning control of the push rod motor. The push rod motor does not require the installation of a Hall sensor, the internal wiring of the push rod motor is simple, and the overall vehicle structure does not require an additional positioning sensor, resulting in a simple structure. The sampling detection and judgment mode with I=0A can avoid situations where the electric actuator has different extension or retraction times due to different power levels. It can also better avoid situations where the electric actuator has different extension or retraction times due to different frame weights. It can better directly determine whether the actuator motor has retracted or extended to the correct position by setting a fixed current judgment value.

[0013] Preferably, the determination system is equipped with a vehicle-mounted human body application unit, which includes a vehicle-mounted elderly terminal client and / or a smart terminal client. This improves the convenience, flexibility, simplicity, variety, and effectiveness of the operator's manual operation mode.

[0014] Preferably, the push rod driver chip is integrated into the MCU processing module. This improves the simplicity and effectiveness of the push rod drive control wiring structure.

[0015] Preferably, the MCU processing module integrates a drive circuit for extending or retracting the push rod, which drives the push rod motor. This improves the simplicity and effectiveness of the push rod drive control wiring structure.

[0016] The beneficial effects of this invention are: by detecting and judging changes in the current of the push rod motor to determine its position, the invention enables control over the push rod motor's stop and position. The push rod motor does not require the installation of a Hall sensor, its internal wiring is simple, and the overall vehicle structure does not need additional position sensors, resulting in a simpler and lighter product design. The sampling and detection judgment mode with I=0A avoids situations where the electric push rod's extension or retraction time varies depending on the power supply, and also better avoids situations where the extension or retraction time varies due to differences in frame weight. It allows for more direct determination of a fixed current judgment value to determine whether the push rod motor has reached its position. By judging different human operation inputs, the invention improves the safety, reliability, and effectiveness of using folding mobility scooters or electric wheelchairs, avoiding potential safety hazards during operation. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the determination method flow of the push rod motor extension and retraction positioning determination method and determination system of the present invention.

[0018] Figure 2 This is a schematic diagram of the determination system flow of the push rod motor extension and retraction positioning determination method and determination system of the present invention.

[0019] Figure 3 This is a schematic diagram of the principle structure of the push rod motor extension and retraction positioning determination method and system of the present invention. Detailed Implementation

[0020] Figure 1 , Figure 2 , Figure 3 In the illustrated embodiment, the present invention employs a method for determining the extension and retraction position of a push rod motor, comprising the following determination and execution steps: A1. Start, system initialization; A2. Determine if a human operation has been input; if the determination is no, maintain the current status and continue to execute the task of determining if a human operation has been input; in this solution, human operation refers to input signals given by the user to the wheelchair controller, such as: unfold command, fold command, remote unfold, fold, emergency stop operation, etc. A3. In step A2 above, if the judgment is yes, the following judgment steps shall be executed according to different human operations; A4. In step A3 above, if the unfolding or folding operation is performed manually, the current acquisition and judgment task of the push rod motor operating current will be performed to determine if I=0A?; When unfolding or folding, the push rod motor operating current will change. At this moment, the controller will use the current magnitude to determine whether the motor is working properly. A5. In step A4 above, if it is determined that I=0A, it is determined that the push rod of the push rod motor has reached the position, the push rod action stops, and the riding action is executed; A6. In step A4 above, if it is determined that I=0A, then it is determined that the push rod is not in place and the push rod action continues; A7. In step A3 above, if the remote control operation is performed manually, then the task of collecting and judging the operating current of the push rod motor is executed, and I is judged to be 0A? A8. In step A7 above, if the determination is I=0A, it is determined that the push lever has reached the position, the push lever action stops, and the riding action is executed; A9. In step A7 above, if it is determined that I=0A, then it is determined that the push rod is not in place and the push rod action continues; A10. In steps A6 and A9 above, after continuing to execute the push rod action, execute the task of collecting and judging the working current of the push rod motor again, and determine I=0A? A11. In step A10 above, if the determination is I=0A, then execute steps A5 and A8 above to determine that the push rod is in place, stop the push rod action, and execute the riding action; A12. In step A10 above, if it is determined that I=0A, then return to the tasks in steps A6 and A9 above, continue to execute the judgment that the push rod is not in place, continue to execute the push rod action, and continue to cycle back to step A10 above.

[0021] When determining I=0A, any detected operating current of the push rod motor between I=0 and 0.2A is considered as I=0A. For folding mobility scooters or electric wheelchairs, the no-load current of the motor is above 0.6A. Considering the possibility of data acquisition bias, I=0 to 0.2A is determined as I=0A to improve the accuracy, reliability, and effectiveness of the detected push rod motor operating current. After the push rod has fully extended, the push rod motor is completely disconnected, and the motor operating current is definitely 0A. Therefore, I=0 to 0.2A is set as I=0A to account for the possibility of data acquisition bias.

[0022] The unfolding and folding operations include the operator manually performing the unfolding or folding operation directly, the operator performing the unfolding or folding operation through a smart terminal client, or the operator performing the unfolding or folding operation through the vehicle operation control screen.

[0023] In steps A5, A8, and A11 above, if I=0A, it is determined that the push rod of the actuator motor has been opened or folded into place. Once in place, the internal circuit is automatically cut off, and the push rod of the actuator motor stops performing the opening or folding action. The operating current of the actuator motor is collected using a resistor applied to the actuator motor. The resistor has a power rating of 2±0.5W and a resistance value of 5±1mΩ.

[0024] Figure 1 , Figure 2 , Figure 3 In the illustrated embodiment, a push rod motor extension / retraction positioning determination system includes a wheelchair frame and a push rod motor. The push rod motor drives the wheelchair to fold or unfold. The system also includes an MCU processing module, a push rod driver chip, and an LDO linear regulator module. The MCU processing module and the push rod driver chip use the push rod motor extension / retraction positioning determination method described in Embodiment 1 to control the opening or folding action of the wheelchair frame. The LDO linear regulator module provides a stable operating current for the determination system. The MCU processing module monitors the current-analog signal collected by the push rod driver chip and controls the push rod motor to unfold and fold. The push rod driver chip collects the standby current, operating current, and positioning current of the push rod motor, and drives the push rod to extend and retract. The determination system is equipped with a frame-based human body application unit, which includes an onboard elderly terminal client and / or a smart terminal client. The push rod driver chip is integrated into the MCU processing module. The MCU processing module integrates a drive circuit for extending or retracting the push rod motor. The wheelchair frame serves as the skeleton support and application body for a folding mobility scooter or electric wheelchair. Everything else is the same as in Example 1.

[0025] The above content and structure describe the basic principles, main features, and advantages of the product of this invention, which should be understood by those skilled in the art. The examples and descriptions above are merely illustrative of the principles of this invention. Various changes and modifications can be made to this invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A method for determining the extension / retraction position of a push rod motor, characterized in that... The following judgment and execution steps are included: A1. Start, system initialization; A2. Determine if there is any input from a human operator; if the determination is no, maintain the current state and continue to execute the task of determining if there is any input from a human operator. A3. In step A2 above, if the judgment is yes, the following judgment steps shall be executed according to different human operations; A4. In step A3 above, if the unfolding or folding operation is performed manually, then the task of collecting the working current of the push rod motor is executed to determine whether I = 0A. A5. In step A4 above, if it is determined that I=0A, then it is determined that the push rod of the push rod motor has reached the position, the push rod action stops, and the riding action is executed. A6. In step A4 above, if it is determined that I=0A, then it is determined that the push rod is not in place and the push rod action continues; A7. In step A3 above, if the remote control operation is performed manually, the task of collecting and judging the working current of the push rod motor is executed to determine whether I = 0A. A8. In step A7 above, if the judgment is I=0A, it is determined that the push rod has reached the position, the push rod action stops, and the riding action is executed; A9. In step A7 above, if it is determined that I=0A, then it is determined that the push rod is not in place and the push rod action continues; A10. In steps A6 and A9 above, after continuing to execute the push rod action, execute the task of collecting and judging the working current of the push rod motor again to determine whether I = 0A; A11. In step A10 above, if it is determined that I=0A, then step A5 and step A8 above are executed to determine that the push rod is in place, the push rod action stops, and the riding action is executed. A12. In step A10 above, if it is determined that I=0A, then return to the tasks in steps A6 and A9 above, continue to execute the judgment that the push rod is not in place, continue to execute the push rod action, and continue to cycle back to step A10 above.

2. The method for determining the extension / retraction position of the push rod motor according to claim 1, characterized in that: When I=0A is determined, the operating current of the push rod motor is determined to be I=0A if it is between I=0 and 0.2A.

3. The method for determining the extension / retraction position of the push rod motor according to claim 1, characterized in that: The unfolding and folding operations include those performed manually by the operator, those performed by the operator through a smart terminal client, and those performed by the operator through a vehicle-mounted control screen.

4. The method for determining the extension / retraction position of the push rod motor according to claim 1, characterized in that: In steps A5, A8, and A11 above, if I=0A, it is determined that the push rod of the push rod motor has been opened or folded into place. After it is in place, the internal circuit is automatically cut off, and the push rod of the push rod motor stops performing the opening or folding action.

5. The method for determining the extension / retraction position of the push rod motor according to claim 1, characterized in that: The operating current of the push rod motor is collected using a sampling resistor applied to the push rod motor.

6. The method for determining the extension / retraction position of the push rod motor according to claim 1, characterized in that: The acquisition resistor has a power rating of 2±0.5W and a resistance value of 5±1mΩ.

7. A push rod motor extension / retraction positioning determination system, comprising a wheelchair frame and a push rod motor, wherein the push rod motor is used to drive the wheelchair to fold or unfold, characterized in that: It also includes an MCU processing module, a push rod driver chip, and an LDO linear regulator module. The MCU processing module and the push rod driver chip use the push rod motor extension / retraction positioning determination method as described in any one of claims 1 to 6 to perform the opening or folding action determination control of the wheelchair frame. The LDO linear regulator module is used to provide a stable operating current for the determination system. The MCU processing module is used to monitor the current-analog signal collected by the push rod driver chip, and at the same time, controls the push rod motor to extend and fold through the push rod driver chip. The push rod driver chip is used to collect the standby current, operating current, and positioning current of the push rod motor, and at the same time drive the push rod of the push rod motor to extend and retract and fold.

8. The push rod motor extension / retraction positioning determination system according to claim 7, characterized in that: The determination system is equipped with a vehicle-mounted human body application unit, which includes an in-vehicle elderly terminal client and / or a smart terminal client.

9. The push rod motor extension / retraction positioning determination system according to claim 7, characterized in that: The aforementioned push rod drive chip is integrated into the MCU processing module.

10. The push rod motor extension / retraction positioning determination system according to claim 7, characterized in that: The MCU processing module integrates a drive circuit that drives the push rod motor to extend or retract.

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