Ramp speed compensation method and device for electric power-assisted wheelchair, wheelchair and medium

Abstract

The invention relates to the technical field of electric power-assisted wheelchairs. The invention discloses a ramp speed compensation method and device of an electric power-assisted wheelchair, the wheelchair and a medium, which can realize real-time speed adjustment of the electric power-assisted wheelchair during transition between a flat ground and a slope, so that the speed of a handle of the wheelchair is consistent with the speed of a driving wheel, and the comfort of a pusher in operating the wheelchair is improved. The ramp speed compensation method for the electric power-assisted wheelchair comprises the steps that the initial target speed and the speed compensation amount of the electric power-assisted wheelchair are obtained; performing calculation processing on the initial target speed and the speed compensation amount by adopting a first preset algorithm to obtain a corrected target speed; and adjusting the speed of the rear wheels of the electric power-assisted wheelchair based on the corrected target speed.

Description

Technical Field

[0001] This application relates to the field of electric-assisted wheelchair technology. More specifically, this application relates to a ramp speed compensation method, device, wheelchair, and medium for an electric-assisted wheelchair. Background Technology

[0002] Existing attendant-propelled power-assisted wheelchairs (APAWs) primarily control wheelchair speed by detecting the force applied by the pusher, thereby reducing the burden of pushing. However, when this attendant-propelled power-assisted wheelchair moves from flat ground onto a slope or back from a slope to flat ground, the front and rear wheels are not on the same plane, causing a change in angular velocity. This results in a mismatch between the speed of the handle and the speed of the drive wheels, leading to a feeling of "resistance" or "being pulled" for the pusher, reducing the comfort of the pusher in maneuvering the wheelchair. Summary of the Invention

[0003] The purpose of this application is to provide a method, device, wheelchair, and medium for slope speed compensation in an electric-assisted wheelchair. This method enables real-time speed adjustment of the electric-assisted wheelchair during transitions between flat ground and slopes, ensuring that the speed of the wheelchair's handlebars matches the speed of the drive wheels, thereby improving the comfort of the user. This application is mainly achieved through the following technical solutions: A first aspect of this application provides a method for hill speed compensation for an electrically assisted wheelchair, comprising: Obtain the initial target speed and speed compensation amount of the electric-assisted wheelchair; The initial target velocity and the velocity compensation amount are calculated and processed using a first preset algorithm to obtain the corrected target velocity; The speed of the rear wheels of the electric power-assisted wheelchair is adjusted based on the corrected target speed.

[0004] According to one embodiment of this application, the step of obtaining the initial target velocity includes: Obtain the thrust force on the handle of the electric power-assisted wheelchair; The thrust is calculated and processed using a second preset algorithm to obtain the initial target velocity.

[0005] According to one embodiment of this application, the calculation formula for obtaining the initial target velocity by using a second preset algorithm to calculate the thrust is as follows: ; ; in, It is the initial target velocity; It is the thrust mentioned; It is virtual damping; It is the base of the natural logarithm; It refers to the current moment; It is a time constant; It is the virtual mass of the electric-assisted wheelchair.

[0006] According to one embodiment of this application, the step of obtaining the speed compensation amount includes: Obtain the initial angular velocity of the electric power-assisted wheelchair; The initial angular velocity is calculated using a third preset algorithm to obtain the velocity compensation amount.

[0007] According to one embodiment of this application, the step of obtaining the initial angular velocity of the electrically assisted wheelchair includes: The initial angular velocity of the electric power-assisted wheelchair is obtained by directly measuring the angular velocity of the rear wheel using the Hall element of the brushless motor in the electric power-assisted wheelchair. Alternatively, the encoder of the drive motor of the electric-assisted wheelchair can be used to directly measure the angular velocity of the rear wheel to obtain the initial angular velocity of the electric-assisted wheelchair.

[0008] According to one embodiment of this application, the calculation formula for the step of calculating the initial target velocity and the velocity compensation amount using a first preset algorithm to obtain the corrected target velocity is as follows: ; in, It is the corrected target velocity; It is the initial target velocity; It is the speed compensation amount.

[0009] According to one embodiment of this application, after the step of adjusting the speed of the rear wheels of the electric-assisted wheelchair based on the corrected target speed, the ramp speed compensation method for the electric-assisted wheelchair further includes: The corrected target velocity is converted into angular velocity using the fourth preset algorithm to obtain the target angular velocity of the rear wheel; A motor drive signal is generated based on the target angular velocity; The speed of the rear wheels is controlled by a motor drive signal.

[0010] A second aspect of this application provides a ramp speed compensation device for an electric power-assisted wheelchair, comprising: The initial target speed and speed compensation acquisition module is used to acquire the initial target speed and speed compensation of the electric-assisted wheelchair. The calculation module is used to calculate and process the initial target speed and the speed compensation amount using a first preset algorithm to obtain the corrected target speed; An adjustment module is used to adjust the speed of the rear wheels of the electric power-assisted wheelchair based on the corrected target speed.

[0011] A third aspect of this application provides an electrically assisted wheelchair, comprising: a vehicle body, a drive assembly, a first force sensing mechanism, a second force sensing mechanism, an inertial measurement unit, and a control assembly. The drive assembly includes two front wheels, two rear wheels, and two drive motors, one of which is connected to one of the rear wheels; the other drive motor is connected to the other rear wheel; all front wheels and all rear wheels are rotatably connected to the vehicle body; the first force sensing mechanism is located at the left handle of the vehicle body; the second force sensing mechanism is located at the right handle of the vehicle body; the inertial measurement unit and the control assembly are both located within the vehicle body; the control assembly includes a microcontroller and a memory, the memory storing a computer program, and the microcontroller calling and running the computer program stored in the memory to execute the steps of the ramp speed compensation method for the electrically assisted wheelchair provided in the first aspect of this application. The microcontroller is connected to the inertial measurement unit, the first force sensing mechanism, the second force sensing mechanism, and all drive motors.

[0012] A fourth aspect of this application provides a computer-readable storage medium for storing a computer program that causes a computer to perform the steps of the ramp speed compensation method for an electric-assisted wheelchair provided in the first aspect of this application.

[0013] The beneficial effects of the embodiments of this application include: This application embodiment addresses the problem of inconsistent pushing speed and uncomfortable handling caused by changes in slope by introducing a speed compensation amount to correct the speed of the rear wheels of an electric-assisted wheelchair. More specifically, this application embodiment obtains the initial target speed and speed compensation amount of the electric-assisted wheelchair; calculates and processes the initial target speed and the speed compensation amount using a first preset algorithm to obtain a corrected target speed; and adjusts the speed of the rear wheels of the electric-assisted wheelchair based on the corrected target speed. Compared with the prior art, this application embodiment can adjust the speed of the rear wheels in real time when the wheelchair enters a slope from flat ground or returns to flat ground from a slope (i.e., when the wheelchair is transitioning between flat ground and a slope), so that when the front and rear wheels of the wheelchair are not on the same plane, the speed of the wheelchair handles and the speed of the drive wheels are consistent, thereby improving the comfort of the person pushing the wheelchair. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 The flowcharts for the ramp speed compensation method for the electric power-assisted wheelchair of this application are shown in some embodiments. Figure 2 A flowchart of the ramp speed compensation method for the electric power-assisted wheelchair of this application in some other embodiments; Figure 3 A flowchart of the ramp speed compensation method for the electric power-assisted wheelchair of this application in some further embodiments; Figure 4 This is a reference diagram of the admittance model of this application; Figure 5 A reference diagram for the wheelchair of this application entering the second ramp from the first ramp; Figure 6 A reference diagram illustrating the five stages of a wheelchair entering a slope from flat ground, as described in this application; Figure 7 This is a schematic diagram of the ramp speed compensation device for the electric power-assisted wheelchair of this application in some embodiments. Detailed Implementation

[0016] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0017] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0018] The terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0019] The terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or apparatus.

[0020] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items.

[0021] The specific embodiments of this application will be further described below with reference to the accompanying drawings.

[0022] refer to Figure 1 The diagram shown is a flowchart of a ramp speed compensation method for an electric-assisted wheelchair provided in the first aspect of an embodiment of this application. Figure 1 The slope speed compensation method for the electric power-assisted wheelchair includes the following steps S1, S2 and S3.

[0023] S1. Obtain the initial target speed and speed compensation amount of the electric-assisted wheelchair.

[0024] Furthermore, the step of obtaining the initial target speed includes: obtaining the thrust force received by the handle of the electric power-assisted wheelchair; and using a second preset algorithm to calculate and process the thrust force to obtain the initial target speed.

[0025] Furthermore, in this embodiment of the application, the first force sensing mechanism of the electric-assisted wheelchair can detect the thrust received by the left handle of the electric-assisted wheelchair and take the thrust received by the left handle as the thrust received by the handle of the electric-assisted wheelchair; or the second force sensing mechanism of the electric-assisted wheelchair can detect the thrust received by the right handle of the electric-assisted wheelchair and take the thrust received by the right handle as the thrust received by the handle of the electric-assisted wheelchair.

[0026] Furthermore, the calculation formula for the step of detecting the thrust force on the left handle of the electric-assisted wheelchair through the first force sensing mechanism of the electric-assisted wheelchair is as follows: ; in, It is the thrust force on the left handle of the electric-assisted wheelchair, that is, the thrust force on the handle of the electric-assisted wheelchair. It is the elastic coefficient; It is the spring deformation; It is the distance from the point of force application on the handle to the first force sensing mechanism (which can be understood as a sensor); It is the distance from the point of force application on the handle to the center of rotation.

[0027] Furthermore, the calculation method for the step of "detecting the thrust received by the right handle of the electric-assisted wheelchair through the second force sensing mechanism of the electric-assisted wheelchair" is the same as the calculation method for the step of "detecting the thrust received by the left handle of the electric-assisted wheelchair through the first force sensing mechanism of the electric-assisted wheelchair".

[0028] Furthermore, embodiments of this application can convert the thrust on the handle of the electrically assisted wheelchair into the initial target velocity based on an admittance model or other methods. This step can be referred to... Figure 2 and Figure 3 The "admittance model" step in the process. The specific transformation process can be referenced in the following formula: ; ; in, This is the virtual mass of the electric-assisted wheelchair; It is virtual damping; It is the initial target velocity in time The derivative; It is a transfer function; This is the frequency domain representation of the initial target velocity; This is the frequency domain representation of the thrust. It is a complex variable of the Laplace transform.

[0029] The above conversion process can yield the calculation formula for the initial target velocity.

[0030] The admittance model can be referenced. Figure 4 As shown.

[0031] Furthermore, the calculation formula for obtaining the initial target velocity by using the second preset algorithm to calculate the thrust is as follows: ; in, It is the initial target velocity; It is the thrust mentioned; It is virtual damping; It is the base of the natural logarithm; It refers to the current moment; It is a time constant.

[0032] Furthermore, the formula for calculating the time constant is as follows: .

[0033] Furthermore, the step of obtaining the speed compensation amount includes: obtaining the initial angular velocity of the electric power-assisted wheelchair; and using a third preset algorithm to calculate and process the initial angular velocity to obtain the speed compensation amount.

[0034] The initial angular velocity can be the angular velocity of the rear wheel.

[0035] Furthermore, the step of obtaining the initial angular velocity of the electric-assisted wheelchair includes: directly measuring the angular velocity of the rear wheel using the Hall element of the brushless motor or the encoder of the drive motor in the electric-assisted wheelchair to obtain the initial angular velocity of the electric-assisted wheelchair.

[0036] In other embodiments, the step of obtaining the initial angular velocity of the electric-assisted wheelchair can also be implemented in other ways, which can be set by those skilled in the art according to actual needs.

[0037] Furthermore, the calculation formula for obtaining the velocity compensation amount by using the third preset algorithm to calculate the initial angular velocity is as follows: ; in, It is the speed compensation amount; It is the initial angular velocity; It is the pitch angle of the electric power-assisted wheelchair; It is a preset threshold; It is the speed corresponding to the left handle; It is the speed corresponding to the right handle.

[0038] The speed compensation amount can be referenced. Figure 3 The "formula" step in the text.

[0039] The pitch angle is obtained in real time by the inertial measurement unit or other means. In other embodiments, the present application may use the multi-axis tilt sensor and rear wheel encoder of the electric power-assisted wheelchair to measure the pitch angle, thereby improving the estimation accuracy of the pitch angle.

[0040] The preset threshold is used to prevent noise from falsely triggering compensation. The preset threshold is set based on the actual noise distribution of the IMU (i.e., the inertial measurement unit of the electric-assisted wheelchair). Using the preset threshold can avoid false compensation caused by IMU noise, thereby improving robustness. It should be understood that in this embodiment, the compensation mechanism is triggered only when the front and rear wheels are actually not on the same plane, in order to reduce malfunctions of the electric-assisted wheelchair.

[0041] The compensation mechanism described is a feedforward velocity compensation mechanism based on a real-time kinematic model. Instead of performing hysteresis correction (feedback) by measuring the error between the handle speed and the target speed, this mechanism uses an IMU to measure the angular velocity in real time and, based on the established handle-drive wheel kinematic model, predicts the impending speed difference between the handle and the drive wheel in advance, immediately calculating the corresponding speed compensation amount to offset it. This feedforward compensation achieves instantaneous, overshoot-free, and smooth speed correction, preventing discomfort from its source rather than trying to eliminate it after it occurs.

[0042] The use of the speed compensation amount can directly offset the handle speed component caused by the vehicle body turning angle, thereby making the handle speed perception of thrust / drag return to the expectation of the admittance model design (i.e., removing the external geometric coupling as a controllable term).

[0043] S2. The initial target speed and the speed compensation amount are calculated and processed using the first preset algorithm to obtain the corrected target speed.

[0044] Furthermore, the calculation formula for step S2 is as follows: ; in, It is the corrected target velocity; It is the initial target velocity; It is the speed compensation amount.

[0045] In the above formula, the speed compensation amount is added to the initial target speed in the form of feedforward to generate the corrected target speed.

[0046] In step S2, in addition to directly adding the initial target velocity (which can be understood as the velocity layer)... Alternatively, compensation can be incorporated into the admittance model (to change) or (instantaneous value) to achieve more continuous master-slave controller coupling.

[0047] S3. Adjust the speed of the rear wheels of the electric power-assisted wheelchair based on the corrected target speed.

[0048] More specifically, it could be adjusting the speed of the rear wheels.

[0049] The rear wheels are the drive wheels of the electric power-assisted wheelchair.

[0050] In the above embodiments, the present application embodiment can adjust the speed of the rear wheels in real time when the wheelchair enters a slope from flat ground or returns to flat ground from a slope (that is, when the wheelchair is transitioning between flat ground and a slope), so that when the front and rear wheels of the wheelchair are not on the same plane, the speed of the wheelchair handle and the speed of the drive wheel are consistent, thereby improving the comfort of the pusher in operating the wheelchair and significantly reducing the sudden push or pull force felt by the pusher when entering and leaving the slope.

[0051] The embodiments of this application can reduce the feeling of being "pulled" or "obstructed", thereby reducing the risk of losing control and slipping.

[0052] In some implementations, after step S3, the ramp speed compensation method for the electric-assisted wheelchair further includes: performing angular velocity conversion processing on the corrected target speed using a fourth preset algorithm to obtain the target angular velocity of the rear wheel; generating a motor drive signal based on the target angular velocity; and controlling the rotational speed of the rear wheel using the motor drive signal. This step can be understood as... Figure 2 and Figure 3 The "radius of the drive wheel" step in the code.

[0053] Furthermore, the calculation formula for the step of converting the corrected target velocity into angular velocity using the fourth preset algorithm to obtain the target angular velocity of the rear wheel is as follows: ; in, It is the target angular velocity of the rear wheel; It is the diameter of the rear wheel.

[0054] The diameter of the rear wheel can be the radius of the drive wheel.

[0055] Furthermore, the step of generating a motor drive signal based on the target angular velocity includes: receiving the signal from the speed controller (typically a PID controller) of the electric power-assisted wheelchair. and the actual angular velocity measured by the encoder of the drive wheel of the electric power wheelchair. The comparison is performed to generate a motor drive signal, ensuring that the actual wheel speed accurately tracks the target. This step can be understood as... Figure 2 The "speed control" step in the process.

[0056] The speed controller is a closed-loop speed controller. In other embodiments, the closed-loop speed controller may employ advanced controllers (such as adaptive PI, robust control, disturbance observers, and feedback coils) for better tracking. .

[0057] In this embodiment, a PID controller can be used to control the speed in the second loop.

[0058] Furthermore, after controlling the rotational speed of the rear wheels using a motor drive signal, the final vehicle speed of the electric-assisted wheelchair is generated. Thus, the actual speed at the handles (including the left handle and the front handle) is consistent with the speed expected by the admittance model. Maintaining consistency ensures a smooth implementation experience.

[0059] In some implementations, the embodiments of this application may also use Kalman filtering to denoise the output of the IMU, or use model predictive control (MPC) to predict the angular velocity of the approaching slope for early smoothing compensation.

[0060] This application describes a wheelchair moving from flat ground onto a slope or back from a slope to flat ground. Therefore, this application is applicable to both uphill and downhill application scenarios.

[0061] In other applications involving irregular road surfaces or stepped surfaces, embodiments of this application may combine the compensation mechanism with gait / vibration suppression control, or introduce low-pass morphological filtering in the compensation process to avoid miscompensation for high-speed bumps.

[0062] In some implementations, when the inertial measurement unit is lost or malfunctions (such as exceeding the angular velocity limit or no response), the speed controller should enter a degraded mode. The degraded mode is to disable compensation, that is, set the speed compensation amount to 0, use only admittance control, and issue a prompt or alarm. When encountering a strong downhill or insufficient power, this application embodiment enables regenerative braking or mechanical braking strategies.

[0063] In some implementations, embodiments of this application may use advanced sensors (such as lidar) to pre-plan the entire overpass velocity curve, instead of an IMU-based real-time kinematic model.

[0064] In some implementations, embodiments of this application may employ complex linkage or transmission structures to achieve speed synchronization between the handle and the drive wheel at a mechanical level.

[0065] In some embodiments, the ramp speed compensation method for the electric-assisted wheelchair also includes a method for calculating the speed of the wheelchair's handle relative to the center of the rear wheel.

[0066] Furthermore, the speed of the handle of the electric power-assisted wheelchair relative to the center of the rear wheel is calculated as follows: ; in, It is the speed of the handle of the electric power-assisted wheelchair relative to the center of the rear wheel; It is the first parameter.

[0067] In some embodiments, the ramp speed compensation method for the electrically assisted wheelchair can also be based on the first parameter and the ramp surface where the rear wheels of the wheelchair are located (e.g., Figure 5 The initial target velocity is calculated based on the inclination angle of the first slope.

[0068] Furthermore, the formula for calculating the initial target velocity based on the first parameter and the inclination angle of the slope where the rear wheels of the wheelchair are located is as follows: ; in, It is the linear velocity of the rear wheel; It is the angle of inclination of the slope where the rear wheels of the wheelchair are located.

[0069] The electric-assisted wheelchair enters a slope (i.e.) Figure 6 Stage 2) and leaving the slope (i.e. Figure 6 In stage 4) of the two-stage process, the wheelchair has a rotational angular velocity, therefore the speed of the handle in the direction of the pusher is... and There is a discrepancy.

[0070] refer to Figure 7 The diagram shown is a schematic block diagram of a ramp speed compensation device for an electric-assisted wheelchair provided in the second aspect of an embodiment of this application. Figure 7 The ramp speed compensation device 100 for the electric-assisted wheelchair includes: The initial target speed and speed compensation amount acquisition module 101 is used to acquire the initial target speed and speed compensation amount of the electric power-assisted wheelchair. The calculation module 102 is used to calculate and process the initial target speed and the speed compensation amount using a first preset algorithm to obtain the corrected target speed; The adjustment module 103 is used to adjust the speed of the rear wheels of the electric power-assisted wheelchair based on the corrected target speed.

[0071] A third aspect of this application provides an electrically assisted wheelchair, comprising a body, a drive assembly, a first force sensing mechanism, a second force sensing mechanism, an inertial measurement unit, and a control assembly. The drive assembly includes two front wheels, two rear wheels, and two drive motors, one of which is connected to one of the rear wheels; the other drive motor is connected to the other rear wheel; all front wheels and all rear wheels are rotatably connected to the body; the first force sensing mechanism is located at the left handle of the body; the second force sensing mechanism is located at the right handle of the body; the inertial measurement unit and the control assembly are both located within the body; the control assembly includes a microcontroller and a memory, the memory storing a computer program, and the microcontroller calling and running the computer program stored in the memory to execute the steps of the ramp speed compensation method for the electrically assisted wheelchair provided in the first aspect of this application. The microcontroller is connected to the inertial measurement unit, the first force sensing mechanism, the second force sensing mechanism, and all drive motors.

[0072] Both of the aforementioned front wheels are free-swivel casters.

[0073] The two drive motors include any type of motor, including brushless motors. Both drive motors are equipped with incremental encoders used to measure angular velocity or mileage.

[0074] The inertial measurement unit includes a three-axis gyroscope and a three-axis accelerometer. The inertial measurement unit is also used to measure the pitch angle and angular velocity of the wheelchair.

[0075] This application embodiment employs a low-cost design for the first and second force sensing mechanisms to maintain the overall cost of the wheelchair system at a low level. Furthermore, both the first and second force sensing mechanisms satisfy… The precision is N (N is a unit of Newtons) to facilitate commercialization and compatibility with existing wheelchair handle structures.

[0076] In some embodiments, the first force sensing mechanism consists of two first linear springs and a first linear potentiometer. The second force sensing mechanism consists of two second linear springs and a second linear potentiometer.

[0077] Further, refer to Figure 3 As shown, the promoter (i.e. Figure 3 The thrust of the operator in the middle The force is applied to the handle and detected by the first and second force sensing mechanisms. The springs in the first and second force sensing mechanisms deform, and this deformation is converted into an electrical signal by a potentiometer, which then passes through a gain circuit. After the amplifier (or software calibration coefficients) are applied, the measured force (i.e., the thrust) is output. .

[0078] In some implementations, a variable-plate force sensor, a piezoelectric sensor, a piezoresistive sensor, or a Hall effect and magnet structure can be used to replace the first force sensing mechanism and the second force sensing mechanism.

[0079] In some implementations, the control component further includes a driver, a 24V power supply, and an interface board. The control component is used to run admittance control and speed compensation algorithms and to output a target angular velocity to the motor driver.

[0080] A fourth aspect of this application provides a computer-readable storage medium for storing a computer program that causes a computer to perform the steps of the ramp speed compensation method for an electric-assisted wheelchair provided in the first aspect of this application.

[0081] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0082] The technical features of the above embodiments can be combined without changing the basic principles of this application. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0083] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the patent protection scope of this application should be determined by the appended claims.

Claims

1. A method for hill speed compensation for an electric power-assisted wheelchair, characterized in that, include: Obtain the initial target speed and speed compensation amount of the electric-assisted wheelchair; The initial target velocity and the velocity compensation amount are calculated and processed using a first preset algorithm to obtain the corrected target velocity; The speed of the rear wheels of the electric power-assisted wheelchair is adjusted based on the corrected target speed.

2. The slope speed compensation method for an electric-assisted wheelchair according to claim 1, characterized in that, The steps for obtaining the initial target velocity include: Obtain the thrust force on the handle of the electric power-assisted wheelchair; The thrust is calculated and processed using a second preset algorithm to obtain the initial target velocity.

3. The slope speed compensation method for an electric-assisted wheelchair according to claim 2, characterized in that, The calculation formula for obtaining the initial target velocity by using the second preset algorithm to calculate the thrust is as follows: ； ； in, It is the initial target velocity; It is the thrust mentioned; It is virtual damping; It is the base of the natural logarithm; It refers to the current moment; It is a time constant; It is the virtual mass of the electric-assisted wheelchair.

4. The slope speed compensation method for an electric-assisted wheelchair according to claim 1, characterized in that, The steps for obtaining the speed compensation amount include: Obtain the initial angular velocity of the electric power-assisted wheelchair; The initial angular velocity is calculated using a third preset algorithm to obtain the velocity compensation amount.

5. The slope speed compensation method for an electric-assisted wheelchair according to claim 4, characterized in that, The steps for obtaining the initial angular velocity of the electrically assisted wheelchair include: The initial angular velocity of the electric power-assisted wheelchair is obtained by directly measuring the angular velocity of the rear wheel using the Hall element of the brushless motor in the electric power-assisted wheelchair. Alternatively, the initial angular velocity of the electric-assisted wheelchair can be obtained by directly measuring the angular velocity of the rear wheel using the encoder of the drive motor of the electric-assisted wheelchair.

6. The slope speed compensation method for an electric-assisted wheelchair according to claim 1, characterized in that, The calculation formula for obtaining the corrected target velocity by using a first preset algorithm to calculate and process the initial target velocity and the velocity compensation amount is as follows: ； in, It is the corrected target velocity; It is the initial target velocity; It is the speed compensation amount.

7. The slope speed compensation method for an electric-assisted wheelchair according to claim 1, characterized in that, After adjusting the speed of the rear wheels of the electric-assisted wheelchair based on the corrected target speed, the ramp speed compensation method for the electric-assisted wheelchair further includes: The corrected target velocity is converted into angular velocity using the fourth preset algorithm to obtain the target angular velocity of the rear wheel; A motor drive signal is generated based on the target angular velocity; The speed of the rear wheels is controlled by a motor drive signal.

8. A ramp speed compensation device for an electric power-assisted wheelchair, characterized in that, include: The initial target speed and speed compensation acquisition module is used to acquire the initial target speed and speed compensation of the electric-assisted wheelchair. The calculation module is used to calculate and process the initial target speed and the speed compensation amount using a first preset algorithm to obtain the corrected target speed; An adjustment module is used to adjust the speed of the rear wheels of the electric power-assisted wheelchair based on the corrected target speed.

9. An electrically assisted wheelchair, characterized in that, include: The vehicle comprises a vehicle body, a drive assembly, a first force sensing mechanism, a second force sensing mechanism, an inertial measurement unit, and a control assembly. The drive assembly includes two front wheels, two rear wheels, and two drive motors, one of which is connected to one of the rear wheels; the other drive motor is connected to the other rear wheel; all front wheels and all rear wheels are rotatably connected to the vehicle body; the first force sensing mechanism is located at the left handle of the vehicle body; the second force sensing mechanism is located at the right handle of the vehicle body; the inertial measurement unit and the control assembly are both located within the vehicle body; the control assembly includes a microcontroller and a memory, the memory storing a computer program, and the microcontroller calling and running the computer program stored in the memory to execute the steps of the ramp speed compensation method for an electric power-assisted wheelchair according to any one of claims 1 to 7. The microcontroller is connected to the inertial measurement unit, the first force sensing mechanism, the second force sensing mechanism, and all drive motors.

10. A computer-readable storage medium, characterized in that, Used to store a computer program that causes a computer to perform the steps of the ramp speed compensation method for an electric power-assisted wheelchair as described in any one of claims 1 to 7.

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