A large vehicle wheelchair ramp control system, method, apparatus, and medium

Abstract

The application discloses a large vehicle wheelchair guide plate control system, method, equipment and medium, through the control module, the working state of the wheelchair guide plate is monitored in real time, when the obstacle encountering state is detected, the wheelchair guide plate can be quickly returned to the last stationary state by controlling the driving module and triggering the alarm module to alarm, so that damage to the obstacle or the wheelchair guide plate itself caused by continuous action is effectively avoided. Meanwhile, the working state of the wheelchair guide plate is still detected during the returning process, if the obstacle is encountered again, the wheelchair guide plate is controlled to retreat to a preset angle and then stop working, so that a double safety protection mechanism is formed. Compared with a traditional system which only has a basic obstacle detection function, the progressive obstacle encountering processing logic can more flexibly cope with complex use scenarios, maximally guarantees the personal safety of a user (such as a disabled person on a wheelchair) and the service life of the wheelchair guide plate, and improves the safety and reliability in the use process of the large vehicle wheelchair guide plate.

Description

Technical Field

[0001] This application relates to the field of vehicle accessory facility control, and in particular to a control system, method, device and medium for a wheelchair guide plate for large vehicles. Background Technology

[0002] Currently, large vehicles such as buses, minibuses, and public buses generally use manual wheelchair ramps for wheelchair access. While their structure is relatively simple, they are extremely inconvenient to operate. Every time a disabled person boards a medium or large bus, the driver must first leave the driver's seat to manually open the ramp and place it between the bus floor and the road surface to facilitate wheelchair access. After the disabled person boards, the ramp must be manually closed. This process is time-consuming and laborious, and is no longer suitable for the efficient and intelligent development direction of new energy buses.

[0003] With the development of intelligent control technology for large vehicles, guide vanes capable of automatic opening have emerged. However, existing automatic guide van control systems only possess basic obstacle detection functions, exhibiting significant deficiencies in obstacle handling. This can easily lead to equipment damage or secondary injuries, making them unsuitable for complex usage scenarios and failing to adequately guarantee user safety and equipment lifespan. Furthermore, current obstacle detection methods often employ sensors or radar to detect obstacles, resulting in high costs. Summary of the Invention

[0004] This application aims to provide a control system, method, device, and medium for wheelchair guides in large vehicles.

[0005] In a first aspect, embodiments of this application provide a large vehicle wheelchair guide control system, including: Alarm module; The drive module is used to drive the wheelchair guide plate to extend and retract; The control module is electrically connected to both the alarm module and the drive module. The control module acquires the working status of the wheelchair guide, which includes a normal working state and an obstacle encounter state. If the working state is an obstacle encounter state, the control module drives the wheelchair guide back to the previous stationary state and triggers the alarm module. During the return process, the control module continuously monitors the working status of the wheelchair guide, which includes an open state and a closed state. If the obstacle encounter state is detected again during the return process, the control module drives the mechanical angle of the wheelchair guide back to a preset angle and then stops working.

[0006] Secondly, embodiments of this application provide a method for controlling a wheelchair guide plate in a large vehicle, applied to a wheelchair guide plate control system for a large vehicle as described in the first aspect embodiment above. The method for controlling a wheelchair guide plate in a large vehicle includes: The working status of the wheelchair guide plate is obtained, including normal working status and obstacle encounter status. If the working state is an obstacle encounter state, the drive module is controlled to drive the wheelchair guide plate back to the previous stationary state, and the alarm module is controlled to sound an alarm. During the return process, the working state of the wheelchair guide plate is continuously monitored. The stationary state includes an open state and a closed state. If the obstacle encounter state is detected again during the return process, the drive module is controlled to drive the mechanical angle of the wheelchair guide plate back to a preset angle and then stop working.

[0007] Thirdly, embodiments of this application provide an electronic device, which includes a processor and a memory storing computer program instructions; When the processor executes the computer program, it implements the large vehicle wheelchair guide control method as described in the second aspect embodiment above.

[0008] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions for performing the large vehicle wheelchair guide control method as described in the second aspect of the embodiments above.

[0009] The large vehicle wheelchair guide control system, method, device, and medium of this application embodiment monitor the working status of the wheelchair guide in real time through a control module. When an obstacle is detected, the drive module can quickly control the wheelchair guide to return to its previous stationary state and trigger an alarm module, effectively preventing damage to the obstacle or the wheelchair guide itself due to continuous movement. Simultaneously, the working status of the wheelchair guide is continuously monitored during the return process. If an obstacle is encountered again, the wheelchair guide is controlled to return to a preset angle and stop working, forming a dual safety protection mechanism. This progressive obstacle handling logic, compared to traditional systems with only basic obstacle detection functions, can more flexibly cope with complex usage scenarios, maximizing the personal safety of users (such as people with disabilities in wheelchairs) and the service life of the wheelchair guide, thus improving the safety and reliability of wheelchair guides in large vehicles.

[0010] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing the application. Attached Figure Description

[0011] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of a large vehicle wheelchair guide control system according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a linkage assembly according to an embodiment of this application; Figure 3 This is a system block diagram of a large vehicle wheelchair guide control system according to an embodiment of this application; Figure 4 This is a flowchart of a method for controlling a wheelchair guide plate in a large vehicle according to an embodiment of this application; Figure 5 This is a schematic diagram of the anti-pinch determination relationship according to an embodiment of this application.

[0012] Figure label: Guide plate body 110, fixing plate 120, reinforcing rib 121; Control module 200, main control unit 210, motor drive circuit 220, sampling circuit 230; Drive motor 310, gearbox 320, electronic clutch 330, transmission assembly 340, connecting rod assembly 350, damping spring 351; 400 sound and light alarm module. Detailed Implementation

[0013] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0014] In the description of this application, the use of terms such as "first," "second," etc., is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0015] In the description of this application, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0016] In the description of this application, it should be noted that, unless otherwise explicitly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0017] The technical solution of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some embodiments of this application, not all embodiments.

[0018] See Figure 1 , Figure 2 and Figure 3 As shown, Figure 1 This is a schematic diagram of the structure of a large vehicle wheelchair guide control system according to an embodiment of this application. Figure 2 This is a schematic diagram of the structure of a linkage assembly 350 according to an embodiment of this application. Figure 3 This is a system block diagram of a large vehicle wheelchair guide control system according to an embodiment of this application.

[0019] The large vehicle wheelchair guide control system of this application embodiment includes an alarm module, a drive module, and a control module 200. The drive module is used to drive the wheelchair guide to extend and retract. The control module 200 is electrically connected to both the alarm module and the drive module. The control module 200 is used to acquire the working status of the wheelchair guide, which includes a normal working state and an obstacle encounter state. If the working status is an obstacle encounter state, the control module drives the wheelchair guide to return to the previous stationary state and controls the alarm module to sound an alarm. During the return process, the control module continuously monitors the working status of the wheelchair guide, which includes an open state and a closed state. If the working status is detected as an obstacle encounter state again during the return process, the control module drives the mechanical angle of the wheelchair guide to return to a preset angle and then stops working.

[0020] like Figure 1 As shown, the aforementioned wheelchair guide plate includes a guide plate body 110 and a fixing plate 120 connected by hinges. The guide plate body 110 can rotate relative to the fixing plate 120 to open or close. In the open state, the guide plate body 110 is fully extended and rests between the vehicle floor and the road surface, forming a ramp that allows wheelchairs to pass smoothly. In the closed state, the guide plate body 110 is folded upward and fitted to the side or bottom of the vehicle, in a stowed state. The fixing plate 120 is provided with reinforcing ribs 121 to enhance the load-bearing strength of the overall structure, ensuring that the guide plate body 110 does not undergo significant deformation when wheelchairs and users pass through, thus ensuring safe passage.

[0021] like Figure 1 and Figure 2 As shown, the drive module includes a drive motor 310, a gearbox 320, an electronic clutch 330, a transmission assembly 340, and a connecting rod assembly 350. The output shaft of the drive motor 310 is connected to the input end of the gearbox 320. The output end of the gearbox 320 is connected to the transmission assembly 340 through the electronic clutch 330. The transmission assembly 340 includes a bearing housing and a rotating shaft. The transmission assembly 340 is connected to the guide plate body 110 through the connecting rod assembly 350 to transmit the power of the drive motor 310 to the guide plate body 110, thereby realizing its retraction and extension actions.

[0022] like Figure 1 and Figure 2 As shown, the linkage assembly 350 is provided with a damping spring 351. During the unfolding or retraction of the guide plate body 110, the damping spring 351 can play a role in buffering and shock absorption, preventing the guide plate body 110 from being damaged due to excessive movement speed or impact, and also making the movement of the guide plate body 110 more stable.

[0023] like Figure 3 As shown, the control module 200 includes a main control unit 210, a motor drive circuit 220, and a sampling circuit 230. The main control unit 210 is electrically connected to the motor drive circuit 220 and the sampling circuit 230, respectively. The motor drive circuit 220 is electrically connected to the drive motor 310 in the drive module. The sampling circuit 230 is used to collect parameters such as current data and voltage data of the drive module and transmit the collected data to the main control unit 210.

[0024] To ensure the stable operation and data accuracy of the entire control system, the main control unit 210 in the control module 200 typically employs a high-performance microcontroller (MCU), possessing powerful data processing capabilities and rich peripheral interfaces, enabling it to quickly respond to various sensor signals and execute control commands. The motor drive circuit 220 uses a corresponding bridge drive circuit depending on the type of drive motor 310 (e.g., a brushless DC motor), providing sufficient drive current and voltage to ensure reliable operation of the drive module. The sampling circuit 230 typically employs high-precision current and voltage sensors, in conjunction with an A / D conversion module, to achieve real-time and accurate acquisition of parameters such as current and voltage from the drive module.

[0025] Furthermore, in practical applications of wheelchair guides, the control module 200 can also have a manual control function. When the system stops working due to an obstacle or other abnormal situation occurs, the driver or relevant operators can manually operate the wheelchair guides through the control buttons inside the vehicle or the remote control, such as jogging open, jogging close, or forced reset, to cope with complex on-site situations and improve the system's flexibility and operability. The priority of manual control signals is usually higher than that of automatic control signals, ensuring that operators can quickly take over control in emergency situations.

[0026] like Figure 3 As shown, the alarm module described above uses an audible and visual alarm module 400, which includes a buzzer and an LED warning light. When the control module 200 determines that the wheelchair guide is in an obstacle-prone state, the buzzer emits a continuous "beep beep" alarm sound, and the LED warning light flashes red light at a frequency of 1Hz to attract the attention of the driver and surrounding pedestrians, so that timely action can be taken.

[0027] See Figure 4 , Figure 4This is a flowchart of a large vehicle wheelchair guide control method according to an embodiment of this application. The large vehicle wheelchair guide control method is implemented by a control module 200 and includes steps S100 to S300: Step S100: Obtain the working status of the wheelchair guide plate, which includes normal working status and obstacle encounter status. Step S200: If the working state is an obstacle encounter state, the control drive module drives the wheelchair guide plate to return to the previous stationary state and controls the alarm module to sound an alarm. During the return process, the working state of the wheelchair guide plate is continuously monitored. The stationary state includes the open state and the closed state. In step S300, if the working state is detected as an obstacle encounter state again during the return process, the control drive module drives the mechanical angle of the wheelchair guide plate to return to the preset angle and then stops working.

[0028] In this embodiment, the control module 200 monitors the working status of the wheelchair guide plate in real time. When an obstacle is detected, the drive module quickly returns the wheelchair guide plate to its previous stationary state and triggers an alarm, effectively preventing damage to the obstacle or the wheelchair guide plate itself due to continuous movement. Simultaneously, the working status of the wheelchair guide plate is continuously monitored during the return process. If another obstacle is encountered, the wheelchair guide plate is controlled to return to a preset angle and stop working, forming a dual safety protection mechanism. This progressive obstacle handling logic, compared to traditional systems with only basic obstacle detection functions, can more flexibly handle complex usage scenarios, maximizing the personal safety of users (such as people with disabilities in wheelchairs) and the service life of the wheelchair guide plate, thus improving the safety and reliability of wheelchair guide plates in large vehicles.

[0029] In step S100 above, the normal working state of the wheelchair guide plate means that the wheelchair guide plate does not encounter abnormal resistance during the retraction and extension process, and the guide plate body 110 can move smoothly and steadily along the preset trajectory. The obstacle encounter state means that the guide plate body 110 touches an obstacle (such as ground protrusions, pedestrian limbs, other objects, etc.) during the movement.

[0030] The working status of the wheelchair guide can be determined by detecting obstacles using sensors or radar.

[0031] In some implementations, the working state of the wheelchair guide plate is obtained through the following steps: Acquire current data, voltage data, number of motor pole pairs and motor reduction ratio from the drive module, as well as pre-stored anti-pinch judgment relationships. The anti-pinch judgment relationships characterize the correspondence between the mechanical positions of different wheelchair guide plates and different preset anti-pinch currents. Based on a sensorless algorithm, the real-time operating current, real-time motor mechanical speed, and real-time mechanical position of the wheelchair guide plate are determined according to current data, voltage data, number of motor pole pairs, and motor reduction ratio. Determine the target anti-pinch current corresponding to the real-time mechanical position based on the anti-pinch determination relationship; The working state of the wheelchair guide plate is determined based on the real-time operating current, the target anti-pinch current, the real-time motor speed, the preset anti-pinch speed, and the preset anti-pinch judgment duration. The working state includes normal working state and obstacle encounter state.

[0032] refer to Figure 5 When the mechanical position of the wheelchair guide plate is between 0° and 90° (open), the drive motor 310 operates in forward rotation mode; when the mechanical position of the wheelchair guide plate is between 91° and 180° (open), the drive motor 310 operates in reverse rotation mode. When the mechanical position of the wheelchair guide plate is between 180° and 91° (closed), the drive motor 310 operates in reverse rotation mode; when the mechanical position of the wheelchair guide plate is between 90° and 0° (closed), the drive motor 310 operates in forward rotation mode. If is the preset anti-pinch current, and Ir is the real-time operating current.

[0033] The required driving torque varies significantly depending on the wheelchair guide plate's mechanical position, due to its own weight, changes in force on the connection structure with the vehicle, and differences in its movement trajectory. Therefore, the preset anti-pinch current is dynamically adjusted accordingly. For example, in the initial stage (0°~90°) of the transition from a fully closed to an open state, the guide plate 110 needs to overcome its own weight to rotate upwards by a certain angle before unfolding downwards. At this time, the load on the drive motor 310 is relatively large, resulting in a higher operating current, and thus a higher anti-pinch current needs to be set. Conversely, when the guide plate 110 unfolds to a near-horizontal ramp state (91°~180°), the load is relatively stable, and the corresponding operating current gradually decreases, requiring a corresponding reduction in the anti-pinch current. This method of dynamically adjusting the anti-pinch current based on real-time mechanical position effectively avoids misjudgments or missed judgments caused by fixed thresholds, significantly improving the accuracy of obstacle detection. The anti-pinch current is larger than the operating current because when the guide plate 110 encounters an obstacle, the load on the drive motor 310 increases sharply, and the real-time operating current increases.

[0034] It should be noted that the magnitude of the anti-pinch current can be optimized according to the actual situation so that the anti-pinch current can be infinitely close to the true value of the anti-pinch judgment. Specific optimization methods are not limited here.

[0035] In some implementations, based on a sensorless algorithm, the real-time operating current, real-time motor mechanical speed, and real-time mechanical position of the wheelchair guide are determined according to current data, voltage data, the number of motor pole pairs, and the motor reduction ratio, including: Based on a sensorless algorithm, the q-axis current, real-time motor speed, and real-time motor rotor angle are determined according to current and voltage data. The q-axis current is determined as the real-time operating current. The real-time mechanical speed of the motor is determined based on the real-time electric speed and the number of pole pairs of the motor. The real-time mechanical position of the wheelchair guide plate is determined based on the real-time electric angle of the motor rotor, the number of motor pole pairs, the real-time mechanical speed of the motor, and the motor reduction ratio.

[0036] The aforementioned sensorless algorithm mainly includes a speed loop, a position loop, and a back EMF observer. The back EMF observer collects current and voltage data from the drive motor 310 and, combined with the mathematical model of the drive motor 310, estimates the back EMF of the motor rotor in real time. The estimated back EMF is input into a phase-locked loop (PLL) and compared with a preset rotating coordinate system. By adjusting the PI controller parameters of the speed and position loops, the estimated rotor electrical angle is made consistent with the actual rotor electrical angle, thereby achieving accurate observation of the motor rotor position and speed. Specifically, the estimated back EMF output by the back EMF observer undergoes Clark and Park transformations to obtain the q-axis back EMF component (i.e., q-axis current). This component is compared with the output of the speed loop, and the error is adjusted by a PI controller to obtain the estimated real-time motor speed. The real-time motor speed is then integrated to obtain the estimated real-time motor rotor electrical angle. This real-time motor rotor electrical angle is then subjected to an inverse Park transformation for coordinate system conversion, forming a closed-loop control.

[0037] To enhance the sensitivity of the anti-pinch function and the dynamic response of the wheelchair guide plate, the PI parameters (Kp and Ki) of the speed loop (i.e., the speed loop mentioned above) are determined by the current change, which is determined by real-time sampling. Initially, the PI has a default set of data. When the main control unit 210 enters the anti-pinch working mode, and the current change is greater than or equal to a preset coefficient (usually 1.5; for different wheelchair guide plate loads, this parameter needs to be calibrated based on calculations and experimental data to ensure the accuracy of the working mode determination), the main control unit 210 will intelligently set the Kp and Ki parameters in the PI.

[0038] In some implementations, the PI parameters of the rotation speed loop in the sensorless algorithm are optimized using a particle swarm optimization (PSO) algorithm. The PSO algorithm simulates the foraging behavior of a flock of birds, treating each possible combination of PI parameters as a "particle" and searching within the parameter space. First, a group of random particles is initialized, each with a position (i.e., PI parameter value) and velocity. The fitness value of each particle (such as overshoot, settling time, and steady-state error) is calculated to evaluate its performance. Then, the particles dynamically adjust their velocity and position based on their own historical best position and the group's historical best position, iteratively optimizing until they converge to the PI parameter combination that achieves the best dynamic performance and stability of the system. The optimized PI parameters of the rotation speed loop significantly improve the accuracy of rotation speed and position estimation in sensorless algorithms under low-speed, high-speed, and sudden load changes, ensuring more precise position control of the wheelchair guide plate during deployment and retraction, and avoiding motion stuttering or inaccurate positioning caused by position estimation errors.

[0039] It should be noted that the working principles and processes of the sensorless algorithm and the particle swarm optimization algorithm are existing technologies known to those skilled in the art, and will not be explained in detail here. Furthermore, the optimization method for the PI parameter of the speed loop in the sensorless algorithm is not limited to the particle swarm optimization algorithm; other optimization methods can also be used.

[0040] The q-axis current is determined as the real-time operating current because in the control of a brushless DC motor, the q-axis current is directly related to the electromagnetic torque output by the motor. According to the principles of motor theory, the electromagnetic torque is mainly generated by the q-axis current, while the main function of the d-axis current is to weaken or enhance the magnetization (in the control of permanent magnet synchronous motors), and its contribution to the output torque is small or even negligible.

[0041] Real-time motor mechanical speed = Real-time motor electrical speed / Number of motor pole pairs.

[0042] In some implementations, the real-time mechanical position of the wheelchair guide plate is determined based on the real-time motor rotor electrical angle, the number of motor pole pairs, the real-time motor mechanical speed, and the motor reduction ratio, including: The real-time mechanical position of the motor rotor is determined based on the real-time electrical angle of the motor rotor and the number of motor pole pairs. The real-time mechanical position of the wheelchair guide plate is determined based on the real-time mechanical position of the motor rotor, the real-time mechanical speed of the motor, and the motor reduction ratio.

[0043] Real-time motor rotor mechanical position = Real-time motor rotor electrical angle / Number of motor pole pairs.

[0044] The real-time mechanical position of the wheelchair guide plate = real-time motor rotor mechanical position × real-time motor mechanical speed / motor reduction ratio.

[0045] Through this sensorless algorithm, the control module 200 can accurately obtain the real-time operating status of the drive motor 310 without relying on physical position sensors, and then accurately calculate the real-time mechanical position of the wheelchair guide plate, providing reliable data support for subsequent obstacle detection and safety control.

[0046] In some implementations, the working state of the wheelchair guide plate is determined based on real-time operating current, target anti-pinch current, real-time motor mechanical speed, preset anti-pinch speed, and preset anti-pinch judgment duration. The working state includes normal working state and obstacle encounter state, including: If the real-time operating current is greater than the target anti-pinch current, and the real-time motor speed is less than the preset anti-pinch speed, and the duration is greater than the preset anti-pinch judgment time, the working state of the wheelchair guide plate is determined to be an obstacle encounter state. If the real-time operating current is less than or equal to the target anti-pinch current, and the real-time motor speed is greater than or equal to the preset anti-pinch speed, and the real-time motor speed is within the preset rated speed range, the working state of the wheelchair guide plate is determined to be the normal working state.

[0047] The aforementioned preset anti-pinch speed is the minimum speed threshold allowed for the guide plate body 110 during normal operation. When the guide plate body 110 encounters an obstacle, its movement is obstructed, and the real-time motor speed will drop rapidly. When it is lower than the preset anti-pinch speed, the obstacle encounter status can be determined by combining the real-time operating current and duration.

[0048] The aforementioned preset anti-pinch judgment time is to avoid misjudgments caused by instantaneous current or speed fluctuations. Only when the real-time operating current exceeds the target anti-pinch current and the real-time motor speed is consistently lower than the preset anti-pinch speed for more than this duration will the system be ultimately determined to be in an obstacle-prone state, ensuring the stability and reliability of the judgment results. For example, the preset anti-pinch judgment time can be set to 0.5 seconds. If, within 0.5 seconds, the real-time operating current remains greater than the target anti-pinch current and the real-time motor speed remains lower than the preset anti-pinch speed, then the control module 200 determines that the wheelchair guide plate is in an obstacle-prone state.

[0049] In step S200 above, the "previous stationary state" refers to the stable state of the wheelchair guide plate before the start of the current movement. For example, if the wheelchair guide plate starts its opening action from the closed state and encounters an obstacle during the opening process, the previous stationary state is the closed state, and the control module 200 will drive the guide plate body 110 back to the closed state; if the wheelchair guide plate starts its closing action from the open state and encounters an obstacle during the closing process, the previous stationary state is the open state, and the control module 200 will drive the guide plate body 110 back to the open state. This return mechanism enables the guide plate body 110 to quickly leave the danger zone after encountering an obstacle and return to a known safe state.

[0050] In step S300 above, the "preset angle" is a pre-set fixed angle value, such as 5° or 10°. Its function is to prevent the guide plate body 110 from forming a continuous rigid confrontation with the obstacle when it encounters another obstacle during the return process. When the guide plate body 110 detects an obstacle again during the return to the previous stationary state, the control module 200 will not continue to attempt to return. Instead, it will control the drive module to drive the guide plate body 110 to retreat in the opposite direction (i.e., away from the obstacle) at the preset angle, and then stop all actions. This allows space for obstacle removal or on-site situation handling, further reducing the risk of equipment damage and personnel injury. For example, if the guide plate body 110 encounters an obstacle again during the return from the open state to the closed state, the control module 200 will drive the guide plate body 110 to retreat 10° from the current position in the open direction, and then stop working, waiting for manual intervention.

[0051] It should be noted that the preset angle can be set according to the actual situation, and the specific values ​​mentioned above should not be regarded as limitations on this application.

[0052] The large vehicle wheelchair guide control system and method provided in this application achieve intelligent and safe operation of the wheelchair guide through sophisticated mechanical structure design, advanced drive and control technology, and a comprehensive safety protection mechanism. Its core lies in accurately acquiring the working status of the wheelchair guide through a sensorless algorithm, and based on dynamically adjusted anti-pinch current and multi-parameter fusion judgment logic, accurately identifying and rapidly responding to obstacle encounters. Through a progressive obstacle encounter handling strategy, it maximizes safety and reliability during use.

[0053] This application also provides an electronic device, including a processor and a memory. The memory stores a program or instructions that can run on the processor. When the program or instructions are executed by the processor, they implement the various steps of the above-described large vehicle wheelchair guide control method embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0054] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described large vehicle wheelchair guide control method embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0055] It should be clarified that this application is not limited to the specific configurations and processes described above. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of this application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0056] The functional blocks described above can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. The programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0057] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0058] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A control system for wheelchair guides in large vehicles, characterized in that, include: Alarm module; The drive module is used to drive the wheelchair guide plate to extend and retract; The control module is electrically connected to both the alarm module and the drive module. The control module acquires the working status of the wheelchair guide, which includes a normal working state and an obstacle encounter state. If the working state is an obstacle encounter state, the control module drives the wheelchair guide back to the previous stationary state and triggers the alarm module. During the return process, the control module continuously monitors the working status of the wheelchair guide, which includes an open state and a closed state. If the obstacle encounter state is detected again during the return process, the control module drives the mechanical angle of the wheelchair guide back to a preset angle and then stops working.

2. A method for controlling wheelchair guides in large vehicles, characterized in that, The wheelchair guide control method for large vehicles, as described in claim 1, comprises: The working status of the wheelchair guide plate is obtained, including normal working status and obstacle encounter status. If the working state is an obstacle encounter state, the drive module is controlled to drive the wheelchair guide plate back to the previous stationary state, and the alarm module is controlled to sound an alarm. During the return process, the working state of the wheelchair guide plate is continuously monitored. The stationary state includes an open state and a closed state. If the obstacle encounter state is detected again during the return process, the drive module is controlled to drive the mechanical angle of the wheelchair guide plate back to a preset angle and then stop working.

3. The method for controlling wheelchair guides in large vehicles according to claim 2, characterized in that, The working state of the wheelchair guide plate is obtained through the following steps: The current data, voltage data, number of motor pole pairs and motor reduction ratio of the drive module are obtained, as well as the pre-stored anti-pinch determination relationship. The anti-pinch determination relationship represents the correspondence between different mechanical positions of the wheelchair guide plate and different preset anti-pinch currents. Based on a sensorless algorithm, the real-time operating current, real-time motor mechanical speed, and real-time mechanical position of the wheelchair guide plate are determined according to the current data, the voltage data, the number of motor pole pairs, and the motor reduction ratio. The target anti-pinch current corresponding to the real-time mechanical position is determined based on the anti-pinch determination relationship. The working state of the wheelchair guide plate is determined based on the real-time operating current, the target anti-pinch current, the real-time motor speed, the preset anti-pinch speed, and the preset anti-pinch judgment duration. The working state includes normal working state and obstacle encounter state.

4. The method for controlling wheelchair guides in large vehicles according to claim 3, characterized in that, The sensorless algorithm, which determines the real-time operating current, real-time motor mechanical speed, and real-time mechanical position of the wheelchair guide plate based on the current data, voltage data, number of motor pole pairs, and motor reduction ratio, includes: Based on a sensorless algorithm, the q-axis current, real-time motor speed, and real-time motor rotor angle are determined according to the current data and the voltage data. The q-axis current is determined as the real-time operating current; The real-time mechanical speed of the motor is determined based on the real-time electric speed of the motor and the number of pole pairs of the motor. The real-time mechanical position of the wheelchair guide plate is determined based on the real-time motor rotor electrical angle, the number of motor pole pairs, the real-time motor mechanical speed, and the motor reduction ratio.

5. The method for controlling wheelchair guides in large vehicles according to claim 4, characterized in that, The step of determining the real-time mechanical position of the wheelchair guide plate based on the real-time motor rotor electrical angle, the number of motor pole pairs, the real-time motor mechanical speed, and the motor reduction ratio includes: The real-time mechanical position of the motor rotor is determined based on the real-time electrical angle of the motor rotor and the number of motor pole pairs. The real-time mechanical position of the wheelchair guide plate is determined based on the real-time mechanical position of the motor rotor, the real-time mechanical speed of the motor, and the motor reduction ratio.

6. The method for controlling wheelchair guides in large vehicles according to claim 3, characterized in that, The working state of the wheelchair guide plate is determined based on the real-time operating current, the target anti-pinch current, the real-time motor speed, the preset anti-pinch speed, and the preset anti-pinch judgment duration. The working state includes a normal working state and an obstacle encounter state, including: If the real-time operating current is greater than the target anti-pinch current, and the real-time motor mechanical speed is less than the preset anti-pinch speed, and the duration is greater than the preset anti-pinch judgment time, the working state of the wheelchair guide plate is determined to be the obstacle encounter state. If the real-time operating current is less than or equal to the target anti-pinch current, and the real-time motor mechanical speed is greater than or equal to the preset anti-pinch speed, and the real-time motor mechanical speed is within the preset rated speed range, the working state of the wheelchair guide plate is determined to be the normal working state.

7. The method for controlling wheelchair guides in large vehicles according to claim 3, characterized in that, In the sensorless algorithm, the PI parameter of the rotation speed loop is optimized using a particle swarm optimization algorithm.

8. The method for controlling wheelchair guides in large vehicles according to claim 2, characterized in that, The preset angle is 10°.

9. An electronic device, characterized in that, The electronic device includes a processor and a memory storing computer program instructions; when the processor executes the computer program, it implements the large vehicle wheelchair guide control method as described in any one of claims 2 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the large vehicle wheelchair guide control method as described in any one of claims 2 to 8.

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