Electric wheelchair control system

Abstract

The utility model discloses an electrically propelled wheelchair control system, which relates to the field of electrically propelled wheelchairs and comprises a power supply module, a control module and a power supply module. The control module is used for comprehensively controlling the electric wheelchair to work; the communication module is used for constructing communication between the control module and the outside; and the motor control module is used for receiving the control of the communication module and working to drive the electric wheelchair to move. Compared with the prior art, the beneficial effects of the utility model are that the speed monitoring is carried out by combining the Hall sensor card module through the sensor pre-installed on the operation track; an automatic speed change function and a multi-stage brake control function of the running speed of the electric wheelchair can be realized; according to monitoring data of the Hall sensor card module, data processing is carried out through the CPU processing module in the product, motor control is carried out in combination with a multi-stage motor control function, the functions of speed changing, braking, parking, standby and the like are achieved, and synchronous coordination control over multiple motors is achieved through a single controller.

Description

Technical Field

[0001] The utility model relates to the field of electric wheelchairs, in particular to an electric wheelchair control system. Background Art

[0002] Currently, common electric wheelchair control systems usually use two types of control modules: a single controller corresponds to multiple motors, and multiple controllers correspond to multiple motors.

[0003] Among them, a single controller corresponding to multiple motors cannot achieve multi-motor synchronous coordinated control, which needs to be improved. Utility Model Content

[0004] The purpose of the utility model is to provide an electric wheelchair control system to solve the problems raised in the above background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] An electric wheelchair control system, comprising:

[0007] A power supply module, used for supplying power to the control module;

[0008] A control module, used for comprehensive control of the operation of the electric wheelchair;

[0009] Communication module, used to establish communication between the control module and the outside world;

[0010] The motor control module is used to receive the control of the communication module, drive the electric wheelchair to move, and realize the speed change, braking, parking and standby of the electric wheelchair;

[0011] The Hall sensor card module is used to monitor the speed of the electric wheelchair and provide feedback to the control module;

[0012] A multi-stage brake control module is used to send a brake signal to the control module, which in turn controls the brakes of the electric wheelchair through the motor control module;

[0013] The power supply module is connected to the control module, and the control module is connected to the communication module, the motor control module, the Hall sensor card module, and the multi-stage brake control module.

[0014] As a further solution of the utility model: the control module includes a single-chip microcomputer U1B, the model of the single-chip microcomputer U1B is STM32F722, pins 103 and 104 of the single-chip microcomputer U1B are connected to the communication module, pins 18, 19, 44 and 45 of the single-chip microcomputer U1B are connected to the Hall sensor card module, pins 53, 88, 141 and 142 of the single-chip microcomputer U1B are connected to the motor control module, and pins 135 and 140 of the single-chip microcomputer U1B are connected to the multi-stage brake control module.

[0015] As a further solution of the utility model: the communication module includes a communication chip U15, the model of the communication chip U15 is NCV7342, pins 1 and 4 of the communication chip U15 are connected to the control module, pin 6 of the communication chip U15 is connected to the fourth end of the choke L4, pin 7 of the communication chip U15 is connected to the third end of the choke L4, the first end and the second end of the choke L4 are respectively connected to pin 3 and pin 4 of the debugging connector CON18, and the model of the debugging connector CON18 is CON-BOX-10.

[0016] As a further solution of the utility model: the motor control module includes a right-turn circuit and a left-turn circuit. The right-turn circuit and the left-turn circuit have the same structure. The right-turn circuit includes a transistor Q33 and a transistor Q31. The emitter of the transistor Q33 is grounded, and the base of the transistor Q33 is connected to the control module through a resistor R143. The collector of the transistor Q33 is connected to the base of the transistor Q31 through a resistor R141. The collector of the transistor Q31 inputs a control signal, and the emitter of the transistor Q31 is connected to the control module.

[0017] As a further solution of the utility model: the Hall sensor card module includes four Hall circuits, the Hall circuit includes two amplifiers, the in-phase end of the first amplifier inputs the speed signal through resistor R212, the inverting end of the first amplifier is connected to the output end of the first amplifier and one end of resistor R256 through resistor R215, the other end of resistor R256 is connected to the inverting end of the second amplifier and one end of resistor R258, the other end of resistor R258 is connected to the output end of the second amplifier and the control module, and the in-phase end of the second amplifier is connected to a 1.74V voltage.

[0018] As a further solution of the utility model: the multi-stage brake control module includes an electromagnetic brake drive circuit and an electromagnetic valve brake circuit. The electromagnetic brake drive circuit and the electromagnetic valve brake circuit have the same structure. The electromagnetic brake drive circuit includes a MOS tube Q11, a MOS tube Q14, and an amplifier U12. The D pole of the MOS tube Q11 introduces voltage, the G pole of the MOS tube Q11 is connected to the control module through a resistor R56, the S pole of the MOS tube Q11 is connected to the D pole of the MOS tube Q14, the S pole of the MOS tube Q14 is connected to one end of the resistor R50 and one end of the resistor R53, the other end of the resistor R53 is grounded, the other end of the resistor R50 is connected to the in-phase end of the amplifier U12, the inverting end of the amplifier U12 is connected to the reference voltage VREF-IBR, and the output end of the amplifier U12 is connected to the control module.

[0019] Compared with the prior art, the beneficial effects of the utility model are as follows: the utility model can realize the automatic speed change function and multi-stage brake control function of the electric wheelchair by pre-installing sensors on the running track and combining with the Hall sensor card module for speed monitoring; according to the monitoring data of the Hall sensor card module, the CPU processing module in the product performs data processing, and combines the multi-stage motor control function to control the motor to realize the speed change / brake / parking / standby and other functions, so that multiple motors are connected to different interfaces of a single controller (the circuits of different interfaces are the same) through different wiring harnesses, so that a single controller can realize synchronous and coordinated control of multiple motors. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The figure is a schematic diagram of an electric wheelchair control system.

[0021] Figure 2 This is the circuit diagram of the control module.

[0022] Figure 3 This is the circuit diagram of the communication module.

[0023] Figure 4 This is the circuit diagram of the right turn circuit of the motor control module.

[0024] Figure 5 This is the circuit diagram of the left turn circuit of the motor control module.

[0025] Figure 6 This is the circuit diagram of the Hall sensor card module.

[0026] Figure 7 This is the circuit diagram of the multi-stage brake control module. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0028] See also Figure 1 , an electric wheelchair control system, comprising:

[0029] A power supply module, used for supplying power to the control module;

[0030] A control module, used for comprehensive control of the operation of the electric wheelchair;

[0031] Communication module, used to establish communication between the control module and the outside world;

[0032] The motor control module is used to receive the control of the communication module, drive the electric wheelchair to move, and realize the speed change, braking, parking and standby of the electric wheelchair;

[0033] The Hall sensor card module is used to monitor the speed of the electric wheelchair and provide feedback to the control module;

[0034] A multi-stage brake control module is used to send a brake signal to the control module, which in turn controls the brakes of the electric wheelchair through the motor control module;

[0035] The power supply module is connected to the control module, and the control module is connected to the communication module, the motor control module, the Hall sensor card module, and the multi-stage brake control module.

[0036] In this example: See Figure 2 The control module includes a single-chip microcomputer U1B, the model of the single-chip microcomputer U1B is STM32F722, pins 103 and 104 of the single-chip microcomputer U1B are connected to the communication module, pins 18, 19, 44, and 45 of the single-chip microcomputer U1B are connected to the Hall sensor card module, pins 53, 88, 141, and 142 of the single-chip microcomputer U1B are connected to the motor control module, and pins 135 and 140 of the single-chip microcomputer U1B are connected to the multi-stage brake control module.

[0037] The control module works in conjunction with other modules to complete the working control of the electric wheelchair.

[0038] In this example: See Figure 1 and Figure 3 The communication module includes a communication chip U15, the model of the communication chip U15 is NCV7342, pins 1 and 4 of the communication chip U15 are connected to the control module, pin 6 of the communication chip U15 is connected to the fourth end of the choke L4, pin 7 of the communication chip U15 is connected to the third end of the choke L4, the first end and the second end of the choke L4 are respectively connected to pins 3 and 4 of the debugging connector CON18, and the model of the debugging connector CON18 is CON-BOX-10.

[0039] The chip U15 is used to establish communication between the control module and the outside world. A specific example here is a display, and the control information of the control module is displayed on the display.

[0040] In this example: See Figure 4 , Figure 5The motor control module includes a right-turn circuit and a left-turn circuit. The right-turn circuit and the left-turn circuit have the same structure. The right-turn circuit includes a transistor Q33 and a transistor Q31. The emitter of the transistor Q33 is grounded, and the base of the transistor Q33 is connected to the control module through a resistor R143. The collector of the transistor Q33 is connected to the base of the transistor Q31 through a resistor R141. The collector of the transistor Q31 inputs a control signal, and the emitter of the transistor Q31 is connected to the control module.

[0041] The right turn circuit and the left turn circuit both send control signals after receiving the signal from the control module. They have the same structure. Figure 4 Description of the right turn circuit: after receiving the control signal EN-DRV-R, transistor Q33 is turned on, so that the base of transistor Q31 is grounded through resistor R141 and transistor Q33, and becomes a low level. Transistor Q31 is turned on and outputs the control signal DLAG-R-OK to output the right turn signal. Here, the control module is connected to two motors (left motor and right motor) to control the corresponding operation of the two motors (that is, the left motor and the right motor are controlled together, thereby driving the movement of the electric lifting wheelchair, and the circuit diagrams of the left motor and the right motor are the same); preferably, the left motor and the right motor can reduce the load of the gear during the lifting process, ensuring safety while getting a faster lifting experience.

[0042] same, Figure 5 The left turn circuit works the same way.

[0043] In this example: See Figure 6 The Hall sensor card module includes four Hall circuits, and the Hall circuit includes two amplifiers. The in-phase end of the first amplifier inputs the speed signal through the resistor R212, and the inverting end of the first amplifier is connected to the output end of the first amplifier and one end of the resistor R256 through the resistor R215. The other end of the resistor R256 is connected to the inverting end of the second amplifier and one end of the resistor R258. The other end of the resistor R258 is connected to the output end of the second amplifier and the control module. The in-phase end of the second amplifier is connected to a 1.74V voltage.

[0044] The speed signal is obtained by the sensor pre-installed on the running track, and then the speed signal is processed by the Hall circuit to realize the automatic speed change function and multi-stage brake control function of the electric wheelchair: the speed of the motor is adjusted by controlling the current, and the current parameter is adjusted in combination with the value of the height sensor circuit to realize the automatic speed change function; the multi-stage brake is achieved by controlling the handle and combining the automatic speed change function to achieve multi-stage deceleration, thereby improving the riding experience.

[0045] In this example: See Figure 7The multi-stage brake control module includes an electromagnetic brake drive circuit and an electromagnetic valve brake circuit. The electromagnetic brake drive circuit and the electromagnetic valve brake circuit have the same structure. The electromagnetic brake drive circuit includes a MOS tube Q11, a MOS tube Q14, and an amplifier U12. The voltage is introduced into the D pole of the MOS tube Q11, and the G pole of the MOS tube Q11 is connected to the control module through a resistor R56. The S pole of the MOS tube Q11 is connected to the D pole of the MOS tube Q14. The S pole of the MOS tube Q14 is connected to one end of the resistor R50 and one end of the resistor R53. The other end of the resistor R53 is grounded. The other end of the resistor R50 is connected to the non-inverting end of the amplifier U12. The inverting end of the amplifier U12 is connected to the reference voltage VREF-IBR. The output end of the amplifier U12 is connected to the control module.

[0046] The electromagnetic brake drive circuit and the solenoid valve brake circuit have the same structure. Here, the electromagnetic brake drive circuit is taken as an example. After receiving the control signals DRV-BR and SIL-OK-DU-B, the MOS tubes Q11 and Q14 are turned on, and the brake signal is finally output through the amplifier U12.

[0047] The working principle of the utility model is: the power supply module is used to supply power to the control module; the control module is used to comprehensively control the operation of the electric wheelchair; the communication module is used to establish communication between the control module and the outside world; the motor control module is used to receive control from the communication module, and drive the electric wheelchair to move, thereby realizing speed change, braking, parking and standby of the electric wheelchair; the Hall sensor card module is used to monitor the driving speed of the electric wheelchair and feed it back to the control module; the multi-stage brake control module is used to send a brake signal to the control module, and then control the brake of the electric wheelchair through the motor control module.

[0048] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0049] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An electric wheelchair control system, characterized in that: The electric wheelchair control system includes: A power supply module, used for supplying power to the control module; A control module, used for comprehensive control of the operation of the electric wheelchair; Communication module, used to establish communication between the control module and the outside world; The motor control module is used to receive the control of the communication module, drive the electric wheelchair to move, and realize the speed change, braking, parking and standby of the electric wheelchair; The Hall sensor card module is used to monitor the speed of the electric wheelchair and provide feedback to the control module; A multi-stage brake control module is used to send a brake signal to the control module, which in turn controls the brakes of the electric wheelchair through the motor control module; The power supply module is connected to the control module, and the control module is connected to the communication module, the motor control module, the Hall sensor card module, and the multi-stage brake control module.

2. The electric wheelchair control system according to claim 1, characterized in that: The control module includes a single-chip microcomputer U1B, the model of the single-chip microcomputer U1B is STM32F722, pins 103 and 104 of the single-chip microcomputer U1B are connected to the communication module, pins 18, 19, 44, and 45 of the single-chip microcomputer U1B are connected to the Hall sensor card module, pins 53, 88, 141, and 142 of the single-chip microcomputer U1B are connected to the motor control module, and pins 135 and 140 of the single-chip microcomputer U1B are connected to the multi-stage brake control module.

3. The electric wheelchair control system according to claim 2, characterized in that: The communication module includes a communication chip U15, the model of the communication chip U15 is NCV7342, pins 1 and 4 of the communication chip U15 are connected to the control module, pin 6 of the communication chip U15 is connected to the fourth end of the choke L4, pin 7 of the communication chip U15 is connected to the third end of the choke L4, the first end and the second end of the choke L4 are respectively connected to pins 3 and 4 of the debugging connector CON18, and the model of the debugging connector CON18 is CON-BOX-10.

4. The electric wheelchair control system according to claim 2, characterized in that: The motor control module includes a right-turn circuit and a left-turn circuit. The right-turn circuit and the left-turn circuit have the same structure. The right-turn circuit includes a transistor Q33 and a transistor Q31. The emitter of the transistor Q33 is grounded, and the base of the transistor Q33 is connected to the control module through a resistor R143. The collector of the transistor Q33 is connected to the base of the transistor Q31 through a resistor R141. The collector of the transistor Q31 inputs a control signal, and the emitter of the transistor Q31 is connected to the control module.

5. The electric wheelchair control system according to claim 2, characterized in that: The Hall sensor card module includes four Hall circuits, and the Hall circuit includes two amplifiers. The in-phase end of the first amplifier inputs the speed signal through resistor R212, and the inverting end of the first amplifier is connected to the output end of the first amplifier and one end of resistor R256 through resistor R215. The other end of resistor R256 is connected to the inverting end of the second amplifier and one end of resistor R258. The other end of resistor R258 is connected to the output end of the second amplifier and the control module, and the in-phase end of the second amplifier is connected to a 1.74V voltage.

6. The electric wheelchair control system according to claim 2, characterized in that: The multi-stage brake control module includes an electromagnetic brake drive circuit and an electromagnetic valve brake circuit. The electromagnetic brake drive circuit and the electromagnetic valve brake circuit have the same structure. The electromagnetic brake drive circuit includes a MOS tube Q11, a MOS tube Q14, and an amplifier U12. The voltage is introduced into the D pole of the MOS tube Q11, and the G pole of the MOS tube Q11 is connected to the control module through a resistor R56. The S pole of the MOS tube Q11 is connected to the D pole of the MOS tube Q14, and the S pole of the MOS tube Q14 is connected to one end of the resistor R50 and one end of the resistor R53. The other end of the resistor R53 is grounded, and the other end of the resistor R50 is connected to the in-phase end of the amplifier U12. The inverting end of the amplifier U12 is connected to the reference voltage VREF-IBR, and the output end of the amplifier U12 is connected to the control module.

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