CN105496667A - Electrically powered wheelchair brake control system and electrically powered wheelchair - Google Patents

Abstract

The invention provides an electrically powered wheelchair brake control system which is suitable for the technical field of wheelchairs. The electrically powered wheelchair brake control system comprises a signal detection module, a forward control module, a reverse control module and a motor driving module, wherein the signal detection module is used for detecting shifting force and a loosening state of a controller and transmitting a force signal; the controller is connected with a first loop circuit, a second loop circuit and the signal detection module through a control chip, the first loop circuit is used for controlling output of a forward voltage signal, and the second loop circuit is used for controlling output of a reverse voltage signal; the forward control module is used for outputting a high level as a control signal for forward rotation according to the force signal; the reverse control module is used for outputting a low level as a control signal for reverse rotation when the controller is loosened or is shifted; the motor driving module is used for driving a motor to perform forward rotation or reverse rotation. The invention further provides an electrically powered wheelchair. Therefore, the brake is more efficient, and certain sliding distance after braking is shortened.

Description

Electric wheelchair brake control system and electric wheelchair

technical field

The invention relates to the technical field of wheelchairs, in particular to an electric wheelchair brake control system and an electric wheelchair.

Background technique

Existing wheelchair braking technology all uses mechanical structure to brake. In this way, after long-term use, there will be mechanical wear and tear, and then there will be situations such as brake failure. And there is a certain sliding distance after braking.

In summary, there are obviously inconveniences and defects in the actual use of the prior art, so it is necessary to improve it.

Contents of the invention

In view of the above-mentioned defects, the object of the present invention is to provide a brake control system for an electric wheelchair, which is more efficient in braking and shortens the sliding distance after braking.

In order to achieve the above object, the present invention provides a brake control system for an electric wheelchair, comprising:

The signal detection module is used to detect the pulling force and release state of the controller and transmit the force signal; the controller is connected to the first loop controlling the output of the positive voltage signal through the control chip, and the controller is also connected through the control chip. The control chip is connected to the second loop for controlling the output of the reverse voltage signal, and the controller is also connected to the second loop for controlling the reverse voltage signal and the signal detection module;

A forward control module, configured to output a high level as a forward rotation control signal according to the force signal;

A reverse control module, configured to output a low level to the voltage direction as a control signal for reverse rotation when the controller is released or toggled;

The motor drive module is used to drive the motor to rotate forward or reversely;

The forward control module and the reverse control module are arranged in the control chip, the motor is connected to the axle of the electric wheelchair, the motor is electrically connected to the motor drive module, and the first loop circuit The forward control module is connected, and the second loop is electrically connected to the reverse control module.

According to the electric wheelchair brake control system of the present invention, the control signal is transmitted from the control chip to the motor drive module, and the motor drive module is electrically connected to the motor. When the controller is toggled, the The first loop is turned on, the motor rotates forward, and the electric wheelchair moves forward. When the controller is released, the second loop is turned on, the motor rotates in the opposite direction, and the electric wheelchair wheelchair brakes;

The forward control module and the reverse control module respectively adjust the voltage across the motor according to the duty ratio of the pulse width modulation wave.

According to the electric wheelchair brake control system of the present invention, when the electric wheelchair is running forward, the high level and pulse width modulation wave output by the forward control module are sent to the motor according to the force of the forward movement of the controller. Drive the module and set the value of the voltage across the motor to change the forward speed;

When the electric wheelchair brakes, the reverse control module will output low level and pulse width modulation waves, and the magnitude of the reverse voltage will be given a corresponding value according to the voltage at both ends of the motor before braking.

According to the electric wheelchair brake control system of the present invention, the motor drive module includes two LM5106 chips, which respectively drive the left and right gates of the H-bridge, and the HO and LO outputs of the LM5106 chips are all provided with resistors.

According to the electric wheelchair brake control system of the present invention, it also includes a signal processing module for processing the signal of the controller;

The signal processing module also includes a 74HC08 AND gate chip. When the control chip inputs a pulse width modulation signal and the control signals for forward rotation and reverse rotation are output through the AND gate of the 74HC08 AND gate chip, the two types of Different control signals are respectively input into the two LM5106 chips to control the forward rotation and reverse rotation of the motor.

The present invention also provides an electric wheelchair, including an electric wheelchair body and an electric wheelchair brake control system, and the electric wheelchair brake control system includes:

The signal detection module is used to detect the pulling force and release state of the controller and transmit the force signal; the controller is connected to the first loop controlling the output of the positive voltage signal through the control chip, and the controller is also connected through the control chip. The control chip is connected to the second loop controlling the output of the reverse voltage signal and the signal detection module;

A forward control module, configured to output a high level as a forward rotation control signal according to the force signal;

A reverse control module, configured to output a low level to the voltage direction as a control signal for reverse rotation when the controller is released or toggled;

The motor drive module is used to drive the motor to rotate forward or reversely;

The forward control module and the reverse control module are arranged in the control chip, the motor is connected to the axle of the electric wheelchair, the motor is electrically connected to the motor drive module, and the first loop circuit The forward control module is connected, and the second loop is electrically connected to the reverse control module.

According to the electric wheelchair of the present invention, the electric wheelchair also includes:

The control signal is transmitted from the control chip to the motor drive module, the motor drive module is electrically connected to the motor, when the controller is toggled, the first loop is turned on, and the motor Forward rotation, the electric wheelchair runs forward, when the controller is released, the second loop is turned on, the motor rotates in the opposite direction, and the electric wheelchair brakes;

The forward control module and the reverse control module respectively adjust the voltage across the motor according to the duty ratio of the pulse width modulation wave.

According to the electric wheelchair of the present invention, when the electric wheelchair is running forward, the high level output by the forward control module and the pulse width modulation wave setting are applied to the motor according to the force of the forward toggle of the controller The value of the voltage at both ends of the upper, change the speed of forward running;

When the electric wheelchair brakes, the reverse control module will output low level and pulse width modulation waves, and the magnitude of the reverse voltage will be given a corresponding value according to the voltage at both ends of the motor before braking.

According to the electric wheelchair of the present invention, the electric wheelchair also includes: the motor drive module includes two LM5106 chips, which respectively drive the left and right gates of the H-bridge, and the HO terminal and the LO terminal output of the LM5106 chip are both Added resistance.

According to the electric wheelchair of the present invention, the electric wheelchair further includes a signal processing module for processing the signal of the controller;

The signal processing module also includes a 74HC08 AND gate chip. When the control chip inputs a pulse width modulation signal and the control signals for forward rotation and reverse rotation are output through the 74HC08 AND gate chip, the two types of different The control signals are respectively input into the two LM5106 chips to control the forward rotation and reverse rotation of the motor.

The invention controls the motor of the electric wheelchair through the brake control system of the electric wheelchair, removes the brake of the mechanical parts, adopts the reverse braking of the motor to perform the brake more efficiently, and shortens the sliding distance after braking.

Description of drawings

Fig. 1 is the structural representation of electric wheelchair braking control system of the present invention;

Fig. 2 is the structural representation of the preferred embodiment of electric wheelchair braking control system of the present invention;

Fig. 3 is a schematic circuit structure diagram of an embodiment of the controller of the electric wheelchair braking control system of the present invention;

Fig. 4A is a schematic diagram of the forward rotation control signal output of the electric wheelchair brake control system of the present invention;

Fig. 4B is a schematic diagram of the reverse rotation control signal output of the electric wheelchair brake control system of the present invention;

Fig. 5 is the brake flow chart of electric wheelchair brake control system of the present invention;

Fig. 6 is a preferred braking flow chart of the electric wheelchair braking control system of the present invention;

7 is a schematic diagram of the circuit structure of the signal processing module of the electric wheelchair brake control system of the present invention;

8 is a schematic diagram of the circuit structure of the motor drive module of the electric wheelchair brake control system of the present invention;

Fig. 9 is a schematic diagram of the appearance of the electric wheelchair of the brake control system for the electric wheelchair of the present invention.

detailed description

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

In order to solve the problem of braking performance of electric wheelchairs, the present invention provides a braking control system for electric wheelchairs. The system can be a software unit, a hardware unit or a combination of software and hardware built in a mobile terminal.

With reference to illustrations, as shown in Figure 1, the electric wheelchair brake control system 100 provided by the present invention includes:

The signal detection module 10 is used to detect the toggle force and release state of the controller 300 and transmit the force signal; the controller 300 is connected to the first loop 1 that controls the forward voltage signal through the control chip, and the controller 300 The second loop 2 that controls the output of the reverse voltage signal and the signal detection module 10 are also connected through the control chip. Specifically, as shown in FIG. S2 controls access.

A forward control module 20, configured to output a high level as a forward rotation control signal according to the force signal;

The reverse control module 30 is used to output a low level to the voltage direction as a control signal for reverse rotation when the controller 300 is toggled or released; specifically, the control mode of the controller 300 can be configured during implementation The low level is output when the controller is moved backward or when the controller is suddenly released from the forward movement, and the controller 300 can be controlled by means of electric control or a joystick.

The motor drive module 40 is used to drive the motor 200 to rotate forward or reversely;

The forward control module 20 and the reverse control module 30 are arranged in the control chip, the motor 200 is connected to the wheel shaft of the electric wheelchair, the motor 200 is electrically connected to the motor drive module 40, the The first loop 1 is electrically connected to the forward control module 20, and the second loop 2 is electrically connected to the reverse control module 30; the motor 200 is electrically isolated from the control chip and the controller 300, and cannot be directly connected. , to avoid burning out the control chip; the controller 300 is connected to the control circuit through the pins of the control chip, not directly.

More preferably, the control signal is transmitted from the control chip to the motor drive module 40, the motor drive module 40 is electrically connected to the motor 200, when the controller 300 is toggled, the first When the first loop 1 is turned on, the motor 200 rotates forward, and the electric wheelchair moves forward. When the controller 300 is released, the second loop 2 is turned on, and the motor 200 rotates reversely. The electric wheelchair brakes. Furthermore, the forward control module 20 and the reverse control module 30 respectively adjust the voltage across the motor 200 according to the duty cycle of the pulse width modulation wave, so as to realize the power control of the motor 200 by the control chip . For example, the controller 300 can be manipulated by means of electric control or a control lever, so that the controller 300 is loosened or moved in one direction, the electric wheelchair is controlled to run, and the controller 300 brakes when suddenly released.

Furthermore, in order to illustrate the braking process of the electric wheelchair braking control system 100 more clearly, as shown in the flow chart in FIG. 5 , the steps include:

Step S501, release the controller;

Step S502, start the braking system 100;

Step S503, output the reverse voltage, and the motor reverses and brakes;

Step S504, the wheelchair brakes;

When the electric wheelchair moves forward, the forward control module 20 outputs high level and pulse width modulated waves to the motor drive module 40 according to the force of the controller 300 to move forward, and set the The value of the voltage at both ends of the motor 200 changes the speed of running forward; in a specific embodiment, as shown in Figure 3, when the electric wheelchair runs forward, the control chip will write 1 to the voltage direction control register ( That is, output a high level in FIG. 4A ), at this time, as shown in FIG. 3 , the S1 switch is closed (T1 and T3 are opened, and the first loop 1 is turned on), and the S2 switch is opened. The motor 200 rotates forward, and the electric wheelchair moves forward. The speed of running forward is related to the strength of the controller 300. The strength signal is transmitted to the control chip. The greater the strength, the control chip will output a PWM wave with a higher duty cycle (Pulse Width Modulation, PulseWidthModulation ), the voltage applied to both ends of the motor 200 will be relatively large.

When the electric wheelchair brakes, the reverse control module 30 will output low level and pulse width modulated waves, and the magnitude of the reverse voltage will be given a corresponding value according to the voltage at both ends of the motor 200 before braking. As shown in Figure 6, based on the specific implementation process of the electric wheelchair brake control system 100 of the present invention, the steps include:

Step S601, the speed is S0, and the current equivalent voltage is V0; at this time, the controller 300 is pulled to brake, and step S602 is executed;

Step S602, applying a reverse voltage -V0/2;

For example, when the wheelchair speed is S (at this time, the voltage at both ends of the motor 200 is V0), when braking, the reverse voltage at both ends of the motor is -V0/2, and the power-on time is 0.3t (t is the speed at S at the voltage of -V0/2 The time to decelerate to 0, if S decreases to 0 during the period, stop), then judge the direction of motion of the wheelchair, and detect the speed, continue to give the same reverse voltage to decelerate until the wheelchair stops (as shown in Figure 5 and Figure 6) .

Step S603, whether the current speed is 0; if yes, the braking is over; if no, execute step S604, and continue to obtain the voltage at both ends of the motor 200 .

In step S604, the current speed is S1, and the equivalent voltage is V1; take V1 as V0, and execute step S601.

When braking (that is, the controller 300 is released), the control chip will write 0 to the voltage direction register (that is, output a low level in Figure 4B), at this time, as shown in Figure 3, S1 is disconnected, and S2 is closed (T2 , T4 open, the second loop 2 conduction). The motor rotates in reverse and the wheelchair brakes. The magnitude of the reverse voltage will give a corresponding value according to the speed of the wheelchair before braking (that is, the voltage at both ends of the motor before braking). The motor drive module 40 includes two LM5106 chips, which respectively drive the left and right grids of the H-bridge, and the HO and LO outputs of the LM5106 chips are provided with resistors.

The electric wheelchair brake control system 100 also includes a signal processing module 50 for processing the signal of the controller 300; as shown in Figure 7, the signal processing module 50 also includes a 74HC08 AND gate chip, when the The pulse width modulation signal input by the control chip, the control signal of the forward rotation and the reverse rotation are output through the AND gate of the 74HC08 AND gate chip, and the two types of different control signals are respectively input into the two LM5106 chips. The forward rotation and reverse rotation of the motor can be controlled. As shown in Fig. 7, the signal processing module 50 uses the 74HC08 AND gate chip to process the signal, the CPU (central processing unit, Central Processing Unit) inputs the PWM signal and the control signal of the forward rotation/reverse rotation is output through the AND gate, so that Two types of different control signals are respectively input into two LM5106s to control the forward and reverse rotation of the motor 200, P1 and P2 are CPU output signals, P1 is normally high level, and is set to low level when the motor 200 is not working.

As shown in Figure 8, the LM5106 enable terminal is set to high level by the CPU, and the LM5106 starts to work. The IN port of the LM5106 is used as the PWM pulse signal input terminal. When the IN port is high level, the high-end output HO is high level, and the low-end output LO is low. On the contrary, when the IN terminal is low, the low-end output LO is high, and the high-end output HO is low. Use two LM5106 chips U1 and U2 to drive the left and right MOSFETs (gates) of the H-bridge respectively. The HO and LO outputs of U1 and U2 are equipped with resistors with appropriate resistance. The resistance value should meet the requirements of switching time and also meet the requirements of reducing the gate voltage. U1 drives Q1 and Q2, and U2 drives Q3 and Q4. When there is no forward rotation and reverse rotation signal input, the forward rotation control signal CONZZ and the reverse rotation control signal CONFZ are both 0, and the IN terminal signals of U1 and U2 are both low. At this time, Q2 and Q4 are turned on. In Figure 8, both ends of the motor MOTOR12 are connected to the ground; when there is a forward rotation signal input, the forward rotation control signal CONZZ is 1, the reverse rotation control signal CONFZ is 0, and the IN terminal of U1 It is a PWM signal, and the IN terminal of U2 is at a low level. At this time, Q1 and Q4 are turned on to form a motor working path. When the motor rotates forward and brakes, the forward control signal CONZZ is 0, the reverse control signal CONZZ is 1, the duty cycle of the PWMZZ control input is set, and the motor brakes in reverse.

As shown in FIG. 9 , the present invention also provides an electric wheelchair, which includes an electric wheelchair body and the electric wheelchair braking control system described above.

In summary, the present invention controls the motor of the electric wheelchair through the brake control system of the electric wheelchair, removes the brake of mechanical parts, and adopts reverse braking of the motor to perform braking more efficiently and shortens the sliding distance after braking.

Certainly, the present invention also can have other multiple embodiments, without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and deformations according to the present invention, but these corresponding Changes and deformations should belong to the scope of protection of the appended claims of the present invention.

Claims (10)

1. An electric wheelchair brake control system, characterized in that it comprises: The signal detection module is used to detect the toggle strength and release state of the controller and transmit the strength signal; the controller is also connected to the second loop that controls the output of the reverse voltage signal through the control chip, and the controller passes the The control chip is connected to the first loop for controlling the output of the forward voltage signal, and the controller is also connected to the second loop for controlling the reverse voltage signal and the signal detection module; A forward control module, configured to output a high level as a forward rotation control signal according to the force signal; A reverse control module, configured to output a low level to the voltage direction as a control signal for reverse rotation when the controller is released or toggled; The motor drive module is used to drive the motor to rotate forward or reversely; The forward control module and the reverse control module are arranged in the control chip, the motor is connected to the axle of the electric wheelchair, the motor is electrically connected to the motor drive module, and the first loop circuit The forward control module is connected, and the second loop is electrically connected to the reverse control module. 2. The electric wheelchair brake control system according to claim 1, wherein the control signal is transmitted from the control chip to the motor drive module, and the motor drive module is electrically connected to the motor, when the The controller is toggled, the first loop is turned on, the motor rotates forward, and the electric wheelchair moves forward. When the controller is released, the second loop is turned on, and the motor Reverse rotation, the electric wheelchair brakes; The forward control module and the reverse control module respectively adjust the voltage across the motor according to the duty ratio of the pulse width modulation wave. 3. The brake control system for an electric wheelchair according to claim 2, wherein when the electric wheelchair is running forward, the forward control module outputs a high level and a pulse according to the force of the controller moving forward. The width modulation wave is sent to the motor drive module and the value of the voltage across the motor is set to change the speed of forward movement; When the electric wheelchair brakes, the reverse control module will output low level and pulse width modulation waves, and the magnitude of the reverse voltage will be given a corresponding value according to the voltage at both ends of the motor before braking. 4. The electric wheelchair brake control system according to claim 1, wherein the motor drive module includes two LM5106 chips, which drive the left and right gates of the H bridge respectively, and the HO terminal and the LO terminal of the LM5106 chip Resistors are added to the outputs. 5. The electric wheelchair brake control system according to claim 4, further comprising a signal processing module for processing the signal of the controller for processing the signal of the controller; The signal processing module also includes a 74HC08 AND gate chip. When the control chip inputs a pulse width modulation signal and the control signals for forward rotation and reverse rotation are output through the 74HC08 AND gate chip, the two types of different The control signals are respectively input into the two LM5106 chips to control the forward rotation and reverse rotation of the motor. 6. An electric wheelchair, characterized in that it comprises an electric wheelchair body and an electric wheelchair braking control system, and the electric wheelchair braking control system comprises: The signal detection module is used to detect the pulling force and release state of the controller and transmit the force signal; the controller is connected to the first loop controlling the output of the positive voltage signal through the control chip, and the controller is also connected through the control chip. The control chip is connected to the second loop controlling the output of the reverse voltage signal and the signal detection module; A forward control module, configured to output a high level as a forward rotation control signal according to the force signal; A reverse control module, configured to output a low level to the voltage direction as a control signal for reverse rotation when the controller is released or toggled; The motor drive module is used to drive the motor to rotate forward or reversely; The forward control module and the reverse control module are arranged in the control chip, the motor is connected to the axle of the electric wheelchair, the motor is electrically connected to the motor drive module, and the first loop circuit The forward control module is connected, and the second loop is electrically connected to the reverse control module. 7. The electric wheelchair according to claim 6, wherein the electric wheelchair further comprises: The control signal is transmitted from the control chip to the motor drive module, the motor drive module is electrically connected to the motor, when the controller is toggled, the first loop is turned on, and the motor Forward rotation, the electric wheelchair runs forward, when the controller is released, the second loop is turned on, the motor rotates in the opposite direction, and the electric wheelchair brakes; The forward control module and the reverse control module respectively adjust the voltage across the motor according to the duty ratio of the pulse width modulation wave. 8. The electric wheelchair according to claim 7, characterized in that, when the electric wheelchair moves forward, the high level and pulse width modulated wave output by the forward control module according to the force of the controller to move forward Go to the motor drive module and set the value of the voltage across the motor to change the forward speed; When the electric wheelchair brakes, the reverse control module will output low level and pulse width modulation waves, and the magnitude of the reverse voltage will be given a corresponding value according to the voltage at both ends of the motor before braking. 9. The electric wheelchair according to claim 6, characterized in that, the electric wheelchair further comprises: the motor driver module includes two LM5106 chips, which respectively drive the left and right grids of the H-bridge, and the LM5106 chips Both HO and LO outputs are provided with resistors. 10. The electric wheelchair according to claim 9, wherein the electric wheelchair further comprises a signal processing module for processing the signal of the controller for processing the signal of the controller; The signal processing module also includes a 74HC08 AND gate chip. When the control chip inputs a pulse width modulation signal and the control signals for forward rotation and reverse rotation are output through the 74HC08 AND gate chip, the two types of different The control signals are respectively input into the two LM5106 chips to control the forward rotation and reverse rotation of the motor.