CN105997383B - Electric wheelchair based on center of gravity observing and controlling climbs building method and its electric wheelchair - Google Patents

Abstract

The invention provides a stair climbing method for an electric wheelchair based on center of gravity measurement and control, which is suitable for the technical field of wheelchairs, comprising: the electric wheelchair includes crawlers and rear wheels, a motor is arranged at the fulcrum of the crawler link point, and the motor Dividing the track into a first track segment and a second track segment; pushing the track down the stairs, detecting the first distance between the end of the track and the horizontal plane of the stairs; bending the track and adjusting the posture and center of gravity of the electric wheelchair; If the first distance is greater than the first threshold, the center of gravity falls on the slope of the stairs, and the track is straightened to gradually release the electric wheelchair to go down; if the first distance is equal to the first threshold, the center of gravity falls On the stair level, continue to adjust the posture and center of gravity of the electric wheelchair. The invention also provides an electric wheelchair. Thereby, the present invention solves the bumps that occur in the stair-climbing process of the stair-climbing wheelchair by improving the structure of the crawler belt and the stair-climbing control.

Description

Climbing method of electric wheelchair based on center of gravity measurement and control and its electric wheelchair

technical field

The invention relates to the technical field of wheelchairs, in particular to a method for climbing stairs of an electric wheelchair based on center of gravity measurement and control and the electric wheelchair.

Background technique

Most of the existing wheelchair user groups are the elderly, the disabled, people with inconvenient mobility or physically impaired people. At the same time, it is difficult for these people to control the electric wheelchair accurately, correctly, flexibly and freely, and they must be accompanied by others. The operation of such personnel is relatively difficult, and the wheelchair cannot be made more convenient, intelligent, simple, and humanized, and it also has defects in autonomous or assisted control operations by others.

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 purpose of the present invention is to provide a stair climbing method of an electric wheelchair based on center of gravity measurement and control and its electric wheelchair, the purpose of which is to effectively reduce the bumps to a certain extent in the process of climbing stairs in the existing wheelchair, By improving the structure of the crawler belt and controlling the wheelchair in the process of climbing stairs, the bumps in the process of climbing stairs can be solved.

In order to achieve the above object, the present invention provides a method for climbing stairs of an electric wheelchair based on center of gravity measurement and control, including:

The electric wheelchair includes tracks and the rear wheels, and a motor is arranged at the fulcrum of the link point of the tracks, and the motor divides the tracks into a first track segment and a second track segment, and the motor drives the first track segment Adjusting the posture and center of gravity of the electric wheelchair when the second crawler section forms an angle with the first crawler section;

The crawler belt is pushed down the stairs, and the first distance between the end of the crawler belt and the horizontal plane of the stairs is detected;

bending the tracks and adjusting the posture and center of gravity of the electric wheelchair;

If the first distance is greater than the first threshold, the center of gravity falls on the slope of the stairs, and the track is straightened to gradually release the electric wheelchair to go down;

If the first distance is equal to the first threshold, the center of gravity falls on the stair level, and the posture and center of gravity of the electric wheelchair are continuously adjusted.

According to the method for climbing stairs of an electric wheelchair based on the measurement and control of the center of gravity of the present invention, the crawler is pushed down the stairs, and the step of detecting the first distance between the end of the crawler and the horizontal plane of the stairs further includes:

Stairs are detected, and the rear wheels are ready to go downstairs to stow the rear wheels, and the rear wheels are completely stowed when the first distance is equal to the first threshold;

If the first distance is greater than the first threshold, the center of gravity falls on the slope of the stairs, and the steps of straightening the tracks and gradually releasing the electric wheelchair to go down include:

The caterpillar is pressed on two adjacent stair steps, and the surface defined by the bottom surface of the caterpillar is the slope of the stair.

According to the method for climbing stairs of an electric wheelchair based on the measurement and control of the center of gravity of the present invention, the step of bending the track and adjusting the posture and center of gravity of the electric wheelchair further includes:

When the track continues to move forward, the motor rotates forward and reverse repeatedly to adjust the angle between the first track segment and the second track segment;

The operation switching cycle of the reverse rotation or forward rotation of the motor is set according to the first time threshold.

According to the method for climbing stairs of an electric wheelchair based on the measurement and control of the center of gravity of the present invention, it also includes:

The crawler belt is advanced to the highest step, and the second distance between the end of the crawler belt and the horizontal plane of the stairs is detected;

When the second distance reaches a second threshold, bend the track and adjust the posture and center of gravity of the electric wheelchair;

The crawler belt is gradually straightened to complete the upstairs;

According to the method for climbing stairs of an electric wheelchair based on center of gravity measurement and control of the present invention, when the second distance reaches a second threshold, the step of bending the track and adjusting the posture and center of gravity of the electric wheelchair further includes:

when the motor extends the track and the second distance reaches a third threshold, the motor bends the track;

When the motor bends the track, the second distance reaches a fourth threshold, and the motor extends the track.

The invention provides an electric wheelchair, comprising:

The electric wheelchair includes tracks and the rear wheels, and a motor is arranged at the fulcrum of the link point of the tracks, and the motor divides the tracks into a first track segment and a second track segment, and the motor drives the first track segment Adjusting the posture and center of gravity of the electric wheelchair when the second crawler section forms an angle with the first crawler section;

The first ranging module is used to push the crawler down the stairs, and detect the first distance between the end of the crawler and the horizontal plane of the stairs;

The first balance center of gravity module is used to bend the track and adjust the posture and center of gravity of the electric wheelchair;

The first coordination module is configured to, if the first distance is greater than the first threshold, the center of gravity falls on the slope of the stairs, and the track is straightened to gradually release the electric wheelchair to go down;

The second coordination module is configured to continue to adjust the posture and center of gravity of the electric wheelchair if the first distance is equal to the first threshold and the center of gravity falls on the level of the stairs.

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

The rear wheel control module is used to detect stairs, prepare to go downstairs and stow the rear wheels, and completely stow the rear wheels when the first distance is equal to the first threshold;

The caterpillar is pressed on two adjacent stair steps, and the surface defined by the bottom surface of the caterpillar is the slope of the stair.

According to the electric wheelchair of the present invention, the first balance center of gravity module further includes:

The angle adjustment sub-module is used to adjust the included angle between the first crawler section and the second crawler section by the motor repeatedly forward and reverse rotation when the track continues to move forward;

The period sub-module is used to set the operation switching period of the reverse rotation or forward rotation of the motor according to the first time threshold.

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

The second distance measuring module is used to push the crawler up to the highest step, and detect the second distance between the end of the crawler and the horizontal plane of the stairs;

A second center-of-gravity balance module, configured to bend the track and adjust the posture and center of gravity of the electric wheelchair when the second distance reaches a second threshold;

The second center-of-gravity balance module is also used to gradually straighten the crawlers to complete the upstairs.

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

A third coordination module, configured to bend the crawler by the motor when the motor extends the track and the second distance reaches a third threshold;

The fourth coordination module is configured to extend the crawler by the motor when the motor bends the track and the second distance reaches a fourth threshold.

The invention improves the structure of the crawler belt and controls the wheelchair in the process of climbing stairs, so as to solve the bumps in the process of climbing stairs of the wheelchair.

Description of drawings

Fig. 1 is the structure diagram of electric wheelchair climbing stairs of the present invention;

Fig. 2 is the structural representation of the preferred embodiment of the electric wheelchair climbing stairs of the present invention;

Fig. 3 is a schematic flow chart of the climbing method of the electric wheelchair based on center of gravity measurement and control of the present invention;

Fig. 4 is a schematic diagram of an embodiment of the upstairs climbing method of the electric wheelchair based on the measurement and control of the center of gravity of the present invention;

Fig. 5 is a schematic diagram of the track structure of the electric wheelchair of the present invention;

Fig. 6 is one of the schematic diagrams of the climbing state of the electric wheelchair of the present invention;

Fig. 7 is the second schematic diagram of the climbing state of the electric wheelchair of the present invention;

Fig. 8 is the third schematic diagram of the climbing state of the electric wheelchair of the present invention;

Fig. 9 is the fourth schematic diagram of the climbing state of the electric wheelchair of the present invention;

Fig. 10 is the fifth schematic diagram of the climbing state of the electric wheelchair of the present invention;

Fig. 11 is the sixth schematic diagram of the climbing state of the electric wheelchair of the present invention;

Fig. 12 is the seventh schematic diagram of the climbing state of 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 above problems, the present invention provides an electric wheelchair. The components used by the electric wheelchair can be software units, hardware units or combination units of software and hardware built into the mobile terminal.

Combined with illustrations, as shown in Figures 1 to 2 and 5, the electric wheelchair 100 provided by the present invention includes:

The electric wheelchair 100 includes tracks and rear wheels. A motor c is arranged at the fulcrum of the link point of the tracks. The motor c divides the tracks into a first track segment a and a second track segment b. The motor c drives the second track segment b Adjusting the posture and center of gravity of the electric wheelchair 100 when forming an angle with the first track section a;

The first distance measuring module 10 is used to push the crawler down the stairs, and detect the first distance between the end of the crawler and the horizontal plane of the stairs;

Balance center of gravity module 20, used to bend the track and adjust the posture and center of gravity of the electric wheelchair 100;

The first coordination module 30 is configured to, if the first distance is greater than a first threshold, the center of gravity falls on the slope of the stairs, and the crawler belts are straightened to gradually release the electric wheelchair 100 to go down;

The second coordination module 40 is configured to continue to adjust the posture and center of gravity of the electric wheelchair if the first distance is equal to the first threshold and the center of gravity falls on the stair level;

The caterpillar is pressed on two adjacent stair steps, and the surface defined by the bottom surface of the caterpillar is the slope of the stair.

Even better, the electric wheelchair 100, as shown in Figure 2 and Figure 5, also includes:

The rear wheel control module 90 is configured to detect stairs, prepare to go downstairs to stow the rear wheels, and stow the rear wheels completely when the first distance is equal to the first threshold.

More preferably, the first balance center of gravity module 20 also includes:

The angle adjustment sub-module 21 is used to adjust the angle between the first track segment a and the second track segment b by the motor c repeatedly forward and reverse rotation when the track continues to move forward;

The period sub-module 22 is configured to set the operation switching period of the motor in reverse rotation or forward rotation according to the first time threshold.

In a preferred embodiment of the electric wheelchair 100 of the present invention, it also includes:

The second ranging module 50 is used for advancing the crawler belt upstairs to the highest step, and detecting the second distance between the end of the crawler belt and the horizontal plane of the stairs;

The second center-of-gravity balance module 60 is configured to bend the track and adjust the posture and center of gravity of the electric wheelchair 100 when the second distance reaches a second threshold;

The second center-of-gravity balance module 50 is also used to gradually straighten the crawler belts to complete going upstairs.

Preferably, the electric wheelchair 100 also includes:

The third coordination module 70 is configured to bend the crawler when the motor c extends the track and the second distance reaches a third threshold;

The fourth coordination module 80 is configured to extend the crawler when the motor c bends the track and the second distance reaches a fourth threshold.

The first distance measuring module 10 and the second distance measuring module 50 rely on sensors or other distance measuring devices, and can be realized by a laser distance measuring module during specific implementation. The distance on the ground is the first distance. With the first distance as the control condition, the posture and center of gravity of the electric wheelchair are constantly adjusted near the first step to achieve a smooth transition. The track can just press on the two steps in parallel to determine the stairs. The inclined surface can ensure smoothness when going downstairs, and use the crawler to move forward smoothly, so as not to stand on the level of a step when going downstairs, so that there is no way to adjust the posture conveniently. In the same way, in order to make a stable transition from the slope of the stairs to the plane posture, the track needs to be deformed to obtain the fulcrum in advance, and the posture is changed while pushing, so that the grip is better.

Furthermore, in order to make the stair-climbing method of the electric wheelchair based on the center of gravity measurement and control of the present invention clearer, based on the electric wheelchair 100, the flow chart shown in FIG. 3 includes:

Step S301, pushing the crawler belt down the stairs, and detecting the first distance between the end of the crawler belt and the horizontal plane of the stairs;

Step S302, bending the track and adjusting the posture and center of gravity of the electric wheelchair;

Step S303, if the first distance is greater than the first threshold, the center of gravity falls on the slope of the stairs, the track is straightened and the electric wheelchair is gradually released to go down;

Step S304, if the first distance is equal to the first threshold, the center of gravity falls on the level of the stairs, and continue to adjust the posture and center of gravity of the electric wheelchair;

As shown in Fig. 5 , the electric wheelchair 100 includes tracks and the rear wheels, and a motor c is arranged at the fulcrum of the link point of the tracks, and the motor c divides the tracks into a first track section a and a second track section b, and the The motor c drives the second crawler section b to form an angle with the first crawler section a to adjust the posture and center of gravity of the electric wheelchair. Specifically, a push rod motor can be installed under the seat to perform the posture of the electric wheelchair and center of gravity adjustment.

In the process of going downstairs, the step S301 further includes:

Stairs are detected, and the rear wheels are ready to go downstairs to stow the rear wheels, and the rear wheels are completely stowed when the first distance is equal to the first threshold.

Preferably, the step S302 also includes:

When the track continues to move forward, the motor rotates forward and reverse repeatedly to adjust the angle between the first track segment and the second track segment;

The operation switching cycle of the reverse rotation or forward rotation of the motor is set according to the first time threshold.

Based on the method for climbing stairs of the electric wheelchair based on the measurement and control of the center of gravity realized by the electric wheelchair 100, in order to realize going upstairs, the method of climbing stairs of the electric wheelchair based on the measurement and control of the center of gravity further includes:

Step 401, advancing the caterpillar up the stairs to the highest step, and detecting a second distance between the end of the caterpillar and the horizontal plane of the stairs;

Step 402, when the second distance reaches a second threshold, bend the track and adjust the posture and center of gravity of the electric wheelchair;

Step 403, the crawlers are gradually straightened to complete the upstairs;

Preferably, said step 402 also includes:

when the motor extends the track and the second distance reaches a third threshold, the motor bends the track;

When the motor bends the track, the second distance reaches a fourth threshold, and the motor extends the track.

As shown in Figures 6 to 12, the specific embodiment of the process of the electric wheelchair 100 going up and down the stairs, when the wheelchair is going downstairs, Figure 5 shows the structure diagram of the wheelchair track, the track is divided into two sections, the front is long and the back is short, and the first track is divided into two sections. Segment a, the second track segment b, and c is the motor c at the fulcrum of the track link point. When the shape of the track needs to be changed, a and b will rotate around the motor c to achieve bending or straightening. The laser ranging module is in the The end of the track; in Figure 6, the wheelchair detects the stairs, starts the climbing mode, puts down the rear wheel as shown in Figure 2, the motor c rotates forward as shown in the figure, and at the same time, the electric wheelchair 100 runs forward through the track;

In Fig. 7, d is the distance detected by the laser ranging module, the black color block is the location of the laser ranging module, the gap between the end of the track, the distance from the ground to the laser ranging module, and the first ranging module 10 controls Call it to realize distance measurement, the rear wheel starts to be retracted, the motor c rotates forward as shown in the figure, if d=0, the rear wheel control module 90 outputs a control signal and starts to retract the rear wheel, and the motor c rotates forward as shown in the figure;

The motor c rotates forward as shown in Figure 8 until the limit, and then a, b maintain a certain angle, which is adjusted by the first center of gravity balance module 20. At this time, the center of gravity of the electric wheelchair is still in the horizontal plane;

The period sub-module 22 sets the first time threshold to 0.5s, and the motor c rotates in the opposite direction (for 0.5s) as shown in Figure 9. If d is always 0, it means that the center of gravity is still in the horizontal plane, and the second coordination module 40 cooperates with the first center of gravity The balance module 20 is realized, and then the motor c turns forward until the limit position, and then reverses (0.5s), and so on until d>0, that is, the first distance is greater than the first threshold, indicating that the center of gravity of the electric wheelchair has Falling to the slope of the stairs, at this time, the first coordinating module 30 straightens the crawler belt according to the control condition, the motor c reverses as shown in the figure until a and b are in a straight line, and then goes downstairs.

Figure 10 shows that the electric wheelchair is climbing the stairs when the wheelchair goes upstairs. At this time, a and b keep a straight line, and the laser ranging module will always detect the distance between the stairs and the track, and the detected distance d will be periodically It becomes larger and smaller, and the reference level when calculating d is changing, and there will be a maximum value M, which can be judged to reach the highest order according to these two conditions;

As shown in Figure 11, the distance detected by the laser ranging module at this time will be more than 10cm greater than M, exceeding the height of a step, that is, the second distance is greater than the second threshold, the third coordination module 70 starts to work, and the motor c will Start to reverse as shown in Figure 12;

The track continues to crawl, and the motor c continues to reverse as shown in Figure 12 until the distance detected by the laser is 0, that is, the second distance is equal to the third threshold, and then the motor c turns forward. When the distance detected by the laser is 5cm, The motor rotates in reverse until the distance detected by the laser is 0, the second distance is equal to the fourth threshold, and the fourth coordination module 80 starts to work. Repeat this until the distance detected by the laser is always 0 when the motor c rotates forward. , indicating that the center of gravity of the wheelchair has reached the horizontal plane at this time, and then the motor c continues to rotate forward until a and b form a straight line, and finally the electric wheelchair 100 completes climbing the stairs. The whole process of repeated angle adjustment is due to the change of the posture of the electric wheelchair 100, which causes the center of the crawler to change, so as soon as the end of the crawler and the step plane appear in a gap, and then because of the posture adjustment of the electric wheelchair 100, the center of gravity moves forward so that the end of the crawler touches the ground again. d becomes 0, and then the track is extended, that is, a is raised a little, shakes a little, and the center of gravity is pressed over again, which realizes the posture adjustment in front of the steps, and when the center of gravity falls completely on the horizontal plane, the electric wheelchair 100 wheelchairs may not all leave. Inclined, but the most critical transition has been achieved, after all up, the rear wheels can also be lowered, and the tracks are completely straightened to complete the stairs.

Although the control conditions are different when going up and down the stairs, the center of gravity adjustment components on the electric wheelchair 100 are used in advance by adjusting the center of gravity to align with the transition point of the inclined plane. This adjustment of the center of gravity and posture achieves a smooth transition, and the replacement of the position of the distance measuring device that can follow the position of the movable part that adjusts the center of gravity does not affect the monitoring distance, which should be within the scope of the realization of the design principle of the present invention.

In summary, the present invention solves the bumps in the stair-climbing wheelchair by improving the structure of the crawler belt and the stair-climbing method on the electric wheelchair and controlling the stair-climbing process of the wheelchair.

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. a kind of electric wheelchair based on center of gravity observing and controlling climbs building method, it is characterised in that including：

The electric wheelchair includes crawler belt and trailing wheel, and a motor is arranged at the crawler belt linking point fulcrum, and the motor is by institute State crawler belt and be divided into the first segment track and the second segment track, the motor drives second segment track and the first segment track shape The posture and center of gravity of the electric wheelchair are adjusted during into angle；

The crawler belt is promoted and gone downstairs, detection crawler belt end and the first distance of stair horizontal plane；

Bend the crawler belt and adjust the posture and center of gravity of the electric wheelchair；

If first distance is more than first threshold, center of gravity falls on stair inclined-plane, and the crawler belt, which is stretched, progressively discharges described Electric wheelchair is descending；

If first distance is equal to the first threshold, the center of gravity falls on the stair horizontal plane, continues to adjust institute State the posture and center of gravity of electric wheelchair.

2. electric wheelchair according to claim 1 based on center of gravity observing and controlling climbs building method, it is characterised in that the crawler belt is pushed away Enter downstairs, detection crawler belt end also includes with the first of stair horizontal plane apart from step：

Stair are detected, prepares downstairs to pack up the trailing wheel, the trailing wheel is kept well completely when the first distance is equal to first threshold；

If first distance is more than the first threshold, center of gravity falls on stair inclined-plane, and the crawler belt is stretched progressively Discharging the descending step of the electric wheelchair includes：

The crawler belt is pressed on two adjacent stairway steps, and the plane that plane where the bottom surface of the crawler belt is constituted is the stair Inclined-plane.

3. electric wheelchair according to claim 1 based on center of gravity observing and controlling climbs building method, it is characterised in that the bending institute Stating crawler belt and adjusting the posture and center of gravity step of the electric wheelchair also includes：

When the crawler belt is moved on, the motor rotates and reverse regulation first segment track and second crawler belt repeatedly The angle of section；

The operating switching cycle that the motor is rotated backward or rotated forward is set according to very first time threshold value.

4. electric wheelchair according to claim 1 based on center of gravity observing and controlling climbs building method, it is characterised in that also include：

The crawler belt is promoted arrives most high-order upstairs, detects the crawler belt end and the second distance of the stair horizontal plane；

When the second distance reaches Second Threshold, bend the crawler belt and adjust the posture and center of gravity of the electric wheelchair；

The crawler belt is progressively stretched, and is completed upstairs；

5. electric wheelchair according to claim 4 based on center of gravity observing and controlling climbs building method, it is characterised in that described second away from During from reaching Second Threshold, bending the crawler belt and also including the step of adjusting the posture and center of gravity of the electric wheelchair：

When crawler belt described in the motor extension, when the second distance reaches three threshold values, the motor bends the crawler belt；

When the motor bends the crawler belt, when the second distance reaches four threshold values, crawler belt described in the motor extension.

6. a kind of electric wheelchair, it is characterised in that including：

The electric wheelchair includes crawler belt and trailing wheel, and a motor is arranged at the crawler belt linking point fulcrum, and the motor is by institute State crawler belt and be divided into the first segment track and the second segment track, the motor drives second segment track and the first segment track shape The posture and center of gravity of the electric wheelchair are adjusted during into angle；

First range finder module, promotes for the crawler belt and goes downstairs, detection crawler belt end and the first distance of stair horizontal plane；

First balance center of gravity module, for bending the crawler belt and adjusting the posture and center of gravity of the electric wheelchair；

First Coordination module, if be more than first threshold for the described first distance, center of gravity falls on stair inclined-plane, the crawler belt Stretch that progressively to discharge the electric wheelchair descending；

Second Coordination module, if be equal to the first threshold for the described first distance, the center of gravity falls in the stair water In plane, continue to adjust the posture and center of gravity of the electric wheelchair.

7. electric wheelchair according to claim 6, it is characterised in that also include：

Trailing wheel control module, for detecting stair, prepares downstairs to pack up the trailing wheel, when the first distance is equal to first threshold Keep the trailing wheel well completely；

The crawler belt is pressed on two adjacent stairway steps, and the plane that plane where the bottom surface of the crawler belt is constituted is the stair Inclined-plane.

8. electric wheelchair according to claim 6, it is characterised in that the first balance center of gravity module also includes：

Angle modulation submodule, when being moved on for the crawler belt, the motor rotates and reverse regulation first crawler belt repeatedly The angle of section and second segment track；

Cycle submodule, for setting the operating switching week that the motor is rotated backward or rotated forward according to very first time threshold value Phase.

9. electric wheelchair according to claim 6, it is characterised in that also include：

Second range finder module, promotes for the crawler belt and arrives most high-order upstairs, detects the crawler belt end and the stair level The second distance in face；

Second gravity balance module, when reaching Second Threshold for the second distance, bends the crawler belt and adjusts the electricity The posture and center of gravity of wheelchair；

The second gravity balance module is additionally operable to the crawler belt and progressively stretched, and completes upstairs.

10. electric wheelchair according to claim 8, it is characterised in that also include：

3rd Coordination module, for when crawler belt described in the motor extension, when the second distance reaches three threshold values, the electricity Machine bends the crawler belt；

4th Coordination module, for bending the crawler belt, when the second distance reaches four threshold values, the electricity when the motor Machine extends the crawler belt.