CN109363844A - A kind of obstacle crossing control device and control method - Google Patents

A kind of obstacle crossing control device and control method Download PDF

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Publication number
CN109363844A
CN109363844A CN201811526170.8A CN201811526170A CN109363844A CN 109363844 A CN109363844 A CN 109363844A CN 201811526170 A CN201811526170 A CN 201811526170A CN 109363844 A CN109363844 A CN 109363844A
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China
Prior art keywords
wheel
moving
obstacle
driving
row
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CN201811526170.8A
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Chinese (zh)
Inventor
任晓栋
赵林峰
邱天奇
冯祖仁
梁恺
宋文东
何林睿
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Xian Jiaotong University
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Xian Jiaotong University
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Priority to CN201811526170.8A priority Critical patent/CN109363844A/en
Publication of CN109363844A publication Critical patent/CN109363844A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/068—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with extensible supports pushing upwards, e.g. telescopic legs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/34—General characteristics of devices characterised by sensor means for pressure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/40—General characteristics of devices characterised by sensor means for distance

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

本发明公开了一种障碍跨越控制装置及控制方法，通过设置移动装置和控制系统；利用固定支架和固定于下端的至少两排平行设置的移动支撑腿组成移动装置，在移动支撑腿下端固定移动轮，采用无极伸缩杆作为移动支撑腿，每一条移动支撑腿可以独立进行无极升降，由伸缩腿驱动电机分别驱动，每排小轮安装前方位避障传感器及底部压力传感器，可以实现轮子前方障碍检测以及轮子与地面的接触情况，控制系统根据距离传感器检测数据利用避障算法实时对电机驱动器进行控制，在前进后退过程中自动升降小轮跨越障碍，在遇到障碍物时，利用多个移动支撑腿不同伸缩长度保持整体的水平状态，以此实现电动轮椅自动跨越障碍以及上下楼梯的功能。

The invention discloses an obstacle crossing control device and a control method. By arranging a mobile device and a control system, a mobile device is formed by a fixed bracket and at least two parallel rows of mobile support legs fixed on the lower end, and the mobile device is fixed and moved at the lower end of the mobile support legs. Wheels, using infinite telescopic rods as moving support legs, each moving support leg can be independently raised and lowered steplessly, driven by telescopic leg drive motors, and each row of small wheels is equipped with a front obstacle avoidance sensor and a bottom pressure sensor, which can realize obstacles in front of the wheels. Detection and the contact between the wheel and the ground, the control system uses the obstacle avoidance algorithm to control the motor driver in real time according to the detection data of the distance sensor, and automatically lifts the small wheel to cross the obstacle during the forward and backward process. The different telescopic lengths of the supporting legs maintain the overall horizontal state, so as to realize the functions of the electric wheelchair to automatically cross obstacles and go up and down stairs.

Description

A kind of obstacle crosses over control device and control method
Technical field
The invention belongs to mobile device control technology fields, and in particular to a kind of obstacle crosses over control device and controlling party Method.
Background technique
The appearance of the vehicles substantially improves people and lives looks, wheeled vehicle ride instead of walk, in terms of it is great People's lives are facilitated, improve the efficiency of every profession and trade, however Conventional drum vehicle is when in face of obstacles such as ladders, due to knot Structure limitation, it is difficult to realize the walking on the obstacles such as ladder.Many producers design in recent years produces some obstacle detourings that can be realized Mobile device has the wheelchair for climbing building function such as disability crowd design, it is auxiliary to can use the structures such as crawler belt, planetary gear Wheelchair is helped to carry out obstacle detouring；Such as multi-foot robot, it can use a plurality of supporting leg free walker and walk to complete obstacle detouring task.However planetary gear Scheme upstairs need to take people and adjust planetary gear and obstacle relative position in real time, upstairs by other people's auxiliary；Caterpillar belt structure is easy Wheelchair direction is caused to deviate disequilibrium, it is also desirable to which other people's nurse, the self-determination climbing stairs that cannot be fully achieved under no other people's nurse are got over Hinder function, while the whole process for climbing building and obstacle detouring is also required to take a long time；Multi-foot robot design is complicated, at high cost, Practicability is poor.
Summary of the invention
The purpose of the present invention is to provide a kind of obstacles to cross over control device and control method, to overcome the prior art not Foot.
In order to achieve the above objectives, the present invention adopts the following technical scheme:
A kind of obstacle crosses over control device, including mobile device and control system；
Wherein mobile device includes fixed bracket, mobile supporting leg and movable pulley, and fixed pedestal lower end is fixed at least two The mobile supporting leg of arranging longitudinally parallel setting, transversely mobile supporting leg disposed in parallel, movable pulley are fixed at least three rows Mobile supporting leg lower end, mobile supporting leg are electrodeless telescopic rod, are fixed on fixed bracket for driving mobile supporting leg electrodeless Flexible electric expansion push-rod electric machine, mobile supporting leg lower end are equipped with the power wheel driving motor for driving movable pulley, driving The output shaft of movable pulley and power wheel driving motor is fixed；Each driving movable pulley is fixedly arranged at the front end with a range sensor；
Control system includes master controller and the power for being used to control power wheel driving motor connecting with master controller Wheel drive motor driver and electric expansion push-rod electric machine driver for controlling electric expansion push-rod electric machine；Master controller, Power wheel drive motor driver and electric expansion push-rod electric machine driver are both secured on fixed bracket, range sensor connection In master controller, fixed pedestal lower end is fixed with battery.
Further, power wheel driving motor uses brush direct current motor, power wheel driving motor and mobile supporting leg it Between be fixedly connected by motor frame, motor frame lower end is equipped with driving motor mounting groove, and power wheel driving motor fixes In in driving motor mounting groove, driving motor mounting groove one end is encapsulated by end cap, and dynamic movable pulley is fixed on power wheel drive electricity On the output shaft of machine.
Further, fixed pedestal upper end is for fixing mobile vehicle；It is fixed with attitude transducer on fixed bracket, each It is fixed with a force snesor between motor frame and mobile supporting leg, each force snesor is individually connect with master controller； Force snesor is embedded in mobile supporting leg.
Further, attitude transducer uses six axis Together, digital gyroscope of MPU6050.
It further, is hollow structure, power wheel driving motor and controller and battery connecting line inside mobile supporting leg It is placed in the hollow structure of mobile supporting leg.
Further, master controller uses ARM single-chip microcontroller.
A kind of obstacle crosses over the control method of control device, comprising the following steps: main controller controls respectively drive movable pulley Driving while the traffic information for acquiring each driving movable pulley front end in real time by the range sensor of each driving movable pulley front end, when When one of range sensor detects that there are barrier or tunnel in one of driving movable pulley front end, movable pulley is respectively driven Stop driving, the mobile supporting leg that main controller controls fix the driving movable pulley is shunk or elongation, makes to drive movable pulley front end Range sensor detect that the driving movable pulley in barrier or tunnel can contact barrier or tunnel surface, control each drive Dynamic mobile wheel drive is mobile, successively detects other each driving wheel front end traffic informations, successively changes solid with other driving movable pulleys Surely the mobile support leg length connected, passes through the barrier or tunnel.
Further, when one of mobile supporting leg is shunk or elongation to extreme position, other movement supporting legs are same Shi Shenchang or contraction, until barrier or tunnel surface can be contacted by encountering barrier or the driving movable pulley in tunnel；If its In a mobile supporting leg contraction and other movement supporting leg extended length maximum values to be less than obstacle height or tunnel deep Degree, then alarm cannot be passed through by issuing.
Further, if being horizontally-arranged perpendicular to row's movable pulley along moving direction, if the first horizontally-arranged power wheel is the 1st horizontal Skate, last horizontally-arranged power wheel are the horizontally-arranged wheel of M, and whether the range sensor before each movable pulley persistently detects power wheel front There are obstacles；If there are obstacle, each power wheel driving motors to stop operating in front, if there are obstacle in front of the 1st horizontally-arranged wheel, Other all mobile supporting legs in addition to the 1st horizontally-arranged wheel are extended, until free of obstacles in front of the 1st horizontally-arranged wheel, drives other Movable pulley moves on；If not in front of the 1st horizontally-arranged wheel, there are obstacles, then shorten this horizontally-arranged power wheel supporting leg, be individually lifted this Mobile supporting leg is arranged, so far free of obstacles stops in front of horizontally-arranged power wheel, and the rotation of remaining power wheel driving motor moves on, Thus cross-domain barrier process is completed.
Further, the range sensor in moving process before each movable pulley persistently detects in front of power wheel with the presence or absence of hole Road, then power wheel driving motor stop operating original place waiting, if M row power wheel it is hanging, then shorten except M row power wheel stretch All Retractive legs, decline vehicle outside contracting leg, and M skate declines with vehicle, until M skate contacts ground；If hanging power Wheel is not M skate, then extends this row's Retractive leg to row's power wheel and contact ground, remaining power wheel driving motor starts turning Start to advance.
Further, if constant airspeed is V0 when the present apparatus moves forward, if in front of the 1st horizontally-arranged wheel when detection obstacle or inspection When hanging out, the horizontally-arranged wheel of record the 1st is shunk or the height of elongation is L0, remembers this movement for movement J；Subsequent wheelchair with speed V0 after It is continuous to move forward, in front of the 2nd horizontally-arranged wheel when detection obstacle or when detection is hanging, J directly is acted to the 2nd horizontally-arranged wheel execution, together Shi Jicong the 1st is horizontally-arranged, and the work that moves in turn completes wheelchair and starts to move forward at the time of the 2nd horizontally-arranged wheel detects state change wheelchair forward Mobile total time is Tj, and wheelchair normally advances after record；Setting after the i-th skate execution movement j in time Tj, to i-th+ 1 skate execution acts j, and normal traveling of the wheelchair in going up or down stairway and obstacle detouring can successively be rapidly completed.
Compared with prior art, the invention has the following beneficial technical effects:
A kind of obstacle of the present invention crosses over control device, passes through setting mobile device and control system；Using fixed bracket and At least two rows of mobile supporting leg composition mobile devices disposed in parallel of lower end are fixed on, in the fixed movement in mobile supporting leg lower end Wheel, using electrodeless telescopic rod as mobile supporting leg, the mobile supporting leg of each can independently carry out electrodeless lifting, by Retractive leg Driving motor respectively drives, every row's steamboat installation front position obstacle avoidance sensor and base pressure sensor, before wheel may be implemented The contact situation of square obstacle detection and wheel with ground, control system utilize obstacle avoidance algorithm according to range sensor detection data Motor driver is controlled in real time, automatic lifting steamboat leaping over obstacles during forward-reverse, when encountering barrier, Whole horizontality is kept using multiple mobile supporting leg difference collapsing lengths, the automatic leaping over obstacles of electric wheelchair is realized with this And the function of stair activity.
A kind of obstacle of the present invention crosses over control device control method, detects road in front of each movable pulley using range sensor Face situation controls the collapsing length of different mobile supporting legs, controller combination posture sensing according to different road conditions barrier situations Device keeps the horizontality of single unit system, to realize the purpose of single unit system across obstacle.
Detailed description of the invention
Fig. 1 is structure of the invention main view.
Fig. 2 is structure of the invention side view.
Fig. 3 is that the present invention crosses over single-stage rising step schematic diagram.
Fig. 4 is that spanning multilevel of the present invention rises step schematic diagram.
Fig. 5 is that the present invention crosses over single-stage decline step schematic diagram
Fig. 6 is dimensional parameters schematic diagram of the present invention.
Fig. 7 is that the multistage obstacle of the present invention passes through parameter schematic diagram.
Fig. 8 is mobile support leg structure schematic diagram.
Fig. 9 is power wheel driving motor mounting structure cross-sectional view.
Figure 10 is power wheel driving motor side view.
Figure 11 is control system block diagram of the present invention.
Figure 12 is control method flow chart of the present invention.
Figure 13 is control method optimization algorithm flow chart of the present invention.
In figure, 1, fixed bracket；2, mobile supporting leg；3, movable pulley；4, power wheel driving motor；5, electric expansion push rod Motor；6, power wheel drive motor driver；7, electric expansion push-rod electric machine driver；8, battery；9, mobile vehicle；10, main Controller；11, range sensor；12, attitude transducer；13, force snesor；14, motor frame.
Specific embodiment
The invention will be described in further detail with reference to the accompanying drawing:
As shown in Figure 1 and Figure 2, a kind of obstacle crosses over control device, including mobile device and control system；
Wherein mobile device includes fixed bracket 1, mobile supporting leg 2 and movable pulley 3, is vertical with present apparatus moving direction To perpendicular to present apparatus moving direction for laterally, fixed 1 lower end of bracket is fixed with the movement of at least two rows of longitudinally parallel settings Transversely mobile supporting leg 2 disposed in parallel, movable pulley 3 are fixed on mobile 2 lower end of supporting leg by supporting leg 2, at least three rows, mobile Supporting leg 2 is electrodeless telescopic rod, is fixed on fixed bracket 1 for driving the electrodeless flexible electric expansion of mobile supporting leg 2 to push away Bar motor 5, mobile 2 lower end of supporting leg are equipped with the power wheel driving motor 4 for driving movable pulley 3, drive movable pulley 3 and power The output shaft of wheel drive motor 4 is fixed；Each driving movable pulley 3 is fixedly arranged at the front end with a range sensor 11, for detecting this Whether whether driving wheel leading portion section have obstacle or be tunnel；
As shown in Figures 9 and 10, power wheel driving motor 4 uses brush direct current motor, power wheel driving motor 4 and mobile branch It is fixedly connected between support leg 2 by motor frame 14,14 lower end of motor frame is equipped with driving motor mounting groove, and power wheel drives Dynamic motor 4 is fixed in driving motor mounting groove, and driving motor mounting groove one end is encapsulated by end cap 5, end cap 5 and driving motor Frame 14 is fixedly connected by screw, and driving movable pulley 3 is fixed on the output shaft of power wheel driving motor 4, and driving power wheel 3 is complete Movement before and after forming apparatus；Motor frame 14 is fixedly connected with mobile 2 lower end of supporting leg；Each driving 3 front end of movable pulley Range sensor 11 is fixed in the motor frame 14 fixed with respective drive movable pulley 3；
Fixed 1 upper end of bracket is for fixing mobile vehicle 9；It is fixed with attitude transducer 12 on fixed bracket 1, such as Fig. 8 institute Show, be fixed with a force snesor 13 between each motor frame 14 and mobile supporting leg 2, each force snesor 13 individually with Master controller 10 connects, and range sensor 11 is connected to master controller 10, and range sensor 11 transmits signal and each power senses The corresponding setting of device 13；Force snesor 13 is embedded in mobile supporting leg 2；
As shown in Figure 4 and 11: control system includes master controller 10 and connect with master controller 10 multiple for controlling The power wheel drive motor driver 6 of power wheel driving motor 4 and the electric expansion for controlling electric expansion push-rod electric machine 5 push away Bar motor driver 7；The independent one power wheel drive motor driver 6 of connection of each power wheel driving motor 4, it is each electronic to stretch Contracting push-rod electric machine 5 individually connects an electric expansion push-rod electric machine driver 7；Master controller 10, the driving of power wheel driving motor Device 6 and electric expansion push-rod electric machine driver 7 are both secured on fixed bracket 1, and fixed 1 lower end of bracket is fixed with battery 8, battery 8 provide power supply for whole system；
Attitude transducer uses six axis Together, digital gyroscope of MPU6050；
It is that hollow structure, power wheel driving motor 4 and controller and battery connecting line are placed in movement inside mobile supporting leg 2 In the hollow structure of supporting leg 2；Or power wheel driving motor 4 is fixed on mobile supporting leg 2 with controller and battery connecting line Outside；
Wheelchair using DC brushless motor provide power, driving power wheel complete wheelchair before and after movement, select direct current without Brush motor drives the elongation of stepless retractable supporting leg to shorten leaping over obstacles.
Master controller uses ARM single-chip microcontroller, cooperate distance detection sensor and attitude transducer complete automatic stari creeping, across Obstacle-overpass function.
As shown in Figures 1 to 5, the present invention specifically gives the mobile wheelchair that control device is crossed over based on obstacle, and user is logical It crosses rocking bar and issues forward or backward instruction, it is setting in motion that power wheel driving motor, which receives instruction, drives wheelchair forward or backward Traveling.
The mobile driving functions of wheelchair are completed using multiple rows of steamboat, every row is located at wheelchair chair body two there are two power wheel Side installs the power wheel of different numbers of rows according to different chair body lengths, drains into M row for the 1st.Have on each power wheel electrodeless flexible Supporting leg connection, each supporting leg can be adjusted with independent telescope, as shown in figure 3, when wheelchair encounters single-stage ladder, each support Leg is adjustable to the position being bonded with landform at this time；As shown in figure 4, each supporting leg is same when wheelchair encounters multistage ladder Sample is adjustable to the position being bonded with multistage terrace relief；
Each supporting leg can be extending or foreshorten to any in adjustable range with stepless retractable, independent control Length simultaneously remains unchanged support wheelchair chair body, is adapted to various step shapes and obstacle height.
As shown in Figure 12 and Figure 13, the present invention is that fixed mobile vehicle explains with wheelchair, and a kind of obstacle crosses over control device Control method, master controller 10 control each driving movable pulley 3 driving while by the range sensors of each driving 3 front end of movable pulley 11 acquire the traffic information of each driving 3 front end of movable pulley in real time, when one of range sensor 11 detects one of drive Each that movable pulley 3 is driven to stop driving when there are barrier or tunnel in dynamic 3 front end of movable pulley, the drive is fixed in the control of master controller 10 The mobile supporting leg 2 of dynamic movable pulley 3 is shunk or elongation, and the range sensor 11 for driving 3 front end of movable pulley is made to detect barrier Or the driving movable pulley 3 in tunnel can contact barrier or tunnel surface, control each driving of driving movable pulley 3 movement, successively Other each driving wheel front end traffic informations are detected, it is long successively to change the mobile supporting leg 2 being fixedly connected with other driving movable pulleys 3 Degree, passes through the barrier or tunnel.When one of mobile contraction of supporting leg 2 or elongation to extreme position, other movement branch Support leg 2 is extended or is shunk simultaneously, until barrier or tunnel table can be contacted by encountering barrier or the driving movable pulley 3 in tunnel Face；If the contraction of one of mobile supporting leg 2 and other movement 2 extended length maximum values of supporting leg be less than obstacle height or Person tunnel depth, then alarm cannot be passed through by issuing.
Specifically, when all mobile supporting legs are in flexible limiting condition when driving, if perpendicular to along the present apparatus side of movement To row's movable pulley be it is horizontally-arranged, if the first horizontally-arranged power wheel be the 1st horizontally-arranged wheel, last horizontally-arranged power wheel be the horizontally-arranged wheel of M, Range sensor before each movable pulley persistently detects in front of power wheel with the presence or absence of obstacle；If there are obstacle, each power in front Wheel drive motor stalls original place waits；Judge whether it is the 1st horizontally-arranged wheel, if the 1st horizontally-arranged wheel, then it is horizontally-arranged to remove the 1st for elongation Other all mobile supporting legs other than wheel are lifted vehicle height, and the 1st horizontally-arranged wheel is mobile to support leg length constant, power wheel with Vehicle lifting, until free of obstacles stops in front of the 1st horizontally-arranged wheel, at this time except remaining power wheel driving motor of the 1st horizontally-arranged wheel turns It is dynamic to move on；If not the 1st horizontally-arranged wheel, then shorten this horizontally-arranged power wheel supporting leg, is individually lifted this row's wheel, it is so far horizontally-arranged Free of obstacles stops in front of power wheel, and the rotation of remaining power wheel driving motor moves on, and thus completes cross-domain barrier mistake Journey；Each force snesor persistently detects whether that dynamic wheel is hanging simultaneously, if dynamic wheel is hanging, power wheel driving motor stops Original place is rotated to wait；Judged according to power wheel row number, it is hanging if M row's power wheel, then shorten except M row's power wheel is stretched All Retractive legs, decline vehicle outside contracting leg, and M skate declines with vehicle, until M skate contacts ground；If hanging power Wheel is not M skate, then extends this row's Retractive leg to row's power wheel and contact ground, power wheel driving motor starts turning beginning Advance, so far completes process of getting out of a predicament or an embarrassing situation.
Wheelchair user, which is sitting on wheelchair, only needs to operate the instructions such as control mechanism sending forward-reverse steering, in detection i.e. Function of getting out of a predicament or an embarrassing situation is automatically performed by controller.
To promote the obstacle detouring efficiency of wheelchair, wheelchair is improved in the travel speed for having obstacle road surface, optimization algorithm, only to the 1 horizontally-arranged wheel carries out preceding object detection and hanging detection with the 2nd horizontally-arranged wheel, calculates the action step of remaining row's power wheel, if Constant airspeed is V0 when wheelchair moves forward, if in front of the 1st horizontally-arranged wheel when detection obstacle or when detection is hanging, according to step before The contraction or elongation of mobile supporting leg are carried out, the horizontally-arranged wheel of record the 1st is shunk or the height of elongation is L0, is located at before this movement The 1st skate movement j-1 has been recorded, that is, has remembered this movement for movement J；Subsequent wheelchair is continued to move along with speed V0, when the 2nd cross In front of skate when detection state change, J directly is acted to the 2nd horizontally-arranged wheel execution, while remembering from the 1st horizontally-arranged move in turn and making completion wheelchair The total time that wheelchair moves forward at the time of starting to move forward to the 2nd horizontally-arranged wheel detection state change is Tj, wheelchair after record It is normal to advance；Setting acts j after execution acts j to the i-th (M > i > 1) skate in time Tj, to i+1 skate execution, successively Normal traveling of the wheelchair in going up or down stairway and obstacle detouring can be rapidly completed.
Whether wheelchair, which can normally complete up/down steps process, following decision algorithm, in top bar, as shown in figure 13, When original state, all telescopic support legs are in shrinkage limit state, if the maximum length that telescopic support legs can stretch out is H, First row power wheel and M row's power wheel distance are L, and in top bar process, first row power wheel detects first order step Afterwards, wheelchair is lifted according to mode described in Figure 12 and detects the first skate of obstacle, if first row power wheel, which is raised to, to be lifted When the limit of rise, detecting in front of the power wheel of obstacle still has obstacle, then the step can not be crossed over, and sounds an alarm, if wheel Chair can normally advance, and when first row power wheel detects second level step, record the width h and height l of the step, when When H < (L/l+1) * h, which can not be crossed over, and sound an alarm；
When getting out of a predicament or an embarrassing situation process, all telescopic support legs are in elongation limiting condition, and first row power wheel detects vacantly Afterwards, if first row supporting leg is extended to the extending limit, first row power wheel is still hanging, then is unable to complete successfully and got out of a predicament or an embarrassing situation Journey, when first row power wheel detects hanging for the second time, automatically records the width of the step if this process can smoothly advance H and height l sets the maximum length that supporting leg can stretch out equally as H, and first row power wheel is with M row's power wheel distance L can not normally complete the process of getting out of a predicament or an embarrassing situation, sound an alarm as H < (L/l+1) * h.

Claims (10)

1.一种障碍跨越控制装置，其特征在于，包括移动装置和控制系统；1. an obstacle crossing control device, is characterized in that, comprises moving device and control system; 其中移动装置包括固定支架(1)、移动支撑腿(2)和移动轮(3)，固定支架(1)下端固定有至少两排沿纵向平行设置的移动支撑腿(2)、至少三排沿横向平行设置的移动支撑腿(2)，移动轮(3)固定于移动支撑腿(2)下端，移动支撑腿(2)为无极伸缩杆，固定支架(1)上固定有用于驱动移动支撑腿(2)无极伸缩的电动伸缩推杆电机(5)，移动支撑腿(2)下端设有用于驱动移动轮(3)的动力轮驱动电机(4)，驱动移动轮(3)与动力轮驱动电机(4)的输出轴固定；每个驱动移动轮(3)前端固定有一个距离传感器(11)；The moving device includes a fixed bracket (1), a moving support leg (2) and a moving wheel (3). The moving support legs (2) are arranged in parallel horizontally, the moving wheel (3) is fixed on the lower end of the moving support legs (2), the moving support legs (2) are infinitely telescopic rods, and the fixed bracket (1) is fixed on the fixed bracket (1) for driving the moving support legs (2) a stepless telescopic electric telescopic push rod motor (5), the lower end of the moving support leg (2) is provided with a power wheel drive motor (4) for driving the moving wheel (3), which drives the moving wheel (3) and the power wheel drive The output shaft of the motor (4) is fixed; a distance sensor (11) is fixed at the front end of each driving and moving wheel (3); 控制系统包括主控制器(10)以及与主控制器(10)连接的用于控制动力轮驱动电机(4)的动力轮驱动电机驱动器(6)和用于控制电动伸缩推杆电机(5)的电动伸缩推杆电机驱动器(7)；主控制器(10)、动力轮驱动电机驱动器(6)和电动伸缩推杆电机驱动器(7)均固定于固定支架(1)上，距离传感器(11)连接于主控制器(10)，固定支架(1)下端固定有电池(8)。The control system includes a main controller (10) and a power wheel drive motor driver (6) connected to the main controller (10) for controlling the power wheel drive motor (4) and for controlling the electric telescopic push rod motor (5) The main controller (10), the power wheel drive motor driver (6) and the electric telescopic push rod motor driver (7) are all fixed on the fixed bracket (1), and the distance sensor (11) ) is connected to the main controller (10), and the lower end of the fixing bracket (1) is fixed with a battery (8). 2.根据权利要求1所述的一种障碍跨越控制装置，其特征在于，动力轮驱动电机(4)采用直流有刷电机，动力轮驱动电机(4)与移动支撑腿(2)之间通过驱动电机架(14)固定连接，驱动电机架(14)下端设有驱动电机安装槽，动力轮驱动电机(4)固定于驱动电机安装槽内，驱动电机安装槽一端通过端盖(5)封装，动移动轮(3)固定于动力轮驱动电机(4)的输出轴上。2. An obstacle crossing control device according to claim 1, characterized in that the power wheel drive motor (4) adopts a DC brush motor, and the power wheel drive motor (4) and the moving support leg (2) pass through The drive motor frame (14) is fixedly connected, the lower end of the drive motor frame (14) is provided with a drive motor installation slot, the power wheel drive motor (4) is fixed in the drive motor installation slot, and one end of the drive motor installation slot is encapsulated by an end cover (5) , the moving moving wheel (3) is fixed on the output shaft of the driving motor (4) of the power wheel. 3.根据权利要求2所述的一种障碍跨越控制装置，其特征在于，固定支架(1)上端用于固定移动载体(9)；固定支架(1)上固定有姿态传感器(12)，每个驱动电机架(14)与移动支撑腿(2)之间固定有一个力传感器(13)，每个力传感器(13)单独与主控制器(10)连接；力传感器(13)嵌设于移动支撑腿(2)内。3. An obstacle crossing control device according to claim 2, wherein the upper end of the fixed bracket (1) is used to fix the mobile carrier (9); the fixed bracket (1) is fixed with an attitude sensor (12), and each A force sensor (13) is fixed between the driving motor frames (14) and the moving support legs (2), and each force sensor (13) is individually connected to the main controller (10); the force sensor (13) is embedded in the Move inside the support legs (2). 4.根据权利要求1所述的一种障碍跨越控制装置，其特征在于，姿态传感器采用MPU6050六轴数字陀螺仪。4 . The obstacle crossing control device according to claim 1 , wherein the attitude sensor adopts an MPU6050 six-axis digital gyroscope. 5 . 5.根据权利要求1所述的一种障碍跨越控制装置，其特征在于，主控制器采用ARM单片机。5 . The obstacle crossing control device according to claim 1 , wherein the main controller adopts an ARM single-chip microcomputer. 6 . 6.一种基于权利要求1所述的一种障碍跨越控制装置的控制方法，其特征在于，包括以下步骤：主控制器(10)控制各驱动移动轮(3)驱动同时通过各驱动移动轮(3)前端的距离传感器(11)实时采集各驱动移动轮(3)前端的路况信息，当其中一个距离传感器(11)检测到其中一个驱动移动轮(3)前端有障碍物或者坑道时，各驱动移动轮(3)停止驱动，主控制器(10)控制固定该驱动移动轮(3)的移动支撑腿(2)收缩或伸长，使驱动移动轮(3)前端的距离传感器(11)检测到障碍物或者坑道的驱动移动轮(3)能够接触障碍物或坑道表面，控制各驱动移动轮(3)驱动移动，依次检测其他各驱动轮前端路况信息，依次改变与其他驱动移动轮(3)固定连接的移动支撑腿(2)长度，通过该障碍物或坑道。6. A control method based on a kind of obstacle crossing control device according to claim 1, characterized in that it comprises the following steps: the main controller (10) controls each driving moving wheel (3) to drive simultaneously through each driving moving wheel (3) The distance sensor (11) at the front end collects the road condition information at the front end of each driving moving wheel (3) in real time. Each driving and moving wheel (3) stops driving, and the main controller (10) controls the moving support legs (2) that fix the driving and moving wheel (3) to shrink or extend, so that the distance sensor (11) at the front end of the driving and moving wheel (3) is shortened or extended. ) The driving moving wheel (3) that detects the obstacle or the tunnel can contact the obstacle or the surface of the tunnel, controls each driving moving wheel (3) to drive and move, and sequentially detects the road condition information at the front end of each other driving wheel, and sequentially changes with other driving moving wheels. (3) The length of the fixedly connected mobile support legs (2) to pass through the obstacle or tunnel. 7.根据权利要求6所述的一种障碍跨越控制装置的控制方法，其特征在于，当其中一个移动支撑腿(2)收缩或伸长至极限位置时，其他移动支撑腿(2)同时伸长或收缩，直至遇到障碍物或坑道的驱动移动轮(3)能够接触障碍物或者坑道表面；若其中一个移动支撑腿(2)的收缩和其他移动支撑腿(2)伸长长度最大值小于障碍物高度或者坑道深度，则发出不能通过警报。7. The control method of an obstacle crossing control device according to claim 6, wherein when one of the mobile supporting legs (2) is contracted or extended to a limit position, the other mobile supporting legs (2) are simultaneously stretched Extend or retract until the driving moving wheel (3) encounters an obstacle or tunnel can contact the obstacle or tunnel surface; if one of the moving support legs (2) retracts and the other moving support legs (2) extend the maximum If it is less than the height of the obstacle or the depth of the tunnel, a no-passing alarm will be issued. 8.根据权利要求6所述的一种障碍跨越控制装置的控制方法，其特征在于，设垂直于沿移动方向的一排移动轮为横排，设第一横排动力轮为第1横排轮，最后一横排动力轮为第M横排轮，各移动轮前的距离传感器持续检测动力轮前方是否存在障碍；若前方存在障碍，则各动力轮驱动电机停止转动，若第1横排轮前方存在障碍，则伸长除第1横排轮以外的其它所有移动支撑腿，直至第1横排轮前方无障碍状态，驱动其他移动轮继续前进；若非第1横排轮前方存在障碍，则缩短此横排动力轮支撑腿，单独抬升此排移动支撑腿，至此横排动力轮前方无障碍状态停止，其余动力轮驱动电机转动继续前进，由此完成跨域障碍物过程。8 . The control method of an obstacle crossing control device according to claim 6 , wherein a row of moving wheels perpendicular to the moving direction is set as a horizontal row, and the first horizontal row of power wheels is set as a first horizontal row. 9 . The last horizontal row of power wheels is the M-th horizontal row of wheels. The distance sensors in front of each moving wheel continue to detect whether there is an obstacle in front of the power wheel; if there is an obstacle ahead, the driving motors of each power wheel stop rotating. If there is an obstacle in front of the wheel, extend all the moving support legs except the first horizontal wheel until the front of the first horizontal wheel is unobstructed, and drive the other moving wheels to move forward; if there is no obstacle in front of the first horizontal wheel, Then shorten the support leg of the horizontal row of power wheels, and lift the row of mobile support legs independently. At this point, the barrier-free state in front of the horizontal row of power wheels stops, and the remaining power wheels drive the motors to continue to move forward, thus completing the process of cross-domain obstacles. 9.根据权利要求6所述的一种障碍跨越控制装置的控制方法，其特征在于，移动过程中各移动轮前的距离传感器持续检测动力轮前方是否存在坑道，则动力轮驱动电机停止转动原地等待，若为第M排动力轮悬空，则缩短除第M排动力轮伸缩腿外所有伸缩腿，使整车下降，第M排轮随整车下降，直至第M排轮接触地面；若悬空动力轮不为第M排轮，则伸长此排伸缩腿至该排动力轮接触地面，其余动力轮驱动电机开始转动开始前进。9 . The control method for an obstacle crossing control device according to claim 6 , wherein the distance sensor in front of each moving wheel continuously detects whether there is a tunnel in front of the power wheel during the moving process, and then the power wheel drive motor stops rotating. 10 . Wait, if the power wheel of row M is suspended, shorten all the telescopic legs except the telescopic legs of the power wheel of row M to lower the whole vehicle, and the wheel of row M will descend with the vehicle until the wheel of row M touches the ground; If the suspended power wheel is not the M-th row of wheels, then extend the telescopic legs of this row until the row of power wheels touches the ground, and the driving motors of the other power wheels start to rotate and start moving forward. 10.根据权利要求8所述的一种障碍跨越控制装置的控制方法，其特征在于，设本装置向前移动时速度恒定为V0，若第1横排轮前方检出障碍时或检出悬空时，记录第1横排轮收缩或伸长的高度为L0，记此动作为动作J；随后轮椅以速度V0继续向前移动，当第2横排轮前方检出障碍时或检出悬空时，直接对第2横排轮执行动作J，同时记从第1横排轮动作完成轮椅开始向前移动至第2横排轮检出状态变化的时刻轮椅向前移动的总时间为Tj，记录后轮椅正常前进；设定当第i排轮在时间Tj内执行动作j后，对第i+1排轮执行动作j，依次即可快速完成轮椅在上下阶梯及越障时的正常行进。10. The control method of an obstacle crossing control device according to claim 8, wherein the speed of the device is set to be constant V0 when the device moves forward. When the first horizontal wheel is retracted or extended, record the height of the first horizontal wheel as L0, and record this action as action J; then the wheelchair continues to move forward at the speed V0, when an obstacle is detected in front of the second horizontal wheel or when it is detected in the air , directly perform action J on the second row wheel, and record the total time that the wheelchair moves forward from the moment when the wheelchair starts to move forward after the completion of the first row wheel action to the moment when the second row wheel detects the state change as Tj, record The rear wheelchair moves forward normally; after setting the i-th wheel to perform action j within the time Tj, perform action j for the i+1-th wheel, and then the wheelchair can quickly complete the normal travel of the wheelchair when going up and down stairs and over obstacles.
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CN118163872B (en) * 2024-05-13 2024-07-05 电子科技大学成都学院 Track assembly and intelligent crawler robot
CN118697480A (en) * 2024-06-20 2024-09-27 北京埃斯顿医疗科技有限公司 Floor support device for surgical robot
TWI898774B (en) * 2024-08-08 2025-09-21 林威廷 Electric wheelchair automatic balancing structure
CN119115224A (en) * 2024-11-01 2024-12-13 保利长大工程有限公司 A large number of steel bar laser rust removal equipment
CN119115224B (en) * 2024-11-01 2025-05-13 保利长大工程有限公司 Large-batch steel bar laser rust removing equipment
CN120346608A (en) * 2025-04-27 2025-07-22 台州学院 Dust fall device for building civil engineering
CN120346608B (en) * 2025-04-27 2025-11-11 台州学院 Dust fall device for building civil engineering

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