CN103126830A - Brake control system and method of electric wheel chair - Google Patents

Abstract

The invention relates to a brake control system and a method of an electric wheel chair. The electric wheel chair comprises an electronic level meter, a brake sensor, a brake device and a brake controller. The brake control system comprises an inclination angle detection module, a brake detection module, a brake adjustment module and a brake warning module. According to the brake control system and the method of the electric wheel chair, the status of taking the electric wheelchair of users can be detected and confirmed in real-time by using the electronic level meter, and is analyzed with brake situations obtained through the brake sensor at any time, and the brake device conducts control work automatically through the brake controller, and therefore barycenter offset of the wheel chair caused by situations of improper operation or emergency brake and the like is avoided and accidents such like overturn and the like are avoided.

Description

Brake control system and method for electric wheelchair

technical field

The invention relates to an electric wheelchair control system and method, in particular to a brake control system and method for an electric wheelchair.

Background technique

An electric wheelchair is a specially designed chair with wheels that can be used by the elderly or handicapped people with disabilities. It is a medical device that uses the wheels of the electric wheelchair instead of the user to walk on both feet. In the design of the body of the electric wheelchair, the center of gravity is generally biased towards the driving wheel (rear wheel) to reduce the weight of the front wheel (front wheel) of the wheelchair. The road surface of the height difference. Under normal circumstances, the correct braking method for traditional electric wheelchairs is mainly to brake the driving wheels, supplemented by braking the non-driving wheels.

When the electric wheelchair drives to a slope such as a ramp, it is necessary to pay more attention to the position of the center of gravity of the electric wheelchair and adjust the braking conditions of the wheels according to the position of the center of gravity of the car body. However, if the user does not perform the braking operation according to the correct braking steps, the wheels at the lower position will be braked first, and the suddenly stationary wheels will form a fulcrum at the contact position with the ground. When the high-altitude wheels are still running continuously, the wheelchair will use the contact point between the braked parking wheel and the ground as the center of rotation, so that the high-altitude, continuous-rotating wheels will convert the forward force into an upward force, resulting in The center of gravity of the wheelchair is out of balance, and it bounces up and overturns. Therefore, electric wheelchairs are prone to accidents such as shifting of the center of gravity and overturning of the electric wheelchair due to factors such as excessive slopes or improper braking.

Contents of the invention

In view of the above, it is necessary to provide a brake control system and method for an electric wheelchair, which can effectively prevent accidents such as shifting of the center of gravity of the wheelchair and overturning caused by improper operation of the electric wheelchair or emergency braking by the user.

The brake control system of the electric wheelchair includes an electronic level, a brake sensor, a brake device and a brake controller. The brake control system includes: an inclination angle detection module, which is used to continuously detect the horizontal state of the wheelchair body of the electric wheelchair by an electronic level to obtain the inclination angle and inclination direction of the electric wheelchair, and judge whether the electric wheelchair is in accordance with the inclination angle of the electric wheelchair After passing the inclined road, when the electric wheelchair passes the inclined road, it is judged whether the inclination angle of the electric wheelchair exceeds the safe inclination angle range; the brake detection module is used when the inclination angle of the electric wheelchair does not exceed the safe inclination angle range. The braking status of the electric wheelchair is detected to obtain the braking force data of each wheel of the electric wheelchair, and judge whether the user's braking operation is appropriate according to the braking force data of each wheel; the brake adjustment module is used when the braking operation is inappropriate. Calculate the wheel position and braking force data that should be adjusted according to the tilt angle and tilt direction of the electric wheelchair, and automatically adjust the braking operation of the braking device to each wheel through the brake controller according to the calculated wheel position and braking force data; and the brake warning module, When the inclination angle of the electric wheelchair exceeds the safe inclination angle range, a warning signal is sent to remind the user to adjust the traveling route, and the brake device automatically brakes each wheel.

The brake control method of the electric wheelchair includes the steps of: using an electronic level to continuously detect the horizontal state of the wheelchair body of the electric wheelchair to obtain the inclination angle and direction of the electric wheelchair; judging whether the electric wheelchair has passed the inclined road according to the inclination angle of the electric wheelchair ; When the electric wheelchair passes through an inclined road surface, it is judged whether the inclination angle of the electric wheelchair exceeds the safe inclination angle range; Perform braking operations on each wheel; when the inclination angle of the electric wheelchair does not exceed the safe inclination angle range, use the brake sensor to detect the braking status of the electric wheelchair to obtain the braking force data of each wheel of the electric wheelchair; judge according to the braking force data Whether the user's braking operation is appropriate; when the braking operation is inappropriate, calculate the wheel position and braking force data that should be adjusted according to the inclination angle and direction of the electric wheelchair; and pass the brake controller according to the calculated wheel position and braking force data Automatically adjust the braking operation of the brake device on each wheel.

Compared with the prior art, the brake control system and method of the present invention can use the electronic level built in the electric wheelchair to detect and confirm the status of the user in the electric wheelchair in real time, and compare it with the brake sensor at any time. The obtained braking status is analyzed, and the braking device is automatically controlled through the brake controller, which can effectively prevent the user from shifting the center of gravity of the wheelchair due to improper operation or emergency braking, and accidents such as overturning.

Description of drawings

Fig. 1 is a structural diagram of a preferred embodiment of the electric wheelchair of the present invention.

Fig. 2 is a flow chart of a preferred embodiment of the brake control method of the electric wheelchair of the present invention.

Fig. 3 is a schematic diagram of the braking operation of the electric wheelchair when the inclination angle of the electric wheelchair is still within the safe inclination angle range.

Fig. 4 is a schematic diagram of the braking operation of the electric wheelchair when the inclination angle of the electric wheelchair exceeds the range of the safe inclination angle.

Description of main component symbols

Electric wheelchair 1

Brake Control System 10

Tilt angle detection module 101

Brake detection module 102

Brake adjustment module 103

Brake warning module 104

Electronic Level 11

Brake sensor 12

brake device 13

Brake controller 14

Memory 15

microprocessor 16

The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings.

Detailed ways

As shown in FIG. 1 , it is a structural diagram of a preferred embodiment of an electric wheelchair 1 according to the present invention. In this embodiment, the electric wheelchair 1 includes a brake control system 10 , an electronic level 11 , a brake sensor 12 , a brake device 13 , a brake controller 14 , a memory 15 and a microprocessor 16 . The brake control system 10 is electrically connected to the electronic level 11, the brake sensor 12, the brake device 13, the brake controller 14, the memory 15 and the microprocessor 16 through data lines or signal lines, and can communicate with each other. In this embodiment, the electric wheelchair 1 can be an electric scooter or other small electric vehicles, and generally includes four wheels of driving wheels (ie, left and right rear wheels) and non-driving wheels (ie, left and right front wheels).

The electronic level 11 is a common measuring instrument, which is used to determine whether the body surface or lines of the electric wheelchair 1 are in a level state. In this embodiment, the electronic level 11 combined with a gravity sensor (G-Sensor) can measure the inclination angle of the electric wheelchair 1 to determine whether the electric wheelchair 1 is in a horizontal state.

The brake sensor 12 is used to detect data such as the braking mode and braking force of each wheel of the electric wheelchair 1 (ie, the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel), so as to confirm whether the driving condition of the electric wheelchair 1 is appropriate. The braking device 13 is used to brake each wheel of the electric wheelchair 1 when the driving condition of the electric wheelchair 1 is inappropriate.

The brake controller 14 is used to regulate the braking force of each wheel of the electric wheelchair 1 by means of hydraulic braking. The hydraulic braking method is a very common braking method, which can use liquid to make the braking device 13 generate braking force for each wheel. In this embodiment, the brake force of the brake device 13 on each wheel can be precisely adjusted through the control of the hydraulic brake. Therefore, when the user brakes the electric wheelchair 1 improperly or drives on a dangerous slope, the brake controller 14 can control the brake device 13 to adjust the braking force and the braking method.

In this embodiment, the brake control system 10 includes a tilt angle detection module 101 , a brake detection module 102 , a brake adjustment module 103 and a brake warning module 104 . The module referred to in the present invention may be a hardware chip composed of multiple electronic components, or a computer program segment composed of a series of calculation instructions. The modules described in this embodiment are computer program segments that can be executed by the microprocessor 16 and can complete fixed functions, and are stored in the memory 15 of the electric wheelchair 1 . In this embodiment, the functions of each module will be specifically described in the flow chart of FIG. 2 .

As shown in FIG. 2 , it is a flow chart of a preferred embodiment of the braking control method of the electric wheelchair of the present invention. In this embodiment, the method can use the electronic level 11 built in the electric wheelchair 1 to detect and confirm the situation of the user riding the electric wheelchair 1 in real time, and analyze the braking situation measured by the braking sensor 12 at any time. , Automatically control the brake device 13 through the brake controller 14, which can effectively prevent the user from misoperation or emergency braking, which will cause the center of gravity of the wheelchair to shift, and accidents such as overturning will occur.

Step S21 , the inclination angle detection module 101 uses the electronic level 11 to continuously detect the horizontal state of the wheelchair body of the electric wheelchair 1 to obtain the inclination angle and inclination direction of the electric wheelchair 1 .

In step S22 , the inclination angle detection module 101 judges whether the electric wheelchair 1 passes the inclined road according to the inclination angle of the electric wheelchair 1 . If the electric wheelchair 1 has not passed the sloping road, return to step S21 to continue detecting the horizontal state of the electric wheelchair 1; if the electric wheelchair 1 passes the sloping road, then execute step S23.

In step S23, the inclination angle detection module 101 determines whether the inclination angle of the electric wheelchair 1 exceeds a safe inclination angle range. In this embodiment, the safe inclination angle range can be set according to the user's driving habits, as shown in FIG. 3A , for example, the inclination angle range can be set between -12° and +12°. If the inclination angle does not exceed the safe inclination angle range, execute step S24; if the inclination angle exceeds the safe inclination angle range, execute step S28.

Step S24 , the braking detection module 102 uses the braking sensor 12 to detect the braking condition of the electric wheelchair 1 and determine the braking force data of each wheel. In this embodiment, the brake detection module 102 uses the brake sensor 12 to detect whether the braking force of the front wheel at a high place is greater than that of the rear wheel at a low place according to data such as the inclination angle and direction of the electric wheelchair 1, or Detects if the high front wheels are traveling slower than the low rear wheels.

In step S25 , the brake detection module 102 judges whether the user's braking operation is appropriate or not according to the braking force data of each wheel. If the braking operation is proper, execute step S24 to continue detecting the braking condition of the electric wheelchair 1; if the braking operation is inappropriate, execute step S26. In this embodiment, the braking detection module 102 judges whether the user's braking operation is appropriate according to the braking force data of each wheel of the electric wheelchair 1, that is, whether the braking force of the wheel at a higher position is greater than the braking force of a wheel at a lower position. That is to say, it is judged that the braking operation of the wheel at the higher position is greater than the braking force of the wheel at the lower position is an appropriate braking operation.

In step S26, the brake adjustment module 103 calculates the wheel position and brake force data to be adjusted according to the inclination angle and inclination direction of the electric wheelchair 1 . Step S27 , the brake adjustment module 103 automatically adjusts the braking operation of the brake device 13 on each wheel through the brake controller 14 according to the calculated wheel position and brake force data. In this embodiment, the brake adjustment module 103 calculates the braking force of each wheel of the electric wheelchair 1 based on data such as the inclination angle and the inclination direction of the electric wheelchair 1, and automatically adjusts the brake device 13 for each wheel through the brake controller 14. The brake operation is to ensure that the braking force of the front wheel located at a high place is greater than that of the rear wheel located at a low place, so as to enhance the stability of the electric wheelchair 1 in use.

Referring to FIG. 3B, if the inclination angle of the electric wheelchair 1 is still within the safe inclination angle range (for example, the inclination angle +8° is between -12° to +12° in the safe inclination angle range), and the front wheel of the electric wheelchair 1 When it is higher than the rear wheels, the brake controller 14 will ensure that the braking force of the rear wheels at the low position is smaller than that of the front wheels at the high position, so as to avoid the wheelchair's center of gravity from bouncing upwards due to the fact that the rear wheels at the low position have been braked and locked first Cause accidents such as electric wheelchair 1 overturning to take place.

3C, if the inclination angle of the electric wheelchair 1 is still within the safe inclination angle range (for example, the inclination angle -8° is between -12° and +12° in the safe inclination angle range), and the rear wheel of the electric wheelchair 1 When it is higher than the front wheels, the brake controller 14 will ensure that the braking force of the rear wheels at the high position is greater than that of the front wheels at the low position, so as to prevent the center of gravity of the wheelchair from bouncing upward due to the front wheels at the low position braking first and causing the electric wheelchair 1 The overturning accident happened.

Step S28 , the brake warning module 104 sends out a warning signal to remind the user to adjust the driving route, and automatically brakes each wheel through the brake device 13 . As shown in FIG. 4 , assuming that the inclination angle of the electric wheelchair 1 detected by the electronic level 11 has exceeded the safe inclination angle range (for example, the inclination angle is about to exceed +15° or -15°, that is, when the electric wheelchair 1 has the possibility of overturning ), the brake warning module 104 immediately sends a warning signal to remind the user to pay attention to the driving route of the electric wheelchair 1 and other conditions, and calculates the appropriate braking force of each wheel according to the inclination of the electric wheelchair 1, and actively uses the braking device 13 to carry out the driving of the electric wheelchair 1 The brake operation can effectively prevent the handicapped from driving accidents caused by not paying attention to the road conditions.

The above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the above preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced All should not deviate from the spirit and scope of the technical solution of the present invention.

Claims (10)

1. A braking control system of an electric wheelchair, which comprises an electronic level, a braking sensor, a braking device and a braking controller, wherein the braking control system comprises: The inclination angle detection module is used to continuously detect the horizontal state of the wheelchair body of the electric wheelchair by using the electronic level to obtain the inclination angle and inclination direction of the electric wheelchair, and judge whether the electric wheelchair has passed the inclined road according to the inclination angle of the electric wheelchair. When the wheelchair passes the inclined road, judge whether the inclination angle of the electric wheelchair exceeds the safe inclination angle range; The brake detection module is used to detect the braking condition of the electric wheelchair by using the brake sensor to obtain the braking force data of each wheel of the electric wheelchair when the tilt angle of the electric wheelchair does not exceed the safe tilt angle range. According to the braking force of each wheel Data to judge whether the user's braking operation is appropriate; The brake adjustment module is used to calculate the wheel position and braking force data that should be adjusted according to the inclination angle and direction of the electric wheelchair when the braking operation is inappropriate, and automatically adjust the brake through the brake controller according to the calculated wheel position and braking force data. The device brakes each wheel; The brake warning module is used to send a warning signal to remind the user to adjust the traveling route when the tilt angle of the electric wheelchair exceeds the safe tilt angle range, and automatically brake each wheel through the brake device. 2. The brake control system according to claim 1, wherein the electronic level detects the inclination angle of the electric wheelchair through the gravity sensor, and the inclination angle detection module detects the inclination angle according to the measured inclination angle. Determine whether the electric wheelchair is in a horizontal state. 3. The brake control system according to claim 1, wherein the brake controller utilizes hydraulic braking to regulate the magnitude and direction of the braking force of each wheel of the electric wheelchair, so that the braking device can control the braking force of each wheel. Generate braking force. 4. The brake control system according to claim 1, wherein the brake sensor detects whether the braking force of the front wheel at a high place is greater than that of the rear wheel at a low place according to the tilt angle and direction of the electric wheelchair, Or detect if the front wheels at the top are traveling slower than the rear wheels at the bottom. 5 . The braking control system according to claim 1 , wherein the braking detection module judges whether the braking operation is appropriate by judging whether the braking force of the high wheel is greater than the braking force of the low wheel. 6. A braking control method for an electric wheelchair, the electric wheelchair comprising an electronic level, a braking sensor, a braking device and a braking controller, characterized in that the method comprises the steps of: Use the electronic level to continuously detect the horizontal state of the wheelchair body of the electric wheelchair to obtain the inclination angle and direction of the electric wheelchair; According to the inclination angle of the electric wheelchair, it is judged whether the electric wheelchair has passed the inclined road; When the electric wheelchair passes the inclined road, judge whether the inclination angle of the electric wheelchair exceeds the safe inclination angle range; When the inclination angle of the electric wheelchair exceeds the safe inclination angle range, a warning signal is issued to remind the user to adjust the traveling route, and the brake device automatically brakes each wheel; When the inclination angle of the electric wheelchair does not exceed the safe inclination angle range, the brake sensor is used to detect the braking condition of the electric wheelchair to obtain the braking force data of each wheel of the electric wheelchair; Judging whether the user's braking operation is appropriate or not according to the braking force data; When the braking operation is inappropriate, calculate the wheel position and braking force data that should be adjusted according to the tilt angle and tilt direction of the electric wheelchair; and According to the calculated wheel position and braking force data, the braking operation of the braking device on each wheel is automatically adjusted through the braking controller. 7. The brake control method according to claim 6, wherein the electronic level detects the inclination angle of the electric wheelchair through the gravity sensor, and judges whether the electric wheelchair is in a horizontal state according to the measured inclination angle . 8. The brake control method according to claim 6, wherein the brake controller utilizes hydraulic brake mode to regulate the magnitude and direction of the braking force of each wheel of the electric wheelchair, so that the braking device can control the braking force of each wheel. Generate braking force. 9. The brake control method according to claim 6, wherein the brake sensor detects whether the braking force of the front wheel located at a high place is greater than that of the rear wheel located at a low place according to the tilt angle and direction of the electric wheelchair, Or detect if the front wheels at the top are traveling slower than the rear wheels at the bottom. 10 . The braking control method according to claim 6 , wherein the judging whether the braking operation is proper is realized by judging whether the braking force of the wheels at a high place is greater than the braking force of a wheel at a lower place. 11 .

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