1309564 九、發明說明： 【發明所屬之技術領域】 本發明是有關於一種方向速度控制裝置，特別是指一 種電動輪椅之方向速度控制裝置。 【先前技術】 對於腿部肌肉受傷的人、雙功能性退化的老人、肢體 障礙’或是慢性病患等無法以雙腳獨立行動能力者，可選 擇電動輪椅（Electronic Wheelchair)作為曰常生活中用以代步 以我國第M290_號「電動輪椅之方向觸發辨識裝置 」新型專利案而言，是利用其方向控制搖桿於操縱 否壓觸到微動觸發開關’來藉以產生方向觸發辨識信號认 電動輪椅控制器，做為控制電動輪椅轉向與行進之依據， 但是此種設計，該等微動觸發開關並無 向控制搖桿的操縱幅度，而只能送出有/無方向觸= 號而已，使用者倘若只需令該電動輪椅小幅度的轉向時， 即使只勒微扳動該方向控制搖桿，也會使得 生大幅度轉向，操作非常不便。 勒輪椅產 t閲圖卜另一種習知電動輪椅1是利用其方向控制器 11將“號傳遞至控制單元（目1， > 號至-動力源(圖未示)以控 工：…出控制信 利及電動輪椅1的行進盥韓而， 而該方向控制器u之構造則如圖2所示，具有一中 座⑴、一設於該基座U1内的電路板112 :二 狀排列設置於該電路板112上的下感應線圈113'=: 5 1309564 地穿設於該基座111且間隔位於該電路板112上方的桿體 114、-设於該桿冑114底端的上感應線圈⑴，及一用以 • 使該桿體114在無外力推抵情況下回復至初始中央位置的復 歸彈簧116,並且該電路板112會依據該上感應線目m相 對於該下感應線圈113的傾斜狀態，而送出一完全 向信號，以下詳細說明該電動輪椅i之作動方式： 、 . β當使用者施力將該桿體114之頂端向前推_，由於該 . 才干體114之中&是整體結構的槓桿支點’所以該桿體！ 14之 底端便會相反於其頂端而向後移動，此時，該上感應線圈 115便會相對於該下感應線圈113形成向後傾斜狀態，並經 由該電路板U2傳遞一反向的方向信號（亦即，送出一向前 @方向信號）域電動輪椅i之動力源，錢該電動輪椅i . 向前移動。 • 反之，當使用者施力將該桿體114之頂端向後推動時， 該桿體114之底端便會向前移動，此時，該上感應線圈115 • 便會相對於該下感應線圈⑴形成向前傾斜狀態，並經由該 電路板112傳遞一反向的方向信號（亦即，送出—向後的方 向信號）至該電動輪椅i之動力源，而使該電動輪椅工向後 移動。 倘若使用者推動該桿體114轉向左/右時，該上感應線 • 圈U5便會相對於該下感應線圈113形成右/左傾狀態，並 鉍由該電路板112傳遞一相反於右/左傾狀態的左/右方向信 號至該轉向機構，而使該電動輪们的轉向相符於該桿體 114之轉向。 61309564 IX. Description of the Invention: [Technical Field] The present invention relates to a directional speed control device, and more particularly to a directional speed control device for an electric wheelchair. [Prior Art] For those who have leg muscle injuries, elderly people with bifunctional degeneration, physical disabilities, or chronic patients who cannot independently act on their feet, the Electric Wheelchair can be selected as a normal life. In order to use the new patent case of "Mr. Wheelchair Directional Identification Device" of China No. M290_, it is to use the direction control rocker to control the pressure to touch the micro-motion trigger switch to generate the direction trigger identification signal. The wheelchair controller serves as the basis for controlling the steering and travel of the electric wheelchair. However, in this design, the micro-actuation trigger switch has no manipulation range to the control rocker, but can only send the presence/absence of the touch-point = number. If only a small amount of steering of the electric wheelchair is required, even if the directional control rocker is only slightly pulled, the steering will be greatly turned and the operation is very inconvenient. Another type of electric wheelchair 1 is used by its direction controller 11 to transmit the "number" to the control unit (head 1, > to the power source (not shown) to control the work: ... The control of the information and the electric wheelchair 1 is controlled, and the structure of the direction controller u is as shown in FIG. 2, and has a middle seat (1) and a circuit board 112 disposed in the base U1: two-dimensional arrangement The lower induction coil 113' on the circuit board 112=: 51309564 is disposed on the base 111 and spaced apart from the pole 112 above the circuit board 112, and the upper induction coil (1) disposed at the bottom end of the pole 114 And a return spring 116 for returning the rod 114 to the initial central position without external force pushing, and the circuit board 112 is opposite to the lower induction coil 113 according to the upper sensing line m Tilting state, and sending a complete signal, the following describes in detail the operation mode of the electric wheelchair i: , . . . when the user applies force to push the top end of the rod 114 forward, because of the talent 114 &; is the leverage of the overall structure 'so the body! 14 will be the opposite end The top end of the induction coil 115 is tilted rearward relative to the lower induction coil 113, and a reverse direction signal is transmitted via the circuit board U2 (ie, a forward @ direction is sent) Signal) The power source of the electric wheelchair i, the electric wheelchair i. Move forward. • Conversely, when the user applies force to push the top end of the rod 114 backward, the bottom end of the rod 114 will move forward. Moving, at this time, the upper induction coil 115 forms a forward tilt state with respect to the lower induction coil (1), and transmits a reverse direction signal (ie, a send-back direction signal) via the circuit board 112. To the power source of the electric wheelchair i, the electric wheelchair is moved backwards. If the user pushes the rod 114 to turn left/right, the upper sensing wire loop U5 forms a right with respect to the lower induction coil 113. The left-left state, and the left/right direction signal opposite to the right/left tilt state is transmitted from the circuit board 112 to the steering mechanism, so that the steering of the electric wheels conforms to the steering of the rod 114.
1309564 藉由上述設計，使用者僻 + 痄沾M a。士 右，、而令該電動輪椅1小幅 度的轉向蚪’只需稍微扳動 Π5 ^ Ba 該上、下感應線圈 3之間便會形成相對應的 JLC ! ! 〇 , 针狀態、’而經由該電路 板⑴达出對應的方向信號 電路 度的轉向。 也動輪持1即會產生小幅 ，然而，使用上、下感應線圈115'113互相感應 ’部只能操控該電動輪椅1於水平㈣轉向與前進/後退， 旦地面具有局低起伏、顛簸不定等障礙狀況而非一水平 面時’該電動輪椅丨之動力源仍會提供相同大小的動力， 導致有時上坡時動力不足，下坡時卻又速度過 確實相當不便。 再者，利用上、下感應線圈115、113互_應，其線 ，設置數目較多，不僅會佔用過多體積，而且組裝上也顯 得較為不便；況且’線圈-旦產生傾斜’該電動輪椅！的 控制單元（圖未示）無法偵測是否為坡度狀態，導致電動輪椅 1的動力不足或過多，因此，如何解決上述之缺點，便成為 相關業者所亟欲努力研究的課題。 【發明内容】 因此，本發明之目的，即在提供一種電動輪椅之方向 速度控制裝置，可隨著地面高低起伏與行進方向而產生適 當的控制信號，以提供適當動力供該電動輪椅穩定地移動 於是’本發明之方向速度控制裝置，是安裝於一電動 輪椅上，該電動輪椅包括一動力單元、一被該動力單元所 7 1309564 驅動的車輪單元’及一控制該動力單元的控制單元。 該方向速度控制農置包含一安裝於該電動輪椅上的夷 座、-安裝於該基座上且具有-可自由轉動之桿體的㈣ 單元、一設於該搖桿單元上且具有三維電壓值的第一重力 方向感測器，及-設於該基座上且同樣具有三維電壓值的 第二重力方向感測器。 本發明之功效在於，藉由該控制單元隨時偵測該第一 、二重力方向感測器的三維電壓值，並對三維電壓值進行 運算以產生控制信號傳遞至該動力單元，進而驅動該車輪 單：沿著地面轉動，如此設計，不僅可以控制該電動輪椅 之行進與轉向，而且也可以在上坡時產生足夠動力下坡 時降低動力供給以避免速度過快’進而令該電動輪椅於高 低起伏、顛簸不定的地面移動時，也能夠保持穩定。 【實施方式】 a 有關本發明之前述及其他技術内容、特點與功效，在 以下配合參考圖式之兩個較佳實施例的詳細說明中， 清楚的呈現。 在本發明被詳細描述之前，要注意的是，在以下的說 中’類似的元件是以相同的編號來表示。 >閱圖3’本發明電動輪椅3之方向速度控制裝置2的 較佳實施例，該電動輪椅3包括一動力單元32、—被 3 早兀32所驅動的車輪單元33、一控制該動力單元 的控制單元34，及一連接該控制單元34與動力 的電路單元35。 8 1309564 該電路單元35具有一第一驅動電路351與一第二驅動 電路352，該車輪單元33具有一左後輪331、一右後輪333 、一左前輪332，與一右前輪334，該動力單元32則具有 一第一馬達321與一第二馬達322，該第一、二驅動電路 351、352是接收該控制單元34所產生的控制信號，進而驅 動該第一馬達321運轉以帶動該左後輪331轉動，以及驅 動該第二馬達322運轉以帶動該右後輪333轉動。 參閱圖4’該方向速度控制裝置2包含一安裝於該電動 輪椅3上且内部呈中空狀的基座21、一安裝於該基座]^上 的搖桿單元22、一具有三維電壓值的第一重力方向感測器 23 ’及一同樣具有三維電壓值的第二重力方向感測器24。 至於該第一、二重力方向感測器23、24則是使用 freescale公司所販售的編號MMA726〇Q之G_Sens〇r，其 為三軸方向感應，在休眠期間的運作電流是A ,而在正 常期間的運作電流則是5〇〇" A，工作電壓則是介於2 2 — 3_6V之間’其整體尺寸則是6x6xl45mm。 該搖桿單元22具有一可自由轉動設置於該基座21上 的桿體221、-設置於該桿體221頂端的中空狀握把如， 及一穿套於該桿體221的復歸彈簧223。 田該#體221無外力施加時，該桿體221係位於初始 、置田該♦干體221被外力施加時，該桿體22〗即會 離亥初始中央位置而使該復歸彈I 223積蓄彈菁回復力 、’直到外力移除時，該復歸彈簧223即釋放彈簧回復力， 以連動該桿體221回歸至該初始中央位置。 9 1309564 器23係設置於該握把222内，該 則設於該基座21内且位於該桿體 該第一重力方向感測 第二重力方向感測器24 221底端間隔下方。 參閱圖5,該第一、_‘， 一重力方向感測器23、24分別夏 有立體三維方向的雷壓炎土 少考值’並以XI — Yl — Z1三維電壓 值’以及X2—Y2—79 -认而矿 二維電壓值予以代表，且其基礎來 電壓值均為2.5V。 g當§亥桿體221未被推動時’該第-重力方向感測器23 疋處於XI Y1 Z1二維系統的原點，該第一、二重力方向 感測器23、24兩者的三維電壓值並沒有產生改變，當該桿 體221是朝向某個方向推動時，該第―、二重力方向感測 器23、24的三維電壓值就會發生改變。 麥閱圖6，該控制單元34便會對該第一、二重力方向 感測器23、24的三維電壓值進行運算，並送出兩者χ軸 (XI、Χ2)或兩者γ轴（γι、γ2)向量變化差異量，所得之正 負值的控制信號，經由該第一、二驅動電路351、352進而 驅動該第一馬達321運轉以帶動該左後輪331轉動，以及 驅動該第二馬達322運轉以帶動該右後輪333轉動，至於 該左前輪332與右前輪334則為被動輪形式，而不會被該 第一、一馬達321、322所驅動。 一併參閱圖4' 5、6，並藉由以下的說明，將更能瞭解 本實施例實際操作的情況： (1)左右轉向： 倘若使用者施力將該桿體221向右推動時，位於該桿 10 1309564 體221頂端的第一重力方向感測器23，便會相對於第二重 力方向感測器24向右傾斜，也就是說’電壓值X丨是介於 2.5〜3V之間，電壓值χ2則維持2.5V之基礎參考電壓，該 控制單元34進行運算後，便得到X軸向量變化差異量（即 X1-X2)為正值〔〇<(χι —X2)<〇.5V〕。 此時，倘若（XI —X2)是介於〇〜0.25V之間，即代表使 用者只是小幅度地扳動該桿體221向右，該控制單元34即 送出控制信號至該第一、二驅動電路35丨、352，該第一驅 ® 動電路351驅動該第一馬達321提高轉速，該第二驅動電 路352則驅動該第二馬達322降低轉速，藉此使得所述左 後輪331轉速提高，所述右後輪333轉速降低，該電動輪 椅3即可逐漸地向右轉，亦即χι _ χ2兩者差異量愈小，其 轉向速度愈慢。 倘若（XI —Χ2)是介於〇.25V〜0.5V之間，即代表使用 者疋大幅度地扳動該桿體221向右，該控制單元34即送出 • 控制信號至該第一、二驅動電路351、352，該第一驅動電 路351驅動該第一馬達321維持正轉，該第二驅動電路352 則驅動該第二馬達322產生反轉，藉此使得所述左後輪33丄 正轉，所述右後輪333則反轉，該電動輪椅3即可快速地 向右轉，亦即XI —Χ2兩者差異量愈大，其轉向速度愈快。 反之亦然’當使用者施力將該桿體221向左推動時， 位於a亥才干體221頂端的第一重力方向感測器23，便會相對 於第一重力方向感測器24向左傾斜，也就是說，電壓值χι 是介於2〜2.5V之間，電壓值χ2則維持25V之基礎參考 11 1309564 電壓，該控制單元34進行運算後，便得到χ轴向量變化差 異量為負值〔一〇.5V<(Xl —X2)<0〕。 此時，倘若（XI —X2)是介於一0.25V〜〇之間，即代表 使用者只是小幅度地扳動該桿體221向左，該控制單元34 即送出控制信號至該第一、二驅動電路351、352，該第一 驅動電路351驅動該第一馬達321降低轉速，該第二驅動 电路352則驅動3亥弟一馬達322提面轉速，藉此使得所述 左後輪331轉速降低’所述右後輪333轉速提高，該電動 輪椅3即可逐漸地向左轉，亦即XI 一 χ2兩者差異量愈小， 其轉向速度愈慢。 倘若（XI —X2)是介於一〇_5 V--0.25V之間，即代表使 用者是大幅度地扳動該桿體221向左，該控制單元34即送 出控制信號至該第一、二驅動電路351、352，該第一驅動 電路351驅動該第一馬達321產生反轉，該第二驅動電路 352則驅動該第二馬達322維持正轉，藉此使得所述左後輪 331反轉，所述右後輪333則正轉，該電動輪椅3即可快速 地向左轉，亦即XI 一 Χ2兩者差異量愈大，其轉向速度愈快 〇 (2)行進方向： 倘若使用者施力將該桿體221向前推動時，位於該桿 體221頂端的第一重力方向感測器23，便會相對於第二重 力方向感測器24向前傾斜，也就是說，電壓值γι是介於 2_5〜3V之間，電壓值γ2則維持25乂之基礎參考電壓，該 控制單το 34進行運算i，便得到γ軸向量變化差異量（即 121309564 With the above design, the user is stunned and stunned. Right, so that the electric wheelchair 1 has a small turning 蚪 'just need to slightly move Π 5 ^ Ba The upper and lower induction coils 3 will form a corresponding JLC ! ! 〇, needle state, 'by via The circuit board (1) reaches the steering of the corresponding direction signal circuit degree. Also, moving the wheel 1 will produce a small amount. However, using the upper and lower induction coils 115'113 to sense each other can only control the electric wheelchair 1 to level (4) turn and forward/reverse, and the ground has low fluctuations, bumps, etc. When the obstacle is not in the horizontal plane, the power source of the electric wheelchair will still provide the same amount of power, which will result in insufficient power when going uphill, and it will be quite inconvenient when going downhill. Furthermore, the upper and lower induction coils 115, 113 are mutually responsive, and the number of wires is set to be large, which not only occupies too much volume, but also is inconvenient in assembly; and the 'coil is tilted' to the electric wheelchair! The control unit (not shown) cannot detect whether it is a slope state, resulting in insufficient or excessive power of the electric wheelchair 1. Therefore, how to solve the above-mentioned shortcomings has become an issue that the relevant industry is eager to study. SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide an directional speed control device for an electric wheelchair that can generate appropriate control signals as the ground level rises and falls and travels to provide appropriate power for the electric wheelchair to move stably Thus, the directional speed control device of the present invention is mounted on an electric wheelchair including a power unit, a wheel unit driven by the power unit 7 1309564, and a control unit for controlling the power unit. The directional speed control farm includes a seat mounted on the electric wheelchair, a (four) unit mounted on the base and having a freely rotatable shaft, and a set on the rocker unit and having a three-dimensional voltage a first gravity direction sensor of value, and a second gravity direction sensor disposed on the base and also having a three dimensional voltage value. The effect of the present invention is that the three-dimensional voltage value of the first and second gravity direction sensors is detected by the control unit at any time, and the three-dimensional voltage value is calculated to generate a control signal to be transmitted to the power unit, thereby driving the wheel. Single: Rotate along the ground, so designed not only to control the travel and steering of the electric wheelchair, but also to reduce the power supply when the downhill is generated enough to power downhill to avoid the speed too fast 'and thus make the electric wheelchair high and low It can also remain stable when the undulating and bumpy ground moves. The above and other technical contents, features and effects of the present invention are clearly shown in the following detailed description of the two preferred embodiments of the drawings. Before the present invention is described in detail, it is to be noted that in the following description, similar elements are denoted by the same reference numerals. 3 is a preferred embodiment of the directional speed control device 2 of the electric wheelchair 3 of the present invention, the electric wheelchair 3 includes a power unit 32, a wheel unit 33 driven by the 3 兀 32, and a control unit. The unit's control unit 34, and a circuit unit 35 that connects the control unit 34 to the power unit. 8 1309564 The circuit unit 35 has a first driving circuit 351 and a second driving circuit 352. The wheel unit 33 has a left rear wheel 331, a right rear wheel 333, a left front wheel 332, and a right front wheel 334. The power unit 32 has a first motor 321 and a second motor 322. The first and second driving circuits 351 and 352 receive the control signals generated by the control unit 34, thereby driving the first motor 321 to operate. The left rear wheel 331 is rotated, and the second motor 322 is driven to drive the right rear wheel 333 to rotate. Referring to FIG. 4', the direction speed control device 2 includes a base 21 mounted on the electric wheelchair 3 and having a hollow interior, a rocker unit 22 mounted on the base, and a three-dimensional voltage value. The first gravity direction sensor 23' and a second gravity direction sensor 24 also having a three-dimensional voltage value. The first and second gravity direction sensors 23 and 24 are G_Sens〇r numbered MMA726〇Q sold by Freescale, which is a three-axis direction sensing, and the operating current during sleep is A. The normal operating current is 5 〇〇 " A, the operating voltage is between 2 2 - 3_6V 'the overall size is 6x6xl45mm. The rocker unit 22 has a rod body 221 which is rotatably disposed on the base 21, a hollow grip disposed at the top end of the rod body 221, and a return spring 223 which is sleeved on the rod body 221. . When the body 221 is applied without external force, the rod body 221 is located at the initial position, and when the body 221 is applied by an external force, the rod body 22 will leave the initial central position of the sea and the regenerative bomb I 223 accumulates the bomb. The crest recovery force, 'until the external force is removed, the return spring 223 releases the spring restoring force to interlock the rod body 221 to return to the initial central position. 9 1309564 The device 23 is disposed in the grip 222, and is disposed in the base 21 and located in the first gravity direction of the rod to sense the bottom end of the second gravity direction sensor 24 221. Referring to FIG. 5, the first, _', a gravity direction sensor 23, 24 respectively have a three-dimensional three-dimensional direction of the thunder pressure of the soil, and the value of the XI - Yl - Z1 three-dimensional voltage value and X2 - Y2 —79—The two-dimensional voltage value of the ore is represented, and the voltage value is 2.5V. g When the § 杆 221 is not pushed, the first-gravity direction sensor 23 is at the origin of the XI Y1 Z1 two-dimensional system, and the three dimensions of the first and second gravity direction sensors 23, 24 are The voltage value does not change. When the rod body 221 is pushed in a certain direction, the three-dimensional voltage values of the first and second gravity direction sensors 23, 24 are changed. In Fig. 6, the control unit 34 calculates the three-dimensional voltage values of the first and second gravity direction sensors 23, 24, and sends out the two axes (XI, Χ 2) or both γ axes (γι And γ2) the vector variation difference amount, and the obtained positive and negative value control signals further drive the first motor 321 to operate to drive the left rear wheel 331 to rotate, and drive the second motor via the first and second driving circuits 351 and 352. The 322 is operated to drive the right rear wheel 333 to rotate, and the left front wheel 332 and the right front wheel 334 are in the form of passive wheels, and are not driven by the first and a motors 321, 322. 4 and 5, and with the following description, the actual operation of the embodiment will be better understood: (1) Left and right steering: If the user applies force to push the rod 221 to the right, The first gravity direction sensor 23 located at the top of the body 221 of the rod 10 1309564 is tilted to the right with respect to the second gravity direction sensor 24, that is, the voltage value X丨 is between 2.5 and 3V. The voltage value χ2 maintains the base reference voltage of 2.5V. After the control unit 34 performs the operation, the X-axis vector variation difference amount (ie, X1-X2) is obtained as a positive value [〇<(χι−X2)< 〇.5V]. At this time, if (XI - X2) is between 〇 and 0.25V, that is, the user only slightly pulls the rod 221 to the right, the control unit 34 sends a control signal to the first and second. The driving circuit 35A, 352, the first driving circuit 351 drives the first motor 321 to increase the rotation speed, and the second driving circuit 352 drives the second motor 322 to reduce the rotation speed, thereby causing the left rear wheel 331 to rotate. When the speed of the right rear wheel 333 is lowered, the electric wheelchair 3 can be gradually turned to the right, that is, the smaller the difference between the two, the smaller the steering speed, the slower the steering speed. If (XI - Χ 2) is between 〇.25V and 0.5V, that is, the user 疋 greatly pulls the rod 221 to the right, the control unit 34 sends a control signal to the first and second Driving circuit 351, 352, the first driving circuit 351 drives the first motor 321 to maintain forward rotation, and the second driving circuit 352 drives the second motor 322 to generate reverse rotation, thereby causing the left rear wheel 33 to be positive Turning, the right rear wheel 333 is reversed, and the electric wheelchair 3 can be quickly turned to the right, that is, the larger the difference between XI and Χ2, the faster the steering speed. Vice versatilely, when the user applies the force to push the rod 221 to the left, the first gravity direction sensor 23 located at the top of the a-body body 221 is leftward relative to the first gravity direction sensor 24. Tilt, that is, the voltage value χι is between 2 and 2.5V, and the voltage value χ2 maintains the voltage of 25V. The reference voltage is 11 1309564. After the control unit 34 performs the operation, the variation of the 向量-axis vector is obtained. Negative value [a.5V < (Xl - X2) < 0]. At this time, if (XI - X2) is between 0.25V and 〇, that is, the user only slightly pulls the rod 221 to the left, the control unit 34 sends a control signal to the first, Two driving circuits 351, 352, the first driving circuit 351 drives the first motor 321 to reduce the rotational speed, and the second driving circuit 352 drives the driving speed of the 3D motor 322, thereby causing the rotational speed of the left rear wheel 331 When the speed of the right rear wheel 333 is lowered, the electric wheelchair 3 can be gradually turned to the left, that is, the smaller the difference between the two XI and the second, the slower the steering speed. If (XI-X2) is between 〇5 V--0.25V, that is, the user greatly pulls the rod 221 to the left, the control unit 34 sends a control signal to the first And two driving circuits 351 and 352, the first driving circuit 351 drives the first motor 321 to generate an inversion, and the second driving circuit 352 drives the second motor 322 to maintain a forward rotation, thereby causing the left rear wheel 331 Inverting, the right rear wheel 333 is rotated forward, and the electric wheelchair 3 can be quickly turned to the left, that is, the greater the difference between the two XI and the second, the faster the steering speed is. (2) The traveling direction: When the user applies the force to push the rod body 221 forward, the first gravity direction sensor 23 located at the top end of the rod body 221 is inclined forward relative to the second gravity direction sensor 24, that is, The voltage value γι is between 2_5 and 3V, and the voltage value γ2 maintains the basic reference voltage of 25 ,. The control unit το 34 performs the operation i, and the difference amount of the γ-axis vector variation is obtained (ie, 12)
13095641309564
Yl —Y2)為正值〔0<(γι —γ2)<〇5ν〕。 此^’該控制單元34即送出控制信號至該第—、 動電路351、352，以分別驅動該第一、二馬達321、一m 正向轉動’該電動輪椅3即可向前進，並且隨著該桿體22i 向前扳動位移量愈大，電摩值YH更會愈大，以使得（γι — Υ2)愈大，該第—、二馬達321、322的正轉轉速便會愈高 旦進而使得該電動輪椅3之前進速度提高，亦即兩者差異 置愈大，其前進速度愈快，兩者差異量愈小，其前進速度 愈慢。 反之亦然，當使用者施力將該桿體221向後推動時， 位於該^^ 221頂端的第一重力方向感測器23,便會相對 於第一重力方向感測器24向後傾斜，也就是說，電壓值γι 疋"於2〜2.5V之間，電壓值Υ2則維持2 5V之基礎參考 電壓，該控制單元34進行運算後，便得到γ軸向量變化差 異量為負值〔―〇.5V<(Yl — Y2)<〇〕。 此時，該控制單元34即送出控制信號至該第一 '二驅 動電路351、352，以分別驅動該第一、二馬達321、322反 向轉動，該電動輪椅3即可向後退，並且隨著該桿體221 向後扳動位移量愈大，以使得（Y1 — Y2)差異量愈大，該第 一、二馬達321、322的反轉轉速便會愈高，進而使得該電 動輪椅3之後退速度提高，亦即兩者差異量愈大，其前進 速度愈快，兩者差異量愈小，其前進速度愈慢。 (3)上、下坡狀態： 倘若該電動輪椅3呈上坡狀態時，該控制單元34偵挪 13 1309564 該第一、二重力方向感測器23、24各自的2軸電壓值（ζι 、Z2)同時大於基礎電壓值（2.5V)，也就是說zi、Z2皆是介 於2.5〜3V之間，此時該控制單元34即送出控制信號至該 第一、二驅動電路351、352 ,以分別提高該第_、二鬲達 321、322之轉速，藉此即可使得該電動輪椅3於上坡時具 有充足的動力供給。 倘若該電動輪椅3呈下坡狀態時，該控制單元34偵測 該第一、二重力方向感測器23、24各自的z軸電壓值'(ζι 、Z2)同時小於基礎電壓值（2·5ν),也就是說電壓值、μ 皆是介於2〜2.5V之間，此時該控制單元34即送出控制信 號至該第一、二驅動電路351、352，以分別降低該第一、 二馬達321、322之轉速，藉此即可使得該電動輪椅3於下 坡時不致於有過多的動力供給。 另一方面，不論是上坡或是下坡，該第一、二重力方 向感測器23、24都會因為傾斜度的改變，而造成其電壓值 Y1、Y2會有些許差異而偏離基礎電壓值（2.5V)，此時，該 控制單，34可能會誤判該桿體221是被向前或向後板動， 此:’該控制單元34更可以綜合判斷Z1、z2之電壓是否 同時改變’藉以判斷此狀況之產生是因上下坡狀態的傾斜 度改變，此時，該控制單元34便可以利用ζι、ζ2作為γι 、Y2的補償變化量，藉以使得該電動輪椅3於上下坡時， 都可以維持正常速度。 (4)傾倒狀態： 倘若該電動輪椅3呈傾倒狀態時，該控制單元34便偵 14 1309564 測到該第一、二重力方向感測器23、 24各自的z軸電壓值 (Z1、Z2)同時大於或小於正常作動範圍之電壓值（2〜3V)，也 就是說電壓值Z1，是大於3V;或是皆小於Η，此時 该控制早A 3古4即送出控制信號至該第一、二驅動電路如 、352^以暫V該第一、二馬達321、322之運轉，藉此即 可使得該電動輪椅3於傾斜時自動斷電停止運作。Yl - Y2) is a positive value [0<(γι - γ2) < 〇 5ν]. The control unit 34 sends a control signal to the first and second moving circuits 351 and 352 to respectively drive the first and second motors 321 and a m to rotate forward. The electric wheelchair 3 can be advanced, and The larger the displacement of the rod body 22i is, the larger the electric motor value YH is, so that the larger the (γι - Υ2), the more the forward rotation speed of the first and second motors 321, 322 will be. The high-density further increases the forward speed of the electric wheelchair 3, that is, the difference between the two is larger, and the faster the forward speed is, the smaller the difference between the two is, the slower the forward speed is. Vice versa, when the user applies force to push the rod 221 backward, the first gravity direction sensor 23 located at the top end of the ^221 221 is tilted backward relative to the first gravity direction sensor 24, That is to say, the voltage value γι 疋" is between 2 and 2.5 V, and the voltage value Υ 2 maintains the basic reference voltage of 25 V. After the control unit 34 performs the operation, the difference amount of the γ-axis vector change is negative. ―〇.5V<(Yl — Y2)<〇]. At this time, the control unit 34 sends a control signal to the first 'two driving circuits 351, 352 to drive the first and second motors 321, 322 to rotate in the opposite direction, and the electric wheelchair 3 can be retracted, and The larger the displacement amount of the rod body 221 is, the larger the difference amount of (Y1 - Y2) is, the higher the reverse rotation speed of the first and second motors 321, 322 is, so that the electric wheelchair 3 is The retreating speed is increased, that is, the greater the difference between the two, the faster the advancement speed, the smaller the difference between the two, the slower the forward speed. (3) Up and down slope states: If the electric wheelchair 3 is in an uphill state, the control unit 34 detects the respective 2-axis voltage values of the first and second gravity direction sensors 23, 24 of 13 1309564 (ζι, Z2) is greater than the base voltage value (2.5V) at the same time, that is, zi and Z2 are between 2.5 and 3V. At this time, the control unit 34 sends a control signal to the first and second driving circuits 351 and 352. In order to increase the rotational speed of the first and second ridges 321, 322, respectively, the electric wheelchair 3 can be supplied with sufficient power when going uphill. If the electric wheelchair 3 is in a downhill state, the control unit 34 detects that the z-axis voltage values '(ζι, Z2) of the first and second gravity direction sensors 23, 24 are simultaneously smaller than the basic voltage value (2· 5ν), that is, the voltage value and μ are between 2 and 2.5 V. At this time, the control unit 34 sends a control signal to the first and second driving circuits 351 and 352 to lower the first, The rotational speed of the two motors 321, 322 can thereby make the electric wheelchair 3 not have excessive power supply when going downhill. On the other hand, whether it is uphill or downhill, the first and second gravity direction sensors 23, 24 will cause a slight difference in voltage values Y1 and Y2 due to the change of the inclination, and deviate from the basic voltage value. (2.5V), at this time, the control sheet, 34 may misjudge that the rod body 221 is moved forward or backward. This: 'The control unit 34 can comprehensively determine whether the voltages of Z1 and z2 are simultaneously changed'. It is judged that the situation is caused by the change of the inclination of the upslope state. At this time, the control unit 34 can use ζι, ζ2 as the compensation variation of γι and Y2, so that the electric wheelchair 3 can be used when going up and down the slope. Maintain normal speed. (4) Dumping state: If the electric wheelchair 3 is in the dumping state, the control unit 34 detects 14 1309564 and detects the respective z-axis voltage values (Z1, Z2) of the first and second gravity direction sensors 23, 24. At the same time, the voltage value is greater than or less than the normal operating range (2~3V), that is to say, the voltage value Z1 is greater than 3V; or both are less than Η. At this time, the control is sent to the first A 3 ancient 4 to send the control signal to the first The two driving circuits, for example, 352^ temporarily operate the first and second motors 321, 322, so that the electric wheelchair 3 can be automatically powered off and stopped when tilted.
參閱圖5’該桿體221尚未施予外力時，是位於一初始 中央位置，當使用者為了控制該電動輪椅上坡/下坡、轉向 ，以及前進增退時，便會推動該㈣221偏離該初始中央 位置’此時，穿套於該桿體221上的復歸彈簧奶便會產 生彈性變形而積㈣簧回復力，直到使用者不再推動該桿 體221日守’该復歸彈簧223即釋放彈菁回復力，以連動該 桿體日221回歸至該初始中央位置，藉此方式，當使用者放 鬆该桿體221後，即改、& # + | 即可強迫该電動輪椅3不再移動，確保 使用上的安全性。 藉由上述設計，纟實施例於實際使用日寺’具有以下所 述之優點： ⑴可以穩定地在高低起伏、顛簸地面上移動： 本發明藉由該第-、二重力方向感測器23、24的設置 ’該控制單元34即可以隨時偵測該電動輪椅3之上坡/下坡 傾斜度，而產生適當的控制信號給予該第一、二驅動電路 351、352 ’以分別調整該第一、二馬達321、322至適當的 轉速而供上坡時產生足夠動力，下坡時降低動力供給以 避免速度過决’進而令該電動輪椅3於高低起伏、颠疲不 15Referring to FIG. 5, when the rod body 221 has not applied an external force, it is located at an initial central position. When the user controls the electric wheelchair to uphill/downhill, turn, and advance and retreat, the (4) 221 is pushed away from the Initial central position 'At this time, the returning spring milk that is put on the rod body 221 will elastically deform and accumulate (four) spring restoring force until the user no longer pushes the rod body 221 to keep the 'return spring 223 release The elastic recovery force is used to interlock the rod body day 221 to return to the initial central position. In this way, when the user relaxes the rod body 221, the electric wheelchair 3 is forced to be no longer changed by &# + | Move to ensure security on the use. With the above design, the embodiment has the following advantages in practical use of the Japanese temple: (1) It can stably move on the high and low undulations and bumpy ground: The first and second gravity direction sensors 23 of the present invention, The setting of the control unit 34 can detect the slope of the upper/downhill slope of the electric wheelchair 3 at any time, and generate appropriate control signals to the first and second driving circuits 351, 352' to adjust the first The two motors 321 and 322 generate sufficient power for the upward rotation when the vehicle is uphill, and reduce the power supply when the downhill slope is used to avoid the speed stagnation, which in turn causes the electric wheelchair 3 to fluctuate and fall.
再者，隨著使用者扳動該桿體221之幅度，其第一重 力方向感測器23的電壓值會產生不同程度的改變，藉此方 式，該控制單元34即可得知（Χ1 —χ2) 、（γι_γ2^電壓 值幅度，倘若幅度愈大，即代表第一、二馬達321、322的 1309564 疋、地面移動時，也能夠保持穩定。 (2)麵控精密性較佳： 由於本發明所使用的第—一 於三維方向產生傾斜時，—力方向感測器23、24 控制單元34對- # f F ^值會相對改變，並藉由該 u卞/υ μ對二維電壓々 • ^ ^ m l. 订運异以產生精確的控制j全辦 柯=知方向控制器11之線圈-旦產生傾斜，該電動； 椅1的控制單元無法_是否為坡度㈣，導: =動力不Μ過多；相較之下，本發明所使用的第-二 重力方向感測器23、24可pb舌；Η « 了由重力判斷是否為爬坡狀態，以 感應使用者扳動該桿體221的擺動幅度，而令該電動輪椅3 可以作出動力補償’提高該電動輪椅3的操控精密性。 轉速更須提高，使得該電動輪椅3不僅可以精確轉向，而 且也可以提高轉向、以及前進後退的速度。 (3)安全性較高： 當使用者放鬆該杯體221後’該復歸彈簀223即合釋 放所積蓄的彈簧回復力’以連動該桿體221回歸至該初始 中央位置，藉此方式，當使用者放鬆該桿體221後，即可 強迫該電動輪椅不再移動，確保使用上的安全性。 再者，當該控制單元34偵測到該第—、二重力方向感 測器23、24所偵測的Ζ軸電壓值Zl、Ζ2過大或過小時， 16 1309564 縣制單7L 34即可传知該電動輪椅本身發生傾倒或是該桿 發生斷裂現象，以致於產生不合理的Z1、Z2電麼值 ，此時’該控制單元34即可暫停該第一、二馬達32ι、奶 之運轉，切斷該杨輪椅3之動力供給，使得該電動輪椅3 不再移動，提高該電動輪椅3的操縱安全性。 (4)體積小、不易耗電： 本1明所使用的第一、二重力方向感測器23 ' 24，即 為其所屬技術領域中具有通常知識者所熟悉的g __，盆 組裝非常方便、尺寸體積非常微小（約為6鄭45麵），;斤 以可以有效縮小本發明方向速度控制裝置2的整體體積； 反硯習知方向控制H u必須要設置多個上、下感應線圈 U5、113 ’並且每一線圈都佔有一定體積，故習知方向控制 器11的整體體積勢必較為龐大。 再加上該第一、二重力方向感測器23、24可以在低供 給電流的狀況下正常運作（典型運作電流是5〇〇" A)，所以 具有不易耗電、低功率的優點。 參閱圖7,本發明方向速度控制裝置2的第二較佳實施 例，大致類似於前述第一較佳實施例，不同之處在於：該 第一重力方向感測器23係設置於該桿體221的下端部2211 〇 藉由上述設計，當操作該桿體221時，該第一重力方 向感測器23之轉向方向是反向於該握把222之轉向方向， 再配合參閱圖6，本實施例之控制單元34是送出相反於（χ1 一X2)、（Y1 — Y2)的電壓變化值正負號的控制信號，也就是 17 1309564 說y遺著該第-重力方向感測器23之設置位置變換，該控 制單元34也會更改内部設定值。 詳細論之，倘若為（X1 —Χ2)為正值，於該第一較佳每 施例中該㈣單元34會送出右轉㈣《，在本實施例^ 該控制單元34就會送出左轉控制訊號，反之(m2)為負 值’在本實施财該控鮮元34就會送出右轉控制訊號；、 倘右為(Y1 Υ2)為正值’於該第一較佳實施例中該控制單Moreover, as the user pulls the amplitude of the rod 221, the voltage value of the first gravity direction sensor 23 changes to a different extent. In this way, the control unit 34 can know (Χ1 - Χ2), (γι_γ2^ voltage value amplitude, if the amplitude is larger, it means that the first and second motors 321, 322, 1309564 疋, the ground can also maintain stability. (2) better surface control precision: due to When the first one used in the invention is tilted in the three-dimensional direction, the force direction sensors 23, 24 control unit 34 will relatively change the -#f F ^ value, and the two-dimensional voltage is applied by the u 卞 / υ μ 々• ^ ^ m l. Ordering to produce precise control j full 柯 = know the direction of the controller 11 coil - once the tilt, the electric; the control unit of the chair 1 can not be _ slope (four), guide: = The power is not too much; in contrast, the first-two gravity direction sensors 23, 24 used in the present invention can pb tongue; Η « is determined by gravity to determine whether it is a climbing state, in order to sense the user to pull the rod The amplitude of the swing of the body 221, so that the electric wheelchair 3 can make power compensation 'increasing the electric The precision of the operation of the wheelchair 3 is increased. The speed of the electric wheelchair 3 is increased, so that the electric wheelchair 3 can not only accurately steer, but also improve the steering speed and the speed of forward and backward. (3) High safety: when the user relaxes the cup body After 221, the returning magazine 223 releases the stored spring restoring force 'to regain the rod body 221 to return to the initial central position. In this way, when the user relaxes the rod body 221, the electric motor can be forced. The wheelchair is no longer moved to ensure the safety of use. Moreover, when the control unit 34 detects that the x-axis voltages Z1 and Ζ2 detected by the first and second gravity direction sensors 23 and 24 are too large or too large Hours, 16 1309564 County order 7L 34 can know that the electric wheelchair itself has dumped or the pole has broken, so that the unreasonable value of Z1 and Z2 is generated. At this time, the control unit 34 can be suspended. The first and second motors 321 and the milk are operated to cut off the power supply of the Yang wheelchair 3, so that the electric wheelchair 3 is no longer moved, and the steering safety of the electric wheelchair 3 is improved. (4) Small size and low power consumption : Ben 1 Ming used The first and second gravity direction sensors 23' 24, that is, the g__ which is familiar to those of ordinary skill in the art, is very convenient to assemble and has a very small size (about 6 Zheng 45 faces); In order to effectively reduce the overall volume of the directional speed control device 2 of the present invention; the conventional directional control H u must be provided with a plurality of upper and lower induction coils U5, 113 ' and each coil occupies a certain volume, so it is known The overall volume of the direction controller 11 is inevitably large. In addition, the first and second gravity direction sensors 23, 24 can operate normally under low supply current conditions (typical operating current is 5 〇〇 " A), Therefore, it has the advantages of being difficult to consume electricity and low power. Referring to FIG. 7, a second preferred embodiment of the directional velocity control device 2 of the present invention is substantially similar to the first preferred embodiment described above, except that the first gravity direction sensor 23 is disposed on the shank. The lower end portion 2211 of the 221 is configured to prevent the steering direction of the first gravity direction sensor 23 from being opposite to the steering direction of the grip 222 when the lever body 221 is operated, and referring to FIG. The control unit 34 of the embodiment sends a control signal that sends a sign of the voltage change value opposite to (χ1 - X2), (Y1 - Y2), that is, 17 1309564 says that the setting of the first-gravity direction sensor 23 is left. The position change, the control unit 34 also changes the internal set value. In detail, if (X1 - Χ 2) is a positive value, in the first preferred embodiment, the (4) unit 34 will send a right turn (four) ", in this embodiment, the control unit 34 will send a left turn. Control signal, and vice versa (m2) is a negative value. In this implementation, the control unit 34 sends a right turn control signal; if the right is (Y1 Υ 2), the value is 'in the first preferred embodiment. Control order
元34會送出前進控制訊號，在本實施例中該控制單元μ 就會送出後退控制訊號，反之（γι — γ2)為負值，在本實施 例中该控制單元34就會送出前進控制訊號。 至於本實施例仍是相同於前述第一較佳實施例，藉由 “控制單it 34 時偵測該第一、二重力方向感測$ 、24 於三維方向的電壓值，以進行運算產生適當的控制信號， 傳送至該第-、二驅動電路351、352，藉以分別驅動該第 一、二馬達321、322，而控制該電動輪椅3之上坡/下坡、 f向，以及前進/後退；因此，本實施例所能達成之功效， 疋相同於前述第—較佳實施例所載之功效，故在此不再加 以贅'述。 歸納上述’本發明電動輪椅3之方向速度控制裝置2, 藉由上述没計，不僅可以穩定地在高低起伏、顛簸地面上 移動，而且也具有操控精密性較佳、安全性較高、體積小 、不易耗電等優勢，所以確實能夠達到本發明之目的。The unit 34 sends a forward control signal. In this embodiment, the control unit μ sends a back control signal, whereas (γι - γ2) is a negative value. In this embodiment, the control unit 34 sends a forward control signal. The present embodiment is still the same as the first preferred embodiment described above, and the voltage value in the three-dimensional direction is detected by the first and second gravity directions by controlling the single it 34 to perform an operation. Control signals are transmitted to the first and second driving circuits 351 and 352 to drive the first and second motors 321, 322, respectively, to control the upper/downward slope, the f-direction, and the forward/backward movement of the electric wheelchair 3 Therefore, the effects that can be achieved by the present embodiment are the same as those described in the foregoing first preferred embodiment, and therefore will not be described herein. The above-mentioned directional speed control device for the electric wheelchair 3 of the present invention is summarized. 2, by the above, not only can stably move on the high and low undulations, bumps on the ground, but also has the advantages of better handling precision, high safety, small size, and low power consumption, so it is indeed possible to achieve the present invention. The purpose.
It以上所述者’僅為本發明之較佳實施例而已，當不 月匕以此限定本發明實施之範圍，即大凡依本發明申請專利 18 1309564 範圍及發明說明内容 Μ，^ ^㈣之間早的核變化與修飾，皆仍 屬本發明專利涵蓋之範圍内。 白仍 【圖式簡單說明】 圖1是-立體圖，說明習知電動輪椅 方向控制器； 、/、上的 圖2是一立體圖，說明習知方向控制器之構造·， 圖3是一系統架構圖，說明本發明電動輪椅之方 度控制裝置之第-較佳實施例，其與電動輪 架構關係； 分偁仟的 圖4是一側視剖視圖，說明該第—較佳實施例的租八 剖視態樣； σ 圖5是-立體圖，說明該第一較佳實施例的第一 '二 重力方向感測器的配置關係； ® 6是-架構流程示意圖，說明該第一較佳實施例的 控制信號產生方式；及 圖7是-側視剖視圖，說明本發明電動輪椅 < 方向速 度控制裝置之第二較佳實施例。 19 1309564 【主要元件符號說明】 2 方向速度控制裝 32 動力單元 置 321 第一馬達 21 基座 322 第二馬達 22 搖桿單元 33 車輪單元 221 桿體 331 左後輪 2211 下端部 332 左前輪 222 握把 333 右後輪 223 復歸彈簧 334 右前輪 23 第一重力 方 向 感 34 控制單元 測器 35 電路單元 24 第二重力 方 向 感 351 第一驅動電路 測器 352 第二驅動電路 3 電動輪椅 20The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, that is, the scope of the invention and the description of the invention according to the present invention, ^^(4) Early nuclear changes and modifications are still within the scope of the invention patent. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing a conventional electric wheelchair direction controller; FIG. 2 is a perspective view showing a configuration of a conventional direction controller, and FIG. 3 is a system architecture. The figure shows a first preferred embodiment of the power control device for an electric wheelchair according to the present invention, which is related to the electric wheel structure; FIG. 4 is a side cross-sectional view showing the rented eight of the first preferred embodiment. FIG. 5 is a perspective view showing the configuration relationship of the first 'two-gravity direction sensor of the first preferred embodiment; FIG. 5 is a schematic diagram of the architecture flow, illustrating the first preferred embodiment A control signal generation method; and Fig. 7 is a side cross-sectional view showing a second preferred embodiment of the electric wheelchair & directional speed control device of the present invention. 19 1309564 [Description of main components] 2 Directional speed control unit 32 Power unit setting 321 First motor 21 Base 322 Second motor 22 Rocker unit 33 Wheel unit 221 Rod body 331 Left rear wheel 2211 Lower end 332 Left front wheel 222 Grip Returning 333 right rear wheel 223 to spring 334 Right front wheel 23 First gravity direction sense 34 Control unit detector 35 Circuit unit 24 Second gravity direction sense 351 First drive circuit detector 352 Second drive circuit 3 Electric wheelchair 20