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CN-122005228-A - Ramp speed compensation method and device for electric booster wheelchair, wheelchair and medium

CN122005228ACN 122005228 ACN122005228 ACN 122005228ACN-122005228-A

Abstract

The application relates to the technical field of electric power-assisted wheelchairs. The application discloses a ramp speed compensation method, a ramp speed compensation device, a ramp speed compensation wheelchair and a ramp medium for an electric power wheelchair, which can realize real-time speed adjustment of the electric power wheelchair during transition between a flat ground and a ramp surface, so that the handle speed of the wheelchair is consistent with the speed of a driving wheel, and the comfort of a pusher for manipulating the wheelchair is improved. The ramp speed compensation method of the electric power assisting wheelchair comprises the steps of obtaining initial target speed and speed compensation quantity of the electric power assisting wheelchair, calculating the initial target speed and the speed compensation quantity by adopting a first preset algorithm to obtain corrected target speed, and adjusting the speed of rear wheels of the electric power assisting wheelchair based on the corrected target speed.

Inventors

  • ZHU CHI

Assignees

  • 深圳技术大学

Dates

Publication Date
20260512
Application Date
20251231

Claims (10)

  1. 1. A ramp speed compensation method for an electric booster wheelchair, comprising: Acquiring an initial target speed and a speed compensation quantity of the electric power-assisted wheelchair; Calculating the initial target speed and the speed compensation quantity by adopting a first preset algorithm to obtain a corrected target speed; And adjusting the speed of the rear wheel of the electric power assisted wheelchair based on the corrected target speed.
  2. 2. The ramp speed compensation method of an electric assist wheelchair according to claim 1, wherein the initial target speed acquisition step includes: Obtaining the thrust received by a handle of the electric power-assisted wheelchair; And calculating the thrust by adopting a second preset algorithm to obtain the initial target speed.
  3. 3. The ramp speed compensation method of an electric assist wheelchair according to claim 2, wherein the thrust is calculated by a second preset algorithm, and the calculation formula of the step of obtaining the initial target speed is: ; ; Wherein, the Is the initial target speed; Is the thrust force; is virtual damping; is the base of natural logarithms; is the current moment; Is a time constant; is the virtual mass of the electric power assisting wheelchair.
  4. 4. The ramp speed compensation method of an electric assist wheelchair according to claim 1, wherein the speed compensation amount obtaining step includes: acquiring the initial angular velocity of the electric power-assisted wheelchair; And calculating the initial angular velocity by adopting a third preset algorithm to obtain the velocity compensation quantity.
  5. 5. The method of claim 4, wherein the step of obtaining an initial angular velocity of the electric assist wheelchair comprises: Directly measuring the angular velocity of the rear wheel by adopting a Hall element of a brushless motor in the electric power-assisted wheelchair to obtain the initial angular velocity of the electric power-assisted wheelchair; or the encoder of the driving motor of the electric power-assisted wheelchair is adopted to directly measure the angular velocity of the rear wheel, so as to obtain the initial angular velocity of the electric power-assisted wheelchair.
  6. 6. The ramp speed compensation method of an electric power wheelchair according to claim 1, wherein the calculation of the initial target speed and the speed compensation amount by using a first preset algorithm is performed by the following calculation formula of the step of obtaining a corrected target speed: ; Wherein, the Is the corrected target speed; Is the initial target speed; is the velocity compensation amount.
  7. 7. The ramp speed compensation method of an electric assist wheelchair according to claim 1, characterized in that after the step of adjusting the speed of the rear wheels of the electric assist wheelchair based on the corrected target speed, the ramp speed compensation method of an electric assist wheelchair further comprises: performing angular velocity conversion processing on the corrected target velocity by adopting a fourth preset algorithm to obtain a target angular velocity of the rear wheel; Generating a motor drive signal based on the target angular velocity; and controlling the rotating speed of the rear wheel by adopting a motor driving signal.
  8. 8. A ramp speed compensation device for an electric booster wheelchair, comprising: the initial target speed and speed compensation quantity acquisition module is used for acquiring the initial target speed and speed compensation quantity of the electric power wheelchair; the calculation module is used for calculating the initial target speed and the speed compensation quantity by adopting a first preset algorithm to obtain a corrected target speed; And the adjusting module is used for adjusting the speed of the rear wheel of the electric power assisting wheelchair based on the corrected target speed.
  9. 9. The electric power-assisted wheelchair is characterized by comprising a vehicle body, a driving assembly, a first force sensing mechanism, a second force sensing mechanism, an inertia measuring unit and a control assembly, wherein the driving assembly comprises two front wheels, two rear wheels and two driving motors, one driving motor is connected with one rear wheel, the other driving motor is connected with the other rear wheel, all front wheels and all rear wheels are rotatably connected with the vehicle body, the first force sensing mechanism is arranged at a left handle in the vehicle body, the second force sensing mechanism is arranged at a right handle in the vehicle body, the inertia measuring unit and the control assembly are arranged in the vehicle body, and the control assembly comprises a microcontroller and a memory, the memory is used for storing a computer program, and the microcontroller is used for calling and running the computer program stored in the memory to execute the steps of the electric power-assisted ramp speed compensation method according to any one of claims 1 to 7; The microcontroller is electrically connected with the inertial measurement unit, the first force sensing mechanism, the second force sensing mechanism and all driving motors.
  10. 10. A computer-readable storage medium storing a computer program for causing a computer to execute the steps of the ramp speed compensation method of the electric power wheelchair according to any one of the preceding claims 1 to 7.

Description

Ramp speed compensation method and device for electric booster wheelchair, wheelchair and medium Technical Field The application relates to the technical field of electric power-assisted wheelchairs. More particularly, the present application relates to a ramp speed compensation method, apparatus, wheelchair and medium for an electric assist wheelchair. Background Existing push-assist wheelchairs (ATTENDANT-Propelled Power-ASSIST WHEELCHAIR, APAW) basically control wheelchair speed by detecting force applied by a pusher, thereby reducing the pushing load. However, when the push type power-assisted wheelchair enters a slope from a flat ground or returns to the flat ground from the slope, the push type power-assisted wheelchair generates angular velocity change due to the fact that the front wheel and the rear wheel of the push type power-assisted wheelchair are not on the same plane, so that the handle velocity of the push type power-assisted wheelchair is inconsistent with the velocity of the driving wheel, a blocking sense or a pulling sense is generated by a pusher, and comfort of the pusher for manipulating the wheelchair is reduced. Disclosure of Invention The application aims to provide a ramp speed compensation method, a ramp speed compensation device, a ramp speed compensation wheelchair and a ramp medium for an electric power-assisted wheelchair, which can realize real-time speed adjustment of the electric power-assisted wheelchair during transition between a flat ground and a slope so as to enable the handle speed of the wheelchair to be consistent with the speed of a driving wheel and improve the comfort of a pusher for manipulating the wheelchair. The embodiment of the application is mainly realized by the following technical scheme: In a first aspect of the embodiment of the present application, a ramp speed compensation method for an electric power wheelchair is provided, including: Acquiring an initial target speed and a speed compensation quantity of the electric power-assisted wheelchair; Calculating the initial target speed and the speed compensation quantity by adopting a first preset algorithm to obtain a corrected target speed; And adjusting the speed of the rear wheel of the electric power assisted wheelchair based on the corrected target speed. According to one embodiment of the present application, the step of obtaining the initial target speed includes: Obtaining the thrust received by a handle of the electric power-assisted wheelchair; And calculating the thrust by adopting a second preset algorithm to obtain the initial target speed. According to an embodiment of the present application, the calculating process is performed on the thrust by using a second preset algorithm, and a calculation formula of the step of obtaining the initial target speed is: ; ; Wherein, the Is the initial target speed; Is the thrust force; is virtual damping; is the base of natural logarithms; is the current moment; Is a time constant; is the virtual mass of the electric power assisting wheelchair. According to an embodiment of the present application, the step of obtaining the velocity compensation amount includes: acquiring the initial angular velocity of the electric power-assisted wheelchair; And calculating the initial angular velocity by adopting a third preset algorithm to obtain the velocity compensation quantity. According to one embodiment of the present application, the step of obtaining the initial angular velocity of the electric assist wheelchair includes: Directly measuring the angular velocity of the rear wheel by adopting a Hall element of a brushless motor in the electric power-assisted wheelchair to obtain the initial angular velocity of the electric power-assisted wheelchair; or the encoder vehicle adopting the driving motor of the electric power-assisted wheelchair directly measures the angular velocity of the rear wheel to obtain the initial angular velocity of the electric power-assisted wheelchair. According to an embodiment of the present application, the calculation formula of the step of obtaining the corrected target speed by calculating the initial target speed and the speed compensation amount using a first preset algorithm is: ; Wherein, the Is the corrected target speed; Is the initial target speed; is the velocity compensation amount. According to an embodiment of the present application, after the step of adjusting the speed of the rear wheels of the electric power assist wheelchair based on the corrected target speed, the ramp speed compensation method of the electric power assist wheelchair further includes: performing angular velocity conversion processing on the corrected target velocity by adopting a fourth preset algorithm to obtain a target angular velocity of the rear wheel; Generating a motor drive signal based on the target angular velocity; and controlling the rotating speed of the rear wheel by adopting a motor driving signal. In a second aspect of th