CN106264910A - A kind of general electric wheelchair control system - Google Patents

Abstract

The invention discloses a kind of general electric wheelchair control system, including the controller for user operation, for sending control instruction according to operation information to slave unit；Receive the report information of slave unit, point out when report information exception；Monitoring and the communications status of slave unit, when communication abnormality, turn off the power supply of abnormal slave unit and point out abnormal information；And for being connected with server communication；Slave unit includes driver, and the instruction for sending according to controller controls power source and works, and monitors the duty of power source in real time, when abnormal state, controls power source and quits work.The present invention has perfect fault and detects treatment mechanism in real time, and simple in construction is directly perceived, has expansibility, perfect in shape and function, can be communicated with server by communication module.And the present invention's is compatible wide, and driver can drive brushless electric machine or brush motor, it is possible to meets use demand and the design requirement of producer of multiple user.

Description

A kind of general electric wheelchair control system

Technical field

The present invention relates to electric walk instead vehicle control, especially a kind of general electric wheelchair control system.

Background technology

Along with social senilization aggravates, and the raising of people's income level, electric wheelchair and electric bicycle are continuous Start to enter among people's lives.But electric wheelchair system stability the most on the market is poor, can not when breaking down Accurately trouble unit and fault message are fed back to user, and does not possess and the function of external communication, it is impossible to be enough in real time by electricity The work state information of wheelchair feeds back away, and, electric wheelchair common on market and electric bicycle are with brush motor It is main, is equipped with the control system of brush accordingly, have brush control system to pass through for a long time through development for many years, stability Checking, and cost is relatively low.But there is brush control system because the characteristic issues of brush motor, there is bigger the asking of power consumption Topic, limits course continuation mileage, and heavier-weight.In order to pursue portability, promote course continuation mileage, preferably adapt to the need of user Asking, current electric wheelchair and electric bicycle the most progressively carry out transition to brushless electric machine and brushless control system.But, at present On market, wheelchair controller system versatility is poor, is generally both for vehicle customization, and function is limited to, it is impossible to expand；Electricity simultaneously Wheelchair is the demand meeting user, and when needing additionally to install additional other functional parts, original controller cannot meet functions expanding Demand.

Summary of the invention

Goal of the invention: the defect existed for above-mentioned prior art, it is desirable to provide a kind of general electric wheelchair Control system, compatible wide, system structure is simple, can expand other functional modules according to the demand of user.

Technical scheme: a kind of general electric wheelchair control system, including:

For the controller of user operation, for sending control instruction according to operation information to slave unit；Receive subordinate portion The report information of part, points out when report information exception；Monitoring and the communications status of slave unit, when communication abnormality, Turn off the power supply of abnormal slave unit and point out abnormal information；And for being connected with server communication；

Described slave unit includes driver, and the instruction for sending according to controller controls power source and works, and in real time The duty of monitoring power source, when abnormal state, controls power source and quits work；

Power source, for providing power for electric wheelchair.

Further, described controller is connected by CAN with slave unit.

Further, described controller includes:

Acquisition module, for gathering the operation information of user and feed back to controller MCU module, it include Hall remote pole or Button；

Display module, for display reminding information；

Voice module, is used for reporting information of voice prompt；

Controller MCU module, sends control according to the information of acquisition module to energy supply control module and described driver and refers to Order；

Energy supply control module, for providing power supply for each module of controller, and controls according to the instruction of controller MCU module The on/off of driver；

Communication module, for communicating with slave unit and server.

Further, described controller MCU module is additionally operable to obtain in real time the positional information of Hall remote pole, and according to suddenly You compare the duty drawing Hall remote pole by the position factory-said value of rocking bar, stop carrying out the manipulation information of Hall remote pole simultaneously Conversion, until Hall remote pole recovers normal condition.

Further, described controller MCU module is additionally operable to obtain button in real time and persistently presses temporal information, when detecting When exceeding default time threshold, prompting button exception also stops gathering the operation information of button feedback.

Further, described controller MCU module is additionally operable to send heartbeat packet to each slave unit, and each slave unit connects Receive and reply heartbeat packet, if the continuous multiple heartbeat packet of controller MCU module do not receive reply, pointing out this slave unit fault And turn off the power supply of this fault slave unit.

Further, described communication module is that USB interface, bluetooth, GSM mobile communication, 3G mobile communication, 4G move logical One or more in letter, 2.4GHz radio communication, 5.8GHz radio communication, 433MHz radio communication.

Further, described communication module is one or more in GSM, 3G mobile communication, 4G mobile communication, and communicate mould Block is also associated with satellite positioning module, and described satellite positioning module selects GPS, Galilean satellite alignment system, big-dipper satellite fixed One or more in position system, GLONASS global position system.

Further, described driver includes:

Driver MCU module, to relay module and drives module to send instruction for the control instruction according to controller； Receive and process driver temperature detecting module and the detection information of current sample module, when detecting Information abnormity, to relay Device module sends on/off instruction, the most also this abnormal information is sent to controller；

Relay module, for controlling to drive module and the power supply of breaker module according to the instruction of driver MCU module Break-make；

Driving module, work for the order-driven power source according to driver MCU module, it includes driving pipe；

Breaker module, brakes when power-off；

Temperature detecting module, drives the temperature parameter of pipe in detection drives module in real time, and is sent to driver MCU Module；

Current sample module, for detecting driving module, the duty of described power source and being sent to driver MCU mould Block.

Further, described power source includes brush motor or brushless electric machine.

Further, when described power source includes brushless electric machine, described driver also includes Hall detection module, is used for The level signal of conversion brushless motor Hall sensor；Driver MCU module obtains brushless electricity in real time by Hall detection module The connection status of machine, and the shutoff of control relay module drives the power supply of module notification controller to carry when connecting abnormal Show.

Further, described breaker module is by driving pipe U10 to be driven, and the PIN35 that driver MCU module is drawn draws Foot one control signal of output, when PIN35 pin is in unsettled, resistance R32 is connected to GND ground connection so that audion Q4's Base stage is in low level state, and audion Q4 disconnects, and drives the control foot of pipe U10 to be in high level state through resistance R18, drives Dynamic pipe U10 disconnects；When PIN35 pin is in high level state, the base stage of audion Q4 is similarly in high potential state, three poles Pipe Q4 turns on, and resistance R18 and resistance R28 forms a bleeder circuit so that drives pipe U10 to control foot and is in low-potential state, Drive pipe U10 conducting；PIN35 exports a PWM modulation signal；BREAK_L point and resistance R24, R30, R22, D7, C14, D5, D8 forms a testing circuit；When breaker module is closed, BREAK_L point is obtained one by resistance R22, R24, R30 dividing potential drop High level signal；When PIN35 pin is not modulated in breaker module adhesive simultaneously, BREAK_OUTL point is in low level, BREAK_L point detection is low；When PIN32 pin is modulated, BREAK_L point is i.e. sampled and is obtained corresponding modulation voltage.

Further, being off in brake, when needing adhesive, PIN35 output is higher than maintaining adhesive dutycycle Signal, dutycycle is more than 50%, and is progressively incremented by with the time interval in the range of 1ms～100ms, increment value 1%～ Between 15%, until BREAK_L detection relay is in attracting state, then dutycycle is reduced to the maintenance adhesive of brake Value, maintains pickup value in the range of 1%～50%；When brake is in attracting state, when needing to disconnect, by dutycycle from maintenance Pickup value reduces to 0%, and brake disconnects.

Further, described current sample module monitors power source operating current in real time by PIN38 pin, when work electricity The stream lasting C second, driver MCU module judged that power source is locked rotor condition more than D ampere-hour, controls relay module shutoff and drives Power supply the notification controller MCU module of module are pointed out；When PIN38 pin detects that operating current is more than E ampere-hour, drive Dynamic device MCU module is judged as that power source is over-current state, disconnects relay module power supply, activates brake, and notification controller Point out；Wherein C is more than 10, and D is more than 1, and E is more than D.

Further, described controller is also associated with battery, and controller gathers the magnitude of voltage BAT_A of battery through formula (1) Obtaining voltage output value BAT_OUT after filtering is stable, controller obtains according to voltage output value BAT_OUT and shows the electricity of battery Amount:

$BAT\_OUT=\frac{BAT\_OUT\×(AVG\_T-AVG\_D)+BAT\_A\×AVG\_D}{AVG\_T}---\left(1\right)$

Filtering average AGV_T be the arbitrary value more than 1, filter weights AVG_D be less than AGV_T more than 0 arbitrary value, AGV_T is the biggest, and AVG_D is closer to 1, and the change for BAT_A suppresses the strongest, and output valve is the most stable.

Beneficial effect: the invention provides a kind of general electric wheelchair control system, there is perfect fault and detect in real time Treatment mechanism, controller can monitor in real time the communication connection status with slave, detect self, driver and power source The duty of each components interior, cuts off corresponding power supply in time when communication failure or duty exception, circuit design has Corresponding protective measure, it is possible to protection system, and prevent the abnormal operation caused due to equipment fault, then avoid danger The accident of evil user occurs.Present configuration simple, intuitive, is had expansibility, perfect in shape and function, can be connected by communication module To network, communicating with server, can not only add alignment system can also be by the positional information of occupant and Electric Motor Wheel The all parts duty real-time synchronization of chair is sent to external equipment or client to server；And the compatibility of the present invention Extensively, driver can drive brushless electric machine or brush motor, it is possible to meets the use demand of multiple user and the design need of producer Ask.

Accompanying drawing explanation

Fig. 1 is electrical control system structure schematic diagram in the present invention；

Fig. 2 is electric-control system composition schematic diagram in the present invention；

Fig. 3 is that middle controller of the present invention forms schematic diagram；

Fig. 4 is middle controller internal structure block diagram of the present invention；

Fig. 5 is middle controller power module Part I schematic diagram of the present invention；

Fig. 6 is middle controller power module Part II schematic diagram of the present invention；

Fig. 7 is middle controller power module Part III schematic diagram of the present invention；

Fig. 8 is middle controller power module Part IV schematic diagram of the present invention；

Fig. 9 is middle controller CAN module schematic diagram of the present invention；

Figure 10 is middle controller display module schematic diagram of the present invention；

Figure 11 is middle controller Hall remote pole module diagram of the present invention；

Figure 12 is middle controller communication module USB interface schematic diagram of the present invention；

Figure 13 is middle controller communication module converting interface schematic diagram of the present invention；

Figure 14 is middle controller communication module gsm module schematic diagram of the present invention；

Figure 15 is middle controller key-press module schematic diagram of the present invention；

Figure 16 is middle controller voice module schematic diagram of the present invention；

Figure 17 is middle controller electric power detection module diagram of the present invention；

Figure 18 is activation configuration block diagram in the present invention；

Figure 19 is driver Hall module diagram in the present invention；

Figure 20 is driver temperature detecting module schematic diagram in the present invention；

Figure 21 is driver breaker module schematic diagram in the present invention；

Figure 22 is driver drives module half-H-bridge schematic diagram in the present invention；

Figure 23 is driver drives module drive brushless electric machine schematic diagram in the present invention；

Figure 24 is driver drives module drive brush motor schematic diagram in the present invention；

Figure 25 is driver relay module schematic diagram in the present invention；

Figure 26 is driver current sampling module schematic diagram in the present invention；

Figure 27 is four kinds of fault detects and responding process schematic diagram in the present invention；

Figure 28 is Hall fault detect schematic diagram in the present invention；

Figure 29 is button fault detect schematic diagram in the present invention；

Figure 30 is driver drives module detection schematic diagram in the present invention；

Figure 31 is that medium power source of the present invention connects detection schematic diagram；

Figure 32 is medium power source of the present invention rotation-clogging protection schematic diagram.

Detailed description of the invention

Below by a most preferred embodiment and combine accompanying drawing the technical program is described in detail.

As it is shown in figure 1, a kind of general electric wheelchair control system, including supplying the controller 1 of user operation, driver 3, moving Power source, battery and the slave of other extensions.Controller 1 is as the core component of electric-control system, and it provides for slave One enables signal, controls slave on/off, sends control instruction by CAN to slave simultaneously.Battery Power supply is provided for whole electric-control system.Driver 3 is controlled by controller 1, and battery is controlled by the enable signal that controller 1 sends, Driver MCU is analyzed in CAN from the instruction of controller 1 simultaneously and performs corresponding action.Power source is controlled by driving Device 3.

Controller 1 is all connected by CAN with slave unit rather than is connected by serial ports, it is possible to outside avoiding the need for The situation that when connecing multiple equipment, serial ports is not enough.Controller 1 is connected to driver 3 by controller 1 lead-out wire 2 as shown in Figure 2, Containing power cable in cable, enable signal cable, CAN communication cable.Power source contains two motors and passes through power source respectively Connecting line 4 is connected in driver 3.Battery is connected to driver 3 by a battery connecting line 5.

Controller 1 is for sending control instruction according to operation information to slave unit；Receive the report information of slave unit, Point out when report information exception；Monitoring and the communications status of slave unit, when communication abnormality, turn off slave unit Power supply also points out abnormal information；And be connected with server communication；

Described slave unit includes driver 3, and the instruction for sending according to controller 1 controls power source work, and real Time monitoring power source duty, including its rotating speed, electric current etc., when abnormal state, control power source quit work；Simultaneously It is also directed to self circuit and carries out self-inspection；

Other slave units can be added according to practical situation, such as big lamp controller 1, Massage part, assist control Parts, auxiliary communication component etc., the slave unit including driver 3 can connect multiple.

Power source, for providing power for electric wheelchair, power source includes brush motor or brushless electric machine.

Controller 1 is as the core of control system, and it can discharge an enable signal and be uniformly controlled the electricity of other equipment Source break-make, simultaneously can be by CAN transmission control instruction to slave.Controller 1 directly passes through battery component power taking, Control self with a shift knob, the on/off of self can be controlled.Driver 3 is subordinated to controller 1, also directly from Battery component power taking, its power supply is controlled by controller 1, and inside can control drive part on/off containing a relay. Power source is driven by driver 3.Electric-control system still can be by CAN and enable signal, the coordinating of power supply, Ke Yituo Open up other ancillary equipment.

Controller 1 includes acquisition module, display module, voice module, controller MCU module, energy supply control module, communication Module, is the most a part explosive view of controller 1 as shown in Figure 3.Controller 1 is broadly divided into three parts, and one is Upper shell assembly, one is lower house assembly, and one is to draw wire harness, i.e. controller 1 lead-out wire 2.Upper shell assembly contain with Lower part, controller 1 upper shell 6, Hall remote pole protection rubber cap 7, Hall remote pole support 8, Hall remote pole 9, silica gel push-button 10, Usb 11, USB interface dust plug 12, circuit board assembly 13.Lower house assembly contains following part, controller 1 lower house 14, speaker 15, gsm module 16, charging inlet 17, SIM dust plug 18, window panel 19, liquid crystal display screen 20.

It is the structured flowchart of the present embodiment middle controller 1 as shown in Figure 4.Controller 1 internal core is controller MCU mould Block, controller MCU module can be STM32F10x series with type selecting, GD32F10x series.Power module provides electricity for controller 1 Source, for slave unit provide power supply enable signal, controller MCU module can control the on/off within controller 1 and The on/off of slave.Electric power detection module can detect current battery level or current status etc., for controller MCU The battery electric quantity that module estimation is current.Display module, voice module, key-press module, Hall remote pole module composition controller 1 Man-machine interaction part, display module and voice module for feeding back the duty of current electric-control system, button mould to user Block and Hall remote pole module are for gathering the action that user is current.CAN module, communication module constitute the communication of controller 1 Part.CAN module is for communicating with the equipment within electric-control system.Communication module is mainly used in leading to ancillary equipment Letter, in this kind of controller 1, communication module contains USB interface and gsm module 16, and USB interface is for leading to commissioning device Letter, gsm module 16 is used for being connected to the Internet.

Controller MCU module, sends control according to the information of acquisition module to energy supply control module and described driver 3 and refers to Order；STM32F10X series or GD32F10X that controller MCU module is selected are serial.

Energy supply control module, for providing power supply for each module of controller 1, and according to the instruction control of controller MCU module The on/off of driver 3 processed；As shown in Figure 5 be the battery supply 5V mu balanced circuit of controller 1 energy supply control module, and Switching on and shutting down boostrap circuit, switching on and shutting down button detection circuit.Energy supply control module is mainly responsible for controller 1 and provides series of power 24V, 5V, 3.3V power supply, and control the on/off of other equipment.Wherein VBB is battery supply；Wherein D3 is a TVS bis- Pole is managed, the surge in time suppressing power supply to connect；D1 is a unilateral diode, is used for preventing electric current from pouring in down a chimney to battery；Device U1 is 5V voltage-stabilizing device, and its No. 1 foot is input pin, and No. 5 feet are for enabling foot, and No. 3 feet are GND, and No. 4 feet are feedback foot, and No. 2 feet are Output pin, No. 2 feet are connected to L1 inductance, D2 diode, and L1 rear class connects a C1 electric capacity, a C2 electric capacity.No. 4 foot feedback feet Between be connected to output 5V voltage.It is connected to No. 1 foot of U1, battery electricity through a unilateral diode after cell voltage input The pressure input other end connects TVS diode D3, is used for suppressing surge.R1、R2、R3、R6、R7、R9、R10、R11、R12、 R13, S1, C4, C5, C9, Q1, Q2, Q3 constitute a switching on and shutting down boostrap circuit, when pressing S1 through R6, R10, R1, the base of Q1 Pole is in a high potential state, and Q1 turns on, and R2, R3 form a bleeder circuit, is that No. 5 feet of U1 enable, therefore can give U1 No. 5 feet one of short duration enable signal is provided so that U1 provides voltage output an active controller MCU, controller MCU logical Crossing use PIN1 locking and enable signal so that U1 has lasting power supply to export, controller MCU can also be current by PIN2 detection The state of S1；When S1 presses simultaneously, Q3 base stage is in high potential state so that Q3 turns on, and at PIN2 and low-potential state, MCU can The state of S1 to be detected.After Q1 turns on, U1 will export a voltage, after controller MCU module powers on, be exported by PIN1 One high potential is to the base stage of Q2 so that Q2 turns on, and makes U1 be continuously in enabled state.U1, D2, L1, C1, C2 constitute one Mu balanced circuit, U1 carrys out, by the signal that enables of No. 5 feet, the output state that controller 1 is current, by No. 4 feet feedback and D2, L1, C1, C2 coordinate, from No. 2 foot one 5V voltage of output.U2, C7, C6, C8 constitute a 3.3V mu balanced circuit.U3, R5, R8, D4 structure Becoming mono-section of connection battery supply of a power control circuit U3, No. 3 feet that controller MCU module controls U3 by PIN3 realize U3 The signal break-make of No. 1 foot OUT1, OUT1 is connected to other slaves.U4 is mainly used in the power supply voltage stabilizing of external communication device With control, controller MCU module carries out the control of on/off by PIN4, and No. 5 feet of U4 are used for exporting 3.3V voltage.Such as figure 6 show controller 1 energy supply control module 5V voltage voltage stabilizing 3.3V circuit, and No. 1 foot of U2 is GND, and No. 2 feet and No. 4 feet are electricity Source output pin, No. 3 feet are power supply input pin, and C6, C7, C8 are the electric capacity of U2 peripheral matched.

It is illustrated in figure 7 controller 1 energy supply control module slave unit power supply signal to control.No. 1 foot of U3 is that signal is defeated Go out foot, one D4 diode of peripheral configuration, export a model to slave.No. 2 feet are GND, and No. 3 feet draw for controlling input Foot, is connected to the PIN3 that controller MCU module is drawn, No. 4 foot power input pin, and the level of this pin will export to No. 1 foot.

It is illustrated in figure 8 controller 1 energy supply control module external communications equipment power supply voltage stabilizing and control circuit.No. 4 of U4 Foot is unsettled, does not uses.No. 1 foot is power supply input, herein one 5V level of input.No. 2 feet are connected to GND.No. 3 feet are Enabling signal, the voltage stabilizing that controller MCU module controls U4 by the PIN4 drawn enables.No. 5 feet are voltage stabilizing output, export herein One 3.3V level.

Communication module, for communicating with slave unit and server.Communication module include USB interface, bluetooth, WIFI, GSM mobile communication, 3G mobile communication, 4G mobile communication, 2.4GHz radio communication, 5.8GHz radio communication, 433MHz penetrate One or more in frequency communication.Selecting gsm communication mode in the present embodiment, communication module connects satellite positioning module, institute State satellite positioning module and select GPS, Galilean satellite alignment system, big-dipper satellite alignment system, GLONASS satellite fix system One or more in system.

It is illustrated in figure 9 controller 1CAN communication module.No. 1 foot and No. 4 feet of U5 are CAN signal input pin, respectively It is connected to PIN5 and PIN6 that controller MCU module is drawn.No. 2 feet are GND pin, and No. 3 feet are supply pin, connect 5V herein, 2 Connect a C3 decoupling capacitor number between foot and No. 3 feet.No. 8 foot RS the most do not use and are connected to GND.No. 5 feet do not use Unsettled.No. 6 feet are CANL output, and No. 7 feet are CANH output, have a R4 build-out resistor, connect simultaneously between No. 7 feet and No. 6 feet Connect the two-way TVS diode of U13, for protecting electrostatic, surge to U5, the impact of CAN.

Display module, for display reminding information, is controller 1 display module as shown in Figure 10.U6 is display module liquid Brilliant interface, liquid crystal interface is broadly divided into several part, respectively controls interface, data-interface, power interface, and backlight lamp control connects Mouthful.Control interface and mainly have No. 7 of CS, RS, WR, RD, RESET, respectively U9, No. 8, No. 9, No. 10, No. 31 pins, be connected to PIN7, PIN8, PIN9, PIN10, PIN12 pin that controller MCU module is drawn.DB0～DB15 is the data-interface of liquid crystal, It is connected to the FSMC interface module of controller MCU module, corresponding FSMC0～FSMC15 pin.LED、LEDK1、LEDK2、 Corresponding No. 16 to No. 20 pins of LEDK3, LEDK4 are backlight lamp control interface, LEDK1～LED4 connects after connecting R46～R49 resistance It is connected to GND, LEDA and exports a DAC signal by the PIN11 of controller MCU module, for controlling the power of backlight.No. 5 Foot, No. 34 feet are connected to GND.No. 6 feet, No. 32 feet, No. 33 feet are connected to 3.3V power supply.Other pins are unsettled not to be attached.

Acquisition module, for gathering the operation information of user and feeding back to controller MCU module, it includes Hall remote pole 9 With button；Controller MCU module obtains the positional information of Hall remote pole 9 in real time and compares with the position factory-said value of Hall remote pole 9 Draw the duty of Hall remote pole 9, carry out prompting when abnormal state abnormal, stop the letter of the manipulation to Hall remote pole 9 simultaneously Breath is changed, until Hall remote pole 9 recovers normal condition；When controller MCU module collect button persistently press the time surpass When crossing the time threshold preset, prompting button exception also stops gathering the operation information of button feedback.

It is controller 1 Hall remote pole module as shown in figure 11.P2 is the interface of Hall remote pole 9, No. 2 feet of interface and No. 3 Foot is power interface, and periphery is furnished with C26, C27, D6.Controller MCU module is drawn pin PIN13, PIN13 and is used for detecting Hall The X-axis of rocking bar 9 and Y-axis.If controller MCU module is the work of 5V reference voltage, then can directly gather Hall remote pole 9 Signal.If controller MCU module is 3.3V benchmark, then need by level shifting circuit (R43, R44, R35, C28, C29 With R50, R51, R55, C30, C31), it is that 3.3V scope internal medicine detects level by 5V level conversion.

It is controller 1 communication module USB interface as shown in figure 12.J3 is USB2.0 standard interface, and No. 1 foot is that power supply draws Foot, No. 1 foot is connected to a F1 electric fuse, and electric fuse type selecting is 500mA herein, meets the design standard of USB 2.0 interface.4 Number foot is connected to GND.No. 2 feet, No. 3 feet are the data pin of USB interface, are connected to controller MCU mould by R17, R44 resistance PIN15, PIN16 pin that block is drawn.PIN15, PIN16 pin is multiplexing pins, can as the data pin of USB interface, Can also draw as common serial ports pin, use as serial ports pin herein.

It is controller 1 communication module converting interface as shown in figure 13.U7 can transfer multiple data module, as bluetooth module, GSM mobile communication module, WIFI module, 3G mobile communication module, 4G mobile communication module, GPS module etc., PIN17, PIN18, PIN19, PIN20, PIN21 can use as common serial ports pin, SPI pin, I2C pin.In this kind of controller 1, turn Interface is to gsm module 16.

It is controller 1 communication module gsm module 16 structured flowchart as shown in figure 14.GSM is turned by controller 1 communication module Interface connects, and its energy supply control module is controlled by controller 1.Its core is by GSM chip and SIM, the coordinating of antenna, it is achieved The data of electric-control system, after coordinating with controller MCU module, can be uploaded onto the server by the connection of the Internet in real time.Simultaneously Gsm module 16 can realize architecture function, facilitates cloud server to know current electric-control system position.GSM chip GU906, SIM808, SIM908, GU906, SIM900 series, SIM800 series, NEO-6M series, MT250x system can be selected Row.

It is controller 1 key-press module as shown in figure 15.Have employed typical key press detecting circuit, button S3 one end is connected to The PIN26 that controller MCU module is drawn, the other end is connected to GND.It is connected to 3.3V power supply by resistance R52 at PIN26, when When S3 disconnects, PIN26 is in high potential state, and when pressing S3, PIN26 becomes low level state.

Voice module, is used for reporting information of voice prompt, is controller 1 voice module as shown in figure 16.U8 is that voice is deposited Storage chip, U9 is power amplifier chips.No. 7 feet and No. 5 feet of U8 are divided into 3.3V power supply and GND；No. 6 feet and No. 1 foot is unsettled does not uses； No. 8 feet are the output pin of DAC signal；Control for control pin, controller MCU module PIN22, the PIN23 drawn for No. 2, No. 3 System, PIN22 is data pin, carries data to phonetic storage chip, and PIN23 is reset pin.No. 4 feet are status pin, control Whether device MCU module processed is in busy condition by PIN24 detection U8.No. 2, No. 3, No. 4 pins be directly connected to R15, R16, R38 Resistance.U9 is power amplifier chips, and its peripheral connection with R14, R39, R40, R42, C23, C24, C25 forms power amplifier, and J1 is for raising Sound device.No. 1 foot of U9 may be used for controlling the switch of power amplifier, is controlled by the PIN25 of controller MCU module, at PIN25 When being in vacant state, No. 1 foot connects and 5V level through R14, is in high potential state, i.e. closed mode, when PIN25 exports During electronegative potential, power amplifier is in opening.

It is controller 1 electric power detection module as shown in figure 17.The main bleeder circuit formed by R54, R57, then pass through R56, C33 cooperatively form a divided current circuit, and the PIN27 pin having controller MCU module to draw carries out sample detecting.

Driver 3 include driver MCU module, relay module, driving module, breaker module, temperature detecting module, Current sample module, Hall detection module

It is driver 3 structured flowchart as shown in figure 18.The power supply of its power module is introduced by outside, and power supply is controlled by simultaneously The enable signal that controller 1 provides.The CAN that the CAN module of driver 3 is drawn with controller 1 is connected, and receives from control The instruction of device 1.Driver MCU module is the control core of controller 1, and it is chosen as STM32F10x system class, GD32F10x system Class.Relay module power supply is from power module, and it is controlled by driver MCU module.Drive module, Hall detection module, system Dynamic device module, temperature detecting module, current sample module composition drive part, a driver 3 is containing two drive parts. Drive part power supply is controlled by relay module, and signal is controlled by driver MCU module.Drive part will connect motor, drive Motor works, and feeds back the duty of motor.

Driver MCU module, to relay module and drives module transmission to refer to for the control instruction according to controller 1 Order；Receive and process driver 3 temperature detecting module and the detection information of current sample module, when detecting Information abnormity, to Relay module sends on/off instruction, the most also this abnormal information is sent to controller 1；

Hall detection module, for changing the level signal of brushless motor Hall sensor；Driver MCU module is by suddenly Your detection module obtains the connection status of brushless electric machine in real time, and notification controller 1 is pointed out when connecting abnormal.Such as Figure 19 It show driver 3 Hall detection module.As Hall remote pole 9 circuit, can under driver MCU module is 5V base case With directly sampling, when driver MCU module is 3.3V benchmark, by level shifting circuit, hall signal need to be converted to 3.3V Level signal scope.PIN28, PIN29, PIN30 of being drawn by driver MCU module detect herein.

Temperature detecting module detects in real time and drives the temperature parameter of pipe in driving module and send to driver MCU module, Driving pipe to use metal-oxide-semiconductor in the present embodiment, those skilled in the art also may select other and drive pipe, and current sample module collection is driven Dynamic component and the link information of brushless electric machine also send to driver MCU module, and driver MCU module is driving the temperature mistake of pipe High, driver part controls relay module shutoff when connecting fault or brushless electric machine connection fault and drives the power supply of module and notify Controller MCU module is pointed out.It is driver 3 temperature detecting module as shown in figure 20.Temperature detecting module, core is R19 Critesistor, R19 Yu R29 forms a bleeder circuit, MCU draw PIN31 and carry out sample detecting.

Breaker module, as shown in figure 21, brakes when power-off；Breaker module, by driving pipe U10 to be driven, drives PIN35 pin one control signal of output that dynamic device MCU module is drawn, when PIN35 pin is in unsettled, resistance R32 connects To GND ground connection so that the base stage of audion Q4 is in low level state, audion Q4 disconnects, and drives the control foot of pipe U10 to pass through Resistance R18 is in high level state, drives pipe U10 to disconnect；When PIN35 pin is in high level state, the base of audion Q4 Pole is similarly in high potential state, and audion Q4 turns on, and resistance R18 and resistance R28 forms a bleeder circuit so that drive pipe U10 controls foot and is in low-potential state, drives pipe U10 conducting；PIN35 exports a PWM modulation signal；BREAK_L point and electricity Resistance R24, R30, R22, D7, C14, D5, D8 form a testing circuit；When breaker module is closed, BREAK_L point is by resistance R22, R24, R30 dividing potential drop obtains a high level signal；When PIN35 pin is not modulated in breaker module adhesive simultaneously, BREAK_OUTL point is in low level, and BREAK_L point detection is low；When PIN32 pin is modulated, BREAK_L point is i.e. sampled Obtain corresponding modulation voltage；Unlike common brake circuit, in order to avoid common brake direct drive mode Bring bigger noise, be modulated driving here with U10.Regular situation, can directly use an audion directly to carry out Switch drive, brings bigger noise so can to the adhesive of brake.In order to reduce noise, and point out Consumer's Experience, braking Device module will realize special modulation system by U10.Being off in brake, when needing adhesive, PIN35 will export One higher than maintain adhesive dutycycle signal, dutycycle be more than 50%, and with the time interval in the range of 1ms～100ms by Step is incremented by, and dutycycle, between 1%～15%, until BREAK_L detection relay is in attracting state, is then dropped by increment value For the maintenance pickup value of brake, maintain pickup value in the range of 1%～50%.When brake is in attracting state, need disconnected When opening, by dutycycle from maintaining pickup value to reduce to 0%, brake can be made to disconnect.Through actual test and contrast, use this Plant particular modulation scheme, less than traditional modulation system noise.

Driving module, work for the order-driven power source according to driver MCU module, it includes driving pipe；Such as figure 22 show driver 3 drives module half-H-bridge circuit.Half-H-bridge main circuit V1, V2 to be had are driven circuit, and V1 is for controlling half H The driving pipe of bridge on bridge, V2 position controls the driving pipe of bridge under half-H-bridge.When PIN32 is high level when, Q7 turns on, the base of Q5 Pole is in low level state, and due to float during the S pole tension of V1,15V voltage passes through boostrap circuit electric capacity effect so that V1's Voltage difference between G pole and S pole is 15V, so that V1 conducting.Q6 is to provide afterflow in the moment that V1 closes.When PIN33 is low During level, Q11 turns on, and the base stage of Q9 is in low-potential state, and Q9 turns on, 15V voltage-drop loading between the G pole and S pole of V2, this Time V2 conducting, simultaneously the bootstrap capacitor of V1 by V2 formed loop, to oneself capacitances to supply power of V1.The effect of Q10 is that V2 closes Moment provide afterflow.

The schematic diagram of brushless electric machine is driven as shown in figure 23 for driver 3.When driving module to be connected to brushless electric machine, need The phase angle that Hall detection module to be passed through detection brushless electric machine is current, and then control the break-make of half-H-bridge.As worked as when Hall detection When front brushless electric machine is 1 phase angle, upper bridge A and lower bridge B turns on, and other turn off, and when for 2 phase angle, upper bridge B leads with lower bridge C Logical, other turn off, and the corresponding relation of phase angle and upper and lower bridge is according to the actual winding mode of motor, Hall element installation site certainly Fixed.

The schematic diagram of brush motor is driven as shown in figure 24 for driver 3.When driving module to be connected to brush motor, no Need Hall detection module to work, drive half-H-bridge in module only to need work two-way.As when upper bridge A and lower bridge B turns on, having Brush motor main story, when upper bridge B and lower bridge A turns on, brush motor inverts.

Relay module, for controlling to drive module and the power supply of breaker module according to the instruction of driver MCU module Break-make；It is driver 3 relay module as shown in figure 25.Relay U11 outfan U11B one end connects cell voltage, the other end It is connected to drive modular power source.PIN34 is for controlling the break-make of Q8, and when PIN34 is in vacant state, the control foot of Q8 passes through R62 is pulled low to GND, Q8 and is off, and during disconnection, U11A control foot is unsettled, and relay output end U11B disconnects.At PIN34 When high level during state, Q8 turns on, and Control end U11A is in low level state, relay output end U11B adhesive.

Current sample module, for detecting driving module, the duty of described power source and being sent to driver MCU mould Block.It is driver 3 current sample module as shown in figure 26.U12, U13 are two operational amplifiers, drive module three by gathering The differential signal of individual half-bridge output phase line, processes the size of current that i.e. can obtain phase line, by single-chip microcomputer through operational amplifier PIN35, PIN36, the PIN37 drawn carries out the collection of phase line current.Unilateral battery output can also be gathered average by U13A Electric current and the bus current of driver 3 parts, have PIN38, PIN39 to sample.

In order to the safety and reliability in view of electric-control system, controller 1 and driver 3 are passed through to closely cooperate, for Whole electric-control system carries out the monitoring of instantaneous operating conditions.The monitoring of duty relates generally to several aspect, people in controller 1 The duty of machine interactive portion, the duty of driver 3, the duty of power source, the duty of battery component.

Controller 1 is as the core of whole electric-control system, and during Working Status Monitoring, main responsibility has 3 points, and one Being to point out fault by voice module and display module to user, two is the inspection being controlled device 1 internal module by MCU Surveying, three is that controller MCU module to monitor the work shape of subordinate in the way of each slave unit sends heartbeat packet by CAN State, each slave unit receives and replys heartbeat packet, and the duty that slave carries out therein module by MCU is supervised Control, by the reply situation of heartbeat packet, controller 1 judges that slave is the most online.Driver 3 belongs to one of slave unit.If The continuous multiple heartbeat packet of controller MCU module do not receive reply and then point out this slave unit fault and turn off this fault subordinate portion The power supply of part.

If driver 3 runs into and breaks down in drive part or power source breaks down, will directly control relay Module disconnects drive part power supply, and reports controller 1 by CAN.Driver 3, if there is other faults, causes nothing Method completes with controller 1 to communicate, and whether will be had response by controller 1 by heartbeat packet, it is judged that the state of driver 3, specifically , controller 1, by the form with heartbeat packet, heartbeat packet frequency, in the range of 10HZ～10000HZ, inquires that each is connected to CAN The working condition of slave unit in bus, the collection self or self of each slave unit drives the duty of equipment, with sound Information is fed back to controller 1 by CAN by the form answering heartbeat packet.If the continuous several heartbeat packet of slave unit are not rung Should, controller 1, it can be assumed that slave unit occurs abnormal, can coordinate U4 to turn off the power supply of slave unit by PIN4, prevent Uncontrollable kinestate is brought to electric wheelchair because of the exception that slave unit is occurred.

Controller 1 is reported upon receipt of the exception from slave unit, or controller 1 detects the man-machine friendship of self Part occurs abnormal mutually, or controller 1 continuous several times is not received by slave unit, U6 will be driven to be core by MCU The display module of the heart, and U8, U9 be the voice module of core, demonstrates corresponding exception or fault icon, sends corresponding Exception or fault cues sound, inform the current exception of user or malfunction.

As shown in figure 27, in the case of listing above-mentioned four kinds, the reply response of controller 1 and driver 3 after fault generation Flow process.Controller 1 and driver 3 are specific as follows for the method for each fault detect:

Controller 1 is for the duty inspection of man-machine interaction part, mainly for Hall remote pole 9 part and button portion Point.

If Figure 28 is Hall remote pole 9 fault detect.Hall remote pole 9, partly because its Hall property, is using the long period After, or closely disturbed (as electric magnet is close) by extremely strong magnetic field, the sampled value of Hall remote pole 9 may be caused shadow Ring, cause the uncontrollable motion of electric wheelchair.In order to avoid there is this time situation, controller 1 dispatches from the factory for the first time start During inspection, can be sampled in the middle position of Hall remote pole 9, be recorded as X_MID Yu Y_MID (if Hall remote pole 9 exists Z, then Still need to the Z_MID that samples), and write in the inside FLASH of MCU.The most every time all can be to Hall remote pole 9 current state value during start Contrast with X_MID, Y_MID (Z_MID) of storage, if current state value and storage value difference value (A in the range of-A～+A Model according to Hall remote pole 9 can be the value in 1～1000, and A is the sampled value under 12 AD, becomes if AD sampling precision sends Changing, equal proportion is changed by difference range), then explanation Hall remote pole 9 is normal, if outside scope, then explanation Hall remote pole 9 is different Often, need to calibrate or change.When Hall remote pole 9 occurs abnormal, MCU will shield Hall remote pole 9, force to assert that Hall shakes Bar 9 output valve is in middle position, it is ensured that electric wheelchair does not produce any abnormal motion, and continues to monitor Hall remote pole 9, until Hall Rocking bar 9 sampled value is recovered to range of error, just can release shielding.

If Figure 29 is the fault detect of button.Key part mainly has controller MCU directly to detect, if button is held Continue and be in the down state time more than the B second (B is the value more than or equal to 1, determines according to practical situation), then identification button is gone out Now abnormal, by the corresponding function of shielding button, until after button recovers release conditions, releasing shielding.

The duty of battery is mainly monitored by controller 1.The controller 1 electricity electricity by PIN27 and Figure 17 Slowdown monitoring circuit, collects the magnitude of voltage BAT_A of present battery parts, due to direct sampled value can because AD sample self error with And battery voltage when different loads can fluctuate, BAT_A can follow above 2 reasons and produce certain fluctuation, if directly Connect and the value of BAT_A is exported to display module, can be to user with certain puzzlement.Inspection is proposed in order to promote user, we Using a filtering algorithm to export to display module after the value of BAT_A being stablized after filtering, controller 1 gathers the electricity of battery again Pressure value BAT_A obtains voltage output value BAT_OUT after formula (1) filtering is stable, and controller 1 is according to voltage output value BAT_ OUT is calculated and be shown the electricity of battery:

$BAT\_OUT=\frac{BAT\_OUT\×(AVG\_T-AVG\_D)+BAT\_A\×AVG\_D}{AVG\_T}---\left(1\right)$

AGV_T is the arbitrary value more than 1, and AVG_D is that AGV_T is the biggest, and AVG_D is more less than the AGV_T arbitrary value more than 0 Close to 1, the change for BAT_A suppresses the strongest, and output valve is the most stable.

The duty detection of driver part is primarily directed to be realized by current sample.As shown in figure 30, drive Device 3 is for driving the inspection of module.When driver part starts, each half-bridge can be carried out detection and guarantee that half-bridge device is just working Often.As a example by the half-bridge of Figure 22, making PIN33 is high level, exports a high level pulse by PIN32, and utilizes PIN35 pair This road phase current is sampled, if it find that sample rate current is relatively big, then explanation V2 damages.Making PIN32 is low level, and PIN33 is defeated Go out a low level pulse, continue with PIN35 and this road direction electric current is sampled, if it find that sample rate current is relatively big, then say Bright V1 damages.

As shown in figure 31, for the detection connected for motor when power source.During for brushless electric machine, can be by reading Hall The signal value of detection module, judges whether brushless electric machine connects, if the signal value that PIN28, PIN29, PIN30 read is all Be 0, then explanation brushless electric machine is not connected with.When there being brush component to start running, by PIN35, PIN36, PIN37 for three tunnel phases Line carries out current sample, limits work mutually if there is in correspondence, and single electric current is less, when almost 0, illustrate the damage of this phase of motor or It is that this phase line connects extremely, motor running will be stopped in time.When power source is brush motor, will be by driving module drive After, utilize current sample module detection phase line current to identify whether motor connects, if, driver part start drive after, Current sample is the least, when almost 0, illustrates that brush motor is not connected with or connects appearance extremely.

As shown in figure 32, for driver 3 for the rotation-clogging protection of power source.Meanwhile, when power source normally works, electric current Sampling module monitors power source operating current in real time by PIN38 pin, when operating current continues the C second more than D ampere-hour, driving Device MCU module judges that power source is locked rotor condition, controls relay module and turns off power supply the notification controller MCU driving module Module is pointed out；When PIN38 pin detects that operating current is more than E ampere-hour, and driver MCU module is judged as that power source is Over-current state, disconnects relay module power supply, activates brake, and notification controller 1 is pointed out；Wherein C is more than 10, and D is big In 1, E is more than D.

Claims (15)

1. a general electric wheelchair control system, it is characterised in that including:

For the controller (1) of user operation, for sending control instruction according to operation information to slave unit；Receive slave unit Report information, point out when report information exception；Monitoring and the communications status of slave unit, when communication abnormality, close The power supply of disconnected abnormal slave unit also points out abnormal information；And for being connected with server communication；

Described slave unit includes driver (3), and the instruction for sending according to controller (1) controls power source work, and real Time monitoring power source duty, when abnormal state, control power source quit work；

Power source, for providing power for electric wheelchair.

General electric wheelchair control system the most according to claim 1, it is characterised in that described controller (1) and subordinate Parts are connected by CAN.

General electric wheelchair control system the most according to claim 1, it is characterised in that described controller (1) including:

Acquisition module, for gathering the operation information of user and feed back to controller MCU module, it include Hall remote pole or by Key；

Display module, for display reminding information；

Voice module, is used for reporting information of voice prompt；

Controller MCU module, sends control according to the information of acquisition module to energy supply control module and described driver (3) and refers to Order；

Energy supply control module, for providing power supply for controller (1) each module, and controls according to the instruction of controller MCU module The on/off of driver (3)；

Communication module, for communicating with slave unit and server.

General electric wheelchair control system the most according to claim 3, it is characterised in that described controller MCU module is also For the positional information of acquisition Hall remote pole in real time, and draw Hall remote pole according to comparing with the position factory-said value of Hall remote pole Duty, carries out prompting abnormal, stops changing the manipulation information of Hall remote pole simultaneously when abnormal state, until suddenly You recover normal condition by rocking bar.

General electric wheelchair control system the most according to claim 3, it is characterised in that described controller MCU module is also Persistently press temporal information in real time obtaining button, when detect exceed default time threshold time, prompting button is abnormal the most also Stop gathering the operation information of button feedback.

General electric wheelchair control system the most according to claim 3, it is characterised in that described controller MCU module is also For sending heartbeat packet to each slave unit, each slave unit receives and replys heartbeat packet, if controller MCU module is the most Individual heartbeat packet does not receives reply and then points out this slave unit fault and turn off the power supply of this fault slave unit.

General electric wheelchair control system the most according to claim 3, it is characterised in that described communication module is that USB connects Mouth, bluetooth, WIFI, GSM mobile communication, 3G mobile communication, 4G mobile communication, 2.4GHz radio communication, 5.8GHz radio communication, One or more in 433MHz radio communication.

General electric wheelchair control system the most according to claim 7, it is characterised in that described communication module is GSM, 3G One or more in mobile communication, 4G mobile communication, communication module is also associated with satellite positioning module, described satellite fix mould Block select the one in GPS, Galilean satellite alignment system, big-dipper satellite alignment system, GLONASS global position system or Multiple.

General electric wheelchair control system the most according to claim 1, it is characterised in that described driver (3) including:

Driver MCU module, to relay module and drives module to send instruction for the control instruction according to controller (1)； Receive and process driver (3) temperature detecting module and the detection information of current sample module, when detecting Information abnormity, Xiang Ji Electrical appliance module sends on/off instruction, and this abnormal information is the most also sent to controller (1)；

Relay module, for controlling to drive module and the on/off of breaker module according to the instruction of driver MCU module；

Driving module, work for the order-driven power source according to driver MCU module, it includes driving pipe；

Breaker module, brakes when power-off；

Temperature detecting module, drives the temperature parameter of pipe in detection drives module in real time, and is sent to driver MCU mould Block；

Current sample module, for detecting driving module, the duty of described power source and being sent to driver MCU module.

General electric wheelchair control system the most according to claim 1, it is characterised in that described power source includes brush Motor or brushless electric machine.

11. general electric wheelchair control systems according to claim 10, it is characterised in that when described power source includes nothing During brush motor, described driver (3) also includes Hall detection module, for changing the level letter of brushless motor Hall sensor Number；Driver MCU module obtains the connection status of brushless electric machine in real time by Hall detection module, and controls when connecting abnormal Relay module turns off and drives the power supply of module notification controller (1) to point out.

12. general electric wheelchair control systems according to claim 9, it is characterised in that described breaker module is by driving Dynamic pipe U10 is driven, and PIN35 pin one control signal of output that driver MCU module is drawn, when PIN35 pin is in Time unsettled, resistance R32 is connected to GND ground connection so that the base stage of audion Q4 is in low level state, and audion Q4 disconnects, and drives The control foot of dynamic pipe U10 is in high level state through resistance R18, drives pipe U10 to disconnect；When PIN35 pin is in high level During state, the base stage of audion Q4 is similarly in high potential state, and audion Q4 turns on, and resistance R18 and resistance R28 forms one Bleeder circuit so that drive pipe U10 to control foot and be in low-potential state, drive pipe U10 conducting；PIN35 exports a PWM Signal；BREAK_L point forms a testing circuit with resistance R24, R30, R22, D7, C14, D5, D8；When breaker module is closed Time, BREAK_L point is obtained a high level signal by resistance R22, R24, R30 dividing potential drop；As breaker module adhesive PIN35 simultaneously When pin is not modulated, BREAK_OUTL point is in low level, and BREAK_L point detection is low；When PIN32 pin is modulated Time, BREAK_L point is i.e. sampled and is obtained corresponding modulation voltage.

13. general electric wheelchair control systems according to claim 12, it is characterised in that be in disconnection shape in brake State, when needing adhesive, PIN35 output is more than 50% higher than the signal of maintenance adhesive dutycycle, dutycycle, and with 1ms～100ms In the range of time interval be progressively incremented by, increment value between 1%～15%, until BREAK_L detection relay be in adhesive State, then reduces to the maintenance pickup value of brake by dutycycle, maintains pickup value in the range of 1%～50%；Work as brake Being in attracting state, when needing to disconnect, by dutycycle from maintaining pickup value to reduce to 0%, brake disconnects.

14. general electric wheelchair control systems according to claim 9, it is characterised in that described current sample module is led to Cross PIN38 pin and monitor power source operating current in real time, when operating current continues the C second more than D ampere-hour, driver MCU module Judge that power source is locked rotor condition, control relay module shutoff and drive the power supply of module notification controller MCU module to carry out Prompting；When PIN38 pin detects that operating current is more than E ampere-hour, and driver MCU module is judged as that power source was stream shape State, disconnects relay module power supply, activates brake, and notification controller (1) is pointed out；Wherein C is more than 10, and D is more than 1, E More than D.

15. general electric wheelchair control systems according to claim 1, it is characterised in that described controller (1) is also connected with Having battery, controller (1) gathers the magnitude of voltage BAT_A of battery and obtains voltage output value BAT_ after formula (1) filtering is stable OUT, controller (1) obtains and shows the electricity of battery according to voltage output value BAT_OUT:

$BAT\_OUT=\frac{BAT\_OUT\×(AVG\_T-AVG\_D)+BAT\_A\×AVG\_D}{AVG\_T}---\left(1\right)$

Filtering average AGV_T be the arbitrary value more than 1, filter weights AVG_D be less than AGV_T more than 0 arbitrary value, AGV_T The biggest, AVG_D is closer to 1, and the change for BAT_A suppresses the strongest, and output valve is the most stable.