M443521 101年.10月22日按正替換頁 五、 [0001] [0002] 新型說明： 【新型所屬之技術領域】 本創作係有關於一種輪椅裝置，特別是指一種具轉 速控制之輪椅驅動裝置。 【先前技術】 早期的電動輪椅，乃將電池、馬達、摇桿及控制器 等動力控制裝置加裝在手動輪椅上，因此電動輪椅本身 機構完全與手動輪椅相同，並無考量相關人因介面、工 程及動力設計的匹配。直到80年代，基於中重度神經肌 肉病變使用者的需求、人因工程與坐姿擺位支撐的臨床 治療效益考量，才發展出動力底盤（Powered Chassis) 與靠背椅座分離的設計。神經肌肉病變患者、行動不便 的老人、中風病患、脊髓損傷導致下肢或四肢癱瘓之患 者等皆缺乏獨立行動之能力，因此輪椅成為他們主要的 曰常生活行動辅具。 現今電動輪椅係設置複數觸發開關於操作介面中， 且該些觸發開關分別位於操作介面中的不同控制方位， 以供使用者於控制方向搖桿時，藉由方向搖桿壓觸到觸 發開關，而產生對應之方向觸發訊號至電動輪椅控制器 ’以控制電動輪椅往方向搖桿之控制方向移動，但是上 述設計之該些觸發開關並無法精綠地感應該方向搖桿的 控制方位’再者，由於電動輪椅的使用族群大部分是因 為脊髓損傷、腦傷、中風、中重度腦性麻痺，而導致神 經肌肉控制異常，進而造成手功能不靈活 '行動不便、 坐姿不穩定及下肢癱瘓等情形發生，因此’不夠精確的 101213〇8产單編號 A0101 第3頁/共29頁 1013408300-0 L101年10月22日核正巷&頁 方向控制會造成使用者於操作電動輪椅時-- M443521 . 和拘何呻，甚為不便。 此外，若為了增加方向搖桿的控財位的料度，以增 加電動輪椅可控制的行進方向’即導致電動輪椅之操作 介面必須增加觸發開關的數目而設置在操作介面的、 方位，如此即增加電路之製作成本。 同 因此’為了解決上述之習用技術的缺點，現今多〜 廠商更進-步發展出-種新賴的操作方式，即在操作豕 面上設置不同速度等級與不同控制方向，以供使用者= 別控制電動輪椅的行進速度與行進方向，但是，为 動不便的使用者而言，新穎的操作方式過於 動不便的使用者餘很順利地使用電動輪椅，且仃 電路的運算方式及連接關係甚為複雜，如此亦造成3 之製作成本提高》 電路 有鑑於此’本創作提出—種具轉速控制之輪 裝置，其改善習知電動輪椅操作不便之問題， 的操作，因而使用者方便控制電動輪椅之行進方^與行 進速度，且電路簡單而可降低製作成本。 ' 【新型内容】 [0003] 本創作之主要目的，在於提供—種具轉速控制之輪 椅驅動裝置，其f㈣單而提供簡單操作，以方便 者控制輪椅裝置之行進方向與行進速度。 本創作之另—目的，在於提供-種具轉速控制之輪 椅騎裝置，其提㈣單電路，㈣低電路成本。 本創作係提供—種具轉速控制之輪椅驅動裝置，其 包含-控制輸人模組、—運算控制模組與—驅動電路。' 控制輪入模組設有—控制手把與一可一 10121308产單編蜣A〇l〇l 第4頁/共29頁 受電阻早兀，且該 1013408300-0 M443.521 101年.10月22日梭正替換頁 控制手把耦接該可變電阻單元，以藉由該可變電阻單元 依據該控制手把之控制方位改變電阻值而產生一控制輸 入訊號，該運算控制模組耦接該控制輸入模組，該運算 控制模組依據該控制輸入訊號判斷控制手把之控制方位 而對應產生一控制輸出訊號，該驅動電路係耦接該運算 控制模組、該左輪馬達與該右輪馬達，並接收該控制輸 出訊號，以依據該控制輸出訊號驅動該左輪馬達與該右 輪馬達而轉動。如此藉由簡化之電路，而提供簡易操作 而讓使用者方便控制輪椅裝置之行進方向與行進速度， 且因利用可變電阻單元產生控制輸入訊號，而讓本創作 之電路較為簡單，所以本創作之電路製作成本較低。 茲為使貴審查委員對本創作之結構特徵及所達成 之功效更有進一步之瞭解與認識，謹佐以較佳之實施例 圖及配合詳細之說明，說明如後： 【實施方式】 [0004] 請參閱第一圖，其為本創作之輪椅驅動裝置之一實 施例的方塊圖。如圖所示，本創作之輪椅驅動裝置10係 包含一控制輸入模組1 2、一運算控制模組14、一驅動模 組16、一右輪馬達18、一左輪馬達20。此外，本實施例 之輪椅驅動裝置10更進一步包含一感測模組22。控制輸 入模組12係包含一控制手把122、一可變電阻單元124， 並進一步包含一A/D(類比/數位）轉換單元126 ;運算控 制模組14係包含一運算處理單元142與一控制處理單元 144 ;驅動電路16包含一右驅動模組16a與一右驅動模組 16b，右驅動模組16a包含一右脈波寬度調變單元162a與 一右驅動單元164a，左驅動模組16b包含一左脈波寬度調 10121308^·^^^* A0101 第5頁/共29頁 1013408300-0 M443521 ιοί年10月22日修正替士頁 變單元162b與一左驅動單元164t^此外，感測模組以包 含一右輪感測單元222與一左輪感測單元224。 可變電阻單元124係耗接控制手把122與a/d轉換單 元126，且控制手把122之控制方位的改變係讓可變電阻 單元m改變電阻值，而對應產生一控制輸入訊號cin至 A/D轉換單元126 ’其中’控制手把122受使用者操控而 移動改變控制方位時，可變電阻單元124即會連動於控制 手把122的位移，而改變本身的電阻值，以對應產生控制 輸入訊號Cin，也就是控制手把122之控制方位會造成可 變電阻單元124改變電阻值，而產生對應之控制輸入訊號 Cin，且此控制輸入訊號Cin即表示使用者操作控制手把 122的控制方位。A/D轉換單元126用於轉換類比訊號格 式的控制輸入訊號Cin為數位訊號格式，並於轉換控制輸 入訊號Cin後，將轉換後之控制輸入訊號Cin輸出至運算 控制模組14。 運算控制模組14之運算處理單元14 2係接收a/d轉換 單元126所輸出之控制輸入訊號cin，且運算處理單元 142係依據控制輸入訊號Cin運算而判斷控制手把丨22之 移動角度與方位，而得知使用者操作控制手把122的控制 方位，且對應產生一指示訊號sindicate並傳送至控制處 理單元144，此指示訊號SINd丨cate用於指示控制處理單元 144控制右輪馬達18的轉速與左輪馬達20的轉速，以控制 輪椅裝置的行進速度及移動方向《運算控制模組14之控 制處理單元144依據該指示訊號SINMCATE產生對應之控制 輸出訊號Cout至驅動電路16。 驅動電路16之右脈波寬度調變單元162a與左脈波寬 1〇12ΐ308ί^•單编號 A0101 第6頁/共29頁 1013408300-0 M443521 101年.10月22日梭正替換頁 度調變單元162b係依據控制處理單元144所輸出之控制輸 出訊號Cout產生對應之一右驅動訊號Rdrv與一左驅動訊 號Ldrv並分別傳送至驅動電路16之右驅動單元164a與左 驅動單元164b，以讓右驅動電路164a與左驅動電路164b 分別依據右驅動訊號Rdrv與左驅動訊號Ldrv產生一第一 驅動電壓VI與一第二驅動電壓V2，而驅動右輪馬達18與 左輪馬達20，以帶動對應之輪椅裝置之右輪（圖未示）與 左輪（圖未示）轉動。再者，本實施例之驅動電路16可將 右脈波寬度調變單元162a與左脈波寬度調變單元162b整 合為一脈波寬度調變電路，並將右驅動單元164a與左驅 動單元164b整合為一驅動模組，抑或，分別將右驅動模 組16a與左驅動模組16b整合為一晶片。 此外，本實施例之感測模組22係設有右輪感測單元 222與左輪感測單元224 ;右輪感測單元222係耦接該右 輪馬達18並感測該右輪馬達18之該轉速，且對應產生一 右輪回授訊號至該運算控制模組14 ;左輪感測單元 224係耦接該左輪馬達20並感測該左輪馬達2 0之該轉速， 且對應產生一左輪回授訊號Lu至該運算控制模組14。因M443521 101. October 22nd, according to the replacement page 5, [0001] [0002] New description: [New technical field] This creation is related to a wheelchair device, especially a wheelchair drive with speed control . [Prior Art] In the early electric wheelchairs, the power control devices such as batteries, motors, joysticks, and controllers were installed in manual wheelchairs. Therefore, the electric wheelchair itself was completely the same as the manual wheelchair, and the relevant human interface was not considered. Matching of engineering and power design. It was not until the 1980s that based on the needs of users of moderate to severe neuromuscular lesions, the clinical therapeutic benefits of human factors engineering and sitting posture support, the design of the Powered Chassis and the seat back was developed. Patients with neuromuscular disease, elderly people with impaired mobility, stroke patients, and patients with spinal cord injuries leading to lower extremities or quadriplegia lack the ability to act independently, so wheelchairs are their main accompaniment to life. Nowadays, the electric wheelchair is provided with a plurality of trigger switches in the operation interface, and the trigger switches are respectively located in different control orientations in the operation interface, so that the user can press the trigger switch by the direction rocker when controlling the direction rocker. And generating a corresponding direction trigger signal to the electric wheelchair controller to control the electric wheelchair to move in the control direction of the direction rocker, but the trigger switches of the above design cannot accurately sense the control position of the direction rocker. Because the majority of the use of electric wheelchairs is due to spinal cord injury, brain injury, stroke, moderate to severe cerebral palsy, resulting in abnormal neuromuscular control, resulting in inflexible hand function, inconvenient movement, sitting instability and lower limb paralysis, etc. Therefore, 'Inaccurate 101213〇8 Production Order No. A0101 Page 3/Total 29 Page 1013408300-0 On October 22, L10, the nuclear positive lane & page direction control will cause the user to operate the electric wheelchair -- M443521 . It is very inconvenient to be worried. In addition, if the feed rate of the control wheel of the steering wheel is increased to increase the controllable travel direction of the electric wheelchair, the operation interface of the electric wheelchair must be increased by the number of trigger switches and the orientation of the operation interface. Increase the manufacturing cost of the circuit. Therefore, in order to solve the above-mentioned shortcomings of the conventional technology, many manufacturers nowadays have developed a new operation mode, that is, setting different speed grades and different control directions on the operation surface for users = Do not control the speed and direction of travel of the electric wheelchair. However, for the user who is inconvenient, the user who is too inconvenient to operate is very comfortable to use the electric wheelchair, and the calculation method and connection relationship of the circuit are very In view of the complexity, this also results in an increase in the production cost of the 3" circuit. In view of this, the present invention proposes a wheel control device with a rotational speed control, which improves the operation of the conventional electric wheelchair, and thus facilitates the user to control the electric wheelchair. The traveling speed and the traveling speed, and the circuit is simple, and the manufacturing cost can be reduced. 'New Content】 [0003] The main purpose of this creation is to provide a wheel chair drive with a speed control, which provides a simple operation for the convenience of controlling the direction and travel speed of the wheelchair device. Another purpose of this creation is to provide a wheel chair riding device with a speed control, which provides (4) a single circuit and (4) a low circuit cost. The creation department provides a wheelchair-driven device with a speed control, which comprises a control input module, an operation control module and a drive circuit. 'Control wheel module is provided - control handle and one can be a 10121308 production order 蜣A〇l〇l page 4 / 29 pages by the resistance early, and the 1013408300-0 M443.521 101 years.10 On the 22nd, the shuttle replacement page control handle is coupled to the variable resistance unit to generate a control input signal by the variable resistance unit changing the resistance value according to the control orientation of the control handle. The operation control module is coupled. Connected to the control input module, the operation control module determines a control orientation of the control handle according to the control input signal to generate a control output signal, and the driving circuit is coupled to the operation control module, the left wheel motor and the right And receiving the control output signal to drive the left wheel motor and the right wheel motor to rotate according to the control output signal. Thus, by simplifying the circuit, the simple operation is provided to allow the user to conveniently control the traveling direction and the traveling speed of the wheelchair device, and the circuit of the creation is made simple by using the variable resistance unit to generate the control input signal, so the creation is simple. The circuit is cheaper to manufacture. In order to give your reviewers a better understanding and understanding of the structural features and the efficacies of the creation, please refer to the preferred embodiment diagram and the detailed description as follows: [Embodiment] [0004] Referring to the first figure, it is a block diagram of one embodiment of a wheelchair drive device of the present invention. As shown, the wheelchair drive device 10 of the present invention comprises a control input module 2, an arithmetic control module 14, a drive module 16, a right wheel motor 18, and a left wheel motor 20. In addition, the wheelchair driving device 10 of the embodiment further includes a sensing module 22. The control input module 12 includes a control handle 122, a variable resistance unit 124, and further includes an A/D (analog/digital) conversion unit 126; the operation control module 14 includes an operation processing unit 142 and a The control circuit unit 144 includes a right drive module 16a and a right drive module 16b. The right drive module 16a includes a right pulse width modulation unit 162a and a right drive unit 164a. The left drive module 16b Include a left pulse width adjustment 10121308^·^^^* A0101 Page 5/29 page 1013408300-0 M443521 ιοί October 22 revision of the singer page change unit 162b and a left drive unit 164t^ In addition, sensing The module includes a right wheel sensing unit 222 and a left wheel sensing unit 224. The variable resistance unit 124 consumes the control handle 122 and the a/d conversion unit 126, and controls the change of the control orientation of the handle 122 to cause the variable resistance unit m to change the resistance value, and correspondingly generates a control input signal cin to The A/D conversion unit 126 'where the control handle 122 is controlled by the user to move the change control orientation, the variable resistance unit 124 will interlock with the displacement of the control handle 122, and change its own resistance value to correspondingly generate Controlling the input signal Cin, that is, controlling the control position of the handle 122 causes the variable resistance unit 124 to change the resistance value to generate a corresponding control input signal Cin, and the control input signal Cin indicates that the user operates the control handle 122. Control the orientation. The A/D conversion unit 126 is configured to convert the control input signal Cin of the analog signal format into a digital signal format, and output the converted control input signal Cin to the arithmetic control module 14 after the conversion control input signal Cin. The operation processing unit 14 2 of the operation control module 14 receives the control input signal cin outputted by the a/d conversion unit 126, and the operation processing unit 142 determines the movement angle of the control handle 22 based on the control input signal Cin operation. Orientation, and knowing that the user operates to control the control position of the handle 122, and correspondingly generates an indication signal sindicate and transmits it to the control processing unit 144, the indication signal SINd丨cate is used to instruct the control processing unit 144 to control the right wheel motor 18. The rotational speed and the rotational speed of the revolver motor 20 are used to control the traveling speed and the moving direction of the wheelchair device. The control processing unit 144 of the arithmetic control module 14 generates a corresponding control output signal Cout to the drive circuit 16 according to the indication signal SINMCATE. The right pulse width modulation unit 162a of the drive circuit 16 and the left pulse width 1〇12ΐ308ί^•single number A0101 page 6/total 29 pages 1013408300-0 M443521 101. October 22 shuttle replacement page degree adjustment The variable unit 162b generates a corresponding one of the right driving signal Rdrv and the left driving signal Ldrv according to the control output signal Cout outputted by the control processing unit 144, and transmits the same to the right driving unit 164a and the left driving unit 164b of the driving circuit 16, respectively. The right driving circuit 164a and the left driving circuit 164b generate a first driving voltage VI and a second driving voltage V2 according to the right driving signal Rdrv and the left driving signal Ldrv, respectively, and drive the right wheel motor 18 and the left wheel motor 20 to drive the corresponding The right wheel (not shown) of the wheelchair device rotates with the left wheel (not shown). Furthermore, the driving circuit 16 of the embodiment can integrate the right pulse width modulation unit 162a and the left pulse width modulation unit 162b into a pulse width modulation circuit, and the right driving unit 164a and the left driving unit. The 164b is integrated into a driving module, or the right driving module 16a and the left driving module 16b are respectively integrated into one wafer. In addition, the sensing module 22 of the embodiment is provided with a right wheel sensing unit 222 and a left wheel sensing unit 224; the right wheel sensing unit 222 is coupled to the right wheel motor 18 and senses the right wheel motor 18 The rotation speed correspondingly generates a right wheel feedback signal to the operation control module 14; the left wheel sensing unit 224 is coupled to the left wheel motor 20 and senses the rotation speed of the left wheel motor 20, and correspondingly generates a revolver feedback Signal Lu to the operation control module 14. because
Γ D 此，右驅動模組1 6 a與左驅動模組16 b更接收上述之右輪 回授訊號Κπ與左輪回授訊號，以依據右輪回授訊號Γ D, the right drive module 16 a and the left drive module 16 b further receive the right round feedback signal Κπ and the left round feedback signal, according to the right round feedback signal
Γ D Γ DΓ D Γ D
Rfb與左輪回授訊號LPD補償該右輪馬達18之轉速與該左Rfb and left wheel feedback signal LPD compensates the rotation speed of the right wheel motor 18 with the left
Γ D 輪馬達20之轉速，若不符合預期的轉速，控制處理單元 144即對控制輸出訊號Cout補償，藉此提高驅動模組16 對於右輪馬達18與左輪馬達20之驅動控制精確度。 本創作之右輪感測單元222與左輪感測單元224之一 實施方式係為光學感測元件，例如：光學尺、光栅感測元 101213081^^^ A0101 第7頁/共29頁 1013408300-0 M443521 101年10月22日按正替S頁 件 '雷射位置感測針或紅外線感測器等，以利用光學測 速之原理偵測右輪馬達18之轉速與該左輪馬達2〇之轉速 ，而直接產生對應之右輪回授訊號與左輪回授訊號LpB ，且本創作藉由右輪感測單元222與左輪感測單元224， 使感測模組2 2無須針對右輪馬達18與左輪馬達2 〇之轉速 感測進行複雜運算處理，即可獲得對應之回授訊號，因 此本創作更可藉由感測模組2 2而簡化輪椅區動裝置之電 路，而進一步降低電路成本。 明一併參閱第二圖與第三圖，其為本創作之控制輸 入模組及控制區域之一實施例之示意圖。如第二圖所示 ，本創作之控制輸入模組1 2係由控制手把1 2 2耗接可變電 阻單凡124，且可變電阻單元124兩端分別耦接供應電源 Vdd與接地端GND。再者，可變電路單元124藉由控制手 把122之移動所導致的電阻值變化，使輸出電壓v〇ut隨著 發生變化’因而作為上述之控制輸入訊號Ciη。 ⑻画产單编號 如第三圖所示，可變電阻單元124係依據該控制手把 122之移動而改變其電阻值，所以本創作係將該可變電阻 單元124之複數電阻值對應於複數控制區域13〇，該些控 制區域130分別對應於該控制手把122的控制方位，因此 該控制輸入模組12依據該可變電阻單元124之電阻值所產 生之泫控制輸入訊號C i η係表示且對應於該些控制區域 130之一，此外每一該控制區域130依據所對應之控制方 位而預先設定有一預定右輪馬達轉速與一預定左輪馬達 轉速。該運算控制模組14依據該控制輸入訊號Cin即可判 斷而得知該控制輸入訊號C i n所對應之該控制區域丨3 〇為 何，以及得知使用者操作控制手把122的控制方位，如此 Α0101 第8頁/共29頁 1013408300-0 M443521 上 1101年.10月22日核正替換頁 該運算控制模組14可依據所得知的該控制區域13〇的該預 疋右輪馬達轉速與該預定左輪馬達轉速而對應產生該控 制輪出訊號Cout，以控制該右輪馬達18與該左輪馬達2〇 之轉速，使該輪椅裝置行進方向對應至控制手把122的控 制方位，本實施例（第三圖）分別以方形圖案表示不同方 位，即第一方位I、第二方位U、第三方位UI與第四方 位IV ’但本創作之第一方位！、第二方位π、第三方位 π I與第四方位IV之表示於控制手把122之操作介面上的 外形不侷限於此，更可依據使用需求而將控制區域13〇設 置為各種幾何外形於控制手把122之操作介面上。 例如：可變電阻單元124包含一第一可變電阻i24a與 一第二可變電阻124b之電阻值為0ΚΩ-5ΚΩ，且第一可 變電阻124a與第二可變電阻124b呈十字交叉排列，而上 述第一方位I、第二方位II、第三方位ηι與第四方位IV 係分別對應於第一可變電阻1 24a與第二可變電阻124b之 電阻值，其中，當第一可變電阻124a與第二可變電阻 124b分別為5ΚΩ-2.5ΚΩ與5ΚΩ-2.5ΚΩ，即為第一方 位I ’第一可變電阻124a與第二可變電阻124b分別為5K 〇-2.51(〇與2.51(〇-01(〇，即為第二方位11，第一可變 電阻124a與第二可變電阻124b分別為2. 5ΚΩ-0ΚΩ與 2.5ΚΩ-0ΚΩ，即為第三方位in，第一可變電阻124a與 第二可變電阻124b分別為2.5Κ-0ΚΩ與5k-2.5KQ，即 為第四方位IV。可變電阻單元124由於控制手把122之帶 動而改變電阻值，以對應輸出之輸出電壓Vout作為控制 輸入訊號Cin並傳送至運算控制模組14，由於輸出電壓 Vout(控制輸入訊號Cin)會隨著可變電阻單元124之電阻 101213081^^^ A〇101 第9頁/共29頁 1013408300-0 M443521 101年10月22日按正替#頁 值的改變而變化，所以運算控制模組1 4之運算處理單元 142係藉由控制輸入訊號Cin判斷控制手把122之控制方 位是在第一方位I、第二方位II、第三方位III或第四方 位IV，而運算處理單元142藉由控制輸入訊號Cin判斷控 制手把122之控制方位對應在哪一個控制區域130，並依 據控制手把122之控制方位所對應的控制區域130的預定 右輪馬達轉速與預定左輪馬達轉速而產生對應之指示訊 至控制處理單元144 ’而產生對應之控制輸出转速 The rotational speed of the D-wheel motor 20, if not meeting the expected rotational speed, the control processing unit 144 compensates the control output signal Cout, thereby improving the drive control accuracy of the drive module 16 for the right-wheel motor 18 and the left-hand motor 20. One embodiment of the right wheel sensing unit 222 and the left wheel sensing unit 224 of the present invention is an optical sensing element, for example, an optical scale, a grating sensing element 101213081^^^ A0101, page 7 / a total of 29 pages 1013408300-0 M443521 On October 22, 101, according to the S-page 'laser position sensing needle or infrared sensor, etc., to detect the rotation speed of the right wheel motor 18 and the rotation speed of the left wheel motor 2 by the principle of optical speed measurement, The corresponding right round feedback signal and the left round feedback signal LpB are directly generated, and the present invention does not need to be directed to the right wheel motor 18 and the left wheel motor by the right wheel sensing unit 222 and the left wheel sensing unit 224. 2 转速The speed sensing performs complex arithmetic processing to obtain the corresponding feedback signal. Therefore, the present invention can simplify the circuit of the wheelchair area moving device by the sensing module 2 2, thereby further reducing the circuit cost. Referring to the second and third figures, it is a schematic diagram of one embodiment of the control input module and control area of the present invention. As shown in the second figure, the control input module 12 of the present invention is controlled by the control handle 1 2 2 to replace the variable resistor unit 124, and the two ends of the variable resistance unit 124 are respectively coupled to the power supply Vdd and the ground. GND. Further, the variable circuit unit 124 changes the resistance value caused by the movement of the handle 122 so that the output voltage v〇ut changes as a result of the above-described control input signal Ciη. (8) Drawing Production Number As shown in the third figure, the variable resistance unit 124 changes its resistance value according to the movement of the control handle 122, so the present invention associates the complex resistance value of the variable resistance unit 124 with The control area 13 is corresponding to the control position of the control handle 122. Therefore, the control input module 12 controls the input signal C i η according to the resistance generated by the variable resistance unit 124. And corresponding to one of the control regions 130, and each of the control regions 130 is preset with a predetermined right wheel motor speed and a predetermined left wheel motor speed according to the corresponding control orientation. The operation control module 14 can determine, according to the control input signal Cin, the control area 对应3 对应 corresponding to the control input signal C in and the control position of the user operation control handle 122. Α0101 Page 8 of 29 Page 1013408300-0 M443521 On 1101. October 22, the replacement control page can be based on the known right-hand motor speed of the control area 13〇 and the The rotation speed of the left wheel motor is predetermined to generate the control wheel output signal Cout to control the rotation speed of the right wheel motor 18 and the left wheel motor 2, so that the traveling direction of the wheelchair device corresponds to the control orientation of the control handle 122, this embodiment ( The third figure shows the different orientations in a square pattern, namely the first orientation I, the second orientation U, the third-party UI and the fourth orientation IV 'but the first orientation of the creation! The second orientation π, the third-party position π I and the fourth orientation IV are not limited to the shape of the operation interface of the control handle 122, and the control region 13〇 can be set to various geometric shapes according to the use requirements. The control interface of the handle 122 is controlled. For example, the variable resistance unit 124 includes a first variable resistor i24a and a second variable resistor 124b having a resistance value of 0ΚΩ-5ΚΩ, and the first variable resistor 124a and the second variable resistor 124b are arranged in a crisscross manner. The first orientation I, the second orientation II, the third-party position ηι, and the fourth orientation IV are respectively corresponding to the resistance values of the first variable resistor 1 24a and the second variable resistor 124b, wherein the first variable The resistor 124a and the second variable resistor 124b are respectively 5 Κ Ω - 2.5 Κ Ω and 5 Κ Ω - 2.5 Κ Ω, that is, the first orientation I 'the first variable resistor 124a and the second variable resistor 124b are respectively 5K 〇 -2.51 (〇 2.51 (〇-01 (〇, that is, the second orientation 11, the first variable resistor 124a and the second variable resistor 124b are respectively 2.5 Ω - 0 Κ Ω and 2.5 Κ Ω - 0 Ω, which is a third-party bit in, first The variable resistor 124a and the second variable resistor 124b are respectively 2.5Κ-0ΚΩ and 5k-2.5KQ, that is, the fourth orientation IV. The variable resistance unit 124 changes the resistance value by controlling the handle 122 to correspond to the output. The output voltage Vout is used as the control input signal Cin and transmitted to the arithmetic control module 14, due to the output power Vout (control input signal Cin) will follow the change of the page value of the variable resistance unit 124 with the resistance of the variable resistance unit 124 101213081^^^ A〇101 page 9 / 29 pages 1013408300-0 M443521 October 22, 2011 The operation processing unit 142 of the operation control module 14 determines whether the control orientation of the control handle 122 is in the first orientation I, the second orientation II, the third position III or the fourth orientation IV by controlling the input signal Cin. The operation processing unit 142 determines, by the control input signal Cin, which control region 130 the control handle of the control handle 122 corresponds to, and according to the predetermined right wheel motor speed of the control region 130 corresponding to the control orientation of the control handle 122 The left wheel motor speed is predetermined to generate a corresponding indication message to the control processing unit 144' to generate a corresponding control output.
INDICATE 訊號Cout至驅動模組16，用於驅動右輪馬達18與左輪馬 達20而分別轉動至對應之轉速，以控制輪椅裝置之行進 方向與速度。 例如：第一方位I、第二方位11、第三方位111與第 四方位IV分別對應前進、後退、左轉、右轉，使用者操 作控制手把122使可變電阻單元124之電阻值改變為第一 可變電阻124a與第二可變電阻124b分別為3ΚΩ與4ΚΩ， 即為第一方位I，而產生對應之輸出電壓Vout作為控制輸 入訊號Cin並傳送至運算控制模組14，運算處理單元142 依據對應第一可變電阻124a與第二可變電阻124b分別為 3ΚΩ與4ΚΩ，以輸出電壓Vout判斷控制手把122之控制 方位為第一方位I，因此產生對應第一方位I之指示訊號 Sindicate至控制處理單元144，以產生對應第一方位I之 控制輸出訊號Cout，用於驅動右輪馬達18與左輪馬達20 ，以依據第一方位I所對應之預定右輪馬達轉速與預定左 輪馬達轉速而轉動，使輪椅裝置往第一方位I所對應之行 進方向移動，也就是讓輪椅裝置前進，如此使用者無需 細部控制或者預先設定右輪馬達18與左輪馬達20之轉速 1012讓單编號A0101 第10頁/共29頁 1013408300-0 M443521 101年.10月22日修正替換頁 ，而是操作控制手把122之控制方位即可控制輪椅裝置之 行進方向，對於行動不便的人，方便操作。 此外，由於控制輸入模組12係以可變電阻單元124 之輸出電壓Vout作為控制輸入訊號Cin，因此運算處理單 元142可藉由控制輸入訊號Cin對照控制輸入訊號C in與 預定右輪/左輪馬達轉速之間的對照表，而直接獲得控制 輸入訊號Cin所對應之預定右輪馬達轉速與預定左輪馬達 轉速，所以本創作可簡化電路運算複雜度，而可降低運 算處理單元142之運算負載，且可降低電路之製作成本。 再者，本創作更可將該些控制區域130細分，因而讓 控制輸入訊號Cin之控制更進一步細分，如後續實施例所 述。 請參閱第四圖，其為本創作之控制區域之另一實施 例之示意圖。其中，第三圖與第四圖之差異在於第三圖 僅以控制方位控制行進方向且以固定速度行進，第四圖 更進一步以控制方位控制行進方向及調整行進速度。如 圖所示，本創作之控制區域130除了區域第一方位I、第 二方位II、第三方位III與第四方位IV分別預先設置預設 右輪馬達轉速與預設左輪馬達轉速，以讓輪椅裝置之行 進方向對應控制手把122之控制方位外，更將第一方位I 、第二方位11、第三方位111與第四方位IV分別劃分出表 示不同行進速度之控制區域130，亦即低速第一方位1-1 、高速第一方位1-2、低速第二方位II-1、高速第二方位 II-2、低速第三方位III-1、高速第三方位III-2、低速 第四方位IV-1與高速第四方位IV-2，以供使用者使用控 制手把122於控制不同行進方向時，更可依據控制手把 10121308^^ A0101 第11頁/共29頁 1013408300-0 M443521 101年10月22日梭正替 122之不同移動幅度而控制輪椅裝置之行進速度。其中， 當第一可變電阻124a與第二可變電阻124b分別為 2· 75k時，控制手把122之控制方位為對應至低速 第一方位1-1，當第一可變電阻丨24&與第二可變電阻 124b分別為3.75ΚΩ-5ΚΩ時，控制手把122之控制方位 為對應至高速第一方位1-2，當第一可變電阻124a與第二 可變電阻124b分別為2. 5ΚΩ-3. 75ΚΩ 與2. 5ΚΩ-1. 25K Ω時，控制手把122之控制方位為對應至低速第二方位 Π-1，當第一可變電阻124a與第二可變電阻124b分別為 3. 75ΚΩ-5ΚΩ與1. 25ΚΩ-0ΚΩ時，控制手把122之控制 方位為對應至高速第二方位II-2，當第一可變電阻124a 與第二可變電阻124b分別為2. 5ΚΩ-1. 25ΚΩ時，控制手 把122之控制方位為對應至低速第三方位ΙΠ_ι，當第一 可變電阻124a與第二可變電阻124b分別為1. 25ΚΩ-0Κ Ω時’控制手把122之控制方位為對應至高速第三方位 III-2 ’當第一可變電阻124a與第二可變電阻ig4b分別 為2. 5ΚΩ-1. 25ΚΩ 與2· 5ΚΩ-3. 75ΚΩ 時，控制手把122 之控制方位為對應至低速第四方位IV-1，當第一可變電 阻124a與第二可變電阻124b分別為1. 25ΚΩ-0ΚΩ與 3. 75ΚΩ-5ΚΩ時’控制手把122之控制方位為對應至高 速第四方位IV-2。 同理，控制輪入模組12係依據可變電阻單元124之 電阻值產生控制輸入訊號Cin，其用以表示並對應於低速 第一方位1-1、高速第一方位1-2、低速第二方位ii-i、 高速第二方位11-2、低速第三方位II1-1、高速第三方 位111-2、低速第四方位IV-1與高速第四方位I v-2之其 10121308ί^單编號 A0101 第12頁/共29頁 1013408300-0 M443521 101年10月22日修正替换頁 中一控制區域130，且每一控制區域130係預先設置有預 設右輪轉速與預設左輪轉速。運算控制模組14係依據控 制輸入訊號Cin而判斷，即可得知控制輸入訊號Cin所對 應之控制區域130，也就得知使用者操作控制手把122的 控制方位，所以運算控制模組14依據所得之控制區域130 所預先設置之預設右輪轉速與預設左輪轉速產生對應之 控制輸出訊號Cout，以控制右輪馬達18與左輪馬達20之 轉速，使輪椅裝置之行進方向與行進速度對應於控制手 把122之控制方位》 例如：假設第一方位I、第二方位II、第三方位III 與第四方位IV分別對應前進、後退、左轉、右轉，低速 第一方位1-1與高速第二方位11-2之行進速度為6Kra/h， 低速第二方位II-1之行進速度為2Km/h，高速第一方位 1-2之行進速度為12Kra/h，低速第三方位III-1與低速第 四方位IV-1之行進速度為lKm/h，高速第三方位III-2與 高速第四方位IV-2之行進速度為3Km/h。舉例來說，使 用者使用控制手把122而移動到讓可變電阻單元124以第 一可變電阻124a與第二可變電阻124b分別為2. 5ΚΩ -1.25ΚΩΩ產生輸出電壓Vout作為控制輸入訊號Cin時 ，運算處理單元142藉由電阻值2. 5ΚΩ-1. 25ΚΩ Ω之輸 出電壓Vout判斷控制手把122之控制方位為低速第三方位 III-1，而輸出對應之指示訊號SINmMATC>至控制處理單 元144，以輸出對應低速第三方位111 -1之控制輸出訊號 Cout至驅動模組16，用於驅動右輪馬達18與左輪馬達20 ，使輪椅裝置之行進方向與行進速度對應於低速第三方 位III-1，而低速第三方位III-1所對應之行進速度為 101213081^單編號 A0101 第13頁/共29頁 1013408300-0 M443521 101年10月22日按正替無頁 1 Km/h ’且低速第三方位ΠΙ-1所對應之行進方位為左轉 ，也就是以行進速度lKra/h而左轉。 此外，倘若使用者將控制手把122移動至高速第三方 位111-2之控制區域130時，亦即使用者增加控制手把 122之控制幅度’此時，控制手把122之控制方位為高速 第三方位III-2，所以控制輸入模組12之可變電阻單元 124會增加電阻值至第一可變電阻124a與第二可變電阻 124b分別為1.25ΚΩ-0ΚΩ之間，而輸出電阻值1.25ΚΩ -0ΚΩ所對應之控制輸入訊號Cin，因此運算控制模組14 藉由電阻值1. 25ΚΩ-0ΚΩ所對應之控制輸入訊號Cin獲 知使用者之控制方位為高速第三方位III-2，並以高速第 三方位II1-2所預設之預定右輪馬達轉速與預定左輪馬達 轉速而產生對應之控制輸出訊號Cout，以控制右輪馬達 18與左輪馬達20之轉速，使輪椅裝置不只行進方向對應 於所得知的第三方位III，更讓輪椅裝置之行進速度對應 所得知的高速第三方位III-2的預設速度，也就是輪椅襄 置由行進速度1 Km/h而左轉改變為行進速度3Km/h而左轉 請參閱第五圖，其為本創作之控制區域之另一實施 例之示意圖。其中第四圖與第五圖之差異在於第五圖針 對控制區域130之控制方位進一步細分。如圖所示，本創 作更可進一步細分輪椅裝置之行進方向，而增加控制手 把122操作介面上的控制方位，以提供更多可控制的行進 方向，其中本實施例之控制區域130為依據第四圖所揭示 之控制方位130進一步劃分成低速第一方位1-1、高速第 一方位1-2、低速第二方位II-1、高速第二方位II-2、 1012丨3〇8产單編號A0101 第14頁/共29頁 1013408300-0 M443521 101年.10月22日梭正替換頁 低速第三方位111_1、高速第三方位III-2、低速第四方 位IV-1、高速第四方位IV-2、低速第五方位V-1、高速 第五方位V-2、低速第六方位VI-1、高速第六方位VI-2 、低速第七方位VII-1、高速第七方位VII-2、低速第八 方位VIII-1與高速第八方位VIII-2，以提供精度較高之 控制方位。 因此藉由上述之低速第一方位1-1、高速第一方位 1-2、低速第二方位11-1、高速第二方位11-2、低速第 三方位III-1、高速第三方位III-2、低速第四方位IV-1 、高速第四方位IV-2、低速第五方位V-1、高速第五方位 V-2 '低速第六方位V1-1、高速第六方位VI-2、低速第 七方位VI1-1、高速第七方位VI1-2、低速第八方位 VIII-1與高速第八方位VIII-2控制輪椅裝置，而在低速 或高速之行進速度下，前進、後退、左轉、右轉、右前 偏轉、左前偏轉、左後偏轉與右後偏轉。如此本創作之 輪椅驅動裝置10讓輪椅裝置藉由上述之控制方位而具有 更多行進方向之選擇，且藉由控制手把122之移動幅度而 讓輪椅裝置具有高速與低速之行進速度選擇。對於行動 不便的人，提供更加多樣之操作選擇，卻不需分別調整 右輪馬達18與左輪馬達20或前述兩者之驅動電路，以用 於輪椅裝置之行進方向及/或行進速度的控制。 請參閱第六圖，其為本創作之類比訊號/數位訊號轉 換之一實施例之示意圖。如圖所示，本創作之控制輸入 模組12係由上述之可變電阻單元124依據控制手把122的 控制方位改變電阻值而產生對應之控制輸入訊號Cin，由 於可變電阻單元124藉由輸出電壓Vout作為控制輸入訊號 i 101213081^^^ A〇101 第15頁/共29頁 1013408300-0 M443521 101年10月22日核正替換·頁The INDICATE signal Cout to the drive module 16 is used to drive the right wheel motor 18 and the left wheel motor 20 to respectively rotate to corresponding rotational speeds to control the direction and speed of the wheelchair device. For example, the first orientation I, the second orientation 11, the third position 111 and the fourth orientation IV respectively correspond to forward, backward, left turn, and right turn, and the user operates the control handle 122 to change the resistance value of the variable resistance unit 124. The first variable resistor 124a and the second variable resistor 124b are respectively 3ΚΩ and 4ΚΩ, that is, the first orientation I, and the corresponding output voltage Vout is generated as the control input signal Cin and transmitted to the operation control module 14, and the operation processing is performed. The unit 142 determines that the control orientation of the handlebar 122 is the first orientation I according to the output voltage Vout according to the corresponding first variable resistor 124a and the second variable resistor 124b, respectively, 3ΚΩ and 4ΚΩ, thus generating an indication corresponding to the first orientation I. The signal Sindicate is sent to the control processing unit 144 to generate a control output signal Cout corresponding to the first orientation I for driving the right wheel motor 18 and the left wheel motor 20 to determine the right wheel motor speed and the predetermined revolver according to the first orientation I. Rotation of the motor speed causes the wheelchair device to move in the direction of travel corresponding to the first orientation I, that is, the wheelchair device is advanced, so that the user does not need detailed control or pre-operation Firstly, the rotational speed 1012 of the right wheel motor 18 and the left wheel motor 20 is set so that the single number A0101 page 10/29 pages 1013408300-0 M443521 101. October 22 corrects the replacement page, but controls the control position of the handlebar 122. The direction of travel of the wheelchair device can be controlled, and it is convenient for people with limited mobility. In addition, since the control input module 12 uses the output voltage Vout of the variable resistance unit 124 as the control input signal Cin, the operation processing unit 142 can control the input signal Cin and the predetermined right/left wheel motor by controlling the input signal Cin. The comparison table between the rotational speeds directly obtains the predetermined right wheel motor speed corresponding to the control input signal Cin and the predetermined left wheel motor speed, so the present invention can simplify the circuit operation complexity, and can reduce the computational load of the arithmetic processing unit 142, and It can reduce the manufacturing cost of the circuit. Furthermore, the present invention can further subdivide the control regions 130, thereby further subdividing the control of the control input signal Cin, as described in the subsequent embodiments. Please refer to the fourth figure, which is a schematic diagram of another embodiment of the control area of the creation. The difference between the third figure and the fourth figure is that the third figure controls the traveling direction only with the control direction and travels at a fixed speed, and the fourth figure further controls the traveling direction and adjusts the traveling speed by controlling the azimuth. As shown in the figure, the control area 130 of the present creation is preset with a preset right wheel motor speed and a preset left wheel motor speed in addition to the area first orientation I, the second orientation II, the third position III and the fourth orientation IV, respectively. The direction of travel of the wheelchair device corresponds to the control orientation of the control handle 122, and the first orientation I, the second orientation 11, the third digit 111 and the fourth orientation IV are respectively divided into control regions 130 indicating different travel speeds, that is, Low speed first position 1-1, high speed first position 1-2, low speed second position II-1, high speed second position II-2, low speed third position III-1, high speed third party position III-2, low speed Four-direction IV-1 and high-speed fourth-direction IV-2 for the user to use the control handle 122 to control different directions of travel, and can also be based on the control handle 10121308^^ A0101 page 11 / 29 pages 1013408300-0 M443521 On October 22, 101, the shuttle controlled the speed of the wheelchair device for the different movement range of 122. Wherein, when the first variable resistor 124a and the second variable resistor 124b are respectively 2.75k, the control orientation of the control handle 122 is corresponding to the low speed first orientation 1-1, when the first variable resistor 丨24& When the second variable resistor 124b is 3.75 ΚΩ-5 ΚΩ, the control orientation of the control handle 122 is corresponding to the high speed first orientation 1-2, and the first variable resistor 124a and the second variable resistor 124b are respectively 2 5ΚΩ-3. 75ΚΩ and 2.5ΚΩ-1. 25K Ω, the control orientation of the control handle 122 is corresponding to the low speed second orientation Π-1, when the first variable resistor 124a and the second variable resistor 124b are respectively When it is 3.75ΚΩ-5ΚΩ and 1.25ΚΩ-0ΚΩ, the control orientation of the control handle 122 is corresponding to the high speed second orientation II-2, when the first variable resistor 124a and the second variable resistor 124b are respectively 2. 5 Ω-1. 25 Κ Ω, the control handle 122 is controlled to the low-speed third-party position ΙΠ_ι, when the first variable resistor 124a and the second variable resistor 124b are respectively 1. 25 Κ Ω - 0 Ω Ω, the control handle The control orientation of 122 corresponds to the high speed third party bit III-2 'When the first variable resistor 124a and the second variable resistor ig4 b is 2. 5 Κ -1. 25 Κ Ω and 2 · 5 Κ Ω - 3. 75 Κ Ω, the control handle 122 is controlled to correspond to the low speed fourth orientation IV-1, when the first variable resistor 124a and the second variable When the resistance 124b is 1.25 Ω - 0 Ω and 3. 75 Κ - 5 Ω, the control orientation of the control handle 122 corresponds to the high speed fourth orientation IV-2. Similarly, the control wheel-in module 12 generates a control input signal Cin according to the resistance value of the variable resistance unit 124, which is used to represent and correspond to the low-speed first orientation 1-1, the high-speed first orientation 1-2, and the low-speed first. Two-direction ii-i, high-speed second orientation 11-2, low-speed third-party position II1-1, high-speed third-party position 111-2, low-speed fourth orientation IV-1 and high-speed fourth orientation I v-2 of its 10121308 ί^ Single No. A0101 Page 12 / Total 29 Page 1013408300-0 M443521 On October 22, 101, a control area 130 in the replacement page is modified, and each control area 130 is preset with a preset right wheel speed and a preset left wheel speed. . The operation control module 14 is determined according to the control input signal Cin, and the control area 130 corresponding to the control input signal Cin is known, and the user controls the control position of the handle 122. Therefore, the operation control module 14 Corresponding control output signal Cout is generated according to the preset preset right wheel rotation speed preset by the control area 130 to control the rotation speed of the right wheel motor 18 and the left wheel motor 20 to make the traveling direction and the traveling speed of the wheelchair device Corresponding to the control orientation of the control handle 122. For example, it is assumed that the first orientation I, the second orientation II, the third-party position III and the fourth orientation IV correspond to forward, backward, left-turn, and right-turn, respectively, and the low-speed first orientation 1- 1 and high speed second orientation 11-2 travel speed is 6Kra/h, low speed second orientation II-1 travel speed is 2Km/h, high speed first orientation 1-2 travel speed is 12Kra/h, low speed third The traveling speed of the azimuth III-1 and the low speed fourth azimuth IV-1 is lKm/h, and the traveling speed of the high-speed third-party position III-2 and the high-speed fourth azimuth IV-2 is 3 Km/h. For example, the user moves the control handle 122 to the variable resistance unit 124 to generate the output voltage Vout as the control input signal with the first variable resistor 124a and the second variable resistor 124b being respectively 2.5 Ω -1.25 Κ ΩΩ. In Cin, the arithmetic processing unit 142 determines that the control position of the control handle 122 is the low-speed third-party bit III-1 by the output voltage Vout of the resistance value of 2.5 Ω - 2.5 Ω Ω, and outputs the corresponding indication signal SINmMATC> to the control. The processing unit 144 outputs a control output signal Cout corresponding to the low-speed third-party bit 111 -1 to the driving module 16 for driving the right-wheel motor 18 and the left-hand motor 20 so that the traveling direction and the traveling speed of the wheelchair device correspond to the low-speed Three-direction III-1, and the low-speed third-party position III-1 corresponds to the speed of 101213081^single number A0101 page 13/total 29 pages 1013408300-0 M443521 October 22, 2011 by the replacement page 1 Km/ h 'and the low-speed third-party position ΠΙ-1 corresponds to the left-turning direction, that is, the left-turning at the traveling speed lKra/h. In addition, if the user moves the control handle 122 to the control area 130 of the high speed third party position 111-2, that is, the user increases the control range of the control handle 122', the control position of the control handle 122 is high speed. The third-party bit III-2, so the variable resistance unit 124 of the control input module 12 increases the resistance value to between the first variable resistor 124a and the second variable resistor 124b of 1.25 Κ Ω - 0 Ω, respectively, and the output resistance value The control input signal Cin corresponding to 1.25 Κ Ω - 0 Κ Ω, so the operation control module 14 knows that the control position of the user is the high-speed third-party position III-2 by the control input signal Cin corresponding to the resistance value of 1.25 Ω - 0 Ω. Corresponding control output signal Cout is generated by the predetermined right wheel motor speed preset by the high speed third party position II1-2 and the predetermined left wheel motor speed to control the rotation speed of the right wheel motor 18 and the left wheel motor 20, so that the wheelchair device not only travels direction Corresponding to the known third-party position III, the traveling speed of the wheelchair device is corresponding to the preset speed of the known high-speed third-party position III-2, that is, the wheelchair is set by the traveling speed of 1 Km/h. It is changed to the traveling speed 3Km / h and left see FIG Fifth, a schematic diagram of another embodiment of control which the present embodiment Creation area. The difference between the fourth figure and the fifth figure is that the fifth figure further subdivides the control orientation of the control area 130. As shown in the figure, the present invention further subdivides the traveling direction of the wheelchair device, and increases the control orientation of the control panel 122 to provide more controllable traveling directions, wherein the control region 130 of the present embodiment is based on The control orientation 130 disclosed in the fourth figure is further divided into a low speed first orientation 1-1, a high speed first orientation 1-2, a low speed second orientation II-1, a high speed second orientation II-2, 1012丨3〇8 production. Single No. A0101 Page 14 / Total 29 Page 1013408300-0 M443521 101. On October 22, Shuttle is replacing the low-speed third-party position 111_1, high-speed third-party position III-2, low-speed fourth-direction IV-1, high-speed fourth Azimuth IV-2, low speed fifth orientation V-1, high speed fifth orientation V-2, low speed sixth orientation VI-1, high speed sixth orientation VI-2, low speed seventh orientation VII-1, high speed seventh orientation VII - 2, low speed eighth orientation VIII-1 and high speed eighth orientation VIII-2 to provide a higher precision control orientation. Therefore, by the low speed first orientation 1-1, the high speed first orientation 1-2, the low speed second orientation 11-1, the high speed second orientation 11-2, the low speed third position III-1, the high speed third party III -2, low speed fourth orientation IV-1, high speed fourth orientation IV-2, low speed fifth orientation V-1, high speed fifth orientation V-2 'low speed sixth orientation V1-1, high speed sixth orientation VI-2 The low speed seventh direction VI1-1, the high speed seventh direction VI1-2, the low speed eighth direction VIII-1 and the high speed eighth direction VIII-2 control the wheelchair device, and at low or high speed travel speed, forward and backward, Left turn, right turn, right front deflection, left front deflection, left rear deflection and right rear deflection. The wheelchair drive unit 10 thus created allows the wheelchair unit to have more choice of direction of travel by controlling the orientation described above, and allows the wheelchair unit to have a high speed and low speed travel speed selection by controlling the range of movement of the handlebar 122. For people with reduced mobility, a more varied operational options are provided without the need to separately adjust the drive circuitry of the right wheel motor 18 and the left wheel motor 20, or both, for control of the direction of travel and/or travel speed of the wheelchair device. Please refer to the sixth figure, which is a schematic diagram of an embodiment of analog signal/digital signal conversion for the creation. As shown in the figure, the control input module 12 of the present invention generates a corresponding control input signal Cin by the variable resistance unit 124 according to the control orientation of the control handle 122, since the variable resistance unit 124 is used. Output voltage Vout as control input signal i 101213081^^^ A〇101 Page 15 / Total 29 pages 1013408300-0 M443521 October 22, 2010 Nuclear replacement page
Cin ’因此’可變電阻單元124係以類比訊號格式之控制 輸入訊波C i π輸入至A/D轉換早元126，而A/D轉換單元 126係將類比訊號格式之控制輸入訊號cin轉換為數位訊 號格式之控制輸入訊號Cin，以供運算處理單元142接收 數位訊號格式之控制輸入訊號Cin並進行運算，且運算處 理單元142依據數位訊號格式之控制輪入訊號Cin判斷出 使用者操作控制手把122之控制方位與對應之控制區域。 請參閱第七圖，其為本創作之驅動訊號產生之一實 施例的示意圖。如圖所示，本創作之驅動電路16係接收 來自於運算控制模组14之控制處理單元144所輸出之二控 制輸出訊號Cout，右驅動模組16a之右脈波寬度調變單元 162a與左驅動模組16b之左脈波寬度調變單元162b係依 據控制輸出訊號Cout產生對應之右驅動訊號Rdrv與左驅 動訊號Ldrv，並將右驅動訊號Rdrv與左驅動訊號Ldrv分 別輸入至右驅動單元164a與左驅動單元164b。由於輪椅 裝置行進於不同行進方向時，需要改變右輪馬達18與左 輪馬達20的轉速，因此右驅動訊號Rdrv與左'驅動訊號 Ldrv分別驅使右驅動單元164a與左驅動單元i64b輸出對 應之電壓準位至右輪馬達18與左輪馬達20，因此藉由輸 入至右驅動單元164a與左驅動單元164b之右驅動訊號 Rdrv與左驅動訊號Ldrv，以讓右驅動單元164a與左驅動 單元164b分別產生對應之第一驅動電壓VI與第二驅動電 壓V2，而驅動右輪馬.達18與左輪馬達20而轉動於對應之 轉速β 藉由上述可知，本創作藉由具控制手把122與可變電 阻單元124之控制輸入模組12供使用者操作，以操作輪椅 10121308^單编號 Α〇101 第16頁/共29頁 1013408300-0 M443521 艇，奸 lL01年10月22日修正替換頁 也動裝置10而達成上述第二圖至第五圖- 度控制，如此本創作可簡化使用者之操作，並可透過本 創作之輪椅驅動裝置10達成精確度較高之操作因而方 便於行動不便者使用輪椅裝置β此外，本創作藉由簡單 的電路结構即可控制輪椅裝置行進於任何方向所以可 降低製作成本。 综上所述，本創作為一種具轉速控制之輪椅驅動裝 置，其提供可變電阻單元搭配控制手把，以供行動不便 者有利於操作輪椅裝置，且更可提供行動不便者方便使 用操作精確度較高之輪椅裝置。 雖然本創作已以較佳實施例揭露如上，然其並非用 以限定本創作，任何熟習此技藝者，在不脫離本創作之 精神和範圍内，當可作些許之更動與潤飾，因此本創作 之保護範圍當視後附之申請專利範圍所界定者為準。 【圖式簡單說明】 [0005] 第一圖為本創作之輪椅驅動裝置之一實施例的方塊圖； 第二圖為本創作之控制輪入模組之一實施例之示意圖； 第三圖為本創作之控制區域之一實施例之示意圖； 第四圖為本創作之控制區域之另一實施例之示意圖； 第五圖為本創作之控制區域之另一實施例之示意圖； 第六圖為本創作之類比訊號/數位訊號轉換之一實施例之 示意圖；以及 第七圖為本創作之驅動電壓產生之一實施例之示意圖。 【主要元件符號說明】 [0006] 10 輪椅驅動裝置 101213081^單編號 Α0101 第17頁/共29頁 1013408300-0 M443521 101年10月22日梭正替换‘頁 12 控制輸入模組 122 控制手把 124 可變電阻單元 126 A/D轉換單元 130 控制區域 14 運算控制模組 142 運算處理單元 144 控制處理單元 16 驅動電路 16a 右驅動模組 16b 左驅動模組 162a 右脈波寬度調變單元 162b 左脈波寬度調變單元 164a 右驅動單元 164b 左驅動單元 18 右輪馬達 20 左輪馬達 22 感測模組 222 右輪感測單元 224 左輪感測單元 I 第一方位 II 第二方位 III 第三方位 IV 第四方位 SIN_E指雜號 Cin 控制輸入訊號 第18頁/共29頁 1013408300-0 1012130#單编號 A〇101 M443521Cin 'so' variable resistor unit 124 is input to analog/input signal C i π input to A/D conversion early element 126 in analog signal format, and A/D conversion unit 126 converts control input signal cin in analog signal format The control input signal Cin is a digital signal format for the operation processing unit 142 to receive the control input signal Cin of the digital signal format and perform an operation, and the operation processing unit 142 determines the user operation control according to the control wheel input signal Cin of the digital signal format. The control position of the handle 122 is corresponding to the control area. Please refer to the seventh figure, which is a schematic diagram of an embodiment of the driving signal generation of the creation. As shown in the figure, the driving circuit 16 of the present invention receives the two control output signals Cout outputted from the control processing unit 144 of the arithmetic control module 14, and the right pulse width modulation unit 162a and the left of the right driving module 16a. The left pulse width modulation unit 162b of the driving module 16b generates a corresponding right driving signal Rdrv and a left driving signal Ldrv according to the control output signal Cout, and inputs the right driving signal Rdrv and the left driving signal Ldrv to the right driving unit 164a, respectively. With the left drive unit 164b. Since the rotation speed of the right wheel motor 18 and the left wheel motor 20 needs to be changed when the wheelchair device travels in different traveling directions, the right driving signal Rdrv and the left 'drive signal Ldrv respectively drive the right driving unit 164a and the left driving unit i64b to output corresponding voltage standards. Positioned to the right wheel motor 18 and the left wheel motor 20, the right drive signal Rdrv and the left drive signal Ldrv are input to the right drive unit 164a and the left drive unit 164b, respectively, so that the right drive unit 164a and the left drive unit 164b respectively generate corresponding The first driving voltage VI and the second driving voltage V2 drive the right wheel horse 18 and the left wheel motor 20 to rotate to the corresponding rotation speed β. As can be seen from the above, the present invention has a control handle 122 and a variable resistor. The control input module 12 of the unit 124 is operated by the user to operate the wheelchair 10121308^单号Α〇101 page 16/29 pages 1013408300-0 M443521 boat, rape lL01 October 22 revision replacement page also 10 to achieve the above-mentioned second to fifth-degree control, so that the creation can simplify the operation of the user, and the accuracy of the wheelchair drive device 10 of the present invention can be achieved. Thus facilitating the operation side reduced mobility Further, the present creation by simple circuit configuration can control the traveling means to the wheelchair in any direction it is possible to reduce the manufacturing cost wheelchair device β. In summary, the present invention is a wheelchair-driven device with a rotational speed control, which provides a variable resistance unit with a control handle for facilitating the operation of the wheelchair device for people with reduced mobility, and also provides convenient operation for people with reduced mobility. Higher wheelchair device. Although the present invention has been disclosed in the above preferred embodiments, it is not intended to limit the present invention, and anyone skilled in the art can make some changes and refinements without departing from the spirit and scope of the present invention. The scope of protection is subject to the definition of the scope of the patent application. BRIEF DESCRIPTION OF THE DRAWINGS [0005] The first figure is a block diagram of an embodiment of a wheelchair driving device of the present invention; the second drawing is a schematic diagram of an embodiment of a control wheeling module of the present invention; A schematic diagram of an embodiment of a control area of the present invention; the fourth diagram is a schematic diagram of another embodiment of the control area of the creation; the fifth diagram is a schematic diagram of another embodiment of the control area of the creation; A schematic diagram of one embodiment of analog signal/digital signal conversion of the present invention; and a seventh diagram of an embodiment of driving voltage generation of the present invention. [Main component symbol description] [0006] 10 Wheelchair drive device 101213081^Single number Α0101 Page 17/Total 29 page 1013408300-0 M443521 October 22, 2011 Shuttle replacement [Page 12 Control input module 122 Control handle 124 Variable resistance unit 126 A/D conversion unit 130 Control area 14 Operation control module 142 Operation processing unit 144 Control processing unit 16 Drive circuit 16a Right drive module 16b Left drive module 162a Right pulse width modulation unit 162b Left pulse Wave width modulation unit 164a Right drive unit 164b Left drive unit 18 Right wheel motor 20 Left wheel motor 22 Sensing module 222 Right wheel sensing unit 224 Left wheel sensing unit I First orientation II Second orientation III Third party position IV Four-direction SIN_E refers to the number Cin control input signal page 18/total 29 pages 1013408300-0 1012130# single number A〇101 M443521
Cou t 控制輸出訊號 GND 接地端 Lfb 左輪回授訊號 Ldrv 左驅動訊號 Rfb 右輪回授訊號 Rdrv 右驅動訊號 VI 第一驅動電壓 V2 第二驅動電壓 Vdd 供應電源 Vout 輸出電壓 101213081^^ A〇101 第19頁/共29頁 101年10月22日梭正替换頁 1013408300-0Cou t control output signal GND ground terminal Lfb left wheel feedback signal Ldrv left drive signal Rfb right wheel feedback signal Rdrv right drive signal VI first drive voltage V2 second drive voltage Vdd supply power supply Vout output voltage 101213081^^ A〇101 19th Page / Total 29 pages October 22, 101 Shuttle replacement page 1013408300-0