CN107693314A - A kind of cane formula, which is independently fallen, protects recovery walking aiding robot - Google Patents

Abstract

The invention discloses a cane-type autonomous fall protection rehabilitation walking aid robot, comprising: an omnidirectional movement device, a sensor monitoring system, a fall protection response device, the omnidirectional movement device includes an omnidirectional chassis and a motion controller, and a sensor monitoring system Including force sensor, laser rangefinder, fall protection response device including main rod and cross slide. The robot of the present invention can detect and judge the user's motion intention, assist the user's motion in a flexible and all-round way, and at the same time, can identify the information of environmental obstacles, and carry out obstacle avoidance motion planning, and can also judge the user's motion state. Stability, detects the tendency to fall, and controls the response of the cross slide, thus guaranteeing the stability and safety of the user for a limited time.

Description

A cane-type autonomous fall protection and rehabilitation walker robot

technical field

The invention belongs to the field of rehabilitation walking aid equipment, and more specifically relates to a cane-type autonomous fall protection rehabilitation walking aid robot.

Background technique

As they age, muscle strength decreases in the elderly, causing them to often have limited or even incapacitated mobility. With the aggravation of the population aging problem and the increase of some injuries and accidents, the use of artificial care methods to assist patients in rehabilitation training and take care of the lives of the elderly makes society and families face a heavy burden. In addition, the elderly will gradually experience unsteady standing and walking, and may fall during autonomous walking without external assistance such as assistive devices. The incidence of falls in the elderly is high and the consequences are serious, which is one of the important reasons for their disability and death. Falls caused by inconvenient walking will pose a great threat to their health, seriously affect the physical and mental health of the elderly, and reduce their quality of life. There is an urgent need for institutions that can assist patients and the elderly in walking and rehabilitation training.

The prior art discloses a walking-aided large-scale rehabilitation assistant robot, and various exoskeleton-type rehabilitation assistant robots. According to the different care levels of the equipment, the exoskeleton-type rehabilitation walker robot is suitable for the elderly or patients with very weak lower limb muscle strength and no walking ability. For the elderly or patients with walking ability. The cane-type intelligent rehabilitation walker robot is suitable for the elderly or patients who have basic walking ability but still need support. Existing devices also do not have user fall detection and fall protection for a limited time.

It can be seen that the prior art has the technical problems of single function, low degree of intelligence, and lack of functions of user fall detection and fall protection within a limited time.

Contents of the invention

Aiming at the above defects or improvement needs of the prior art, the present invention provides a cane-type autonomous fall protection rehabilitation walker robot, thereby solving the existing problems of the prior art with relatively single functions, low intelligence, and lack of user fall detection. and technical issues with the function of fall protection for a limited time.

In order to achieve the above object, the present invention provides a cane-type autonomous fall protection rehabilitation walker robot, including an omnidirectional movement device, a sensor monitoring system and a fall protection response device,

The omnidirectional motion device includes an omnidirectional chassis and a motion controller. The motion controller includes an industrial computer, a battery and a development board. The industrial computer and the battery are placed above the multi-layer support above the omnidirectional chassis, and the development board is placed at the bottom of the multi-layer support;

The sensing and monitoring system includes handrails, force sensors, a backward laser range finder, and a forward laser range finder, and the two laser range finders are placed above the multi-layer support. One end of the force sensor is connected to the main rod of the robot, the other end of the force sensor is connected to the handrail, and the force sensor and two laser rangefinders are connected to the industrial computer through a high-speed USB interface;

The fall protection response device includes a main rod and a cross slide. The multi-layer support is divided into an upper bracket and a lower bracket by the cross slide. The upper bracket is connected with the main rod, and the lower bracket is connected with the omnidirectional chassis. The cross slide is used for The fall protection strategy responds by moving in the opposite direction of the fall trend.

Further, three mecanum wheels are evenly distributed on the bottom of the omnidirectional chassis, the motor is connected to the chassis through the motor fixing frame, and the motor is connected to the three mecanum wheels through the bearings in the cups of the motor fixing frame.

Further, the force sensor is a six-axis force sensor, which is used to detect force data of the user's upper limbs.

Further, two laser rangefinders are used to detect user leg movement data and environmental obstacle information.

Further, the industrial computer obtains the user's motion intention and motion state according to the detected force data and leg motion data, so as to assist the user in walking motion and monitor the user's motion state, and has the function of predicting falls, and at the same time Controlling the fall prevention response device realizes fall prevention assistance to the user.

Further, when the rehabilitation walker robot is working, the sensor monitoring system monitors the user's force data, environmental obstacle information and leg movement information in real time through the six-axis force sensor and two laser rangefinders, and transfers The information is transmitted to the industrial computer. If the user is in a normal state and there are no obstacles around the environment, the industrial computer obtains the user's movement intention through the force data, and transmits the movement intention to the omnidirectional chassis, so that the motor drives three mecanum wheels. Movement, so that the robot follows the user's movement and provides assistance for the user when walking. If the user's state is abnormal and obstacles are detected around the environment, the industrial computer performs motion planning through the obstacle avoidance motion control algorithm to guide the user to avoid obstacles If it detects that the user has a falling tendency, the industrial computer will execute the fall protection control algorithm, and the cross slide will control the response movement for a limited time and move in the opposite direction of the falling tendency, thereby preventing the movement tendency and ensuring the stability and safety of the user.

Further, the specific implementation of the fall protection control algorithm is as follows:

If it is detected that the user has a tendency to fall, according to the expected position of the user and the robot in the steady state, the current cross slide table reverse motion is calculated based on the finite time control algorithm to prevent the falling tendency until it reaches the expected speed of the steady state, thereby forming a buffer motion until The user and the robot return to a steady state.

Generally speaking, compared with the prior art, the above technical solutions conceived by the present invention can achieve the following beneficial effects:

(1) The cane-type walking-aiding robot for autonomous fall protection and rehabilitation provided by the present invention is compact in structure, small in size and light in weight, and its appearance is similar to that of traditional walking aids. The cane-type walking-aiding robot can meet different environmental requirements and is easier for users Habitual use, not only can provide users with on-demand assistance through single-point support based on the advanced assisted walking rehabilitation medical concept, assist users in walking and other rehabilitation training to achieve the purpose of full exercise, but also can detect current environmental obstacles to avoid Obstacles and real-time detection of the user's motion state, according to the user's current state, cooperative assistance and effective fall protection are provided to the user. The present invention has rich functions and a high degree of intelligence.

(2) The present invention adopts the cross slide as the fall protection response mechanism, which can effectively prevent the falling tendency by utilizing the self-kinematic characteristics of the cross slide and help the user stabilize. In addition, the same type of walking aid robot has not realized the limited time fall protection under the condition of man-machine cooperation constraint stability, but the robot of the present invention can realize the limited time fall protection under the condition of man-machine cooperation stability, for The safety of users is guaranteed, and at the same time, it can provide users with a good human-computer interaction experience.

(3) The robot of the present invention can detect and judge the user's motion intention, assist the user's motion in an all-round way in a supple manner, and at the same time recognize the information of environmental obstacles, and carry out obstacle avoidance motion planning. In addition, it can also judge the user's motion. The stability of the motion state, the detection of the falling tendency, and the control of the response of the cross slide, so as to ensure the stability and safety of the user within a limited time.

Description of drawings

Fig. 1 is a structural diagram of a stick type autonomous fall protection rehabilitation walker robot provided by an embodiment of the present invention;

Fig. 2 is a side view of a cane-type autonomous fall protection rehabilitation walker robot provided by an embodiment of the present invention;

Fig. 3 is a top view of a cane-type autonomous fall protection rehabilitation walker robot provided by an embodiment of the present invention;

4 is a schematic diagram of a cross slide provided by an embodiment of the present invention in response to movement in a certain direction;

Fig. 5 is a flow chart of the use of a cane-type autonomous fall protection rehabilitation walker robot provided by an embodiment of the present invention;

FIG. 6 is a schematic diagram of obstacle detection rectangle conditions provided by an embodiment of the present invention;

Throughout the drawings, the same reference numerals are used to designate the same elements or structures, wherein:

1 is the armrest, 2 is the force sensor, 3 is the main rod, 4 is the battery, 5 is the backward laser sensor, 6 is the forward laser sensor, 7 is the industrial computer, 8 is the cross slide, 9 is the development board, 10 is the The first mecanum wheel, 11 is an omnidirectional chassis, 12 is a motion control card, 13 is a motor, 14 is a second mecanum wheel, 15 is a third mecanum wheel, and 16 is a multi-layer support.

detailed description

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

As shown in Figure 1, a cane-type autonomous fall protection rehabilitation walker robot includes an omnidirectional motion device, a sensor monitoring system and a fall protection response device.

The omnidirectional motion device includes an omnidirectional chassis 11 and a motion controller. The motion controller includes a small industrial computer 7, a storage battery 4, a motion control card 12 and an embedded development board 9. The development board 9 is placed on the bottom of the multi-layer support 16. Placed above the chassis, the industrial computer 7 and the storage battery 4 are placed on the multi-layer support above the chassis. The industrial computer 7 issues instructions, and the development board 9 and the motion control card 12 respond to make the motor 13 drive the three mecanum wheels to rotate, as shown in FIG. 2 . Three mecanum wheels are distributed in pairs at an angle of 120 degrees at the bottom of the omnidirectional chassis, the first mecanum wheel 10, the second mecanum wheel 14, and the third mecanum wheel 15. A motor fixing frame is used to fix the motor 13 on the chassis, and a bearing is installed in the cover cup of the chassis motor fixing frame, and the motor and the mecanum wheel are connected through a transmission shaft through the bearing, as shown in Figure 3, so as to realize the whole process. to the movement.

The sensing and monitoring system device includes an armrest 1, a six-axis force sensor 2, and two laser range finders. Two laser range finders are respectively placed at the front and back of the top layer of the multi-layer support. The forward laser range finder 6 is used to perceive the surrounding environment information and detect surrounding obstacles, and the rear laser range finder 5 is used to sense the user's legs. Leg movement status, recording information such as leg movement position, speed and acceleration. The lower part of the six-axis force sensor 2 is tightly connected with the main rod of the robot with screws. The six-axis force sensor 2 is placed under the handrail 1 of the cane-type fall protection robot, and is fastened to the handrail with screws to detect the force data of the user passing through the handrail. The six-axis force sensor 2 and the laser range finder are connected to the industrial computer through the high-speed USB interface. The industrial computer calculates the user's motion intention and motion state according to the detected force data and leg motion data, so as to assist the user in walking Exercise and the user's exercise status monitoring, with the fall prediction function, and at the same time control the fall protection response device to realize the fall prevention assistance for the user.

The fall protection response device consists of a robot main rod 3 and a cross slide 8. The multi-layer bracket 16 is divided into upper and lower parts by the cross slide table 8. The cross slide table and the multi-layer bracket are fastened and connected by screws. Tightly connected, the bracket below the cross slide is connected to the omnidirectional chassis 11 by screws. Once it detects that the user's motion state is abnormal, the industrial computer 7 sends an instruction according to the current state to control the cross slide 8 to respond with a fall protection strategy and move in the opposite direction of the falling trend, thereby forming a buffer, preventing the falling trend, and helping the user to return to the falling position. Steady state, as shown in Figure 4.

A flow chart of the use of a cane-type autonomous fall protection rehabilitation walking aid robot, as shown in Figure 5:

The sensor monitoring system monitors the user's force data, environmental obstacle information, and user's leg movement information in real time through the six-axis force sensor 2 and the laser range finder 5, 6, and transmits these information to the industrial computer through the high-speed USB interface. If the user's state is normal and there are no obstacles around the environment, the industrial computer calculates the user's motion intention speed (including size and direction) through the control method based on force intention, and transmits the speed command to the omnidirectional chassis 11, and the omnidirectional motion The chassis 11 makes the motor 13 drive the mecanum wheels 10, 14, 15 to move through speed analysis, so that the robot follows the movement of the user and provides assistance for the user when walking. If the state of the user is abnormal and an obstacle is detected around the environment, the industrial computer 7 will perform motion planning through the obstacle avoidance motion control algorithm to guide the user to avoid the obstacle. If it is detected that the user has a falling tendency, the industrial computer 7 will execute the fall protection control algorithm, and the cross slide 8 will perform a control response movement within a limited time, moving in the opposite direction of the falling tendency, thereby preventing the movement tendency and ensuring the stability of the user and safe.

The normal walking assist algorithm uses an open-loop admittance-based control method. The intention force information collected by the six-axis force sensor is F=[F _x F _y F _z ], F _x is the intention force parallel to the forward direction, the forward direction is the positive direction, and F _y is perpendicular to the forward direction, that is, For the intention force in the horizontal direction, the left direction is the positive direction, and _Fz is the intention force in the rotation direction, and the counterclockwise direction is the positive direction. According to the open-loop admittance control method The expected movement speed V of human walking corresponding to the intention force can be obtained. During the normal walking process, V is transmitted to the omnidirectional motion chassis to guide the robot to follow the user's movement speed and give the user walking assistance.

The obstacle avoidance motion control algorithm adopts the obstacle avoidance control method based on artificial potential field. First, set a detection area within the detection range of the forward laser rangefinder, as shown in Figure 6. This detection area uses a rectangular condition to determine whether an obstacle exists. When there is any scanning point among the scanning points of the forward laser rangefinder that satisfies the rectangular condition, it is determined that there is an obstacle in the rectangular area. Set point P(x, y) as a scanning point of the forward laser rangefinder, the forward rangefinder is at the coordinate origin O, the distance between the two points of OP is set as S, and the length of the detection area rectangle is set to be L, and the width is W, when satisfying:

It is determined that there are obstacles in the detection area. At this time, the repulsive force generated by the obstacle is: F _ri =K(rR ₀ ) ^-n , K, R ₀ , and n are constants, where n is generally a positive integer; r is the distance between the obstacle and the walking-assisting robot, and F _ri is The size of the repulsive force. According to the resultant force F _I of the repulsive force and operator force data, and according to the open-loop admittance control algorithm Convert it to speed V, so as to guide and control the walking assistant robot to avoid obstacles safely.

The fall protection control algorithm is introduced as follows:

First, analyze the user's motion state information obtained by the sensor monitoring system. If the user's motion state information does not conform to the law of body coordination, such as intention force, leg motion speed, leg motion acceleration, or A mismatch is considered to be a tendency to fall. Secondly, once the falling tendency is detected, according to the expected position of the stable state of the user and the robot, based on the finite time control algorithm, the expected speed of the current cross slide reverse movement to prevent the falling tendency until the steady state is calculated, thereby forming a cushioning motion until the user Return to a stable state with the robot to realize the autonomous fall protection function.

The invention provides a cane-type autonomous fall protection and rehabilitation walking aid robot, which can be used in a specific environment (such as entering and exiting a door, going uphill) in addition to the basic indoor use environment, and realizes compliance through an active control mechanism and an executive mechanism. In order to assist people with walking disabilities to travel and carry out walking rehabilitation training, the sensor system can also use the environmental information detected by the sensor system and the user's motion status information to realize active obstacle avoidance, autonomous navigation, fall detection, and active fall prevention. Help them achieve safe and effective rehabilitation training, and assist them to achieve a normal life.

Those skilled in the art can easily understand that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, All should be included within the protection scope of the present invention.

Claims (7)

1. A cane-type autonomous fall protection rehabilitation walker robot, characterized in that it includes an omnidirectional motion device, a sensor monitoring system and a fall protection response device, The omnidirectional motion device includes an omnidirectional chassis (11) and a motion controller, and the motion controller includes an industrial computer (7), a storage battery (4) and a development board (9), and the industrial computer (7) and the storage battery (4) are placed Above the multi-layer support (16) above the omnidirectional chassis, the development board (9) is placed on the bottom of the multi-layer support (16); The sensor monitoring system includes handrail (1), force sensor (2), backward laser rangefinder (5), forward laser rangefinder (6), and two laser rangefinders are placed on multi-layer support ( 16) Above, one end of the force sensor (2) is connected to the main rod (3) of the robot, the other end of the force sensor (2) is connected to the armrest (1), and the force sensor (2) and two laser rangefinders are connected to the robot via a high-speed USB interface. The industrial computer (7) is connected; The fall protection response device includes a main rod (3) and a cross slide (8), the multi-layer support (16) is divided into two parts, an upper support and a lower support, by the cross slide (8), and the upper support and the main rod (3 ), the lower bracket is connected with the omnidirectional chassis (11), and the cross slide (8) is used to respond to the fall protection strategy and move in the opposite direction of the falling trend. 2. A kind of cane-type autonomous fall protection rehabilitation walking aid robot as claimed in claim 1, is characterized in that, three mecanum wheels are evenly distributed on the bottom of the omnidirectional chassis (11), and the motor (13) is fixed by the motor The frame is connected with the chassis, and the motor (13) is connected with three Mecanum wheels by the bearing in the motor holder cover cup. 3. A kind of cane-type autonomous fall protection rehabilitation walker robot as claimed in claim 1 or 2, it is characterized in that, the force sensor (2) is a six-axis force sensor, which is used to detect the force data of the user's upper limbs so that Obtain the user's exercise intention. 4. A stick type autonomous fall protection rehabilitation walker robot according to claim 3, characterized in that the two laser range finders are used to detect user leg movement data and environmental obstacle information. 5. A kind of cane type autonomous fall protection rehabilitation walker robot as claimed in claim 4, is characterized in that, described industrial computer (7) obtains user's movement intention and Motion state, so as to assist the user in walking motion and monitor the user's motion state. It has a fall prediction function, and at the same time controls the fall protection response device to realize the fall prevention assistance for the user. 6. A kind of cane type autonomous fall protection rehabilitation walker robot as claimed in claim 2 or 4 or 5, it is characterized in that, when the rehabilitation walker robot is working, the sensor monitoring system passes the force sensor (2) and Two laser rangefinders monitor the user's force data, environmental obstacle information and leg movement information in real time, and transmit these information to the industrial computer (7) through the high-speed USB interface. If the user's state is normal and there are no obstacles around the environment , the industrial computer (7) obtains the user's motion intention through the force data, and transmits the motion intention to the omnidirectional chassis (11), so that the motor (13) drives the three mecanum wheels to move, so that the robot follows the user's movement , to provide assistance for the user when walking. If the user’s state is abnormal and an obstacle is detected around the environment, the industrial computer (7) performs motion planning through the obstacle avoidance motion control algorithm to guide the user to avoid the obstacle. If the user has a tendency to fall, the industrial computer (7) will execute the fall protection control algorithm, and the cross slide (8) will perform a limited time control response movement and move in the opposite direction of the falling tendency, thereby preventing the movement tendency and ensuring the stability and safety of the user . 7. A kind of cane type autonomous fall protection rehabilitation walking aid robot as claimed in claim 6, is characterized in that, the concrete realization mode of described fall protection control algorithm is: If it is detected that the user has a tendency to fall, according to the expected position of the user and the robot in the steady state, the current cross slide table reverse motion is calculated based on the finite time control algorithm to prevent the falling tendency until it reaches the expected speed of the steady state, thereby forming a buffer motion until The user and the robot return to a steady state.