CN113633530B - Intelligent walking aid - Google Patents
Intelligent walking aid Download PDFInfo
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- CN113633530B CN113633530B CN202111134705.9A CN202111134705A CN113633530B CN 113633530 B CN113633530 B CN 113633530B CN 202111134705 A CN202111134705 A CN 202111134705A CN 113633530 B CN113633530 B CN 113633530B
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- 238000001514 detection method Methods 0.000 claims abstract description 18
- 238000000034 method Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 230000036544 posture Effects 0.000 description 21
- 230000001174 ascending effect Effects 0.000 description 13
- 230000005484 gravity Effects 0.000 description 10
- 230000007423 decrease Effects 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 241001456553 Chanodichthys dabryi Species 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
- A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
- A61H2003/046—Wheeled walking aids for patients or disabled persons with braking means
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- General Health & Medical Sciences (AREA)
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Abstract
The invention discloses an intelligent walker, which comprises a control system, wherein: the control system comprises a main controller, a driving device, a safety sensor module, a power management module, a wireless control module and an auxiliary module, and is characterized in that: the main controller is respectively connected with the driving device, the safety sensor module, the power management module and the auxiliary module; the main controller is in wireless connection with the wireless control module; the power management module determines whether to electrify the driving device according to the human body state; the position sensor comprises 1 infrared detection sensor and 3 ultrasonic sensors.
Description
The present application is a divisional application of the invention patent application with the application number of 201810986449.8, the application date of 2018, 8 and 28, and the name of the intelligent walker control system.
Technical Field
The invention relates to an intelligent walker control system, in particular to a walker control system and a walker for helping the elderly and patients with walking dysfunction walk, which belong to the technical field of rehabilitation auxiliary appliances and mobile walker.
Background
For disabled persons and old people with weak lower limbs standing and walking ability, when the disabled persons and old people need a walker to solve the traveling and rehabilitation needs in daily life, the traditional walker cannot sense whether a human body stands at a safe and correct position, cannot detect walking postures of the human body, cannot judge road conditions of the environment, and brings potential safety hazards to people using the walker. The invention aims at the problems and provides an intelligent walker control system which is used for enabling a user of the walker to start the walker in a correct sitting posture state, safely and normally running, detecting the walking posture of a human body in use and training the user to walk in a passive mode and an active mode. When a user operates the walker, the system can control the walker to accelerate or decelerate according to the gradient of the ramp when the user encounters road conditions of ascending and descending slopes. Can effectively improve the walking posture and the daily life condition of the walker users, bring a brand new and safe life style to the users, and is beneficial to improving the rehabilitation level of the users and the traveling comfort level of the users using the walker.
Disclosure of Invention
The invention is realized by adopting the following technical scheme:
an intelligent walker control system, includes main control unit, drive arrangement, safety sensor module, power management module, wireless control module and supplementary module, wherein: the main controller is respectively connected with the driving device, the safety sensor module, the power management module and the auxiliary module; the main controller is in wireless connection with the wireless control module; the power management module determines whether to power on the driving device according to the human body state.
The control system, wherein: the driving device comprises a first driver, a second driver, a left motor, a right motor and a Hall sensor; the safety sensor module comprises a position sensor, an inclination sensor and a pressure sensor; the power management module comprises a battery, a voltage conversion circuit and a power self-starting device, wherein the self-starting device is used as a power switch and is in a normally open state so as to cut off power supply of the power supply, and after the position sensor detects that a human body is in a correct position and posture, the pressure sensor of the safety sensor module is judged whether to be under pressure or not, if the pressure is applied, the self-starting device is switched on, the power supply is switched on, and the driving device is in a power-on state.
The control system, wherein: after the control system is electrified, the safety sensor sends the position information of the intelligent walker user to the main controller in real time, the main controller judges whether the user is at a safe position according to the received position information, if the user is at the safe position, the main controller continuously judges the pressures of the left handrail and the right handrail, and if the pressures of the left handrail and the right handrail are both greater than zero, the main controller controls the self-starting device of the power management module to supply power to the driving device of the walker; if the user is judged not to be in the safety position, the main controller controls the self-starting device of the power management module not to supply power to the driving device of the walker, and meanwhile, the main controller controls the display module and the alarm device in the auxiliary module to send out alarm signals which are not in the safety position.
The control system, wherein: the position sensor comprises 1 infrared detection sensor and 3 ultrasonic sensors, wherein the first ultrasonic sensor and the second ultrasonic sensor are respectively arranged below the left handrail and the right handrail of the walking aid; the third ultrasonic sensor and the infrared detection sensor are arranged at the center of the front end of the seat cushion of the walker.
The control system, wherein: the main controller judges the safety position by comprehensively judging the information detected by the 1 infrared detection sensor and the 3 ultrasonic sensors, namely, when the infrared detection sensor detects that the human body moves in front of the walker armrest, the first ultrasonic sensor and the second ultrasonic sensor respectively detect that the range from the hip of the human body is within a first preset range, and the third ultrasonic sensor detects that the trunk of the human body is within a second preset range, the main controller judges that the human body is at the safety position of the walker, and at the moment, the main controller starts the intelligent walker.
The control system, wherein: the safety sensor module further comprises pressure sensors which are respectively arranged on a left hand handrail and a right hand handrail of the walker and used for detecting the pressure of the walker of the user, transmitting the detected pressure value to the main controller in real time, and determining whether to start the walker, increase or decrease the walking speed of the walker and give an alarm according to the received pressure value.
The control system, wherein: when the position sensor judges that a human body is at the safe position of the walker, and the pressure sensor detects the pressure of the left handrail and the right handrail of the walker which are held by the two hands of a user, the main controller sends a control signal to the self-starting device, the switch of the self-starting device is closed, the power management module starts to supply power to the first driver and the second driver of the walker driving device, and the left motor and the right motor start to be started.
The control system, wherein: in an initial state under a passive mode, a user holds the handrail of the walker to generate pressure, the walker walks forwards at the moment, a Hall sensor of the driving device feeds back the running conditions of the left motor and the right motor to the main controller, a pressure sensor on the handrail records the pressure of hands, the main controller judges which hand is high in pressure in the initial state and detects the pressure value of the hand with high initial pressure in real time, and if the pressure value is gradually reduced, the main controller controls the walker to gradually reduce until the walker stops; when the pressure value is gradually increased, the speed of the walker is controlled by the main controller to be gradually increased, the safety sensor module of the walker judges the distance and the posture of the human body at the moment, and if the human body is at a safety position, the speed of the walker is controlled by the controller to be continuously increased until the speed reaches the maximum speed of safe operation; if the human body is in an unsafe position, the main controller controls the speed of the walker to gradually decrease until the human body is in a safe position.
The control system, wherein: the safety sensor module further comprises an inclination sensor, the inclination sensor judges whether the walker is on an ascending slope or a descending slope, the main controller controls the walker to accelerate during ascending slope, and the main controller controls the walker to decelerate during descending slope.
The control system, wherein: when the walker starts and stops, the main controller controls the speed change of the walker in a buffering mode.
The control system, wherein: in the active mode, the main controller controls the walker to turn according to the detected values of the pressure of the left hand and the right hand of the person on the left handrail and the right handrail.
The control system, wherein: the main controller judges the turning angle of the walker as follows: the distance between the two handrails of the walker is set as H, and the pressure value of the human body acting on the left handrail and the right handrail is converted into an equivalent distance value; setting a turning judgment model as a symmetrical quadrangle, setting the two bottom edges as pressure equivalent distances, setting the height as the distance H between two armrests, setting the lengths of an upper bottom and a lower bottom as a and b respectively, wherein the upper bottom represents left hand pressure, the lower bottom represents right hand pressure, if a is not equal to b, the model is an isosceles trapezoid, calculating an included angle phi between the waist of the trapezoid and the upper bottom, and when phi is larger than 0, controlling the walker to turn left by a main controller; when phi is less than 0, the main controller controls the walker to turn right.
The control system, wherein: the auxiliary module comprises a sensing hand brake, a human body information sensor and a display module, a user adjusts the speed of the left motor and the right motor of the walker by controlling the sensing hand brake in the auxiliary module, the auxiliary module detects the heart rate of the user by the human body information sensor on the armrest and sends the heart rate to the main controller, and the display module displays the heart rate, road condition information and speed information of the user.
The control system, wherein: the safety sensor module comprises an inclination sensor, the inclination sensor is installed in the intelligent walker main frame and is parallel to the vertical line where the walker center is located, and the measured variation of the vertical line of the walker center is transmitted to the main controller in real time when the walker moves in 4 directions of forward tilting, backward tilting, left tilting and right tilting.
The control system, wherein: when the walker is on the flat ground, the inclination sensor measures the value of the vertical line of the walker center of gravity to be (0, 0), when the walker is on an upward slope, a downward slope, a left side rolling and a right side rolling, the inclination sensor measures the two-dimensional value of the vertical line of the walker center of gravity to be (X, Y), the measured two-dimensional value is divided into a coordinate system of 4 quadrants, X is more than 0 and represents an upward slope, X is less than 0 and represents a downward slope, Y is more than 0 and represents a right side rolling, the maximum limit threshold value of the system is preset, the maximum limit threshold value of the upward slope and the maximum limit threshold value of the downward slope are X and-X, and the maximum limit threshold value of the horizontal falling is Y and-Y.
The control system, wherein: the main controller compares the up-down slope value of the vertical line of the center of gravity of the walker detected by the inclination sensor with a preset up-down slope maximum limit threshold value in real time, and when the absolute value of the vertical line of the center of gravity of the walker measured by the inclination sensor is larger than the absolute value of the preset up-down slope maximum limit threshold value, the main controller controls the display module and the alarm module of the auxiliary module to send alarm signals to prompt the gradient danger, and the main controller sends stop signals to the driving device to stop the motor.
The control system, wherein: the main controller compares the left-right inclination value of the vertical line of the center of gravity of the walker, which is detected by the inclination sensor, with a preset left-right inclination maximum limit threshold value in real time, and when the inclination sensor measures that the absolute value of the vertical line of the center of gravity of the walker is larger than the absolute value of the preset left-right inclination maximum limit threshold value, the main controller controls the display module and the alarm module of the auxiliary module to send alarm signals to prompt that the walker is inclined dangers, and the main controller sends stop signals to the driving device to stop the motor.
The control system, wherein: when a user operates the wireless control module, after pressing a key, a corresponding key information instruction is sent to the main controller in a wireless communication mode, and the main controller controls the driving device according to corresponding information to control the left motor and the right motor to start or close or control the motor to rotate positively and negatively so as to realize the forward and backward running of the walker.
The control system, wherein: when the main controller judges that the human body is not in the safe position and the incorrect posture in the movement process, the main controller controls the speed of the walking aid to be gradually reduced until the speed of the walking aid is 0, when the walking aid is stopped, the human body is still not in the safe position and the correct posture, the main controller judges the position of the human body at the moment, if at least one of the first ultrasonic sensor and the second ultrasonic sensor detects that the range from the hip of the human body is smaller than 25cm, and/or the third ultrasonic sensor detects that the human body is less than 55cm from the walking aid, the main controller sends a signal to the driving device, and controls the driver 1 and the driver 2 to enable the left motor and the right motor to continue to move forwards until the range from the hip of the human body is 25cm-45cm detected by the first ultrasonic sensor and the second ultrasonic sensor, and the third ultrasonic sensor detects that the human body is in the following state when the range from the hip of the human body is detected by the third ultrasonic sensor is 55 cm; if at least one of the first ultrasonic sensor and the second ultrasonic sensor detects that the range from the hip of the human body is larger than 45cm and/or the third ultrasonic sensor detects that the human body trunk is larger than 75cm from the walker, the main controller sends signals to the driving device, the driver 1 and the driver 2 are controlled to enable the left motor and the right motor to move in the opposite direction before stopping relative to the walker until the first ultrasonic sensor and the second ultrasonic sensor detect that the range from the hip of the human body is between 25cm and 45cm, and the third ultrasonic sensor detects that the human body trunk is smaller than 75cm from the walker, and the following state is stopped.
The control system, wherein: the timer of the main controller records the speed of the walker in real time according to a time period, and when the speed of the walker exceeds a preset speed value during turning, the main controller decelerates the walker and turns.
The control system, wherein: the main controller scans and detects the numerical value change of the pressure sensor at regular time, and if the pressure change amplitude is found to be too large, the main controller judges that the situation is abnormal, and the main controller does not turn the walking aid.
The control system, wherein: the main controller judges the variation of the rotation angle phi within a preset time range, and if the variation exceeds a preset value, the main controller does not respond to the turning command any more and does not turn the walker.
An intelligent walker comprising a control system as claimed in any one of the preceding claims.
Drawings
FIG. 1 is a schematic diagram of an intelligent walker control system;
FIG. 2 is an equivalent diagram of a calculation model of the intelligent walker turning angle;
FIG. 3 is a schematic view of an intelligent walker on an incline, downhill, side to side, and side dumping setting safety areas;
FIG. 4 is a schematic diagram of a position sensor arrangement.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
As shown in fig. 1, the intelligent walker control system of the present invention comprises: the system comprises a main controller, a driving device, a safety sensor module, a power management module, a wireless control module and an auxiliary module. The main controller is respectively connected with the driving device, the safety sensor module, the power management module, the auxiliary module and the wireless control module, and the power management module provides power for the control system.
The driving device comprises a driver 1, a driver 2, a left motor, a right motor and a Hall sensor; the safety sensor module comprises a position sensor, an inclination sensor and a pressure sensor; the power management module comprises a battery, a voltage conversion circuit and a power supply self-starting device, the power supply of the main controller and each sensor module is provided by the voltage conversion circuit, the self-starting device is used as a power switch and is in a normally open state to disconnect the power supply of the driving device, when the position sensor detects that a human body is in a correct position and posture, the main controller judges whether the pressure sensor of the safety sensor module is under pressure or not, if so, the main controller controls the switch of the self-starting device to be closed, the power supply is connected, and the driving device of the intelligent walker is in a power-on state.
The specific control process is as follows; after the control system is electrified, the position sensor sends the position information of the intelligent walker user to the main controller in real time, the main controller judges whether the user is at a safe position according to the received position information, and if the user is at the safe position, the main controller continuously judges the walker handrail pressure; if the user is judged not to be in the safety position, the main controller controls the self-starting device of the power management module not to supply power to the driving device of the walker, and meanwhile, the main controller controls the display module and the alarm device in the auxiliary module to send out alarm signals which are not in the safety position.
As shown in fig. 4, the position sensor includes 1 infrared detection sensor and 3 ultrasonic sensors, wherein the first ultrasonic sensor and the second ultrasonic sensor are respectively arranged below the left handrail and the right handrail of the walking aid, and after the user holds the handrail, the detection of the hip of the human body by the ultrasonic sensor is not affected, and the safety distance is in the range of 25cm-45cm away from the hip of the human body. The basic reasons of the arrangement are that the human body swings back and forth in walking, the distance is not easy to detect, the distance between the hip of the human body and the walking aid is relatively stable, the hip posture is an important reference of the walking posture, and according to clinical experience, many patients needing walking assistance have the phenomenon of hip throwing walking, in order to correct the walking posture, the hip of the human body is detected by adopting an ultrasonic sensor, and the range between 25cm and 45cm from the hip of the human body is set.
The third ultrasonic sensor and the infrared detection sensor are arranged at the center of the front end of the seat cushion of the walker and are used for detecting a human body, and the distance between the third ultrasonic sensor and the front end of the walker, which is detected by the third ultrasonic sensor, is a safe distance between 55cm and 75 cm. The infrared detection sensor detects that the human body moves in front of the handrail of the walker, and sends an electric signal to the main controller. The adoption of the arrangement mainly considers that the posture of the trunk part of the human body in walking influences the walking efficiency and the gravity center, if the posture of the trunk part of the human body is incorrect and chest humpback is contained, not only the gait of the human body is changed, but also the pressure of the walking aid of the human body is increased, and the detection of the handrail pressure of the walking aid is influenced; more importantly, the gravity center of the human walking posture is on the walker for a long time, so that the walker is completely relied on by people, and independent walking and complete rehabilitation of the people are not facilitated. Therefore, the distance between the third ultrasonic sensor and the front end of the walker, which is detected by the third ultrasonic sensor, is set to be a reasonable distance between 55cm and 75 cm.
The main controller judges the safe position and the correct posture by comprehensively judging the information detected by the 1 infrared detection sensor and the 3 ultrasonic sensors, namely, when the infrared detection sensor detects that the human body moves in front of the walker armrest, the first ultrasonic sensor and the second ultrasonic sensor respectively detect that the range from the hip of the human body is 25cm-45cm, and the third ultrasonic sensor detects that the trunk of the human body is 55cm-75cm away from the walker, the human body is judged to be at the safe position of the walker, and the power self-starting device of the intelligent walker can be started at the moment.
The main controller judges the pressure of the walker armrest by the following method: the safety sensor module further comprises pressure sensors which are respectively arranged in two areas of the walker: the left hand handrail and the right hand handrail are used for detecting the pressure of the hand walker of a user and transmitting the detected pressure value to the main controller in real time, and the main controller determines whether to start the walker, increase or decrease the walking speed of the walker and give an alarm according to the received pressure value
When the position sensor judges that the human body is at the safe position of the walker, and the pressure sensor detects the pressure of the walker supported by the hands of a user, the main controller sends a control signal to the self-starting device, the switch of the self-starting device is closed, the power management module starts to supply power to the drivers 1 and 2 of the walker driving device, and the left motor and the right motor start to start. In general, when the pressure values of the left handrail and the right handrail received by the main controller are all greater than zero, the main controller starts the walker, namely, the main controller controls the switch of the self-starting device to be closed, the power supply is on, the driving device of the intelligent walker is in a power-on state, and the walker starts to move. Otherwise, the main controller considers that the walking belongs to misoperation and does not start the walking aid.
The invention respectively sets the power-assisted mode as a passive power-assisted mode and an active power-assisted mode according to the pressure adjustment power-assisted mode of the armrest applied by a user. In the passive mode, the main controller limits the walker from turning, and the speed of the walker is automatically adjusted according to the pressure applied by a user to the handrail and the road condition (flat land, ascending slope or descending slope) so as to drive the user to walk. In the active mode, the master controller allows the walker to turn around.
In the passive mode, in the initial condition, a user holds the handrail of the walker to generate pressure, the walker walks forwards at the moment, a Hall sensor of the driving device feeds back the conditions such as the movement speed of the left motor and the right motor to the main controller, the pressure sensor on the handrail records the pressure of a human hand, the pressure of the left handrail is set to be A10, the pressure of the right handrail is set to be A20 at the moment, the maximum one of the two values of A10 and A20 is set to be A0, namely the pressure of the walker pushed by the user in the passive mode is set to be A0 in the initial condition, the pressure value A0 of the hand with large initial pressure is detected, and if the pressure A0 is gradually reduced, the main controller controls the walker speed to be gradually reduced until the walker stops; when the pressure A0 is gradually increased, the speed of the walker is controlled by the main controller to be gradually increased, at the moment, the safety sensor module of the walker is used for judging the distance and the posture of a human body, the judgment standard is the judgment of the safety position (namely, 1 infrared detection sensor and 3 ultrasonic sensors are used for comprehensively judging the information, when the infrared detection sensor detects the movement of the human body in front of the walker armrest, the first ultrasonic sensor and the second ultrasonic sensor respectively detect the movement of the human body in the range of 25cm-45cm away from the hip of the human body, and the third ultrasonic sensor detects the movement of the human body in the range of 55cm-75cm away from the walker, the human body is judged to be at the safety position of the walker), if the human body is at the safety position, and the walker is used for judging that the human body can well follow, the speed of the walker is continuously increased until the speed reaches the maximum speed of safe operation, for example, 5 km/h; if the human body is at an unsafe position, and/or the infrared detection sensor detects no human body movement before the walker handrail, and/or at least one of the first ultrasonic sensor and the second ultrasonic sensor detects that the distance from the hip of the human body is out of 25cm-45cm, and/or the third ultrasonic sensor detects that the distance from the trunk of the human body to the walker is out of 55cm-75cm, the main controller of the walker judges that the human body cannot follow, and the main controller controls the speed of the walker to gradually decrease until the human body is at a safe position and a correct posture.
The walker is provided with following states in both active and passive modes, namely: when the main controller judges that the human body is not in the safe position and the incorrect posture in the movement process, the main controller controls the speed of the walker to gradually decrease until the speed of the walker is 0, when the walker stops, the human body is still not in the safe position and the correct posture, the main controller judges the position of the human body at the moment, if at least one of the first ultrasonic sensor and the second ultrasonic sensor detects that the range from the hip of the human body is smaller than 25cm, and/or the third ultrasonic sensor detects that the human body is less than 55cm from the walker, the main controller sends a signal to the driving device, controls the driver 1 and the driver 2 to enable the left motor and the right motor to continue to move forwards until the range from the hip of the human body is detected by the first ultrasonic sensor and the second ultrasonic sensor to be 25cm-45cm, and the third ultrasonic sensor detects that the human body is stopped from the hip of the walker at the time of 55cm, namely the main controller does not actively adjust the speed of the walker. Also, if at least one of the first ultrasonic sensor and the second ultrasonic sensor detects a range from the hip of the human body greater than 45cm and/or the third ultrasonic sensor detects a range from the trunk of the human body greater than 75cm from the walker, the main controller sends a signal to the driving device to control the driver 1 and the driver 2 to move the left and right motors in opposite directions before stopping the walker relative to the walker until the first ultrasonic sensor and the second ultrasonic sensor detect a range from the hip of the human body between 25cm and 45cm and the third ultrasonic sensor detects a state that the trunk of the human body is stopped following when the distance from the walker is less than 75 cm.
And judging whether the walker is ascending and descending by the inclination sensor under the condition of ascending and descending, wherein the ascending is assisted acceleration and the descending is assisted deceleration. The speed is still regulated to judge the safe position of the human body, the judgment of the safe position is the same as the above, and when the human body is not in the safe position, the main controller controls the walker to decelerate. The standard up-down slope of the barrier-free channel is 1:8 indoors and 1:10 outdoors, and the slope is fixed and has little influence on detecting the position of a human body relative to the walker, so that the method for judging the safety position of the human body by using the land in the up-down slope state is provided.
The invention provides buffering for the start and stop of the walker (the speed is not 0 immediately, gradually increases or decreases, the buffering rate of acceleration and deceleration is 5 seconds when the speed is reduced from 5 km/h to 0). The passive power assisting mode is more focused on torque output, and the dynamic performance of the walker is enhanced. In the use process of the walker, the safety sensor module monitors the balance state (namely detects the ascending and descending slope and the left and right dumping state) in real time through the inclination sensor and sends state information to the main controller, the walker is decelerated before the trend of ascending and descending slope and the left and right dumping state of the walker, the walker is prevented from being too fast, the situation that a user cannot walk with the walker and the walker is too slow, and the user stumbles over.
In the active mode, the self walking condition of the user can be more suitable for the walker, the user actively applies force to control the speed of the walker, namely, the walking assisting speed of the walker is adjusted according to the pressure generated by the human body acting on the armrest of the walker when the user pushes the walker; the walking aid has the advantages that the walking aid is provided with an ascending power assisting function, a descending power assisting function and a damping function, and in an active mode, the main controller can allow the walking aid to bend according to the detected values of the pressure of the left hand and the right hand of a person on the left handrail and the right handrail, so that the walking aid can provide bending walking training for a patient.
FIG. 2 is an equivalent diagram of a calculation model of the turning angle of the intelligent walker in the active mode;
the main controller judges the turning angle of the walker as follows: as shown in fig. 2, the distance between two handrails of the walker is H, the pressure value of the human body acting on the first pressure sensor 1 on the left handrail is F1, the pressure value of the human body acting on the second pressure sensor 2 on the right handrail is F2, and for the convenience of modeling the pressure and distance of the human body, the values of the pressures on the left and right handrails are converted into equivalent distance values (for example, the values of the pressures applied to the handrails by the user are 20N, the relative voltage signals displayed by the sensors are 0.2V, the distance equivalent values are 0.2m, and for the convenience of calculation, the pressure equivalent values on the left and right handrails can be amplified and reduced in the same proportion). That is, the model is a symmetrical quadrangle, the two bottom edges are equal to the pressure equivalent distance, the height is equal to the distance H between the two armrests, the lengths of the upper bottom and the lower bottom are respectively set to be a and b, the upper bottom represents the left hand pressure, the lower bottom represents the right hand pressure, if a is not equal to b, the model is an isosceles trapezoid, as shown in figure 2, an included angle phi (-90 < phi < 90) between the waist and the upper bottom is generated, phi=arctan [ (b-a)/2H]. When phi is greater than 0, the main controller controls the walker to turn leftwards; when phi is smaller than 0, the main controller controls the walker to turn right; due toThe user pushes the walker to have a low walking speed, the body can shake left and right when stepping forward, a certain influence is generated on the calculated angle phi, in order to eliminate the left and right shaking error of the walker, the control system is prevented from misjudging the turning, and a turning threshold phi is set 0 (e.g. phi) 0 =5°), i.e. when Φ is greater than Φ 0 When the main controller controls the driving device, the right motor rises relative to the rotating speed of the left motor, so that the walker turns left; when phi is smaller than-phi 0 When the main controller controls the driving device, the left motor rises relative to the rotation speed of the right motor, so that the walker turns right.
Further, for safety, the speed of the walker at the turn is set as follows: the timer of the main controller is set to record the speed of the walker in real time according to the calculated angle value phi and the speed of the walker in the forward moving time period, and the relative speed of the left motor and the right motor is adjusted, when the speed of the walker exceeds a set value (for example, 4.5 km/h), the walker is decelerated and turned. In the turning mode, the higher attention is paid to subdividing a wider rotating speed interval to obtain better following performance and turning safety, because the speed of a user pushing the walker is very low, the walker cannot make a sharp turn, for example, the turning cannot make an abrupt change, and if the turning angle is abnormally increased. For safety, the walker cannot turn at a large turning angle, and therefore the maximum turning angle is set to 45 ° to ensure turning safety. Further, since the reaction rate of the person is generally 0.1 seconds or more, the timer of the main controller scans and detects the value change of the pressure sensor at a timing of 0.1 seconds, and if the pressure change width is found to be excessively large, it is determined as an abnormal situation. Because the person makes the instruction of turning to the manual control pressure sensor to execute the turning action, the fastest reaction time required under the general condition is 0.1-0.5 s. Therefore, the abnormal situation includes that the variation of phi can be judged within a preset time range (can be selected according to the need within the range of 0.1s-0.5 s), if the phi is suddenly changed by more than +/-45 degrees within the preset time range, the main controller does not respond to the turning command any more and does not turn the walker, and the pressure of the walker is not misoperation of the human body. Abnormal situations can be eliminated by such turning safety control measures.
The auxiliary module comprises an induction hand brake, a human body information sensor and a display module, a user adjusts the speed of the left motor and the right motor of the walker by controlling the induction hand brake in the auxiliary module, the auxiliary module detects the heart rate of the user by the human body information sensor on the armrest and sends the heart rate to the main controller, and the display module displays the heart rate of the user, road condition information (ascending, descending and the like) and speed information. The intelligent walker control system improves the use safety and the convenience of users.
Fig. 3 is a schematic diagram of an intelligent walker in which a safety area is set by tilting the walker up and down a slope and tilting the walker left and right, and the intelligent walker can also detect and identify the situations that the walker is in the up and down slope and tilting the walker left and right. The detection of the upward and downward slope and the left and right tilting is completed by an inclination sensor, the inclination sensor is arranged in the intelligent walker main frame and is parallel to the vertical line where the walker center is positioned, and the measured variation of the vertical line of the walker center is transmitted to the main controller in real time when the walker moves in 4 directions of forward tilting, backward tilting, left tilting and right tilting. When the walker is on the flat ground, the value of the vertical line of the walker center of gravity is (0, 0) measured by the inclination sensor, when the walker is on an upward slope, a downward slope, a left slope and a right slope, the value of the vertical line of the walker center of gravity is changed, the two-dimensional value is (X, Y), the measured two-dimensional value is divided into a coordinate system of 4 quadrants, X is more than 0 and represents an upward slope, X is less than 0 and represents a downward slope, Y is more than 0 and represents a left slope, Y is less than 0 and represents a right slope, the maximum limit threshold value of the system is preset, the maximum limit threshold value of the upward slope and the downward slope is X and-X, and the maximum limit threshold value of the left slope and the right slope is Y and-Y.
The main controller compares the value of the upward and downward slope of the vertical line of the center of the walker, namely the value of + -X, detected by the inclination sensor with a preset maximum limit threshold value (X and-X) of the upward and downward slope in real time, and when the inclination sensor measures that the absolute value of the vertical line of the center of the walker is larger than the preset maximum limit threshold value of the upward and downward slope, the main controller controls the display module and the alarm module of the auxiliary module to send alarm signals to prompt the danger of the slope, the walker is stopped, and the main controller sends a stop signal to the driving device to stop the motor. The main controller judges that the walker is on a downhill slope, and at the moment, the main controller controls the driving motor of the driving device to rotate in a decelerating way, so that the rotating speed of the walker is reduced, and the safety is improved; the main controller judges that the walker is on an ascending slope, and at the moment, the main controller controls the driving motor of the driving device to accelerate to rotate, so that the rotating speed of the walker is improved, and climbing is facilitated.
The main controller compares the left and right inclination value of the vertical line of the center of the walker, namely + -Y value, detected by the inclination sensor with a preset left and right dumping maximum limit threshold value (Y and-Y) in real time, and when the inclination sensor measures that the value of the vertical line of the center of the walker is larger than the preset left and right dumping maximum limit threshold value, the main controller controls the display module and the alarm module of the auxiliary module to send alarm signals to prompt that dumping is dangerous, the walker needs to be stopped, and the main controller sends a stop signal to the driving device, and the motor stops running. And the main controller obtains a shadow area in the graph as a safe running area of the walker according to the overlapping area of the maximum threshold value of the tilting limit of the ascending and descending slope and the left and right in the coordinate system, and the main controller does not control the running of the walker in the area.
The wireless control module is a wireless control device used for being worn by a user, the driving device of the walker is controlled through Bluetooth, the forward or backward movement of the left motor and the right motor is controlled, the user can control the walker to approach the user when the walker is far away from the walker (can be seen), and the user can place the walker in a controllable range without independently walking, so that the walker can be used at any time; the walking aid can be operated to walk slowly when the walking aid is at rest, and the wheelchair is replaced. The wireless control device worn by the user is provided with 5 keys, including a switch key, a left motor selection key, a right motor selection key, a forward key and a backward key. The switch key is used for switching on or off the wireless control device; the left motor selection key is used for selecting the left motor to be turned on or turned off, the right motor selection key is used for selecting the left motor to be turned on or turned off, and the left motor selection key and the right motor selection key can be turned on simultaneously or independently; the forward button is used for controlling the motor to rotate forward, so that the motor drives the walker to travel forward; the backward button is used for controlling the motor to rotate reversely, so that the motor drives the walker to travel backwards. When a user operates the wireless control module, after pressing a key, a corresponding key information instruction is sent to the main controller in a wireless communication mode, and the main controller controls the driving device according to corresponding information to control the left motor and the right motor to start or close or control the motor to rotate positively and negatively so as to realize the forward and backward running of the walker.
The device can record and save the motion state of the walker in real time, including the posture data of the human body, the walking mileage and speed, the walker motion mode, the road conditions and the like used each time, can upload the data of the walker user to the cloud through WiFi for the subsequent analysis of the service condition of the walker, and is convenient for developing APP software and providing walker guidance for the walker user.
The foregoing is merely illustrative embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the technical scope of the present invention, and the invention should be covered. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (3)
1. An intelligent walker, includes control system, its characterized in that: the control system comprises a main controller, a driving device, a safety sensor module, a power management module, a wireless control module and an auxiliary module, and is characterized in that: the main controller is respectively connected with the driving device, the safety sensor module, the power management module and the auxiliary module; the main controller is in wireless connection with the wireless control module; the power management module determines whether to electrify the driving device according to the human body state; the position sensor comprises 1 infrared detection sensor and 3 ultrasonic sensors;
according to the pressure adjustment power-assisting mode of a user applying the armrest, the power-assisting mode of the control system is respectively set into a passive power-assisting mode and an active power-assisting mode, and in the passive mode, the main controller limits the walker from turning; in the active mode, the main controller allows the walker to turn;
the control system, wherein: in an initial state under a passive mode, a user holds the handrail of the walker to generate pressure, the walker walks forwards at the moment, a Hall sensor of the driving device feeds back the running conditions of the left motor and the right motor to the main controller, a pressure sensor on the handrail records the pressure of hands, the main controller judges which hand is high in pressure in the initial state and detects the pressure value of the hand with high initial pressure in real time, and if the pressure value is gradually reduced, the main controller controls the walker to gradually reduce until the walker stops; when the pressure value is gradually increased, the speed of the walker is controlled by the main controller to be gradually increased, the safety sensor module of the walker judges the distance and the posture of the human body at the moment, and if the human body is at a safety position, the speed of the walker is controlled by the controller to be continuously increased until the speed reaches the maximum speed of safe operation; if the human body is in an unsafe position, the main controller controls the speed of the walker to be gradually reduced until the human body is in a safe position;
the control system, wherein: in the active mode, the main controller controls the walker to turn according to the detection value of the pressure of the left hand and the right hand of a person on the left handrail and the right handrail; the main controller judges the turning angle of the walker as follows: the distance between the two handrails of the walker is set as H, and the pressure value of the human body acting on the left handrail and the right handrail is converted into an equivalent distance value; setting a turning judgment model as a symmetrical quadrangle, setting the two bottom edges as pressure equivalent distances, setting the height as the distance H between two armrests, setting the lengths of an upper bottom and a lower bottom as a and b respectively, wherein the upper bottom represents left hand pressure, the lower bottom represents right hand pressure, if a is not equal to b, the model is an isosceles trapezoid, calculating an included angle phi between the waist and the upper bottom of the trapezoid, phi=arctan [ (b-a)/2H ], and when phi is greater than 0, controlling the walker to turn leftwards by the main controller; when phi is smaller than 0, the main controller controls the walker to turn right; the control system, wherein: the main controller judges the variation of the rotation angle phi within a preset time range, and if the variation exceeds a preset value, the main controller does not respond to the turning instruction any more and does not turn the walker;
when the main controller judges that the human body is not in the safe position and the incorrect posture in the movement process, the main controller controls the speed of the walker to be gradually reduced until the speed of the walker is 0, when the walker is stopped, the human body is still not in the safe position and the correct posture, the main controller judges the position of the human body at the moment, if at least one of the first ultrasonic sensor and the second ultrasonic sensor detects that the range from the human body hip is smaller than 25cm, and/or the third ultrasonic sensor detects that the human body trunk is smaller than 55cm from the walker, the main controller sends a signal to the driving device, and controls the first driver and the second driver to enable the left motor and the right motor to continuously move forwards until the first ultrasonic sensor and the second ultrasonic sensor detect that the range from the human body hip is between 25cm and 45cm, and the third ultrasonic sensor detects that the human body trunk is in the following state when the third ultrasonic sensor detects that the human body trunk is 55 cm; if at least one of the first ultrasonic sensor and the second ultrasonic sensor detects that the range from the hip of the human body is larger than 45cm and/or the third ultrasonic sensor detects that the human body trunk is larger than 75cm from the walker, the main controller sends signals to the driving device, the first driver and the second driver are controlled to enable the left motor and the right motor to move in the opposite direction before stopping relative to the walker until the first ultrasonic sensor and the second ultrasonic sensor detect that the range from the hip of the human body is between 25cm and 45cm, and the third ultrasonic sensor detects that the human body trunk is smaller than 75cm from the walker, and the following state is stopped.
2. The intelligent walker of claim 1 wherein: the driving device comprises a first driver, a second driver, a left motor, a right motor and a Hall sensor; the safety sensor module comprises a position sensor, an inclination sensor and a pressure sensor; the power management module comprises a battery, a voltage conversion circuit and a power self-starting device.
3. The intelligent walker of claim 2 wherein: the safety sensor module also includes a pressure sensor.
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| CN109875842A (en) * | 2019-03-28 | 2019-06-14 | 昆明桑达科技有限公司 | Lower limb assist exoskeleton robot control system |
| CN112859718B (en) * | 2019-04-17 | 2022-09-02 | 国家康复辅具研究中心 | Intelligent walking aid control circuit |
| CN110731881B (en) * | 2019-09-09 | 2022-09-16 | 无锡美安雷克斯医疗机器人有限公司 | Medical walking aid walking safety protection system |
| CN112999026B (en) * | 2019-12-19 | 2023-02-03 | 沈阳新松机器人自动化股份有限公司 | Self-adaptive control method applied to rehabilitation walking-aid robot |
| CN111419655B (en) * | 2020-03-11 | 2025-01-28 | 中国农业大学 | Walking aids |
| CN112859679B (en) * | 2021-01-07 | 2022-09-02 | 国家康复辅具研究中心 | Wheelchair posture adjustment system |
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| CN113908019B (en) * | 2021-09-08 | 2022-12-27 | 中国科学院深圳先进技术研究院 | Walking aid following method and system based on walking aid and terminal equipment |
| CN113768760B (en) * | 2021-09-08 | 2022-12-20 | 中国科学院深圳先进技术研究院 | Control method, system and driving device of walking aid |
| CN114159240A (en) * | 2021-12-06 | 2022-03-11 | 徐州恒倍舒医疗科技有限公司 | Paraplegia walking aid and use method thereof |
| CN116264998A (en) * | 2021-12-17 | 2023-06-20 | 沈阳新松机器人自动化股份有限公司 | A grip monitoring structure of an electric standing walker |
| CN114404236B (en) * | 2022-02-18 | 2023-12-01 | 国家康复辅具研究中心 | A kind of follow-up walking assistance control system |
| CN115300338A (en) * | 2022-08-04 | 2022-11-08 | 合肥工业大学 | Multifunctional rehabilitation training rollator based on simulated mechanical balance |
| CN116849937B (en) * | 2023-05-18 | 2024-05-24 | 国家康复辅具研究中心 | Wheelchair walking aid integrated machine |
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| CN118021582A (en) * | 2024-01-31 | 2024-05-14 | 浙江大学 | Intelligent walking aid and system applied to same |
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