JP2020189078A - Walking support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To assist a non-arm swing walking in which a user walks without swinging an arm by switching the left and right handles which are movable in the front-rear direction to a locked state or an unlocked state, and legs. Provided is a walking support device capable of automatically switching between two different operation modes, a training mode that supports arm swing walking that walks while swinging the arm correctly in synchronization with the movement of. A walking support device having wheels including a frame and driving wheels, a driving means for traveling, a handle, a handle state detecting means, a control device, and a battery, and restricts the movement range of the handle in the vicinity of a reference position. It has a lock mechanism that switches between the locked state and the released released state, and a locked state detecting means that outputs a state detection signal according to the locked state and the released state, and the control device controls the driving means for traveling based on the handle state. It switches between two operation modes, a training mode and an assist mode that controls the driving drive means based on the handle state. [Selection diagram] Fig. 1

Description

The present invention relates to a walking support device.

In order for users who can walk independently to perform higher quality and natural walking training, they should not lean on the walker, walk in the correct posture with the trunk straight, and swing their arms correctly in synchronization with the legs. It is very important to do. However, in addition to the support of arm swing walking in which the user walks while swinging his arm, support of non-arm swing walking in which the user walks without swinging his arm is also desired.

For example, in the wheelbarrow described in Patent Document 1, when the user grips the handlebar fixed to the wheelbarrow so as to extend in the left-right direction and pushes the handlebar, the handle force is a force for pushing the wheelbarrow. Depending on the size and its direction, an assist force that assists the movement in the direction of travel is generated for the wheelbarrow.

Further, for example, in the electric 4-wheel hand-pushing cane wheel described in Patent Document 2, when the movable hand-pushing outer cylinder fixed to the electric 4-wheel hand-pushing cane wheel so as to extend in the left-right direction is grasped and pushed diagonally forward and downward. It moves forward electrically to assist the user in walking, and automatically stops when the hand is released.

JP-A-2017-12546 Japanese Unexamined Patent Publication No. 8-280763

As described above, in addition to the support for arm swing walking, support for non-arm swing walking is also desired. Further, it is desired that the training mode, which is an operation mode for supporting arm swing walking, and the assist mode, which is an operation mode for supporting non-arm swing walking, can be switched with less effort.

In the wheelbarrow described in Patent Document 1, the user can walk while holding his / her hand on the handlebar, but since the handlebar to be gripped is fixed to the wheelbarrow, the user correctly synchronizes with the movement of the leg. It is not possible to support high quality walking training while waving arms.

Similar to Patent Document 1, the electric four-wheeled cane wheel described in Patent Document 2 allows the user to grip the movable hand-pushed outer cylinder to assist walking. However, since the movable hand-pushing outer cylinder held by the user is fixed to the electric 4-wheel hand-pushing cane wheel, the user can practice high-quality walking while waving his arms correctly in synchronization with the movement of his legs. I can't help.

The present invention has been devised in view of these points, and the user does not swing his arm by switching the left and right handles that can be moved in the front-rear direction to the locked state or the released state. Automatically switches between two different motion modes: an assist mode that supports non-arm swing walking while walking, and a training mode that supports arm swing walking that walks while swinging the arm correctly in synchronization with the movement of the legs. It is an object to provide a walking support device capable of performing the above.

In order to solve the above problems, the first invention of the present invention uses a frame, a plurality of wheels including at least one drive wheel provided on the frame, and a traveling drive means for driving the drive wheels. A pair of left and right handles that are gripped by a person and can move in the front-rear direction of the frame, which is the front-rear direction with respect to the frame, and each handle state detection means that outputs a detection signal according to the state of each of the handles. To the control device that controls the traveling drive means based on the respective handle states detected based on the detection signals from the respective handle state detecting means, and to the traveling drive means and the control device. A walking support device having a battery as a power source, in which the movement range of each of the handles is restricted to the vicinity of a reference position set in the front-rear direction of the frame, and the locked state is released. Each of the control devices has a lock mechanism that can be switched to an unlocked state, and each lock state detecting means that outputs a state detection signal corresponding to the locked state and the released state. Based on the detected state of the handle based on the state detection signal from the lock state detecting means, the user holding the left and right handles assists the arm swing walking while swinging the arm back and forth. Based on the training mode for controlling the traveling drive means and the detected handle state so as to support non-arm swing walking in which the user holding the left and right handles walks without swinging the arm. It is a walking support device that switches between two different operation modes, an assist mode for controlling the traveling drive means.

Next, the second invention of the present invention is the walking support device according to the first invention, which includes a teaching means for teaching the user the control state of the traveling drive means. When switching to the assist mode, the teaching means is used to output the assist mode, and when switching to the training mode, the teaching means is used to output the training mode. It is a walking support device.

Next, the third invention of the present invention is the walking support device according to the first invention or the second invention, which includes a warning means for warning the user, and the control device has the left and right locks. It is a walking support device that warns the user by using the warning means when it is determined that the states of the state detecting means are different from each other.

Next, the fourth invention of the present invention is a walking support device according to any one of the first to third inventions, and includes a drive wheel locking means for locking the rotation of the drive wheels. The control device is a walking support device that locks the drive wheels by using the drive wheel locking means when it is determined that the states of the left and right lock state detecting means are different from each other.

Next, the fifth invention of the present invention is a walking support device according to any one of the first to fourth inventions, and is a training instruction from the user to start the training mode. A pair of left and right devices to which an instruction device capable of inputting a mode start instruction and an instruction to enter the lock state and an instruction to release the unlock state, which are input instructions from the user, are input. Each lock instruction detecting means provided separately from the lock instruction input means and each of the lock state detecting means and outputs a detection signal corresponding to the lock instruction and the unlock instruction to the respective lock instruction input means. When at least one of the input instructions detected by the respective lock instruction detecting means is the lock instruction when the operation mode is switched, the control device has the instruction. Both the switching prohibition control that prohibits switching to the training mode even when the training mode start instruction is input from the device and the respective input instructions detected by using the respective lock instruction detecting means In the case of the release instruction, when the training mode start instruction is input from the instruction device, the control mode management unit for executing the switching permission control for executing the switching to the training mode and the control mode management unit for executing the switching to the training mode are provided. It is a walking support device.

Next, the sixth invention of the present invention is the walking support device according to the fifth invention, and each of the lock mechanisms is controlled by the control device to switch between the locked state and the released state. It is a walking support device having each actuator.

Next, the seventh invention of the present invention is the walking support device according to the sixth invention, which has a standby mode different from the training mode and the assist mode as the operation mode, and the control device. Set the operation mode to the assist mode when at least one of the input instructions detected by the control mode management unit using the lock instruction detecting means is the lock instruction. When both of the input instructions detected by controlling each of the actuators to the locked state and detected by using the respective lock instruction detecting means are the release instructions, the training mode is performed from the instruction device. Until the start instruction is input, the operation mode is set to the standby mode, each actuator is controlled to the locked state, and the operation is performed when the training mode start instruction is input from the instruction device. It is a walking support device that sets the mode to the training mode and controls each of the actuators to the released state.

Next, the eighth invention of the present invention is a walking support device according to any one of the fifth to seventh inventions, wherein the walking support device has a voice output means, and the above-mentioned The control device is a walking support device that, when the control mode management unit performs the switching prohibition control, outputs a voice prompting the lock mechanism to be in the released state via the voice output means. Is.

Next, the ninth invention of the present invention is a walking support device according to any one of the fifth to eighth inventions, wherein the instruction device has a voice input means, and the voice is used. It is a walking support device that receives the training mode start instruction when a voice corresponding to the training mode start instruction is input via the input means.

According to the first invention, the user supports non-arm swing walking in which the left and right handles that are movable in the front-rear direction are switched between the locked state and the unlocked state, so that the user walks without swinging his arms. It is possible to switch between two different operation modes, an assist mode and a training mode that supports arm swing walking while swinging the arm correctly in synchronization with the movement of the arm.

According to the second invention, the user of the operation mode of the selected walking support device can be easily confirmed.

According to the third invention, since the user can easily recognize the case where the locked states of the left and right handles are different from each other, the locked states of the left and right handles can be made appropriate. As a result, the user can appropriately select the operation mode of the walking support device.

According to the fourth invention, since the drive wheels are locked when the lock states for the frames of the left and right handles are different from each other, it is convenient because the user can prevent the walking support device from traveling unexpectedly.

According to the fifth invention, when the user inputs the training mode start instruction to the instruction device, the control mode management unit executes the switching permission control to switch the operation mode to the training mode. Therefore, the operation mode of the walking support device can be switched to the training mode more easily.

According to the sixth invention, the walking support device has each actuator whose left and right lock mechanisms are controlled by the control device to switch between the locked state and the released state. This enables the control device to control the left and right handles to be switched between the locked state and the unlocked state.

According to the seventh invention, the walking support device has a standby mode as an operation mode in addition to the training mode and the assist mode. When both of the input instructions detected by using the left and right lock instruction detection means are release instructions, the control mode management unit performs the left and right actuators until the training mode start instruction is input from the instruction device. It is possible to set the operation mode to the standby mode by setting the lock state to. Further, the control mode management unit detects the left and right by using the left and right lock instruction detecting means, and when both of the input instructions are release instructions, the left and right when the training mode start instruction is input from the instruction device. It is possible to set the operation mode to the training mode by letting each actuator release the state.

According to the eighth invention, the walking support device performs switching prohibition control in which the control mode management unit does not switch to the training mode even when the training mode start instruction is input to the instruction device. If this is the case, an audio is output to urge the lock mechanism to be released via the audio output means. This makes it easier for the user to know the need to release the lock mechanism when the operation mode does not switch to the training mode even though the training mode start instruction is input to the instruction device. Can be done.

According to the ninth invention, the user can switch the operation mode to the training mode by voice. Therefore, the user can more easily switch the operation mode of the walking support device to the training mode.

It is a perspective view explaining the appearance of a walking support device. It is a figure explaining the open state before folding a frame in the left-right direction. It is a figure explaining the state which the frame is folded in the left-right direction. It is a perspective view explaining an example of the appearance and structure of a tubular part, a shaft, and a handle. FIG. 4 is a view of the tubular portion viewed from the V direction. It is a figure explaining the example of the structure of the lock mechanism, and is the figure explaining the example when the shaft is released. It is a figure explaining the example of the structure of the lock mechanism, and is the figure explaining the example when the shaft is locked. It is a figure explaining the state which the shaft is locked, and the shaft is returned (held) to the shaft reference position. It is a figure explaining the state which the shaft is in the locked state, and the shaft and the handle are pushed by the user forward from the shaft reference position within the front-rear regulation range. It is a figure explaining the state which the shaft is in a locked state, and the shaft and the handle are pulled by the user to the rear than the shaft reference position within the front-rear regulation range. It is a figure explaining the state which the shaft is in the released state, and the shaft and the handle are pulled by the user to the rear beyond the front-rear regulation range and more than the shaft reference. It is a figure explaining the example of the appearance of the operation panel. It is a block diagram explaining the input / output of the control device of a walking support device. It is a flowchart explaining the processing procedure (overall processing) of the control device of a walking support device. It is a flowchart explaining the processing procedure of the input processing in the whole processing shown in FIG. It is a flowchart explaining the processing procedure of the right (left) movement speed, movement direction, and amplitude calculation processing in the input process shown in FIG. It is a flowchart explaining the processing procedure of the ground speed correction amount calculation processing in the whole processing shown in FIG. It is a flowchart explaining the processing procedure of the central position speed correction amount calculation processing in the whole processing shown in FIG. It is a flowchart explaining the processing procedure of the progress speed adjustment processing in the whole processing shown in FIG. It is a top view of the walking support device, and is the figure explaining the front-back position of a handle, the front-back center position of a handle, the virtual front-back reference position, and the like. It is a figure explaining the example of the anteroposterior direction deviation, the center position velocity correction amount characteristic. It is a figure explaining the example of the user who holds a handle and walks while swinging an arm back and forth, and the position of a walking support device and a handle. It is a figure explaining the example of the appearance of the operation panel which concerns on the walking support device of another embodiment. It is a figure explaining the example of the appearance of the operation panel which concerns on the walking support device of another embodiment. It is a block diagram explaining the input / output of the control device which concerns on the walking support device of another embodiment. It is a flowchart explaining the processing procedure of the input process which corresponds to the input process in the whole process shown in FIG. 14 concerning the walking support device of another embodiment. It is a figure explaining the example of the appearance of the operation panel which concerns on the walking support device of another embodiment.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. When the X-axis, Y-axis, and Z-axis are described in the figure, the axes are orthogonal to each other. The X-axis direction indicates a direction toward the front when viewed from the walking support device 10, the Y-axis direction indicates a direction toward the left when viewed from the walking support device 10, and the Z-axis direction indicates a direction when viewed from the walking support device 10. It shows the direction going vertically upward. Hereinafter, with respect to the walking support device 10, the X-axis direction is "front", the direction opposite to the X-axis direction is "rear", the Y-axis direction is "left", and the direction opposite to the Y-axis direction is "rear". “Right”, the Z-axis direction is “up”, and the direction opposite to the Z-axis direction is “down”. Hereinafter, the front-back direction of the frame will be referred to as "frame front-back direction".

● [Outline overall configuration of walking support device 10 (FIGS. 1 to 3)]
The outline overall configuration of the walking support device 10 will be described with reference to FIG. The walking support device 10 includes a frame 50, front wheels 60FL and 60FR, rear wheels 60RL and 60RR, driving means 64L and 64R, a battery B, a control device 40, handles 20L and 20R, and a shaft 21L. , 21R, tubular portions 30L, 30R, bag 50K and the like.

The frame 50 includes tubular portion supports 51L and 51R extending in the vertical direction to support the tubular portions 30L and 30R, and wheel supports 52L extending in the front-rear direction of the frame to support the wheels, which is the front-rear direction with respect to the frame 50. It has 52R and the like. The wheel support 52L is fixed below the tubular support 51L, and the wheel support 52R is fixed below the tubular support 51R. Further, FIG. 2 shows a state in which the frame 50 is opened in the left-right direction, and FIG. 3 shows a state in which the frame 50 is folded in the left-right direction. Note that the bag 50K is omitted in FIGS. 2 and 3. As shown in FIGS. 2 and 3, the tubular portion support 51L and the tubular portion support 51R are connected by link members 54L, 54R, 55L, 55R. Then, as shown in FIGS. 2 and 3, when the walking support device 10 is not in use, it is convenient because the occupied space can be reduced by folding it as shown in FIG.

Further, the walking support device 10 can be easily changed from the state shown in FIG. 3 folded left and right to the state shown in FIG. 2 opened left and right. Further, an elastically deformable connecting body 53 is provided on the upper side of the tubular portion support 51L and the tubular portion support 51R. The user enters between the tubular portion 30L and the tubular portion 30R from the open side (rear) of the frame 50, grasps the handle 20L and the handle 20R with the left and right hands, and walk support device 10 To operate.

A tubular portion 30L is held at the upper end of the tubular portion support 51L, and a wheel support 52L is fixed to the lower side of the tubular portion support 51L. The tubular portion support 51L can be expanded and contracted in the vertical direction, and the height of the tubular portion 30L can be adjusted according to the height of the user's hand walking while swinging his arm. Further, a front wheel 60FL, which is a swivel caster wheel, is provided on the front side of the wheel support 52L, and a rear wheel driven by a traveling drive means 64L is provided on the rear side of the wheel support 52L. 60 RL is provided. The same applies to the tubular portion support 51R, the tubular portion 30R, the wheel support 52R, the front wheel 60FR, the traveling drive means 64R, and the rear wheel 60RR, and thus the description thereof will be omitted. As described above, the frame 50 is provided with a plurality of wheels (front wheels 60FL, 60FR, rear wheels 60RL, 60RR), and at least one wheel (in this case, rear wheel 60RL, rear wheel 60RR) is a driving wheel. Is.

The traveling drive means 64L is, for example, an electric motor with a servo mechanism, and rotationally drives the rear wheels 60RL based on a control signal from the control device 40 based on the electric power supplied from the battery B as a power source. Similarly, the traveling drive means 64R is, for example, an electric motor with a servo mechanism, and rotationally drives the rear wheels 60RR based on a control signal from the control device 40 based on the electric power supplied from the battery B.

Further, the traveling drive means 64L is provided with a traveling speed detecting means 64LE such as an encoder, and outputs a detection signal corresponding to the rotation of the traveling driving means 64L to the control device 40. The control device 40 can detect the traveling speed of the walking support device 10 with respect to the ground (the traveling speed by the rear wheel 60RL) based on the detection signal from the traveling speed detecting means 64LE. Similarly, the traveling drive means 64R is provided with a traveling speed detecting means 64RE such as an encoder, and outputs a detection signal corresponding to the rotation of the traveling driving means 64R to the control device 40. The control device 40 can detect the traveling speed of the walking support device 10 with respect to the ground (traveling speed by the rear wheel 60RR) based on the detection signal from the traveling speed detecting means 64RE.

The tubular portion 30L has a tubular shape extending in the front-rear direction of the frame, and accommodates the shaft 21L extending in the front-rear direction of the frame so as to be movable in the front-rear direction of the frame. Similarly, the tubular portion 30R has a tubular shape extending in the front-rear direction of the frame, and accommodates the shaft 21R extending in the front-rear direction of the frame so as to be movable in the front-rear direction of the frame. The tubular portion 30L and the tubular portion 30R are provided in pairs on the left and right.

The shaft 21R has a tubular shape extending in the front-rear direction of the frame, and at least a part of the shaft 21R is hollow (see FIG. 4), and is housed in the tubular portion 30R so as to be movable in the front-rear direction of the frame. .. A handle 20R is fixed to the rear end of the shaft 21R. Similarly, the shaft 21L has a tubular shape extending in the front-rear direction of the frame, is at least partially hollow, is housed in the tubular portion 30L, and is movable in the front-rear direction of the frame. A handle 20L is fixed to the rear end of the shaft 21L. The shaft 21L and the shaft 21R are provided in pairs on the left and right.

The handle 20L is a place where the user grips with the left hand, is fixed to the rear end of the shaft 21L, and is attached to the tubular portion 30L (that is, the frame) in accordance with the swing of the left arm accompanying the walking of the user. It is possible to move in the front-back direction of the frame together with the shaft 21L (relative to 50). The handle 20L is provided with a brake lever BKL that decelerates the rotation of the rear wheel 60RL. Similarly, the handle 20R is a place to be gripped by the user with the right hand, is fixed to the rear end of the shaft 21R, and is attached to the tubular portion 30R in accordance with the swing of the right arm accompanying the walking of the user. That is, it is possible to move in the front-rear direction of the frame together with the shaft 21R (relative to the frame 50). The handle 20R is provided with a brake lever BKL that decelerates the rotation of the rear wheel 60RR. The handle 20L and the handle 20R are provided in pairs on the left and right.

In the tubular portion 30L, a handle state detecting means 21LS capable of detecting the state of the handle 20L is provided. For example, the handle state detecting means 21LS is an encoder, which rotates according to the movement of the shaft 21L in the front-rear direction of the frame, and the position of the shaft 21L in the front-rear direction of the frame in the tubular portion 30L (that is, the front-back direction of the frame of the handle 20L). The detection signal corresponding to the position) is output to the control device 40. Based on the detection signal from the handle state detecting means 21LS, the control device 40 obtains the (left) handle front-rear position, which is the position of the handle 20L (relative to the tubular portion 30L) in the frame front-rear direction with respect to the frame 50. Can be done.

Similarly, in the tubular portion 30R, a handle state detecting means 21RS capable of detecting the state of the handle 20R is provided. For example, the handle state detecting means 21RS is an encoder, which rotates according to the movement of the shaft 21R in the front-rear direction of the frame, and the position of the shaft 21R in the front-rear direction of the frame in the tubular portion 30R (that is, the front-back direction of the frame of the handle 20R). The detection signal corresponding to the position) is output to the control device 40. Based on the detection signal from the handle state detecting means 21RS, the control device 40 obtains the (right) handle front-rear position, which is the position of the handle 20R (relative to the tubular portion 30R) in the frame front-rear direction with respect to the frame 50. Can be done.

Further, the tubular portion 30R (30L) is provided with a lock operation portion 31R (31L) operated by the user. The lock operation unit 31R (31L) sets the shaft 21R (21L) and the handle 20R (20L), which are movable in the front-rear direction of the frame, to either a “locked state” or a “released state”. In the "locked state", the movement range of the shaft 21R (21L) and the handle 20R (20L) in the front-rear direction of the frame is restricted within the front-rear regulation range W1 (see FIGS. 8 to 10) near the shaft reference position. Restrain the handle 20R (20L). In the "released state", the moving range of the shaft 21R (21L) and the handle 20R (20L) is allowed to exceed the front-rear regulation range W1 (see FIG. 11).

The operation panel 70 is provided on, for example, the upper surface of the tubular portion 30R, and as shown in FIG. 12, the main switch 72, the battery remaining amount display unit 73, the training mode display unit 74, the assist mode display unit 75, and the drive torque. It has an adjusting unit 76 and the like. The details of the operation panel 70 will be described later.

The 3-axis acceleration / angular velocity sensor 50S is provided on the frame 50, and measures acceleration for each of the three directions of the X-axis, Y-axis, and Z-axis, and is centered on each of the three directions. The angular velocity of the rotation is measured, and a detection signal based on the measurement result is output to the control device 40. For example, the 3-axis acceleration / angular velocity sensor 50S controls a detection signal according to the inclination angle of the walking support device 10 with respect to each of the X-axis, Y-axis, and Z-axis when the walking support device 10 is traveling on an inclined surface. Output to 40. Further, for example, the 3-axis acceleration / angular velocity sensor 50S detects the acceleration applied to the vehicle body of the walking support device 10 (for example, the impact on the vehicle body), and outputs a detection signal corresponding to the detected acceleration to the control device 40. .. Further, for example, the 3-axis acceleration / angular velocity sensor 50S detects the pitch angular velocity (angular velocity around the Y axis), the yaw angular velocity (angular velocity around the Z axis), and the roll angular velocity (angular velocity around the X axis) of the vehicle body of the walking support device 10. Then, a detection signal corresponding to the detected angular velocity is output to the control device 40. Based on the detection signal from the 3-axis acceleration / angular velocity sensor 50S, the control device 40 has an inclination angle, acceleration (impact) magnitude, pitch angular velocity, respectively, of the walking support device 10 with respect to the X-axis, Y-axis, and Z-axis. Yaw angular velocity and roll angular velocity can be detected.

● [Detailed structure of tubular portion 30R and shaft 21R (FIGS. 4 and 5)]
Next, the detailed structure of the tubular portion and the shaft will be described with reference to FIG. Since the tubular portion and the shaft (and the handle) are paired on the left and right, the tubular portion 30R, the shaft 21R, the lid portion 34R, and the handle 20R on the right side will be described as an example, and the tubular portion 30L on the left side, The description of the shaft 21L, the lid portion, and the handle 20L (see FIG. 1) will be omitted. FIG. 4 shows a perspective view of the tubular portion 30R, the shaft 21R, the lid portion 34R, and the handle 20R, and FIG. 5 is a view of the tubular portion 30R seen from the V direction in FIG. Note that in FIGS. 4 and 5, the description of the lock mechanism (see FIGS. 6 and 7) interlocked with the lock operation unit 31R is omitted.

The tubular portion 30R has a tubular shape extending in the front-rear direction of the frame, and is provided with a guide rail 32R, a guide roller 33R, a handle state detecting means 21RS, an elastic unit 35R4, and the like. Further, a lock operation unit 31R, an operation panel 70, and the like are provided on the upper surface of the tubular portion 30R. The shaft 21R has a handle fitting hole 21R1, a lock hole 21R2, a hollow portion 21R3, a guided member 24R, a shaft-side elastic member 26R, a pull-out prevention member 25R, and the like. An insertion hole 34R1 through which the shaft 21R is inserted is formed in the lid portion 34R. The handle 20R has a shaft fitting portion 20R1, a brake lever BKL, and the like.

As shown in FIG. 8, the shaft 21R is inserted into the tubular portion 30R on one side (the tip on the side facing the X-axis direction) of the shaft-side elastic member 26R (corresponding to the shaft position restoring means). After that, it is fixed to the tubular portion 30R. Further, as shown in FIG. 8, the other side of the shaft-side elastic member 26R (the tip on the side facing the direction opposite to the X-axis direction) is inserted into the hollow portion 21R3 of the shaft 21R and fixed to the shaft 21R. There is.

Further, as shown in FIG. 8, the elastic unit 35R4 is fixed to the front end (the tip on the side facing the X-axis direction) in the tubular portion 30R. The elastic unit 35R4 has a tubular portion side elastic member 35R1 (corresponding to a shaft position restoring means), a collar 35R2, a damper 35R3, and the like. As shown in FIG. 8, one side (the tip on the side facing the X-axis direction) of the tubular portion side elastic member 35R1 is fixed to the elastic unit 35R4. Further, as shown in FIG. 8, the other side of the tubular portion side elastic member 35R1 (the tip on the side facing the direction opposite to the X-axis direction) is fixed to the front side surface of the collar 35R2. Further, a damper 35R3 that absorbs an impact sound or the like when the tip of the shaft 21R collides is attached to the rear surface of the collar 35R2. At the shaft reference position shown in FIG. 8, the tip of the shaft 21R is in contact with the rear side of the damper 35R3.

In FIG. 4, the shaft fitting portion 20R1 of the handle 20R is inserted into the insertion hole 34R1 of the lid portion 34R and fitted into the handle fitting hole 21R1 of the shaft 21R, and the handle 20R and the shaft 21R are integrated. Will be done. Then, the shaft 21R is swiveled clockwise by 90 ° in the X-axis direction, inserted between the upper and lower guide rollers 33R of the tubular portion 30R, and pushed along the X-axis direction. Before the disconnection prevention member 25R at the tip of the shaft 21R passes through the disconnection prevention panel 36R and reaches the guide rail 32R, the shaft 21R is turned 90 ° counterclockwise in the X-axis direction. When the shaft 21R is further pushed along the X-axis direction, the guided member 24R of the shaft 21R is inserted into the concave portion of the guide rail 32R, and the shaft 21R is guided by the guide rail 32R. Then, the tip on the front side of the shaft 21R is inserted until it comes into contact with the damper 35R3, and the tip on the front side of the shaft side elastic member 26R is fixed to the tubular portion 30R by an operator. The guide rail 32R and the guided member 24R correspond to an anti-rotation structure that prevents the shaft 21R from rotating around the shaft center axis 21RJ (see FIG. 4) extending in the front-rear direction of the frame inside the tubular portion 30R. To do.

● [Structure of lock mechanism (Figs. 6 and 7)]
Next, the structure of the locking mechanism will be described with reference to FIGS. 6 and 7. As shown in FIGS. 6 and 7, the lock mechanism includes a lock operation unit 31R, a switch mechanism 31R1, a lock unit 31R6, and the like. FIG. 6 shows an example when the lock mechanism is in the “release state”, and FIG. 7 shows an example when the lock mechanism is in the “lock state”. Since the locking mechanism is also a pair on the left and right, the locking mechanism on the side of the tubular portion 30R and the shaft 21R will be described, and the description of the locking mechanism of the tubular portion 30L and the shaft 21L will be omitted.

Note that FIGS. 6 and 7 show a state in which the user does not hold the handle 20R (see FIG. 1) and the shaft 21R is held at the shaft reference position (see FIG. 8). It shows a state in which the lock protrusion 31R3 faces the lock hole 21R2. Further, it is more preferable that the lock hole 21R2 is opened downward so that dust or the like does not accumulate.

The lock operation portion 31R is attached to the hole portion 30R1 formed in the tubular portion 30R, and is slidable in the frame front-rear direction (X-axis direction) along the hole portion 30R1. The state shown in FIG. 6 in which the user slides the lock operation unit 31R in the X-axis direction is the “release state”, and FIG. 7 in which the user slides the lock operation unit 31R in the direction opposite to the X-axis direction. The state shown in is the "locked state".

The switch mechanism 31R1 is, for example, a slide switch and is connected to the control device 40 (see FIG. 13). The switch mechanism 31R1 is turned on when the lock operation unit 31R is moved to the lock side, and is turned off when the lock operation unit 31R is moved to the release side.

The lock portion 31R6 is, for example, a solenoid, and has a lock protrusion 31R3, a lock state detecting means 31R7, and the like. The lock portion 31R6 is connected to the control device 40. When a current is not supplied to the lock portion 31R6, the lock protrusion 31R3 moves upward by an urging means such as a spring, and when a current is supplied, the lock protrusion 31R3 moves downward. In the "release state" shown in FIG. 6, the lock portion 31R6 is energized and the lock protrusion 31R3 is moved downward (release side). In the "locked state" shown in FIG. 7, the lock portion 31R6 is turned off and the lock projection 31R3 is moved upward (lock side). As a result, even if the power supply (battery B) is lost, the handles 20L and 20R are in the "locked state" and cannot be moved, which is safer.

In the "release state" shown in FIG. 6, the switch mechanism 31R1 is turned off, the drive of the lock portion 31R6 is stopped, and the lock protrusion 31R3 is moved downward. In the "locked state" shown in FIG. 7, the switch mechanism 31R1 is turned on, and the lock portion 31R6 is driven to move the lock protrusion 31R3 upward. The switch mechanism 31R1 outputs a signal corresponding to the on / off state to the control device 40.

The lock state detection means 31R7 outputs a state detection signal which is a signal corresponding to the “lock state” and the “release state”. The lock state detecting means 31R7 is, for example, a push switch and is connected to the control device 40. The lock state detecting means 31R7 is provided inside the bottom surface of the tubular portion 30R on the lower end side of the lock protrusion 31R3.

In the "release state" shown in FIG. 6, the lock projection 31R3 moves downward to push down the upper tip of the lock state detection means 31R7 to turn on the lock state detection means 31R7. In the "locked state" shown in FIG. 7, the lock projection 31R3 moves upward to stop pushing down the upper tip of the locked state detecting means 31R7 and turn the locked state detecting means 31R7 into an off state. The lock state detecting means 31R7 outputs a signal (state detection signal) corresponding to the on / off state to the control device 40.

[[Movable range of the shaft 21R in the locked state (FIGS. 8 to 10) and the movable range of the shaft 21R in the unlocked state (FIG. 11)]
FIG. 8 shows an example in the case where the user does not hold the handle 20R and the lock mechanism is in the “locked state”, and is in the frame front-rear direction (X-axis direction) with respect to the tubular portion 30R. An example of a state in which the positions of the shaft 21R and the handle 20R are held at the shaft reference position is shown. In FIGS. 8 to 11, the details of the lock mechanism are omitted, and the lock protrusion 31R3 indicates the “locked state” and the “released state”. When no force is applied to the handle 20R in the front-rear direction (direction parallel to the X-axis direction), the shaft 21R and the handle 20R are in either the "locked state" or the "released state" of the locking mechanism. However, it is held at the shaft reference position shown in FIG. In this case, the shaft-side elastic member 26R (corresponding to the shaft position restoring means) and the tubular portion-side elastic member 35R1 (corresponding to the shaft position restoring means) move the shaft 21R and the handle 20R to the shaft reference position shown in FIG. Hold.

At the shaft reference position shown in FIG. 8, both the shaft-side elastic member 26R and the tubular portion-side elastic member 35R1 have a free length (the length when no force is applied), or the shaft-side elastic member 26R holds the shaft 21R. The force of pulling forward and the force of the tubular elastic member 35R1 pushing the shaft 21R backward are set to be balanced. At this shaft reference position, the length of the shaft-side elastic member 26R is such that the lock projection 31R3 is located at a substantially central position within the front-rear regulation range W1 which is the length range of the lock hole 21R2 provided in the shaft 21R in the front-rear direction. And the length of the tubular portion side elastic member 35R1 are adjusted. The spring constant is set so that the spring constant K35 of the tubular portion-side elastic member 35R1 is larger than the spring constant K26 of the shaft-side elastic member 26R. For example, as shown in FIG. 8, the shaft reference position is set to a position close to the front end within the movable range of the shaft 21R in the front-rear direction of the frame.

As shown in FIG. 9, when the user grasps the handle 20R and pushes the handle 20R forward (in the X-axis direction) with the force Ff from the “locked state” shown in FIG. 8, the lock protrusion 31R3 is released. The shaft 21R and the handle 20R can move forward until they hit the rear edge of the lock hole 21R2. Then, when the user releases the handle 20R from the state shown in FIG. 9, the shaft 21R and the handle 20R are returned to the shaft reference positions shown in FIG. 8 by the elastic force of the tubular portion side elastic member 35R1.

As shown in FIG. 10, when the user grips the handle 20R from the “locked state” shown in FIG. 8 and pulls the handle 20R backward (in the direction opposite to the X-axis direction) with the force Fr. The shaft 21R and the handle 20R can be moved rearward until the lock protrusion 31R3 abuts on the front edge of the lock hole 21R2. When the user releases the handle 20R from the state shown in FIG. 10, the shaft 21R and the handle 20R are returned to the shaft reference positions shown in FIG. 8 by the elastic force of the shaft-side elastic member 26R.

Further, as shown in FIG. 11, in the "released state", the movement range of the shaft 21R in the front-rear direction of the frame is not restricted within the front-rear regulation range W1. Therefore, when the user grips the handle 20R and pulls the handle 20R backward by the force Fr, the pull-out prevention member 25R at the tip of the shaft 21R may be pulled backward until it interferes with the pull-out prevention panel 36R. it can. That is, when the user is in the "released state" shown in FIG. 11, the user can walk using the walking support device while swinging his / her arm greatly. The pull-out prevention member 25R and the pull-out prevention panel 36R correspond to a pull-out prevention structure that prevents the shaft 21R from coming off from the tubular portion 30R.

As described above, the shaft 21R (shaft 21L) is set with a shaft reference position which is a reference position in the front-rear direction of the frame with respect to the tubular portion 30R (cylindrical portion 30L) accommodating itself. As shown in FIG. 8, when the user does not grip the handle 20R, the shaft 21R and the handle 20R are shaft-referenced by the shaft position restoring means (shaft side elastic member 26R, tubular portion side elastic member 35R1). Hold in place. Then, as shown in FIG. 8, when the shaft 21R and the handle 20R are in the shaft reference position, the substantially central position of the lock hole 21R2 in the front-rear direction of the frame faces the lock protrusion 31R3. Then, in the "locked state", the shaft 21R is held within the front-rear regulation range W1 in the front-rear direction of the frame so as to be close to the shaft reference position.

In FIGS. 8 to 10, the distance from the lock protrusion 31R3 to the front edge portion or the rear edge portion of the lock hole 21R2 is relatively large for easy understanding. However, the distance from the lock protrusion 31R3 to the front edge portion or the rear edge portion of the lock hole 21R2 is about 1 [mm]. Further, in the "released state", the user can pull the shaft 21R backward from the shaft reference position shown in FIG. 8, for example, to about 150 [mm].

● [Appearance of operation panel 70 (Fig. 12)]
Next, the operation panel 70 will be described with reference to FIG. In the example shown in this embodiment, the operation panel 70 is provided on the upper surface of the tubular portion 30R. As shown in FIG. 12, the operation panel 70 includes a main switch 72, a battery remaining amount display unit 73, a training mode display unit 74, an assist mode display unit 75, a drive torque adjusting unit 76, and the like.

The main switch 72 is a switch that instructs the start of the walking support device 10, and when the user turns it on, power is supplied from the battery B to the control device 40 and the driving means 64R and 64L to operate the walking support device 10. And enable operation. Further, the remaining battery level display unit 73 displays the remaining battery level of the battery B.

The drive torque adjusting unit 76 is an input unit for the user to adjust the strength of the drive torque of the traveling drive means 64L and 64R when the walking support device 10 advances. For example, when the walking support device 10 is used on an uphill slope, the user inputs an instruction to increase the drive torque from the drive torque adjusting unit 76.

Further, the walking support device 10 includes a "training mode" that supports "arm swing walking" in which the user holding the left and right handles 20L and 20R swings his / her arms back and forth while walking, and the left and right handles 20L. There are two operation modes, an "assist mode" that assists the user holding the 20R to walk without swinging his arm (non-arm swinging). When the user desires "arm swing walking", he / she operates the lock operation units 31L and 31R so as to be in the "release state", sets the operation mode to "training mode", and sets the left and right handles 20L and 20R. Start "arm swing walking" to walk while grasping and swinging the arm. When the user desires "non-arm swing walking", he / she operates the lock operation units 31L and 31R so as to be in the "locked state", sets the operation mode to the "assist mode", and has the left and right handles 20L. Start "non-arm swing walking" that grips 20R and walks without swinging the arm.

● [Input / output of control device 40 (FIG. 13)]
FIG. 13 is a block diagram showing input / output of the control device 40. The control device 40 includes a control means such as a CPU (not shown) and a storage means 44 and the like. Further, the control device 40 includes switch mechanisms 31R1, 31L1, lock state detection means 31R7, 31L7, detection signals from the traveling speed detection means 64LE and 64RE, detection signals from the handle state detection means 21RS and 21LS, and three-axis acceleration. The detection signal from the angular velocity sensor 50S is input.

The operation state of the main switch 72 and the drive torque adjusting unit 76 is input to the control device 40 from the operation panel 70. Further, the control device 40 outputs to the training mode display unit 74 and the assist mode display unit 75. The training mode display unit 74 is lit when the operation mode is the training mode. The assist mode display unit 75 is lit when the operation mode is the assist mode. Further, the control device 40 outputs the battery remaining amount information to be displayed on the battery remaining amount display unit 73 of the operation panel 70 to the operation panel 70, and outputs control signals to the traveling drive means 64L and 64R and the lock units 31R6 and 31L6. Output.

The control device 40 includes a device ground speed calculation means 40A, a handle front-rear position calculation means 40B, a handle movement speed calculation means 40C, a handle ground speed calculation means 40D, a ground speed correction amount calculation means 40E, and a traveling speed adjustment means 40F. It has a handle front / rear center position calculation means 40G, a center position speed correction amount calculation means 40H, a drive wheel locking means 40I, a teaching means 40J, a warning means 40K, and the like, which will be described later.

● [Processing procedure of control device 40 (FIGS. 14 to 19)]
FIG. 14 shows the overall processing in the processing procedure of the control device 40. When the user turns on the main switch 72, the process shown in FIG. 14 is activated at predetermined time intervals (for example, several [ms] intervals). When the process shown in FIG. 14 is activated, the control device 40 proceeds to step S010. In the following, an example of a case where the user walks forward together with the walking support device will be described.

In step S010, the control device 40 executes SB100 (input processing) to proceed to step S015. The details of SB100 (input processing) will be described later.

In step S015, the control device 40 determines whether or not the operation mode is the warning mode, and if it is in the warning mode (Yes), the process proceeds to step S070B, and if not (No), the process proceeds to step S040. To proceed.

In step S040, the control device 40 executes SB400 (ground speed correction amount calculation process) and proceeds to step S050. The details of SB400 (ground speed correction amount calculation process) will be described later.

In step S050, the control device 40 executes SB500 (center position speed correction amount calculation process) and proceeds to step S060. The details of SB500 (center position velocity correction amount calculation process) will be described later.

In step S060, the control device 40 executes SB600 (progress speed adjustment process) to proceed to step S070A. The details of SB600 (progress speed adjustment processing) will be described later.

In step S070A, the control device 40 teaches the operation mode and proceeds to step S080A. Specifically, the control device 40 outputs to the training mode display unit 74 when the operation mode is the training mode, and outputs to the assist mode display unit 75 when the operation mode is the assist mode.

The control device 40 executing the process of step S070A corresponds to the teaching means 40J (see FIG. 13) that teaches the user the control state of the traveling drive means 64R and 64L.

In step S080A, the control device 40 stops the operation of the servo mechanisms of the traveling drive means 64R and 64L, unlocks the rotation of each drive wheel, and ends (returns) the process.

In step S070B, the control device 40 warns the user and proceeds to step S080B. Specifically, the control device 40 alternately blinks, for example, the training mode display unit 74 and the assist mode display unit 75 at a predetermined interval (for example, 0.5 s) set in advance. By blinking alternately, the user is informed that the left and right handle states (“locked state” and “released state”) are different, and instructed to make them the same.

The control device 40 executing the process of step S070B corresponds to the warning means 40K (see FIG. 13) that warns the user when it is determined that the states of the left and right lock state detecting means are different from each other.

In step S080B, the control device 40 operates the servo mechanisms of the traveling drive means 64R and 64L to lock the rotation of each drive wheel and end (return) the process.

The control device 40 executing the process of step S080B operates the servo mechanisms of the traveling drive means 64R and 64L to lock the rotation of each drive wheel (servo lock), and drives the drive wheel locking means 40I (FIG. 13).

● [SB100: Details of input processing (FIG. 15)]
Next, the details of SB100 (input processing) will be described with reference to FIG. When executing SB100 in step S010 shown in FIG. 14, the control device 40 proceeds to step SB010 shown in FIG.

In step SB010, the control device 40 sets the target torque, right handle front / rear position, right traveling speed, left handle front / rear position, left traveling speed, vehicle body inclination, pitch angular velocity, yaw angular velocity, roll angular velocity, right handle state. The state of the left handle is updated and the process proceeds to step SB015.

Specifically, the control device 40 stores the target torque based on the input information from the drive torque adjusting unit 76 (see FIG. 12). Further, the control device 40 stores the position of the handle 20R with respect to the frame 50 (the position in the front-back direction of the frame) in the front-back position of the right handle, which is obtained based on the detection signal from the handle state detection means 21RS (see FIG. 1). To do. Further, the control device 40 detects the rotation speed of the (right) traveling drive means 64R based on the detection signal from the (right) traveling speed detecting means 64RE of the (right) traveling drive means 64R, and detects the rotation speed of the rear wheel 60RR. The traveling speed of the rear wheel 60RR is detected from the number of revolutions and stored in the right traveling speed (see FIG. 1).

Similarly, the control device 40 stores the left front / rear position and the left traveling speed. Further, the control device 40 stores tilt information such as the tilt angle and tilt direction of the vehicle body of the walking support device 10 obtained based on the detection signal from the three-axis acceleration / angular velocity sensor 50S (see FIG. 1) in the vehicle body tilt. Further, the control device 40 stores the angular velocity around the Y-axis of the walking support device 10 obtained based on the detection signal from the 3-axis acceleration / angular velocity sensor 50S (see FIG. 1) in the pitch angular velocity, and stores the angular velocity around the Z-axis. It is stored in the yaw angular velocity, and the angular velocity around the X axis is stored in the roll angular velocity.

Similarly, the control device 40 stores the respective states (“lock state” and “release state”) of the left and right handles 20L and 20R based on the state detection signals from the lock state detection means 31R7 and 31L7.

The control device 40 executing the process of step SB010 has the respective handles 20R in the frame front-rear direction with respect to the frame 50 (walking support device 10) based on the detection signals from the respective handle state detecting means 21RS and 21LS. , Corresponds to the handle front-rear position calculation means 40B (see FIG. 13) that calculates each handle front-rear position (right handle front-rear position and left-handle front-rear position), which is the position of 20L.

In step SB015, the control device 40 is left in the state of the right handle (that is, whether the right handle 20R is in the "locked state" or the "released state" as described above). It is determined whether or not the state of the handle (that is, whether the left handle 20L is in the "locked state" or the "released state" as described above) is the same. If they are the same (Yes), the process proceeds to step SB030, and if not (No), the process proceeds to step SB070C.

In step SB030, the control device 40 obtains and stores the traveling speed of the walking support device based on the right traveling speed and the left traveling speed stored in step SB010, and proceeds to the process in step SB050. For example, the control device 40 obtains the traveling speed at the traveling speed = (right traveling speed + left traveling speed) / 2.

The control device 40 executing the process of step SB030 calculates the traveling speed of the walking support device 10 with respect to the ground based on the detection signal from the traveling speed detecting means, and the device ground speed calculating means 40A (see FIG. 13). Corresponds to.

In step SB050, the control device 40 determines whether or not the left and right handles are in the "locked state", and if it is in the "locked state" (Yes), the process proceeds to step SB070A, and if not, the process proceeds to step SB070A. (No) proceeds to step SB070B.

When the process proceeds to step SB070A, the control device 40 stores the assist mode in the operation mode and proceeds to the process to step SB080.

When the process proceeds to step SB070B, the control device 40 stores the training mode in the operation mode and proceeds to the process to step SB080.

By step SB050, step SB070A, and step SB070B described above, the control device 40 switches between two different operation modes, the training mode and the assist mode, based on the state detection signals from the lock state detection means 31R7 and 31L7.

When the process proceeds to step SB070C, the control device 40 stores the warning mode in the operation mode and proceeds to the process to step SB080.

In step SB080, the control device 40 executes SBA00 (right (left) movement speed, movement direction, amplitude calculation process) and ends (returns) the process. The details of SBA00 (right (left) movement speed, movement direction, amplitude calculation processing) will be described later.

● [SBA00: Details of right (left) movement speed, movement direction, amplitude calculation process (Fig. 16)]
Next, the details of SBA00 (right (left) movement speed, movement direction, amplitude calculation process) will be described with reference to FIG. When executing SBA00 in step SB080 shown in FIG. 15, the control device 40 proceeds to step SBA05 shown in FIG.

In step SBA05, the control device 40 determines whether or not the operation mode is the training mode, and if the operation mode is the training mode (Yes), the process proceeds to step SBA10, and if the operation mode is not the training mode (Yes). No) ends (returns) the process.

When the process is advanced to step SBA 10, the control device 40 sets the right handle movement speed to "(right handle front / rear position at the time of this processing (this time right handle front / rear position) -right handle front / rear position at the previous processing". (Previous time, the position before and after the right handle)) / time ”is stored, and the process proceeds to step SBA15. The "time" in this case is the time of the interval at which the process shown in FIG. 14 is activated (for example, 10 [ms] when the process is activated at 10 [ms] intervals). Also, if the front / rear position of the right handle is ahead of the front / rear position of the right handle this time, the movement speed of the right handle will be "positive", and the front / rear position of the right handle this time will be higher than the front / rear position of the right handle last time. In the case of the rear, the right-handed movement speed is a "negative" speed.

In step SBA15, the control device 40 has the right-handed movement speed at the time of the previous processing (previous right-handed movement speed) = positive (greater than 0), and the right-handed movement speed at the time of the current processing (this time right-handed). It is determined whether or not (movement speed) = negative (0 or less). If the control device 40 is satisfied (Yes), the process proceeds to step SBA25A, and if not satisfied (No), the process proceeds to step SBA20.

When the process proceeds to step SBA25A, the control device 40 stores the right front / rear position of the right handle in the right front end position and proceeds to step SBA30.

When the processing proceeds to step SBA 20, the control device 40 has the right-handed movement speed at the time of the previous processing (previous right-handed movement speed) = negative (less than 0), and the right-handed movement speed at the time of the current processing (less than 0). This time, it is determined whether or not the right-handed movement speed) = positive (0 or more). When the control device 40 is satisfied (Yes), the process proceeds to step SBA25B, and when not satisfied (No), the process proceeds to step SBB10.

When the process proceeds to step SBA 25B, the control device 40 stores the right front / rear position of the right handle in the right rear end position this time and proceeds to step SBA 30.

When the process proceeds to step SBA 30, the control device 40 stores the length obtained in the right front end position-right rear end position (right front end position> right rear end position) in the right amplitude, and performs the process in step SBB10. Proceed.

The processes of steps SBB10 to SBB30 are processes for obtaining the left movement speed, left front end position, left rear end position, and left amplitude of the left handle 20L, and the right movement speed, right front end position, and right of the right handle 20R. Since it is the same as steps SBA10 to SBA30 for obtaining the rear end position and the right amplitude, the description thereof will be omitted.

The control device 40 executing the processes of steps SBA10 and SBB10 moves each handle with respect to the walking support device 10 based on the front / rear positions of the respective handles (front / rear position of the right handle and front / rear position of the left handle). It corresponds to the handle movement speed calculation means 40C (see FIG. 13) that calculates each handle movement speed (right handle movement speed and left handle movement speed), which is the speed.

● [SB400: Details of ground speed correction amount calculation process (Fig. 17)]
Next, the details of SB400 (ground speed correction amount calculation processing) will be described with reference to FIG. When executing SB400 in step S040 shown in FIG. 14, the control device 40 proceeds to step SB405 shown in FIG.

In step SB405, the control device 40 determines whether or not the operation mode is the training mode, and if the operation mode is the training mode (Yes), the process proceeds to step SB410, and if the operation mode is not the training mode (Yes). No) proceeds to step SB450B.

In step SB410, the control device 40 obtains "progress speed + right hand movement speed" and stores it in the right hand ground speed, and obtains "progress speed + left hand movement speed" to obtain the left hand ground speed. The storage is performed, and the process proceeds to step SB420. The "traveling speed" is the speed of the walking support device with respect to the ground, and the "right-handed moving speed" is the moving speed of the (right) handle 20R with respect to the walking support device in the front-back direction of the frame, and is "right-handed". "Hand-to-ground speed" is the moving speed of the (right) handle 20R with respect to the ground in the front-back direction of the frame. Further, the "right-handed movement speed" is set to a "positive" speed in the same direction as the "traveling speed" and a "negative" speed in the direction opposite to the "traveling direction". That is, when the traveling speed is a forward speed, the forward right-handed movement speed is "positive" and the backward right-handed movement speed is "negative". The left-handed ground speed is also obtained in the same manner.

The control device 40 executing the process of step SB410 has a ground speed (right hand), which is the speed of each hand with respect to the ground, based on the moving speed of each hand and the traveling speed. It corresponds to the handle-to-ground speed calculation means 40D (see FIG. 13) that calculates the ground speed and the left-handed ground speed).

In step SB420, the control device 40 determines whether or not the right-handed ground speed is negative (less than 0), and if it is negative (less than 0), the process proceeds to step SB440, otherwise. If (No), the process proceeds to step SB430.

When the process proceeds to step SB430, the control device 40 determines whether or not the left-handed ground speed is negative (less than 0), and if it is negative (less than 0), the process proceeds to step SB440. If not (No), the process proceeds to step SB450B.

When the process proceeds to step SB440, the control device 40 calculates the weighting coefficient according to the traveling speed and proceeds to the process to step SB450A. For example, the weighting coefficient is set to decrease as the traveling speed increases.

In step SB450A, the control device 40 stores the value obtained by multiplying the preset acceleration correction amount by the weighting coefficient in the ground speed correction amount, and ends (returns) the process. The acceleration correction amount is determined by various experiments, simulations, and the like. The ground speed correction amount in this case is a value larger than 0 (a positive value, a correction amount for acceleration).

When the control device 40 executing the process of steps SB440 and SB450A sets the traveling speed to "positive" and at least one of the ground speeds of each handle is "negative", the speed is "negative". It corresponds to the ground speed correction amount calculation means 40E (see FIG. 13) that calculates the ground speed correction amount for accelerating the walking support device 10 in the direction of the traveling speed.

When the process proceeds to step SB450B, the control device 40 stores the preset deceleration correction amount in the ground speed correction amount and ends (returns) the process. The deceleration correction amount is determined by various experiments, simulations, and the like. In this case, the ground speed correction amount is a value of 0 or less (zero or a negative value, which is a correction amount for deceleration).

When the ground speed correction amount is a positive value larger than 0, the traveling speed of the walking support device can be accelerated. Further, when the ground speed correction amount is a negative value less than 0, the traveling speed of the walking support device can be decelerated. When the ground speed correction amount is zero, the walking support device coasts, but the traveling speed is reduced due to rolling resistance or the like.

● [SB500: Details of center position velocity correction amount calculation process (FIG. 18)]
Next, the details of the SB500 (center position velocity correction amount calculation process) will be described with reference to FIG. When executing SB500 in step S050 shown in FIG. 14, the control device 40 proceeds to step SB505 shown in FIG.

In step SB505, the control device 40 determines whether or not the operation mode is the training mode, and if the operation mode is the training mode (Yes), the process proceeds to step SB510, and if the operation mode is not the training mode (Yes). No) proceeds to step SB550.

When the process proceeds to step SB510, the control device 40 obtains "(right handle front / rear position + left handle front / rear position) / 2", stores it in the front / rear center position of the handle, and proceeds to step SB520.

The control device 40 executing the process of step SB510 uses the handle front-rear center position calculation means 40G (see FIG. 13) to obtain the handle front-rear center position which is the center of the frame front-rear direction with respect to each handle front-rear position. Equivalent to.

FIG. 20 is a view of the walking support device 10 from above. (Right) Handle 20R front / rear position (PmR), (Left) Handle 20L front / rear position (PmL), virtual front / rear reference It is a figure explaining the position (Ps), the center position (Pmc) in the front-rear direction of the handle, and the center position (Pc) of the movable range (the moving range of the shafts 21L and 21R in the front-back direction of the frame). For example, in the front-rear direction of the frame, the movable range L1 of the handles 20R and 20L is from the front end position (Po) of the movable range L1 to the rear end position (Pr) of the movable range. The central position (Pc) is the central position of the movable range L1 in the front-rear direction of the frame. For example, a position that is behind the central position (Pc) of the movable range L1 by a predetermined distance La is set as a virtual front-rear reference position (Ps) that is a predetermined position in the front-rear direction of the frame. Further, the central position of the right handle front-rear position (PmR) and the left handle front-rear position (PmL) in the frame front-rear direction is the handle front-rear center position (Pmc).

In step SB520, the control device 40 obtains the "handle front-rear center position-virtual front-rear reference position", stores it in the front-rear direction deviation, and proceeds to the process in step SB530. As shown in FIG. 20, the front-back direction deviation ΔL is a deviation between the front-back center position (Pmc) of the handle and the virtual front-back reference position (Ps).

In step SB530, the control device 40 obtains the center position speed correction amount according to the deviation in the front-rear direction, stores the obtained center position speed correction amount, and ends (returns) the process. For example, the front-rear direction deviation / center position speed correction amount characteristic shown in FIG. 21 is stored in the storage means, and the control device 40 is based on the front-rear direction deviation / center position speed correction amount characteristic and the front-rear direction deviation. , The center position velocity correction amount is obtained and stored.

When the process proceeds to step SB550, the control device 40 obtains the "right handle front-rear position-handle reference position (position of the handle 20R corresponding to the shaft reference position)" and stores it in the right deviation, and steps SB560. Proceed to processing. When the operation mode is the "assist mode", it is in the "locked state", so that the user cannot walk while holding the handle and swinging his arm. In the "assist mode", in the following steps SB550 to SB580, when the handle is pushed forward, the walking support device 10 is accelerated forward by the center position speed correction.

In step SB560, the control device 40 obtains the "left handle front-rear position-handle reference position (position of the handle 20L corresponding to the shaft reference position)", stores it in the left deviation, and proceeds to step SB570.

In step SB570, the control device 40 obtains "(right deviation + left deviation) / 2", stores it in the anteroposterior direction deviation, and proceeds to step SB580.

In step SB580, the control device 40 obtains the center position speed correction amount according to the deviation in the front-rear direction, stores the obtained center position speed correction amount, and ends (returns) the process. For example, the front-rear direction deviation / center position speed correction amount characteristic shown in FIG. 21 is stored in the storage means, and the control device 40 is based on the front-rear direction deviation / center position speed correction amount characteristic and the front-rear direction deviation. , The center position velocity correction amount is obtained and stored. Even if the values of the deviations in the front-rear direction are the same, if the center position speed correction amount (step SB580) in the locked state is larger than the center position speed correction amount (step SB530) in the unlocked state, it becomes more preferable.

The control device 40 executing the processing of steps SB520, SB530, SB570, and SB580 adjusts the traveling speed of the walking support device 10 so that the front / rear center position of the handle approaches the virtual front / rear reference position in the front / rear direction of the frame. It corresponds to the central position speed correction amount calculation means 40H (see FIG. 13) that calculates the position speed correction amount.

● [SB600: Details of Progress Speed Adjustment Process (Fig. 19)]
Next, the details of the SB600 (progress speed adjustment process) will be described with reference to FIG. When executing SB600 in step S060 shown in FIG. 14, the control device 40 proceeds to step SB610 shown in FIG.

In step SB610, the control device 40 obtains "progress speed + ground speed correction amount + center position speed correction amount", stores it in the right target speed, and stores "progress speed + ground speed correction amount + center position speed correction amount". It is obtained, stored in the left target speed, and the process proceeds to step SB620.

In step SB620, the control device 40 controls the driving means 64R for traveling (right) so as to have a right target speed and a target torque, and for traveling (left) so as to have a left target speed and a target torque. The drive means 64L is controlled to end (return) the processing.

The control device 40 executing the processes of steps SB610 and SB620 controls the traveling drive means so as to obtain the target speed obtained based on the traveling speed and the ground speed correction amount (and the center position speed correction amount). , Corresponds to the traveling speed adjusting means 40F (see FIG. 13).

● [Example of user's arm swing walking state and walking state of walking support device (Fig. 22)]
FIG. 22 shows a state in which the user holds the (right) handle 20R with the right hand, holds the (left) handle 20L with the left hand, and walks while swinging the left arm from the front to the back (the right arm is from the back to the front). Is given an example.

(Left) When the handle 20L moves backward, the movement speed of the handle 20L seen from the ground (Left) When the handle ground speed becomes "negative", walking support is provided by the ground speed correction amount. Since the device 10 accelerates forward, the (left) handle 20L appears to be stationary when viewed from the ground, as shown by the alternate long and short dash line in FIG. That is, the walking support device 10 advances while adjusting the traveling speed so that the rearwardly moved (left) handle 20L appears to be stationary when viewed from the ground.

● [Effect of the present application]
As described above, in the walking support device 10 described in the present embodiment, the user switches the left and right handles 20R and 20L, which are movable in the front-rear direction, to the locked state or the released state. There are two different operation modes: an assist mode that supports non-arm swing walking that walks without swinging the arm, and a training mode that supports arm swing walking that walks while swinging the arm correctly in synchronization with the movement of the legs. Can be switched automatically.

● [Other embodiments]
The walking support device of the present invention is not limited to the configuration, structure, shape, processing procedure, etc. described in the present embodiment, and various changes, additions, and deletions can be made without changing the gist of the present invention. ..

In the walking support device 10 of the above-described embodiment, as described above, when the user turns on the main switch 72, the entire process shown in FIG. 14 is activated at predetermined time intervals (for example, several [ms] intervals). , SB100 (input processing) shown in the flowchart in FIG. 15 is executed in step S010 of FIG. In the walking support device 10 of the embodiment, in the SB100 (input processing) shown in the flowchart in FIG. 15, the control device 40 sets the operation mode (either the warning mode, the assist mode, or the training mode). The setting is based only on the states of the left and right handles 20R and 20L (whether the "locked state" or the "released state"). The states of the left and right handles 20R and 20L are set by the user moving the lock operation unit 31R and 31L to the lock side (see FIG. 7) or the release side (see FIG. 6). Therefore, the operation mode (either the warning mode, the assist mode, or the training mode) is set based on whether the user has moved the lock operation units 31R and 31L to the lock side or the release side. It can be said that it will be done.

However, as a means for setting the operation mode, other means may be provided in addition to the lock operation units 31R and 31L. As another means, in the walking support device 110 of another embodiment described below, an instruction from the user can be input instead of the operation panel 70 (see FIG. 12) of the walking support device 10 of the embodiment. A touch panel 170 (see FIGS. 23 and 24) is provided as an instruction device. As an instruction device capable of inputting an instruction from the user, instead of providing the touch panel 170, as shown in FIG. 25, the instruction device is a communication terminal 180 such as a smartphone or a tablet, and further, communication with the communication terminal is performed. The wireless communication device RC to be performed may be provided in the control device 40.

Further, in the following description of the walking support device 110 of the other embodiment, the differences from the walking support device 10 of the above-described embodiment will be mainly described with reference to FIGS. 23 to 26, and the same points will be described. Omits the explanation. 23 and 24 are examples of the appearance of the touch panel 170. Further, FIG. 25 is a block diagram illustrating input / output of the control device 40 of the walking support device 110. Further, FIG. 26 is a flowchart for explaining the processing procedure of the SB200 (input processing) of the walking support device 110, and is a flowchart corresponding to the SB100 (input processing) shown in FIG.

As shown in FIG. 23, the touch panel 170 has a switching button 171, a speaker 172, and a microphone 173. Further, as shown in FIG. 23, the touch panel 170 has a main switch 72, a battery remaining amount display unit 73, and a training mode display unit 74, similarly to the operation panel 70 (see FIG. 12) of the walking support device 10 of the embodiment. , Assist mode display unit 75, drive torque adjustment unit 76, and the like. Then, as shown in FIG. 25, the touch panel 170 is connected to the control device 40, and the switching button 171, the speaker 172, the microphone 173, and the like are controlled by the control device 40.

The switching button 171 is controlled by the control device 40, and the display of the switching button 171 which is the appearance of the switching button 171 is "training start" shown in the switching button 171A of FIG. 23 or "training start" shown in the switching button 171B of FIG. 24. It switches to "Training end" etc. When the display of the switching button 171 is the display of "training start" shown in the switching button 171A of FIG. 23, the user presses the switching button 171 to start the training mode, which is an instruction to start the training mode. You can enter instructions.

When the switching button 171 is pressed in the state of the switching button 171A of FIG. 23, the switching button 171B of FIG. 24, or the like, a control signal indicating that the switching button 171 is pressed is sent to the control device 40. When the control device 40 receives the control signal indicating that the switching button 171 has been pressed from the switching button 171, it records that the switching button 171 has been pressed, and then reads the record, the switching button 171 is pressed. Erase the record of things. As a result, if there is a record that the switching button 171 has been pressed, the control device 40 can determine that the switching button 171 has been pressed since the most recent reading of the record. On the other hand, when there is no record that the switching button 171 has been pressed, it can be determined that the switching button 171 has not been pressed since the most recent reading of the record.

The speaker 172 and the microphone 173 are connected to the control device 40 as shown in FIG. The speaker 172 is an audio output means controlled by the control device 40, and generates audio based on a control signal from the control device 40 as described later. The microphone 173 is a voice input means controlled by the control device 40, and as will be described later, when voice is input, a voice signal including the content of the voice is transmitted to the control device 40. As a result, the control device 40 can receive a voice instruction from the user. As described above, the control device 40 has the speaker 172, which is an audio output means, on the touch panel 170. Further, the control device 40 has a microphone 173, which is a voice input means, on the touch panel 170.

As described above with reference to FIGS. 6 and 7, in the walking support device 10 of the embodiment, whether the user has moved the lock operation units 31R and 31L to the lock side or the release side as follows. Based on this, the operation mode is set. In the following, since the left and right handles 20L and 20R are configured in the same manner, the “locked state” and “unlocked state” of the right handle 20R will be described, but the same applies to the left handle 20L. When the user moves the lock operation unit 31R to the release side as shown in FIGS. 6 and 11, the switch mechanism 31R1 is turned off, a current is supplied to the lock unit 31R6, and the lock protrusion 31R3 is moved. Move down. As a result, the lock state detection means 31R7 (see FIG. 6) is turned on as well as being in the "release state", and the signal (state detection signal) corresponding to the on state of the lock state detection means 31R7 is controlled. Output to device 40. On the contrary, as shown in FIGS. 7 to 10, when the user moves the lock operation unit 31R to the lock side, the lock state detection means 31R7 is turned off at the same time as the "lock state". , A signal (state detection signal) corresponding to the off state of the lock state detection means 31R7 (see FIG. 7) is output to the control device 40.

In the walking support device 110 of the other embodiment, as shown in FIG. 25, similarly to the walking support device 10 of the embodiment, the lock portions 31R6 and 31L6 of the pair of left and right lock mechanisms are connected to the control device 40, respectively. The current is supplied by the control device 40. Further, the lock portions 31R6 and 31L6 of the pair of left and right lock mechanisms are actuators for moving the lock protrusions 31R3 and 31L3 as described above, and solenoids for moving the lock protrusions 31R3 and 31L3 downward when a current is supplied. It also has an urging means (not shown) such as a spring that constantly urges the lock protrusions 31R3 and 31L3 upward. In other words, each of the pair of left and right lock mechanisms is controlled by the control device 40 to switch between the locked state and the released state (including a solenoid and an urging means such as a spring (not shown)). have.

When a current is supplied from the control device 40 to the lock portions 31R6 and 31L6 to make them energized (see FIG. 6), a current flows through the solenoid of the actuator to release the lock projections 31R3 and 31L3 by moving them downward. It becomes a state. On the other hand, when the lock portions 31R6 and 31L6 are in a non-energized state in which no current is supplied from the control device 40 (see FIG. 7), no current flows through the solenoid and the urging means such as a spring (not shown) is locked. The protrusions 31R3 and 31L3 are moved upward to be in a locked state. Although details will be described below, in the walking support device 110 of the other embodiment, unlike the walking support device 10 of the embodiment, the switch mechanisms 31R1 and 31L1 are turned on (lock side) and off (release side). Regardless of which one is located, the control device 40 controls the presence / absence of current supply to the solenoids of the actuators of the pair of left and right lock mechanisms (lock portions 31R6, 31L6) to release the pair of left and right lock mechanisms. It can be set to a state (see FIG. 6, with current supply) or a locked state (see FIG. 7, without current supply). Similar to the walking support device 10, the pair of left and right lock operation units 31R and 31L of the walking support device 110 are also connected to the control device 40. As described below, the switch mechanisms 31R1 and 31L1 (a pair of left and right lock operation units 31R and 31L) that can be set by the user to either on (lock instruction side) or off (release instruction side) are paired on the left and right. The lock instruction input means 31R1 and 31L1 and the left and right pair of lock instruction detection means 31R1 and 31L1 are also used.

In the walking support device 110, the pair of left and right lock operation units 31R and 31L (switch mechanisms 31R1 and 31L1) are the pair of left and right lock instruction input means 31R1 and 31L1. That is, as shown in FIG. 7, the user gives a lock instruction which is an instruction for the user to move the switch mechanisms 31R1 and 31L1 (a pair of left and right lock operation units 31R and 31L) to the lock side to put them in the locked state. Input to the lock operation units 31R and 31L. Further, as shown in FIG. 6, the user gives an instruction to move the switch mechanisms 31R1 and 31L1 (a pair of left and right lock operation units 31R and 31L) to the release side to put them in the release state. Input to the lock operation units 31R and 31L. In this way, the pair of left and right lock operation units 31R, 31L (switch mechanisms 31R1, 31L1) are an input instruction from the user, a lock instruction which is an instruction to lock, and an instruction to release. A pair of left and right lock instruction input means 31R1 and 31L1 to which an instruction is input.

Further, in the walking support device 110, the pair of left and right lock operation units 31R and 31L (switch mechanisms 31R1 and 31L1) are also the pair of left and right lock instruction detecting means 31R1 and 31L1. That is, as shown in FIG. 25, the pair of left and right lock instruction input means 31R1 and 31L1 (switch mechanisms 31R1 and 31L1) are connected to the control device 40. Then, the switch mechanism 31R1 and 31L are turned on (locked) by the lock instruction that the user moves the switch mechanisms 31R1 and 31L1 (lock operation units 31R and 31L) which are the lock instruction input means 31R1 and 31L1 to the lock side. A detection signal corresponding to the state of the side) is output to the control device 40. Further, the switch mechanism 31R1 and 31L are turned off by the release instruction that the user moves the switch device structures 31R1 and 31L1 (lock operation units 31R and 31L) which are the lock instruction input means 31R1 and 31L1 to the release side. A detection signal corresponding to the state of the release side) is output to the control device 40.

As described above, the switch mechanisms 31R1 and 31L1 (lock operation units 31R and 31L), which are a pair of left and right lock operation units 31R and 31L, are provided separately from the lock state detection means 31R7 and 31L7, respectively, and the lock instruction input means 31R1 and It is also the lock instruction detection means 31R1 and 31L1 that output the detection signals corresponding to the lock instruction and the release instruction to the 31L1 to the control device 40, respectively. Then, the control device 40 can detect whether the input instruction to each of the lock instruction input means 31R1 and 31L1 is a lock instruction or a release instruction by using the pair of left and right lock instruction detecting means 31R1 and 31L1.

As described above, in the walking support device 110 of the other embodiment, has the user input a lock instruction to the switch mechanisms 31R1 and 31L1 (a pair of left and right lock instruction input means 31R and 31L)? , Regardless of whether the release instruction is input, the control device 40 controls the presence / absence of current supply to the actuator of the pair of left and right lock mechanisms (lock portions 31R6, 31L6) to release the pair of left and right lock mechanisms. It can be set to (see FIG. 6, with current supply) or locked (see FIG. 7, without current supply). As a result, as described below, even when the user inputs a release instruction to both of the switch mechanisms 31R1 and 31L1 (a pair of left and right lock operation units 31R and 31L), the training mode from the user Control that does not start the training mode by releasing both the left and right handles 20R and 20L until the training mode start instruction, which is the instruction to start the training mode, is input from the switching button 171A (see FIG. 23) of the touch panel 170. Is performed by the control device 40.

[Processing procedure of the control device 40 of the walking support device 110 of another embodiment (FIGS. 14 to 19)]
In the walking support device 10 of the above-described embodiment, when the user turns on the main switch 72, the entire process shown in FIG. 14 is activated at predetermined time intervals (for example, several [ms] intervals). In the overall processing of FIG. 14, first, in step S010 of FIG. 14, SB100 (input processing) shown in the flowchart of FIG. 15 is performed, and the control device 40 is set to the operation mode (warning mode, assist mode, or , Training mode), and then in step S080A of FIG. 14 and step S080B of FIG. 14, the control device 40 controls the servo mechanisms of the traveling drive means 64R and 64L according to the operation mode. To run. Here, the operation mode is set in SB100 (input processing) shown in the flowchart in FIG.

In the walking support device 110 of another embodiment, when the user turns on the main switch 72, the same overall processing as the overall processing shown in the flowchart in FIG. 14 is performed at predetermined time intervals (for example, several [ms] intervals). It will be started. Here, the overall processing executed by the control device 40 of the walking support device 110 of the other embodiment is different from the overall processing shown in the flowchart in FIG. 14 in the following points. The control device 40 of the walking support device 10 of the embodiment performs SB100 (input processing) shown in the flowchart in FIG. 15 in step S010 of FIG. Instead, the control device means 40 of the walking support device 110 performs SB200 (input processing) shown in the flowchart in FIG. 26. Therefore, in the following description, SB200 (input processing) whose flowchart is shown in FIG. 26 will be described.

[SB200: Details of input processing of the walking support device 110 of another embodiment (FIG. 26)]
Next, with reference to FIG. 26, the details of SB200 (input processing) of the walking support device 110 of another embodiment will be described. Since the SB200 (input process) is executed in the entire process executed at a predetermined time interval (for example, a number [ms] interval) as described above, the SB200 (input process) is also executed at a predetermined time interval (for example, a number [ms] interval). Interval), the control device 40 proceeds to step SB210 shown in FIG.

In SB200 (input processing), the operation mode of the walking support device 110 includes (1) assist mode, (2) warning mode, and (3) training mode, which are the operation modes of the walking support device 10 of the embodiment. , (4) There is also a standby mode.
(1) In the assist mode, the user's input instruction is a lock instruction for both the left and right pair of lock instruction input means 31R1 and 31L1 (switch mechanism 31R1 and 31L1), and both the left and right handles 20R and 20L have. This is the operation mode in the locked state. Further, the assist mode is a mode in which the servo mechanisms of the traveling drive means 64R and 64L are operated in the same manner as the assist mode of the walking support device 10 described above.
(2) In the warning mode, the user's input instructions differ between the left and right pair of lock instruction input means 31R1, 31L1 (switch mechanisms 31R1, 31L1) on the left and right (the left and right input instructions are one lock instruction and the other). It is a release instruction.), It is an operation mode. Further, the warning mode is a mode in which the servo mechanisms of the traveling drive means 64R and 64L are operated in the same manner as the warning mode of the walking support device 10 described above.
(3) In the training mode, the user's input instruction is a release instruction for both the left and right pair of lock instruction input means 31R1 and 31L1 (switch mechanism 31R1 and 31L1), and both the left and right handles 20R and 20L have. This is the operation mode in the released state. Further, the training mode is a mode in which the servo mechanisms of the traveling drive means 64R and 64L are operated in the same manner as the training mode of the walking support device 10 described above.
(4) In the standby mode, although the user's input instruction is a release instruction for both the left and right pair of lock instruction input means 31R1 and 31L1 (switch mechanism 31R1 and 31L1), the left and right pair of handles 20R, Both 20L are in the locked operation mode. Further, the standby mode is a mode in which the servo mechanisms of the traveling drive means 64R and 64L are operated in the same manner as the assist mode of the walking support device 10 described above. Therefore, in the standby mode, the operation mode is set to the assist mode in the SB200 (input processing) so that the operation mode becomes the assist mode in other processing (overall processing, SB400, SB500, SB600) (in the standby mode, the operation mode is set to the assist mode ( The following steps SB280B and SB280E) are performed.

When the SB200 (input process) is executed for the first time after the user turns on the main switch 72 from the touch panel 170, the warning mode is stored in the previous mode. The previous mode is, in principle, the operation mode (any of the assist mode, the warning mode, the training mode, and the standby mode) when the SB200 (input processing) is executed most recently.

In step SB210, the control device 40 has the same target torque, right handle front / rear position, right traveling speed, left handle front / rear position, left traveling speed, and vehicle body inclination, as in step SB010 of SB100 (input processing) of FIG. , Pitch angular velocity, yaw angular velocity, roll angular velocity are updated. The difference between step SB210 and step SB010 of SB100 (input processing) in FIG. 15 is as follows. That is, in step SB210, the lock instruction detecting means 31R1, 31L1 (switch mechanism 31R1, 31L1) outputs the input instruction from the user to the control device 40, that is, the lock instruction input means 31R1, 31L1 (switch mechanism 31R1, Based on the detection signals corresponding to the lock instruction and the release instruction to 31L1), it is updated whether each of the left and right input instructions is set to either the lock instruction or the release instruction. The control device 40 is updated in step SB210 as described above, and the process proceeds to SB220.

In step SB220, the control device 40 determines whether or not the right input instruction (lock instruction or release instruction) is the same as the left input instruction (lock instruction or release instruction), and if they are the same (the same). Yes) proceeds to step SB225, otherwise (No) proceeds to step SB230A. When the process proceeds to step SB225 (step SB220: Yes), the input instructions are the same on the left and right, and as described below, both the left and right input instructions are on the lock side (step SB225). Whether the operation mode is set to assist mode in the following step) or when both the left and right input instructions are on the release side (when the operation mode is set to standby mode or training mode in the step following step SB225). Is one of. When the process proceeds to step SB230A (step SB220: No), the input instruction is different on the left and right, and the operation mode is set to the warning mode in the processes after step SB230A (steps SB260A to SB280A).

When the process proceeds to step SB225, the control device 40 obtains the progress speed in the same manner as step SB030 of SB100 (input process) of FIG. 15, and proceeds to step SB230B. Note that step SB225 is a case where it is determined in step SB220 that the input instructions are the same on the left and right, and as described below, in the steps following step SB225, the operation modes are assist mode, standby mode, and so on. Alternatively, it is set to training mode.

When the process proceeds to step SB230A, the control device 40 determines whether or not there is a record that the switching button 171 of the touch panel 170 (instruction device) is pressed, and the switching button 171 is pressed. If there is a record (Yes), the process proceeds to step SB235A, and if not (No), the process proceeds to step SB260A. Note that step SB230A is a step executed when it is determined in step SB220 described above that the input instructions are different on the left and right, and the warning mode is set in the following steps (steps SB235A to SB280A). If there is a record that the switch button 171 of the touch panel 170 (instruction device) is pressed in step SB230A (SB230A: Yes), the record is recorded most recently (when the SB200 (input process) was executed last time). It can be determined that the switching button 171 is pressed after the reading. On the other hand, when there is no record that the changeover button 171 has been pressed (SB230A: No), it can be determined that the changeover button 171 has not been pressed since the most recently read the record. When the switching button 171 is pressed, it is considered that the training mode start instruction has been input from the instruction device in the steps (steps SB235A to SB280A) after step SB235A.

When the process proceeds to step SB235A, the control device 40 prompts the unlocking with a voice such as "Please unlock" using the speaker 172, and proceeds to the process to step SB260A. Note that step SB235A is a step following step SB230A, and the operation mode is set to the warning mode in the steps (steps SB235A to SB280A) after step SB235A. Step SB235A is a process executed when it can be determined that the switch button 171 is pressed after the most recently read record, and thereafter, in order to set the operation mode to the training mode, left and right. Of the pair of lock instruction input means 31R1 and 31L1 (switch mechanism 31R1 and 31L1), the user needs to input the release instruction to the one whose input instruction is the lock instruction. In other words, it is necessary to input the release instruction to both the left and right lock instruction input means 31R1 and 31L1 respectively. Therefore, in step SB235A, the speaker 172 is used to prompt the left and right lock instruction input means 31R1 and 31L1 (switch mechanisms 31R1 and 31L1) to input the release instruction by voice.

The control device 40 that executes the control of steps SB235A to SB280A that sets the operation mode to the warning mode corresponds to the control mode management unit. Then, in the processing of steps SB235A to SB280A, at least one of the input instructions detected by using the left and right lock instruction detecting means 31R1 and 31L1 (switch mechanism 31R1 and 31L1) when switching the operation mode is a lock instruction. In this case, even when the user presses the switching button 171 of the touch panel 170 (instruction device), the training mode start instruction, which is the instruction to start the training mode, is input from the user. It corresponds to the switching prohibition control that prohibits switching to the training mode.

Further, the speaker 172 corresponds to an audio output means. As described above, in the process of step SB235A, when the control device 40 (control mode management unit) corresponding to the control mode management unit performs the switching prohibition control, the lock instruction input means switch mechanisms 31R1 and 31L1) A voice prompting both parties to input a release instruction is output via the voice output means.

When the process proceeds to step SB260A, the control device 40 sets the display of the switching button 171 to the display of "training start" shown in the switching button 171A of FIG. 23.

In step SB270A, the control device 40 stores the previous mode in the warning mode and proceeds to step SB280A.

In step SB275A, the control device 40 controls both the left and right actuators by making the pair of left and right lock mechanisms (lock portions 31R6, 31L6) in a non-energized state in which no current is supplied, and locks both the left and right handles. The state is set and the process proceeds to step SB280A.

In step SB280A, the control device 40 sets the operation mode to the warning mode, and proceeds to step SB290.

In step SB290, the control device 40 executes SBA00 (right (left) movement speed, movement direction, amplitude calculation process) shown in the flowchart in FIG. 16 and ends (returns) the process.

When the process proceeds to step SB230B, the control device 40 determines whether or not the left and right input instructions are lock instructions, and if it is a lock instruction (Yes), proceeds to step SB240B, and if not (Yes). No) proceeds to step SB240C. Note that step SB230B is a step following step SB220, which is executed when it is determined that both the left and right input instructions are the same (step SB220: Yes). When both the left and right input instructions are lock instructions (SB230B: Yes), the operation mode is set to the assist mode in the processing after step SB240B (step SB240B to step SB280B). On the other hand, when both the left and right input instructions are in the release instruction (SB230B: No), the operation mode is set to the standby mode or the training mode in the processing after step SB240C.

When the process proceeds to step SB240B, the control device 40 determines whether or not there is a record that the switching button 171 is pressed, and if there is a record that the switching button 171 is pressed (Yes). Proceeds to step SB245B, and if not (No), proceeds to step SB250B. As described above, in the processing after step SB240B (step SB240B to step SB280B), the control device 40 sets the operation mode to the assist mode.

When the process proceeds to step SB245B, the control device 40 prompts the release of the lock by a voice such as "Please release the lock" by using the speaker 172, and proceeds to the process to step SB250B. It should be noted that step SB245B is a process performed when it can be determined that the switching button 171 is pressed after the latest recording is read, and is executed when the operation mode becomes the assist mode. It is a process. After that, in order to set the training mode as the operation mode, it is necessary to input the release instruction to both the left and right lock instruction input means 31R1 and 31L1 (switch mechanism 31R1 and 31L1). Therefore, in step SB245B, the speaker 172 is used to prompt the left and right lock instruction input means 31R1 and 31L1 (switch mechanisms 31R1 and 31L1) to input the release instruction by voice.

The control device 40 that executes the control of steps SB240B to SB280B that sets the operation mode to the assist mode corresponds to the control mode management unit. Then, in the processing of steps SB245B to SB280B, at least one of the input instructions detected by using the left and right lock instruction detecting means 31R1 and 31L1 (switch mechanism 31R1 and 31L1) when switching the operation mode is a lock instruction. In this case, even when the user presses the switching button 171 of the touch panel 170 (instruction device), the training mode start instruction, which is the instruction to start the training mode, is input from the user. It corresponds to the switching prohibition control that prohibits switching to the training mode.

Further, the speaker 172 corresponds to an audio output means. As described above, in the process of step SB245B, when the control device 40 (control mode management unit) corresponding to the control mode management unit performs the switching prohibition control, the lock instruction input means switch mechanisms 31R1 and 31L1) A voice prompting both parties to input a release instruction is output via the voice output means.

When the process proceeds to step SB250B, the control device 40 sets the display of the switching button 171 to the display of "training start" shown in the switching button 171A of FIG. 23.

In step SB260B, the control device 40 stores the previous mode in the assist mode and proceeds to the process in step SB280B.

In step SB275B, the control device 40 controls both the left and right actuators by making the pair of left and right lock mechanisms (lock portions 31R6, 31L6) in a non-energized state in which no current is supplied, and the left and right handles 20R, 20L is set to the locked state, and the process proceeds to step SB280B.

In step SB280B, the control device 40 sets the operation mode to the assist mode and proceeds to the process in step SB290.

When the process proceeds to step SB240C, the control device 40 determines whether or not the stored previous mode is the training mode, and if the previous mode is the training mode (Yes), the process proceeds to step SB250C, and so on. If not (No), the process proceeds to step SB250D.

Note that step SB240C is a process executed when it is determined that both the left and right input instructions are in the release instruction (SB230B: No). The left and right input instructions are both release instructions in the following cases (A) to (D). (A) When the previous operation mode was the warning mode (previous mode = warning mode), but both the left and right input instructions are canceled from the previous time. (B) When the previous operation mode was the assist mode (previous mode = assist mode), but the left and right input instructions are both release instructions from the previous time. (C) When the previous operation mode is the standby mode (previous mode = standby mode), the input instructions on both the left and right sides have not changed from the previous time, and both have been released from the previous time. (D) When the previous operation mode is the training mode (previous mode = training mode), the input instructions on both the left and right sides have not changed from the previous time, and both have been released from the previous time.

As described above, in step SB240C, when the previous mode is the training mode (D) (step SB240C: Yes), the process proceeds to step SB250C. On the other hand, in step SB240C, in all cases (step SB240C: Nos) when the previous mode is the warning mode of (A), the assist mode of (B), or the standby mode of (C). , Step SB250D proceeds.

When the process proceeds to step SB250C, the control device 40 determines whether or not there is a record that the changeover button 171 is pressed, and if there is a record that the changeover button 171 is pressed (Yes). Proceeds to step SB255C, and if not (No), proceeds to step SB270D. If there is a record that the switching button 171 is pressed (SB250C: Yes), the previous mode is the training mode (SB240C: Yes), and the switching button 171 (as will be described later, "Training end" in FIG. 24 This is the case when the switching button 171B) displayed as "" is pressed. Therefore, the training mode is terminated and the operation mode is switched to the standby mode in the processing after the step SB255C following SB250C: Yes.

On the other hand, in step SB250C, when there is no record that the switching button 171 is pressed (SB250C: No), it means that the switching button 171B displayed as "training completed" is not pressed, so that the operation mode No need to change from training mode. Therefore, in steps SB270D to SB280D following SB250C: No, a process of changing the operation mode to the training mode is executed as described later.

When the process proceeds to step SB255C, the control device 40 ends the training with a voice such as "The training is finished. Please release both the left and right handles." Using the speaker 172. Is notified by voice, and further, after waiting for a predetermined time (for example, 20 seconds), the process proceeds to step SB260C. In addition, the user releases both the left and right handles 20R and 20L by notifying by voice that "Please release both the left and right handles" and waiting for a predetermined time, as shown in FIG. In addition, the handles 20R and 20L are returned to the shaft reference positions (see FIG. 8) by the elastic force of the shaft-side elastic members 26R and 26L (shaft position restoring means). As a result, the states of the left and right handles 20R and 20L are such that the control device 40 can control both the left and right actuators to switch the left and right handles to the locked state.

In step SB260C, the control device 40 sets the display of the switching button 171 to the display of "training start" shown in the switching button 171A of FIG. 23, and proceeds to the process in step SB270C. Note that step SB260C is a process executed following step SB255C, and is a part of a process executed to end the training mode and switch the operation mode to the standby mode.

In step SB270C, the control device 40 stores the previous mode in the standby mode and proceeds to step SB275B (described above). As described above, in step SB275B following step SB270C, both the left and right handles are set to the locked state, and further, in step SB280B, the operation mode is set to the assist mode.

When the process proceeds to step SB250D, the control device 40 determines whether or not there is a record that the changeover button 171 is pressed, and if there is a record that the changeover button 171 is pressed (Yes). Proceeds to step SB255D, and if not (No), proceeds to step SB260E. In step SB250D, the above-mentioned step SB240C: No (the states of the left and right handles 20R and 20L are both in the "release state", and the previous mode is not the training mode, the previous mode of (A) warns. In the case of the mode, it is a step following (either the case where the previous mode of (B) is the assist mode or the case where the previous mode of (C) is the standby mode).

Therefore, when it is determined in step SB250D that there is a record that the switching button 171 is pressed (step SB250D: Yes), both the left and right handles 20R and 20L are in the released state, and the previous time. This is a case where the mode is not the training mode, and further, when the switching button 171 is pressed by the user, a training mode start instruction which is an instruction for starting the training mode is input from the user. Therefore, in steps SB255D to SB280D following step SB250D: Yes, the operation of the training mode of the walking support device 110 is started, and the process of switching the operation mode to the training mode is executed.

Then, in the control of steps SB250D to SB280D, when both of the input instructions detected by using the respective lock instruction detecting means are release instructions, the user presses the switching button 171 of the touch panel 170 (instruction device). When the training mode start instruction is input from the instruction devices 31R1 and 31L1 (switch mechanisms 31R1 and 31L1), it corresponds to the switching permission control for executing the switching to the training mode.

On the other hand, when it is determined in step SB250D that there is no record that the changeover button 171 is pressed (step SB250D: No), the training mode start instruction is input from the instruction devices 31R1 and 31L1 (switch mechanisms 31R1 and 31L1). If not. In addition, the left and right handles 20R and 20L are both in the released state, and the previous mode is the warning mode of (A), the assist mode of (B), or the standby mode of (C). In either case. Therefore, in steps SB260E to SB280E following step SB250D: No, a process of changing the operation mode to the standby mode is executed.

When the process proceeds to step SB255D, the control device 40 uses the speaker 172 to notify by voice that the training is to be started by a voice such as "Start training", and proceeds to step SB260D. As described above, steps SB255D to SB280D are processes for switching the operation mode to the training mode.

When the process proceeds to step SB260D, the control device 40 sets the display of the switching button 171 to the display of "training end" shown by the switching button 171B of FIG. 24, and proceeds to the process to step SB270D.

In step SB270D, the control device 40 stores the previous mode in the training mode and proceeds to the process in step SB275D.

In step SB275D, the control device 40 controls both the left and right actuators by energizing a pair of left and right lock mechanisms (lock portions 31R6, 31L6) to supply an electric current, and both the left and right handles 20R, 20L. Is set to the released state, and the process proceeds to step SB280D.

In step SB280D, the control device 40 sets the operation mode to the training mode and proceeds to step SB290.

When the process proceeds to step SB260E, the control device 40 sets the display of the switching button 171 to the display of "training start" shown by the switching button 171A of FIG. 23, and proceeds to the process to step SB265E. As described above, steps SB260E to SB280D are processes for switching the operation mode to the standby mode.

In step SB270E, the control device 40 stores the previous mode in the standby mode and proceeds to the process in step SB280E.

In step SB275E, the control device 40 controls both the left and right actuators by making the pair of left and right lock mechanisms (lock portions 31R6, 31L6) in a non-energized state in which no current is supplied, and the left and right handles 20R, 20L is set to the locked state, and the process proceeds to step SB280E.

When the process proceeds to step SB280E, the control device 40 sets the operation mode to the assist mode and proceeds to step SB290.

As described above, the touch panel 170 has a microphone 173 as a voice input means. Then, in the SB200 (input processing) described above, when the switching button 171 of the touch panel 170 (instruction device) is pressed by the user, the training mode start instruction, which is an instruction from the user to start the training mode, is issued. It is input (see steps SB230A, SB240B, SB250C, SB250D described above). Instead of inputting with the switching button 171 in this way, the user emits a voice to the effect that the training mode is started (voice corresponding to the training mode start instruction), and the microphone 173 (voice input means) makes a voice. A voice signal including the start of the training mode, which is the content of the above, may be transmitted to the control device 40, and the control device 40 may read the received voice signal and accept the training mode start instruction. In this way, the user can switch the operation mode to the training mode by voice (steps SB250C and SB250D in FIG. 26). Therefore, the user can more easily switch the operation mode of the walking support device to the training mode.

Further, when switching the operation mode, if at least one of the input instructions detected by using the left and right lock instruction detecting means 31R1 and 31L1 (switch mechanism 31R1 and 31L1) is a lock instruction, the user touches the touch panel. By pressing the switching button 171 of 170 (instruction device), switching to the training mode is prohibited even when the training mode start instruction, which is the instruction to start the training mode, is input from the user. When the switching prohibition control is performed (steps SB235A to SB280A in FIG. 26, steps SB245B to SB280B), a voice prompting the lock mechanism to be released is output via the speaker 172 (voice output means) (FIG. 26). Step SB235A, step SB245B). Here, instead of prompting the lock mechanism to be released via the speaker 172 (voice output means), the touch panel 170 (instruction device) may output a character prompting the lock mechanism to be released. Good. For example, as shown by the switching button 171C in FIG. 27, the switching button 171 may display the character 171CA that prompts the character to be unlocked.

Further, for example, the color of the switching button 171 in FIG. 23 is changed to blue, the color of the switching button 171B in FIG. 24 is changed to red, and the color of the switching button 171 is changed when the display content of the switching button 171 is changed. May be emphasized with. Further, by changing the color of the switching button 171B in FIG. 24 to red, the user can clearly notify that the operation mode is the training mode and the walking support device 110 is operating the training mode.

● [Effects of other embodiments]
Regarding the processing of steps SB250C to SB280B in FIG. 26, as described above, if the user presses the switching button 171 of the touch panel 170 (instruction device) and inputs the training mode start instruction to the touch panel 170 (instruction device), the control mode The control device 40 corresponding to the management unit can execute the switching permission control to switch the operation mode to the training mode. Therefore, the user can more easily switch the operation mode of the walking support device 110 to the training mode.

Further, the walking support device 110 has actuators in which the left and right lock mechanisms (lock portions 31R6 and 31L6) are controlled by the control device 40 to switch between the locked state and the released state. As a result, the control device 40 can control the left and right handles 20R and 20L to switch between the locked state and the unlocked state.

Further, the walking support device 110 has a standby mode as an operation mode in addition to the training mode and the assist mode. The control mode management unit detects from the touch panel 170 (instruction device) when both of the input instructions detected by using the left and right switch mechanisms 31R1 and 31L1 (lock instruction detection means 31R1 and 31L1) are release instructions. It is possible to set the operation mode to the standby mode by locking the left and right actuators until the training mode start instruction is input. Further, when both the input instructions detected by the control mode management unit (control device 40) using the left and right switch mechanisms 31R1 and 31L1 (lock instruction detecting means 31R1 and 31L1) are release instructions, When a training mode start instruction is input from the touch panel 170 (instruction device), the left and right actuators can be released to set the operation mode to the training mode.

Further, in the walking support device 110, the training mode start instruction is input to the touch panel 170 (instruction device) by pressing the switching button 171 of the touch panel 170 (instruction device) in the control device 40 corresponding to the control mode management unit. Even if this is the case, when the switching prohibition control without switching to the training mode is performed (steps SB235A to SB280A and steps SB245B to SB280B in FIG. 26), the lock mechanism is released via the audio output means. A voice prompting the user to do so is output (step SB235A, step SB245B in FIG. 26). As a result, when the user presses the switching button 171 of the touch panel 170 (instruction device) and inputs the training mode start instruction to the touch panel 170 (instruction device), the operation mode does not switch to the training mode (FIG. 26). In steps SB230A, SB235A to SB280A, and steps SB240B, SB245B to SB280B in FIG. 26), the user can more easily know the necessity of releasing the lock mechanism. Therefore, for example, when the user tries to train without noticing that the lock instruction is input to at least one of the left and right lock instruction input means 31R1 and 31L1 (switch mechanism 31R1 and 31L1), the operation is performed. The mode does not switch to the training mode, and the user can avoid being confused by the fact that the handle does not move.

In the above-described embodiment, an example in which a walking support device having a plurality of wheels is provided with two driving wheels as a four-wheeled vehicle has been described, but the walking support device is a three-wheeled vehicle having one front wheel and two rear wheels, and the front wheels. May be the driving wheel and the two rear wheels may be the caster wheels. That is, the walking support devices 10 and 110 need only have at least one drive wheel. Further, in the description of the above-described embodiment, an example of adjusting the "traveling speed" in the control of the traveling drive means (electric motor with a servo mechanism) has been described, but the "torque" is not limited to the control of the "speed". It may be controlled, or the motor torque may be controlled to adjust the traveling speed.

Further, in the above-described embodiment, the user is warned by alternately lighting the training mode display unit 74 and the assist mode display unit 75, but instead of or in addition to this, a sound generating means such as a speaker is used. In preparation, a warning voice, warning sound, or the like may be used to warn. The warning voice tells the user that the left and right handles 20R and 20L have different states (“locked state” and “unlocked state”), and teaches that both states be the same. Just do it.

In the above-described embodiment, the example in which the solenoid is used as the lock portions 31R6 and 31L6 has been described, but the present invention is not limited to this, and any linear motion mechanism that is electrically driven may be used. For example, the linear motion mechanism may be a mechanism using a ball screw, a nut, and a rack and pinion. Further, the lock portion may be configured by a link mechanism instead of the linear motion mechanism.

In the above-described embodiment, an example has been described in which the lock operation units 31L and 31R provided on the handles 20L and 20R are operated to switch between the "locked state" and the "released state" of the lock mechanism, but the present invention is not limited to this. .. For example, the operation panel 70 is provided with a means (for example, a changeover switch) for switching between the "locked state" and the "released state" of the lock mechanism, and the operation panel 70 is operated to set the "locked state" of the lock mechanism to the control device 40. The state of each lock mechanism may be switched by sending a signal corresponding to the "release state". Further, instead of using mechanical switches such as the lock operation unit 31R and the switch mechanism 31R, a wireless communication device that communicates with a communication terminal such as a smartphone or tablet is provided, and the smartphone or the like is operated with respect to the control device 40. The state of each lock mechanism may be switched by sending signals corresponding to the "locked state" and "release state" of the lock mechanism.

In the above-described embodiment, an example has been described in which the drive wheels are locked by using an electric motor with a servo mechanism as the drive wheel locking means to lock the drive wheels. Not limited to this, a locked state may be provided by separately providing an electric brake mechanism. For example, the electric brake mechanism may be one in which a drum brake is provided on the drive wheels (rear wheels) and the drum brake is electrically controlled.

Further, the above (≧), the following (≦), the larger (>), the less than (<), etc. may or may not include the equal sign. Further, the numerical values used in the description of the present embodiment are examples, and are not limited to these numerical values.

10 Walking support device 20L, 20R Handle 21L, 21R Shaft 21LS, 21RS Handle state detection means 21R1 Handle fitting hole 21R2 Lock hole 24R Guided member (rotation prevention structure)
25R pull-out prevention member (pull-out prevention structure)
26R Shaft side elastic member (Shaft position restoration means)
30L, 30R Cylindrical part 30R1 Hole part 31L, 31R Lock operation part 31R1, 31L1 Switch mechanism (slide switch, lock instruction input means, lock instruction detection means)
31R3 Lock protrusion 31R6, 31L6 Lock part 31R7, 31L7 Lock state detection means (push switch)
32R guide rail (rotation prevention structure)
33R Guide roller 34R Lid 35R1 Cylindrical side elastic member (Shaft position restoration means)
35R2 Color 35R3 Damper 35R4 Elastic Unit 36R Removal Prevention Panel (Removal Prevention Structure)
40 Control device 40A Device ground speed calculation means 40B Handle front / rear position calculation means 40C Handle movement speed calculation means 40D Handle ground speed calculation means 40E Ground speed correction amount calculation means 40F Travel speed adjustment means 40G Handle front / rear center position calculation means 40H Central position Velocity correction amount calculation means 40I Drive wheel locking means 40J Teaching means 40K Warning means 44 Storage means 50 Frame 50K Bag 50S 3-axis acceleration / angular velocity sensor 51L, 51R Cylindrical support 52L, 52R Wheel support 53 Connecting body 60FL, 60FR Front wheels 60RL, 60RR Rear wheels (driving wheels)
64L, 64R Driving means (electric motor with servo mechanism)
64LE, 64RE Progress speed detection means 70 Operation panel 72 Main switch 73 Battery level display 74 Training mode display 75 Assist mode display 76 Drive torque adjustment unit 170 Touch panel (instruction device)
171A, 171B, 171C, 171 Switching button 172 Speaker (audio output means)
173 Microphone (voice input means)
180 Communication terminal (instruction device)
B Battery BKL Brake lever RC wireless communication device Pmc Handle front / rear center position PmL, PmR Handle front / rear position Ps Virtual front / rear reference position W1 Front / rear regulation range

Claims (9)

With the frame
A plurality of wheels including at least one drive wheel provided on the frame, and
A traveling drive means for driving the drive wheels and
A pair of left and right handles that are gripped by the user and can be moved in the front-back direction of the frame, which is the front-back direction with respect to the frame.
Each handle state detection means that outputs a detection signal according to the state of each handle, and
A control device that controls the traveling drive means based on each handle state detected based on a detection signal from each of the handle state detection means,
A battery that serves as a power source for the traveling drive means and the control device,
It is a walking support device that has
Each locking mechanism that can switch between a locked state that constrains the movement range of each handle in the vicinity of a reference position set in the front-rear direction of the frame and an released state that releases the locked state
Each lock state detection means that outputs a state detection signal according to the lock state and the release state, and
Have,
The control device is
Based on the state detection signal from each of the lock state detection means,
A training mode that controls the traveling drive means based on the detected handle state so as to support arm swing walking in which the user holding the left and right handles swings his / her arms back and forth.
An assist mode that controls the traveling drive means based on the detected state of the handle so as to support non-arm swing walking in which the user holding the left and right handles walks without swinging the arm.
Switch between two different operation modes,
Walking support device. The walking support device according to claim 1.
A teaching means for teaching the control state of the traveling drive means to the user is provided.
The control device is
When switching to the assist mode, the teaching means is used to output that the assist mode is in effect.
When switching to the training mode, the training mode is output by using the teaching means.
Walking support device. The walking support device according to claim 1 or 2.
Equipped with a warning means to warn the user
The control device is
When it is determined that the states of the left and right locked state detecting means are different from each other, the warning means is used to warn the user.
Walking support device. The walking support device according to any one of claims 1 to 3.
A drive wheel locking means for locking the rotation of the drive wheels is provided.
The control device is
When it is determined that the states of the left and right lock state detecting means are different from each other, the drive wheel locking means is used to lock the drive wheels.
Walking support device. The walking support device according to any one of claims 1 to 4.
An instruction device capable of inputting a training mode start instruction, which is an instruction from the user to start the training mode,
A pair of left and right lock instruction input means for inputting a lock instruction which is an instruction to put the lock state and a release instruction which is an instruction to put the unlock state, which are input instructions from the user,
Each lock instruction detecting means, which is provided separately from each of the lock state detecting means and outputs a detection signal corresponding to the lock instruction and the unlock instruction to the respective lock instruction input means,
Have,
The control device is
When switching the operation mode
When at least one of the input instructions detected by each of the lock instruction detecting means is the lock instruction, the training is performed even when the training mode start instruction is input from the instruction device. Switching prohibition control that prohibits switching to the mode and
When both of the input instructions detected by the lock instruction detecting means are the release instructions and the training mode start instruction is input from the instruction device, the training mode is entered. Switching permission control to execute switching and
Has a control mode management unit that executes
Walking support device. The walking support device according to claim 5.
Each of the lock mechanisms
Each actuator is controlled by the control device to switch between the locked state and the released state.
Walking support device. The walking support device according to claim 6.
As the operation mode, a standby mode different from the training mode and the assist mode is provided.
The control device is
In the control mode management unit
When at least one of the input instructions detected by each of the lock instruction detecting means is the lock instruction, the operation mode is set to the assist mode and each actuator is put into the locked state. Control and
When both of the input instructions detected by each of the lock instruction detecting means are the release instructions, the operation mode is kept on standby until the training mode start instruction is input from the instruction device. The mode is set to control each actuator to the locked state, and when the training mode start instruction is input from the instruction device, the operation mode is set to the training mode and each actuator is set to the training mode. Control to the release state,
Walking support device. The walking support device according to any one of claims 5 to 7.
The walking support device has a voice output means.
The control device is
When the switching prohibition control is performed by the control mode management unit, a voice prompting both of the lock instruction input means to input the release instruction is output via the voice output means.
Walking support device. The walking support device according to any one of claims 5 to 8.
The instruction device is
Has voice input means,
When a voice corresponding to the training mode start instruction is input via the voice input means, the training mode start instruction is accepted.
Walking support device.

Images