JP7222258B2 - walking support device - Google Patents

Description

The present invention relates to a walking assistance device.

In order for users who can walk independently to perform higher-quality, natural walking training, they should not lean on the walker, maintain a correct posture with their trunk straight, and walk while swinging their arms correctly in sync with their legs. it is very important to

For example, the wheelbarrow (corresponding to a walking support device) described in Patent Document 1 has a handle force that is a force that a user holds a handle bar (corresponding to a fixed handle) and pushes the wheelbarrow, and its direction. , an assist force is generated to assist movement of the handcart in the traveling direction. In addition, the handcart has a rotation angle sensor and an inclination angle sensor. Drive the wheels as you can.

A rollator (corresponding to a walking support device) described in Patent Document 2 includes a pair of left and right front wheels, rear wheels, main frames, side frames, sliders, handles, and connecting rods. A handle is fixed to the slider, and the slider is slidable back and forth along the side frame. Also, the slider is connected to the rear wheel via a connecting rod. As a result, when the user grips the left and right handles with the left and right hands and pushes the walker forward to move the vehicle forward, the left and right handles alternately move back and forth due to the rotational motion of the rear wheels. In other words, the walker moves with the user who walks by swinging his arm, and the power source of the walker is the force of the user swinging his arm back and forth.

JP 2017-12546 A JP 2009-106446 A

In order to support high-quality walking of the user by swinging the arms correctly in synchronization with the movement of the user's legs, the walking speed of the user who swings the arms and walks at his/her own pace, and the walking support device must match the speed at which .

The wheelbarrow described in Patent Literature 1 cannot support high-quality walking by correctly swinging the user's arms in synchronization with the movement of the user's legs.

The rollator described in Patent Literature 2 can assist the user in walking while swinging his or her arms. However, in addition to the fact that the swing width of the user's arm is fixed, there is no drive source for driving the wheels, and the user's arm swing drives (rotates) the wheels of the rollator. Therefore, the movement speed of the walker is determined by the arm swing speed, which is the speed at which the user swings his arm. Therefore, in order to adjust the travel speed of the walker, the user's arm swing speed must be adjusted. For this reason, the user has to forcibly adjust the walking speed and arm swing speed in order to match the user's own walking speed and the traveling speed of the rollator, so there is a possibility that the user cannot walk appropriately at his/her own pace. There is

The present invention has been invented in view of these points, and assists the walking of a high-quality user who swings his/her arms correctly in synchronism with the movement of the user's legs, and provides a natural ( An object of the present invention is to provide a walking support device that achieves a progressing speed corresponding to a comfortable arm swing state and walking speed.

In order to solve the above-mentioned problems, a first aspect of the present invention provides a frame, and a frame held by a user and extending in the front-rear direction of the frame with respect to the frame in accordance with the swing of the arm as the user walks. A pair of left and right handles that move in the front-rear direction, and the pair of left and right handles that guide each of the handles to a movable range that matches the swing of the arm as the user walks. a guide means; a plurality of wheels including at least one driving wheel provided on the frame; a driving means for driving for driving the driving wheels; a battery for operating the driving means for driving; and a control device that controls the walking support device that advances with the user when the user holds the handles with the left and right hands and walks while swinging the arms in the front and back direction, Ground speed detection means for detecting information related to the ground speed of each handle, which is the speed of each handle relative to the ground in the longitudinal direction of the frame, and the control device uses the ground speed detection means. a handle ground speed calculation means for calculating the handle ground speed based on the information detected by each of the handle ground speed calculation means; traveling speed adjusting means for controlling the traveling drive means to accelerate the walking assistance device in the traveling direction when at least one of the velocities is a negative speed.

Next, a second aspect of the present invention is the walking assistance device according to the first aspect, wherein the ground speed detecting means detects the traveling speed of the walking assistance device in the longitudinal direction of the frame with respect to the ground. The controller includes traveling speed detection means and hand state detection means for detecting the state of each of the hands, and the control device causes the hand ground speed calculation means to determine the speed of each hand. Based on the detection signal from the hand state detection means, each moving speed of each of the holding hands in the frame front-rear direction with respect to the walking support device is calculated, and the moving speed and the progressing speed of each of the holding hands are calculated. and calculating the ground speed of each handle for each handle based on and, by the advancing speed adjusting means, when the speed in the advancing direction of the walking support device is set to a positive speed, each of the above When at least one of the ground speed of the handle is a negative speed, a ground speed correction amount for accelerating the walking support device in the traveling direction is calculated, and a target obtained based on the traveling speed and the ground speed correction amount. It is a walking support device that controls the driving means for traveling so as to achieve a speed.

Next, a third invention of the present invention is the walking support device according to the second invention, wherein each of the holding hand state detection means includes the frame of each of the holding hands with respect to the walking support device. Each handle position detection means capable of detecting a position in the front-rear direction is included, and the control device detects each of the handle positions when the movement speed of each handle is calculated by the handle ground speed calculation means. Based on the detection signal from the position detection means, the front and rear positions of the handles, which are the positions of the handles in the front and rear direction of the frame with respect to the walking support device, are detected. When calculating the moving speed of each of the moving speeds based on the above, and calculating the ground speed of the handle by the handle ground speed calculating means, the speed in the traveling direction of the walking support device is set to a positive speed. , the moving speed in the same direction as the traveling direction is set to a positive speed, the moving speed in the opposite direction to the traveling direction is set to a negative speed, and each of the moving speeds is added to the advancing speed, It is a walking support device that calculates the ground speed of the handle of.

Next, a fourth invention of the present invention is the walking support device according to the third invention, wherein the frame has a virtual front-rear reference position set at a predetermined position in the front-rear direction of the frame, and The control device obtains a handle front-rear center position that is the center in the frame front-rear direction with respect to each of the handle front-rear positions, and determines the handle front-rear center position in the frame front-rear direction. A center position speed correction amount for adjusting the traveling speed of the walking support device so as to approach the virtual front-back reference position is calculated, and a target obtained based on the traveling speed, the ground speed correction amount, and the central position speed correction amount It is a walking support device that controls the driving means for traveling so as to achieve a speed.

Next, a fifth invention of the present invention is the walking support device according to any one of the second invention to the fourth invention, wherein the ground speed correction amount increases as the traveling speed increases. Therefore, the walking support device is set so that the ground speed correction amount is small.

Next, a sixth invention of the present invention is a walking support device according to any one of the second invention to the fifth invention, wherein the control device controls the movement of the ground by the traveling speed adjusting means. When calculating the speed correction amount, when the speed of the walking support device in the direction of travel is a positive speed and none of the hand ground speeds of the respective handles is a negative speed, the walking is performed. In the walking support device, the ground speed correction amount for decelerating the support device in the traveling direction is calculated, or the ground speed correction amount is set to zero.

According to the first invention, when the ground speed of the handle moving in the front-rear direction with respect to the frame is a negative speed (that is, when the walking support device traveling forward is viewed from the ground, , if the handle moving forward and backward is moving backward), accelerate in the direction of travel. As a result, it is possible to simulate a state in which the user walks while thrusting the pole, and it is possible to support the high-quality walking of the user who swings his arms correctly in synchronization with the movement of the user's legs. In addition, since the swing width of the arm swinging back and forth and the walking speed are not predetermined, the advancing speed can be set according to the user's natural (comfortable) arm swing state and walking speed.

According to the second invention, each of The ground speed of the handle can be calculated appropriately. Further, by controlling the traveling drive means so as to reach the target speed based on the traveling speed and the ground speed correction amount, the walking support device can be appropriately accelerated.

According to the third invention, the ground speed of each handle, which is the moving speed of each handle with respect to the ground, can be obtained appropriately and easily.

According to the fourth invention, in addition to the ground speed correction amount, as the correction amount for adjusting the traveling speed of the walking support device, by using the center position speed correction amount based on the front-back direction position of the handle, The traveling speed of the walking support device can more appropriately match the walking speed of the user.

According to the fifth invention, the ground speed correction amount is decreased as the traveling speed of the walking support device increases, thereby suppressing the walking support device from accelerating more than necessary with respect to the user's walking speed. be able to.

According to the sixth invention, when the walking support device should not be accelerated (when the ground speed of any handle is not a negative speed (positive speed or zero (stationary))), the walking support device is appropriately The device can be slowed down. Therefore, by repeating acceleration and deceleration of the walking support device according to arm swings of the user walking while swinging the arm, the walking speed of the user and the progressing speed of the walking support device can be appropriately matched. can be done.

It is a perspective view explaining the whole structure of a walking assistance device. FIG. 3 is a perspective view explaining the structure and function of a handle and rails; 3 is a cross-sectional view taken along line III-III in FIG. 2; FIG. FIG. 3 is a sectional view along IV-IV in FIG. 2; 3 is a block diagram for explaining inputs and outputs of a controller of the walking support device; FIG. 4 is a flowchart for explaining a processing procedure (overall processing) of the control device of the walking support device; FIG. 7 is a flowchart for explaining a processing procedure of input processing during the overall processing shown in FIG. 6; FIG. FIG. 8 is a flowchart for explaining a processing procedure of right (left) movement speed, movement direction, and amplitude calculation processing during the input processing shown in FIG. 7; FIG. FIG. 7 is a flowchart for explaining a processing procedure of handle control processing during the overall processing shown in FIG. 6; FIG. FIG. 7 is a flowchart for explaining a processing procedure of ground speed processing during the overall processing shown in FIG. 6; FIG. FIG. 7 is a flowchart for explaining a processing procedure of central position processing during the overall processing shown in FIG. 6; FIG. FIG. 7 is a flowchart for explaining a processing procedure of speed adjustment processing during the overall processing shown in FIG. 6; FIG. It is a top view of a walking support device, and is a figure explaining a handle front-back position, a handle front-back center position, a virtual front-back reference position, etc. FIG. FIG. 5 is a diagram for explaining an example of a longitudinal direction deviation/central position speed correction amount characteristic; FIG. 10 is a diagram illustrating an example of a user walking while holding a handle and swinging the arm back and forth, and the positions of the walking support device and the handle;

Embodiments for carrying out the present invention will be described below with reference to the drawings. In addition, when the X-axis, the Y-axis, and the Z-axis are described in the drawing, each axis is orthogonal to each other. 1, the Z-axis direction indicates the direction from the front wheel 60FR to the rear wheel 60RR, and the X-axis direction indicates the direction from left to right on the frame 50. As shown in FIG. That is, with respect to the walking support device 10, the X-axis direction is "right", the opposite direction to the X-axis direction is "left", the opposite direction to the Z-axis direction is "front", and the Z-axis direction is "back". and Also, the Y-axis direction is defined as "up", and the opposite direction to the Y-axis direction is defined as "down". Also, hereinafter, the front-rear direction of the frame is referred to as the “frame front-rear direction”.

● [Schematic overall configuration of walking support device 10 (Fig. 1)]
A schematic overall configuration of a walking support device 10 of the present invention will be described with reference to FIG. The walking support device 10 includes handles 20R and 20L, rails 30R and 30L, a control device 40, a frame 50, front wheels 60FR and 60FL, rear wheels 60RR and 60RL, and driving means 64R and 64L (for example, electric motor), a control panel 70, and a battery B.

As shown in FIG. 1, the frame 50 has a symmetrical shape with respect to the left-right direction. The walking support device 10 is operated.

The front wheels 60FR and 60FL (corresponding to wheels) are driven wheels (rotatable caster wheels) provided at the lower front end of the frame 50 . The rear wheels 60RR and 60RL (corresponding to wheels) are drive wheels provided at the lower and rear ends of the frame 50, and are driven by driving means 64R and 64L via belts 62, respectively. In the example shown in FIG. 1, a pair of left and right rear wheels, which are driving wheels, are driven independently by the driving means for traveling. Since the rear wheels 60RR and 60RL are provided at the rear end of the frame 50, the frame does not protrude behind the rear wheels 60RR and 60RL (there is no extension behind the rear wheels). The traveling drive means 64L, 64R are provided with advancing speed detecting means 64LE, 64RE such as encoders. Based on the detection signal, it is possible to detect the traveling speed of the walking support device 10 relative to the ground in the front-rear direction of the frame.

A rail 30R is provided on the right side of the frame 50, and a rail 30L is provided on the left side thereof. Each of the rails 30R and 30L is provided with handles 20R and 20L projecting upward. The handles 20R and 20L move in the longitudinal direction of the frame within respective movable ranges of the rails 30R and 30L in accordance with the swing of the arms accompanying walking of the user. A pair of left and right rails and handles are provided. The rails 30R and 30L are provided on the frame 50 and arranged on the left and right sides of the user (the user who is using the walking support device 10) so as to extend in the front-rear direction of the frame. A pair of left and right handles 20R and 20L are held by the user and move in the frame front-rear direction with respect to the frame 50 in accordance with the swing of the arm accompanying the user's walking. A pair of left and right rails 30R and 30L (corresponding to handle guide means) are provided with respective handles, and guide the respective handles within a movable range according to arm swings accompanying walking of the user.

As shown in FIG. 1, the control panel 70 is provided, for example, on the upper portion of the frame 50 at a position where the user can easily operate it. The control panel 70 has a main switch 72 , an assist amount adjustment volume 74 a , a load amount adjustment volume 74 b , a moving load control mode switch 76 and a monitor 78 . The main switch 72 is the main switch of the walking assistance device 10 , and when turned on, supplies power from the battery B to the control device 40 and the driving means 64 R and 64 L for running, thereby enabling the operation of the walking assistance device 10 .

The moving load control mode switching 76 is an assist mode for assisting the movement of the handles 20R, 20L with respect to the rails 30R, 30L by means of drive means for handles 32R, 32L (for example, electric motors, see FIG. 2), which will be described later. Switch the load mode to apply a load. For example, the movement load control mode switching 76 includes an "assist mode" that assists the movement of the handle, a "load mode" that adds a load to the movement of the handle, and both assist and load for the movement of the handle. It is possible to switch between three modes, "Normal mode" and "Normal mode". Further, the assist amount adjusting volume 74a is for adjusting the assist amount in the assist mode, and the load amount adjusting volume 74b is for adjusting the load amount in the load mode. A monitor 78 displays various states, such as the amount of charge in the battery B, settings of various modes, and operation states.

The 3-axis acceleration/angular velocity sensor 52 is provided on the frame 50, and measures acceleration with respect to each of the three axes of the X-axis, Y-axis, and Z-axis. The angular velocity of the rotated rotation is measured, and a detection signal based on the measurement result is output to the control device 40 . For example, the three-axis acceleration/angular velocity sensor 52 outputs detection signals corresponding to the tilt angles 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. 40. Further, for example, the three-axis acceleration/angular velocity sensor 52 detects acceleration applied to the vehicle body of the walking support device 10 (for example, impact on the vehicle body), and outputs a detection signal corresponding to the detected acceleration to the control device 40. . Further, for example, the three-axis acceleration/angular velocity sensor 52 detects the pitch angular velocity (angular velocity around the X-axis), yaw angular velocity (angular velocity around the Y-axis), and roll angular velocity (angular velocity around the Z-axis) of the vehicle body of the walking support device 10. and outputs a detection signal corresponding to the detected angular velocity to the control device 40 . Based on the detection signal from the three-axis acceleration/angular velocity sensor 52, the control device 40 determines the inclination angles of the walking support device 10 with respect to the X-axis, Y-axis, and Z-axis, the magnitude of acceleration (shock), the pitch angular velocity, Yaw angular velocity and roll angular velocity can be detected.

● [Detailed structure of rail 30R and handle 20R (Figures 2 to 4)]
Structures of the rail 30R and the handle 20R in the walking support device 10 will be described in detail with reference to FIGS. 2 to 4. FIG. Since the walking support device 10 has a symmetrical structure on the left and right sides of the frame 50 except for the control panel 70, the control device 40, and the battery B, the description of the left side will be omitted and the right side will be mainly described. FIG. 2 is a perspective view explaining the structure and function of the handle 20R and the rail 30R. 3 is a sectional view taken along line III-III in FIG. 2, and FIG. 4 is a sectional view taken along line IV-IV in FIG.

The rail 30R has a handle 20R, pulleys PB and PF, and a wire W, as shown in FIG. The rail 30R has an upwardly concave curved shape, and has a rail slit portion 38 that opens upward along the front-rear direction. Further, the rail 30R is provided with pulleys PB and PF at both ends in the front-rear direction. The wire W is hooked on the pulley PF arranged in front and the pulley PB arranged in the rear, and the respective rotations are interlocked.

The handle drive means 32R, the right handle position detection means 34R (for example, an encoder), and the handle movement restriction means 35R are provided coaxially with respect to the pulley PF. As shown in FIG. 4, a wire is fixed to the wire connection portion WA of the anchor portion 22B, and the wire is inserted through the wire hole WH without being fixed. A handle 20R is connected to the anchor portion 22B. As a result, the handle driving means 32R can assist the movement of the handle 20R or apply a load to the movement of the handle 20R by rotating the pulley PF and rotating the wire W between the pulleys.

The right handle position detection means 34R outputs to the control device 40 a detection signal including the amount and direction of rotation of the pulley PF accompanying the movement of the handle 20R relative to the rail 30R, that is, the amount and direction of movement of the handle 20R. The control device 40 can detect the position of the handle 20R on the rail 30R (position in the front-rear direction) based on the detection signal from the right handle position detection means 34R.

As shown in FIG. 3, the handle 20R has a handle shaft portion 21a, a shaft portion insertion hole 21b, a slider 22, a grip portion 26a, switch grip portions 26b and 26c, and a brake lever BKL. are doing. Further, the slider 22 has a handle holding portion 22A and an anchor portion 22B.

As shown in FIG. 3, one end of the biasing means 24 is connected to the handle shaft portion 21a, and the other end is connected to the bottom portion of the shaft portion fitting hole 21b. A collar portion 21c is provided in the circumferential direction at the end portion of the handle shaft portion 21a to which the biasing means 24 is connected. An inner flange portion 20c is provided on the inner wall surface of the opening of the shaft fitting hole 21b. Thereby, the grip portion 26a can slide up and down along the longitudinal direction of the handle shaft portion 21a without being separated from the handle shaft portion 21a. That is, the handle 20R has an extension/contraction mechanism that enables extension/contraction in the projecting direction.

A handle support shaft JK is provided on the side of the handle shaft portion 21a to which the biasing means 24 is not connected. The handle support shaft JK has a substantially spherical tip, and forms a ball joint with a concave portion provided in the handle holding portion 22A. As a result, the handle 20R can be tilted forward, backward, left and right within a range restricted by the opening with respect to the handle holding portion 22A (see FIGS. 3 and 4).

The right handle inclination detection means 33R is provided in the opening of the handle holding portion 22A and arranged corresponding to the handle support shaft JK from the front, back, left and right. The right handle inclination detection means 33R is pressure detection means (e.g., pressure sensor) for detecting pressure due to expansion and contraction of the spring provided, for example, between the side surface of the handle support shaft JK and the opening of the handle holding portion 22A. is. The right hand tilt detection means 33R outputs a detection signal to the control device 40 according to the pressure due to the expansion and contraction of the spring. The control device 40 can detect the inclination direction and inclination angle of the handle 20R with respect to the handle holding portion 22A based on the detection signal from the right handle inclination detection means 33R.

As shown in FIG. 3, the switch grip portion 26b is mounted on the front side of the handle 20R so as to create a predetermined gap between the grip portion 26a and the switch grip portion 26b by a grip biasing means 28 (for example, a spring). is provided in The grip detection means 25RF is a pressure detection means (for example, a pressure sensor), and outputs a detection signal corresponding to the gripping force on the front side of the handle 20R when the user grips the handle 20R. Further, when the user grips the handle 20R and moves the gripped handle 20R from the front to the rear, the grip detection means 25RF detects the force of gripping the front side of the handle 20R and the gripping force of the handle 20R. A detection signal corresponding to the tensile force that pushes the front side backward and pulls the handle 20R backward is output. The control device 40 can detect the user's gripping force and pulling force based on the detection signal from the gripping detection means 25RF.

As shown in FIG. 3, the switch grip portion 26c is positioned on the rear side of the handle 20R so as to create a predetermined gap between the grip portion 26a and the switch grip portion 26c by a grip biasing means 28 (for example, a spring). is provided in The grip detection means 25RB is a pressure detection means (for example, a pressure sensor), and outputs a detection signal corresponding to the gripping force on the rear side of the handle 20R when the user grips the handle 20R. Further, when the user grips the handle 20R and moves the gripped handle 20R from the rear to the front, the grip detection means 25RB detects the grip force on the rear side of the handle 20R and the gripping force of the handle 20R. A detection signal corresponding to the pushing force of pushing the rear side forward and pushing the handle 20R forward is output. The control device 40 can detect the user's gripping force and pushing force based on the detection signal from the gripping detection means 25RB.

One end of the brake lever BKL is connected to the lower front side of the grip portion 26a. A mechanism that locks the rotation of the front wheels 60FR and 60FL and the rear wheels 60RR and 60RL when the user grasps the brake lever BKL and pulls it toward the grip portion 26a, maintains the locked state, and releases the lock when the user pulls the brake lever BKL further. (not shown).

As shown in FIG. 2, the rail 30R is provided with handle movement restricting means 35R that permits and prohibits movement of the handle 20R with respect to the frame 50. As shown in FIG. For example, the handle movement restricting means 35R has a lock mechanism that locks the rotation of the handle driving means 32R (for example, an electric motor), and prohibits the movement of the handle by locking the rotation of the handle driving means 32R. do. Further, for example, the handle movement restricting means 35R permits the movement of the handle with respect to the rail (that is, with respect to the frame) by unlocking the rotation of the handle driving means 32R. Further, as this locking mechanism, for example, a powder brake may be used, or a DC current may be applied to the handle driving means 32R to lock it (in this case, the handle driving means may be the handle movement restricting means). becomes).

As shown in FIGS. 2 and 4, one wire W is inserted through the wire hole WH provided in the anchor portion 22B, and the other wire W is connected (fixed) to the wire connection portion WA. ing). Also, the handle 20R can move on the rail 30R by sliding the narrowed portion connecting the handle holding portion 22A and the anchor portion 22B in the rail slit portion 38. As shown in FIG.

One end of the signal cable 36 is connected to the anchor portion 22B, and the other end is connected to the control device 40. The signal cable 36 includes grip detection means 25RF and 25RB, right hand position detection means 34R, and right hand inclination detection means 33R. to the control device 40. The signal cable 36 may be, for example, a flexible cable such as a flexible cable.

The grip detection means 25RF and 25RB, the right hand position detection means 34R and the right hand inclination detection means 33R (and the grip detection means 25LF and 25LB, the left hand position detection means 34L and the left hand inclination detection means 33L) are , corresponds to the handle state detecting means. The right hand position detection means 34R and the left hand position detection means 34L also correspond to ground speed detection means.

● [Input/output of control device 40 (Fig. 5)]
FIG. 5 is a block diagram illustrating inputs and outputs of a control device 40 (for example, a control device having a CPU) of the walking support device 10. As shown in FIG. As shown in FIG. 5, the control device 40 (for example, CPU) receives input information (detection signal) from the hand state detection means 42, input information from the control panel 70, and information from the triaxial acceleration/angular velocity sensor 52. Based on the input information (detection signal), the handle drive means 32R, 32L, the handle movement restriction means 35R, 35L, and the travel drive means 64R, 64L are controlled. The hand state detection means 42 includes grip detection means 25RF, 25LF, 25RB, and 25LB, right hand inclination detection means 33R, left hand inclination detection means 33L, right hand position detection means 34R, and left hand. and a position detection means 34L. The storage means 44 is a means for storing information, and stores and reads out information according to a request from the control device 40 . Signals are input to the control device 40 from the main switch 72 of the control panel 70, the assist amount adjustment volume 74a, the load amount adjustment volume 74b, and the moving load control mode switch 76. Output.

Note that handle ground speed calculation means 40A, traveling speed adjustment means 40B, device ground speed calculation means 40C, handle movement speed calculation means 40D, final ground speed calculation means 40E, ground speed correction amount calculation means 40F, handle front and rear center The details of the position calculation means 40G, the central position speed correction amount calculation means 40H, and the final speed adjustment means 40I will be described later.

● [Processing procedure of the control device 40 (FIGS. 6 to 12)]
FIG. 6 shows the overall processing in the processing procedure of the control device 40. As shown in FIG. When the user turns on the main switch 72, the process shown in FIG. 6 is activated at predetermined time intervals (for example, several [ms] intervals). When the process shown in FIG. 6 is activated, control device 40 advances the process to step S010. An example in which the user walks forward with the walking support device will be described below.

In step S010, control device 40 executes SB100 (input processing) and advances the processing to step S030. Details of SB100 (input processing) will be described later.

In step S030, control device 40 executes SB300 (handle control process) and advances the process to step S040. The details of SB300 (holding hand control processing) will be described later.

In step S040, control device 40 executes SB400 (ground speed processing) and advances the processing to step S050. The details of SB400 (ground speed processing) will be described later.

In step S050, control device 40 executes SB500 (central position processing) and advances the process to step S060. The details of SB500 (central position processing) will be described later.

In step S060, control device 40 executes SB600 (speed adjustment process) and ends the process (returns). The details of SB600 (speed adjustment processing) will be described later.

● [SB100: Details of input processing (Fig. 7)]
Next, details of SB100 (input processing) will be described with reference to FIG. When executing SB100 in step S010 shown in FIG. 6, control device 40 advances the process to step SB010 shown in FIG.

In step SB010, the control device 40 stores the mode switching, assist amount, load amount, right front pressure, right rear pressure, right handle front/rear position, right tilt, right traveling speed, left front pressure, left rear After updating the pressure, the left hand grip position, the left tilt, the left travel speed, the vehicle body tilt, the pitch angular speed, the yaw angular speed, and the roll angular speed, the process proceeds to step SB020.

Specifically, based on the input information from the moving load control mode switching 76 (see FIG. 1), the control device 40 selects one of "assist mode", "load mode", and "normal mode" for mode switching. memorize Further, the control device 40 stores the assist adjustment amount obtained based on the input information from the assist amount adjustment volume 74a (see FIG. 1) in the assist amount, and stores it in the input information from the load amount adjustment volume 74b (see FIG. 1). The load adjustment amount obtained based on the above is stored in the load amount. Further, the control device 40 stores the pressure obtained based on the detection signal from the grip detecting means 25RF (see FIG. 3) of the right handle 20R (see FIG. 1) in the right front pressure, The pressure obtained based on the detection signal from the detection means 25RB (see FIG. 3) is stored in the right rear pressure. The control device 40 also stores the position of the handle 20R on the rail 30R, which is obtained based on the detection signal from the right handle position detection means 34R (see FIG. 2), in the right hand front and back position. In addition, the control device 40 converts the tilt information such as the tilt angle and the tilt direction of the right hand 20R, which is obtained based on the detection signal from the right hand tilt detection means 33R (see FIGS. 3 and 4), to the right tilt. Remember. Further, traveling speed detection means 64RE and 64LE such as encoders are provided for the traveling drive means 64R and 64L, respectively. For example, the control device 40 detects the number of revolutions of the (right) driving means 64R for driving based on the detection signal from the (right) advancing speed detecting means 64RE of the (right) driving means 64R for driving, and detects the rotation speed of the rear wheels 60RR. The speed of travel by the rear wheels 60RR is detected from the number of rotations of , and stored in the right travel speed.

Similarly, the control device 40 stores the left front pressure, the left rear pressure, the left hand grip front-back position, the left tilt, and the left travel speed. The control device 40 also 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 signals from the triaxial acceleration/angular velocity sensor 52 (see FIG. 1) in the vehicle body tilt. Further, the control device 40 stores the angular velocity about the X-axis of the walking support device 10 obtained based on the detection signal from the triaxial acceleration/angular velocity sensor 52 (see FIG. 1) in the pitch angular velocity, and stores the angular velocity about the Y-axis. The yaw angular velocity is stored, and the angular velocity around the Z-axis is stored as the roll angular velocity.

In step SB020, control device 40 executes SBA00 (right (left) movement speed, movement direction, amplitude calculation process) and advances the process to step SB030. The details of SBA00 (right (left) movement speed, movement direction, amplitude calculation processing) will be described later.

In step SB030, control device 40 obtains and stores the traveling speed of the walking support device in the front-rear direction of the frame relative to the ground based on the right traveling speed and left traveling speed stored in step SB010, and advances the process to step SB040. . For example, the control device 40 obtains the travel speed by using travel speed=(right travel speed+left travel speed)/2.

The control device 40 executing the process of step SB030 calculates the traveling speed of the walking support device 10 in the frame front-rear direction with respect to the ground based on the detection signal from the traveling speed detecting means. 5).

At step SB040, the control device 40 determines whether or not the handles 20R and 20L are both gripped (whether right grip force>predetermined grip force and left grip force>predetermined grip force), If both are gripped (Yes), the process proceeds to step SB050; otherwise (No), the process proceeds to step SB070D.

When the process proceeds to step SB050, the control device 40 determines whether or not the mode switching is the assist mode. If the mode is the assist mode (Yes), the process proceeds to step SB070A, otherwise (No). advances the process to step SB060.

When the process proceeds to step SB060, the control device 40 determines whether or not the mode switching is the load mode. If the mode is the load mode (Yes), the process proceeds to step SB070B, otherwise (No). advances the process to step SB070C.

When the process proceeds to step SB070A, control device 40 stores the assist mode in the operation mode and ends the process (returns).

When the process proceeds to step SB070B, control device 40 stores the load mode in the operation mode and ends the process (returns).

When the process proceeds to step SB070C, control device 40 stores normal mode as the operation mode and ends the process (returns).

When the process proceeds to step SB070D, control device 40 stores the standby mode in the operation mode and ends the process (returns).

● [SBA00: Details of right (left) movement speed, movement direction, and amplitude calculation processing (Fig. 8)]
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 SB020 shown in FIG. 7, control device 40 advances the process to step SBA10 shown in FIG.

At step SBA10, the control device 40 sets the right hand movement speed to "(Right hand front/rear position during current processing (Right hand front/rear position at present)-Right hand front/rear position at previous process (Previous right hand hand The velocity obtained by "longitudinal position))/time" is stored, and the process proceeds to step SBA15. The "time" in this case is the time interval between activating the processes in FIG. 6 (for example, 10 [ms] when activating at intervals of 10 [ms]). Also, if the direction of movement is forward, if the right hand front and back position is earlier than the previous right hand front and rear position, the right hand movement speed will be "positive" speed, and this time the right hand front and rear position will be the previous If the position is behind the right hand grip front-rear position, the right grip hand movement speed is a "negative" speed.

In step SBA15, the control device 40 determines that the right hand movement speed in the previous process (previous right hand movement speed)=positive (greater than 0) and the right hand movement speed in the current process (current right hand movement speed) moving speed)=negative (0 or less), and if satisfied (Yes), the process proceeds to step SBA25A; otherwise (No), the process proceeds to step SBA20.

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

When the process proceeds to step SBA20, the control device 40 determines that the right hand moving speed in the previous process (previous right hand moving speed) = negative (less than 0), and the right hand moving speed in the current process ( If satisfied (Yes), the process proceeds to step SBA25B. If not satisfied (No), the process proceeds to step SBB10.

When the process proceeds to step SBA25B, the control device 40 stores the current right handle front/rear position in the right rear end position, and proceeds the process to step SBA30.

When the process proceeds to step SBA30, the control device 40 stores the length obtained by right front end position−right rear end position (right front end position>right rear end position) in the right amplitude, and proceeds to step SBB10. proceed.

The processing of steps SBB10 to SBB30 is processing to obtain the left moving speed, left front end position, left rear end position, and left amplitude of the left handle 20L, and the right moving speed, right front end position, and right amplitude of the right handle 20R. Since steps SBA10 to SBA30 for obtaining the trailing edge position and the right amplitude are the same, the description is omitted.

The control device 40 executing the processes of steps SBA10 and SBB10, based on the detection signals from the respective hand state detection means (in this case, right hand position detection means 34R and left hand position detection means 34L) , a handle movement speed calculation means 40D (see FIG. 5) that calculates the movement speed of each handle in the frame front-rear direction (right hand movement speed and left hand movement speed) with respect to the walking support device 10. FIG.

● [SB300: Details of handle control processing (Fig. 9)]
Next, details of SB300 (handle control processing) will be described with reference to FIG. When executing SB300 in step S030 shown in FIG. 6, control device 40 advances the process to step SB310 shown in FIG.

At step SB310, the control device 40 determines whether or not the operation mode at the time of the previous processing is the standby mode and the operation mode at the time of the current processing is not the standby mode. otherwise (No), the process proceeds to step SB320A.

When the process proceeds to step SB315, the control device 40 controls the handle movement restricting means 35R and 35L (see FIG. 2) to "permit (unlock)" and proceeds to step SB320A (step SB345D). release the “prohibition (lock)”). The control device 40 "permits (unlocks)" the handle movement restricting means 35R and 35L (see FIG. 2), which were "prohibited (locked)" in step SB345D during the standby mode, when the standby mode is released. "do.

When the process proceeds to step SB320A, the control device 40 determines whether or not the operation mode is the assist mode. If the operation mode is the assist mode (Yes), the process proceeds to step SB345A, otherwise (No). advances the process to step SB320B.

When the process proceeds to step SB345A, the control device 40 performs assist according to the assist amount (forward direction) in each moving direction (right moving direction, left moving direction) of the handles 20R and 20L. 2), control the respective handle drive means ((right) handle drive means 32R, (left) handle drive means 32L (see FIG. 2)) to end the process (return).

When the process proceeds to step SB320B, the control device 40 determines whether or not the operation mode is the load mode. If the operation mode is the load mode (Yes), the process proceeds to step SB345B, otherwise (No). advances the process to step SB320C.

When the process proceeds to step SB345B, the control device 40 applies a load (reverse direction), control the respective handle drive means ((right) handle drive means 32R, (left) handle drive means 32L (see FIG. 2)) to end the process (return). .

When the process proceeds to step SB320C, control device 40 determines whether or not the operation mode is the normal mode. If the operation mode is normal mode (Yes), the process proceeds to step SB345C. advances the process to step SB345D.

When the process proceeds to step SB345C, the control device 40 causes the respective handle drive means ((right) handle drive means 32R, (left) handle drive means 32L (see FIG. 2)) to enter an idle state. (neither assistance nor load is applied), and the process is terminated (returns).

When the process proceeds to step SB345D, the control device 40 causes the respective handle drive means ((right) handle drive means 32R, (left) handle drive means 32L (see FIG. 2)) to idle. (no assist or load applied). Then, the control device 40 controls the respective handle movement limiting means ((right) handle movement limiting means 35R, (left) handle movement limiting means 35L (see FIG. 2)) to "prohibit (lock)". , terminate the process (return).

● [SB400: Details of ground speed processing (Fig. 10)]
Next, details of SB 400 (ground speed processing) will be described with reference to FIG. When executing SB400 in step S040 shown in FIG. 6, control device 40 advances the process to step SB410 shown in FIG.

At step SB410, the control device 40 obtains "advancing speed + right holding hand moving speed" and stores it as the right holding hand ground speed, and obtains "advancing speed + left holding hand moving speed" and stores it as the left holding hand ground speed. store, and the process proceeds to step SB420. Note that the "advancement speed" is the speed of the walking support device in the front-rear direction of the frame relative to the ground, and the "right handle moving speed" is the moving speed of the (right) handle 20R in the front-rear direction of the frame relative to the walking support device. , “right hand ground speed” is the moving speed of the (right) hand 20R relative to the ground in the front-rear direction of the frame. In addition, the "right hand movement speed" is set to a "positive" speed in the same direction as the "moving direction", and is set to a "negative" speed in the opposite direction to the "moving direction". In other words, if the traveling speed is a forward speed (if the traveling direction is forward), the forward right hand movement speed is "positive" and the backward right hand movement speed is "negative". . Also, the ground speed of the left hand is obtained in the same manner.

Control device 40, which is executing the process of step SB410, determines each handle ground speed (right hand It corresponds to the final ground speed calculation means 40E (see FIG. 5) that calculates the ground speed and left hand ground speed). As shown in FIG. 5, the handle ground speed calculation means 40A includes the device ground speed calculation means 40C, the handle movement speed calculation means 40D, and the final ground speed calculation means 40E. Therefore, based on the information detected by the ground speed detection means (in this case, the traveling speed detection means 64RE, 64LE, the right hand position detection means 34R, and the left hand position detection means 34L), the control device 40 It has a handle ground speed calculation means 40A (see FIG. 5) for calculating the handle ground speed (right handle ground speed, left handle ground speed).

In step SB420, control device 40 determines whether or not the ground speed of the right hand is negative (less than 0), and if negative (less than 0) (Yes), the process proceeds to step SB440; In the case (No), the process proceeds to step SB430.

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

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

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

Control device 40, which is executing the processes of steps SB440 and SB450A, determines that at least one of the handle ground speed of each handle is " If the speed is negative, it corresponds to the ground speed correction amount calculation means 40F (see FIG. 5) 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 (when both the ground speed of the right hand and the ground speed of the left hand are not negative), control device 40 sets the preset deceleration correction amount to the ground speed correction amount. Store and terminate the process (return). 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 negative value, 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. Further, when the ground speed correction amount is zero, the walking support device is coasting, but the traveling speed is decelerated by rolling resistance and the like.

● [SB500: Details of central position processing (Fig. 11)]
Next, details of SB 500 (central position processing) will be described with reference to FIG. When executing SB500 in step S050 shown in FIG. 6, control device 40 advances the process to step SB510 shown in FIG.

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

The control device 40 executing the processing of step SB510 causes the handle front-rear center position calculation means 40G (see FIG. 5) 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. 13 is a view of the walking support device 10 viewed from above, and (right) the handle anteroposterior position (PmR) of the handle 20R, (left) the handle anteroposterior position (PmL) of the handle 20L, and the virtual anteroposterior reference. It is a figure explaining a position (Ps), a handle front-back center position (Pmc), and a center position (Pc) of a movable range (rail slit part 38). For example, in the front-back direction of the frame, which is the front-back direction of the frame, the movable range L1 (rail slit portion 38) of the handles 20R and 20L extends from the front end position (Po) of the movable range L1 to the rear end position (Pr) of the movable range. Up to The center position (Pc) is the center position of the movable range L1 in the rail front-rear direction. A position a predetermined distance La ahead of the central position (Pc) of the movable range L1 is set as a virtual front-rear reference position (Ps), which is a predetermined position in the front-rear direction of the frame. In addition, the central position in the rail front-rear direction between the right handle front-back position (PmR) and the left handle front-back position (PmL) is the handle front-back center position (Pmc).

At step SB520, control device 40 obtains "handle front-rear central position-virtual front-rear reference position", stores it in the front-rear direction deviation, and advances the process to step SB530. Note that, as shown in FIG. 13, the front-rear direction deviation ΔL is the deviation between the handle front-rear center position (Pmc) and the imaginary front-rear reference position (Ps).

At step SB530, control device 40 obtains a central position/velocity correction amount corresponding to the longitudinal deviation, stores the obtained central position/velocity correction amount, and ends the process (returns). For example, the longitudinal deviation/central position/speed correction amount characteristic shown in FIG. , the center position speed correction amount is obtained and stored.

The control device 40 executing the processes of steps SB520 and SB530 adjusts the advancing speed of the walking support device 10 so that the handle front-back center position approaches the virtual front-back reference position in the frame front-back direction. , which corresponds to the center position speed correction amount calculation means 40H (see FIG. 5).

● [SB600: Details of speed adjustment processing (Fig. 12)]
Next, details of SB 600 (speed adjustment processing) will be described with reference to FIG. When executing SB600 in step S060 shown in FIG. 6, control device 40 advances the process to step SB610 shown in FIG.

At step SB610, control device 40 obtains (adds) "advancing speed + ground speed correction amount + center position speed correction amount" and stores them in the right target speed. "Central position speed correction amount" is obtained (each of them is added) and stored in the left target speed, and the process proceeds to step SB620.

At step SB620, the control device 40 controls the (right) traveling drive means 64R to achieve the right target speed, controls the (left) traveling drive means 64L to achieve the left target speed, and ends the process. (return).

The control device 40 executing the processing of steps SB610 and SB620 controls the traveling drive means so as to achieve 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 final speed adjusting means 40I (see FIG. 5). As shown in FIG. 5, the advancing speed adjusting means 40B includes the above-described ground speed correction amount calculating means 40F, handle longitudinal center position calculating means 40G, center position speed correction amount calculating means 40H, and final speed adjusting means 40I. I'm in. Therefore, when the speed of the walking support device in the direction of movement is positive and at least one of the hand ground speeds is negative, the control device 40 accelerates the walking support device in the direction of movement. It has advancing speed adjusting means 40B (see FIG. 5) for controlling the traveling driving means.

● [Example of the user's arm-swinging walking state and the moving state of the walking support device (Fig. 15)]
FIG. 15 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 front to back (the right arm swings from the back to the front). ) is shown.

(Left) When the handle 20L moves backward, (left) the moving speed of the handle 20L as seen from the ground (left) When the ground speed of the handle (left) becomes "negative", the ground speed correction amount is used to support walking. As the device 10 accelerates forward, the (left) handle 20L appears stationary when viewed from the ground, as indicated by the dashed line in FIG. That is, when viewed from the ground, the walking support device 10 advances while adjusting the traveling speed so that the (left) handle 20L moved backward appears stationary.

● [Effects of the application]
As described above, the walking support device 10 described in the present embodiment simulates the walking motion of swinging the arm while thrusting the stock by adjusting the traveling speed using the ground speed correction amount. can be done. Therefore, it is possible to assist walking while keeping the trunk straight and swinging the arms. Further, the walking support device 10 described in the present embodiment adjusts the traveling speed using the center position speed correction amount, so that the user is maintained in the vicinity of the virtual front-back reference position. Since 10 is advanced, it is possible to appropriately prevent the position of the walking support device from being displaced in the front-rear direction with respect to the user.

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 are possible without changing the gist of the present invention. .

In the present embodiment, an example in which the walking support device having a plurality of wheels is a four-wheeled vehicle and has two driving wheels has been described. The two wheels, the driving wheel and the rear wheel, may be caster wheels. That is, the walking support device should have at least one driving wheel.

In the description of the present embodiment, an example in which the rails 30R and 30L are concavely curved upward has been described, but the rails 30R and 30L may be linear. Further, the walking support device described in the present embodiment has a rail and a handle, and an example of a configuration in which the handle is moved in the front-rear direction along the rail has been described. However, in place of the rail, a handle is provided at the tip of a stock-like member that protrudes swingably from a rotating shaft provided on the frame, and the handle swings back and forth with respect to the frame. Anything that makes you do it is fine. In this case, the stock member corresponds to the handle guide means.

Further, the handle drive means 32R, 32L for moving the handles 20R, 20L in the front-rear direction with respect to the frame 50 are not limited to the configuration of the electric motor, pulley, and wire described in the present embodiment. , the handles 20R and 20L can be moved back and forth with respect to the frame 50 in various configurations. Further, the configuration, arrangement, etc. of the right hand position detection means 34R and the left hand position detection means 34L for detecting the positions of the respective handles 20R, 20L are limited to those shown in the present embodiment. can be of various configurations and arrangements. Further, the configuration and arrangement of the right hand tilt detection means 33R and the left hand tilt detection means 33L for detecting the tilt direction and the tilt angle of the respective handles 20R and 20L are the same as those shown in the present embodiment. The arrangement is not limited, and various configurations and arrangements are possible. Further, the configuration, arrangement, etc. of the grip detection means 25RF, 25LF, 25RB, 25LB for detecting the force applied to the handles 20R, 20L are not limited to the configuration, arrangement, etc. shown in the present embodiment. , can be of various configurations and arrangements. In addition, although an example (see FIGS. 3 and 4) in which various biasing means (such as springs) are provided on the respective handles 20R and 20L has been described, the present invention is not limited to springs and the like, and various types of elastic means can be used. You may make it apply a member.

In the description of the present embodiment, an example in which the traveling speed is adjusted using the ground speed correction amount and the center position speed correction amount has been explained. You may make it adjust. Also, in the description of the present embodiment, an example in which the ground speed correction amount is decreased as the traveling speed increases has been described, but the present invention is not limited to this. Greater than (≧), less than (≦), greater than (>), less than (<), etc. may or may not include an equal sign. Also, 0 (zero) may be included in "positive" or "negative".

In the description of the present embodiment, as ground speed detection means for detecting information related to the ground speed of each handle, which is the speed of each handle in the front-rear direction of the frame with respect to the ground, traveling speed detection means 64RE and 64LE, An example using the right hand position detection means 34R and the left hand position detection means 34L has been described, but the ground speed detection means is not limited to these. For example, each handle may be provided with a speed sensor or the like that can directly detect the ground speed. An image may be captured and image analysis may be performed to determine the ground speed of each handle.

10 walking support device 20R, 20L handle 21a handle shaft 21b shaft insertion hole 22 slider 22A handle holding portion 22B anchor portion 24 biasing means 25RF, 25LF, 25RB, 25LB grip detection means (handle state detection means)
26a grip portion 26b, 26c switch grip portion 28 grip biasing means 30R, 30L rail (handle guide means)
32R, 32L drive means for handle (electric motor)
33R right hand tilt detection means (hand state detection means)
33L left hand tilt detection means (hand state detection means)
34R right hand position detection means (hand state detection means, ground speed detection means)
34L left hand position detection means (hand state detection means, ground speed detection means)
35R, 35L handle movement limiting means 36 signal cable 38 rail slit portion 40 control device 40A handle ground speed calculation means 40B traveling speed adjustment means 40C device ground speed calculation means 40D handle movement speed calculation means 40E final ground speed calculation means 40F Ground speed correction amount calculation means 40G Handle front and rear center position calculation means 40H Center position speed correction amount calculation means 40I Final speed adjustment means 42 Handle state detection means 44 Storage means 50 Frame 52 3-axis acceleration/angular velocity sensor 60FR, 60FL Front wheel 60RR , 60RL rear wheel (driving wheel)
62 belts 64R, 64L driving means for traveling (electric motor)
64RE, 64LE advance speed detection means (ground speed detection means)
70 Control panel 72 Main switch 74a Assist amount adjustment volume 74b Load amount adjustment volume 76 Movement load control mode switching 78 Monitor B Battery BKL Brake lever JK Handle support shaft PB, PF Pulley Pmc Handle front/rear center position PmL, PmR Handle front/rear Position Ps Virtual front-back reference position W Wire

Claims (6)

a frame;
a pair of left and right handles that are held by a user and move in the front-rear direction of the frame, which is the front-rear direction of the frame, with respect to the frame according to the swing of the user's arms as the user walks;
a pair of left and right handle guide means provided with the respective handles and guiding the respective handles to a movable range in accordance with the swing of the arm as the user walks;
a plurality of wheels including at least one drive wheel mounted on the frame;
a driving means for driving the driving wheels;
a battery that operates the driving means for traveling;
a control device that controls the driving means for traveling;
a walking support device that advances with the user when the user walks while swinging their arms in the front-rear direction while holding the handles with their left and right hands,
ground speed detection means for detecting information related to each handle ground speed, which is the speed of each handle relative to the ground in the longitudinal direction of the frame;
The control device is
a handle ground speed calculation means for calculating each of the handle ground speeds based on the information detected using the ground speed detection means;
When the speed in the traveling direction of the walking support device is a positive speed and at least one of the ground speeds of the respective handles is a negative speed , the handle moved backward with respect to the walking support device. traveling speed adjusting means for controlling the traveling drive means to accelerate the walking support device in the traveling direction so that the hand appears stationary when viewed from the ground ;
having
Walking support device. The walking support device according to claim 1,
The ground speed detection means is
progressing speed detection means for detecting a progressing speed of the walking support device in the longitudinal direction of the frame with respect to the ground;
each hand state detection means for detecting the state of each hand;
and
The control device is
In the handle ground speed calculation means,
calculating each moving speed of each of the holding hands relative to the walking support device in the front-rear direction of the frame based on detection signals from the holding hand state detection means;
calculating the ground speed of each of the handles for each of the handles based on the moving speed and the advancing speed of each of the handles;
With the advancing speed adjusting means,
When the speed of the walking support device in the traveling direction is a positive speed and at least one of the ground speeds of the respective handles is a negative speed , the moving support device is moved backward with respect to the walking support device. A ground speed correction amount for accelerating the walking support device in the direction of travel is calculated so that the holding hand appears stationary when viewed from the ground, and the ground speed correction amount is calculated based on the travel speed and the ground speed correction amount. controlling the driving means for traveling so as to achieve a target speed;
Walking support device. The walking support device according to claim 2,
Each of the holding hand state detecting means includes a holding hand position detecting means capable of detecting a position of each of the holding hands in the frame front-rear direction with respect to the walking support device,
The control device is
When calculating each of the movement speeds by the handle ground speed calculation means,
Detecting each handle front-back position, which is the position of each handle in the frame front-back direction with respect to the walking support device, based on detection signals from each of the handle position detection means;
calculating each of the movement speeds based on the detected front and rear positions of the handles;
When calculating each of the handle ground speeds by the handle ground speed calculation means,
setting the speed in the traveling direction of the walking support device to a positive speed;
setting the moving speed in the same direction as the traveling direction to a positive speed, and setting the moving speed in the opposite direction to the traveling direction to a negative speed;
adding each of the moving speeds to the traveling speed to calculate each of the handle ground speeds;
Walking support device. The walking support device according to claim 3,
A virtual front-rear reference position is set in the frame at a predetermined position in the front-rear direction of the frame,
The control device is
With the advancing speed adjusting means,
The walking support device obtains a handle front-rear central position that is the center in the frame front-rear direction with respect to each of the handle front-rear positions, and moves the handle front-rear central position closer to the virtual front-rear reference position in the frame front-rear direction. calculating a central position speed correction amount for adjusting the advancing speed of the traveling drive means so as to achieve a target speed obtained based on the advancing speed, the ground speed correction amount, and the central position speed correction amount. Control,
Walking support device. The walking support device according to any one of claims 2 to 4,
The ground speed correction amount is set so that the ground speed correction amount decreases as the traveling speed increases.
Walking support device. The walking support device according to any one of claims 2 to 5,
The control device is
When calculating the ground speed correction amount by the advancing speed adjusting means,
When the speed in the direction of movement of the walking support device is a positive speed, and if none of the hand ground speeds of the respective handles is a negative speed , the walking support device moves backward with respect to the walking support device. calculating the ground speed correction amount for decelerating the walking support device in the traveling direction so that the moved handle appears stationary when viewed from the ground; or setting the ground speed correction amount to zero. do,
Walking support device.

Images