KR102778486B1 - Rollator providing smart walking assistance based on walking data of users and smart driving method of the rollator - Google Patents

Abstract

One embodiment may provide a smart driving method of a walking vehicle, including a step of collecting three-dimensional space data about a user who is walking using a sensor included in the walking vehicle, a step of analyzing, by the processor, motion information of the user extracted based on the three-dimensional space data about the user to generate real-time walking data of the user, and a step of comparing, by the processor, the real-time walking data with reference walking data matched to the body data of the user extracted through the three-dimensional space data, and controlling driving of the walking vehicle such that a difference between the real-time walking data and the reference walking data is less than or equal to a predetermined value.

Description

Rollator providing smart walking assistance based on walking data of users and smart driving method of the rollator}

The present invention relates to a walking vehicle and a smart driving method of the walking vehicle that provides smart walking assistance based on a user's walking data.

The continuous increase in the elderly population requires the distribution of elderly-friendly products, and this demand increases the need for development and evaluation of elderly-friendly products in terms of human engineering and design. Because elderly-friendly products have not yet attracted the attention of many companies due to lack of marketability, a wide range of product development and research has not been provided. This has resulted in the elderly being forced to make insufficient choices and use inappropriate products.

The results of the analysis of product safety accidents show that the accident rate for users over 60 is much higher than for users under 60. Looking at the specific analysis results, the location was home at 57.2%, followed by public administration and service areas at 14.7%, and roads at 9.8%. In addition, by accident type, falls, trips, and slips were at 55.3%, collisions and impacts at 7.5%, cuts or tears by objects at 4.5%, and being pressed or caught at 4.0%. In addition, by accident location, the head and face were at 26.4%, the legs and feet at 24%, the arms and hands at 18.1%, and the neck, stomach, back, and waist at 14.7% (Elderly Safety Status, Consumer Times, 4-5, October 2007).

Especially, as can be seen from the types of accidents related to the elderly, fall-related accidents account for more than half. The most representative senior-friendly product that can prevent falls is the rollator. Recently, various products with various functions added to the rollator and improved convenience and durability have been introduced, and research and development are continuously being conducted on them, such as the rollator-trolley having an adjustable handle position according to use of Korean Patent Publication No. 2017-0134394, the walking state estimation method and device for a walking aid of Korean Patent Registration No. 1908176, the Stroller rollator of US Patent Registration No. 9974708, and the Foldable rollator of US Patent Registration No. 9839571.

Meanwhile, as people's interest in healthcare increases and remote medical service technology develops, the demand for non-face-to-face rehabilitation treatment is increasing. Accordingly, research on healthcare products that enable real-time non-face-to-face rehabilitation treatment based on patient data needs to be conducted more actively.

Korean Patent Publication No. 2017-0134394 Korean Patent Publication No. 1908176 U.S. Patent Publication No. 9974708 U.S. Patent Publication No. 9839571

The present invention can provide a walking vehicle capable of smart walking assistance and a smart driving method of the walking vehicle.

In addition, the present invention can provide a walking vehicle with improved stability and convenience by controlling the driving speed of the walking vehicle to a walking speed suitable for the user's walking level based on the user's walking data.

In addition, the present invention can provide a walking car and a smart driving method that enable non-face-to-face rehabilitation treatment by utilizing the user's walking data.

In addition, the present invention can provide a walking vehicle and a smart driving method capable of preventing safety accidents by controlling the walking vehicle to avoid obstacles using an obstacle detection sensor.

One embodiment may provide a smart driving method of a walking vehicle controlled by a processor that generates user's walking data, the method including: collecting three-dimensional space data about a user who is walking using a sensor included in the walking vehicle; analyzing motion information of the user extracted by the processor based on the three-dimensional space data about the user to generate real-time walking data of the user; and comparing the real-time walking data with reference walking data matched to the user's body data extracted by the processor through the three-dimensional space data, and controlling driving of the walking vehicle such that a difference between the real-time walking data and the reference walking data becomes less than or equal to a predetermined value.

In another aspect, in the step of controlling the driving of the walking vehicle, the processor may compare the first real-time walking data with the first reference walking data, and adjust the control parameters of the walking vehicle so that the difference between the first real-time walking data and the first reference walking data becomes less than or equal to a predetermined value.

In another aspect, in the step of controlling the driving of the walking vehicle, the processor controls the driving of the walking vehicle so that after the difference between the first real-time walking data and the first reference walking data becomes equal to or less than a predetermined value, the processor compares the first real-time walking data with second real-time walking data that is different from the second reference walking data, and adjusts the control parameters of the walking vehicle so that the difference between the second real-time walking data and the second reference walking data becomes equal to or less than a predetermined value.

In another aspect, in the step of controlling the driving of the walking vehicle, the processor may compare the first real-time walking data with the first reference walking data, and adjust the control parameters of the walking vehicle so that a difference between the first real-time walking data and the first reference walking data becomes less than or equal to a predetermined value, and at the same time, compare the second real-time walking data that is different from the first real-time walking data with the second reference walking data, and adjust the control parameters of the walking vehicle so that a difference between the second real-time walking data and the second reference walking data becomes less than or equal to a predetermined value.

In another aspect, in the step of generating real-time walking data of the user, the processor may model a three-dimensional space including the shape of the user based on the three-dimensional space data of the user, extract motion information of the user in the three-dimensional space, and analyze the motion information to generate real-time walking data of the user.

In another aspect, the smart driving method of the walking vehicle may further include a step of the processor transmitting real-time walking data of the user to another external user terminal through a network, and a step of receiving analysis data related to the real-time walking data from the other user terminal through the network.

One embodiment may provide a smart walking assistance capable walking vehicle, including a controller including a main frame, a vertical frame provided on the main frame, a support provided on the vertical frame to support a part of a user's body, a wheel frame provided on the main frame and connecting a plurality of wheels, a power supply unit providing rotational power for the wheels, a spatial data collection sensor for sensing three-dimensional spatial data of a user located in an area facing the vertical frame, and a memory storing one or more programs including commands, and a processor for executing the program to generate real-time walking data of the user based on the three-dimensional spatial data, compare the same with reference walking data matched to the body data of the user, and control a predetermined control parameter such that a difference between the real-time walking data and the reference walking data becomes less than or equal to a predetermined value.

In another aspect, the processor can compare the first real-time gait data with the first reference gait data, and adjust the control parameters of the walking vehicle so that the difference between the first real-time gait data and the first reference gait data becomes less than or equal to a predetermined value.

In another aspect, the processor may control the driving of the walking vehicle so that a difference between the first real-time walking data and the first reference walking data becomes less than or equal to a predetermined value, and compare the first real-time walking data with second real-time walking data that is different from the first real-time walking data and the second reference walking data, and adjust a control parameter of the walking vehicle so that a difference between the second real-time walking data and the second reference walking data becomes less than or equal to the predetermined value.

In another aspect, the processor may compare first real-time gait data with first reference gait data, and adjust a control parameter of the walking vehicle so that a difference between the first real-time gait data and the first reference gait data becomes less than or equal to a predetermined value, and at the same time, compare second real-time gait data that is different from the first real-time gait data with second reference gait data, and adjust a control parameter of the walking vehicle so that a difference between the second real-time gait data and the second reference gait data becomes less than or equal to a predetermined value.

In another aspect, the three-dimensional spatial data sensed by the spatial data collection sensor may include image data and depth data about the user.

In another aspect, the processor may model a three-dimensional space including a shape of the user based on the image data and the depth data of the user using an artificial neural network, detect at least one key point for a part of the shape of the user, extract motion information of the user in the three-dimensional space based on the at least one key point, and analyze the motion information of the user to generate real-time walking data of the user.

In another aspect, the processor can transmit real-time walking data of the user to another external user terminal through a network, and receive analysis data related to the real-time walking data from the other user terminal through the network.

In another aspect, the spatial data collection sensor may include a lidar sensor and an image sensor.

In another aspect, the walking vehicle may further include an obstacle detection sensor for detecting an obstacle placed in front of the walking vehicle capable of smart walking assistance.

In another aspect, the walking vehicle may further include a direction control unit that controls the rotation angle of at least some of the plurality of wheels.

In another aspect, the processor can control the rotation angle of at least some of the plurality of wheels by operating the direction control unit according to an obstacle detection signal received from the obstacle detection sensor.

In another aspect, the walking vehicle may further include a display device that displays the real-time walking data.

The embodiment can provide a walking vehicle capable of assisting walking through autonomous driving of the walking vehicle and a method for providing smart walking assistance.

In addition, the present invention provides a walking vehicle with improved stability and convenience by controlling the driving speed of the walking vehicle to a walking speed suitable for the user's walking level based on the user's walking data generated using an artificial neural network (ANN) based on the user's three-dimensional spatial data (image data, depth data) sensed using a spatial data collection sensor.

In addition, it is possible to provide a smart walking car and a smart driving method of the walking car that can analyze the patient's walking data and enable non-face-to-face rehabilitation treatment more quickly and accurately by allowing the doctor and the patient to communicate in real time based on the analysis results of the patient's walking data.

In addition, a smart walking car and a smart driving method of the walking car can be provided that can increase the effectiveness of a patient's rehabilitation treatment by controlling the operation of the walking car according to the patient's walking data generated in real time.

In addition, the present invention can provide a walking vehicle and a smart driving method capable of preventing safety accidents by detecting obstacles on a walking path using obstacle detection sensors such as ultrasonic sensors and controlling the walking vehicle to avoid the obstacles.

FIG. 1 is a schematic diagram illustrating an exemplary configuration of a smart walking assistance service providing system according to one embodiment.
FIG. 2 is a perspective view of a walking vehicle capable of smart walking assistance according to one embodiment.
Figure 3 is a block diagram of the controller.
Figure 4 is a flowchart of a smart driving method of a pedestrian vehicle according to one embodiment.
Fig. 5 is a flowchart of a smart driving method of a pedestrian vehicle according to another embodiment.
Figure 6 is a flowchart of a smart driving method of a pedestrian vehicle according to another embodiment.
Figure 7 is for explaining the processing order of multiple real-time gait data according to one embodiment.
Figure 8 is intended to explain how the inclination of the support part changes with respect to the second vertical frame.
Figure 9 shows a three-dimensional space modeled by the processor.
Figure 10 is a schematic diagram illustrating a configuration in which gait data is displayed on a display device.
Figure 11 is intended to explain how a pedestrian senses obstacles according to smart driving.
Figure 12 is for explaining how a pedestrian vehicle senses an uphill road according to smart driving.

The present invention can be modified in various ways and has various embodiments, and thus specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and the methods for achieving them will become clear with reference to the embodiments described in detail below together with the drawings. However, the present invention is not limited to the embodiments disclosed below, but can be implemented in various forms. In the following embodiments, the terms first, second, etc. are not used in a limiting sense, but are used for the purpose of distinguishing one component from another component. In addition, the singular expression includes the plural expression unless the context clearly indicates otherwise. In addition, the terms include or have mean that the features or components described in the specification are present, and do not preclude the possibility that one or more other features or components may be added. In addition, the sizes of the components in the drawings may be exaggerated or reduced for the convenience of explanation. For example, the sizes and thicknesses of each component shown in the drawings are arbitrarily shown for the convenience of explanation, and therefore the present invention is not necessarily limited to what is shown.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same drawing reference numerals and redundant descriptions thereof will be omitted.

- Smart walking assistance service provision system

FIG. 1 briefly illustrates an exemplary configuration of a smart walking assistance service providing system (1) according to one embodiment.

Referring to FIG. 1, a smart walking assistance service providing system (1) according to one embodiment may include a central server (10) that manages a smart walking assistance process, a plurality of user terminals (20, 30), and a walking vehicle (40) capable of smart walking assistance. The central server (10), the plurality of user terminals (20, 30), and the walking vehicle (40) may communicate with each other through a network.

In detail, the network refers to a connection structure that enables information exchange between each node, such as a central server (10), multiple user terminals (20, 30), and a walking vehicle (40) capable of smart publicity assistance, and examples of such networks include, but are not limited to, a 3GPP (3rd Generation Partnership Project) network, an LTE (Long Term Evolution) network, a WIMAX (World Interoperability for Microwave Access) network, the Internet, a LAN (Local Area Network), a Wireless LAN (Wireless Local Area Network), a WAN (Wide Area Network), a PAN (Personal Area Network), a Bluetooth network, a satellite broadcasting network, an analog broadcasting network, a DMB (Digital Multimedia Broadcasting) network, etc.

The central server (10) can process and store the user's three-dimensional space data collected by the walking vehicle (40). However, it is not limited thereto, and the walking vehicle (40) can collect the user's three-dimensional space data and directly process it to generate real-time walking data related to the user's walking.

Control data of the walking vehicle (40) based on the user's three-dimensional space data and real-time walking data may be stored in the central server (10) and/or the walking vehicle (40). For example, control data of the walking vehicle (40), such as the driving speed appropriate for the user's walking level calculated based on the real-time walking data, may be stored in the central server (10) or stored in the memory included in the walking vehicle (40).

The real-time gait data of the user generated by the walker (40) can be transmitted to a plurality of user terminals (20, 30) through a network. The plurality of user terminals (20, 30) can include a first user terminal (20) and a second user terminal (30). For example, the first user terminal (20) can be used by a guardian of the user of the walker (40). In addition, the second user terminal (30) can be used by the user's attending physician. In this case, the user's guardian or attending physician can receive the user's real-time gait data from the walker (40) through the first and second user terminals (20, 30). The guardian and attending physician can receive real-time gait data related to the user's walking habits and walking level in real time. The attending physician can create a rehabilitation treatment program, etc. based on the user's real-time gait data received remotely, and provide the same to the user remotely, thereby enabling non-face-to-face rehabilitation treatment.

The plurality of user terminals (20, 30) may include various terminals, such as a smart phone equipped with a communication function, a portable terminal, a mobile terminal, a personal digital assistant (PDA), a portable multimedia player (PMP) terminal, a telematics terminal, a navigation terminal, a personal computer, a notebook computer, a slate PC, a tablet PC, an ultrabook, a wearable device (e.g., a smartwatch, a smart glass, an HMD (Head Mounted Display), etc.), a Wibro terminal, etc.

- A walking car with smart walking assistance

FIG. 2 is a perspective view of a walking vehicle (40) capable of smart walking assistance according to one embodiment.

Referring to FIG. 2, a walking vehicle (40) capable of smart walking assistance according to one embodiment may include a main frame (110), a vertical frame (120), a support part (130), a handle part (140), a wheel frame (150), a wheel (160), a direction control part (170), a display device (190), and a sensor (200).

The main frame (110) has a bar-type shape and is positioned close to the ground and can fix and support the vertical frame (120) and the wheel frame (150).

The vertical frame (120) has a cylindrical shape and is provided in the upper central area of the main frame (110), is positioned vertically from the main frame (110), and can determine the height of the walking vehicle (40).

The vertical frame (120) may include a first vertical frame (121) connected to the main frame (110) and a second vertical frame (122) positioned so as to be at least partially surrounded by the first vertical frame (121). The second vertical frame (122) may be adjusted so that the overall height of the walking vehicle (40) is adjusted by adjusting the distance from the main frame (110) on the first vertical frame (121). A gas spring may be built into the interior of the vertical frame (120) so as to adjust the height of the second vertical frame (122). However, the height adjustment method of the vertical frame (120) is not limited to a gas spring structure.

A support member (130) may be provided on the upper side of the vertical frame (120). The support member (130) is connected to the upper end of the second vertical frame (122), so that the distance between the support member (130) and the ground can be adjusted according to the height adjustment of the vertical frame (120).

The support member (130) may have a flat shape on which a user can rest his or her arm. It is not limited thereto, and for example, the support member (130) may have a box-type shape positioned parallel to the ground.

In addition, the support member (130) may be driven to be placed in an inclined shape centered on the second vertical frame (122). For example, when the right shoulder connected to the user's right arm placed on the support member (130) is positioned at a lower point than the left shoulder connected to the left arm, the support member (130) may be driven to be placed in an inclined shape centered on the second vertical frame (122) so that the right area of the support member (130) is positioned at a higher point than the left area.

The handle portion (140) may include a first handle bar (141) and a second handle bar (142) that extend forward from each of the front areas of the support portion (130) to a predetermined distance and have a curved shape extending upward from the support portion (130). A cushion portion made of an elastic material may be provided in at least a portion of each of the first handle bar (141) and the second handle bar (142).

The wheel frame (150) may be positioned close to the ground and connected to the main frame (110). The wheel frame (150) may include a first wheel frame (151) and a second wheel frame (152). Each of the first wheel frame (151) and the second wheel frame (152) may have a U-shape. For example, the first wheel frame (151) may have a U-shape that surrounds the front area of the main frame (110) and extends away from each of the two sides of the rear area of the main frame (110). In addition, the second wheel frame (152) may have a U-shape that surrounds the rear area of the main frame (110) and extends away from each of the two sides of the front area of the main frame (110). The first wheel frame (151) and the second wheel frame (152) may be arranged to intersect each other on both sides of the main frame (110). The front and rear of the main frame (110) can be surrounded by the first wheel frame (151) and the second wheel frame (152), so that the first wheel frame (151) and the second wheel frame (152) can be more firmly fixed and supported to the main frame (110).

A wheel (160) can be installed on the wheel frame (150).

A first wheel (161) and a second wheel (162) may be installed at each end of a portion formed to extend away from each side of the rear area of the main frame (110) of the first wheel frame (151). In addition, a third wheel (163) and a fourth wheel (164) may be installed at each end of a portion formed to extend away from each side of the front area of the main frame (110) of the second wheel frame (152). An elastic tire may be installed on the wheel (160).

A direction control unit (170) may be installed on one side of the second wheel frame (152). For example, a first direction control unit (171) and a second direction control unit (172) may be formed at each end of a portion formed to extend away from each side of the front area of the main frame (110) of the second wheel frame (152).

The direction control unit (170) can change the moving direction of the walking vehicle (40) by rotating the third and fourth wheels (163, 164) at a predetermined angle based on the reception of a direction control command signal.

A power supply unit (180) may be installed on one side of the first wheel frame (151). For example, a first power supply unit (181) and a second power supply unit (182) may be formed at each end of a portion formed to extend away from each side of the rear area of the main frame (110) of the first wheel frame (151). In this case, each of the first power supply unit (181) and the second power supply unit (182) may be provided inside each end of a portion formed to extend away from each side of the rear area of the main frame (110) of the first wheel frame (151).

The power supply unit (180) can control the movement and movement speed of the walking vehicle (40) by providing rotational power to the first and second wheels (161, 162) based on a driving command signal.

The display device (190) may be provided on the front area of the support (130). For example, the display device (190) may be formed to extend upwardly and incline from the front area of the support (130).

The display device (190) can display the user's real-time walking data generated by the processor of the controller (230) of FIG. 3 described below and provide it visually to the user. The user can intuitively check his/her real-time walking data through the display device (190). In addition, the display device (190) can be implemented to include a touch screen, and the user can input user input to the walking vehicle (40) through the touch screen.

The display device (190) may include various types of devices such as an organic light emitting diode (OLED) display device and a liquid crystal display (LCD).

The sensor (200) may include a three-dimensional space data collection sensor (210) that senses three-dimensional space data about a user located in an area facing the vertical frame (120) and an obstacle detection sensor (220) that detects an obstacle placed in front of the walking vehicle (40).

The 3D space data collection sensor (210) may be provided, for example, at the lower portion of the support member (130). However, it is not limited thereto, and the space data collection sensor (210) may be provided at the rear area of the vertical frame (120) or may be provided at the second wheel frame (152).

The 3D spatial data sensed by the 3D spatial data collection sensor (210) may include image data and depth data. The 3D spatial data collection sensor (210) may include a distance sensor and an image sensor.

The distance sensor included in the 3D space data collection sensor (210) outputs inspection waves of various waveforms, such as ultrasonic, infrared, and laser, and detects the inspection waves reflected by the sensing target, thereby obtaining distance information on the distance and direction from the observation point to the sensing target. In one example, the distance sensor may include at least one of a ToF sensor (Time of Flight Sensor), an ultrasonic sensor, a structured light sensor, an infrared sensor, and a LiDAR sensor.

The image sensor included in the three-dimensional space data collection sensor (210) can acquire image information of the sensing target by detecting an optical signal output from a light source and reflected by the sensing target. In the present specification, the image sensor may be referred to as a color camera. In one example, the image sensor may include a light source, a pixel array, and a light detection circuit. The light source may include a plurality of light-emitting elements (e.g., a VCSEL (Vertical Cavity Surface Emitting Laser), LED, etc.) that output an optical signal of a specific wavelength band. The pixel array includes a plurality of pixels, and each pixel may include a plurality of optical detection elements (e.g., a photodiode, etc.) and a color filter (e.g., an RGB filter).

In one example, the 3D spatial data collection sensor (210) may have a single camera structure including a single distance sensor and a single image sensor. In addition, since the distance sensor and the image sensor can be implemented as a single module, there is an advantage in that there is no need to secure a separate test space for sensor installation, and a compact form factor can be achieved.

The obstacle detection sensor (220) may include, for example, a first obstacle detection sensor (221) and a second obstacle detection sensor (222) that are provided spaced apart from each other in the front area of the first wheel frame (151). However, this is not limited thereto, and the first obstacle detection sensor (221) and the second obstacle detection sensor (222) may also be provided in the front area of the vertical frame (120).

The obstacle detection sensor (220) may include an ultrasonic sensor that detects the presence of an obstacle by irradiating ultrasonic waves to the front of the walking vehicle (40). However, it is not limited thereto, and the obstacle detection sensor (220) may include various types of obstacle detection devices.

Figure 3 is a block diagram of the controller (230).

Referring to FIGS. 2 and 3, the controller (230) may be built into the main frame (110). The controller (230) may include a processor (231), a memory (232), a main input unit (233), and a communication unit (234).

One or more programs including instructions can be stored in the memory (232). The one or more programs can be executed by the processor (231).

The processor (231) can perform a preset operation based on an input signal input from the main input unit (233). The main input unit (233) can be installed on the main frame (110). In addition, the main input unit (233) can be a button-type or dial-type input device, but is not limited thereto. The on/off of the power of the controller (230) can be controlled through the input unit (233).

The communication unit (234) can receive sensing information from a sensor (200) installed in the walking vehicle (40). The communication unit (234) can communicate with an external device to transmit and receive data. The communication unit (234) can communicate with the direction control unit (170), the power supply unit (180), and the display device (190).

The communication unit (234) can communicate with the sensor (200), external device, direction control unit (170), power supply unit (180), and display device (190) via wires and/or wirelessly.

The processor (231) can be electromagnetically connected to the communication unit (234). The processor (231) can communicate with the sensor (200), an external device, a direction control unit (170), a power supply unit (180), and a display device (190) through the communication unit (234).

The processor (231) can generate real-time walking data of the user based on the three-dimensional space data of the user received from the sensor (200) by executing a program stored in the memory. The processor (231) can control the operation of the walking vehicle (40) based on the real-time walking data. The method by which the processor (231) controls the operation of the walking vehicle (40) based on the walking data will be described later with reference to FIGS. 4 to 7.

- Smart driving methods

FIG. 4 is a flowchart of a smart driving method of a walking vehicle (40) according to one embodiment. FIG. 5 is a flowchart of a smart driving method of a walking vehicle (40) according to another embodiment. FIG. 6 is a flowchart of a smart driving method of a walking vehicle (40) according to another embodiment. FIG. 7 is for explaining a processing order of a plurality of real-time walking data according to one embodiment. FIG. 8 is for explaining an appearance of a change in the inclination of a support part with respect to a second vertical frame (122). FIG. 9 shows a three-dimensional space (50) modeled by a processor (231). FIG. 10 is a simplified diagram illustrating a configuration in which walking data is displayed on a display device (190).

According to one embodiment, a smart driving method (S100) of a walking vehicle (40) controlled by a processor (231) that generates user's walking data is provided.

Referring to FIG. 4, a smart driving method (S100) of a walking vehicle according to one embodiment may include a step (S110) of collecting three-dimensional space data on a walking user using a sensor (200), a step (S120) of generating real-time walking data of the user based on the three-dimensional space data on the user, and a step (S130) of controlling driving of the walking vehicle based on the real-time walking data.

The processor (231) can sense the user's image data and depth data using a distance sensor and an image sensor in the step of collecting three-dimensional space data (S110).

Next, in step (S120) of generating real-time walking data of the user, the processor (231) can model a three-dimensional space including the shape of the user based on the three-dimensional space data about the user. In addition, the processor (231) can extract motion information of the user in the three-dimensional space and analyze the motion information to generate real-time walking data of the user.

For example, the processor (231) may model a three-dimensional space including the user's shape based on three-dimensional spatial data about the user using an artificial neural network (ANN). Here, the artificial neural network (ANN) may include a deep neural network (DNN), a convolutional neural network (CNN), a recurrent neural network (RNN), or a generative adversarial network (GAN), and may be implemented within the processor (231) or implemented as a separate processor outside the processor (231).

Additionally, the processor (231) can detect at least one key point for a portion of the user's shape in the modeled three-dimensional space. The at least one key point can be at least one point corresponding to a location of a joint of the user's lower body shape.

For example, the processor (231) can model and shape a three-dimensional space (50) including the lower part of the user's body, as illustrated in FIG. 9. In this case, the processor (231) can detect a plurality of feature points (a1, a2, a3, a4, a5, a6). For example, the plurality of feature points (a1, a2, a3, a4, a5, a6) can detect first to third feature points (a1, a2, a3) corresponding to the knee, ankle, and toes of the user's left leg, respectively, and fourth to sixth feature points (a1, a2, a3) corresponding to the knee, ankle, and toes of the user's right leg, respectively.

Meanwhile, since the user is away from the walking vehicle (40), the spatial data collection sensor (210) may not sense the user's three-dimensional spatial data. Accordingly, at least one feature point of a part of the user's shape in the three-dimensional space modeled by the processor (231) may not be detected. In this case, the processor (231) may control the power supply unit (180) not to provide rotational power to the first and second wheels (161, 162) so that the walking vehicle (40) does not drive. In this way, when the user is away from the walking vehicle (40), the walking vehicle (40) may be controlled to stop driving by the processor (231).

The processor (231) can extract the user's motion information based on at least one feature point, and analyze the motion information to generate the user's real-time walking data. The processor (231) can monitor the trajectory of at least one feature point that changes in real time by executing an artificial neural network using the user's three-dimensional space data (depth data, image data) as input, and extract the user's motion information. For example, when the user continues walking while relying on the walking vehicle (40), the positions of a plurality of feature points (a1, a2, a3, a4, a5, a6) for a part of the user's shape detected by the processor (231) can change in real time. The processor (231) can monitor the trajectories of the plurality of feature points (a1, a2, a3, a4, a5, a6) whose positions change in real time, and extract the user's motion information.

In addition, the processor (231) can monitor the user's motion information that changes in real time to generate the user's real-time walking data. For example, the user's real-time walking data generated by the processor (231) based on the user's motion information can include at least one element of the user's walking speed, stride, step, interpolation, speed per minute, left-right balance, joint angle, and walking level.

Next, the processor (231) can perform a step (S130) of controlling the operation of the walking vehicle based on the generated real-time walking data.

In detail, the step (S130) of controlling the operation of the walking vehicle may include a step (S131) of comparing real-time walking data with reference walking data, a step (S132) of determining whether the difference between the real-time walking data and the reference walking data is less than or equal to a predetermined value, and a step (S133) of controlling the operation of the walking vehicle (40) so that the difference between the real-time walking data and the reference walking data becomes less than or equal to the predetermined value.

Here, the reference gait data may be data matched to the user's body data. The user's body data may be data extracted by the processor (231) based on the user's three-dimensional space data. The reference gait data matched to the user's body data may be stored in advance in the memory (232) or may be arbitrarily set by the user. In detail, the processor (231) may determine the length of the lower body from the skeleton data generated by extracting at least one feature point for a part of the user's shape. More specifically, the processor (231) may extract body data such as calf length, thigh length, and foot size based on at least one feature point.

And, the memory (232) may store metadata including body data such as calf length, thigh length, foot size, etc. and standard gait data matching therewith. Alternatively, the memory (232) may store metadata including body data such as relative ratios of calf length, thigh length, foot size, etc. and standard gait data matching therewith.

In addition, the memory (232) may store metadata including body data such as calf length, thigh length, foot size, or the relative ratio thereof and user-set reference gait data that matches the body data.

In the step (S131) of comparing real-time gait data with reference gait data, the processor (231) can compare the calculated real-time gait data with reference gait data that matches the user's body data based on metadata stored in the memory (232). In detail, the processor (231) can calculate the difference between the real-time gait data and the reference gait data.

In the step (S132) of determining whether the difference between the real-time gait data and the reference gait data is less than or equal to a predetermined value, the processor (231) can determine whether the difference between the calculated real-time gait data and the reference gait data is less than or equal to the predetermined value stored in the memory (232).

Here, the ‘predetermined value’ is preset in the memory (232) depending on the type of walking data, or can be arbitrarily set by the user.

For example, if the walking data is stride, the difference between the user's real-time stride and the reference stride matched to the user's leg length may be set to '10% of the reference stride' and stored in the memory (232). However, this is not limited to this, and the difference between the real-time stride and the reference stride may be set to a specific value, such as '5 cm', and stored in the memory (232).

If the processor (231) determines that the difference between the real-time walking data and the reference walking data is less than a predetermined value, it can perform a step (S110) of collecting 3D spatial data for the user again.

If the processor (231) determines that the difference between the real-time walking data and the reference walking data is not less than a predetermined value, it can control the operation of the walking vehicle (40) so that the difference between the real-time walking data and the reference walking data becomes less than the set predetermined value.

For example, if the real-time walking data and the reference walking data are each steps, and the real-time step is smaller than the reference step, the processor (231) may control the power supply unit (180) to increase the driving speed of the walking vehicle (40). Or, if the real-time step is larger than the reference step, the processor (231) may control the power supply unit (180) to decrease the driving speed of the walking vehicle (40). The present invention is not limited thereto, and the processor (231) may also control the power supply unit (180) in the opposite manner.

Even when real-time walking data and reference walking data correspond to walking speed, interpolation, guarantee, or left-right balance, respectively, the processor (231) can compare the real-time walking data with the reference walking data and control the operation of the walking vehicle (40) so that the difference between the real-time walking data and the reference walking data becomes less than a predetermined value.

Referring to FIG. 5, a smart driving method (S200) of a walking vehicle according to another embodiment may be substantially the same as the smart driving method (S100) of FIG. 4, except that it includes a step (S140) of controlling driving of the walking vehicle (40) based on first real-time walking data and a step (S150) of controlling driving of the walking vehicle (40) based on second real-time walking data different from the first real-time walking data.

In explaining Fig. 5, any content that overlaps with Fig. 4 is omitted.

The step (S140) of controlling the driving of the walking vehicle (40) based on the first real-time walking data of the smart driving method of the walking vehicle (S200) may include the step (S141) of comparing the first real-time walking data (e.g., real-time stride) with the first reference walking data (e.g., reference stride matching the user's leg length) that matches the user's body data (e.g., leg length), the step (S142) of determining whether the difference between the first real-time walking data and the first reference walking data is less than or equal to a predetermined value, and the step (S143) of controlling the driving of the walking vehicle (40) so that the difference between the first real-time walking data and the first reference walking data becomes less than or equal to the predetermined value.

The step (S150) of controlling the driving of the walking vehicle (40) based on the second real-time walking data that is different from the first real-time walking data of the smart driving method of the walking vehicle (S200) can be performed after the walking vehicle (40) is driven based on the first real-time walking data and the difference between the first real-time walking data and the first reference walking data becomes less than a predetermined value.

In the step (S143) of controlling the operation of the walking vehicle (40) based on the first real-time walking data, a change in the second real-time walking data that is different from the first real-time walking data may occur. In detail, in the process of reducing the difference between the first real-time walking data and the first reference walking data to a predetermined value or less, the value of the second real-time walking data may be different from the value at the beginning of walking.

The step (S150) of controlling the driving of the walking vehicle (40) based on the second real-time walking data that is different from the first real-time walking data may include the step (S151) of comparing the second real-time walking data (e.g., real-time walking speed) with the second reference walking data (e.g., reference walking speed), the step (S152) of determining whether the difference between the second real-time walking data and the second reference walking data is less than or equal to a predetermined value, and the step (S153) of controlling the driving of the walking vehicle (40) so that the difference between the second real-time walking data and the second reference walking data becomes less than or equal to the predetermined value.

Here, the second reference gait data (e.g., reference walking speed) can be set as the gait data at the beginning of walking (e.g., walking speed at the beginning of walking).

For example, if the first real-time walking data and the first reference walking data are each a stride length, and the second real-time walking data and the second reference walking data are each a walking speed, after the difference between the real-time stride length and the reference stride length becomes equal to or less than a predetermined value, the processor (231) may control the power supply unit (180) to adjust the driving speed, which is one of the control parameters of the walking vehicle (40), so that the difference between the real-time walking speed and the reference walking speed becomes equal to or less than the predetermined value. In this case, the reference walking speed may be the walking speed at the beginning of walking before the process of reducing the difference between the first real-time walking data and the first reference walking data to equal to or less than the predetermined value occurs.

In this way, the processor (231) can adjust the user's walking speed, which has changed in this process, to the walking speed at the beginning of walking before adjusting the difference between the real-time stride and the reference stride to the set predetermined value or less after adjusting the difference between the real-time stride and the reference stride to the set predetermined value or less. Here, adjusting the user's changed walking speed to the walking speed at the beginning of walking means making the difference between the changed walking speed and the walking speed at the beginning of walking to be less than the set predetermined value.

For example, if the real-time walking speed is slower than the reference walking speed after the difference between the real-time stride and the reference stride becomes less than a predetermined value, the processor (231) may control the power supply unit (180) to increase the driving speed of the walking vehicle (40). Alternatively, if the real-time walking speed is faster than the reference walking speed, the processor (231) may control the power supply unit (180) to decrease the driving speed of the walking vehicle (40). The present invention is not limited thereto, and the processor (231) may also control the power supply unit (180) in the opposite manner.

For example, if the first real-time walking data and the first reference walking data are each a walking speed, and the second real-time walking data and the second reference walking data are each a left-right balance, then after the difference between the real-time walking speed and the reference walking speed becomes equal to or less than a set predetermined value, the processor (231) may control the inclination of the support (130) included in the walking vehicle (40), which is one of the control parameters of the walking vehicle (40), so that the difference between the real-time left-right balance and the reference left-right balance becomes equal to or less than the predetermined value. For example, referring to FIG. 8, the inclination of the support (130) provided on the second vertical frame (122) may be controlled according to a control signal of the processor (231). A slope changing unit (not shown) may be provided between the second vertical frame (122) and the support (130), and the inclination changing unit may be driven according to a slope changing control signal from the processor (231) so that the inclination of the support (130) may be controlled.

Referring to FIG. 6, a smart driving method (S300) of a walking vehicle according to another embodiment may be substantially the same as the smart driving method (S200) of FIG. 5, except that the step (S160) of controlling driving of the walking vehicle (40) based on first real-time walking data and the step (S170) of controlling driving of the walking vehicle (40) based on second real-time walking data different from the first real-time walking data are performed simultaneously.

In explaining Fig. 6, any duplicate content from Figs. 4 and 5 is omitted.

The step (S160) of controlling the driving of the walking vehicle (40) based on the first real-time walking data of the smart driving method of the walking vehicle (S200) and the step (S170) of controlling the driving of the walking vehicle (40) based on the second real-time walking data can be performed simultaneously.

For example, if the first real-time walking data and the first reference walking data are each a walking speed, and the second real-time walking data and the second reference walking data are each a left-right balance, the processor (231) can control the walking speed of the walking vehicle (40) and the inclination of the support member (130) included in the walking vehicle (40) so that the difference between the real-time walking speed and the reference walking speed becomes equal to or less than a set predetermined value, and the difference between the real-time left-right balance and the reference left-right balance becomes equal to or less than a set predetermined value.

Referring to Fig. 7, the processing priorities of the types of real-time walking data and reference walking data processed in the smart driving method (S100, S200, S300) of the walking vehicle according to various embodiments may be preset and stored in the memory (232), or may be arbitrarily set in various ways by the user. Here, the user may be the user of the walking vehicle (40), the guardian of the user of the walking vehicle (40) using the first user terminal (20), or the attending physician of the user using the second user terminal (30).

For example, referring to (a) of Fig. 7, the processing priority can be set in the order of stride, walking speed, left-right balance, interpolation, and guarantee. In this case, after the operation of the walking vehicle (40) is controlled according to the difference between the real-time stride and the reference stride, the operation of the walking vehicle (40) can be controlled according to the difference between the real-time walking speed and the reference walking speed.

For example, referring to (b) of Fig. 7, the stride length and walking speed may be set as the joint first priority, and the left-right balance, interpolation, and guarantee may be set as the next priority. In this case, after the operation of the walking vehicle (40) is controlled according to the difference between the real-time stride length and the reference stride length and the difference between the real-time walking speed and the reference walking speed, the operation of the walking vehicle (40) may be controlled according to the difference between the real-time left-right balance and the reference left-right balance.

For example, referring to (c) of Fig. 7, the stride, the walking speed, and the left-right balance may be set as the joint first priority, and the interpolation and the guarantee may be set as the next priority. In this case, the driving of the walking vehicle (40) may be controlled according to the difference between the real-time stride and the reference stride, the difference between the real-time walking speed and the reference walking speed, and the difference between the real-time left-right balance and the reference left-right balance, and then the driving of the walking vehicle (40) may be controlled according to the difference between the real-time interpolation and the reference interpolation. Meanwhile, the processor (231) may calculate an appropriate walking speed suitable for the user's walking level based on the walking data, and control the power supply unit (180) included in the walking vehicle (40) so that the walking vehicle (40) is driven at the appropriate walking speed.

For example, the processor (231) may determine the user's walking level by referring to real-time walking data such as the user's walking speed, stride, and left-right balance generated based on the user's motion information. The criteria for determining the walking level may be pre-programmed and stored in the memory (232). The criteria for determining the programmed walking level may be updated through learning via the artificial neural network of the processor (231).

The processor (231) can compare the reference gait data stored in the memory (232) with the user's past gait data and current real-time gait data to calculate the user's gait recovery speed, recovery rate, etc.

According to the walking level determined by the processor (231), the processor (231) can calculate a walking speed of the user suitable therefor. The walking speed suitable for the walking level of the user calculated by the processor (231) can be stored in the memory (232). The processor (231) can control the power supply unit (180) included in the walking vehicle (40) so that the walking vehicle (40) is driven at a walking speed suitable for the walking level of the user.

The processor (231) can transmit the user's real-time gait data to another external user terminal through a network. For example, the processor (231) can transmit the real-time gait data to the user terminal of the user's attending physician. The user's attending physician can transmit analysis data related to the real-time gait data to the display device (190) of the walker (40) using his/her user terminal. The display device (190) can display the analysis data related to the real-time gait data transmitted from the user terminal of the user's attending physician. Here, the analysis data related to the real-time gait data can be a rehabilitation treatment program. For example, as illustrated in FIG. 10, the user terminal of the attending physician and the display device (190) of the walker (40) are connected to each other, so that the attending physician's image can be displayed on the display device (190) in real time. Accordingly, real-time non-face-to-face rehabilitation treatment through an image between the user and the attending physician can be possible based on the user's real-time gait data.

In the step (S140) of providing the generated real-time gait data to the user, the processor (231) can transmit the user's real-time gait data to the display device (190) through the communication unit (234). The display device (190) can display the user's real-time gait data received from the processor (231) to visually provide the user with the real-time gait data. For example, as illustrated in FIG. 10, the user's walking speed, stride length, step width, cadence, left-right balance, joint angle, gait level, recovery rate, etc. can be displayed on the display device (190). In addition, a three-dimensional space (50) including the lower part of the user's body modeled by the processor (231) can be displayed on the display device (190). The three-dimensional space (50) can be displayed on the display device (190) as an image that changes in real time.

Fig. 11 is for explaining a method for a pedestrian vehicle (40) to sense an obstacle (70) according to smart driving. Fig. 12 is for explaining a method for a pedestrian vehicle (40) to sense an uphill road (80) according to smart driving.

Referring to FIGS. 2, 3, and 11, a user may encounter an obstacle (70) located on a walking path while walking with the help of a walking vehicle (40). In this case, an ultrasonic wave (UW) is irradiated forward from an obstacle detection sensor (220) of the walking vehicle (40), and the obstacle detection sensor (220) can sense the ultrasonic wave (UW) reflected by the obstacle (70) to detect the presence of the obstacle (70). The obstacle detection sensor (220) can transmit an obstacle (70) detection signal to a processor (231), and accordingly, the processor (231) can operate a direction control unit (170) to control the rotation angles of the third and fourth wheels (163, 164) so that the walking vehicle (40) can avoid the obstacle (70).

Referring to FIGS. 2, 3, and 12, a user may encounter an uphill road (80) located on a walking path while walking with the help of a walking vehicle (40). In this case, an ultrasonic wave (UW) is irradiated forward from an obstacle detection sensor (220) of the walking vehicle (40), and the obstacle detection sensor (220) can sense the ultrasonic wave (UW) reflected by the uphill road (80) to detect the presence of the uphill road (80). The obstacle detection sensor (220) can transmit an uphill road (80) detection signal to the processor (231), and accordingly, the processor (231) operates the power supply unit (180) to increase the rotational power provided to the first and second wheels (161, 162), thereby allowing the user to pass the uphill road (80) more easily.

The embodiments of the present invention described above may be implemented in the form of program commands that can be executed through various computer components and recorded on a computer-readable recording medium. The computer-readable recording medium may include program commands, data files, data structures, etc., alone or in combination. The program commands recorded on the computer-readable recording medium may be those specially designed and configured for the present invention or those known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs, RAMs, and flash memories. Examples of the program commands include not only machine language codes generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc. The hardware devices may be changed into one or more software modules to perform processing according to the present invention, and vice versa.

The specific implementations described in the present invention are only examples and do not limit the scope of the present invention in any way. For the sake of brevity of the specification, descriptions of conventional electronic configurations, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connections or lack of connections of lines between components illustrated in the drawings are merely illustrative of functional connections and/or physical or circuit connections, and may be replaced or represented as various additional functional connections, physical connections, or circuit connections in an actual device. In addition, if there is no specific mention such as “essential,” “important,” etc., it may not be a component absolutely necessary for the application of the present invention.

Although the detailed description of the present invention has been described with reference to preferred embodiments of the present invention, it will be understood by those skilled in the art or having ordinary knowledge in the art that various modifications and changes can be made to the present invention without departing from the spirit and technical scope of the present invention as described in the claims below. Accordingly, the technical scope of the present invention should not be limited to the contents described in the detailed description of the specification, but should be defined by the claims.

Smart walking assistance service provision system (1)
Central server (10), user terminal (20, 30), walking vehicle (40)
Main frame (110), vertical frame (120), first vertical frame (121)
Second vertical frame (122), support (130), handle (140), first handle bar (141)
Second handlebar (142), wheel frame (150), first wheel frame (151), second wheel frame (152)
Wheel (160), first and second wheels (161, 162), third and fourth wheels (163, 164)
Direction control unit (170), first direction control unit (171), second direction control unit (172)
Power supply unit (180), first power supply unit (181), second power supply unit (182)
Display device (190), sensor (200), spatial data collection sensor (210)
Obstacle detection sensor (220), first obstacle detection sensor (221)
Second obstacle detection sensor (222), controller (230), processor (231), memory (232)
Main input section (233), communication section (234)

Claims (17)

A smart driving method of a walking vehicle controlled by a processor that generates user's walking data,
A step of collecting three-dimensional spatial data on the user while walking using a sensor included in the walking vehicle;
A step of generating real-time walking data of the user by analyzing the motion information of the user extracted by the processor based on three-dimensional spatial data about the user;
and
The step of the processor comparing the real-time walking data with reference walking data matched to the user's body data extracted through the three-dimensional space data, and controlling the operation of the walking vehicle so that the difference between the real-time walking data and the reference walking data becomes less than a predetermined value; includes;
In the step of generating the real-time walking data of the above user,
The processor calculates the user's walking speed and the user's left-right balance based on the user's motion information,
In the step of controlling the operation of the above walking vehicle,
A smart driving method of a walking vehicle, wherein the processor controls the speed of the walking vehicle so that the difference between the user's walking speed calculated by the processor and the reference walking speed for the user is less than or equal to a predetermined value, and controls the inclination of a support part having a flat plate shape on which the user can rest his or her arms, included in the walking vehicle so that the difference between the user's calculated left-right balance and the reference left-right balance for the user is less than or equal to a predetermined value. In the first paragraph,
In the step of controlling the operation of the above walking vehicle,
A smart driving method of a walking vehicle, wherein the processor compares first real-time walking data with first reference walking data, and adjusts control parameters of the walking vehicle so that a difference between the first real-time walking data and the first reference walking data becomes less than or equal to a predetermined value. In the second paragraph,
In the step of controlling the operation of the above walking vehicle,
A smart driving method of a walking vehicle, wherein the processor controls the driving of the walking vehicle so that after the difference between the first real-time walking data and the first reference walking data becomes less than or equal to a predetermined value, the processor compares the first real-time walking data with second real-time walking data that is different from the second reference walking data, and adjusts the control parameters of the walking vehicle so that the difference between the second real-time walking data and the second reference walking data becomes less than or equal to a predetermined value. In the first paragraph,
In the step of controlling the operation of the above walking vehicle,
A smart driving method for a walking vehicle, wherein the processor compares first real-time gait data with first reference gait data, and adjusts a control parameter of the walking vehicle so that a difference between the first real-time gait data and the first reference gait data becomes less than or equal to a predetermined value, and at the same time, compares second real-time gait data that is different from the first real-time gait data with second reference gait data, and adjusts a control parameter of the walking vehicle so that a difference between the second real-time gait data and the second reference gait data becomes less than or equal to a predetermined value. In the first paragraph,
In the step of generating the real-time walking data of the above user,
A smart driving method for a walking vehicle, wherein the processor models a three-dimensional space including the shape of the user based on the three-dimensional space data about the user, extracts motion information of the user in the three-dimensional space, and analyzes the motion information to generate real-time walking data of the user. In the first paragraph,
The step of the above processor transmitting the real-time walking data of the user to another external user terminal through a network; and
A smart driving method of a walking vehicle, further comprising: a step of receiving analysis data related to the real-time walking data from the other user terminal through the network; main frame;
A vertical frame provided on the above main frame;
A support member having a flat shape provided on the vertical frame to support a part of the user's body;
A wheel frame provided on the above main frame and connecting a plurality of wheels;
A power supply unit that provides rotational power to the above wheel;
A spatial data collection sensor that senses three-dimensional spatial data about a user located in an area facing the vertical frame; and
A controller including a memory storing one or more programs including commands and a processor that executes the programs to generate real-time gait data of the user based on the three-dimensional space data, compares the data with reference gait data matched to the user's body data, and adjusts a predetermined control parameter so that a difference between the real-time gait data and the reference gait data becomes less than a predetermined value;
The above processor,
Based on the motion information of the user, the user's walking speed and the user's left-right balance are calculated,
The speed of the walking vehicle is adjusted so that the difference between the calculated walking speed of the user and the reference walking speed for the user is less than a predetermined value,
A smart walking assistance-enabled walking vehicle that adjusts the inclination of the support so that the difference between the calculated left-right balance of the user and the reference left-right balance of the user becomes less than a predetermined value. In Article 7,
A smart walking vehicle capable of walking assistance, wherein the processor compares first real-time walking data with first reference walking data, and adjusts control parameters of the walking vehicle so that a difference between the first real-time walking data and the first reference walking data becomes less than or equal to a predetermined value. In Article 8,
A smart walking vehicle capable of assisting a walking vehicle, wherein the processor controls the driving of the walking vehicle so that a difference between the first real-time walking data and the first reference walking data becomes less than or equal to a predetermined value, and then compares the first real-time walking data with second real-time walking data that is different from the second reference walking data and adjusts a control parameter of the walking vehicle so that a difference between the second real-time walking data and the second reference walking data becomes less than or equal to a predetermined value. In Article 7,
A smart walking vehicle capable of assisting a walking vehicle, wherein the processor compares first real-time gait data with first reference gait data, and adjusts a control parameter of the walking vehicle so that a difference between the first real-time gait data and the first reference gait data becomes less than or equal to a predetermined value, and at the same time, compares second real-time gait data that is different from the first real-time gait data with second reference gait data, and adjusts a control parameter of the walking vehicle so that a difference between the second real-time gait data and the second reference gait data becomes less than or equal to a predetermined value. In Article 7,
A smart walking assistance capable walking vehicle, wherein the three-dimensional spatial data sensed by the spatial data collection sensor includes image data and depth data about the user. In Article 11,
The processor models a three-dimensional space including the shape of the user based on the image data and the depth data of the user using an artificial neural network, and detects at least one key point for a part of the shape of the user.
A smart walking assistance capable walking vehicle that extracts motion information of the user in the three-dimensional space based on at least one feature point and analyzes the motion information of the user to generate real-time walking data of the user. In Article 7,
A smart walking assistance capable walking vehicle, wherein the processor transmits real-time walking data of the user to another external user terminal through a network, and receives analysis data related to the real-time walking data from the other user terminal through the network. In Article 7,
A smart walking assistance capable walking vehicle, wherein the above spatial data collection sensor includes a lidar sensor and an image sensor. In Article 7,
A smart walking assistance capable walking vehicle further comprising an obstacle detection sensor that detects an obstacle placed in front of the smart walking assistance capable walking vehicle. In Article 15,
Further comprising a direction control unit for controlling the rotation angle of at least some of the plurality of wheels;
A smart walking assistance capable walking vehicle, wherein the processor operates the direction control unit according to an obstacle detection signal received from the obstacle detection sensor to control the rotation angle of at least some of the plurality of wheels. In Article 7,
A walking vehicle capable of smart walking assistance, further comprising a display device for displaying the real-time walking data.