DE102011084236A1 - Walking aid has control unit that is provided to drive the drive arranged in vicinity of lower end of connecting element to keep walking aid in balance - Google Patents

Abstract

The walking aid (1) has an elongated connecting element (3) having an upper end and a lower end. A handle (5) is arranged in the vicinity of the upper end of the connecting element. A drive (7) is arranged in the vicinity of the lower end of the connecting element for driving a wheel (9) rotatable about an axis (L). A control unit (15) is provided to drive the drive to keep the walking aid in balance. An independent claim is included for a method for controlling walking aid.

Description

The invention relates to a walking aid and a method for controlling a walking aid. As a walking aid, for example, a walker or walking stick is generally referred to, which at least partially supports a user in his own locomotion.

The DE 103 18 929 B3 discloses a mobile walker device for assisting walking impaired persons consisting of a wheeled chassis and a motorized drive device for the wheels. This walker has in principle the structure of a rollator with several arranged on different axes wheels. The three wheels of the rollator thus span a plane and thereby give the walker device and thus the user hold. A disadvantage of such a walker device is that it generally assumes larger dimensions and is therefore limited in their use. For example, stairs can not be overcome with such a walker. Furthermore, such rollators generally have an increased space requirement. To transport the rollator therefore requires a motor vehicle with a correspondingly large trunk.

Furthermore, from the DE 10 2009 031 128 A1 a walking aid in the form of a cane, which in addition to the support function has additional warning and analysis functionalities. A disadvantage of such a walking aid, for example, the low support function of a walking stick in the fall or the imminent fall of a user.

It is an object of the present invention to overcome the disadvantages of the prior art and in particular to provide an improved and / or alternative and / or additional walker.

For example, it is a preferred object of the present invention to provide a walker with increased stability and / or increased safety. It is a further preferred object of the present invention to facilitate a user's locomotion and increase mobility, particularly for users with mild disabilities, such as the elderly, the visually impaired, balance disorders, and / or disabilities. A further preferred object of the present invention is to provide a walker with a low resistance to movement, which enables a power-poor or a powerless operation. Another preferred object is to provide a walker that has greater flexibility and mobility compared to a walker. A further preferred object of the present invention is to provide a walker with high ease of use, which is characterized for example by a simple and intuitive operation, which is preferably also made easy and unobtrusive.

This object (s) is / are solved by the subject matter of the present claims as well as the preferred aspects of the present invention discussed below.

The walking aid according to the invention comprises an elongate support or connecting element with an upper end and a lower end, at least one handle, at least one drive and at least one control unit. The connecting element connects a handle, which is preferably arranged at the upper end of the connecting element or in the vicinity thereof, with a drive, which is preferably arranged at a lower end or in the vicinity thereof. The at least one drive expediently drives at least one wheel, preferably two wheels, which is / are rotatably arranged about an axis L, which is arranged at the lower end of the connecting element or in its vicinity. The control unit controls the drive so that the walker is kept in balance.

A walker is a device that supports the natural locomotion of a user at least temporarily and / or at least partially. As a walking aid is understood in this context no means of transport, which carries a person or an object (independently). In particular, the term walking aid of the present invention does not include a self-balancing vehicle for transporting a person. Rather, the term walker in the present invention includes, for example, a cognitive walking stick.

As a connecting element, for example, any suitable elongate carrier or each support frame or pipe element can be understood. Preferably, the connecting element is lightweight and stiff. Preferably, the connecting element has a general shape that corresponds to the shape of a walking stick. Preferably, the walker and / or the connecting element have a width transverse to the direction of travel, which corresponds to the width of a rollator substantially, more preferably, the connecting element has a width of a walking stick. The handle is preferably formed at the upper end of the elongate connecting element or connected to this or connectable. Preferably, the walker on at least one handle.

As a drive, the walker can have any drive that is suitable to drive the walker. Preferably, the walker comprises two electrical DC motors. Alternatively, the use of at least one motor, such as a servomotor, conceivable. The drive and all other electrically operated components and units can be powered by a power supply, such as a battery with energy.

The walking aid comprises at least one wheel which is rotatable about an axis L extending transversely to the direction of travel of the walking aid. For example, the at least one wheel may be formed of a wheel having a width sufficient to stabilize the walking aid transversely to the direction of travel. Alternatively and / or additionally, means for stabilizing the walking aid can be provided transversely to the direction of movement. The walking aid may further comprise means for two-dimensional movement of at least parts of the walking aid, for example in the direction of travel and perpendicular thereto. Preferably, the walker comprises at least two wheels, which are arranged on a common axis transverse to the direction of travel of the walker. A control or regulation for the active avoidance of obstacles or an "object avoidance" can thereby be realized or better realized. Further preferably, the at least two wheels are arranged laterally on the walking aid. Preferably, the stability and / or the deflection can thereby be made more efficient.

The walking aid preferably has at least one inclination sensor and / or at least one acceleration sensor. The tilt sensor preferably determines the inclination of the walker to the vertical. The accelerometer of the walker preferably detects the acceleration of the walker. The control or regulation of the drive of the walking aid can preferably be based on the measured or determined inclination and / or the acceleration.

In principle, any sensor which is suitable for directly or indirectly detecting the inclination of the walking aid comes into consideration as an inclination sensor. Preferably, the inclination sensor detects the inclination of the connecting element to the vertical. Advantageously, the inclination sensor can be designed as a gyroscope, yaw rate sensor or similar sensors. For example, a gyroscope measures the angular acceleration from which the slope can be calculated, for example, by integration. For example, the inclination sensor can determine at least the inclination W _XZ in the direction of travel of the walking aid relative to the vertical. The detection of the inclination W _XZ in the direction of travel of the walker may be sufficient for the control or regulation of a walking aid, which acts in the direction of travel or is moved. Preferably, the inclination sensor can detect a multidimensional deviation from the vertical, for example the deviation from the vertical (or Z-axis) to the travel direction of the walker and the user (or X-axis) and to the axis perpendicular to the direction of travel and parallel to the wheel-carrying axis ( or Y-axis).

The detection and / or use of a multi-dimensional inclination or deviation is particularly advantageous if a support not only in the direction of travel, ie forward, but should, for example, a stop in the direction perpendicular to the direction of travel, ie side to take place. Further advantageously, a lifting of a wheel can be detected in the case of a multi-wheeled design and appropriate emergency procedures initiated and / or warning signals are output.

As the acceleration sensor, any sensor capable of detecting acceleration can be used. Preferably, the controller uses at least the signal of the acceleration sensor and the tilt sensor. Furthermore, at least the acceleration and / or rotation about the vertical (or Z-axis) and about the wheel-carrying axis perpendicular to the direction of travel (or Y-axis) may be used. Further preferably, the walker detects the rotation about the axis in the direction of travel (or X-axis). This can improve the fall detection. In a further preferred embodiment of the present invention, all translational and rotational movements are detected.

The control unit of the present invention is a control and / or regulating unit, preferably at least one control unit. The control unit is preferably suitable for controlling and / or regulating the drive in such a way that the walker is kept in balance. The terms control and control unit in the context of the present invention include systems with and / or without signal feedback. Particularly preferably, at least one PD, PI, and / or PID regulator unit is used. In addition to balancing, the control unit can take on more, preferably all, control and / or evaluation functions of the walker. It is also possible to provide a plurality of control units for different functions, for example in different units.

The walker is controlled by the control unit so that it is self-balancing. In other words, the walker does not fall over in the activated state or does not tip over. The walker preferably has a resulting center of gravity, which in most cases is located above the wheel-carrying axis L. Preferably, the walker can rotate about the wheel-bearing axis. The walker has in a preferred embodiment, an unstable resting position.

The resulting center of gravity is the center of gravity that results for the entire assembly. It thus includes the (own) center of gravity of the walking aid and optionally further additional emphases of external additional objects such as the center of gravity of the user acting on the walker and / or the center of gravity of at least one additional weight, such as a handbag or shopping bag of the user.

The walker, in particular the control unit comprises a center of gravity position control. The center of gravity control guides the drive or the lower end of the walker so that the drive or the lower end is always below the resulting center of gravity of the walker. In determining the resulting center of gravity of the walking aid, the control unit preferably takes into account further external influences, such as, for example, weight forces of additional weights which are attached to the walker and / or actions by the respective user of the walker.

The underlying regulation is essentially based on a regulation for an inverse pendulum. Similar regulations are used for example in uniaxial electric scooters or uniaxial skateboards. For example, document discloses WO 2010/053740 A1 such a scheme for a single-axis self-balancing vehicle. Also the EP 1980479 A1 shows a similarly controlled uniaxial wheelchair.

Preferably, the walker in the mode "self-balancing", d. H. in the unused but activated state (also called "stand-alone balance function"), be controlled so that the walker is balanced or self-balancing or self-standing. The wheel-carrying axis of the walker can then be under the focus of the walker. The walking aid or the connecting element can then be upright, or substantially upright, preferably vertically aligned. An overturning of the walker can be avoided by the regulation despite unstable resting point. Consequently, the user of the walker need not stoop to lift the walker. If an external force acts on the walker during the stand-alone balance function (eg due to wind influence, by an external impulse such as jostling) and moves the walker, the walker then preferably returns to its original position.

Preferably, the controller is not dependent on a fixed center of gravity. A determination of such a resulting center of gravity may be a result of a previously known inverse pendulum control. Preferably, the walker compensates or at least partially actively corrects the torque transmitted by the user. The walking aid preferably returns to its desired rest position or in the vertical position. In other words, if the user turns the walker forward, ie in the direction of travel, the walker recognizes that the user wants to start or starts. The at least one driven wheel then moves out of the deflection of the user or the deflected part of the walker afterwards with the aim to return to the vertical position. Preferably, therefore, results in an almost powerless operation of the walker. In this "user tracking mode" or "user tracking" thus recognizes the walker based on a user detection function and the action of the user on the walker, for example by reading the acceleration sensor and / or inclination sensor, in which direction the user wants to move and accordingly fits the Position of the walker so that the walker always supports the movement of the user while the user is moving. The walker is preferably controlled so that the lower base of the walker tracks the upper part of the walker (and thus the user). As a result, the user can advantageously support himself on the walker without losing his balance.

Preferably, the walker recognizes the start of a user only when the user touches the walker, for example, the handle. Thus, the walker may preferably distinguish between loading the walker with additional weights, for example, shopping bags, and leaving the user. After being loaded without detection of a user by means of suitable sensors, the walker remains in its position upright or substantially upright.

The walker may preferably include a user detection device that determines whether eleven users contact the walker. The user detection device can be designed, for example, as a sensor element, for example as a pressure sensor, resistance sensor, infrared sensor, optical distance meter, lever, etc. The user detection device can expediently detect whether the walking aid, preferably the grip, is encompassed. Preferably, the user detection device serves as a starter or for activating the walker. Further preferably, the control unit and / or the user detection in the active mode and / or standby mode continuously or at regular intervals determines whether the user contacts the walker. Further preferably, the walker determined on the basis of the feedback from the user detection device, whether a user holds the walker and preferably changes to the walking mode. The user detection device may be integrated in the handle.

The walker can also be equipped with an object detection device for detecting objects in the environment of the walker and / or the user. The object detection device may, for example, consist of at least one optical and / or one acoustic sensor, for example an infrared sensor, radar or Hall sensor. Based on the signals of the object detection device, the walker detects any objects or obstacles such as walls, railings, walls or dynamic objects such as humans, animals that are non-users. If desired or necessary, the walker can determine an alternative route, in which, for example, there is no obstacle, and preferably initiates a corresponding avoidance maneuver.

The walker preferably further comprises at least one distance detection device for detecting a distance traveled by the walker. The distance detection device can be designed, for example, as a length measuring device for direct measurement of the traveled distance and / or as an angle measuring device or rotary encoder for determining the angle of rotation of the drive or the at least one wheel. Preferably, the distance detection device comprises two rotary encoders, which preferably detect the angle of rotation of two wheels. Further preferably, the control unit is adapted to evaluate the signal (s). These signal (s) preferably find their way into the center of gravity position control.

Advantageously, the walking aid further comprises at least one sensor element for detecting at least one further parameter influenced by the user. The user-influenced parameters may be, for example, physiological user parameters or operating parameters. Physiological user parameters of the user can be, for example, the following parameters: body temperature, blood pressure, heart rate, etc. (operating) parameters are, for example, parameters which preferably give information about the use of the walker by the user. (Operating) parameters may be for example: maximum values, minimum values, and / or average values of the variables: speed, distance, angle of inclination, holding pressure, current consumption of the motor, etc. or their time derivatives. Further (operational) parameters are, for example: driven targets, average distance covered, frequency of use, battery consumption, etc. Preferably, the at least one sensor element can detect and store at least the temporal course of the inclination angle. The evaluation of the angle of inclination preferably allows the distinction between fall and normal use of the walker.

In this case, any suitable sensor which can detect one or more parameters influenced by the user can be used as the sensor element.

• – „Notfallbenachrichtigung” bzw. „Notfallmodus” bzw. „Emergency Shutdown”: falls eine gefährliche Situation, beispielsweise ein Sturz und/oder ein Hindernis, erkannt wird, kann die Gehhilfe eine Benachrichtigung, beispielsweise ein Warnsignal, ausgeben. Bevorzugt erhält die Benachrichtigung über eine geeignete Kommunikationseinrichtung eine dritte Person, beispielsweise ein Arzt. Ferner kann die Gehhilfe Notfallroutinen umfassen, die geeignet sind, um in einer solchen Situation geeignete Gegenmaßnahmen zu ergreifen. Beispielsweise kann der Motor und/oder die Gehhilfe bei einem unvermeidbaren Sturz oder bei Überlast abgeschaltet werden.
• – Überlastwarnung: bei befürchteter Überlastung der Gehhilfe und/oder des Benutzers kann die Gehhilfe eine entsprechende Warnung an den Benutzer, und/oder mittels einer Kommunikationseinrichtung einem Dritten, zukommen lassen. Überlast bzw. Fehlfunktion können somit vermieden werden. Beispielsweise kann eine Überlast der Gehhilfe anhand der Motorenbetriebsparameter und/oder der Wegstreckenerfassungseinrichtung erkannt werden.
• – Benutzererkennung: anhand der physiologischen Benutzerparameter und/oder der (Betriebs-)Parameter kann die Gehhilfe den jeweiligen Benutzer erkennen. Bevorzugt werden dann die Benutzerdaten geladen und zur weiteren Signalverarbeitung zugrunde gelegt.
• – Auswertung des Gesundheitszustandes: bevorzugt ist die Gehhilfe in der Lage, langfristig den Gesundheitszustand des Benutzers auszuwerten, bzw. die entsprechenden Rohdaten zur weiteren Auswertung einem behandelnden Arzt zur Verfügung zu stellen.

The walker may further include at least one memory for storing data, such as user-influenced parameters and / or operating parameters. The stored data are preferably used for further signal processing or for further evaluation, which is further preferably at least partially implemented in the walker. For example, current signals and data can be compared with already existing (learned) data of the user. Signal processing preferably comprises one or more of the following functions:

• - "Emergency notification" or "emergency mode" or "Emergency Shutdown": if a dangerous situation, such as a fall and / or an obstacle is detected, the walker can issue a notification, such as a warning signal. The notification about a suitable communication device preferably receives a third person, for example a doctor. Further, the walker may include emergency routines suitable for taking appropriate countermeasures in such a situation. For example, the motor and / or the walker can be turned off in an unavoidable fall or overload.
• Overload warning: in case of feared overloading of the walker and / or the user, the walker can send a corresponding warning to the user, and / or by means of a communication device to a third party. Overload or malfunction can thus be avoided. For example, an overload of the walker based on the engine operating parameters and / or the distance detection device can be detected.
• - User recognition: based on the physiological user parameters and / or the (operating) parameters, the walker can recognize the respective user. Preferably, the user data are then loaded and used for further signal processing.
• - Evaluation of the state of health: preferably, the walker is able to evaluate the long-term health status of the user, or to provide the corresponding raw data for further evaluation to a treating physician.

The walking aid may further comprise a communication device that can transmit any external data, such as daily updated information, weather forecasts, geographic information, traffic alerts, etc. The external data may be at least partially used by the walker to determine routes and / or warning signals use. Furthermore, the walking aid can be designed such that recorded data of the walker or the user are transmitted by means of the communication device to a suitable receiver.

Further preferably, the walker comprises a position determination device for determining the position of the walker. Any device which can determine the current position of the walking aid in relation to a reference position and / or the environment is suitable as the position determination device. The position determination device can be designed, for example, as a GPS device. Preferably, the walker comprises a navigation device for navigating to predetermined destinations. The position determination device preferably allows the exact determination of a position of a walking aid, preferably in the activated state and / or in standby mode. The position can furthermore preferably be transmitted, for example via a communication device, to a further data processing device which is suitable for displaying the exact position of a person. This facilitates, for example, finding a lost walker and possibly a lost user.

• – Ermitteln einer Ist-Lage des resultierenden Schwerpunktes, und/oder
• – Antreiben des mindestens einen Rades bis sich die Radachse unterhalb des resultierenden Schwerpunktes befindet Bevorzugt umfasst das Verfahren ferner:
• – Ermitteln der Neigung der Gehhilfe zur Vertikalen, und/oder Erfassen der Beschleunigung der Gehhilfe.

The present invention further encompasses a method for controlling the walker described above with a center of gravity attitude control. The center of gravity attitude control preferably comprises at least one of the following steps:

• Determining an actual position of the resulting center of gravity, and / or
• Driving the at least one wheel until the wheel axle is below the resulting center of gravity. Preferably, the method further comprises:
• - Determine the inclination of the walker to the vertical, and / or detecting the acceleration of the walker.

The determination of the actual position of the resulting center of gravity preferably includes determining the actual position of the center of gravity of the walking aid and determining the actual position of at least one further center of gravity of an external object and calculating the resulting center of gravity.

• – das Erfassen eines drohenden oder stattfindenden Sturzes eines Benutzers mittels einer Sturzerfassung,
• – das Berechnen einer Ausgleichswegstrecke, die das mindestens eine Rad zurücklegen muss, damit die Gehhilfe dem Benutzer Halt gibt,
• – das Zurücklegen der Ausgleichswegstrecke, und/oder
• – das Halten des mindestens einen Rades, um dem Benutzer Halt zu geben.

Preferably, the method further comprises:

• The detection of a threatening or occurring fall of a user by means of a fall detection,
• Calculating a compensation path which the at least one wheel has to cover for the walker to stop the user,
• - the return of the compensation path route, and / or
• - Holding the at least one wheel to give the user a halt.

Fall detection includes any suitable method for detecting a threat or lapse of a user. The fall detection may for example be based on the detection of a rate of change of a tilt angle, on the exceeding of a limit tilt angle and / or on the detection of the holding force with which a user grasps the handle.

The rotational movement of the walking aid in the active mode is preferably always passive, since the wheel axle is decoupled from the walking stick axis. The walking stick axis comprises at least the axis of the connecting element. "Passive rotation" means that the at least one wheel is controlled, ie the lower part of the walker and not the upper part. When the walker is off, it falls over without affecting the wheel position. There are bearings between the axles and the wheels. The walker can detect a threatening or occurring fall on the basis of a fall detection. Preferably, the fall detection detects the angle of inclination to the vertical and compares the inclination angle with at least one critical angle of the inclination, from which an imminent fall or a falling of a user is assumed. The at least one critical angle may preferably be a user-specific value. It is also conceivable that the exceeding of a permissible limit value is used for at least one of the values inclination angle, inclination angle velocity and / or inclination angle acceleration for the fall detection. The fall detection can preferably determine in which angular range of the inclination angle normal walking takes place and from which angle a fall of a user begins.

Alternatively or additionally, the fall detection can also be realized via other systems. For example, the fall detection can use at least one sensor on the body of the user and / or include an active determination of the body center of gravity. If the fall detection detects an impending or occurring fall, the walker enters a mode in which the walker no longer tries to align the walker upright, but in which the walker tries to intercept the fall of the user. This mode will be referred to as "catching mode" or "catching case function" below.

• 1. der Benutzer erhöht den Haltedruck, mit dem er die Gehhilfe bzw. den Griff der Gehhilfe umgreift.
• 2. der Benutzer bewegt die Arme automatisch in die Richtung, in die er zu fallen droht, um den Aufprall mit den Armen abfedern zu können oder um einen den Fall vermeidenden Halt zu finden.

When a user gets upset with a walker, two reactions generally occur instinctively:

• 1. The user increases the holding pressure with which he grasps the walker or the handle of the walker.
• 2. The user automatically moves the arms in the direction in which he threatens to fall, to cushion the impact with the arms or to find a stop avoiding the case.

The second reaction, together with the displacement of the center of gravity of the user, causes acceleration of the walking aid, in particular of the handle, in the direction of fall. When a user begins to fall, the walker detects the rate of change of inclination, for example, the angle W _XZ or the angles W _XZ and W _XY , where the angle W _{XZ is} the inclination angle in the advancing direction and the angle W _{YZ is} the inclination angle transverse to the advancing direction. The walking aid, in particular the control unit, calculates the compensation travel distance which is necessary in order to move the walking aid so that it gives the user support. Preferably, the walker calculates the fall position for the walker from the angle of inclination and the force with which the user acts on the walker.

The at least one wheel is preferably accelerated by the at least one drive in the direction of fall. The walker thereby assumes a tilt angle that is suitable for supporting a user. Preferably, the drive moves the lower end of the connecting element with a high, preferably maximum, speed. Further preferably, the at least one wheel is held in the position suitable for holding or intercepting the user, preferably blocked, particularly preferably by a brake. The holding and / or blocking can alternatively or additionally to the mechanical brake by a corresponding interconnection of the motor, for example by reversing and / or by direct current, take place. In this "collection mode" the walker moves in an at least approximately optimal support position in front of the user and maintains this position, for example by applying a counter-torque of the wheel or wheels, preferably by a mechanical brake and / or braking by appropriate connection of the motor ,

The rotation of the walker is done in this fall mode preferred in that the user holds during the fall on the stick and the walker jumps forward. This results in an active rotation, the wheel-carrying axis transverse to the direction of travel. Preferably, the walker can also take into account the holding force with which the user acts on the walker or on the handle. Suitably, the holding force is determined by the user detection device.

By additionally incorporating the holding force F, a qualitatively better fall detection or fall prevention or catching function can preferably be implemented. The walking aid may comprise a movement of at least parts of the walking aid in one dimension, for example the direction of travel of the walker or of the user. In this case, there is usually a compensating translational movement of at least the lower end of the walking aid in the direction of an X-axis which is rectified with the direction of movement, wherein the walking aid rotates at least partially about the L-axis or Y-axis. Preferably, the walking aid described may comprise a two-dimensional movement of at least parts of the walking aid, in which the walking aid or parts of the walking aid move in translation in the X-direction and the Y-direction. Such a two-dimensional movement can be realized, for example, by a rotation of the walking aid relative to the vertical (or Z-axis) and then a following translational movement of the walking aid. But other suitable means for covering a distance in an XY plane are conceivable. For example, the at least one driven wheel could be designed as a ball that can be driven in the X direction and in the Y direction. Such a two-dimensional walking aid can preferably have at least one acceleration sensor and one tilt sensor, each detecting changes in at least two dimensions.

The walking aid can preferably recognize the inclination W _XZ and W _YZ and / or the acceleration with respect to the X-axis and the Y-axis, from which the walking aid calculates a holding position or a holding compensating travel distance. The walker then places the compensation distance in the XY plane.

Even with the two-dimensional catching function, the walker turns around the L-axis.

Preferably, the walker comprises a joint coupling, which allows a relative movement between the lower portion of the walker and the upper portion of the walker, preferably between parts in the region of the lower end of the connecting element arranged base and the upper end of the connecting element. The coupling can be carried out preferably actively controlled. Further preferably, the coupling is in the vicinity of the base or the at least one wheel.

Preferably, the walker in the active state determines whether the user contacted the walker. Further advantageously, the walker defines in the active state, the position at which the user lets go of the walker, as the reference position. The walker may also determine the position of the user himself as Define reference position. Advantageously, the walker navigates to a predetermined position, in particular to the reference position, at least partially automatically. A predetermined position can be any position previously determined by the user and / or the walker.

For example, if the user lets go of the walker and the walker is then moved by an external force, such as being exercised by a passing pedestrian or an animal, the walker automatically navigates back to the designated reference. As a reference position, the walker has stored, for example, the point at which the user has let go of the walker. Not only does this keep the walker upright, it also ensures that the walker navigates back to the point of origin where the user released the walker. For this purpose, for example, the signal of the rotary encoder can be evaluated. The walker advantageously changes this reference position only when the walker recognizes use by the user. This automatic backward navigation to the reference position or "position tracking" is preferably switched off during the collection process explained above. After a retrieval operation, the backward navigation to the reference position can be continued in an expedient embodiment.

In another application, the user would like to walk without the walker and therefore initiates a mode in which the walker perceives the user himself as a reference position and follows this reference position. In other words, the walker runs after the user. The walker can use any suitable method and device, such as IR sensors, cameras, ultrasonic sensors, transponders, etc. for this application.

According to a further aspect of the invention, the walking aid navigates back to a reference position known to the user, for example the position of a charging station. This is particularly advantageous in situations where the user can no longer remember the current position of the walker. Also, this feature can be useful if the user no longer wants to use the walker and he wants to cause the walker to even find their way back to the charging station. It is also conceivable that the walker automatically goes to the charging station after a specified period of time to recharge the battery or to read out any data of the walker.

Advantageously, a user can initiate navigation to a predetermined position, such as to the family doctor, for care, to the apartment, etc. The walker and / or the navigation device can, for example, a human-machine communication interface, eg. As a touch display, in which arbitrary information, such as the route guidance, the distance, stairs, alternative routes, etc. are displayed.

Further advantageously, the walker is able to determine a user's locomotion object by means of the object detection device. Conveniently, the walker navigates the user along a determined alternative route. Alternatively, the walker can also stop, for example, if no suitable alternative route can be determined. The walker, in particular the position control device, expediently determines an alternative route based on at least one of the signals of the object detection device, the position determination device and / or the predetermined position. The evasive response of the walker expediently depends on at least the relative speed with which an object of the walker approaches, on the distance between the object and the walker, as well as on the relative position or the angle of the object to the walker or the user. The avoidance function or this "avoidance mode", also called "obstacle avoidance", is preferably activated only when the user contacts the walker. Alternatively or additionally, the walker may issue a warning signal that signals the user that an object is in the way and / or that the user should stop. Furthermore, the walker may preferably reduce the speed. Preferably, the walker further takes into account the feedback of the at least one distance detection device, in particular in at least one of the modes: Dodge mode, automatic backward navigation, user tracking mode, fallback mode and / or self-balancing.

Preferably, the walker recognizes their use. Suitably, the walker can identify the user, preferably automatically. The walking aid can preferably identify the user of the walking aid on the basis of the data that has been recorded by means of the user detection device and / or by a sensor element. Alternatively or additionally, one or more other suitable identification devices, such as a key, an RFID chip, a text input, etc., are conceivable. Such identification can protect against confusion of the walker and / or theft, for example.

Preferably, the method further comprises a calibration step in which the walker is calibrated to the respective user. The initialization or calibration, also called "initialization mode", includes setting at least one operating parameter of the walker to one User, preferably based on stored data of the user. Suitably, the walker can for different users different settings, for example, different operating parameters, store. Preferably, the initialization further comprises a learning mode. Conveniently, the walker can learn the operating parameters in the learning mode. Alternatively or additionally, a user may enter the parameters via the man-machine communication interface.

The walker determines, for example, the average travel speed and the average acceleration for a straight-ahead or cornering. Further, during initialization, the critical angle or inclination angle that occurs during ordinary use is determined. The critical angle is thus a case parameter which indicates the maximum achievable angle of inclination of the walking aid at which no fall yet occurs. This angle is preferably set as the maximum achievable angle of inclination. An operating parameter that can be taken into account during initialization is, in addition to the critical angle of inclination, its angular acceleration. Preferably, the walker automatically switches to the "User Tracking" mode after a predetermined time. During initialization, the fallback mode may preferably be deactivated. The initialization preferably corresponds to the "user tracking".

Hereinafter, the features and advantages of the present invention will be described with reference to preferred embodiments with reference to the figures. Showing:

1 a schematic structure of a walker 1 in the side view,

2 a walker 1 with a focus S1 ( 2a ) as well as a walker 1 with a resulting focus S ( 2 B )

3 an unloaded walker ( 3a ), an assistant and user ( 3b ), as well as a walker with user and additional load ( 3c )

4 a walker during a retrieval process, wherein in 4a initially the upper part is deflected and in 4b the lower part of the walker is in the support position,

5 a schematic representation of the control modes,

6 the basic structure of the center of gravity position control, and

7 an object detection device.

1 shows schematically the structure of a walking aid according to the invention 1 , The walker comprises a connecting element designed as a rod 3 , at the upper end of a handle 5 is attached. Under control 5 integrated are the sensor element 23 and the user detection device 17 , At the rod 3 is also a fastener 29 provided in the form of a hook to which additional objects, such as handbags or shopping bags can be attached. At the bottom of the pole 3 There are two wheels on the side 9 arranged on a common axis L which is perpendicular to the direction of travel X in the Y direction. The wheels are in operative connection with two drives designed as DC motors 7 , The DC motors 7 be from a battery 27 energized, which is also at the bottom of the walker 1 is arranged. Furthermore, the walker includes 1 a position determining device comprising a GPS 25 , an object detection device comprising three IR sensors 19 , a gyroscope serving as an acceleration sensor 13 , as well as a tilt sensor 11 , Furthermore, two rotary encoders are in the drive train 21 provided the distance traveled by the wheels 9 the walker 1 to capture. Furthermore, the walker includes 1 a control unit designed as a PID controller unit 15 , The angle W _XZ between the center line of the rod 3 and the vertical indicates the angle of inclination to which the walker 1 deviates from the vertical in the X direction.

2a shows a walker 1 in self-balanced state. The center of gravity S1 of the walker 1 is located on the axis of the connector 3 , here preferably above the axis L of the walker 1 , 2 B shows a walker 1 , which is loaded with an additional external weight, here a shopping bag. Together with the center of gravity S _{1 of} the walking aid, the center of gravity S _{G of} the shopping bag results in the resulting center of gravity S. The resulting center of gravity S is in the balanced state of the walking aid 1 on a dash-dotted line in the figure vertical, connecting the two wheels connecting axis L with the resulting center of gravity S. An overturning of the walker is thus avoided in the active state.

3 shows a walker 1 without user ( 3a ), a walker with a user A ( 3b ), as well as a walker loaded with a shopping bag 1 with a user A ( 3c ). The walker 1 is also in the state in which the user A is at the walker 1 holding on, able to keep the balance. Similar to 2 B this results in the in 3c illustrated application case, a tilt angle W _XZ .

4a shows a falling user A. User A is exercising the grip 5 an heightened Force F off and push the walker 1 in the direction of travel X. After the angle of inclination W _XZ has exceeded the threshold angle W _G , the walker goes 1 in the fall arrest mode and calculates a compensation path X _F , which is the wheels 9 the walker 1 must traverse to intercept the user A safely. The calculation of the compensation path X _{F is} accompanied by the calculation of a position and position of the walker 1 which is suitable to intercept the user A. In the 4a this suitable collection position is shown in dashed lines.

4b shows the walker in the determined collection position at the end of the collection process. The lower part of the walker 1 has covered the compensation distance X _F and the wheels 9 stay in this position. The user A can thus access the walker 1 support and effectively catch the fall.

5 shows a schematic overview of the different modes of the walker 1 , During initialization, the walker is set to the respective user. These settings can be used for further operation of the walker, for example for the fallback function. Once the walker operating parameters have been determined, the walker may be operated in the user tracking mode and / or the fallback mode.

The user tracking and / or the avoidance mode may be activated or deactivated by, for example, a user detection function implemented, for example, by an IR sensor or a laser range finder in the vicinity of the handle or by a pressure sensor in the grip. If, for example, the walker recognizes that a user does not surround the walker, it changes from the user tracking mode and / or the fallback mode to the self-balancing mode and / or the automatic backward navigation mode. If the user grasps the grip of the walking aid again, the walking aid again detects the user and switches again into the mode of user tracking and / or the fallback mode.

The automatic backward navigation of the walker, which is advantageously integrated into the self-balancing function, allows the walker to return to the reference position at which the user released the walker. Alternatively, the walker can also travel back to another predetermined position. So it can be changed, for example by means of a computer, the reference position. The walker then moves in self-balanced state to this new reference position. For example, the walker can drive alone to a charging station without a user.

The evasive mode is here a function that detects an occurrence of an obstacle by means of strategically arranged infrared distance sensors or by means of acoustic sensors. The obstacle is then communicated to the position control unit, which then transitions from the passive user tracking to an active fallback navigation and navigates the user A around the obstacle. The walker 1 guides user A around the obstacle on the right or left, if possible. Otherwise, the walker stops 1 to avoid a collision with the obstacle. This function is advantageously only activated if the user acquisition has determined the use by a user A. In other words, preferably the avoidance function or the avoidance mode is switched off during the self-balancing, so that the user A can approach the walker without the walker 1 perceives the user A as an obstacle.

The emergency mode or "emergency shutdown" is a feature that uses, for example, the signal from the rotary encoder to determine if the walker 1 has a malfunction. But other signals, such as the motor voltage can be evaluated to determine an overload of the walker. The walker goes into emergency mode, if a stable operation is at least temporarily not possible. The walker 1 then performs predetermined emergency routines. For example, the walker shuts off the engine. After a specified rest period or after a manual reset, the walker can continue to operate. Preferably, an initialization can be performed again for this purpose.

How out 5 visible, activates the walker 1 the fall-off mode after the inclination angle W has exceeded a slope angle of inclination W _G. Advantageously, the walker changes 1 only in fall arrest mode when user A is the walker 1 contacted. If the walker is operated in the fallback mode, the automatic backward navigation function is preferably deactivated until the fall of the user A is prevented and the user A himself and the walker 1 brought back to the upright position. At this point, it is advisable to reinitialize and the walker 1 For example, it then switches to the user tracking mode and / or the fallback mode.

In 6 is an example of the regulation of self-balancing shown in more detail. The self-balancing mode preferably employs two control systems. A first system that ensures the walker 1 complies with the translational and rotational position, and a second system, which avoids a rotation about the vertical Z-axis.

In this embodiment, by means of a gyroscope, the acceleration of the walker 1 relative to the axis L of the walker 1 determined. By integration of the signal from the gyroscope is obtained using suitable filters of the inclination angle W, which is compared with a reference angle W _R. The walker 1 also uses the signal from the encoders to determine the current position and the current acceleration of the walker 1 ,

Two PD controllers are used for controlling the angle of inclination W and the translatory dislocation. The current position of the walker 1 is compared with a reference position X _R. From the thus determined signals can be calculated according to the formula described below, a voltage Stress = K _xp (X - X _R ) + K _xd (X ') + K _ap (W - W _R ) + K _ad (W') (1) in which
K _xp , K _xd , K _ap , K _ad gain factors,
X is the current position of the walker 1 .
X 'the temporal change of the current position,
X _{R is} the reference position of the walker 1 .
W the angle of inclination of the walker 1 to the vertical,
W 'the temporal change of the angle of inclination and
W _{R represents} the reference tilt angle.

The voltage can be determined using a battery voltage compensator and another compensator to take into account the engine friction the necessary motor voltage.

The walker 1 is controlled in user tracking mode so that the lower base of the walker 1 the upper part of the walker 1 (and thus the user) tracked balancing. As a result, the user can preferably be supported on the walker without losing his balance. User A is exercising on the walker at a time 1 a strength to which the walker 1 is not in the upright position, then the base of the walker must be moved to avoid slippage of the walker. The control of the walker 1 is essentially comparable to the control in the mode of self-balancing, but K _xp , K _xd , K _{ad take} the value 0 and the signal of the angle of inclination is integrated and multiplied by a factor K _ai . The voltage of the resulting PI controller is thus determined according to the following formula Stress = K _ap (W - W _R ) + K _ai (∫ W) (2) in which
K _ap, K _ai gains,
W the angle of inclination of the walker 1 to the vertical and
W _{R represents} the reference tilt angle.

From the voltage thus obtained, the motor voltage is again determined using suitable compensators.

If the walker changes to fallback mode, the control algorithm no longer tracks the target, the walker 1 to bring in the upright position or to realize a tilt angle W equal to 0. The scheme instead tries the walker 1 to bring as soon as possible into a previously calculated and to intercept the user A suitable position X _{catch_fall} . This appropriate position results from the information of how fast the user has moved when the walker has entered the recovery mode. As a controller again comes a PD controller is used, but not the inclination angle W but only the distance X is taken into account. From the formula Stress = K _xp (X - X _{catch_fall} ) + K _xd (X ') (3) results in a voltage from which in turn is determined by suitable compensators, the motor voltage.

7 shows an example of an embodiment of the object detection device 19 , The object detection device 19 consists of three infrared sensors 19-1 . 19-2 . 19-3 , side by side on the entire width of the walker 1 are arranged. From the different responses of the three sensors, the average distance of the object and the relative angle of the object to the walker can be determined. Based on this feedback, the walker then determines an alternative route if necessary.

The invention also includes the exact or exact terms, features, numerical values or ranges, etc. when, above or below, these terms, features, numerical values or ranges are used in conjunction with terms such as, for example. B. "about, about, to, essentially, in general, at least, at least", etc. were called (ie "about 3" should also "3" or "substantially radially" should also include "radial"). The term "or" also means "and / or". Each of the above and other features and elements may be used separately or in combination with other features and elements. The detailed description is merely intended to provide those skilled in the art with further details for practicing preferred aspects of the present invention, and is not intended to limit the scope of the invention, which is defined solely by the claims.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 10318929 B3 [0002]
• DE 102009031128 A1 [0003]
• WO 2010/053740 A1 [0020]
• EP 1980479 A1 [0020]

Claims (15)

Walker ( 1 ), comprising: - an elongated connecting element ( 3 ) with an upper end and a lower end, - at least one handle ( 5 ), which at the upper end and / or near the upper end of the connecting element ( 3 ), - at least one drive ( 7 ), which has at least one wheel ( 9 ) rotatable about an axis (L) at the lower end and / or near the lower end of the connecting element (Fig. 3 ), and - at least one control unit ( 15 ), - whereby the control unit ( 15 ) the drive ( 7 ) controls such that the walker ( 1 ) is kept in balance. Walker ( 1 ) according to claim 1, comprising - at least one inclination sensor ( 11 ), the inclination (W) of the walker ( 1 ) to the vertical, and / or - at least one acceleration sensor ( 13 ), the acceleration (B) of the walker ( 1 ), wherein the control of the drive ( 7 ) based on the measured slope (W) and / or acceleration (B). Walker ( 1 ) according to one of the preceding claims, further comprising a user detection device ( 17 ), which determines whether a user (A) the walker ( 1 ) contacted. Walker ( 1 ) according to one of the preceding claims, further comprising an object detection device ( 19 ) for the detection of objects in the environment of the walker ( 1 ) and / or the user (A). Walker ( 1 ) according to one of the preceding claims, further comprising at least one distance detection device ( 21 ) for detecting one of the walker ( 1 ) traveled distance. Walker ( 1 ) according to one of the preceding claims, further comprising at least one sensor element ( 23 ) for detecting at least one further parameter influenced by the user (A). Walker ( 1 ) according to one of the preceding claims, further comprising a position-determining device ( 25 ) for determining the position of the walking aid ( 1 ). Method for controlling a walking aid ( 1 ) according to one of the preceding claims, with a center of gravity attitude control, comprising the steps: - determining an actual position of a resulting center of gravity (S), and / or - if the axis (L) is not below the center of gravity (S) Image: Driving the at least one wheel ( 9 ) until the axis (L) is below the resulting center of gravity (S). Method according to claim 8, further comprising: determining the inclination (W) of the walking aid ( 1 ) to the vertical, and / or - detecting the acceleration (B) of the walker ( 1 ). Method according to claim 8 or 9, wherein the determination of the actual position of the resulting center of gravity (S) comprises: determining the actual position of the center of gravity (S ₁ ) of the walking aid ( 1 ), - determining the actual position of at least one further center of gravity (S _E ) of an external object, and - calculating the resulting center of gravity (S). Method according to one of the preceding claims 8 to 10, further comprising: detection of a threatening or occurring fall of a user (A) by means of a fall detection, - calculating a compensation path distance (X _F ), the at least one wheel ( 9 ), so that the walker ( 1 ) stops the user, - covers the compensation path (X _F ), - holds the at least one wheel to give the user a grip. Method according to one of the preceding claims 8 to 11, - wherein the walking aid ( 1 ) in the activated state determines whether the user (A) the walker ( 1 ), wherein the walking aid ( 1 ) in the active state the position at which the user (A) the walking aid ( 1 ), defines as reference position (P), - whereby the walking aid ( 1 ) determines the position of the user (A) as a reference position (P), and / or - wherein the walker ( 1 ) to a predetermined position, in particular to the reference position (P), at least partially automatically navigated. Method according to one of the preceding claims 8 to 12, wherein the walking aid ( 1 ) an object which hinders the locomotion of the user (A) with the aid of the object detection device ( 19 ) and navigates or stops the user (A) along a determined alternate route. Method according to one of the preceding claims 8 to 13, further comprising: - detecting a use of the walker ( 1 ), - identifying the user (A), - calibrating the walker ( 1 ) to the respective user (A), and / or - activating the walking aid ( 1 ), in particular the center of gravity attitude control and / or the navigation to a predetermined position. A method according to claim 13 or 14, wherein the walking aid ( 1 ) an alternative route is only determined if the user (A) the walker ( 1 ) contacted.

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