CN110613566A

CN110613566A - Function auxiliary device

Info

Publication number: CN110613566A
Application number: CN201910928033.5A
Authority: CN
Inventors: 柯建; 单兰宇; 姚江舟
Original assignee: Shanghai Zunyi Intelligent Technology Co Ltd
Current assignee: Shanghai Zunyi Intelligent Technology Co Ltd
Priority date: 2019-09-27
Filing date: 2019-09-27
Publication date: 2019-12-27

Abstract

The invention provides a machine-aided device, which comprises an input module, a navigation module, a control module and a plurality of motors, wherein the input module is used for inputting an operation command by a user, the navigation module is used for planning a path according to the command input by the user, the control module is used for outputting a control command according to the path planned by a navigation system, and the motors are used for running or stopping according to the control command of the control module; the input end of the navigation module is connected with the input module, the input end of the control module is connected with the output end of the navigation module, and the input end of each motor is connected with the output end of the control module through a CAN bus. Function auxiliary device can solve the disability personage to a certain extent and carry out the problem of getting on and off the bed voluntarily, like lavatory, shower etc, can satisfy the removal demand of shifting in the life under the most circumstances simultaneously, can also realize the function rehabilitation training of disability personage through the change that utilizes the base form, can reduce the dependence of disability personage to nursing staff, promote degree of freedom and autonomy in their life.

Description

Function auxiliary device

Technical Field

The invention relates to the technical field of function assistance, in particular to a function assistance device.

Background

The walking function is an important function of a human body, and for a person losing the walking function, the movement and the displacement of the person need to be assisted by a wheelchair, but the current wheelchair has a single function and can only solve the displacement problem. Disabled people still need to be assisted by nursing staff to a great extent, and the freedom and autonomy in life are greatly limited.

The existing wheel chair cannot solve daily living pain points of incapacitated people, such as: the disabled people can get on or off the bus, go out of the bus and go into a bath, get on or off the bus and the like, and the self-care life capacity of the disabled people is greatly limited.

Disclosure of Invention

In view of the shortcomings in the prior art, the present invention aims to provide a functional auxiliary device to solve the problems of the wheelchair for assisting walking in the prior art that the function is single and the self-care ability of the person who loses walking ability cannot be improved from multiple aspects.

Therefore, the invention provides the following technical scheme:

a functional assistance device comprising:

the input module is used for inputting an operation command by a user;

the input end of the navigation module is connected with the input module and used for planning a path according to a command input by a user;

the input end of the control module is connected with the output end of the navigation module and used for outputting a control instruction according to the path planned by the navigation system;

and the input end of each motor is connected with the output end of the control module through a CAN bus and is used for running or stopping according to the control instruction of the control module.

Further, the control module comprises a 485 communication unit, a CPU, a CAN communication unit and a motor control unit which are connected in sequence, wherein the input end of the CPU is connected with the output end of the navigation module through the 485 communication unit, and the output end of the motor control unit is connected with the input end of each motor through a CAN bus.

Furthermore, the navigation module comprises a navigation control unit and a ranging sensor which are connected with each other, the ranging sensor is used for detecting the distance of an obstacle or a target position and transmitting the distance to the navigation control unit, and the navigation control unit updates a navigation path in real time according to data transmitted by the ranging sensor.

Further, the ranging sensor includes at least one of a laser ranging sensor, an ultrasonic ranging sensor, and a magnetic sensor.

Further, the navigation module further comprises a gyroscope, the gyroscope is connected with the navigation control unit, the gyroscope comprises an angular velocity meter and an accelerometer, and the angular velocity meter is used for detecting a pitch angle, a roll angle and a yaw angle of the function auxiliary device and judging whether the function auxiliary device is balanced or deviates from a preset route; the accelerometer is used to detect the severity of the change in the speed of travel of the function aid.

Further, the motor includes at least two forward in-wheel motors for driving the function assisting device to travel forward and turn and at least two backward in-wheel motors for driving the function assisting device to travel backward.

Further, the motor also comprises a plurality of lifting motors, and the lifting motors are used for driving the function auxiliary device to integrally lift.

Further, the motor further includes a folding/unfolding motor, the folding/unfolding motor is used for driving the function auxiliary device to be folded into the seat state in a forward rotation mode, and the folding/unfolding motor is used for driving the function auxiliary device to be unfolded into the flattening state or the unfolding state with the inclination angle in a reverse rotation mode.

Furthermore, the function auxiliary device is provided with a telescopic rod for supporting the gravity center position, and the motor further comprises a telescopic motor, wherein the telescopic motor is connected with the telescopic rod and used for adjusting the telescopic length of the telescopic rod according to the state of the function auxiliary device.

Further, the motor also comprises an armrest adjusting motor connected with the armrest of the function assisting device, and the armrest adjusting motor is used for driving the armrest to fold or widen and move.

Further, the motor also comprises a pedal adjusting motor connected with a pedal of the function auxiliary device, and the pedal adjusting motor is used for adjusting the pedal to be folded upwards or turned downwards.

Further, the motor further comprises a headrest adjusting motor connected with a backrest of the function assisting device, and the headrest adjusting motor is used for adjusting the height or the length of the backrest.

Further, the input module comprises at least one of an interactive interface, a remote control handle, a hall operating handle and an intelligent terminal.

Compared with the prior art, the function auxiliary device of the invention at least has the following beneficial effects:

function auxiliary device for the life of the disabled person who has lost walking function lives in, it can solve the disabled person to a certain extent and independently like lavatory, go up and down the bed, shower scheduling problem, can satisfy the removal demand of shifting under the majority situation in the life simultaneously, can also realize the function rehabilitation training of disabled person through the change that utilizes the base form. Therefore, the dependence of disabled people on nursing staff can be reduced, and the freedom degree and the autonomy of life of the disabled people are improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a schematic diagram illustrating a functional aid module connection provided by an embodiment of the present invention;

FIG. 2 is a schematic diagram of a navigation module of the performance aid provided by an embodiment of the invention;

fig. 3 is a schematic diagram illustrating a function assisting device control module according to an embodiment of the present invention.

Detailed Description

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

Examples

As shown in fig. 1, a functional assistance device includes:

an input module 100 for a user to input an operation command;

the input end of the navigation module 200 is connected with the input module 100, and is used for planning a path according to a command input by a user;

the input end of the control module 300 is connected with the output end of the navigation module 200 through a 485 communication bus, and is used for outputting a control instruction according to the path planned by the navigation system;

and the input end of each motor 400 is connected with the output end of the control module 300 through a CAN bus, and is used for operating or stopping according to the control instruction of the control module 300.

In this embodiment, the function assisting device is generally applied to an indoor environment, and is used for assisting the elderly or people with mobility disabilities to finish self-care behaviors such as getting on or off a bed, standing, going to a toilet, bathing, going out and the like. In the course of assisting the old or the mobility-impaired people, the input module 100 may input an operation command, such as going to a toilet for toileting, getting on and off the bed, etc. According to the input operation command, the navigation module 200 transmits the planned optimal path to the control module 300, the control module 300 correspondingly outputs a control command to each corresponding motor 400, and controls and drives the corresponding motor 400 to operate and stop to complete the command input by the user at the input module 100, so that the old or the disabled people with mobility disabilities are finally assisted to complete various self-care behaviors, dependence of the old or the disabled people with mobility disabilities on nursing staff is greatly reduced, and the freedom degree and autonomy of the life of the old or the disabled people are improved.

Specifically, the input module 100 may be a button for reaching the function auxiliary device by a key set on its interactive interface (such as a display screen), or other users may control the function auxiliary device to advance and move through a remote control handle, or disable people may control the function auxiliary device to advance and move through a hall control handle provided on the function auxiliary device, or control through a corresponding APP on the smart terminal; of course, the above manners may be combined to realize the input of the operation command.

In addition, in this embodiment, the control module 300 is connected to each motor 400 through a CAN bus, the CAN bus works in a multi-master mode, and each motor 400 in the network CAN access the priority according to the bus, so that the data communication between each motor 400 in the network formed by the CAN bus is strong in real-time, and the reliability and the flexibility of the system are improved.

Specifically, referring to fig. 2, the control module 300 includes a 485 communication unit 310, a CPU320, a CAN communication unit 330, and a motor control unit 340, which are connected in sequence, wherein an input end of the CPU320 is connected to an output end of the navigation module 200 through the 485 communication unit 310, and an output end of the motor control unit 340 is connected to an input end of each of the motors 400 through a CAN bus.

The CPU320 is in communication connection with the navigation module 200 through a 485 communication unit 310; two-wire system communication is adopted between the CAN communication unit 330 and the CPU320, only CANH and CANL are needed to be connected with a physical bus, node mode communication is adopted between the CAN communication unit 330 and the motor control unit 340, the motor control unit 340 has an automatic output closing function under the condition that serious errors occur in the control of a certain motor 400 node, so that the operation of other nodes on the bus is not affected, the problem of individual nodes in the network is avoided, the bus is in a deadlock state, and the stability of the whole system is ensured.

Further, referring to fig. 3, the navigation module 200 includes a navigation control unit 210 and a ranging sensor 220 connected to each other, the ranging sensor 220 is configured to detect a distance of an obstacle or a destination and transmit the distance to the navigation control unit 210, and the navigation control unit 210 updates a navigation path in real time according to data transmitted by the ranging sensor 220.

In the present embodiment, the planned route of the navigation module 200 of the function support apparatus is implemented by: firstly, scanning an operation area by combining a laser scanning radar with a ranging sensor 220 to construct a three-dimensional model map of the operation area and storing the three-dimensional model map, wherein the three-dimensional model map can be displayed on a display screen of an energy auxiliary device, a user can set an indoor common place on the three-dimensional model map displayed on the display screen, and the setting process can be realized by directly clicking a specific model place on the three-dimensional model map; after the common locations are set, the one-key arrival buttons corresponding to the common locations are displayed on the display screen, and the navigation control unit 210 can automatically plan the route to the clicked location only by clicking the button corresponding to the desired location by the user.

Of course, in the process of position switching and traveling, the function assisting device can automatically identify the obstacle in real time through the ranging sensor 220 (for the obstacle with the unchanged long-term position, the obstacle is automatically identified as a fixed obstacle), and make an avoidance; in the dead angle and other positions, the automatic stop can be realized, and the condition that the machine is damaged or the user is injured due to collision is avoided. And a new path can be formed according to the real-time position optimization planning of the barrier, and the new path is stored, and can be directly called to navigate when the same place is selected next time.

During each operation, the operation environment of the function aid may change more than once, such as the movement of the table and chair. In order to rapidly plan the optimal path in the changed operation environment of the function assisting device, the function assisting device scans the traveling area in real time during each operation process, and updates the three-dimensional model map stored in the previous operation, so that the navigation control unit 210 updates the navigation path in real time according to the data transmitted by the ranging sensor 220.

Specifically, the ranging sensor 220 includes at least one of a laser ranging sensor, an ultrasonic ranging sensor, and a magnetic sensor.

The laser can compensate the inaccurate measurement caused by the fact that the ultrasonic waves are easily interfered when encountering sound absorption objects, and the ultrasonic waves can compensate the inaccurate measurement result caused by the fact that the laser cannot detect transparent objects; through mutual compensation and correction of laser and ultrasonic waves, the accuracy of the constructed three-dimensional model graph is greatly improved; in the distance measurement process, when an opaque object which cannot be penetrated by ultrasonic waves and laser light is encountered, such as clothes, bed sheets and the like, the magnetic sensor can be used for supplementing distance measurement. The magnetic sensor utilizes magnetic field signals, can easily detect signals through a light and thin object, and can measure even if a leaflet device and a measured object are not on a uniform plane. Therefore, the present embodiment may adopt one of the distance measuring sensors 220, or may adopt a combination of the three.

Further, the navigation module 200 further includes a gyroscope 230, the gyroscope 230 is connected to the navigation control unit 210, the gyroscope 230 includes an angular velocity meter 231 and an accelerometer 232, the angular velocity meter 231 is configured to detect a pitch angle, a roll angle and a yaw angle of the function aid, and determine whether the function aid is balanced or deviates from a preset route; the accelerometer 232 is used to detect the severity of the change in the speed of travel of the function aid.

The gyroscope 230 is primarily used to detect the smoothness of the performance aid during travel. The pitch angle detected by the angular velocity meter 231 is mainly used for judging the deviation angle of the function auxiliary device in the up-down direction, the detected yaw angle is used for judging the deviation angle of the function auxiliary device in the left-right direction, and the detected roll angle is used for judging whether the function auxiliary device has a pre-rollover phenomenon; when the three angles exceed a certain value, the navigation control unit 210 controls the optimized route or the traveling mode to keep the balance of the function auxiliary device, thereby improving the safety performance.

The accelerometer 232 is used to detect whether there is a rapid acceleration or an emergency braking condition of the function aid, and when it is detected that the intensity of the speed change exceeds a certain range (i.e. it is detected that the absolute value of the acceleration detected by the function aid exceeds a certain value), the motion state of the function aid is considered to change rapidly, and the navigation control unit 210 transmits the condition to the control module 300, and controls the operation speed of the corresponding motor 400 to control the speed of the function aid, so as to maintain the balance of the function aid.

In addition, in the distance measurement process, since the function assisting device is inclined or there is a slope in the environment, and at this time, there may be an error in the distance measured by the ultrasonic distance measuring sensor and the laser distance measuring sensor, the inclination angle may be measured by the gyroscope 230, and an angle correction is provided for the distance calculated by the ultrasonic distance measuring sensor and the laser distance measuring sensor.

Specifically, the motor 400 includes at least two forward hub motors and at least two backward hub motors, the forward hub motors are used for driving the function auxiliary device to advance forward and turn, the backward hub motors are used for driving the function auxiliary device to retreat and advance, and the four hub motors can also be driven in four directions at all times and used for climbing or obstacle crossing.

When the control instruction sent by the motor control unit 340 is forward running, the two forward hub motors of the function auxiliary device are controlled to rotate forwards; when the control instruction sent by the motor control unit 340 is backward movement, the two backward directions of the function auxiliary device are controlled to reversely rotate towards the hub motor; when the control instruction sent by the motor control unit 340 is turning, controlling the two forward hub motors of the function auxiliary device to rotate in a differential manner; in the running process, when the slope exists or the obstacle needs to be overcome, the hub motor is changed from a two-drive mode to a full-time four-drive mode; when the distance measuring sensor 220 detects the target position of the function auxiliary device or meets an obstacle, the wheel hub motor is controlled to stop or rotate at a differential speed.

Further, the motor 400 further includes a plurality of lift motors for driving the function assisting device to integrally lift and lower.

The function assisting device is usually connected to the target position, for example, when the function assisting device is connected to a bed or a toilet, the height of the function assisting device is matched with the height of the bed or the toilet, so as to assist the old or disabled to smoothly finish the actions of getting on or off the bed or going to the toilet. In these docking processes, it is of utmost importance that the docking with the target location is highly successful. Detecting the height difference value between the function assisting device and the target position environment through the distance measuring sensor 220 to judge whether the height of the function assisting device is matched with that of the target position environment; when the height difference is smaller than or equal to the preset height difference, the height of the function auxiliary device is matched with the height of the target position environment, and the butt joint action can be completed. Through the operation of the lifting motor, the accuracy of butt joint can be greatly improved.

Further, the motor 400 further includes a folding/unfolding motor, which is used to drive the function assisting device to be folded into the seat state in the forward rotation direction, and is used to drive the function assisting device to be unfolded into the flat state or the unfolded state with an inclination angle in the reverse rotation direction.

The function assisting device can also change the state in real time according to the environment of the target position, and the change state of the function assisting device is three types: a seat state, a flat state, and a reclined deployment state. The specific changes in the three states are as follows: when the target position environment is suitable for the sitting posture of the human body, the folding/unfolding motor of the function auxiliary device is controlled to rotate positively, and the function auxiliary device is folded into a seat state (such as travelling and toileting); when the target position environment is suitable for the lying posture of the human body, the folding/unfolding motor of the function auxiliary device is controlled to rotate reversely and is unfolded into a flat state (such as assisting the user to get on or off the bed); when the target position environment is suitable for the standing posture of the human body, the folding/unfolding motor of the function auxiliary device is controlled to rotate reversely and is combined with a part of lifting motor to operate, and the function auxiliary device is unfolded into an inclined unfolding state (such as auxiliary standing and bathing).

Further, the function aid has a telescopic rod (not shown) for supporting the position of the center of gravity, and the motor 400 further includes a telescopic motor connected to the telescopic rod for adjusting the telescopic length of the telescopic rod according to the state of the function aid, thereby adjusting the position of the center of gravity of the device and maintaining the balance.

This function auxiliary device is at the switching process of various states, and human body corresponding gravity center position can change, and then the telescopic link corresponds the gravity center position of supporting and need adjust, adjusts the flexible length of telescopic link through flexible motor to reach the effect of adjustment focus.

The function auxiliary device can measure the included angle under the condition that the gravity center is unstable due to the slope or the factors of the device per se through the gyroscope 230, when the included angle exceeds a certain range, the gravity center adjusts the motor to operate, the gravity center of the function auxiliary device moves forwards and backwards, and the safety of the function auxiliary device is further improved.

Further, the motor 400 further includes a handrail adjustment motor connected to a handrail (not shown) of the function assisting device, and the handrail adjustment motor is used for driving the handrail to move in a converging or widening manner.

The function auxiliary device can detect the distance between the handrail and the supported human body through the handrail ranging sensor, and when the distance is too small, the handrail is driven to move outwards in a widening way by controlling the handrail adjusting motor to rotate towards one direction; when the distance is too large, the handrail is driven to fold inwards by controlling the handrail adjusting motor to rotate in the opposite direction; finally, the handrail and the human body always keep an optimum distance, and the use experience of the user is greatly improved.

Further, the motor 400 further includes a pedal adjustment motor connected to a pedal (not shown) of the function assisting device, and the pedal adjustment motor is used for adjusting the pedal to be folded up or folded down.

The height of the feet can be adjusted according to the leg length through the pedal adjusting motor, so that the feet of a user can be placed in the most comfortable state, and the comfort of the user in the use process is greatly improved.

Further, the motor 400 further includes a headrest adjusting motor connected to a backrest (not shown) of the function assisting device, and the headrest adjusting motor is used to adjust the height or length of the backrest.

In the actual use process, the height and the length of the backrest required by people with different statures are different, the height or the length of the backrest can be adjusted according to actual requirements through the headrest adjusting motor, and the comfort of a user in the use process is also improved.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A functional assistance device, comprising:

the input module is used for inputting an operation command by a user;

2. The function auxiliary device of claim 1, wherein the control module comprises a 485 communication unit, a CPU, a CAN communication unit and a motor control unit which are connected in sequence, wherein an input end of the CPU is connected with an output end of the navigation module through the 485 communication unit, and an output end of the motor control unit is connected with an input end of each motor through a CAN bus.

3. The function aid of claim 2, wherein the navigation module comprises a navigation control unit and a ranging sensor connected with each other, the ranging sensor is used for detecting the distance of an obstacle or a destination and transmitting the distance to the navigation control unit, and the navigation control unit updates a navigation path in real time according to data transmitted by the ranging sensor.

4. The function aid of claim 3, wherein the ranging sensor comprises at least one of a laser ranging sensor, an ultrasonic ranging sensor, and a magnetic sensor.

5. The performance aid of claim 2, wherein the navigation module further comprises a gyroscope connected to the navigation control unit, the gyroscope comprising an angular velocity meter and an accelerometer, the angular velocity meter being configured to detect a pitch angle, a roll angle and a yaw angle of the performance aid, and determine whether the performance aid is balanced or off-course; the accelerometer is used to detect the severity of the change in the speed of travel of the function aid.

6. The function aid of claim 1, wherein the motors comprise at least two forward hub motors for driving the function aid to travel forward and turn and at least two backward hub motors for driving the function aid to travel backward.

7. The performance aid of claim 1, wherein the motor further comprises a plurality of lift motors for driving the performance aid to be lifted as a whole.

8. The function aid of claim 1, further comprising a fold/unfold motor, wherein forward rotation of the fold/unfold motor is used to drive the function aid to fold into a seating state and reverse rotation of the fold/unfold motor is used to drive the function aid to unfold into a flat state or into a tilted unfolded state.

9. The function assist device according to claim 1, wherein the function assist device has a telescopic bar supporting a position of a center of gravity, and the motor further comprises a telescopic motor connected to the telescopic bar for adjusting a telescopic length of the telescopic bar according to a state of the function assist device.

10. The function aid of claim 1, further comprising a handrail adjustment motor coupled to a handrail of the function aid, the handrail adjustment motor for driving the handrail in or out of motion.

11. The performance aid of claim 1, wherein the motor further comprises a pedal adjustment motor coupled to a pedal of the performance aid, the pedal adjustment motor being configured to adjust the pedal to fold up or fold down.

12. The function assist device of claim 1, wherein the motor further comprises a headrest adjustment motor connected to a backrest of the function assist device, the headrest adjustment motor being used to adjust a height or a length of the backrest.

13. The function aid of any one of claims 1-12 wherein the input module comprises at least one of an interactive interface, a remote control handle, a hall-operated handle, a smart terminal.