CN112826711A - Auxiliary standing walking aid system - Google Patents
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- A61H2230/00—Measuring physical parameters of the user
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Abstract
The invention discloses an auxiliary standing walking aid system, which comprises a main controller, a handle driving device, a sensor system, an active safety system and a power supply management module, wherein the main controller comprises: the main controller is respectively connected with the handle driving device, the sensor repairing system, the active safety system and the power management module; the handle driving device comprises an algorithm module, a left driver, a right driver, a left handle motor and a right handle motor, wherein the left driver is used for driving the left handle motor, and the right driver is used for driving the right handle motor; the sensor system comprises a motion recognition and calculation module, a pressure sensor, a position sensor and a gyroscope; the active safety system comprises a balance motor driver, a brake system, a left wheel motor, a right wheel motor and a tilt module; the power management module comprises a battery and a voltage conversion module and provides power for the whole system.
Description
Technical Field
The invention belongs to the technical field of rehabilitation auxiliary appliances and mobile walking aids, relates to an auxiliary standing walking aid system, and particularly relates to a walking aid control system for assisting old people and patients with standing dysfunction in standing and stabilizing standing.
Background
For the disabled and the elderly, in daily life, when they need to change from sitting posture to standing posture, the user can do the work only by the force of his lower limbs and the assistance of his upper limbs, however, the muscle strength of the people is weak, the user cannot independently complete the standing process, and the user cannot stand up even by means of passive auxiliary tools (such as crutches, seat armrests and the like). Traditional supplementary device of standing can alleviate the difficulty of standing to a certain extent, but, the intention of standing of human body and whether stable, the safety of standing can not be responded to these devices, can not detect the people's the correct gesture of standing or sitting more, also can not judge whether the human body loses stability, brings the potential safety hazard for disabled person and old person.
The invention aims at the problems and provides an intelligent walking aid system for assisting standing up, which can analyze the intention of a user changing from a sitting posture state to a standing posture through a sensor, complete the standing posture by the rising and falling of a human body depending on a handle in use and enable the user to stand stably through an active safety mode.
Disclosure of Invention
In order to realize the purpose of the invention, the following technical scheme is adopted for realizing the purpose:
an assisted-standing walker system comprising a main controller, a handle drive, a sensor system, an active safety system and a power management module, wherein: the main controller is respectively connected with the handle driving device, the sensor system, the active safety system and the power management module; the handle driving device comprises an algorithm module, a left driver, a right driver, a left handle motor and a right handle motor, wherein the left driver is used for driving the left handle motor, and the right driver is used for driving the right handle motor; the sensor system comprises a motion recognition and calculation module, a pressure sensor, a position sensor and a gyroscope; the active safety system comprises a balance motor driver, a brake system, a left wheel motor, a right wheel motor and a tilt module; the power management module comprises a battery and a voltage conversion module and provides power for the whole system.
The assisted-standing walker system, wherein: the motion recognition and calculation module collects the change of the gravity center of the user according to the motion recognition camera arranged on the protective ring of the walking aid in the following way:
establishing a space coordinate system with X, Y and Z as axes, setting the middle point of the trunk as L0, and taking L0 as the origin L0(0, 0, 0) of the space coordinate system; setting the middle point of the distance between the two clavicle outer points as L1 and the middle points of the two upper limbs as L2 and L3 respectively; setting the middle point of the distance between the hip joints as C1, and setting the middle points of the two lower limbs as C2 and C3 respectively; the coordinates of each point are respectively: l1 (X)L1，YL1，ZL1)；L2(XL2，YL2，ZL2)；L3(XL3，YL3，ZL3)；C1(XC1，YC1，ZC1)；C2(XC2，YC2，ZC2)；C3(XC3，YC3，ZC3)；
L1, L2, L3 and C1, C2, C3 form triangle L and triangle C, respectively, i.e. Δ L1L2L3 and Δ C1C2C 3;
let the center of gravity of Δ L1L2L3 be GL，GLThe coordinate is [ (X)L1+XL2+XL3)/3,(YL1+YL2+YL3)/3,(ZL1+ZL2+ZL3)/3]；
Let the gravity center of Δ C1C2C3 be GC，GCThe coordinate is [ (X)C1+XC2+XC3)/3,(YC1+YC2+YC3)/3,(ZC1+ZC2+ZC3)/3]；
Combining the triangle L and the triangle C to obtain the coordinates of the gravity center Gn of the human body as follows: [ (X)L1+XL2+XL3+XC1+XC2+XC3)/6,(YL1+YL2+YL3+YC1+YC2+YC3)/6,(ZL1+ZL2+ZL3+ZC1+ZC2+ZC3)/6]。
The assisted-standing walker system, wherein: the motion recognition and calculation module collects the change of the gravity center of the user according to the motion recognition camera arranged on the protective ring of the walking aid in the following way:
establishing a space coordinate system with X, Y and Z as axes, setting the middle point of the trunk as L0, and taking L0 as the origin L0(0, 0, 0) of the space coordinate system; dividing the distance between the outer points of the two clavicles into a plurality of line segment points, wherein each point is L11, L21 and L31 … … Ln 1; dividing two upper limbs into a plurality of line segment points, wherein each point is L12, L22, L32 … … Ln2, L13, L23 and L33 … … Ln 3;
dividing the distance between the hip joints into a plurality of line segment points, wherein each point is C11, C21, C31 … … Cn 1; dividing the two lower limbs into a plurality of line segment points, wherein each point is C12, C22, C32 … … Cn2, C13, C23 and C33 … … Cn 3;
n triangles L1, L2, L3 … … Ln and n triangles C1, C2 and C3 … … Cn are respectively formed, namely delta Ln1Ln2Ln3 and delta Cn1Cn2Cn 3;
the coordinates of each point of Delta Ln1Ln2Ln3 are respectively as follows:
Ln1(XLn1，YLn1，ZnL1)；
Ln2(XLn2，YLn2，ZLn2)；
Ln3(XLn3，YLn3，ZLn3)；
the coordinates of each point of Δ Cn1Cn2Cn3 are:
Cn1(XCn1，YCn1，ZCn1)；
Cn2(XCn2，YCn2，ZCn2)；
Cn3(XCn3，YCn3，ZCn3)；
and (3) obtaining the gravity center Gn of the human body by combining and calculating the same principle, wherein the coordinates of Gn are as follows: [ (X)Ln1+XLn2+XLn3+……+XCn1+XCn2+XCn3+……)/3n,(YLn1+YLn2+YLn3+……+YCn1+YCn2+YCn3+……)/3n,(ZLn1+ZLn2+ZLn3+……+ZCn1+ZCn2+ZCn3+……)/3n]
The X-axis coordinate is: gnx ═ XLn1+XLn2+XLn3+……+XCn1+XCn2+XCn3+……)/3n
The Y-axis coordinate is: gny ═ YLn1+YLn2+YLn3+……+YCn1+YCn2+YCn3+……)/3n
The Z-axis coordinate is: gnz ═ YLn1+YLn2+YLn3+……+YCn1+YCn2+YCn3+……)/3n。
The assisted-standing walker system, wherein: when a user is in a sitting posture, the motion recognition and calculation module of the sensor system collects motion information of the user according to the motion recognition camera, when the user is in the sitting posture at an initial position, the gravity center of the user is G0(G0x, G0y and G0z), the motion recognition and calculation module judges whether the gravity center of the user moves forwards or not, the ultrasonic sensor arranged on the frame of the walking aid simultaneously judges the distance between the user and the walking aid, if the motion recognition camera collects the motion information of the user, the motion recognition and calculation module calculates that the gravity center of the user moves forwards to reach a first gravity center moving threshold G1(G1x, G1y and G1z) and the ultrasonic sensor measures that the distance between the user and 25cm-45cm, the main controller judges that the user is in a standing state at the moment, the main controller of the walking aid starts an active safety system and sends an active braking signal to a, the balance motor driver is controlled to control the front-back balance of the walking aid, the brake system controls the balance motor driver to lock the left wheel motor and the right wheel motor, the walking aid does not move back and forth, and the walking aid is in a stable stop state.
The assisted-standing walker system, wherein: after the walking aid is stable, the main controller continuously judges the state of a user in the standing process, the motion recognition camera continuously collects the action information of the user, when the gravity center of the user moves forwards to reach a second gravity center advancing threshold G2(G2x, G2Y and G2z), the gravity center of the user is indicated to move forwards to the state to be standing, at the moment, whether the pressure of a handle of the walking aid reaches a second pressure threshold Y2 is judged, if the pressure reaches a second pressure threshold Y2, the user is judged to be prepared for standing subjectively, and meanwhile, the gravity center moves forwards to the state to be standing, at the moment, a left handle motor and a right handle motor are started to rotate forwards, and the handle is lifted to the high position by the driving mechanism; if the pressure Y20 of the user holding the handle of the walking aid is gradually reduced, namely Y20 is smaller than Y2 and is reduced to be smaller than Y1, and Y20 reaches a stable value Y0, the standing of the user is judged to be finished.
The assisted-standing walker system, wherein: after the stable state is reached, the pressure sensor of the handle collects pressure signals in the standing process of a person in real time, if the state of a user is unstable in the process, the pressure of the user for holding the armrest is suddenly increased, when the state reaches a third pressure threshold Y3, the third pressure threshold Y3 is larger than the second pressure threshold Y2, the user is shown to be unstable, and at the moment, the algorithm module of the handle driving device starts calculation, so that the walking aid enters the unstable emergency protection state. The algorithm module sends an instruction to the driver, the driver controls the left handle motor and the right handle motor to rotate in the opposite direction, and the driving mechanism slowly lowers the handles to a low position.
The assisted-standing walker system, wherein: the motion recognition camera continuously collects the action information of the user, the change trends of the gravity center G0(G0x, G0Y, G0z), G1(G1x, G1Y, G1z), G2(G2x, G2Y, G2z) and G3(G3x, G3Y and G3z) of the user are measured, meanwhile, the pressure sensor of the handle sends the change trends of the handle pressures Y1, Y2, Y20 and Y0 to the main controller, the main controller controls the algorithm module to start calculation, the driver is controlled to control the handle motor, and the height of the handle is gradually reduced until the user reaches a stable state; after the user is judged to be stable in a sitting posture state, the handle returns to the initial low position, the main controller of the walking aid sends a removing instruction to the active safety system, and the brake system controls the balance motor driver to release the left wheel motor and the right wheel motor.
The assisted-standing walker system, wherein: when a user stands and walks with the aid of the walking aid, the main controller judges whether the walking aid falls down in a standing state according to the following mode:
the method comprises the steps that a user holds handrails of the walking aid with hands to generate pressure, the distance between the two handrails of the walking aid is set as H, the numerical value of the pressure on the left handrail and the right handrail is converted into an equivalent distance numerical value, the model is set as a symmetrical trapezoid, the two bottom sides of the model are pressure equivalent distances, the height of the model is the distance H between the two handrails, the lengths of an upper bottom and a lower bottom are set as a and b respectively, the upper bottom represents left-hand pressure, the lower bottom represents right-hand pressure, if a is not equal to b, the model is an isosceles trapezoid, an included angle phi between the waist and the upper bottom is generated, and when the phi is greater than 0 and when the pressure numerical value A1 of a left-hand handle reaches a preset pressure value Ae; when φ is less than 0 and when the right hand grip pressure value A2 reaches the predetermined pressure value Ae, the main controller determines the tendency of the walker to tip from the right.
The assisted-standing walker system, wherein: the inclination module comprises a gyroscope, a signal acquisition unit and an alarm device; the signal acquisition unit converts angles into analog voltage signals through a gyroscope installed on the walking aid and outputs the analog voltage signals, the main controller acquires the analog voltage signals output by the signal acquisition unit in X, Y and Z directions and converts the analog voltage signals into digital signals Ax, Ay and Az representing acceleration, and the inclination angles in the front, back, front and back X directions and the left and right Y directions are calculated according to the following formula, wherein the inclination angle in the X direction is the inclination angle Axn of the X axis of the gyroscope and the X axis of a horizontal plane, and the inclination angle in the Y direction is the inclination angle Ayn of the Y axis of the gyroscope and the Y axis of the horizontal plane;
respectively setting a first threshold value Ax1, a second threshold value Ax2 and a third threshold value Ax3 of the X-axis inclination angle Axn from small to large; respectively setting a first threshold value Ay1, a second threshold value Ay2 and a third threshold value Ay3 of the Y-axis inclination angle Ayn from small to large;
in the sampling process, if the inclination angle in the X direction exceeds a first threshold value Ax1 or the inclination angle in the Y direction exceeds a first threshold value Ay1, the main control controller controls the alarm device to immediately output an alarm signal; the alarm signal is used for reminding a user and requesting an active safety system to start a processing program, and the processing program comprises a slow-down and slow-running mode;
in the sampling process, if the inclination angle in the X direction exceeds a second threshold value Ax2 or the inclination angle in the Y direction exceeds a second threshold value Ay2, the master control controller controls the alarm device to immediately output an alarm signal, the alarm signal is used for reminding a user and requesting the active safety system to start a processing stop program, the processing stop program comprises the steps of immediately reducing the running speed of the motor of the walking aid until the motor stops, controlling a balance motor driver by a brake system to lock a left wheel motor and a right wheel motor, and enabling the walking aid not to move back and forth;
in the sampling process, if the X-direction inclination angle exceeds a third threshold value Ax3 or the Y-direction inclination angle exceeds a third threshold value Ay3, the main controller controls the alarm device to immediately output an alarm signal, the alarm signal is used for reminding a user and requesting an active safety system to start a instability processing program, the instability processing program comprises the step of immediately reducing the running speed of a motor of the walking aid until the motor stops, a brake system controls a balance motor driver to lock a left wheel motor and a right wheel motor, the walking aid does not move back and forth, and the walking aid further comprises a handle driving device which sends instructions to a driver 1 and a driver 2 to enable a handle of the walking aid to slowly reduce.
Drawings
FIG. 1 is a schematic diagram of a control system;
FIG. 2 is a center of gravity calculation equivalent model;
FIG. 3 is a model equivalent of a handle calculation for a assisted stance system;
FIG. 3-1 is a graph showing the change in the value of the handle pressure;
FIG. 4 is a schematic view of the tilt angle region of the assisted stance system;
FIG. 5 is a schematic view of the walker sensor arrangement;
FIG. 6 is a schematic view of the walker handle in the high and low positions.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to fig. 1 to 6, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
As shown in FIG. 1, the invention discloses an auxiliary standing walking aid system, which comprises a main controller, a handle driving device, a sensor system, an active safety system, a power management module and a wireless transmission module, wherein: the main controller is respectively connected with the handle driving device, the sensor module, the active safety system and the power management module; the handle driving device comprises an algorithm module, a left driver 1, a right driver 2, a left handle motor and a right handle motor, wherein the left driver 1 is used for driving the left handle motor, and the right driver 2 is used for driving the right handle motor; the sensor system comprises a motion recognition and calculation module, a pressure sensor, a position sensor and a gyroscope; the active safety system comprises a balance motor driver, a brake system, a left wheel motor, a right wheel motor and a tilt module; the power management module comprises a battery and a voltage conversion module and provides power for the whole system; the wireless transmission module is used for sending and receiving data.
The motion recognition and calculation module collects the change of the gravity center of the user according to the motion recognition camera arranged on the protective ring of the walking aid in the following way:
establishing a space coordinate system with X, Y and Z as axes, and establishing an equivalent model diagram for positioning the position of the human body trunk, the distance between the outer points of the clavicle, the distance between the hip joints, the length of the upper limb, the length of the lower limb and the like as shown in figure 2.
The torso midpoint is set to L0, with L0 as the origin L0(0, 0, 0) of the spatial coordinate system.
The midpoint of the distance between the two clavicle lateral points is set to be L1, and the midpoints of the two upper limbs are set to be L2 and L3, respectively.
The midpoint of the distance between the hip joints is set to be C1, and the midpoints of the two lower limbs are set to be C2 and C3 respectively.
The coordinates of each point are respectively:
L1(XL1，YL1，ZL1)；
L2(XL2，YL2，ZL2)；
L3(XL3，YL3，ZL3)；
C1(XC1，YC1，ZC1)；
C2(XC2，YC2，ZC2)；
C3(XC3，YC3，ZC3)；
l1, L2, L3 and C1, C2, C3 form triangle L and triangle C, respectively, i.e. Δ L1L2L3 and Δ C1C2C 3;
let the center of gravity of Δ L1L2L3 be GL，GLThe coordinate is [ (X)L1+XL2+XL3)/3,(YL1+YL2+YL3)/3,(ZL1+ZL2+ZL3)/3]；
Let the gravity center of Δ C1C2C3 be GC，GCThe coordinate is [ (X)C1+XC2+XC3)/3,(YC1+YC2+YC3)/3,(ZC1+ZC2+ZC3)/3]；
And combining the triangle L1L2L3 and the triangle C1C2C3 to calculate the gravity center G of the human body, wherein the coordinate of the G is as follows: [ (X)L1+XL2+XL3+XC1+XC2+XC3)/6,(YL1+YL2+YL3+YC1+YC2+YC3)/6,(ZL1+ZL2+ZL3+ZC1+ZC2+ZC3)/6]
The X-axis coordinate is: gx ═ XL1+XL2+XL3+XC1+XC2+XC3)/6
The Y-axis coordinate is: gy ═ YL1+YL2+YL3+YC1+YC2+YC3)/6
The Z-axis coordinate is: gz ═ Z (Z)L1+ZL2+ZL3+ZC1+ZC2+ZC3)/6
According to the above derivation, if the other parts of the body are set as equivalent triangles, the barycentric coordinates can be obtained in the same way, so that the body can be divided into smaller equivalent triangles, for example, n equivalent triangles, the barycenters of the n equivalent triangles are respectively calculated, and then the barycenters of the human body are the barycenters of the n equivalent triangles after combination. (n-1, 2, 3, 4, 5, 6 … …)
The distance between two clavicle outer points is set to be divided into smaller line segments, wherein the points are L11, L21 and L31 … … Ln1, and the points are L12, L22, L32 … … Ln2, L13, L23 and L33 … … Ln3 respectively.
The distance between hip joints is divided into smaller line segments, wherein the points are C11, C21 and C31 … … Cn1, and the two lower limbs are divided into smaller line segments, wherein the points are C12, C22, C32 … … Cn2, C13, C23 and C33 … … Cn3 respectively.
N triangles L1, L2, L3 … … Ln and n triangles C1, C2 and C3 … … Cn are respectively formed, namely delta Ln1Ln2Ln3 and delta Cn1Cn2Cn 3;
the coordinates of each point of Delta Ln1Ln2Ln3 are respectively as follows:
Ln1(XLn1，YLn1，ZnL1)；
Ln2(XLn2，YLn2，ZLn2)；
Ln3(XLn3，YLn3，ZLn3)；
the coordinates of each point of Δ Cn1Cn2Cn3 are:
Cn1(XCn1，YCn1，ZCn1)；
Cn2(XCn2，YCn2，ZCn2)；
Cn3(XCn3，YCn3，ZCn3)；
according to the method for calculating the gravity center by combining the triangle L1L2L3 and the triangle C1C2C3, the human body gravity center Gn is obtained by combining and calculating the same principle, and the coordinates of the Gn are as follows: [ (X)Ln1+XLn2+XLn3+……+XCn1+XCn2+XCn3+……)/3n,(YLn1+YLn2+YLn3+……+YCn1+YCn2+YCn3+……)/3n,(ZLn1+ZLn2+ZLn3+……+ZCn1+ZCn2+ZCn3+……)/3n]
The X-axis coordinate is: gnx ═ XLn1+XLn2+XLn3+……+XCn1+XCn2+XCn3+……)/3n
The Y-axis coordinate is: gny ═ YLn1+YLn2+YLn3+……+YCn1+YCn2+YCn3+……)/3n
The Z-axis coordinate is: gnz ═ YLn1+YLn2+YLn3+……+YCn1+YCn2+YCn3+……)/3n
(n＝1、2、3、4、5、6……)
The gravity center of the human body is changed in the sitting posture, standing posture and standing process, and the change of the coordinate calculated according to the gravity center calculation formula can be judged:
(1) and judging whether the human body stands or not, wherein the height of the gravity center is changed, and the change of the Z-axis coordinate is judged by taking the Z-axis as comparison data.
(2) And judging whether the human body moves forwards or backwards, wherein the gravity center changes forwards or backwards, and the change of the Y-axis coordinate is judged by taking the Y-axis as comparison data.
(3) Whether the human body moves left and right or not is judged, the left and right of the gravity center are changed, and the change of the X-axis coordinate is judged by taking the X-axis as comparison data.
The specific control process is as follows: after the walking aid system is powered on, the sensor system sends posture and position information of a user of the walking aid to the main controller in real time, and the main controller judges whether the user is in a sitting posture state or a standing state according to received preliminary information of the user. If the user is in a sitting posture state, the main controller controls the left and right handle motors of the walking aid to be started, so that the handles return to the initial positions, namely the handles are in the low positions; when a user is in a sitting posture, the motion recognition camera of the motion recognition and calculation module of the sensor system captures the motion information of the user, processes the motion information in real time and is used for recognizing the motion intention of the user, if the user has the intention of standing up, the user starts to stand up, the pressure sensors 1 and 2 in the left and right handles of the walking aid monitor the pressure of the handrails of the walking aid held by the user, and when the pressure values received by the pressure sensors 1 and 2 reach a preset first pressure threshold Y1, the pressure of the handrails of the walking aid held by the user is judged to reach the standard of the intention of standing up. The motion recognition and calculation module collects motion information of a user according to the motion recognition camera, when an initial position (a sitting position of the user) is set, the gravity center of the user is G0(G0x, G0y and G0z), the motion recognition and calculation module judges whether the gravity center of the user moves forwards or not, the ultrasonic sensor arranged on the frame of the walking aid simultaneously judges the distance between the user and the walking aid, if the motion recognition camera collects the motion information of the user, the motion recognition camera calculates that the gravity center of the user moves forwards to reach a first gravity center forwards moving threshold value G1(G1x, G1y and G1z) (G1y is more than G0y), and when the ultrasonic sensor measures that the distance between the user and the walking aid reaches 25cm-45cm, the main controller judges that the user is in a standing state at the moment, the main controller of the walking aid starts an active safety system, an active braking signal is sent to the braking system, and the, the brake system controls the balance motor driver to lock the left wheel motor and the right wheel motor, and the walking aid does not move back and forth, so that the walking aid is in a stable stop state. Ensure the user to be stable and motionless during the standing up process. Meanwhile, after the walking aid is stabilized, the main controller continuously judges the state of the user in the standing process. The motion recognition camera continuously collects the action information of the user, when the gravity center of the user moves forwards to reach a second gravity center advancing threshold G2(G2x, G2Y and G2z) (G2z is more than G1z), the gravity center of the user is indicated to move forwards to a state to be erected, at the moment, whether the handle pressure of the walking aid reaches a second pressure threshold Y2 (the second pressure threshold Y2 is larger than the first pressure threshold Y1) is judged, if the second pressure threshold Y2 is reached, the user is judged to be prepared for erection subjectively, meanwhile, the gravity center moves forwards to the state to be erected, at the moment, the left and right handle motors are started to rotate in the forward direction, and the driving mechanism lifts the handles to the high position (as shown in figure 6) to assist the user in erecting. If the pressure Y20 of the user holding the handle of the walking aid is gradually reduced, namely Y20 is smaller than Y2 and is reduced to be smaller than Y1 all the time, and Y20 reaches a stable value Y0, the user is judged to finish standing up and reaches a stable state, the pressure of the handle of the user holding the walking aid is Y0(Y0 < Y1 and Y2), and the gravity center of the user standing is G3(G3x, G3Y and G3z), wherein G3z > G0z, G1z and G2z, and G3Y > G0Y, G1Y and G2Y. The pressure sensor of the handle collects pressure signals in the standing process of a person in real time, if the state of the user is unstable in the process, the pressure of the user for holding the armrest is suddenly increased, when the pressure reaches a third pressure threshold Y3 (the third pressure threshold Y3 is larger than the second pressure threshold Y2), the instability of the user is indicated, and at the moment, the algorithm module of the handle driving device starts calculation, so that the walking aid enters an instability emergency protection state. The algorithm module sends instructions to the driver 1 and the driver 2, the driver 1 and the driver 2 control the left handle motor and the right handle motor to rotate reversely, and the driving mechanism slowly lowers the handles to a low position (as shown in fig. 6), so that the center of gravity of a user is lowered. The motion recognition camera continuously collects the action information of the user, the change trends of the gravity center G0(G0x, G0Y, G0z), G1(G1x, G1Y, G1z), G2(G2x, G2Y, G2z) and G3(G3x, G3Y and G3z) of the user are measured, meanwhile, the pressure sensor of the handle sends the change trends of the handle pressures Y1, Y2, Y20 and Y0 to the main controller, the control algorithm module of the main controller starts calculation, the driver 1 and the driver 2 are controlled to control the motor of the handle, the height of the handle is adjusted, and the height of the handle is gradually reduced until the user reaches a stable state (sitting down); after the user is judged to be stable in a sitting posture state, the handle returns to the initial low position, the main controller of the walking aid sends a removing instruction to the active safety system, the brake system controls the balance motor driver to release the left wheel motor and the right wheel motor, and the walking aid can move back and forth at the moment.
If the user intends to continue standing thereafter, the standing process determination method described above is repeated.
Fig. 3-1 is a numerical test chart of handle pressure.
According to actual test experiments, the pressure of the handle is mainly concentrated on about 5N, and the reason is that most people are used to hold the handrail with hands to keep the balance of the body when the user holds the handrail still, so that the pressure value detected by the handle is larger, and the pressure value also accords with the rule of daily life. In addition, considering that users are all elderly people, the balance of the body is worse, the body is often kept stable by the handle, and the handle is also stressed more.
In connection with the safety of the walking aid and the above analysis, the handle threshold Am is selected because the safe turning of the walking aid needs the left and right armrests to be matched at the same time, that is, the left and right pressure sensors detect that the pressure value exceeds the set threshold value, and the walking aid turns left or right.
When a user stands and then walks with the aid of the walking aid, the walking aid is controlled to avoid toppling of the walking aid, and the judgment method for preventing toppling of the walking aid in the standing state is as follows:
the user holds the arm of the walker in his hand and generates pressure. The distance between the two handrails of the walking aid is H, the pressure value of the human body acting on the pressure sensor 1 on the left handrail is A1, the pressure value of the human body acting on the pressure sensor 2 on the right handrail is A2, and in order to establish a model of the pressure and the distance of the human body, the numerical values of the pressures on the left handrail and the right handrail are converted into equivalent distance numerical values (for example, the numerical value of the pressure applied to the handrail by a user is 10N, a relative voltage signal displayed by the sensor is 0.1V, and the equivalent distance numerical value is 0.1 m; and in order to facilitate calculation, the equivalent pressure numerical values on the left handrail and the right handrail can be. Namely, the model is a symmetrical trapezoid, as shown in fig. 3, the two bottom sides are equivalent distances of pressure, the height is the distance H between the two handrails, the lengths of the upper bottom and the lower bottom are set as a and b, respectively, the upper bottom represents left hand pressure, the lower bottom represents right hand pressure, if a ≠ b, the model is an isosceles trapezoid, as shown in fig. 3, an included angle phi (-90 < phi < 90) between the trapezoid waist and the upper bottom is generated, and phi is arctan [ (b-a)/2H ].
When phi is larger than 0, the left hand pressure is larger than the right hand pressure, and when the left hand handle pressure value A1 reaches the preset pressure value Ae, the main controller judges the tendency of the walking aid to topple leftwards.
When phi is less than 0, the right hand pressure is greater than the left hand pressure, and when the value of the right hand handle pressure A2 reaches the preset pressure value Ae, the main controller judges the tendency of the walking aid to topple rightwards.
The handle pressure threshold can be set to judge whether the user has the turning intention. As shown in FIG. 3-1, if the handle pressure value is Am and the duration is greater than 3 seconds, the main controller determines that the user has an intention to turn.
When the left hand handle pressure value A1 reaches Am and the duration is greater than 3 seconds, the master controller controls the walker to turn left. When the value of the right hand handle pressure A2 reaches Am and the duration is more than 3 seconds, the main controller controls the walking aid to turn right.
Further, for safety, in addition to the above-described toppling determination, the tilt module of the active safety system of the walker of the present invention also measures the angular change of the walker in three directions X, Y, Z and determines therefrom whether the walker is at risk of toppling, as shown in FIG. 4.
The inclination module comprises a gyroscope, a signal acquisition unit and an alarm device:
the signal acquisition unit converts the angle into an analog voltage signal through a gyroscope installed on the walking aid and outputs the analog voltage signal, the main controller acquires the analog voltage signals output by the signal acquisition unit in X, Y and Z directions, converts the analog voltage signals into digital signals Ax, Ay and Az representing acceleration, and calculates the inclination angles in the front and back (X) direction and the left and right (Y) direction according to the following formula,
the inclination angle in the X direction is the inclination angle Axn between the X axis of the gyroscope and the X axis of the horizontal plane:
Axn＝arctan-1(Ay/Ax)
the inclination angle in the Y direction is the inclination angle Ayn between the Y axis of the gyroscope and the Y axis of the horizontal plane:
Ayn＝arctan-1(Ay/Az)
(a first threshold value Ax1, a second threshold value Ax2 and a third threshold value Ax3 respectively provided for an X-axis inclination angle Axn from small to large; a first threshold value Ay1, a second threshold value Ay2 and a third threshold value Ay3 respectively provided for a Y-axis inclination angle Ayn from small to large)
During sampling, if the X-direction inclination angle exceeds a first threshold value Ax1 or the Y-direction inclination angle exceeds a first threshold value Ay1, the main control controller controls the alarm device to immediately output an alarm signal, the alarm signal is used for reminding a user and requesting an active safety system to start a processing program, the processing program comprises a deceleration crawling mode, the deceleration crawling mode is used for reducing the running speed of the motor of the walking aid, and particularly a braking system sends a speed reducing signal to a balance motor driver, so that the walking aid is prevented from tipping over.
In the sampling process, if the inclination angle in the X direction exceeds a second threshold value Ax2 or the inclination angle in the Y direction exceeds a second threshold value Ay2, the master control controller controls the alarm device to immediately output an alarm signal, the alarm signal is used for reminding a user and requesting an active safety system to start a processing stop program, the processing stop program comprises the step of immediately reducing the running speed of the motor of the walking aid until the motor stops, the brake system controls a balance motor driver to lock a left wheel motor and a right wheel motor, and the walking aid does not move back and forth so as to prevent the walking aid from tipping.
In the sampling process, if the inclination angle in the X direction exceeds a third threshold value Ax3 or the inclination angle in the Y direction exceeds a third threshold value Ay3, the main controller controls the alarm device to immediately output an alarm signal, the alarm signal is used for reminding a user and requesting an active safety system to start a instability processing program, the instability processing program comprises the steps of immediately reducing the running speed of a motor of the walking aid until the motor stops, controlling a balance motor driver to lock a left wheel motor and a right wheel motor by a brake system, and preventing the walking aid from moving back and forth, and the walking aid further comprises a handle driving device which sends instructions to a driver 1 and a driver 2 to slowly reduce a handle of the walking aid; meanwhile, the motion recognition camera continuously collects the action information of the user, the change trend of the gravity centers G0, G1, G2 and G3(G0 > G1 > G2 > G3) of the user is measured, meanwhile, the change trend of the pressure of the user holding the handle of the walking aid, such as Y1, Y2, Y20 and Y0, is measured by the handle pressure sensor, data is sent to the main controller, the main controller controls the algorithm module to start calculation, the driver 1 and the driver 2 are continuously controlled to control the handle motor, and the height of the handle is adjusted until the Y0 is stabilized at a value, the user reaches a stable gravity center state, and the user is prevented from falling down due to unstable gravity center.
The main controller drives the signal acquisition unit to sample in the X direction, the Y direction and the Z direction at preset time intervals.
The first threshold value, the second threshold value and the third threshold value of the inclination angle are respectively not more than 8 degrees, not more than 12 degrees and not more than 20 degrees.
The measurement range of the signal acquisition unit for measuring the inclination angle is +/-45.
The invention has the beneficial effects that:
the invention provides a device and a method for preventing a walking aid from tipping, which are characterized in that a sensor is used for acquiring the inclination angle of a wheelchair, and the inclination of the walking aid is processed by a dual control mechanism of an active safety system and a handle driving device:
(1) the motor drive control unit is set to start the processing program, so that the walking aid can automatically give an alarm when the fixed platform inclines to reach a first threshold angle, an emergency program is started to slow down, the maximum speed and the maximum acceleration are reduced, and the excessive tipping of the platform is prevented.
(2) When the inclination angle reaches the second threshold value instantly, the walking aid stops running, and the braking system sends an instruction to the balance motor driver, so that the motor of the walking aid is locked under the condition that the walking aid is inclined, a user has a stable support, and the standing stability of the user is facilitated.
(2) When the inclination angle reaches the third threshold value instantly, the walking aid stops running, the gravity center height of a user is reduced by using the handle driving device, so that under the condition that the gravity center of the user is stable, the walking aid can adjust the posture of the user through the sensor system, the active safety system and the handle driving device, the inclination condition of the walking aid is improved, and the handle mechanism is started to compensate the angle. Thereby the inclination of the user when using the walking aid is reduced, the user experience is improved, and the user safety is ensured.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (3)
1. The utility model provides an auxiliary standing walking aid system, includes main control unit, handle drive arrangement, sensor system, initiative safety system and power management module, its characterized in that: the main controller is respectively connected with the handle driving device, the sensor system, the active safety system and the power management module; the handle driving device comprises an algorithm module, a left driver, a right driver, a left handle motor and a right handle motor, wherein the left driver is used for driving the left handle motor, and the right driver is used for driving the right handle motor; the sensor system comprises a motion recognition and calculation module, a pressure sensor, a position sensor and a gyroscope; the active safety system comprises a balance motor driver, a brake system, a left wheel motor, a right wheel motor and a tilt module; the power management module comprises a battery and a voltage conversion module and provides power for the whole system.
2. The assisted-standing walker system of claim 1, wherein: when the user is in a sitting posture, the motion recognition and calculation module of the sensor system collects the action information of the user according to the motion recognition camera.
3. The assisted-standing walker system of claim 1, wherein: the tilt module includes a gyroscope.
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