DE102012000587A1 - Walking aid for e.g. physically-disabled person, has control device to control drive apparatus such that walking aid follows user automatically in specific path traveled by user, when walking aid is not used by user - Google Patents

Abstract

The walking aid (1) has a drive apparatus for moving a walking aid portion. A control device (5) is provided for actuating the drive apparatus. A user sensor (9) is provided for detecting the user. The user sensor is connected to the control device. The drive apparatus is controlled by the control device such that the walking aid follows the user automatically at a preset distance in a specific path traveled by the user, when the walking aid is not used by the user.

Description

The invention relates to a walking aid for the support of people with physical limitations, in particular for the support of the elderly.

Known walking aids consist of a frame with handles on which the user can rest. This frame usually has two steerable and two non-steerable wheels, of which the two non-steerable wheels are braked via levers on the handles, are operated by the cables. However, such walking aids have the disadvantage that the user always has to push the full weight of the walker. Hill climbs are therefore very laborious, while downhill the walker must be kept constant or braked over the lever. This problem is exacerbated by loading the walker, for example with a shopping bag. Therefore, the user is not supported in mountain climbing or downhill in his movement but obstructed. If the walker also not constantly needed, but z. B. only when exhausted, so the constant entrainment of the walker further limits the freedom of movement of the user.

It is therefore an object of the invention to provide a walker that provides assistance to the user when it needs support, and does not limit the user in his freedom of movement or only as low as possible.

The object is achieved by the features of claim 1. This discloses a walking aid, which has a base serving as a frame. At least two wheels are attached to this frame. Furthermore, the walker can be moved by a drive device. In addition, the walker on a control device with which the drive device is driven. In addition, the walker has at least one user sensor which detects the user and forwards his signals to the control device. As a result, the control device is able to calculate a traversed path of the user in the room, if he just does not need the walker and therefore moves independently in the detection range of the user sensor. The control device can control the drive device such that the walker follows the user with a predetermined safety margin on the same path that the user has covered. This follow-up mode allows the user to move freely until he needs the assistance of the walker, as the walker follows the user independently when not in use.

The dependent claims have preferred developments of the invention to the content.

Advantageously, the user can also use the walker in push mode. In order to control the drive device according to the specifications of the user, at least one sensor is preferably present, which detects the desired direction and walking speed of the user. The control device controls with these data as the basis of the drive device to compensate for the weight of the walker. As a result, the downhill force is compensated by the drive device on slopes or gradients, so that the user does not have to spend increased pushing power on slopes and the gradient does not have to slow down the walker manually. Likewise, the weight of the walker is compensated when the user pushes the walker on surfaces that cause an increased rolling resistance of the walker, such as gravel or grass is the case. The user can intuitively control the walker and does not have to make any adjustments or operate switches.

Advantageously, handles are attached to the frame of the walker, where the user can support. Force sensors are preferably attached to these handles to measure the forces applied by the user when used on the walker. In particular, a force sensor for tensile and compressive force or a bidirectional force sensor is attached to each handle. The force sensors make it possible to determine both the translation desired by the user and the rotation of the walking aid. With this data, the control device can determine the acceleration of the user relative to the walker and drive the drive device exactly to the specifications of the user, so that the user is assisted in moving the walker.

In a preferred embodiment, the walker comprises at least three wheels, so that they can stand freely on the ground even without control engineering effort. In order to make changes in direction at least one wheel is designed steerable. Particularly preferably, the walker on four wheels, two of which are steerable. The steerable wheels are preferably freely rotatable through 360 °, so that they can not be blocked by crossways.

Preferably, the drive device comprises at least one wheel hub motor in at least one of the wheels. In particular, the drive device in each case comprises a wheel hub motor in two wheels, so that a change in direction can be realized by different activation of the wheel hub motors. With such wheel hub motors The required space is minimized, since no external motors and gearboxes are needed. In addition, the higher weight of the hub motor wheels improves the grip of the wheels on the ground. In addition, the focus of the walker is brought closer to the ground, so that the risk of tipping the walker is reduced.

Alternatively, the drive device preferably comprises at least one electric motor, which, in particular via a chain or gear drive, is connected to a wheel.

In addition, the drive device preferably comprises at least one transmission via which at least one wheel is driven. The transmission is advantageously not designed to be self-locking and therefore allows the walking aid to slide smoothly even without driving force. This has the advantage that, for example, in the plane the walker does not have to be driven, so that energy is saved here.

In a preferred embodiment, the user sensor is movably mounted on the frame of the walker. The movable attachment allows the detection range of the user sensor to be increased by, for example, pivoting the user sensor. In this way, the risk that the user leaves the detection range of the user sensor and the user sensor thus loses contact with the user is reduced.

Preferably, the walker further comprises at least one sensor that detects the nature of the substrate, for. B. a vibration sensor. With such a sensor, it is possible to transmit the force transmitted to the wheels by the drive unit to external influences such. As black ice or slush, adapt. Likewise, the walker in the event that the latter leads the walker, the user to slow walking to ask for by recognizing dangerous ground, z. As black ice or chippings, the control device adjusts the speed of the walker.

Preferably, the walker on a receptacle to transport objects. The user can therefore z. B. deposit his purchases or other items to be carried on the walker, so as not to be burdened with their weight. In particular, he has his hands free and can be supported easier, for example, in a fall. It is particularly preferred that the walker has a sensor with which the current load condition is detected. Since the weight of the walker changes due to the load, the control device accordingly has to control the drive device differently.

In order to follow the user, it is necessary to continually capture what is happening through the user sensor, which is preferably designed as a passive depth sensor. For this purpose, the user preferably carries, in particular on a belt, a plurality of infrared radiators. The user sensor is preferably designed as a stereo infrared camera, so that it detects the infrared radiator carried by the user. Alternatively, it is advantageous to use a stereo camera so that the user does not need to carry infrared radiators. However, this requires a calibration process in which the user is first recognized. With the mentioned depth sensors, it is possible to determine the position of the user relative to the walker and to record a relative path of the user in the room. This path is used by the control device as a basis for self-tracking the walker, since in this way the risk of colliding with an obstacle is significantly reduced, since it is assumed that the user walks around obstacles

Alternatively, it is preferably provided that the user sensor is designed as an active depth sensor. With this alternative, the user does not need to wear a marker such as infrared emitters to record the user's trajectory relative to the walker. Analogous to the above embodiment, this path is used by the control device of the walker for the walker to follow the user independently. In order to use an active depth sensor, the control device must be calibrated to the user by staying within the detection range of the user sensor and optionally assuming a specific body position. After this one-time operation, the active depth sensor can detect the user and determine his position and distance traveled, for example by emitting light spots that are reflected by the user. The reflected light points are detected by the depth sensor and determined by the principle of triangulation, the distance of the user. Likewise, other active depth sensors, which work, for example, the lidar, radar, or time-of-flight principle, can be used as a user sensor.

In an advantageous embodiment, the walker further comprises an obstacle sensor, which detects obstacles in the direction of movement of the walker on the entire width of the walker and preferably beyond. The detection of obstacles is advantageous both for the subsequent operation, as well as if the user pushes the walker. In the subsequent operation, the control device maneuvers the walker around the obstacle, while in the event that the user pushes the walker, the control device first decelerates the walker to alert the user to the obstacle. This braking can preferably be carried out to a standstill, alternatively, the control device can guide the walker and thus preferably the user around the obstacle.

Preferably, the walker on a gesture sensor, with the preferably intuitive gestures of the user are detected, so that the user of the control device can transmit commands by gestures. With the recognition of gestures, the walker can be controlled very easily and intuitively. Thus, for example, the user can wiggle the walker out of the following operation to support himself and push it in the further course. Likewise, the walker can be brought to a stop by a gesture, for example, so that the user can stow an item or can take a stowed item.

To stow the walker space-saving, it is advantageously provided that the walker can be folded into a more compact form. This will take up little space while the walker is parked. It is particularly advantageous that all wheels are in contact with the ground at least after the folding process. In this way, the walker can be moved very easily even after folding. Likewise, it is particularly advantageous provided that the walker has a drive for performing the folding operation, so that the walking aid is designed to be automatically foldable. With the drive, the folding operation can be controlled by the control device, which makes it possible, for example, to automatically collapse the walker in the following mode in order to reduce the risk of colliding with an obstacle. If the user wants to use the walker, it will automatically be unfolded again. The folding process must not take too long, because the walker only in the unfolded state has sufficient stability that is necessary for the support of a user. Therefore, the drive for performing the folding operation is preferably designed such that a single folding operation can be carried out within the time required for the user to get to the walker in the subsequent operation. Furthermore, it is preferably provided that the walker can also be partially folded, so that thereby the width of the walker can be adjusted individually to the user.

At the same time, the user sensor is preferably also the obstacle sensor and / or the gesture sensor or the obstacle sensor is at the same time the gesture sensor. Since the detection of a user, the detection of an obstacle and the detection of a gesture of the user are similar tasks, preferably at least two, particularly preferably all three sensors can be combined. The combined sensor supplies the corresponding signals for the three tasks mentioned to the control device. As a result, only space for a sensor is preferably required, so that the required space, the weight of the walker and the cost and the cost of manufacturing the walker are minimized.

To view the walker as a helpful support, it must not slow down the user nor may it become too fast if guided by the user. Therefore, it is preferably provided that the control device learns the individual walking speeds of the user. Learning the speeds is preferably done separately for different situations so that, for example, the average speed can be uphill or downhill different than the average speed in the level. Likewise, the average speed can be influenced by the ground conditions. If temporarily deviated significantly from these average speeds, as z. B. may occur when falling or when stumbling, so the walker situational provides optimal support to the user, eg. B. by immediate braking. If several users use the same walker, different user profiles can preferably be created to differentiate between the individual users.

Preferred embodiments of the invention will now be described in more detail with reference to the attached drawings. Show

1 a walking aid according to a first embodiment of the invention,

2 a walker according to a second embodiment of the invention.

1 shows a walker 1 according to a first embodiment of the invention. A frame 2 serves as a base on which two steerable wheels 3 and two non-steerable wheels 4 are attached. So that the user can rest on the walker, also two, in particular height adjustable, handles 8th on the frame 2 appropriate. At the handles 8th Force sensors are mounted, with which the force can be measured, with which the user at the handles 8th pulls or on the handles 8th suppressed. The signals of these force sensors are from a control unit 5 processed. The control unit 5 can also use the wheel hub motors 6 that are in the non-steerable wheels 4 are attached, drive and thus move the walker and steer.

Furthermore, a user sensor 9 , a gesture sensor 10 and an obstacle sensor 12 on the frame 2 appropriate. These three sensors 9 . 10 . 12 are summarized in an active depth sensor, which thus fulfills several functions: First, it serves to capture the user when the walker 1 the second is to recognize obstacles, and third, it is used to recognize the user's gestures. To increase the detection range of the active depth sensor, this is on a pedestal 13 attached, which can pivot the active depth sensor in the horizontal and vertical directions. This is mainly for the function as a user sensor 9 important, as it must not lose the user from his coverage.

The user can use the walker 1 How to use a conventional rollator by leaning on the handles 8th supports and the walker 1 leads. The control device 5 then recognizes the desired movement and controls the wheel hub motors 6 according to the weight of the walker 1 to compensate. The user therefore feels only a little resistance and can the walker 1 lead effortlessly. The obstacle sensor searches for this 12 the environment for obstacles. If such is detected, the control device warns 5 the user by the walker 1 decelerating. If the user does not respond, then the control device performs 5 the walker 1 with the user around the obstacle.

Will the walker 1 used in the following mode, so recognizes the user sensor 9 the user and can its position and its path covered relative to the walker 1 determine. Follow-up mode is activated by the user releasing the handles of the walker and then prompts the walker to follow through a gesture. If the user threatens, the detection range of the user sensor 9 to write, the user sensor 9 through the pedestal 13 pivoted to adjust the detection range of the user's movement. The control device 5 controls the wheel hub motors 6 such that the walker 1 travels the same way as the user. In this way, the risk of collision with obstacles is reduced because the user intuitively avoids obstacles. Nevertheless, the obstacle sensor is used 12 an obstacle detection performed to prevent any collisions safely. If an obstacle is detected, the control device navigates 5 the walker 1 around the obstacle. In addition, the gesture sensor leads 10 a gesture recognition by, so that the user of the control device 5 can convey commands via gestures. This can be, for example, a waving, so the walker 1 comes to the user.

The frame 2 is designed to be foldable, so the width of the walker 1 can be reduced if necessary. This is the frame 2 X-shaped and has a first diagonal strut 101 and a second diagonal strut 102 on, with both struts at the cross point 100 are rotatably mounted. On one side are the vertically opposite ends of the first strut 101 and the second strut 102 connected via a folding drive, which are the end points of the struts 101 . 102 presses apart. In this way, the width of the walker 1 reduced.

2 shows the walking aid according to the invention 1 in a second embodiment of the invention. Identical or functionally identical components have been given the same reference numerals.

In the second embodiment, external electric motors drive 7 the non-steerable wheels 4 via a chain drive 14 and a clutch with a freewheel. This method requires more space on the rack 2 , allows to make the selection of motors more flexible. However, the adhesion of the wheels on the ground is worse here, since the motors are arranged above the front wheels.

For detecting the user in the subsequent operation is used as a user sensor in the second embodiment 9 used a passive stereo infrared sensor. For this purpose, the user must wear a marker from infrared emitters, which can be realized for example by a belt with infrared LEDs. The user is detected by the markers and their position and distance traveled relative to the walker 1 certainly. The use of the markers has the advantage that no initial calibration of the sensor has to be performed on the user. However, the detection of obstacles is limited with infrared sensors, so that an additional obstacle sensor 12 is needed. Because the obstacle sensor 12 in turn, is designed as an active depth sensor, this takes over in addition to the detection of obstacles and the task of recognizing gestures of the user. obstacle sensor 12 and gesture sensor 10 are therefore realized with the same active depth sensor.

The operation principle of the second embodiment is identical to that of the first embodiment. Only the input data of the control device are obtained in different ways.

LIST OF REFERENCE NUMBERS

1

walker

2

frame

3

Steerable wheels

4

Non-steerable wheels

5

control device

6

hub motor

7

electric motor

8th

handles

9

users sensor

10

gesture sensor

12

obstacle sensor

13

base

14

chain transmission

100

intersection

101

First diagonal strut

102

Second diagonal strut

Claims (16)

Walker ( 1 ), comprising • a frame ( 2 ), • at least two wheels ( 3 . 4 ), • a drive device for moving the walker, and • a control device ( 5 ) for driving the drive device, wherein • the walker further at least one user sensor ( 9 ) for detecting the user who is connected to the control device, and • the control device further controls the drive device such that the walker follows the user independently if he does not lead the walker. Walking aid according to claim 1, comprising at least one sensor for determining a slope of the ground and / or the direction of movement and speed specified by the user, wherein the at least one sensor is connected to the control device, so that the control device in response to the signals of the sensor device the weight of the walker compensated by driving the drive device. An assistant according to claim 2, further comprising two with the frame ( 2 ) connected handles ( 8th ) for moving the walker ( 1 ) by a user, in particular at each handle ( 8th ) at least one bidirectional force sensor is mounted, which measures the applied by the user on the walker pressure and tensile forces. Walking aid according to one of the preceding claims, comprising at least three wheels ( 3 . 4 ), wherein at least one wheel is designed steerable. Walking aid according to one of the preceding claims, wherein the drive device comprises at least one wheel hub motor ( 6 ) in at least one, in particular at least two, of the wheels ( 4 ). Walking aid according to one of claims 1 to 4, wherein the drive device comprises at least one electric motor ( 7 ) and at least one electric motor ( 7 ) each with a wheel ( 4 ) connected is. An assistant according to one of the preceding claims, wherein the drive device has at least one transmission, via which at least one wheel is driven. An assistant according to any one of the preceding claims, wherein the user sensor ( 9 ) is movably mounted on the frame. Walking aid according to one of the preceding claims with at least one sensor for detecting the background texture. Walking aid according to one of the preceding claims, comprising a receptacle for objects to be transported by the user. Walking aid according to claim 9, with at least one sensor for detecting the loading state of the walker. Walking aid according to one of the preceding claims, wherein the user sensor ( 9 ) is designed as a passive or active depth sensor. Walking aid according to one of the preceding claims, comprising an obstacle sensor ( 12 ) for detecting obstacles in the direction of movement of the walker. Walking aid according to one of the preceding claims, comprising a gesture sensor ( 10 ) for recognizing gestures of the user. Walking aid according to one of the preceding claims, wherein the frame is designed to be self-folding. Walking aid according to one of the preceding claims, wherein the user sensor ( 9 ) at the same time the obstacle sensor ( 12 ) and / or the gesture sensor ( 9 ) or the obstacle sensor ( 12 ) simultaneously the gesture sensor ( 9 ).

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