DE102012202614C5 - Home Aid Device - Google Patents

Abstract

Domestic auxiliary device, comprising a chassis (2) with a plurality of wheels (7), a lifting device (3) attached at least indirectly to the chassis (2), a control device (6), a drive (9) connected to the control device (6) for height adjustment the lifting device (3), and a storage surface (4) which is height-adjustable by means of the lifting device (3) and which is provided so that at least one object can be deposited thereon, comprising a position-determining device (14) connected to the control device (6). and at least one associated with the control device (6), the environment of the auxiliary device monitoring sensor (15), wherein depending on a location of the auxiliary device, an automatic adjustment of the height of the shelf surface, and in which the automatically adjustable heights of the shelf are predefined by they have been programmed or automatically measured.

Description

The invention relates to a domestic auxiliary device.

The DE 103 18 929 B3 discloses a mobile walker to assist walking impaired persons. The walker includes a wheeled chassis, a drive for driving the wheels and chassis-mounted height-adjustable support and guide handles with integrated sensors that serve the user of the walker for supporting and controlling the walker.

The object of the invention is to provide a domestic auxiliary device for assisting a person.

The object of the invention is achieved by a domestic auxiliary device, comprising a chassis with several wheels, a mounted at least indirectly on the chassis lifting device, a control device, connected to the control device drive for height adjustment of the lifting device, and a storage surface which is height adjustable by means of the lifting device , The domestic auxiliary device therefore comprises the chassis with the wheels, whereby the auxiliary device according to the invention can be moved relatively easily. At least indirectly on the chassis, the lifting device is arranged, by means of which the shelf is adjustable in height. The lifting device is driven by the drive, which is preferably designed as an electric drive. This is in turn driven by the control device. Thus it is e.g. possible to set the height of the shelf automatically. The storage surface is provided in particular that on this at least one object can be stored.

The domestic auxiliary device according to the invention thus provides a trainer in the form of a mobile assistant. The auxiliary device can thus assist a user to e.g. To bring items from one place to another. This can e.g. a saucepan from the stove to the dining table. About the lifting device, the height of the platform or the storage area, for example, be adapted to the different heights of stoves, tables, refrigerator compartments, etc.

About the lifting device, the mobile assistant or the auxiliary device can absorb in particular relatively heavy objects from the ground. For this purpose, e.g. the user the object to be lifted on the lifting device or puts it on the shelf from. The inventive domestic auxiliary device can also have a fastening device for fastening an object, which is height-adjustable by means of the lifting device. In a preferred embodiment, the lifting device is able to locate and cancel the object itself.

The home auxiliary device may i.a. at least one of the following further drive connected to the control device and configured to drive at least one of the wheels controlled by the control device, a memory connected to the control device, an input device connected to the control device, a display device connected to the control device , a microphone, a loudspeaker, a transceiver device, a position-determining device connected in particular to the control device, at least one sensor connected to the control device, monitoring the surroundings of the auxiliary device, an illumination connected to the control device, at least one projector connected in particular to the control device for projecting an image, at least one interface connected to the control device for connecting the control device to a communication or data network, connected to the S connected to the reader device for communicating with RFID transponders, and / or at least one video and / or audio playback device. The sensor monitoring the environment of the auxiliary device is, for example, a camera or a laser scanner. The input device is e.g. a touch screen. The projector can be used to e.g. To project films onto walls.

According to a preferred embodiment of the domestic auxiliary device according to the invention, information about at least one height of the storage surface is stored in the memory. This can be selected for example by means of the input device. The control device can then preferably be set up to retrieve this information in order to control the drive in such a way that the lifting device brings the storage surface into this height. Thus, it is possible in a relatively simple manner to set the height of the shelf automatically.

Thus, the height adjustment of the shelf can have a memory function. This results in a simplified approach to the desired position of the shelf. The automatic adjustment of the height of the shelf, which is designed as a table, for example, can be done depending on a location. For example, in the vicinity of a kitchen table, the lifting device moves the shelf to the programmed height of this kitchen table. For example, in the vicinity of the living room table, the lifting device moves the shelf, in particular at the touch of a button on the height of Living room table, etc. These predefined heights can be programmed or automatically measured and then approached by the user, for example, at the touch of a button.

For example, to facilitate the operation of the auxiliary device according to the invention, the optional input device may be formed as a speech-based input and / or output. In combination, for example, with at least one directional microphone, which may have the auxiliary device according to the invention, a person can call the auxiliary device to any location. According to a variant of the auxiliary device according to the invention, the person can call the auxiliary device to at least one preprogrammed position. For this purpose, any existing telecommunications equipment may be used, such as mobile phone, e-mail, remote control.

According to one embodiment of the domestic auxiliary device according to the invention whose wheels are omnidirectional wheels. Omnidirectional wheels, which are also referred to as Mecanum wheels, are known to those skilled in principle. For an omnidirectional wheel, e.g. mounted on the circumference of the wheel a plurality of rotatably mounted, especially barrel-shaped rollers, in particular at an angle of 45 degrees to the axis of the entire wheel. This makes it possible for the domestic auxiliary device according to the invention to move freely in all directions in a relatively simple manner in the western, in particular when the omnidirectional wheels are suitably driven by means of the further drive, which is in particular an electric drive.

The domestic auxiliary device according to the invention may also have at least one handle. This can preferably be height adjustable by means of the lifting device. The handle is intended to hold or support a person. The handle is arranged in particular on the shelf. At least one pressure and / or force sensor can be arranged in or on the handle. If the auxiliary device has the memory, then information about the height of the handle can also be stored in the memory. Thus, the height adjustment of the handle can also have a memory function. This results in a simplified approach to the desired position of the handle. The adjustable height of the handle can be adjusted, for example, depending on the person using the auxiliary device. These predefined heights may be programmed or automatically measured and then approached, for example, at the touch of a button by the current person using the auxiliary device.

According to a preferred embodiment of the domestic auxiliary device according to the invention, a digital map is stored in the memory. The control device may thus be able to control the further drive by means of the signals originating from the position-determining device such that the domestic auxiliary device automatically moves to an input destination. Thus, the auxiliary device according to the invention can automatically move from one place to another. If the auxiliary device comprises the at least one handle, then it is possible for the auxiliary device to automatically guide a person to a desired destination. The auxiliary device according to the invention may optionally be connected via sensors, e.g. Laser scanners or cameras. The control device may be configured with autonomous navigation software. By means of this software, for example, a map of the environment, the digital map in which the auxiliary device is to move, can be constructed. Different destination positions and routes can be entered in this map. The person operating the auxiliary device can then select a destination position or a destination so that the auxiliary device according to the invention moves there autonomously.

For example, if the auxiliary device is already in the immediate vicinity of the person operating the auxiliary device, then this can in particular hold on to the optionally present handle and run behind the auxiliary device. If the auxiliary device is not yet in the correct position and orientation, it can be provided that the person operating the auxiliary device calls the auxiliary device to himself. For this, the auxiliary device may be e.g. Have communication means to automatically bring in the right position. For example, via sensors such as e.g. Pressure or force sensors on or in the handles, if appropriate, the person operating the auxiliary device can control the speed of the auxiliary device.

It may also be provided to override the autonomous functions of the auxiliary device via these sensors, e.g. to change the direction of travel.

In particular with the aid of further sensors, e.g. those who are used to navigate, such as laser scanners and cameras, can also detect obstacles that are on the way to the targets. The auxiliary device may then be arranged to automatically adjust the path to the destination so that the person operating the auxiliary device does not stumble over the obstacles.

By means of this embodiment of the auxiliary device according to the invention, the person operating the auxiliary device can be guided in a targeted manner.

The current position of the auxiliary device according to the invention can be determined at any time via an autonomous navigation module or by means of the optionally present position-determining device. This function can assist the locating disoriented persons serving the auxiliary device by notifying the auxiliary device of its position, for example, to a central office or a search service via telecommunication channels. The home auxiliary device can also be used outside.

According to a further embodiment of the domestic auxiliary device according to the invention, its control device can be set up to communicate with at least one further domestic auxiliary device, in particular to obtain information about the current position of the further auxiliary device in order to use this position as the destination.

The auxiliary device according to the invention can have at least one communication device. Examples of telecommunication facilities are telephony, video telephony, internet access, wireless radio communication. By way of example, the person using the auxiliary device can come into contact with other persons, such as relatives, friends, caregivers, doctors, counselors, etc. via these communication devices.

If appropriate in a special network, a plurality of auxiliary devices according to the invention of different persons operating the auxiliary device can be connected to one another. This makes it possible, for example, to be able to find each other in order to exchange information with one another, in particular via the communication devices, or to be able to play with each other.

In a preferred embodiment, this function can be used to find like-minded people that they are physically guided by means of their auxiliary devices to each other. If, for example, a number of auxiliary devices are used in an old-age and / or nursing home or in a residential district, the auxiliary devices can guide their persons using the auxiliary device to each other (targeted navigation with target by the other auxiliary device). This has the advantage, for example, that the persons who operate the auxiliary device can communicate directly with each other after the merge and, for example, can do something.

According to an embodiment of the domestic auxiliary device, the control device thereof may be set up to control the drive for assisting a person in the direction of bending and / or standing up, so that the lifting device adjusts the height of the handle according to the bending and / or rising.

If the auxiliary device according to the invention comprises the at least one height-adjustable handle, then the auxiliary device can be set up to assist a vertical movement of the person operating the auxiliary device when getting up or setting in motion via the lifting device. This movement can be purely controlled.

According to a preferred embodiment of the domestic auxiliary device according to the invention, the control device can be set up to control the further drive during bending and / or rising so that the chassis executes a movement associated with stooping and / or standing up.

In particular, the control device of the auxiliary device according to the invention may be configured to control the further drive during bending so that the landing gear moves away from the person during the bending in the direction of the person and / or while standing up.

The assisting vertical movement of the handle by means of the lifting device can thus be combined with driving movements of the auxiliary device, e.g. a slight forward movement when standing up or backward movement when sitting down, superimposed to provide for improved support.

In a further variant, in this assistance function, sensors in the grips (e.g., pressure, force) or other sensors (such as laser scanners, cameras) monitoring the movement of the auxiliary operator and the environment may monitor the actual movement of the person operating the auxiliary. Thus, the vertical movement can be superimposed with driving movements of the auxiliary device in a sensor-supported manner in order to support the standing up or setting down operation.

In a further variant of the auxiliary device according to the invention, this function can also be used to assist in stooping when the person using the auxiliary device, for example, wants to pick something up from the ground. In a preferred embodiment, a sensor-based superposition of vertical and driving movements can be provided. By stabilizing the movement, falls are avoided. Just when straightening up It may come through circulatory weakness to instability and thus fall.

According to a further embodiment of the domestic auxiliary device according to the invention, its control device can be set up to evaluate the signals originating from the pressure and / or force sensor and / or the sensor monitoring the environment of the auxiliary device and to control the further drive on the basis of these signals.

Due to this embodiment of the auxiliary device according to the invention, persons may e.g. stabilized with unsteady gait and at the risk of falling over. As a result, falls can be avoided or their number can be reduced. For this purpose, sensors can be attached to the auxiliary device, which detect when the person operating the auxiliary device becomes unstable and threatens to fall over. This can e.g. done via the pressure or force sensors in the handles. The control device of the auxiliary device can then drive the drive and / or the further drive in such a way to respond to an imminent fall situation by a corresponding driving maneuver. As a result, the person using the auxiliary device can be better supported and thus intercepted.

In particular, when the wheels of the auxiliary device according to the invention are designed as omnidirectional wheels, translational and rotational movement commands can be superimposed. Thus, the auxiliary device can react faster to crash situations.

The control device of the domestic auxiliary device can be set up to detect an obstacle on the basis of the signals originating from the environment-monitoring sensor and to generate a further signal on the basis of the detected obstacle.

The further signal can be provided, for example, to control a loudspeaker and / or a warning lamp of the auxiliary device. The further signal can also be provided to control a lighting of the auxiliary device such that it illuminates the obstacle.

A cause of a fall can be, for example, objects or bumps in the way. Due to the just mentioned embodiment of the auxiliary device according to the invention, this risk can be reduced, if not minimized. For example, sensors detect objects and other bumps in or on the floor over which e.g. the person operating the auxiliary device could trip. The auxiliary device may then be e.g. stop or avoid the detected obstacle. Obstacles may also be alerted by acoustic or optical signals, e.g. by deliberately illuminating the tripping edge or the obstacle.

For example, by lighting or lights on the auxiliary device, the walkway can be better illuminated. This is advantageous in the evening or at night.

If a fall is no longer avoidable, the auxiliary device according to a preferred embodiment can e.g. reduce the consequences of falls by using an airbag. The airbag inflates in time so in particular above the ground surface, so that the person operating the auxiliary device crashes on this airbag and not on the ground. The auxiliary device can also be set up to signal an emergency signal when a fall is detected.

The domestic auxiliary device according to the invention can thus have an airbag, wherein the control device is set up in particular based on the signals originating and evaluated by the pressure and / or force sensor and / or by the sensor monitoring the surroundings of the auxiliary device for an imminent fall of the auxiliary direction Close person to automatically trigger the airbag.

According to a further variant of the domestic auxiliary device according to the invention, its control device is set up to automatically remind the person operating the auxiliary device of a procedure by means of the loudspeaker and / or the display device.

According to this embodiment of the auxiliary device according to the invention, this includes a reminder function, for example, to remind the person using the auxiliary device to drink regularly. The reminder function can also be expanded in the sense of games to an incentive function. Other reminder functions can be: do not forget key when leaving the apartment, turn off devices, shopping list, ...

The auxiliary device according to the invention can be set up in such a way as to motivate its person operating the auxiliary device, for example to preventively train her body and mind. Also relatively simple rehabilitation exercises are conceivable, which are exemplified by an optionally present display device of the auxiliary device in order to be imitated by the person using the auxiliary device.

The auxiliary device according to the invention can be used according to an embodiment itself as a training device. According to this embodiment, it can be provided that the person operating the auxiliary device pushes or pulls the auxiliary device, in particular with adjustable force. This can be achieved by the further drive is used to specifically support the direction of force for the person using the auxiliary device or deliberately counteract precisely this force to increase the resistance and thus the training effect. For example, squats can be trained with the lifting device.

The optionally existing integrated sensors can enable a force measurement. The frequency of the training and the force courses can be recorded, thus enabling doctors and caregivers to monitor / support therapy.

The control device of the domestic auxiliary device may be configured to operate the further drive with a predetermined or predeterminable torque to assist or complicate a manual movement of the auxiliary device.

According to a further variant of the domestic auxiliary device according to the invention, the latter has at least one medical device for checking a state of health of a person. For this purpose, the auxiliary device can be equipped, for example, with sensors and devices for monitoring the circulation (ECG, blood pressure, etc.). Thus, the auxiliary device can early detect a circulatory weakness of the person operating the auxiliary device and respond to it, for example, in different forms, e.g. completely stop or significantly slow down the movement of the auxiliary device, respond calmly to the person operating the auxiliary device and instruct a meaningful behavior, make an emergency call.

This feature may also be particularly helpful when the auxiliary device is to be used for physical training (e.g., squats). The training can be monitored and adapted to the particular body condition of the person operating the auxiliary device.

According to a preferred variant of the domestic auxiliary device according to the invention, its control device is set up to evaluate the signals generated by the medical device and to automatically carry out at least one action on the basis of the evaluated signals if the evaluated signals indicate a questionable state of health of the person. The action taken is, for example, automatically generating and transmitting an emergency call, slowing down movement of the wheels, stopping the wheels, and / or playing an instruction to the person operating the auxiliary device.

The auxiliary device according to the invention can also have a context-sensitive illumination. The auxiliary device may, for example, be equipped with different illumination systems which are activated depending on the context.

The auxiliary device according to the invention may also include an entertainment function. The auxiliary device may in particular offer entertainment functions such as radio, CD (music & audiobooks), TV, DVD. Due to the mobility of the auxiliary device, the person operating the auxiliary device has access to these functions in all rooms.

The auxiliary device according to the invention may have at least one interface, which is in particular a standardized interface, via which, for example, entertainment media in the vicinity of the auxiliary device can be controlled. If these interfaces are made simpler than the operator interfaces of these entertainment media, then the auxiliary device may serve as a facilitator of the entertainment requests between the person operating the assistive device and these entertainment media.

The auxiliary device according to the invention can also be used for stress / depression detection of its person operating the auxiliary device. From the type of use of the auxiliary device may be derived a stress and depression detection. For this purpose, it may be provided to automatically store information about the use of the auxiliary device in the optionally existing memory.

The auxiliary device according to the invention can be designed as an open platform. The auxiliary device may have interfaces that allow third parties to offer additional functions for the auxiliary device. These interfaces may be designed to allow relatively easy integration of other hardware and software.

The auxiliary device according to the invention may have an ordering service. The auxiliary device can be set up in such a way that a person operating the auxiliary device can order, for example, foods or medicaments which are brought home, for example, via the auxiliary device. If the food is delivered in special boxes, the person operating the auxiliary device can, for example, use the optional traction aid or fastening device Pick up in front of the door and transport to your fridge.

The auxiliary device according to the invention can be designed remotely operable and / or remotely controlled. As a result, for example, in the event of a fault, the person using the auxiliary device can be helped relatively quickly. Thus, for example, not only the internal functions of the auxiliary device can be maintained, but also the auxiliary device can be moved remotely, if, for example, the person operating the auxiliary device can no longer drive it himself from an unfavorable position.

The domestic auxiliary device may comprise a hand-held remote control, with which it is possible to call the auxiliary device when it is not in Rufreich- or sight distance, and a manual method (eg via a joystick), if the person operating the auxiliary device or The auxiliary device itself is not possible to free itself from a certain situation.

In a further embodiment, the auxiliary device can also have standardized interfaces with which sensors (for example external temperature sensors, cameras, ECGs) and actuators (for example self-opening doors, elevator controls) as well as entertainment media (TV, DVD) can be addressed and used by the environment.

The auxiliary device according to the invention can also be used to search and find objects. Thus, it may be provided that the objects are provided with individual RFID transponders and the auxiliary device has an RFID reader. To find a particular item, the reader transmits signals associated with the transponder of that item, which are attenuated by the transponder. By evaluating the attenuated signals e.g. By means of the control device, the auxiliary device can be made to automatically move in the vicinity of the desired object.

• 1 eine häusliche Hilfsvorrichtung in einer perspektivischen Darstellung,
• 2 ein Fahrwerk der Hilfsvorrichtung,
• 3, 4 weitere perspektivische Darstellungen der Hilfsvorrichtung und
• 5 eine Anzeigevorrichtung der Hilfsvorrichtung.

Embodiments of the invention are illustrated by way of example in the accompanying schematic drawings. Show it:

• 1 a domestic auxiliary device in a perspective view,
• 2 a chassis of the auxiliary device,
• 3 . 4 further perspective views of the auxiliary device and
• 5 a display device of the auxiliary device.

The 1 shows a domestic auxiliary device 1 in a perspective view. The auxiliary device 1 includes a chassis 2 , one on the chassis 2 attached lifting device 3 and one on the lifting device 3 fixed shelf 4 , by means of the lifting device 3 is height adjustable. The shelf 4 it is intended that objects can be stored or stored on it. These can then from one place to another by means of the auxiliary device 1 to be moved.

The lifting device 3 is designed for example as an articulated joint, as is the case in the present embodiment.

The 2 shows a top view of the chassis 2 in a schematic representation. The 3 and 4 show further perspective views of the auxiliary device 1 ,

In the case of the present embodiment, the auxiliary device comprises 1 a control device 6 , The control device 6 For example, includes electronics with a microprocessor and is set up functions of the auxiliary device 1 to control and / or monitor. The control device 6 is for example executed as a computer.

The chassis 2 the auxiliary device 1 includes a chassis body 5 , on which several, in particular four wheels 7 are arranged, by means of which the auxiliary device 1 as a whole can be moved horizontally. In or on the chassis body 5 is, for example, the control device 6 arranged.

The auxiliary device 1 comprises in the case of the present embodiment, multiple drives 8th , which are designed in particular as electric drives. The drives 8th are provided, the wheels 7 the auxiliary device 1 drive. The drives 8th are with the control device 6 connected, so that the control device 6 the drives 8th during operation of the auxiliary device 1 can move.

The wheels 6 are in the case of the present embodiment as omnidirectional wheels 7 executed. Omnidirectional wheels as such are also referred to as mecanum wheels and are known in the art in principle. By means of these wheels 7 can be suspension 2 or the home aid 1 in a relatively simple manner essentially by means of the drives 8th move freely in all directions.

The auxiliary device 1 includes another drive 9 which is designed in particular as a further electric drive and with the control device 6 connected is. The drive 9 is provided, the lifting device 3 to adjust in height. As a result, the storage area is also adjusted 4 in their height.

In the case of the present embodiment, the domestic auxiliary device 1 at least one of the following components, which in particular with the control device 6 connected and, for example, in or on the vehicle body 5 is attached:

A store 10 , a microphone 11 , a speaker 12 , a transmitter / receiver device 13 , a position determining device 14 , a sensor monitoring the environment of the auxiliary device 15 , a lighting 16 , a projector 17 for projecting an image, a reader 18 for communicating with RFID transponders, and / or a video and / or audio player 19 ,

The domestic auxiliary device 1 can also at least one in the 5 Display device shown in detail 20 exhibit. This is eg designed as a touch screen and / or on the shelf 4 arranged. The auxiliary device 1 can also be one with the control device 6 have connected input device, for example, as a button 21 is executed. The input device can also be operated by means of the display device designed as a touchscreen 20 be realized. The auxiliary device 1 can also be one with the control device 6 connected electronic interface 22 for connecting the control device 6 having a communication or data network.

In the case of the present embodiment, the auxiliary device 1 another grip 23 on, at which a person 24 at the auxiliary device 1 can hold on. The handle 23 is for example on the shelf 4 arranged so that it by means of the lifting device 3 is height adjustable.

The auxiliary device 1 comprises in the case of the present embodiment, a fastening device 25 for fixing an object. The item is eg a shopping basket 26 , The fastening device 25 is for example designed as a hook.

The auxiliary device 1 can also be at least one force sensor or pressure sensor 27 in particular, in or on the handle 23 is arranged. The force sensor or pressure sensor 27 is also with the control device 6 connected. Also, the auxiliary device 1 a telephone 28 exhibit

In the case of the present embodiment, the control device 6 set up with the lifting device 3 coupled drive 9 to control such that the storage space 4 takes a desired height. The desired height can be entered eg by means of the input device, eg by means of the touchscreen.

The auxiliary device 1 thus can the person 24 to help move items from one place to another. This can be eg a saucepan from the stove to the dining table. About the lifting device 3 can be the height of the platform or the shelf space 4 For example, be adapted to the different heights of stoves, tables, refrigerator compartments, etc.

About the lifting device 3 can the auxiliary device 1 especially pick up relatively heavy objects from the ground. For this purpose, for example, the person attached 24 the item to be repealed, eg the shopping basket 26 at the lifting device 3 or put it on the shelf 4 from. The auxiliary device 1 can also be set up the object, eg the shopping basket 26 self-locating and by means of the fastening device 25 repealed.

In the case of the present embodiment is in memory 10 an information about at least one height of the shelf 4 saved. The control device 6 is set up to retrieve this information by means of the drive 9 and the lifting device 3 the shelf 4 brings to this height.

The automatic adjustment of the height of the shelf 4 , which is designed as a table, for example, can also be done depending on a place. For example, in the vicinity of a kitchen table moves the lifting device 2 controlled by the control device 6 , the storage area 4 on the programmed height, ie on the memory 10 deposited height, this kitchen table.

The input device of the auxiliary device 1 can be designed as a voice-based input and / or output. This is done, for example, on the control device 6 a suitable speech recognition program, which by means of the microphone 11 recorded instructions of the person 24 analyzed according to the drives 8th the wheels 7 or the drive 9 the lifting device 3 head for. For this purpose, if necessary, existing telecommunications facilities can be used, such as the phone 28 or even a mobile phone, e-mail, remote control.

In the case of the present embodiment is in memory 10 an information about the height of the handle 23 saved. This height is for example the person 24 assigned. It can thus provide information about different heights of people in the store 10 be deposited, which different, potentially the auxiliary device 1 associated persons are assigned. These predefined For example, heights may have been automatically measured and then, for example, at the touch of a button by the current person using the auxiliary device 1 used, be approached.

In the case of the present embodiment is in memory 10 a digital map saved. For example, by means of a on the control device 6 running computer program, it is the control device 6 possible, for example by means of the position determining device 14 originating signals the drive 8th the wheels 7 so controls, so that the auxiliary device 1 automatically moved to an entered destination. Thus, the auxiliary device according to the invention 1 automates moving from one place to another.

During the automatic movement of the auxiliary device 1 can the person 24 on the handle 23 hold and behind the auxiliary device 1 running here. Is the auxiliary device 1 not yet in the right position and orientation, it can be provided that the person 24 the auxiliary device 1 calls to himself. For example, via sensors, such as the pressure or force sensors 27 may be the person 24 the speed of the auxiliary device 1 Taxes.

It can also be provided, for example via the pressure or force sensors 27 the autonomy functions of the auxiliary device 1 to override, for example, to change the direction of travel.

In the case of the present embodiment, the control device 6 set up in such a way, due to the sensor monitoring the environment of the auxiliary device 15 originating signals to detect an obstacle during movement. The sensor 15 is designed as eg a laser scanner or a camera. To do this runs on the control device 6 an image processing software on the basis of which the control device 6 Obstacles, in particular during the automatic movement of the auxiliary device 1 to recognize. In particular, the control device 6 set up to automatically adjust the way to the destination so that the person 24 do not stumble over the obstacles.

In the case of the present embodiment, the control device 6 set up due to the position determining device 14 originating signals and via the transmitter / receiver device 13 the current position of the auxiliary device 1 for example, to transmit wirelessly to a central office or a search service.

In the case of the present embodiment, the control device 6 arranged to communicate with at least one other domestic auxiliary device, in particular to obtain information about the current position of the further auxiliary device to use this position as the destination.

Over the phone 28 or others on the auxiliary device 1 arranged communication devices, such as video telephony, Internet access, wireless radio communication, the person can 24 in contact with other persons, such as relatives, friends, carers, doctors, pastors, etc.

Optionally, in a special network, multiple auxiliary devices 1 different people 24 be connected to each other. This makes it possible, for example, to be able to find each other in order to exchange information with one another, in particular via the communication devices, or to be able to play with each other.

In the case of the present embodiment, this function of finding like-minded people is also used physically by means of their auxiliary devices 1 be led to each other. For example, if in a retirement and / or nursing home or in a residential district several auxiliary devices 1 are in use, the auxiliary devices can 1 their persons 24 lead to each other (targeted navigation with target by the other auxiliary device 1 ).

In the case of the present embodiment, the control device 6 the auxiliary device 1 set up, for supporting a bumping and / or rising of the auxiliary device 1 serving person 24 the drive 9 to drive so that the lifting device 3 the handle 23 adjusted in height according to the bending and / or getting up.

In particular, the control device 6 set up while moving the lifting device 3 to assist the person getting up or bending down 24 the drives 8th the wheels 7 to drive so that the suspension 2 performs a bending and / or standing associated movement. In particular, the control device 6 the auxiliary device 1 set up, the drives 8th the wheels 7 to steer during the bumping so that the landing gear 2 while stooping towards the person 24 and / or while getting up off the person 24 emotional.

The supportive vertical movement of the handle 23 by means of the lifting device 3 can thus with driving movements of the auxiliary device 1 , eg a slight forward movement when standing up or backward movement when sitting down, be superimposed to provide improved support.

It can also be provided that this assistance function via the force sensors or pressure sensor 27 under control 23 and / or the sensor monitoring the environment of the auxiliary device 15 is monitored by the control device 6 the signals coming from these sensors evaluate the movement of the person 24 to monitor. Thus, the vertical movement with driving movements of the auxiliary device 1 be superimposed in a sensor-based manner to assist the sit-down operation.

In the case of the present embodiment, the control device 6 the auxiliary device 1 also be set up due to the force sensor or pressure sensor 27 and / or the sensor monitoring the environment of the auxiliary device 15 evaluate the signals originating and the drives 8th the wheels 7 and / or the drive 9 the lifting device 3 in such a way to respond to an imminent fall situation of the person 24 by a corresponding driving maneuver to react so that the person 24 better supported and thus intercepted.

The control device 6 the home aid device 1 may also be arranged in the case of the present embodiment, due to the sensor monitoring the environment 15 originating signals to detect an obstacle and to generate a further signal due to the detected obstacle.

The further signal can be provided, for example, the speaker 12 and / or a warning lamp 29 the auxiliary device 1 head for. The further signal can also be provided, the lighting 16 the auxiliary device 1 in such a way that it illuminates the obstacle.

The control device 6 the auxiliary device 1 can also be set up, due to the detected obstacle, the drives 8th the wheels 7 to drive so that the auxiliary device 1 automatically stops or automatically bypasses the detected obstacle.

In the case of the present embodiment, the auxiliary device comprises 1 one with the control device 6 connected airbag 30 , The control device 6 is set up in this case, in particular because of the force sensor or pressure sensor 27 and / or the sensor monitoring the environment of the auxiliary device 15 originated and evaluated signals an unavoidable fall of the person 24 to recognize, then the airbag 30 automatically trigger. The airbag 30 inflates itself in particular so in time, especially above the soil surface, so that the person 24 on this airbag 30 crashes and does not hit the ground. The auxiliary device 1 may also be set to issue an emergency signal when a fall is detected.

In the case of the present embodiment, the control device 6 the auxiliary device 1 set up the speaker 12 and / or the display device 20 automatically to drive so that the person 24 is automatically reminded of a process. As a result, for example, the person 24 to be reminded of a regular drinking. The reminder function can also be expanded in the sense of games to an incentive function. Other reminder functions can be: do not forget key when leaving the apartment, turn off devices, shopping list.

The auxiliary device 1 In the case of the present exemplary embodiment, the person can also be set up in this way 24 to motivate, for example, preventively to train their body and mind. Also relatively simple rehabilitation exercises are conceivable, for example by means of the display device 20 the auxiliary device 1 be faked to by the person 24 to be imitated.

In the case of the present embodiment, the auxiliary device 1 even be used as a training device. To accomplish this, the auxiliary device is 1 eg set up such that the person 24 the auxiliary device 1 especially with an adjustable force push or pull can. This can be achieved by the control device 6, the drives 8th the wheels 7 so controls that the direction of force the person 24 targeted support or precisely counteracts this force targeted to the resistance for the person 24 and thus increase the training effect. With the lifting device 3 For example, squats can be trained by the control device 6 the drive 9 the lifting device 3 for a specific lifting and lowering of the handle 23 controls accordingly.

The sensors of the auxiliary device 1 can enable a force measurement. The frequency of the training and the force courses can be logged and eg in the memory 10 be filed. This allows, for example, doctors and carers monitoring / therapy support of the person 24 ,

In the case of the present embodiment, the auxiliary device 1 at least one medical device 31 to check a health status of the person 24 on. The medical device 31 includes eg sensors and devices for circuit monitoring (ECG, blood pressure, etc.). The medical device 31 is in particular with the control device 6 connected. The control device 6 the auxiliary device 1 can also in the case of the present embodiment, the of the medical device 31 Evaluate generated signals and automatically perform at least one action based on the evaluated signals when the evaluated signals on a questionable state of health of the person 24 clues. The action taken is, for example, automatically generating and sending an emergency call, slowing down movement of the wheels 7 , stopping the wheels 7 , and / or playing an instruction to the person 24 ,

This feature is also particularly helpful when the auxiliary device 1 to the physical training of the person 24 should be used (eg squats). The training can be supervised and adapted to the respective body condition of the person 24 be adjusted.

The auxiliary device 1 can also have context-sensitive lighting. The auxiliary device 1 For example, it may be equipped with different lighting systems that are activated depending on the context.

The auxiliary device 1 can also include an entertainment feature. The auxiliary device 1 In particular, it can provide entertainment features such as radio, CD (music & audiobooks), TV, DVD. Due to the mobility of the auxiliary device 1 stand the person 24 These functions are available in all rooms.

The auxiliary device 1 can at least one interface, in particular a standardized interface 32 is, have, for example, the entertainment media in the vicinity of the auxiliary device 1 are controllable.

The auxiliary device 1 can also be used in the case of the present embodiment for stress / depression detection of the person. From the way of using the auxiliary device 1 may possibly be a stress and depression detection of the person 24 be derived. For this purpose, it may be provided that the one information about the use of the auxiliary device 1 automatically in memory 10 is filed.

The auxiliary device 1 can have an order service. The auxiliary device 1 can be set up so that the person 24 over the auxiliary device 1 For example, you can order food or medicines that you bring home, for example. If the food is delivered in special boxes, the person can 24 this eg with the fastening device 25 Pick up in front of the door and transport to your fridge.

The auxiliary device 1 can be remote-controlled and / or remote-controlled.

The domestic auxiliary device 1 may have a hand-held remote control, with which it is possible, the auxiliary device 1 to call.

the interface 22 can also be provided to communicate with sensors (eg external temperature sensors, cameras, ECGs) and actuators (eg, self-opening doors, elevator controls) as well as entertainment media (TV, DVD).

The auxiliary device 1 can also be used to search for and find items. Thus it can be provided that the objects are provided with individual RFID transponders. To find a specific item, the reader sends 18 the transponder of this object associated signals, which are weakened by the transponder. By evaluating the weakened signals by means of the control device 6 It may be the auxiliary device 1 be allowed to automatically move in the vicinity of the desired object.

Claims (19)

Domestic auxiliary device, comprising a chassis (2) with a plurality of wheels (7), a lifting device (3) attached at least indirectly to the chassis (2), a control device (6), a drive (9) connected to the control device (6) for height adjustment the lifting device (3), and a storage surface (4) which is height-adjustable by means of the lifting device (3) and which is provided so that at least one object can be deposited thereon, comprising a position-determining device (14) connected to the control device (6). and at least one associated with the control device (6), the environment of the auxiliary device monitoring sensor (15), wherein depending on a location of the auxiliary device, an automatic adjustment of the height of the shelf surface, and in which the automatically adjustable heights of the shelf are predefined by they have been programmed or automatically measured. Home help device after Claim 1 in which memory (10) information about at least one height of the storage surface (4) is stored, which is selectable in particular by means of the input device, and the control device (6) is arranged to retrieve this information in order to control the drive (9) so that the lifting device (3) brings the storage surface (4) in this height. Home help device after Claim 1 or 2 whose wheels (7) are omnidirectional wheels. Home auxiliary device according to one of the Claims 1 to 3 in which a digital map is stored in the memory (10), and the control device (6) controls the further drive (8) by means of the signals originating from the position-determining device (14), so that the domestic auxiliary device (1) automatically adjusts to one entered destination moves. Home help device after Claim 4 whose control device (6) is arranged to communicate with at least one further domestic auxiliary device (1), in particular to obtain information about the current position of the further auxiliary device (1) in order to use this position as the destination. Home auxiliary device according to one of the Claims 1 to 4 , comprising at least one handle (23), which is adjustable in height by means of the lifting device (3), which is provided that a person (24) holds or supports it, and in particular on the storage surface (4) is arranged and / or in the at least one pressure and / or force sensor (27) is arranged. Home help device after Claim 6 the control device (6) of which is arranged to control the drive (9) in such a way for supporting a bumping and / or standing of a person (24) operating the auxiliary device (1), so that the lifting device (3) controls the handle (23) in accordance with Bückens and / or getting up the person (24) adjusted in height. Home help device after Claim 7 whose control device (6) is set up to control the further drive (8) during the bending and / or rising of the person (24) such that the chassis (2) automatically associates the person (24) with bending over and / or getting up Exercise movement. Home help device after Claim 8 whose control device (6) is set up to control the further drive (8) during the stooping of the person (24) in such a way that the chassis (2) moves in the direction of the person (24) during the stooping of the person (24) and / or moved away from the person (24) while standing up. Home auxiliary device according to one of the Claims 6 to 9 the control device (6) of which is set up to evaluate the signals originating from the pressure and / or force sensor (27) and / or the sensor (15) monitoring the environment of the auxiliary device and to control the further drive (8) on the basis of these signals , Home auxiliary device according to one of the Claims 1 to 10 whose control device (6) is set up to detect an obstacle on the basis of the signals originating from the environment-monitoring sensor (15) and to generate a further signal on the basis of the detected obstacle. Home help device after Claim 11 in which the further signal is intended to control the loudspeaker (12) and / or a warning lamp (29) of the auxiliary device (1) and / or is intended to control the illumination (16) of the auxiliary device (1) such that this illuminates the obstacle. Home auxiliary device according to one of the Claims 1 to 12 , comprising an airbag (30), wherein the control device (6) is set up on the basis of the signals originating from the pressure and / or force sensor (27) and / or from the sensor (15) monitoring the environment of the auxiliary device to close impending fall of the auxiliary device (1) serving person (24) to automatically trigger the airbag (30). Home auxiliary device according to one of the Claims 1 to 12 whose control device (6) is arranged to automatically remind the person (24) operating the auxiliary device (1) by means of the loudspeaker (12) and / or the display device (20) of a procedure. Home auxiliary device according to one of the Claims 1 to 14 , whose control device (6) is arranged to operate the further drive (8) with a predetermined or predefinable torque in order to assist or aggravate a manual movement of the auxiliary device (1). Home auxiliary device according to one of the Claims 1 to 15 , comprising at least one medical device (31) for checking a health status of a person (24). Home help device after Claim 16 the control device (6) of which is set up to evaluate the signals generated by the medical device (31) and to automatically perform at least one action on the basis of the evaluated signals if the signals evaluated indicate that the person (24) is in serious medical condition. Home help device after Claim 17 in which the action taken is to automatically generate and transmit an emergency call, to slow down movement of the wheels (7), to stop the wheels (7), and / or to play an instruction to the person (24). Home auxiliary device according to one of the Claims 1 to 18 , comprising a fastening device (25) for fastening an object (26) which is height-adjustable by means of the lifting device (3).

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