DE102016217078A1 - Method for controlling a walking aid, control device for a walking aid, walking aid - Google Patents

Abstract

Method (200) for controlling a walker (1) comprising the steps of: - detecting (201) at least a first distance (A) of an upper area (21), in particular a chest area, of a user (2) of the walker (1) to the Walking aid (1); - Detecting (202) at least a second distance (B) of a lower portion (22), in particular a knee region and / or an area below the knee area of the user (2) of the walker (1) to the walker (1); - Determining (203) of a stationary and / or gait image depending on the at least one first distance (A) and / or the at least one second distance (B); - Controlling (204) of the walker (2) depending on the determined standing and / or gait image.

Description

The invention relates to a method for controlling a walking aid, a corresponding control device for a walking aid and a corresponding walker.

State of the art

From the DE 20 2006 008 176 U1 For example, an electric powered walker with a body pitch control is known.

An electrically driven walker with a body-pitch control is designed to detect the distance of the body of the user of the rollator and adjust or change the speed of the rollator accordingly.

In the event of an uncontrolled situation, for example when stumbling or in the event of fainting, conditions may arise in which the change in the distance of the body of the user of the electrically driven rollator to the rollator changes such that the control of the prior art Speed increase in the direction of movement would make. This is disadvantageous because in such a situation the rollator should provide a means of support for stabilization. Accordingly, a hold or at least a deceleration or braking would be more helpful.

Disclosure of the invention

• – Erfassen mindestens eines ersten Abstands eines oberen Bereichs, insbesondere eines Brustbereichs, eines Benutzers der Gehhilfe zu der Gehhilfe;
• – Erfassen mindestens eines zweiten Abstands eines unteren Bereichs, insbesondere eines Kniebereichs und/oder eines Bereichs unterhalb des Kniebereichs, des Benutzers der Gehhilfe zu der Gehhilfe;
• – Ermitteln eines Stand- und/oder Gangbilds abhängig von dem mindestens einen ersten Abstand und/oder dem mindestens einen zweiten Abstand;
• – Steuern der Gehilfe abhängig von dem ermittelten Stand- und/oder Gangbild.

Against this background, the present invention provides a method for controlling a walker with the steps:

• - Detecting at least a first distance of an upper area, in particular a chest area, a user of the walker to the walker;
• Detecting at least a second distance of a lower region, in particular a knee region and / or an area below the knee region, of the user of the walking aid to the walking aid;
• Determining a stationary and / or gait image as a function of the at least one first distance and / or the at least one second distance;
• - controlling the assistant depending on the determined standing and / or gait image.

In the present case, a standing or gait image can be understood to be information indicating whether, how and / or where the user of the walking aid is moving. In particular, a stable state or gait is to be distinguished from an unstable state or gait. Furthermore, the desired walking speed can be derived. In addition, the desired direction of walking can be determined.

According to an advantageous embodiment, the method in the step of controlling, increasing and / or adjusting the speed of the walker depending on a determined standing and / or gait image, which represents a prevention and / or bending back of the user.

Prevention herein means that the distance of the detected upper portion of the user is reduced to a greater extent than the distance of the detected lower portion of the user.

Analogously, a back bend is understood.

Prevention should in this case lead to the fact that the speed of the walker is increased. Preferably, the speed is increased only up to a preset maximum speed. In this case, bending back should lead to a reduction in the speed of the assistant or a walking aid being operated in reverse. It is also conceivable to adjust the speed of the walking aid according to the degree of prevention.

The speed or the speed increase should depend on the degree of prevention or leaning back.

According to an advantageous embodiment, the method comprises a further step of detecting at least a second distance of the upper area, in particular of the chest area, of the user of the walker to the walker, wherein in the step of determining the standing or gait image depending on the at least a first distance of and the at least one second distance of the upper portion is determined, wherein in the step of controlling the direction of the walking aid is changed depending on a standing and / or gait image representing a torso rotation of the user.

According to this embodiment, in the further step of detecting a second distance of the upper area of the user of the walker to the walker, the second distance is detected such that a rotation of the upper body of the user can be determined together with the detected first distance.

It has proved to be advantageous if the first and the second distance is detected by means of a first and a second sensor for distance measurement. Alternatively, also an individual Sensor first capture a distance to a first part of the upper region, for example. The left chest or shoulder area, the user and then to a second part of the upper region, eg. The right chest or shoulder area.

According to an advantageous embodiment, in the step of determining, the method comprises the formation of a difference between the at least one first distance of the upper area and the at least one first distance of the lower area. As well as in the step of controlling stopping the walker and / or initiating a braking of the walker when the determined difference exceeds a predetermined limit.

According to this embodiment, preventing the user from leaning back or reclining due to an uncontrolled situation such as a stumble or fainting is interpreted as a user's desire to speed up, thereby disabling the already uncontrolled situation, or insufficiently, the walker is responded to in an inappropriate way to this situation by the walker.

According to an advantageous embodiment, the method in the step of detecting comprises detecting at least a fourth distance of the lower area, in particular a knee area and / or an area below the knee area, of the user of the walker to the walker. As well as in the step of determining the formation of an aggregated distance of the lower portion of the user from the at least one second distance of the lower portion and the at least one fourth distance of the lower portion and determining the static and / or gait image dependent on the aggregated distance.

By evaluating the distances to the individual legs (left / right), it is possible by aggregation, for example by summation, to set a mean value with considerably less fluctuation, a much narrower tolerance band. This results in a better stability criterion with the possibility of triggering a possibly required support braking earlier.

A further aspect of the present invention is the control device for a walking aid, which is designed to carry out a method according to the present invention.

In the present case, a control device can be understood as meaning a control device or also an application-specific integrated circuit (ASIC) which can be integrated into a walking aid in such a way that the control device can process the necessary sensor signals, in particular the detected distances, and the corresponding actuators, for example electrically driven ones Drive wheels or brake systems for the walker can control.

For this purpose, such a control device has corresponding computing capacity and suitable interfaces. The interfaces can be executed in software and / or hardware.

A further aspect of the present invention is a walker having at least one drive device, at least one first sensor for detecting an upper area of a user of the assistant, at least one first sensor for detecting a lower area of the user, and at least one control unit described above according to the present invention ,

As a drive unit for a walker according to the present invention, an electrically driven wheel has been found to be practicable. Walking aids typically have more than one wheel. It is only relevant for the walker according to the present invention that at least one of the wheels of the walker is an electrically driven wheel.

In the sensor for detecting an upper portion of the user, a sensor that detects the chest area of the user has been found to be particularly practicable. First, the chest area has a larger area compared to the user's head, which is also in the upper area. And secondly, unlike the head, the chest area typically points in the direction that the user wishes to move.

In the sensor for detecting a lower portion of the user, a sensor that detects the knee area or a portion below the knee area of the user has been found to be particularly practicable. By detecting the knee area or an area below the knee area, unlike, for example, the hip area, it is easy to see whether and how the user is moving.

Further, by comparing the distance of the upper portion with the distance of the lower portion, the gait image of the user can be determined well. This is achieved particularly well if the knee area or an area below the knee area is detected as the lower area.

In an advantageous embodiment of the walker according to the present invention, the walker on at least a second sensor for detecting an upper portion of a user of the walker on.

Together with the first sensor for detecting an upper area of the user, a more differentiated gait image of the user can be detected by the second sensor. Thus, it is advantageously possible to detect a rotation of the upper body from the difference of the distances of the detected upper portion of the user and derive so that the user of the walker wants to make a change in direction. The drive unit can then be controlled accordingly. Thus, the operation of the walker according to this embodiment of the invention easier to handle.

If the walking aid according to the present invention has only one sensor in the leg area, the limits between a stable standing or gait image should be set relatively far because of the oscillating leg movements. This could result in a late trip for a brake to support the user.

In an advantageous embodiment of the walker according to the present invention, the walker on at least a second sensor for detecting a lower portion of the user.

By evaluating the respective distances of the detected lower portion by the at least two sensors for detecting the lower portion of the user, a stand or gait image can be derived more easily because less consideration must be given to the oscillating leg movement, as if only one sensor for Capturing the bottom of the user would be used.

By evaluating the distances to the lower range, a mean value with substantially less fluctuation can be set by adding a much narrower tolerance band. This results in a better stability criterion with the possibility of triggering a possibly required support braking earlier.

In this case, it has proven to be particularly practicable to grasp the user's legs as the lower area.

According to a preferred embodiment of the walker of the present invention, the walker as a drive unit on at least two electrically driven wheels. This embodiment offers the advantage that a change of direction by means of a minimum radius is possible. It is even possible to make a change of direction about the axis of rotation of the walker or the user of the walker, i. essentially perform an unrestricted rotation. Particularly practical are electrically driven rear wheels, especially shown in a three-wheeled walker.

According to an alternative or additional embodiment of the walker of the present invention, the drive unit of the walker on at least one electrically steerable wheel. By means of at least one electrically steerable wheel may be a change in direction with a similar minimum radius as in the preceding embodiment with at least two electrically driven wheels.

Another aspect of the present invention is a computer program configured to carry out a method according to the present invention.

Another aspect of the present invention is a memory device having a computer program according to the present invention.

In the following description of favorable embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and similar acting, with a repeated description of these elements is omitted.

The approach presented here will be explained in more detail below with reference to the accompanying drawings. Show it:

1 a schematic representation of a walker according to the present invention;

2 a flowchart of an embodiment of the method according to the present invention.

1 shows a schematic representation of a walker 1 according to the present invention. A walker 1 consists of a frame 11 for supporting a user 2 the walker 1 , The walker 1 According to the present invention additionally comprises a drive unit 12 . 13 . 14 present in the form of at least one electrically driven wheel 12 . 13 , Such a bike 12 . 13 can also have a steering device 14 have, which is preferably also electrically powered. Furthermore, the walker includes 1 according to the present invention, at least one first sensor 15 for detecting an upper area 21 a user 2 and at least one second sensor 16 for detecting a lower area 22 a user 2 , The sensors 15 . 16 are on the frame 11 the walker 1 arranged accordingly. The sensors 15 . 16 are trained to a distance A, B of the user 2 to the sensor 15 . 16 and thus to the walker 1 capture. In a control unit (not shown), the sensor signals are processed. In the present case, the stand or gait image of the user can be derived from the sensor signals 2 be determined. The determined standing or gait pattern is used to detect whether a stable or unstable standing or gear is present. In the latter case, the electric drive unit 12 . 13 . 14 be controlled accordingly by the control unit, so that the user 2 stabilize his stance or gait. This is preferably done by braking or stopping the walker 1 ,

Furthermore, from the stationary or gait image of the motion request of the user 2 be derived.

By the body inclination or by a prevention that the difference between the measured distance A of the at least one first sensor 15 for detecting an upper area 21 and the measured distance B of the second sensor 16 for detecting a lower area 22 can be detected, the speed of the walker 1 be set or changed accordingly.

In this context, an unstable state or gait can be detected, if, for example, the difference of the measured distance A to the upper region 21 and the measured distance B to the lower area 22 exceeds a predetermined threshold, it can be assumed that the user 2 is about to fall forward or backward. In such a case, it is desired that the walker 1 slows down or stops and does not recognize the forward or backward bending as a user request of forward movement or backward movement.

2 shows a flow diagram of an embodiment of the method according to the present invention for operating a walker 1 according to the present invention.

In step 201 becomes a first distance A to an upper area 21 the user 2 by means of at least one first sensor 15 for detecting an upper area 21 detected.

In step 202 becomes a second distance B to a lower area 22 the user 2 by means of at least one second sensor 16 for detecting a lower area 22 detected.

In step 203 becomes a standing or gait image of the user 2 determined depending on the first distance A and the second distance B.

In step 204 becomes the walker 1 depending on the determined standing or gait image of the user 2 driven. In this case, at least controls for stabilizing an unstable stand or gait image, controls to support the determined motion desired and controls to support a change of direction are provided.

QUOTES INCLUDE IN THE DESCRIPTION

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

Cited patent literature

• DE 202006008176 U1 [0002]

Claims (13)

Procedure ( 200 ) for controlling a walking aid ( 1 ) with the steps: - Capture ( 201 ) at least a first distance (A) of an upper area ( 21 ), in particular a chest region, of a user ( 2 ) of the walker to the walker ( 1 ); - To capture ( 202 ) at least a second distance (B) of a lower region ( 22 ), in particular a knee area and / or an area below the knee area, of the user ( 2 ) of the walker to the walker ( 1 ); - Determine ( 203 ) of a stationary and / or gait image depending on the at least one first distance (A) and / or the at least one second distance (B); - Taxes ( 204 ) of the assistant depending on the determined standing and / or gait image. Method according to claim 1, wherein in the step of controlling the speed of the walking aid ( 1 ) dependent on a determined standing and / or gait image, the prevention and / or bending back of the user ( 2 ) is represented, increased and / or adjusted. Method according to claim 1, comprising a further step of detecting at least a third distance of the upper region ( 21 ), in particular of the chest area, of the user ( 2 ) of the walker to the walker ( 1 ), wherein in the step of determining the stationary or gait image depends on the at least one first distance (A) of the upper region ( 21 ) and at least a third distance of the upper range ( 21 ) is determined, wherein in the step of controlling the direction of the walker ( 1 ) depending on a standing and / or gait image, which is a torso rotation of the user ( 2 ) is changed. The method of claim 1, wherein in the step of determining ( 203 ) a difference between the at least one first distance (A) of the upper range ( 21 ) and the at least one second distance (B) of the lower region ( 22 ) and wherein in the step of controlling ( 204 ) the walker ( 1 ) is stopped and / or braking the walker ( 1 ) is initiated when the determined difference exceeds a predetermined limit. Method according to claim 4, comprising a further step of detecting at least one fourth distance of the lower region ( 22 ), in particular a knee area and / or an area below the knee area, of the user ( 2 ) of the walker to the walker ( 1 ), wherein in the step of determining ( 203 ) an aggregated distance of the lower range ( 22 ) of the user ( 2 ) from the at least one second distance (B) of the lower region ( 22 ) and the at least one fourth distance of the lower region ( 22 ) is formed, wherein the static and / or gait is determined depending on the aggregated distance. Control device, designed to carry out a method according to one of claims 1 to 5. Walker ( 1 ) comprising at least one drive device ( 12 . 13 . 14 ), in particular at least one electrically driven wheel ( 12 . 13 ), at least one first sensor ( 15 ) for detecting an upper area ( 22 ) of a user ( 2 ) of the assistant ( 1 ), in particular a chest area of the user ( 2 ), at least one second sensor ( 16 ) for detecting a lower area ( 22 ) of the user ( 2 ), in particular a knee region and / or below the knee region of the user ( 2 ), and at least one control unit for controlling the drive device ( 12 . 13 . 14 ) according to claim 6. Walker ( 1 ) according to claim 7, comprising at least one third sensor for detecting an upper region ( 21 ) of a user ( 2 ) of the assistant ( 1 ), in particular a chest area of the user ( 2 ). Assistant ( 1 ) according to claim 7 or 8, comprising at least one fourth sensor for detecting a lower region ( 22 ) of the user ( 2 ), in particular a knee region and / or below the knee region of the user ( 2 ). Walker ( 1 ) according to one of claims 7 to 9, wherein the drive unit ( 12 . 13 . 14 ) at least two electrically driven wheels ( 12 . 13 ), especially rear wheels ( 13 ), having. Walker ( 1 ) according to one of claims 7 to 10, wherein the drive unit ( 12 . 13 . 14 ) at least one electrically steerable wheel ( 14 ) having. Computer program designed to carry out a method according to one of claims 1 to 5. A memory device comprising a computer program according to claim 12.

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