JP2015223218A - Walking aid device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a walking aid device that can be safely used.SOLUTION: A walking aid cart comprises: a base; driving wheels provided in the base to move the base; a control section that controls the movement of the base; a gradient detection section (12) that detects the gradient of the base; a battery section that supplies power to each section; and driving sections for transmitting a driving assist force for assisting driving to the driving wheels. The control section is configured to control the driving sections so that the driving assist force changes in accordance with the gradient detected by the gradient detection section (12) and the residual quantity of the battery section.

Description

  This disclosure relates to a walking assistance device, and more particularly, to a walking assistance device provided with a mechanism for driving wheels by a motor or the like.

  As a device for assisting walking of a person who has difficulty walking, a walker or a walking assist vehicle such as a so-called silver car that assists walking of an elderly person is used. As a walking assistance vehicle, a walking assistance vehicle has been proposed in which a driving force by a motor or the like is given to a wheel to brake the vehicle on a downhill for speed reduction or to assist an ascending uphill.

  The walking assist device disclosed in Patent Document 1 (Japanese Patent Laid-Open No. 2003-290302) adjusts the motion characteristic parameter in the storage unit based on the detected value of the change of the device due to the action from the user, and the detected value and the motion characteristic. Control the motion control mechanism of the device according to the parameters.

  In addition, the electric bicycle disclosed in Patent Document 2 (Japanese Patent Application Laid-Open No. 10-59263) assumes that a countermeasure is taken according to the remaining battery level in the assist device, and measures the remaining battery level of the rechargeable battery. When the remaining battery level is low, the drive rate is limited to suppress the consumption of the rechargeable battery.

  Further, the assist device for assisting human body movement disclosed in Patent Document 3 (Japanese Patent Laid-Open No. 2010-75658) controls the output of the actuator for assisting body movement based on the remaining battery power, thereby outputting the actuator output. The change causes the agent to recognize a change in the remaining battery level.

JP 2003-290302 A Japanese Patent Laid-Open No. 10-059263 JP 2010-75658 A

  About the apparatus etc. which assist a human walk by electric power, the elderly person is contained in a user, and high safety | security is calculated | required.

  Therefore, an object of the present invention is to provide a walking assistance device that enables safe use.

  A walking assist device according to an embodiment includes a base, a driving wheel provided on the base for moving the base, a control unit for controlling the movement of the base, a tilt detection unit for detecting the tilt of the base, A battery unit for supplying electric power to each unit, and a drive unit for transmitting a driving assist force for assisting driving to the driving wheel, and the control unit includes a degree of inclination detected by the inclination detection unit, The drive unit is configured to control the drive assisting force according to the remaining battery level.

  Preferably, when the remaining amount of the battery is equal to or less than a predetermined amount, the control unit is configured to perform normal driving when the driving assist force is greater than the predetermined amount when the inclination is a predetermined inclination. A control correction unit that controls the drive unit so as to change more than the auxiliary force is included.

  Preferably, the apparatus further includes a traveling direction detection unit that detects the traveling direction of the base body, and the driving assist force includes an assisting force that assists driving in the direction detected by the traveling direction detection unit, and a deceleration force that suppresses the driving. And when the remaining battery level is equal to or less than a certain amount, the control correction unit further determines that the driving assist force is decelerated when detecting that the traveling direction is a downhill from the inclination. It includes a downhill correction control unit that controls the drive unit so as to provide the auxiliary power suppression force.

  Preferably, the apparatus further includes a traveling direction detection unit that detects the traveling direction of the base body, and the driving assist force includes an assisting force that assists driving in the direction detected by the traveling direction detection unit, and a deceleration force that suppresses the driving. The control correction unit further detects the backward movement of the substrate from the output of the traveling direction detection unit when the traveling direction is detected to be an uphill from the inclination when the remaining battery level is equal to or less than a certain amount. When detected, an uphill correction control unit is included that controls the drive unit so that the assist force of the drive assist force is zero and the deceleration force has a predetermined magnitude.

  Preferably, the control correction unit further controls the drive unit so that the base stops when the remaining amount of the battery is less than a predetermined amount and the inclination is a predetermined inclination.

  Preferably, the control correction unit further controls the drive unit so that the base stops when an abnormal state of the walking assist device is detected when the inclination is a predetermined inclination.

  Preferably, the drive unit is a motor, and the control correction unit adjusts the deceleration force by short-circuit braking of the motor.

  The above objects, features, aspects and advantages of the present invention will become apparent from the following detailed description of the present invention taken in conjunction with the accompanying drawings.

It is a figure which shows the structure of the walk auxiliary vehicle which concerns on Embodiment 1. FIG. It is a figure for demonstrating the usage example of the walk auxiliary vehicle which concerns on Embodiment 1. FIG. 3 is a functional configuration diagram according to Embodiment 1. FIG. It is a figure for demonstrating the table in which the setting value of the assist force and the deceleration force which concerns on Embodiment 1 was stored. 3 is a control flowchart according to the first embodiment. 4 is a graph illustrating an example of a control signal from a drive control unit 17 according to the first embodiment. 6 is a functional configuration diagram according to Embodiment 4. FIG. 10 is a control flowchart according to the fourth embodiment.

  The walking assistance device according to the present embodiment will be described in detail with reference to the drawings. It should be noted that the same components are denoted by the same reference symbols in the respective drawings, and detailed description thereof will not be repeated.

  In the present embodiment, as an example of the walking assistance device, a walking assistance vehicle that mainly assists (assists) walking is illustrated, but the present invention is not limited to this. That is, the present invention can be applied to all devices that assist the user's walking by having a member that supports at least a part of the user's body on the movable base and assisting the movement of the base. . Therefore, the present invention can also be applied to baby strollers, carts and the like that also have a transport function.

  Here, the force that assists the driving of the walking assist vehicle, that is, the force acting in the traveling direction is referred to as assist force. In addition, a force that suppresses driving, that is, a force acting in a direction opposite (opposite) to the traveling direction is referred to as a speed reducing force.

[Embodiment 1]
1A to 1C show the configuration of the walking auxiliary vehicle 1. FIG. FIG. 2 is a diagram for explaining an example of use of the walking assist vehicle 1. Referring to FIGS. 1A and 1B, the walking auxiliary vehicle 1 includes a base frame (hereinafter also simply referred to as a base) 40, and the base 40 includes a left frame 41, a right frame 42, and a left frame 41. And a frame 43 that bridges the right frame 42 and connects the left and right frames. A part of the frame 43 constitutes a seatable seat.

  Further, the left frame 41 and the right frame 42 are respectively positioned on the opposite side of the traveling direction with the grip 2 gripped by the user during walking, the front wheel 3 on the arrow traveling direction side in FIG. A wheel 4 is provided. Furthermore, the bag 26 for accommodating an object is provided. A rechargeable battery unit 25 for supplying power to each part of the walking auxiliary vehicle 1 is provided in the bag 26. The grip 2 is a portion provided on the movable base 40 and corresponds to a support portion that supports at least a part of the user's body.

  The walking auxiliary vehicle 1 further includes a brake lever 7 and a start / stop switch 2A for manual operation provided in association with the grip 2, a drive wheel for moving the base body 40, an inclination sensor 6 provided on the frame 43, And the board | substrate of the control part 10 equivalent to the microcomputer for controlling the walk auxiliary vehicle 1 is provided. This substrate is provided on the base 40. The driving wheel includes a rear wheel 4 and a motor 5 for rotating the rear wheel 4. In addition, the attachment position of the control part 10 and the battery part 25 should just be a position which does not become obstructive at the time of a walk, and is not limited.

  Referring to FIG. 1C, the control unit 10 includes a CPU (Central Processing Unit) 21, a ROM (Read Only Memory) corresponding to a nonvolatile or volatile storage area, and a RAM (Random Access Memory). A memory 22, an input unit 23 for inputting outputs from various sensors, and an output unit 24 for outputting signals to each unit including the motor 5 are included.

  The control unit 10 controls the rotation of the motor 5. Here, the motor 5 is a DC (direct current) motor, and the rear wheel 4 connected to the motor shaft rotates in conjunction with the rotation of the motor 5. In the present embodiment, the walking auxiliary vehicle 1 is a rear wheel drive in which the motor 5 is provided on the rear wheel 4, but is not limited thereto, and the front wheel drive provided on the front wheel 3, or the front wheel 3 and the rear wheel. A drive system installed on both wheels 4 may be used.

  In the embodiment, a deceleration force is applied to the base body 40 by using a short brake (short circuit braking) of the motor 5. In the short brake, the coil of the motor 5 is short-circuited by ON / OFF of a switch to obtain a deceleration force.

  Further, the walking assist vehicle 1 has a mechanism for stopping the wheel like a bicycle brake when the brake lever 7 is manually operated. In the embodiment, the CPU 21 stops the current supply to the motor 5 during the brake operation by the brake lever 7, thereby preventing the motor 5 from being locked by the brake while the current is supplied to the motor 5. To do. When control cannot be performed due to a battery exhaustion or the like, the assist force and the deceleration force by the motor 5 do not act, and it can be used as a normal walker.

  At the time of walking, the user holds the grip 2 and pushes the walking auxiliary vehicle 1 in the direction of arrow travel (see FIG. 2). The control unit 10 detects the pressing force, determines the rotation amount (rotation direction and angle) of the motor 5 from the detection result, and rotates the motor 5 according to the determined rotation amount. The rear wheel 4 is rotated in the traveling direction by the rotation of the motor 5, and the front wheel 3 is also rotated in conjunction with this rotation, so that the walking auxiliary vehicle 1 moves in the traveling direction. Along with this movement, the user who has gripped the grip 2 is prompted to walk in the traveling direction, that is, the walk is assisted and can walk stably.

  The inclination sensor 6 is an acceleration detecting element for detecting the magnitude of the inclination, which is the degree of inclination of the walking assist vehicle 1 (angle, direction of inclination, etc.), more specifically, the magnitude of the inclination of the base body 40. And a signal processing unit that amplifies and removes noise from the detection element and outputs the signal. Referring to FIG. 2, tilt sensor 6 detects and outputs acceleration components of three axes (X axis, Y axis, and Z axis) orthogonal to base 40. The control unit 10 calculates the magnitude of the tilt of the base body 40 from the output (three-axis component) of the tilt sensor 6 using a predetermined arithmetic expression. Specifically, when moving on a horizontal ground as shown in FIG. 2, it is assumed that the base 40 is horizontal and the inclination is (0 degree), and the ground is uphill in the traveling direction. The inclination is indicated by (up, N degrees), and when the ground is downhill in the traveling direction, the inclination is indicated by (down, N degrees). Here, N = 1, 2, 3,...

  Here, the tilt sensor 6 is provided on the frame 43, but it may be a position where the tilt of the base body 40 can be detected, and the mounting position is not limited thereto.

  The functional configuration of the first embodiment will be described with reference to FIG. The walking assist vehicle 1 includes an acting force detection unit 11 that detects a force applied to the base body 40 by a user, a tilt detection unit 12 that detects the tilt of the base body 40 from the detection output of the tilt sensor 6, and the base body in which direction. Traveling direction detection unit 13 for detecting whether the vehicle is walking, movement control unit 14 for determining a control method for moving the walking auxiliary vehicle 1, battery remaining amount detection unit 15 for detecting the remaining battery level from the output voltage of the battery, movement control A movement control correction unit 16 that corrects the control method determined by the unit 14 by changing it as necessary, and a drive control unit 17 that generates a control signal for the motor 5 according to the control method from the movement control correction unit 16 are included. The drive control unit 17 includes, for example, a signal generation unit having a PWM (pulse width modulation) unit, and causes the signal generation unit to generate a control signal according to a control method. The generated control signal is output to the motor 5. The motor 5 rotates according to the determined (or corrected) control method by being driven according to the control signal from the drive control unit 17. The deceleration force is variably adjusted by changing the pulse rate for short-circuit braking of the motor 5 in accordance with a control signal from the drive control unit 17.

  Each unit in FIG. 3 is realized by a program or a combination of a program and a circuit. The program is stored in the memory 22 in advance, and the function of each unit is realized by the CPU 21 reading and executing the program from the memory 22.

  The acting force detector 11 detects the force applied to the base body 40 from the output of a force sensor (not shown) built in the grip 2. Specifically, the grip 2 has a built-in force sensor (not shown) that detects the force applied to the grip 2 (pressing force / pull force) and outputs an electrical signal, such as a strain gauge or a force sensor. Is done. The applied force detection unit 11 detects the magnitude and direction of the force applied to the grip 2 from the electric signal output from the force sensor, and detects whether the force is a pushing force or a pulling force. Here, it is assumed that the force in the arrow direction in FIG. 2 is a pressing force, and the reverse force is a pulling force.

  The inclination detection unit 12 detects the inclination of the walking assist vehicle 1 from the output of the inclination sensor 6 according to a predetermined arithmetic expression or the like. Here, the inclination is indicated by a combination of an inclination component of the road surface (flat ground, ascending and descending) and an inclination angle of the base body 40.

  The traveling direction detection unit 13 detects the traveling direction of the moving base body 40. Usually, it detects from the rotation direction of a wheel. In the embodiment, the rotation direction of the wheel can be indicated by a control signal output from the drive control unit 17 to the motor 5. The traveling direction detector 13 detects the traveling direction (the arrow direction in FIG. 2 or the opposite direction) from the control signal output by the drive control unit 17. The method of detecting the traveling direction is not limited to this, and for example, a rotational direction detection sensor may be provided on the wheel, and the traveling direction detection unit 13 may detect the traveling direction from the output of the sensor.

  The movement control unit 14 transmits the driving force to the drive wheels from the force applied to the grip 2 detected by the acting force detection unit 11, the inclination detected by the inclination detection unit 12, and the traveling direction detected by the traveling direction detection unit 13. The control method of the motor 5 is determined. The control method indicates the driving rate. The driving rate indicates the magnitude of the driving assistance force for driving assistance transmitted to the driving wheel by the motor 5. Specifically, the driving rate is indicated by a set of the magnitude of the assist force (unit:%) and the magnitude of the deceleration force (unit:%). Here, the control method is indicated by a driving rate using a ratio (unit:%) to a predetermined reference control method (assist force α or deceleration force β). For example, when the assist force α is the maximum driving force of the motor 5 and the deceleration force β is the maximum braking force (100%) of the motor 5, what percentage is the walking auxiliary vehicle 1 (more specifically, the base body 40). Indicates whether to apply power to.

  For example, when the movement control unit 14 determines that the direction of the force applied to the grip 2 and the traveling direction are the same or substantially the same, the normal control method is changed from the control method of any of the following cases 1 to 3. decide. First, the normal control method of (Case 1) shows a predetermined magnitude of assist force if it is determined that the flat ground is moved, and the normal control method of (Case 2) is a case of moving uphill. The assist force larger than the normal assist force in (Case 1) is shown, and the normal control method in (Case 3) is a case of moving downhill, and shows a greater deceleration force than (Case 1).

  When the movement control correction unit 16 determines that the remaining battery level detected by the remaining battery level detection unit 15 is equal to or less than a predetermined amount, the movement control correction unit 16 changes the control method determined by the movement control unit 14. Specifically, in uphill movement, the assist force is changed to reduce the burden on the user. In downhill movement, the load on the user is increased by changing the speed reduction power.

  Referring to FIG. 4, the table 30 storing the setting values of the assist force and the deceleration force according to the first embodiment is stored in the memory 22. Obtained by In the table 30, the driving rate data indicated by the normal control method 32 determined by the movement control unit 14 and the post-correction control method 33 by the movement control correction unit 16 are shown corresponding to each size of the inclination 31 of the base 40. Drive rate data is stored. The movement control unit 14 searches the table 30 based on the magnitude of the inclination 31 acquired from the output of the inclination detection unit 12, and determines the control method by reading the corresponding driving rate data of the normal control method 32. Further, the movement control correction unit 16 searches the table 30 based on the magnitude of the inclination 31 acquired from the output of the inclination detection unit 12 and reads out the driving rate data of the corresponding post-correction control method 33, thereby correcting the post-correction. Determine the control method.

  According to the table 30, when the inclination 31 is 0 degrees as in the case of moving on a flat ground, the movement control unit 14 uses the driving rate (assist force 0%, deceleration force 0) as the normal control method 32 of (Case 1). %). When the inclination 31 is (up 1 degree) to (up 9 degrees or more) as in the uphill movement, the movement control unit 14 uses the driving rate (assist force) as the normal control method 32 in (Case 2). 10%, speed reduction 0%) to (assist power 90%, speed reduction 0%). Further, when the slope 31 is (downhill, 1 degree) to (downhill, 9 degrees or more) as in the downhill movement, the movement control unit 14 uses the drive rate (assist force) as the normal control method 32 of (Case 3). (0%, speed reduction 5%) to (assist power 0%, speed reduction 45%) and the speed reduction power is determined to increase in units of 5%.

  By increasing the downhill burden in this way, the user can be encouraged to use the brake lever 7 manually.

  Further, according to the table 30, the movement control correction unit 16 determines the drive rate of the normal control method 32 determined by the movement control unit 14 (case 1) when the inclination 31 is 0 degrees as in flat ground movement. Not going to change. Further, when the inclination 31 is (up 1 degree) to (up 9 degrees or more) as in uphill movement, the normal control method 32 (drive rate ( Assist power 10%, speed reduction 0%)-(assist power 90%, speed reduction 0%)), driving rate (assist power 5%, speed reduction 0%)-(assist power 45%, speed reduction 0%) Change to increase by 5%. When the slope 31 is (downhill, 1 degree) to (downhill, 9 degrees or more) as in a downhill movement, the normal control method 32 (drive rate ( Assist force 0%, speed reduction 10%)-(assist power 0%, speed reduction 90%)), driving rate (assist power 0%, speed reduction 5%)-(assist power 0%, speed reduction 45%) And change to increase in increments of 5%. The post-correction control method 33 can be acquired based on the changed driving rate.

  The movement control correction unit 16 has changed the driving rate (assist force or deceleration force) of the normal control method 32 so as to decrease (halve) at a constant rate regardless of the magnitude of the slope 31. Accordingly, the decrease rate may be variable. Further, the rate of reduction may be changed according to the remaining battery level. In addition, the movement control correction | amendment part 16 may replace with the search of the table 30, and may implement drive rate correction | amendment according to a predetermined arithmetic expression.

  As described above, when the remaining battery level is equal to or less than the predetermined amount, the movement control correction unit 16 reduces the assist force and the deceleration rate (units) indicated by the drive rate of the normal control method 32 according to the detected inclination 31. :%). For example, if the remaining battery level is exhausted while walking on an inclined road surface, there is a possibility that the assist force or the decelerating force suddenly disappears, and an unintended direction and magnitude force may act on the user who holds the grip 2. However, in the embodiment, as described above, the movement control correction unit 16 changes the assist force and the deceleration force so that the decrease rate (unit:%) is small, so that the assist force or the deceleration force is suddenly increased. It is possible to prevent the user from suddenly increasing the load. Thereby, the possibility that the user may fall due to a sudden load increase can be avoided, and safety when using the walking assist vehicle 1 can be obtained.

  FIG. 5 is a control flowchart of the walking auxiliary vehicle 1 according to the first embodiment. The program according to this flowchart is stored in advance in the memory 22, and control is realized by the CPU 21 reading and executing the program.

  First, when the user grips the grip 2 and turns on the start switch of the start / stop switch 2A, the CPU 21 detects the ON operation, supplies power to each part, and starts assist function control (step S101). .

  First, the acting force detector 11 detects whether or not a force is applied to the grip 2 from the output of the force sensor of the grip 2 (step S102). If it is not detected that it has been added, the CPU 21 detects whether or not the stop switch of the start / stop switch 2A has been operated (step S108). If it is detected that it is not operated (NO in step S108), the process returns to step S102 and waits until a force applied to the grip 2 is detected.

  When the stop switch is operated (YES in step S108), the power supply to each part is stopped and the assist function control is ended (step S109).

  When it is detected that force is applied to the grip 2 (YES in step S102), the movement control unit 14 detects the state of the base body 40. That is, the direction of the force applied to the grip 2 from the output of the applied force detection unit 11 (the direction of pushing or pulling), the direction of travel from the output of the travel direction detection unit 13, and the tilt from the output of the tilt detection unit 12 are detected ( Step S103).

  The movement control unit 14 searches the table 30 based on the detected state of the base body 40 and determines a control method (step S104). As described above, while the walking assistance vehicle 1 is moving on a flat ground, the normal control method 32 is determined so as to have a relatively small assist force. However, when moving uphill, the magnitude of the inclination 31 of the base body 40 is large. The assist force is determined to be greater than that in the case of flat ground in proportion to the height, and when moving downhill, the speed reduction force is greater than in the case of flat ground in proportion to the size of the inclination 31 of the base body 40. To be determined.

  Next, the movement control correction unit 16 detects whether or not the remaining battery level is equal to or less than a certain amount from the output of the remaining battery level detection unit 15 (step S105). If the remaining battery level is not less than the predetermined amount (NO in step S105), correction by the movement control correction unit 16 is not performed (the CPU 20 passes through the correction process), and the process proceeds to step S107 described later.

  When it is detected that the amount is equal to or less than a certain amount (YES in step S105), the movement control correction unit 16 corrects the normal control method 32 determined in step S104 by searching the table 30, and the corrected control method 33 is set. Output (step S106).

  The drive control unit 17 generates a control signal for the motor 5 according to the drive rate indicated by the control method output from the movement control correction unit 16, and outputs the control signal to the motor 5 (step S107). Thereafter, the process returns to step S102, and the subsequent processing is repeated in the same manner.

  FIG. 6 is a graph illustrating an example of a control signal from the drive control unit 17 according to the first embodiment. FIG. 6 shows a case where a three-pole brushless DC motor is used as the motor 5. The control signal is a pulse signal here, and the vertical axis of the graph indicates the amplitude (DC current value) of the pulse signal, and the horizontal axis indicates time. 6A shows a waveform having a pulse width of “T” when the drive control unit 17 obtains the maximum drive force (100%) of the motor 5. FIG. FIG. 6B shows a waveform when the assist force is 0% (speed reduction force 50%), for example. This waveform is a waveform when the assist force is 50% (speed reduction force 0%), for example. Matches. Compared to FIG. 6A, in FIG. 6B, the pulse width is doubled ("2T"). The adjustment of the deceleration force is realized by changing the ON / OFF ratio (pulse rate) of the short brake of the motor 5 according to the control signal.

  In the first embodiment, the movement control correction unit 16 limits the assist force (reducing the assist force percentage) out of the drive rate indicated by the normal control method 32 at the time of walking on the slope, thereby reducing the consumption of the battery unit 25. To prevent the battery from running out suddenly when walking on the slope and pulling the auxiliary walking vehicle 1 in the direction of tilting. maintain.

[Embodiment 2]
The second embodiment shows a modification in which the movement control correction unit 16 of the first embodiment is replaced with a movement control correction unit 16a having a downhill correction control unit. Other configurations are similar to those of the first embodiment, and description thereof will not be repeated.

  In the first embodiment, if the remaining battery level is equal to or less than a certain amount, both the assist force and the deceleration force of the driving rate of the normal control method 32 are changed, but in the second embodiment, the remaining battery level is constant. When the amount is less than or equal to the amount, only the process of changing the percentage of the speed reducing power out of the driving rate of the normal control method 32 in the downhill movement is performed.

  Specifically, the downhill correction control unit of the movement control correction unit 16a determines that when the remaining battery level detected by the remaining battery level detection unit 15 is equal to or less than a certain amount (YES in step S105), in step S106, Correction is performed by a method different from that in the first embodiment. That is, the normal control method is changed so that the assist force = 0 among the driving rate indicated by the normal control method 32 determined by the movement control unit 14. Accordingly, in the case of uphill movement, if the remaining battery level is equal to or less than a certain amount, the assist force indicated by the normal control method 32 determined by the movement control unit 14 is changed to 0, but the suppression force indicated by the normal control method 32 is changed. The speed remains unchanged for any of the uphill and downhill slopes. The other processes except step S106 shown in FIG. 5 are similarly performed in the second embodiment.

  Therefore, by using the short brake related to the motor 5 for the speed reduction, it is not necessary to pass a current through the motor 5, so that the power consumption can be reduced. Therefore, in the second embodiment, the assist force at the time of walking uphill is corrected to 0, and the burden increases compared to the first embodiment, but the safety on the downhill where the risk of falling is large is maintained for a long time. be able to.

[Embodiment 3]
The third embodiment shows a modification in which the movement control correction unit 16 of the first embodiment is replaced with a movement control correction unit 16b having an uphill correction control unit. Other configurations are similar to those of the first embodiment, and description thereof will not be repeated. The walking auxiliary vehicle 1 according to Embodiment 3 cannot be moved back (moved in the direction opposite to the traveling direction) during uphill movement.

  The uphill correction control unit of the movement control correction unit 16b cannot reverse the walking assistance vehicle 1 when the remaining battery level detected by the remaining battery level detection unit 15 is equal to or less than a certain amount (YES in step S105). The normal control method 32 is corrected so that Specifically, the movement control unit 14 detects whether or not movement from the traveling direction detection unit 13 in the direction opposite to the traveling direction, that is, backward movement, has started. When the movement control correction unit 16b detects that the base body 40 starts to move backward when the movement control unit 14 detects that the movement of the base body 40 is moving from the output of the inclination detection unit 12, the movement control correction unit 16b has a predetermined size. The driving rate of the normal control method 32 is changed so that a short brake having a magnitude corresponding to the deceleration force is applied (assuming force is set to 0). When the reverse start is not detected, the normal control method 32 is maintained (the driving rate). Is not changed) (step S106). Other processes except step S106 shown in FIG. 5 are similarly performed in the third embodiment.

  According to the present embodiment, when the remaining battery level is low (or lost), the reverse brake is prevented by the short brake, and it is possible to prevent the weight load of the base body 40 from being applied to the user. The user can rest easily even on the slope.

[Embodiment 4]
In this Embodiment 4, when a malfunction is detected, the current supply to the motor 5 is interrupted by a short brake, and the walking auxiliary vehicle 1 is forcibly stopped. FIG. 7 is a functional configuration diagram according to the fourth embodiment. FIG. 8 is a control flowchart according to the fourth embodiment. Referring to FIG. 7, the difference from the configuration of FIG. 3 is that the battery remaining amount detection unit 15 is replaced with a defect detection unit 18, and the movement control correction unit 16 is replaced with a movement control correction unit 16 c. It is in the point provided with. In addition, a stop release switch (not shown) is provided for resuming movement from the forced stop state described above.

  The defect detection unit 18 detects whether or not the state of the walking auxiliary vehicle 1 is abnormal. For example, the function of detecting an abnormal temperature of the motor 5 or the battery unit 25 from the output of the thermistor, the function of detecting an abnormal rotational speed from the output of the wheel rotation sensor, or the abnormal pressing of the grip 2 from the output of the force sensor of the grip 2 Detects malfunctions based on the output of various sensors, such as the function to detect pressure, the function to detect battery exhaustion when the remaining battery level is very low (less than the fixed amount described above) from the output of the voltage sensor To do. The other functional configuration of FIG. 7 is the same as that of FIG. 3, and description thereof will not be repeated.

  Referring to FIG. 8, the difference from the flowchart of FIG. 5 is that a defect detection step S205 is provided in place of the battery remaining amount detection step S105. Other steps are the same as those in FIG. 5, and description thereof will not be repeated.

  With reference to FIG. 8, the movement control correction unit 16 c detects whether the inclined surface (up or down) is moving from the output of the inclination detection unit 12. When it is detected that the inclined surface is moving, if the battery runs out or malfunction is detected from the output of the malfunction detection unit 18 (YES in step S205), normal control is performed so that the base body 40 is stopped by applying a short brake. The driving rate of the method 32 is changed (step S106). The drive control unit 17 generates a control signal according to the drive rate of the control method after correction by the movement control correction unit 16 and outputs the control signal to the motor 5. As a result, the motor 5 stops with a short brake applied, and the wheels also stop.

  When the walking auxiliary vehicle 1 is forcibly stopped, when the user operates the stop release switch, the movement control unit 14 receives the stop release switch operation and stops the assist process of FIG. 5 or FIG. Thereafter, the walking auxiliary vehicle 1 can be used in the state without assist or deceleration as in a general walking vehicle.

  In the fourth embodiment, the base body 40 is prevented from moving without permission by forcibly stopping the base body 40 when the battery runs out during an inclined walk or when a malfunction is detected. Moreover, convenience is maintained by making it a free state without stopping except at the time of inclined walking.

(Modification)
Threshold values applied to the threshold of the remaining battery level (constant amount) and applied to the limitation of the assist force in the first embodiment, the implementation of only the downhill deceleration of the second embodiment, and the non-reverse control of the third embodiment May be switched. Moreover, you may implement combining the correction process of the 2 or more control method of Embodiment 1-4. For example, when the remaining battery level is equal to or less than a certain amount, the assist force of the first embodiment is limited, and correction is made so that the reverse movement impossible of the third embodiment is performed.

  DESCRIPTION OF SYMBOLS 1 Walk auxiliary vehicle, 2 Grip, 3 Front wheel wheel, 4 Rear wheel wheel, 5 Motor, 6 Inclination sensor, 7 Brake lever, 10 Control part, 11 Action force detection part, 12 Inclination detection part, 13 Travel direction detection part, 14 Movement control unit, 15 Battery remaining amount detection unit, 16, 16a, 16b, 16c Movement control correction unit, 17 Drive control unit, 18 Defect detection unit, 25 Battery unit, 30 Table, 31 Tilt, 32 Normal control method, 33 Correction Post-control method, 40 substrate.

Claims (7)

A substrate;
A drive wheel provided on the base for moving the base;
A control unit for controlling movement of the substrate;
An inclination detection unit for detecting the inclination of the substrate;
A battery unit for supplying power to each unit;
A drive unit for transmitting a driving assistance force for assisting driving to the driving wheel,
The controller is
A walking assist device configured to control the drive unit so that the drive assist force changes according to the degree of inclination detected by the tilt detection unit and the remaining battery level of the battery unit. The controller is
When the remaining battery level is equal to or less than a predetermined amount and the tilt is a predetermined tilt, the driving assist force is greater than a normal driving assist force when the remaining battery level is greater than a certain amount. The walking assistance device according to claim 1, further comprising: a control correction unit that controls the driving unit so that a change also occurs. A traveling direction detector for detecting the traveling direction of the substrate,
The driving assist force is
Including an assist force that assists driving in the direction detected by the traveling direction detection unit, and a deceleration force that suppresses the driving,
The control correction unit further includes:
When the remaining battery level is equal to or less than a certain amount, when the traveling direction is detected as a downward slope from the inclination, the driving assist force is used as the normal driving assist force. As described above, the walking assist device according to claim 2, further comprising a downhill correction control unit that controls the drive unit. A traveling direction detector for detecting the traveling direction of the substrate,
The driving assist force is
Including an assist force that assists driving in the direction detected by the traveling direction detection unit, and a deceleration force that suppresses the driving,
The control correction unit further includes:
When the battery remaining amount is equal to or less than a certain amount, when detecting that the advancing direction is an uphill from the inclination, when detecting the backward movement of the substrate from the output of the advancing direction detection unit, The walking assist device according to claim 2 or 3, further comprising an uphill correction control unit that controls the driving unit so that the assisting force of the driving assisting force is zero and the deceleration force has a predetermined magnitude. The control correction unit further includes:
5. The drive unit according to claim 2, wherein when the remaining battery level is less than the predetermined amount and the inclination is a predetermined inclination, the drive unit is controlled to stop the base. 6. The walking assist device according to Item 1. The control correction unit further includes:
6. The driving unit according to claim 2, wherein when the inclination is a predetermined inclination, when the abnormal state of the walking assist device is detected, the drive unit is controlled so that the base stops. 6. The walking assist device according to Item. The drive unit is a motor,
The control correction unit is
The walking assist device according to any one of claims 2 to 6, wherein the deceleration force is adjusted by short-circuit braking of the motor.

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