JP2016185235A - Walking aid vehicle and walking aid vehicle control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a walking aid vehicle for preventing the deterioration of trafficability on a bad road and preventing self-propelling on an inclined plane.SOLUTION: Walking aid vehicle control program to be performed by a CPU during the assist traveling of a walking aid vehicle includes: a step for determining whether the grip push force of a user is equal to or less than a predetermined threshold (S450); a step for turning on a stop brake (S410) when a fixed time elapses after the elimination of grip push force (YES in a step S460) in a case where the grip push force of the user is equal to or less than the threshold; a step for performing movement control (S440) when the grip push force of the user is not equal to or less than the predetermined threshold (NO in the step S450); and a step for performing movement control (S440) when the fixed time does not elapse after the elimination of the grip push force (NO in the step S460).SELECTED DRAWING: Figure 4

Description

  The present disclosure relates to control of a walking assistance vehicle, and more specifically, to control of a walking assistance vehicle including a drive mechanism.

  As a device for assisting walking of a person who is difficult to walk, such as an elderly person, there are walking assist vehicles such as a walker and a silver car. A walking assist vehicle has been developed that applies a driving force from a motor or the like to a wheel and brakes on a downhill to suppress acceleration or assists walking on an uphill.

  For example, Japanese Patent Laying-Open No. 2009-183407 (Patent Document 1) discloses a “walking assistance device capable of performing a straight traveling / turning operation with a simple operation”. The walking assist device disclosed in Japanese Patent Laid-Open No. 2009-183407 is described as follows: “In-wheel motors 4A to 4D that respectively rotate and drive four wheels provided on the left and right sides of a frame body having a handle portion; The touch sensor 10 which detects whether the part is gripped, and a controller 11. The controller 11 detects back electromotive force generated in the in-wheel motors 4A to 4D, and each wheel based on the back electromotive force. And the in-wheel motors 4A to 4D are controlled so as to drive each wheel according to the wheel speed command value, and the controller 11 is a pedestrian based on a detection signal of the touch sensor 10. Is determined not to hold the handle portion, the in-wheel motors 4A to 4D are controlled to brake each wheel. " A Umono (see the Summary).

  Japanese Patent Laid-Open No. 2002-271916 (Patent Document 2) discloses "a highly safe vehicle motor drive control method capable of achieving both sufficient braking force and smooth stopping performance on slopes and flat grounds". Yes. The technique disclosed in Japanese Patent Application Laid-Open No. 2002-271916 states that “when the operating force is not detected for a predetermined time or when the operator is no longer detected, the road surface state is determined by the road surface inclination determination means (first (Step 1) When it is determined that the ground is flat in the first step, the road surface inclination determination operation is switched to the speed feedback control operation with the speed command zero (second step), and after the second step, the motor rotation speed is equal to or less than a predetermined rotation speed Switch to dynamic brake when the motor speed is higher than the predetermined rotation speed, or switch to dynamic brake after a certain period of time even if the motor rotation speed is higher than the predetermined rotation speed (third step). 4 steps) ”(see [Summary]).

  Japanese Patent Laying-Open No. 2008-068702 (Patent Document 3) discloses a technique of “increasing operability while suppressing current consumption in a traveling body with electric assist”. According to the technique disclosed in Japanese Patent Application Laid-Open No. 2008-068702, “a transport bed as a traveling body has a hold threshold value HS1 for holding input torque, and when the operator's input torque becomes equal to or less than the hold threshold value HS1. During the hold time Ht, it is assumed that the input torque is the hold threshold value HS1, and the assist force is calculated, and the assist force assists the force with which the operator pushes and pulls the transfer bed. Is less than the hold release threshold HL1, the hold is released and the assist force is calculated based on the actual input torque "(see [Summary]).

JP 2009-183407 A JP 2002-271916 A JP 2008-068702 A

  According to the techniques disclosed in Japanese Patent Application Laid-Open Nos. 2009-183407 and 2002-271916, if the operation of the touch sensor of the handle unit becomes unstable due to vibration or the like, the handle can be moved even while assisting. It is determined that the button is not pressed, and braking may be applied, resulting in awkward operation.

  According to the technique disclosed in Japanese Patent Application Laid-Open No. 2008-068702, it is possible to cope with a change in force due to a variation in pushing force, but when the vehicle body vibration becomes large, such as when traveling on a rough road. If the input force falls below the second threshold and the behavior suddenly disappears, the operation may become unstable. Further, when there is an input below the first threshold value, the assist amount based on the hold time is not kept constant, which may cause an unstable operation.

  Therefore, there is a need for a technique that prevents the movement of the walking assistance vehicle from becoming awkward.

  The present disclosure has been made in order to solve the above-described problems, and an object in one aspect is to provide a walking auxiliary vehicle that can stably travel. An object in another aspect is to provide a walking assistance vehicle in which a decrease in operability is prevented. An object in another aspect is to provide a program for controlling a walking assistance vehicle so that stable running is possible. An object in another aspect is to provide a walking assistance vehicle so that a decrease in operability is prevented.

  The walking assistance vehicle according to the embodiment includes a driving means for driving the walking assistance vehicle, a brake, and an operation force detection means for detecting an operation force applied to the walking assistance vehicle by a user of the walking assistance vehicle. And a timing means, a control means for controlling the driving of the walking assistance vehicle when the operating force becomes a predetermined value or less, and a positional relationship between the user of the walking assistance vehicle and the walking assistance vehicle. Position detecting means for detecting. The control means activates the brake when the elapsed time after the operating force becomes equal to or less than a predetermined value becomes longer than a predetermined time, and the interval between the user and the walking assistance vehicle is set in advance. If the braking distance is exceeded and the interval is less than the predetermined distance when the distance exceeds the predetermined distance, the time that has elapsed since the operating force has fallen below the predetermined value is more than the predetermined time. When it becomes longer, the brake is activated.

  Preferably, the control means is configured to gradually change the braking force of the brake when the force becomes a predetermined value or less.

  Preferably, the walking auxiliary vehicle further includes an inclination detecting means for detecting the inclination state of the auxiliary walking vehicle. The control means is configured to change the time until the brake is operated according to the inclination of the walking assist vehicle.

According to another embodiment, a program for controlling a walking assistance vehicle is provided.
Detecting an operation force applied to the walking assistance vehicle by a user of the walking assistance vehicle, measuring a time, detecting a positional relationship between the user of the walking assistance vehicle and the walking assistance vehicle, And a step of controlling the driving of the walking assist vehicle when the operating force is equal to or less than a predetermined value. The controlling step includes a step of operating a brake when the time elapsed after the operating force becomes equal to or less than a predetermined value is longer than a predetermined time, and a step between the user and the walking assistance vehicle. When the interval exceeds a predetermined distance, the step of operating the brake, and the time elapsed after the operating force becomes less than a predetermined value when the interval is less than the predetermined distance, Actuating a brake when it becomes longer than a predetermined time.

  According to the above configuration, in a certain aspect, a decrease in running stability of the walking assist vehicle can be prevented.

  The above and other 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.

1 is a diagram illustrating a configuration of a walking auxiliary vehicle 1. FIG. It is a figure showing the state in which the user is holding the walk auxiliary vehicle. FIG. 3 is a block diagram showing a configuration of functions realized by walking auxiliary vehicle 300. It is a flowchart showing a part of process implement | achieved by CPU21 with which the walk auxiliary vehicle 300 is provided. It is a timing chart showing the value detected by the sensor, and the state of ON or OFF of a brake. It is a flowchart showing a part of process which the walk auxiliary vehicle which concerns on 2nd Embodiment performs. It is a timing chart showing the state of control of the walk auxiliary vehicle concerning a 2nd embodiment. FIG. 5 is a block diagram showing a configuration of functions realized by walking auxiliary vehicle 800. It is a flowchart showing a part of process performed by CPU21 of the walk auxiliary vehicle 800 which concerns on 3rd Embodiment. 2 is a block diagram showing a configuration of functions realized by walking auxiliary vehicle 1000. FIG. It is a flowchart showing a part of process implement | achieved by CPU21 of the walk auxiliary vehicle 1000. FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same parts are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

[Overview]
The walking auxiliary vehicle according to the present embodiment includes a detection module that can detect that the user is absent or is about to stop at a predetermined position. The detection module activates the brake only when a state in which it is detected that the user is absent or is about to stop is continued for a certain period of time. By adopting this configuration, smooth operation can be realized even if the detection sensor that detects the user's operation status becomes unstable due to the road surface condition.

  In addition, the walking assistance vehicle may gradually change the braking force (hereinafter also referred to as “braking force”) according to time when it is detected that the user is absent or is about to stop. According to such a configuration, when it is detected that the user is absent or is about to stop, the walking assistance vehicle initially sets the braking force to be weak and gradually increases the braking force. According to such a configuration, even when the output value of the sensor becomes unstable due to vibration or the like during traveling, the braking force is small at first, and thus the influence on traveling is small. Therefore, it is possible to suppress awkwardness during traveling.

  As an example of a detection module, for example, when using a force sensor attached to the handle part of a walking assist vehicle, even if the force of the handle part suddenly disappears, the assist is continued as it is, and it is used for a grip for a certain time or more. When it is detected that the person's force (hereinafter also referred to as “operation force”) is not acting, the brake is actuated for the first time. Thereby, the instability at the time of driving | running | working can be prevented.

  Furthermore, in another aspect, a distance sensor that measures the distance between the walking assistance vehicle and the user may be used to detect that the user is absent or is about to stop at a predetermined position. By measuring the distance between the walking assistance vehicle and the user, if the user is not in the original position, that is, the user is not operating the walking assistance vehicle properly, or the user It is detected that the vehicle is away from the walking assistance vehicle. In such a case, by applying the brake to the walking assistance vehicle, it is possible to prevent an accident in which the walking assistance vehicle starts running alone on a slope.

  In yet another aspect, the walking assistance vehicle may include an inclination sensor that detects inclination. The walking auxiliary vehicle may change the time until the brake is applied according to the inclination detected by the inclination sensor. By changing the time until the brake is activated when traveling on an inclined surface, it is possible to achieve both responsiveness of the brake when traveling on the slope and stability when traveling on flat ground. .

  With reference to FIG. 1 and FIG. 2, the outline | summary of the walk auxiliary vehicle 1 which concerns on this Embodiment is demonstrated.

[Hardware configuration]
With reference to FIG. 1, the structure of the walk auxiliary vehicle 1 according to a certain situation is demonstrated. FIG. 1A is a view of the walking assist vehicle 1 as seen from the side. FIG. 1B is a view of the walking assist vehicle 1 as viewed from above. FIG. 1C is a block diagram illustrating the configuration of the control unit 10 of the walking assist vehicle 1.

  As shown in FIGS. 1 (A) and 1 (B), the walking auxiliary vehicle 1 includes a base frame (hereinafter also simply referred to as “base”) 40, a grip 2, an inclination sensor 6, and a distance sensor 7. And a brake lever 9 for manual operation, a start / stop switch 2A, and a bag 26 for storing objects. The base body 40 includes a left frame 41, a right frame 42, a frame 43, and a control unit 10 for controlling the walking auxiliary vehicle 1. The operating force based on the operation of the brake lever 9 can be detected by a force sensor (not shown). Note that the walking auxiliary vehicle 1 according to the present embodiment does not have to include all of the force sensor, the inclination sensor 6, and the distance sensor 7, but only needs to include at least one sensor.

  The inclination sensor 6 detects the degree of inclination of the walking auxiliary vehicle 1. The distance sensor 7 detects an interval (distance) between the walking assistance vehicle 1 and the user of the walking assistance vehicle 1. Each detection result is sent to the control unit 10.

  The frame 43 is bridged between the left frame 41 and the right frame 42 to connect the left frame 41 and the right frame 42. A part of the frame 43 constitutes a seatable seat. The left frame 41 and the right frame 42 are each provided with a grip 2, a front wheel 3, and a rear wheel 4 that are gripped by a user during walking. The rear wheel 4 is driven by a motor 5. The grip 2 is configured to support at least a part of the body of the user of the walking assistance vehicle 1 as a support portion.

  A battery unit 25 for supplying power to each part of the walking assist vehicle 1 is disposed in the bag 26. The battery unit 25 is, for example, a rechargeable battery. 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 to the position shown by FIG. 1 (A) and FIG. 1 (B).

  Referring to FIG. 1C, the control unit 10 includes a CPU (Central Processing Unit) 21, a memory 22, an input unit 23, and an output unit 24. The memory 22 is realized by, for example, a ROM (Read Only Memory) and a RAM (Random Access Memory). The input unit 23 receives input of signals output from various sensors. The output unit 24 outputs a signal to the motor 5 and other units.

  The CPU 21 executes instructions included in the program and controls the operation of the walking assist vehicle 1. For example, the CPU 21 controls the rotation of the motor 5. The motor 5 is realized by, for example, a DC (Direct Current) motor. The rear wheel 4 is connected to a rotating shaft (not shown) of the motor 5 and rotates in conjunction with the rotating motion of the motor 5. In the present embodiment, the motor 5 is provided on the rear wheel 4, and the walking auxiliary vehicle 1 is rear wheel drive. However, the driving type of the walking auxiliary vehicle 1 is not limited to this, and may be front wheel driving in which the front wheels 3 are driven, or four wheel driving in which both the front wheels 3 and the rear wheels 4 are driven.

  In the present embodiment, the braking force can act on the base body 40 by using the 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 braking force.

  In response to the user's operation of the brake lever 9, the brake stops the rotation of the wheel like a bicycle brake. In the present embodiment, when the brake lever 9 is operated, the CPU 21 stops the current supply to the motor 5, so that the braking force by the brake acts on the motor 5 while the current is supplied to the motor 5. This prevents the front wheel 3 and the rear wheel 4 from being locked. In another aspect, when the driving control of the walking auxiliary vehicle 1 cannot be performed due to the battery running out of the battery unit 25 or the like, the walking auxiliary vehicle 1 is used as a normal walker in which the assist force and the deceleration force by the motor 5 do not act. obtain.

[Usage]
With reference to FIG. 2, the use of the walking auxiliary vehicle 1 will be described. FIG. 2 is a diagram illustrating a state in which the user is holding the walking assist vehicle 1.

  When walking, the user holds the grip 2 and pushes the walking auxiliary vehicle 1 in the traveling direction (that is, in the direction of the arrow). At this time, the control unit 10 detects an operation force acting on the walking assist vehicle 1 based on a signal from a sensor (not shown). The control unit 10 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. When the rear wheel 4 rotates in the traveling direction due to the rotation of the motor 5, the front wheel 3 also rotates in conjunction with this rotation, and the walking assist vehicle 1 moves in the traveling direction. The user in the state of gripping the grip 2 is urged to walk in the traveling direction along with the movement, that is, the walk is assisted and can walk stably.

<First Embodiment>
With reference to FIG. 3, the structure of the walk auxiliary vehicle 300 which concerns on 1st Embodiment is demonstrated. FIG. 3 is a block diagram illustrating a configuration of functions realized by walking assist vehicle 300. The walking assistance vehicle 300 includes a movement control unit 310, an action force detection unit 320, a speed (rotation angle) detection unit 330, a timer unit 340, and a drive unit 350.

  The movement control unit 310 moves the walking auxiliary vehicle 1 (for example, forward, backward, braking, power on) based on the outputs from the acting force detection unit 320, the speed (rotation angle) detection unit 330, and the time measuring unit 340. And off).

  The acting force detection unit 320 detects a force (for example, an operating force) acting on the walking assist vehicle 1 based on the output from each sensor. The detected force is sent to the movement control unit 310.

  The speed (rotation angle) detection unit 330 detects the rotation angle of the front wheel 3 or the rear wheel 4 and derives the speed of the walking auxiliary vehicle 1. The speed (rotation angle) detection unit 330 is realized by a rotary encoder, for example.

  The timer unit 340 measures time as a timer in the walking auxiliary vehicle 1. For example, the time measuring unit 340 measures the time during which the state of the walking auxiliary vehicle 1 is continued, the time that has elapsed since it was detected that the state of the auxiliary walking vehicle 1 was switched to another state, and the like. The state of the walking assist vehicle 1 may include, for example, a state where driving is assisted by the motor 5, a state where the brake is operated, a state where the grip operation is lost, and the like, but is not limited thereto.

  The driving unit 350 controls the driving of the walking assist vehicle 1 based on the output from the movement control unit 310. In one aspect, the drive unit 350 sends a signal for controlling the rotation of the motor 5 to the motor 5. In another aspect, the drive unit 350 can send a braking signal for stopping the rotation of the front wheels 3 or the rear wheels 4 to an electromagnetic brake (not shown).

[Control structure]
Next, the control structure of the walking assistance vehicle 300 according to the present embodiment will be described. First, an outline of the walking assistance vehicle 300 according to the present embodiment will be described.

  The walking assistance vehicle 300 detects the operation state of the user by a force sensor (not shown) attached to the grip 2. First, the walking assistance vehicle 300 determines that the user is not operating the walking assistance vehicle 300 when the operation force of the user cannot be detected by the handle force sensor, and the front wheel 3 of the walking assistance vehicle 300 is determined. Alternatively, the rear wheel 4 is braked. After that, when the walking assistance vehicle 300 determines that a certain force or more is acting on the steering wheel based on the output of the force sensor of the steering wheel, the walking assistance vehicle 300 indicates that the user has started the operation. Judgment is made, and walking assist operation is started.

  For example, in the case of a wheel (front wheel 3 or rear wheel 4) driven by the motor 5, the movement control unit 310 of the walking assist vehicle 300 changes the assist amount according to the measured number of rotations, so that the user The walking assist vehicle 300 can be operated so as to meet the intention of the above.

  When the wheel of the walking auxiliary vehicle 300 rotates more than a certain value, for example, when traveling on a bumpy road, the walking auxiliary vehicle 300 rattles due to the influence of the road surface, and the user is going to move forward Even so, the output of the handle force sensor may become unstable and may temporarily (instantly) fall below a set threshold. In this case, if the control is performed so as to follow the output of the force sensor, the behavior of the walking assist vehicle 300 may become unstable. Therefore, even if the output value of the steering force sensor falls below the threshold value in a very short time, the walking assist vehicle 300 maintains the conventional assist state for a while. When the state where the force sensor no longer detects the force on the steering wheel has continued for a certain period of time, the movement control unit 310 of the walking assistance vehicle 300 indicates that the user is not present (away from the walking assistance vehicle 1). Judge and apply the brakes. When the user is about to stop, the output of the handle force sensor indicates that the force is acting in the direction of pulling backward of the walking assist vehicle 1, so the movement control unit 310 disappears. You can judge the difference from the case.

  FIG. 4 is a flowchart showing a part of processing realized by CPU 21 provided in walking assistance vehicle 300.

  In step S410, the CPU 21 detects that the stop brake of the walking assist vehicle has been turned on based on the signal from the input unit 23.

  In step S420, CPU 21 determines whether or not the stop switch has been pressed. When CPU 21 determines that the stop switch has not been pressed (YES in step S420), CPU 21 switches control to step S430. If not (NO in step S420), CPU 21 ends the process. In this case, the walking auxiliary vehicle 300 stops operating.

  In step S430, CPU 21 determines whether or not the operating force acting on grip 2 is equal to or greater than a predetermined support force threshold value. When CPU 21 determines that the operating force is equal to or greater than the support force threshold (YES in step S430), CPU 21 switches control to step S440. If not (NO in step S430), CPU 21 returns control to step S410.

  In step S440, the CPU 21 executes movement control as the movement control unit 310. For example, the CPU 21 sends a signal to the motor 5 to advance the walking auxiliary vehicle 1. At this time, when the brake of the walking auxiliary vehicle 1 is an electromagnetic brake, the CPU 21 sends a signal for turning off the electromagnetic brake (braking the brake) to the electromagnetic brake, and the front wheel 3 or the rear wheel 4 of the walking auxiliary vehicle 1. Is switched to a rotatable state.

  In step S450, CPU 21 determines whether or not the user's operating force is equal to or less than a predetermined threshold value. When CPU 21 determines that the user's operating force is equal to or less than the threshold (YES in step S450), CPU 21 switches control to step S460. If not (NO in step S450), CPU 21 returns control to step S440. The CPU 21 continues the movement control.

  In step S460, CPU 21 determines whether or not a certain period of time has elapsed since the operating force is lost. When CPU 21 determines that a certain time has elapsed since the operating force is lost (YES in step S460), CPU 21 returns control to step S410. If not (NO in step S460), CPU 21 returns control to step S440. Therefore, the CPU 21 executes the movement control until the fixed time elapses, and the walking auxiliary vehicle 1 continues the assist travel by driving the motor 5.

[Timing chart]
With reference to FIG. 5, the timing of the control in the auxiliary walking vehicle 300 according to the present embodiment will be described. FIG. 5 is a timing chart showing the value detected by the sensor and the on / off state of the brake.

  As shown in the graph (A), the walking assistance vehicle 300 is stopped at the time t (0). Thereafter, when time elapses and the detection value of the sensor elapses at a predetermined threshold value v (th) at time t (1), the brake is switched from on to off (see graph (B)).

  As shown in the graph (B), the brake is in an off state from time t (1) to time t (2), and the wheel is in a rotatable state. Therefore, the walking assistance vehicle 300 can move according to the user's walking or with the assistance of the motor 5.

  Thereafter, as shown in the graph (A), when the detection value of the sensor falls below the predetermined threshold value v (th) at time t (2), as shown in the graph (B), the brake is Switch from off to on. The walking assistance vehicle 300 gradually stops at a reduced speed.

  As described above, according to the present embodiment, the brake is turned on after a state in which the force acting on the walking assist vehicle 300 is equal to or less than the threshold value continues for a predetermined time. According to such a configuration, since the brake is not turned on only when the force acting on the walking assistance vehicle 300 temporarily falls below the threshold value, the walking assistance vehicle 300 continues to assist walking. Therefore, even when the user's operating force temporarily decreases when traveling on uneven roads, the walking assist vehicle 300 continues in a certain assist state. Thereby, since the behavior of the walk auxiliary vehicle 300 is stabilized, the user can also use the walk auxiliary vehicle 300 without stress.

<Second Embodiment>
Hereinafter, a second embodiment will be described. The hardware configuration of the walking assistance vehicle according to the present embodiment is the same as the hardware configuration of the walking assistance vehicle 300 according to the first embodiment. Therefore, the description of the hardware configuration will not be repeated.

  The walking auxiliary vehicle according to the present embodiment is different from the walking auxiliary vehicle 300 according to the first embodiment in how to apply the brake. More specifically, as in the first embodiment, the walking assistance vehicle detects the state of the user by a pressure sensor (or force sensor) attached to the grip. When the operation force on the walking assistance vehicle is not detected during traveling, the walking assistance vehicle determines that it is not operated by the user, turns on the brake, and decelerates the walking assistance vehicle. At this time, the walking assistance vehicle does not immediately increase the braking force, but gradually (for example, proportionally, or according to the elapsed time after the value of the grip force sensor falls below the threshold value). It is configured to increase the braking force (in stages). With such a configuration, even when the value of the force sensor is lowered due to the road surface condition or the like, the braking force by the brake of the walking assistance vehicle does not suddenly increase. As a result, even when the brake is operated in an unintended scene, the brake does not operate suddenly and strongly, so that the awkwardness of travel of the walking assist vehicle can be reduced.

[Control structure]
With reference to FIG. 6 and FIG. 7, the control structure of the walking assistance vehicle which concerns on this Embodiment is demonstrated. FIG. 6 is a flowchart showing a part of processing executed by the walking auxiliary vehicle according to the second embodiment. FIG. 7 is a timing chart showing a control state of the walking assist vehicle according to the second embodiment. In addition, the same step number is attached | subjected to the process same as the process in the walk auxiliary vehicle which concerns on 1st Embodiment. Therefore, the description of the same process will not be repeated.

  As shown in FIG. 6, in step S450, CPU 21 determines whether or not the operating force is equal to or less than a predetermined threshold value. When CPU 21 determines that the operating force is equal to or less than the threshold (YES in step S450), CPU 21 switches control to step S610. If not (NO in step S450), CPU 21 returns control to step S440.

  In step S610, the CPU 21 operates the brake. More specifically, the CPU 21 sends a command to the brake via the output unit 24, and changes the braking force according to the time after the operating force becomes equal to or less than a predetermined threshold. For example, the CPU 21 increases the signal to the brake proportionally or stepwise based on the time and a braking force map registered in advance. If the time after the operating force becomes equal to or less than a predetermined threshold becomes longer, the braking force also increases, so the deceleration of the walking assistance vehicle increases. Thereafter, control is transferred to step S460.

  Referring to FIG. 7, the time from t (0) to t (2) is the same as the timing chart in the first embodiment. At time t (2), when the CPU 21 detects that the operating force has become equal to or less than a predetermined threshold value v (th), the braking force of the brake is gradually increased over a predetermined time. . The graph (B) shown in FIG. 7 shows a mode in which the positive power increases in accordance with the elapsed time from the time t (2). In another aspect, a mode in which the braking force from time t (2) to time t (3) increases stepwise may be used.

  As described above, according to the walking assistance vehicle according to the present embodiment, the brake is prevented from being suddenly actuated, so that the traveling performance of the walking assistance vehicle is improved.

<Third Embodiment>
The third embodiment will be described below. The walking assistance vehicle according to the third embodiment is different from the walking assistance vehicle according to each of the above-described embodiments in that it has a configuration for controlling the brake in consideration of the positional relationship between the user and the walking assistance vehicle. . In the present embodiment, the positional relationship refers to, for example, a distance from a walking assistance vehicle to a user, a coordinate value obtained by positioning, and the like.

[Overview]
The walking assistance vehicle according to the present embodiment determines the state of use in consideration of not only the magnitude (pressure or force) of the steering operation force but also the distance between the user and the walking assistance vehicle. Specifically, first, as in the first embodiment, the initial operation starts from the brake state of the walking assistance vehicle (the state in which the walking assistance vehicle is in control). Thereafter, a distance sensor provided in the frame of the walking assistance vehicle detects the distance between the user and the walking assistance vehicle. For example, when an operation force of a certain level or more is applied to the steering wheel of the walking assistance vehicle, the distance is equal to or less than a predetermined value (that is, the walking assistance vehicle seems to be close enough to the user to operate) The walking auxiliary vehicle determines that the user has started to operate the steering wheel, and starts the assist operation. For example, the walking assistance vehicle rotates the motor 5.

  After that, when the value of the grip force sensor is equal to or less than the threshold value and the distance sensor outputs an appropriate distance, the walking assistance vehicle continues to assist for a while. That is, the motor 5 rotates and gives driving force to the wheels. If the grip force sensor remains below the threshold for a certain time or longer, the walking assistance vehicle brakes.

  Conversely, even when the distance sensor no longer detects an appropriate distance, if the grip force sensor detects an output greater than or equal to the threshold, the walking assistance vehicle drives the motor 5 and assists for a while. Continue. Thereafter, when the walking assistance vehicle fails to detect the user within a certain range from the walking assistance vehicle based on the output of the distance sensor, the walking assistance vehicle applies a brake. In another aspect, the walking assistance vehicle determines that neither the magnitude of the operation force based on the grip force sensor nor the distance to the user based on the output of the distance sensor is an appropriate value. Then, the walking assistance vehicle determines that the walking assistance vehicle is moving in a state away from the user, and immediately applies the brake. Thus, in addition to the sensor for detecting the operating force, the state of the walking assistance vehicle is determined by using a sensor (for example, a distance sensor) for detecting whether or not the user is in the vicinity of the walking assistance vehicle. Is accurately grasped, and stable drive control can be realized.

  With reference to FIG. 8, the structure of the walk auxiliary vehicle 800 which concerns on 3rd Embodiment is demonstrated. FIG. 8 is a block diagram showing a configuration of functions realized by walking auxiliary vehicle 800. The walking auxiliary vehicle 800 further includes a distance detection unit 810 in addition to the configuration included in the walking auxiliary vehicle 300.

  The distance detection unit 810 calculates the interval between the user of the walking assistance vehicle 800 and the walking assistance vehicle 800. The distance detection unit 810 is realized by a distance sensor, for example. In another aspect, the camera and a processor that analyzes an image captured by the camera may constitute the distance detection unit 810.

[Control structure]
With reference to FIG. 9, the control structure of walking assistance vehicle 800 according to the present embodiment will be described. FIG. 9 is a flowchart showing a part of the process executed by CPU 21 of walking auxiliary vehicle 800 according to the third embodiment. Note that the same step number is assigned to the same process as the process according to the above-described embodiment. Therefore, those descriptions are not repeated.

  In step S910, CPU 21 determines whether the output of the distance sensor is within a predetermined range based on the output from distance detection unit 810. When CPU 21 determines that the output of the distance sensor is within a predetermined range (YES in step S950), CPU 21 switches control to step S430. If not (NO in step S950), CPU 21 returns control to step S410.

  In step S450, CPU 21 determines whether or not the operating force is equal to or less than a predetermined threshold value. When CPU 21 determines that the operating force is equal to or less than a predetermined threshold (YES in step S450), CPU 21 switches control to step S920. If not (NO in step S450), CPU 21 returns control to step S440.

  In step S920, CPU 21 determines whether the output of the distance sensor is within a predetermined range in order to determine whether the user is present in the vicinity of walking assist vehicle 800. When CPU 21 determines that the output of the distance sensor is within a predetermined range (YES in step S920), control returns to step S410. If not (NO in step S920), CPU 21 switches control to step S460.

  As described above, according to the present embodiment, walking auxiliary vehicle 800 determines whether or not the user is in the vicinity of walking auxiliary vehicle 800 in addition to the magnitude of the operating force. In this way, it is determined whether or not the walking assistance vehicle 800 is operated by the user based on two criteria (operation force and presence of the user). Judgment accuracy is improved. As a result, for example, even when the walking assistance vehicle 800 temporarily travels on the convex and concave portions of the road surface, sudden braking is prevented, so that a decrease in operational feeling during use can be suppressed.

<Fourth embodiment>
Hereinafter, a fourth embodiment will be described. The walking auxiliary vehicle according to the present embodiment has not only a sensor (force sensor, pressure sensor, etc.) for detecting an operation force on the steering wheel, but also a function of detecting the posture of the walking auxiliary vehicle, in particular, the inclination. Different from the previous embodiment.

[Overview]
The walking assistance vehicle according to the present embodiment includes, for example, an inclination sensor in the vicinity of the frame to which the front wheels are attached. By using the degree of inclination obtained from the inclination sensor for driving control of the auxiliary walking vehicle, it is possible to achieve both responsiveness when traveling on an inclined surface such as a slope and stability when traveling on flat ground. it can. More specifically, in the walking auxiliary vehicle according to the present embodiment, the value of a sensor (for example, a force sensor) provided in the grip is initially equal to or greater than a threshold value regardless of the state of inclination detected by the inclination sensor. Is detected, it is determined that the user is holding the walking assist vehicle, and the motor 5 is driven to perform an assist operation.

  On an inclined surface, if the walking assistance vehicle has moved away from the user's hand, the time from the detection of the absence of the user based on the output of the grip force sensor or the output of the distance sensor to the brake If the is set to be long, the walking auxiliary vehicle will run on its own and become in a dangerous state. Therefore, it is preferable that the time from the detection of the absence of the user to the braking is short.

  On the other hand, when the walking assistance vehicle travels on flat ground and the time from the detection of the absence of the user to the brake is set short, the sensor output level temporarily changes on the uneven surface etc. Depending on the condition, there is a possibility that the brake may operate even in a state not intended by the user. As a result, awkwardness is likely to occur at the time of traveling. Therefore, it is preferable to set the time from the detection of the absence of the user to the brake to be somewhat longer.

  Therefore, when the walking assistance vehicle detects inclination, it changes the time from when the absence of the user is detected until the brake is applied according to the state of the inclination, so that the optimum operation can be performed according to the situation. It is desirable to realize. In this embodiment, not only whether or not the walking assistance vehicle is on an inclined surface, but also the time from when the absence of the user is detected to when the brake is applied is changed according to the measured inclination angle. Also good. Specifically, for example, the greater the tilt angle, the shorter the time from when the absence of the user is detected until the brake is applied, so that it is possible to respond more quickly on steep slopes, etc. Can be improved.

[Constitution]
With reference to FIG. 10, the structure of the walk auxiliary vehicle 1000 which concerns on 4th Embodiment is demonstrated. FIG. 10 is a block diagram showing a configuration of functions realized by walking auxiliary vehicle 1000. The walking auxiliary vehicle 1000 further includes an inclination detection unit 1010 in addition to the configuration included in the walking auxiliary vehicle 300.

  The inclination detection unit 1010 detects the degree of inclination of the walking assist vehicle 1000. The detected signal is input to the movement control unit 310. It is desirable that the inclination detection unit 1010 be provided on the frame (not shown) of the walking assist vehicle 300, for example, in the vicinity of the front wheel mounting portion of the walking assist vehicle 300. The inclination detection unit 1010 is realized as an inclination sensor, for example.

[Control structure]
With reference to FIG. 11, a control structure of walking auxiliary vehicle 1000 according to the present embodiment will be described. FIG. 11 is a flowchart showing a part of the process realized by CPU 21 of auxiliary walking vehicle 1000. The same steps as those described above are denoted by the same step numbers. Therefore, the description of the same process will not be repeated.

  In step S450, CPU 21 determines whether or not the operating force is equal to or less than a predetermined threshold value. When CPU 21 determines that the operating force is equal to or less than a predetermined threshold (YES in step S450), CPU 21 switches control to step S1110. If not (NO in step S450), CPU 21 returns control to step S440.

  In step S1110, CPU 21 determines whether or not the walking assistance vehicle is traveling at a certain slope or more. If CPU 21 determines that walking auxiliary vehicle 1000 is traveling at a certain slope or more (YES in step S1110), control returns to step S410. In this case, in a certain aspect, the walking auxiliary vehicle 1100 may apply a braking force determined in advance according to the inclination to the brake. If not (NO in step S1110), CPU 21 switches control to step S460.

  As described above, the walking auxiliary vehicle 1100 according to the present embodiment determines whether to operate the brake based on whether or not the vehicle is traveling on a slope in addition to the magnitude of the grip operation force. . Thereby, it is prevented that the walk auxiliary vehicle 1100 moves without permission at the time of running on the inclined surface.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  1,300,800,1000,1100 Walking assistance vehicle, 2 grip, 2A stop switch, 3 front wheel, 4 rear wheel, 5 motor, 6 tilt sensor, 7 distance sensor, 9 brake lever, 10 control unit, 21 CPU, 22 Memory, 23 input unit, 24 output unit, 25 battery unit, 26 bag, 40 base body, 41 left frame, 42 right frame, 43 frame, 310 movement control unit, 320 acting force detection unit, 330 detection unit, 340 timing unit, 350 driving unit, 810 distance detecting unit, 1010 tilt detecting unit.

In step S920, CPU 21 determines whether the output of the distance sensor is outside a predetermined range in order to determine whether the user is present in the vicinity of walking assist vehicle 800. When CPU 21 determines that the output of the distance sensor is outside the predetermined range (YES in step S920), control returns to step S410. If not (NO in step S920), CPU 21 switches control to step S460.

Claims (4)

A walking assistance vehicle,
Driving means for driving the walking assistance vehicle;
Brakes,
An operation force detecting means for detecting an operation force applied to the walking assistance vehicle by a user of the walking assistance vehicle;
Timekeeping means,
Control means for controlling the driving of the auxiliary walking vehicle when the operating force is equal to or less than the predetermined value;
A position detecting means for detecting a positional relationship between the user of the walking assistance vehicle and the walking assistance vehicle;
The control means includes
When the time elapsed since the operating force became equal to or less than the predetermined value is longer than a predetermined time, the brake is operated,
When the distance between the user and the walking assistance vehicle exceeds a predetermined distance, the brake is activated,
When the interval is less than the predetermined distance, when the time elapsed since the operation force is equal to or less than the predetermined value becomes longer than a predetermined time, the brake is A walk-aid vehicle that is configured to operate.   The walking auxiliary vehicle according to claim 1, wherein the control means is configured to gradually change a braking force of the brake when the operating force becomes equal to or less than the predetermined value. Further comprising an inclination detection means for detecting an inclination state of the walking assist vehicle;
The walking auxiliary vehicle according to claim 1 or 2, wherein the control means is configured to change a time until the brake is operated according to an inclination of the walking auxiliary vehicle. A program for controlling a walking assistance vehicle, wherein the program is provided in a controller provided in the walking assistance vehicle,
Detecting an operation force applied to the walking assistance vehicle by a user of the walking assistance vehicle;
Measuring time, and
Detecting a positional relationship between a user of the walking assistance vehicle and the walking assistance vehicle;
Controlling the driving of the walking assist vehicle when the operating force is less than or equal to the predetermined value,
The controlling step includes
Activating the brake when the time elapsed since the operating force became equal to or less than the predetermined value is longer than a predetermined time;
Activating the brake when an interval between the user and the walking assistance vehicle exceeds a predetermined distance;
When the interval is less than the predetermined distance, when the time elapsed since the operation force is equal to or less than the predetermined value becomes longer than a predetermined time, the brake is A program comprising the step of actuating.

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