JP2021045400A - Walking aid - Google Patents

Abstract

To provide a walking aid which is driven by a user holding left and right grips, which can run in a user's desired direction of travel (advance, backing, right rotation, left rotation) in accordance with an acting force applied to the left and right grips held by the user, and which can prevent rearward running against a user's intention.SOLUTION: The walking aid is equipped with grips and acting force detection means. A controller performs advancing control when one grip detects forward acting force and the other grip detects no rearward acting force, and performs backing control when one grip detects rearward acting force and the other grip detects no forward acting force. In the case where the right grip detects rearward acting force and the left grip detects forward acting force, the controller performs right rotation control, and where the right grip detects forward acting force and the left grip detects rearward acting force, the controller performs left rotation control. During no rearward control, if both grips detect rearward acting force, then after stop control for a prescribed stop time, rearward control is performed.SELECTED DRAWING: Figure 1

Description

The present invention relates to a walking support device.

In recent years, for users such as elderly people who can walk independently but need assistance, an assist force is generated in the direction of travel by a driving means such as a motor, and a load when carrying luggage is applied. Various walkers have been proposed to support walking by reducing the amount.

For example, in the wheelbarrow (corresponding to a walking support device) described in Patent Document 1, the magnitude of the handle force, which is the force by which the user grips the handlebar (corresponding to the handle) and pushes the wheelbarrow, and the direction thereof. Correspondingly, an assist force for assisting the movement in the traveling direction is generated for the wheelbarrow to support the walking of the user. In addition, the handlebar is provided with a right grip sensor that detects grip by the user's right hand and a left grip sensor that detects grip by the left hand. When the user grips the handlebar and pushes the wheelbarrow, the wheels To assist the movement of the wheelbarrow along the direction of travel of the user.

Japanese Unexamined Patent Publication No. 2017-12546

In the wheelbarrow described in Patent Document 1, whether or not the user holds the handlebar in each of the right grip sensor that detects the grip of the right hand and the left grip sensor that detects the grip of the left hand. It can be detected, but the direction of the acting force applied to the handlebar by the user cannot be detected. Therefore, in the wheelbarrow described in Patent Document 1, the user can grasp the handlebar and generate an assist force in the traveling direction of the wheels, but drive one of the left and right wheels to move forward. It is not possible to drive the other wheel backwards to make a small turn of the wheelbarrow.

Further, in the wheelbarrow described in Patent Document 1, for example, when a user who loses his balance and falls backward while walking pulls the handlebar gripped to maintain his / her posture, he / she pushes the wheelbarrow against the intention of the user. The car may drive backwards and even lose balance.

The present invention has been devised in view of these points, and in a walking support device in which the user grips and drives the left and right handles, the acting force applied to the left and right handles gripped by the user is applied. Accordingly, a walking support device capable of traveling in the desired traveling direction (forward, backward, right-turning, left-turning) and preventing backward traveling contrary to the user's intention is provided. The challenge is to provide.

In order to solve the above problems, the first invention of the present invention is to drive each of a frame, a plurality of wheels including a pair of left and right drive wheels provided on the frame, and a pair of left and right drive wheels. A traveling drive means, a pair of left and right handles provided on the frame and held by the user, and a pair of left and right handles provided on each of the left and right handles, along the front-rear direction of the frame, which is the front-rear direction with respect to the frame. Each of the acting force detecting means for detecting the forward acting force acting in the forward direction and the backward acting force acting in the rear direction, the control device for controlling the traveling driving means, and the traveling driving means. The control device includes a driving means and a battery that serves as a power source for the control device, and the control device detects the forward acting force with one of the handles by the acting force detecting means and has the other holding force. When the rearward acting force is not detected by the hand, forward control is performed to control each of the traveling drive means so as to drive each of the drive wheels in a forward direction, and the rearward control is performed by one of the handles. When the acting force is detected and the forward acting force is not detected by the other handle, the reverse movement controls each of the traveling driving means so as to drive each of the driving wheels in the backward direction. When the control is performed, the backward acting force is detected by the right handle, and the forward acting force is detected by the left handle, right turning control is performed and the right handle is used. When the forward acting force is detected and the backward acting force is detected in the left handle, left turning control is performed, and when the reverse control is not in progress, both of the handles have the rearward action. When the acting force is detected, it is a walking support device that controls the vehicle to stop for a predetermined stop time set in advance and then controls the vehicle to move backward.

Next, the second invention of the present invention is the walking support device according to the first invention, in which the control device moves backward with respect to the right drive wheel in the right turn control. Each of the traveling driving means is controlled so as to drive and drive in the direction of advancing with respect to the left driving wheel, and in the left turning control, drive in the direction of advancing with respect to the right driving wheel. It is a walking support device that controls each of the traveling driving means so as to drive the driving wheels on the left in a direction to move backward.

Next, the third invention of the present invention is the walking support device according to the first invention, and the control device is driven so as to stop the right drive wheel in the right turn control. , Each of the traveling driving means is controlled so as to drive in a direction to advance with respect to the left driving wheel, and in the left turning control, the driving is driven so as to stop the left driving wheel, and the right It is a walking support device that controls each of the traveling driving means so as to drive in a direction of advancing with respect to the driving wheels.

Next, the fourth invention of the present invention is the walking support device according to any one of the above items 1 to 3, wherein the control device is the acting force detecting means and has the handle. When neither the forward acting force nor the rear acting force is detected on either side, the walking is performed by controlling each of the traveling driving means so as to decelerate each of the driving wheels toward a stop. It is a support device.

Next, the fifth invention of the present invention is the walking support device according to the invention of any one of the above items 1 to 4, and the progress of detecting the traveling speed which is the speed in the traveling direction of the walking support device. A speed detecting means is provided, and the control device obtains a traveling direction acceleration, which is an acceleration in the traveling direction, based on the traveling speed from the traveling speed detecting means, and the traveling speed is equal to or higher than a preset predetermined speed. In that case, each of the driving wheels is driven so that the traveling speed of each of the driving wheels becomes the predetermined speed, or when the traveling direction acceleration becomes equal to or more than a preset predetermined acceleration, each of the driving wheels It is a walking support device that drives the acceleration in the traveling direction so as to reach the predetermined acceleration.

Next, the sixth invention of the present invention is the walking support device according to the invention of any one of the above items 1 to 5, wherein the control device is the acting force detecting means and has the handle. In each case, when the acting force acting in the forward direction along the front-rear direction of the frame continues for a predetermined predetermined determination time or more set in advance, the acting force is detected as the forward acting force, and a predetermined predetermined setting is set in advance. When the acting force acting in the rear direction along the front-rear direction of the frame continues for the determination time or longer, the acting force is detected as the backward acting force, and the acting force continues for a predetermined determination time or longer set in advance. When no acting force is acting along the front-rear direction of the frame, it is a walking support device that neither the front acting force nor the rear acting force is acting.

According to the first invention, the left and right wheels are independently driven to move forward or backward according to the acting force applied to the left and right handles gripped by the user, and the progress desired by the user is performed. It is possible to drive in a direction (forward, reverse, right turn, left turn), and it is possible to prevent backward travel contrary to the intention of the user.

According to the second invention, one of the left and right drive wheels can be driven to move forward, the other drive wheel can be driven to move backward, and the walking support device can be rotated and turned on the spot. , The turning performance can be improved.

According to the third invention, one of the left and right drive wheels can be driven to stop, the other drive wheel can be driven to move forward, and the walking support device can be turned while advancing. Can turn more naturally while walking.

According to the fourth invention, when the user stops gripping, the walking support device stops running, so that the walking support device does not separate from the user, which is convenient.

According to the fifth invention, the traveling speed of the walking support device is limited, the walking support device can be run without exceeding the walking speed of the user, and the walking support device does not separate from the user. , The user can walk more safely. In addition, the acceleration in the traveling direction of the walking support device is limited to prevent the acceleration of the walking support device in the sudden traveling direction, the walking support device does not leave the user, and the user can walk more safely. it can.

According to the sixth invention, even when the road surface on which the user walks is, for example, a road surface having irregularities or the like on the surface or a road surface having steps or the like, the acting force applied to the handle is predetermined. Unless the determination time continues, it is not detected as an acting force (forward acting force, backward acting force). As a result, the erroneous detection of the acting force can be reduced, and the walking support device can be appropriately driven in the traveling direction (forward, reverse, right turn, left turn) desired by the user.

It is a perspective view explaining the appearance of the walking support device which concerns on this embodiment. It is a figure explaining the open state before folding the main frame in the left-right direction. It is a figure explaining the state which the main frame is folded in the left-right direction. It is an exploded perspective view explaining an example of the structure of the handle and the acting force detecting means arranged in the handle frame on the left side. FIG. 4 is a cross-sectional view taken along the line VV when assembled in FIG. FIG. 5 is a cross-sectional view taken along the line VI-VI of FIG. FIG. 6 is a cross-sectional view taken along the line VII-VII of FIG. It is a block diagram explaining the input / output of the control device of a walking support device. It is a flowchart explaining the processing procedure (overall processing) of the control device of a walking support device. It is a flowchart explaining the processing procedure of the input processing in the whole processing shown in FIG. It is a flowchart explaining the processing procedure of the progress / turning control determination processing in the whole processing shown in FIG. It is a flowchart explaining the processing procedure of the progress speed adjustment processing in the whole processing shown in FIG. It is a flowchart explaining the processing procedure of the progress speed limiting processing in the whole processing shown in FIG. It is a flowchart explaining the processing procedure of the progress speed drive processing in the whole processing shown in FIG. It is a table showing the control mode of the walking support device corresponding to the direction of the acting force of the left and right handles.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. When the X-axis, Y-axis, and Z-axis are described in the figure, the axes are orthogonal to each other. The X-axis direction indicates a direction toward the front when viewed from the walking support device 10, the Y-axis direction indicates a direction toward the left when viewed from the walking support device 10, and the Z-axis direction indicates a direction when viewed from the walking support device 10. Indicates the direction toward the vertical upward direction. Hereinafter, with respect to the walking support device 10, the X-axis direction is defined as "front", the direction opposite to the X-axis direction is defined as "rear", the Y-axis direction is defined as "left", and the direction opposite to the Y-axis direction is defined as "rear". "Right", the Z-axis direction is "up", and the direction opposite to the Z-axis direction is "down". Hereinafter, the front-rear direction of the main frame will be referred to as "main frame front-rear direction (corresponding to the frame front-rear direction)".

● [Outline overall configuration of walking support device 10 (FIGS. 1 to 3)]
The overall configuration of the walking support device 10 will be described with reference to FIG. The walking support device 10 includes a main frame 50 (corresponding to a frame), front wheels 60FL and 60FR, rear wheels 60RL and 60RR, driving means 64L and 64R, a battery B, a control device 40, and a handle 20L. , 20R, handle covers 30L, 30R, bag 50K, etc.

The main frame 50 extends in the vertical direction to support the handles 20L and 20R, and extends in the front-rear direction of the main frame (corresponding to the front-rear direction of the frame), which is the front-rear direction with respect to the main frame 50. It has wheel frames 52L, 52R, etc. that support it. The wheel frame 52L is fixed below the handle frame 51L, and the wheel frame 52R is fixed below the handle frame 51R.

Further, FIG. 2 shows a state in which the main frame 50 is opened in the left-right direction, and FIG. 3 shows a state in which the main frame 50 is folded in the left-right direction. The bag 50K is omitted in FIGS. 2 and 3. As shown in FIGS. 2 and 3, the handle frame 51L and the handle frame 51R are connected by link members 54L, 54R, 55L, 55R. Then, as shown in FIGS. 2 and 3, when the walking support device 10 is not in use, it is convenient because the occupied space can be reduced by folding it as shown in FIG.

Further, the walking support device 10 can be easily changed from the state shown in FIG. 3 folded left and right to the state shown in FIG. 2 opened left and right. Further, an elastically deformable connecting body 53 is provided on the upper side of the handle frame 51L and the handle frame 51R. The user enters between the wheel frame 52L and the wheel frame 52R from the open side (rear) of the main frame 50, grasps the handle 20L and the handle 20R with the left and right hands, and holds the walking support device 10. Manipulate. Therefore, the handle 20L and the handle 20R are provided as a pair on the left and right. The details of the handles 20L and 20R will be described later (see FIG. 4).

As shown in FIGS. 1 to 3, a handle 20L is held at the upper end of the handle frame 51L so as to extend rearward along the front-rear direction of the main frame, and a wheel is provided on the lower side of the handle frame 51L. The frame 52L is fixed. The handle frame 51L can be expanded and contracted in the vertical direction, and the height of the handle 20L can be adjusted according to the height of the user's hand. Further, a front wheel 60FL, which is a swivel caster wheel, is provided on the front side of the wheel frame 52L, and a rear wheel 60RL driven by a traveling drive means 64L is provided on the rear side of the wheel frame 52L. Is provided.

The same applies to the handle frame 51R, the handle 20R, the wheel frame 52R, the front wheels 60FR, the traveling drive means 64R, and the rear wheels 60RR, and thus the description thereof will be omitted. As described above, the main frame 50 is provided with a plurality of wheels (front wheels 60FL, 60FR, rear wheels 60RL, 60RR), and at least one wheel (in this case, rear wheels 60RL, rear wheels 60RR) is driven. It is a ring.

The traveling drive means 64L is, for example, an electric motor with a servo mechanism, and rotationally drives the rear wheels 60RL based on a control signal from the control device 40 based on the electric power supplied from the battery B. Similarly, the traveling drive means 64R is, for example, an electric motor with a servo mechanism, and rotationally drives the rear wheels 60RR based on a control signal from the control device 40 based on the electric power supplied from the battery B.

Further, the traveling drive means 64L is provided with a traveling speed detecting means 64LE such as an encoder, and outputs a detection signal corresponding to the rotation of the traveling driving means 64L to the control device 40. The control device 40 can detect the traveling speed of the walking support device 10 with respect to the ground (the traveling speed by the rear wheels 60RL) based on the detection signal from the traveling speed detecting means 64LE. Similarly, the traveling drive means 64R is provided with a traveling speed detecting means 64RE such as an encoder, and outputs a detection signal corresponding to the rotation of the traveling driving means 64R to the control device 40. The control device 40 can detect the traveling speed of the walking support device 10 with respect to the ground (traveling speed by the rear wheel 60RR) based on the detection signal from the traveling speed detecting means 64RE.

The handle cover 30L covers the upper end portion of the handle frame 51L and the acting force detecting means 71L attached to the upper end portion of the right side wall portion 51LR on the side of the handle frame 51L facing the handle frame 51R. It is formed in a substantially box shape. Further, the handle cover 30R includes an upper end portion of the handle frame 51R and an acting force detecting means 71R attached to the upper end portion of the left side wall portion 51RL on the side of the handle frame 51R facing the handle frame 51L. It is formed in a substantially box shape so as to cover it. The details of the acting force detecting means 71L and 71R will be described later (see FIG. 4).

A main switch 12 is provided on the upper end surface of the handle cover 30R. The main switch 12 is a switch that instructs the start of the walking support device 10, and when the user turns it on, power is supplied from the battery B to the control device 40 and the driving means 64R and 64L to operate the walking support device 10. And drive driving is possible.

The handle 20L is a portion to be gripped by the user with the left hand, and is provided so as to project rearward from the upper end portion of the handle frame 51L. As will be described later, the handle 20L is from the neutral position to the position near the neutral position (for example, about) with respect to the handle frame 51L (that is, with respect to the main frame 50) when the user is not operating. It is 1 mm.) It is possible to move in the direction of operation, that is, in the front-rear direction of the main frame (see FIG. 5). That is, the movement range of the handle 20L in the front-rear direction of the main frame is within the front-rear regulation range W1 near the neutral position when the user is not operating (for example, within ± 1 mm from the neutral position) (. (See Fig. 5).

Similarly, the handle 20R is a portion to be gripped by the user with the right hand, and is provided so as to project rearward from the upper end portion of the handle frame 51R. The handle 20R is relative to the handle frame 51R (that is, to the main frame 50) from a neutral position to a position near the neutral position when the user is not operating (for example, about 1 mm). It is possible to move in the direction of operation, that is, in the front-rear direction of the main frame. That is, the movement range of the handle 20R in the front-rear direction of the main frame is within the front-rear regulation range W1 (for example, within ± 1 mm) in the vicinity of the neutral position when the user is not operating (see FIG. 5). ) Is regulated.

The acting force detecting means 71L detects the acting force acting on the handle 20L along the front-rear direction of the main frame operated by the user, and outputs a detection signal corresponding to the detected acting force to the control device 40. Based on the detection signal from the acting force detecting means 71L, the control device 40 acts on the handle 20L in the forward direction along the front-rear direction of the main frame (forward acting force) and the handle 20L. It is possible to detect the acting force acting in the backward direction (backward acting force). That is, the control device 40 detects the forward acting force when the user is pushing the handle 20L, and detects the backward acting force when the user is pulling, based on the detection signal from the acting force detecting means 71L. To do. Further, in the control device 40, when the user releases the handle 20L based on the detection signal from the acting force detecting means 71L, or when the handle 20L gripped by the user is in the neutral position, the control device 40 is used. Neither the anterior force nor the posterior force is detected.

Similarly, the acting force detecting means 71R outputs a detection signal corresponding to the acting force acting on the handle 20L along the front-rear direction of the main frame operated by the user to the control device 40. Based on the detection signal from the acting force detecting means 71R, the control device 40 acts on the handle 20R in the forward direction along the front-rear direction of the main frame (forward acting force) and the handle 20L. It is possible to detect the acting force acting in the backward direction (backward acting force). That is, the control device 40 detects the forward acting force when the user is pushing the handle 20R, and detects the backward acting force when the user is pulling, based on the detection signal from the acting force detecting means 71R. To do. Further, in the control device 40, when the user releases the handle 20R based on the detection signal from the acting force detecting means 71R, or when the handle 20L gripped by the user is in the neutral position, the control device 40 is used. Neither the anterior force nor the posterior force is detected.

The 3-axis acceleration / angular velocity sensor 50S is provided on the main frame 50, measures acceleration for each of the three directions of the X-axis, Y-axis, and Z-axis, and is centered on each of the three directions. The angular velocity of the rotation is measured, and a detection signal based on the measurement result is output to the control device 40. For example, the 3-axis acceleration / angular velocity sensor 50S controls a detection signal according to the inclination angle of the walking support device 10 with respect to each of the X-axis, Y-axis, and Z-axis when the walking support device 10 is traveling on an inclined surface. Output to device 40.

Further, for example, the 3-axis acceleration / angular velocity sensor 50S detects the acceleration applied to the vehicle body of the walking support device 10 (for example, the impact on the vehicle body), and outputs a detection signal corresponding to the detected acceleration to the control device 40. To do. Further, for example, the 3-axis acceleration / angular velocity sensor 50S determines the pitch angular velocity (angular velocity around the Y-axis), yaw angular velocity (angular velocity around the Z-axis), and roll angular velocity (angular velocity around the X-axis) of the vehicle body of the walking support device 10. It is detected, and a detection signal corresponding to the detected angular velocity is output to the control device 40. Based on the detection signal from the 3-axis acceleration / angular velocity sensor 50S, the control device 40 has an inclination angle of the walking support device 10 with respect to the X-axis, Y-axis, and Z-axis, the magnitude of acceleration (impact), and the pitch angular velocity. Yaw angular velocity and roll angular velocity can be detected.

● [Detailed structure of handle 20L and acting force detecting means 71L (FIGS. 4 to 7)]
Next, the detailed structures of the handles 20L and 20R and the acting force detecting means 71L and 71R will be described. As shown in FIGS. 1 and 2, the handles 20L and 20R and the acting force detecting means 71L and 71R are arranged in pairs on the left and right and symmetrically, so that the handles 20L and the acting force on the left side and the acting force are arranged symmetrically. The detecting means 71L will be described as an example, and the description of the right-hand handle 20R and the acting force detecting means 71R will be omitted.

As shown in FIGS. 4 to 7, the handle 20L is composed of a shaft member 22L, a slide member 23L, a handle member 25L, and the like. Here, as shown in FIG. 4, the handle 20R is composed of a shaft member 22L, a slide member 23L, a shaft member 22R having the same configuration as the handle member 25L, a slide member 23R, a handle member 25R, and the like. It is configured.

As shown in FIGS. 4 to 6, the shaft member 22L extends rearward from the upper end of the handle frame 51L having a substantially rectangular cross section, and has an outer diameter slightly smaller than the width dimension in the left-right direction of the handle frame 51L. It is formed in the shape of a hollow shaft. Further, on the base end side of the shaft member 22L, an outer diameter substantially equal to the inner diameter of the cylindrical mounting cylinder portion BKL1 of the brake lever BKL and a length substantially equal to the length of the mounting cylinder portion BKL1. A pair of brake lever mounting portions 221 having a substantially arcuate cross section are provided so as to coaxially project outward in the radial direction from the outer peripheral portions at both ends in the vertical direction. A shaft-side guide groove 222 having a predetermined width (for example, a width of about 30 to 40 mm) is formed along the axial direction between both peripheral edges of the pair of brake lever mounting portions 221 in the circumferential direction.

As shown in FIGS. 4 and 6, a screw hole 223 is formed in the upper brake lever mounting portion 221. The screw hole 223 penetrates through the upper end of the mounting cylinder BKL1 when the mounting cylinder BKL1 of the brake lever BKL is inserted outside the shaft member 22L and brought into contact with the handle frame 51L. It is formed at a position facing the hole BKL2. As a result, the mounting cylinder portion BKL1 of the brake lever BKL is inserted outside the shaft member 22L, and the screw 27 is inserted into the through hole BKL2 and tightened to the screw hole 223 in a state of being in contact with the handle frame 51L. Thereby, the brake lever BKL can be attached to the shaft member 22L.

Further, as shown in FIGS. 4 and 5, the left and right side wall portions of the upper end portion of the handle frame 51L with respect to the pair of left and right shaft side guide grooves 222 formed at the base end portion of the shaft member 22L. Therefore, a pair of left and right frame-side guide grooves 28 that are formed substantially flush with each other along the front direction and are recessed in a rectangular shape in the front view are provided. The vertical width of the pair of left and right frame-side guide grooves 28 is formed to be substantially the same as the vertical width of the pair of left and right shaft-side guide grooves 222.

Further, the pair of left and right frame side guide grooves 28 are formed with through holes (insertion holes) 32 having a rectangular cross section that penetrate left and right at the center position in the front-rear direction of the handle frame 51L. The vertical height of the cross section of the through hole 32 is formed to have a size substantially equal to the diameter of the support shaft (shaft member) 33 having a circular cross section. The width W2 (see FIG. 5) of the cross section of the through hole 32 in the front-rear direction is formed to have a size larger than the diameter of the support shaft 33, and the support shaft 33 is predetermined in the front-rear direction with respect to the central shaft 32B of the through hole 32. It is movably inserted by the size (for example, about 2 mm to 3 mm) (see FIG. 5).

As shown in FIGS. 4 and 7, a semicircle having a cross section protruding outward in the radial direction from four locations at every 90 degrees on the outer peripheral surface of the shaft member 22L on the rear side of the pair of upper and lower brake lever mounting portions 221. The rib portion 36 of the shape is formed along the axial direction (front-back direction) over almost the entire length. Then, as shown in FIGS. 5 to 7, when the slide member 23L formed in a substantially cylindrical shape is inserted and arranged outside the shaft member 22L, the shaft member 22L of each rib portion 36 is arranged in the radial direction. The outer tip abuts on the inner peripheral surface of the slide member 23L to slidably support the slide member 23L. Each rib portion 36 may be divided into a plurality of rib portions 36 along the longitudinal direction. Further, the rib portions 36 may be arranged at four or more locations in the circumferential direction.

Next, the schematic configuration of the slide member 23L and the handle member 25L will be described with reference to FIGS. 4 to 7. As shown in FIGS. 4 to 7, the slide member 23L is radially opposed to each other from the cylindrical portion 231 formed in a cylindrical shape and the front end portion of the cylindrical portion 231 and extends outward in the axial direction. It is composed of a pair of left and right holding portions 232 formed in an elongated plate shape.

Further, as shown in FIGS. 4 and 6, on the outside of the cylindrical portion 231 of the slide member 23L, a rubber handle member 25L formed in a bottomed cylindrical shape with the rear side closed is provided from the rear end side. It is fitted and attached. As shown in FIGS. 4 and 6, the handle member 25L is formed to have a length slightly shorter than the length of the cylindrical portion 231 of the slide member 23L. The handle member 25L is not limited to the bottomed cylindrical shape, and may have any shape as long as it can be gripped by the user.

As shown in FIG. 6, the length of the cylindrical portion 231 of the slide member 23L is slightly longer than the length from the rear end to the rear side end of the pair of upper and lower brake lever mounting portions 221 of the shaft member 22L (for example,). It is formed to have a length of about 5 mm to 10 mm). Further, as shown in FIG. 7, the inner diameter of the cylindrical portion 231 is formed so that the tip portion of the shaft member 22L of each rib portion 36 on the outer side in the radial direction is slidably abutted.

Further, at the tip ends of the pair of left and right holding portions 232, a pair of left and right through holes 232A formed so as to have an inner diameter substantially equal to the outer diameter of the support shaft 33 are coaxially provided so as to face each other. The vertical width of the pair of left and right holding portions 232 is the vertical width of the pair of left and right shaft-side guide grooves 222 of the shaft member 22L and the pair of left and right frames formed at the upper ends of the handle frame 51L. The side guide groove 28 is formed to have substantially the same width as the width in the vertical direction.

Then, as shown in FIGS. 4 and 5, when the cylindrical portion 231 is arranged outside the shaft member 22L, the pair of left and right holding portions 232 are each of the pair of left and right shaft side guide grooves 222 of the shaft member 22L. A pair of left and right frame side guide grooves formed in the upper end of the handle frame 51L, which are slidably inserted in the front-rear direction into the gap formed between the brake lever BKL and the inner peripheral surface of the mounting cylinder BKL1. It is inserted into 28 so as to be slidable in the front-rear direction.

The pair of left and right through holes 232A formed at the tip ends of the pair of left and right holding portions 232 face each other with a through hole 32 having a rectangular cross section that penetrates the pair of left and right frame side guide grooves 28 to the left and right. Then, the support shaft (shaft member) 33 having a circular cross section passes through the through hole 232A (for example, the through hole 232A on the right side in FIG. 4), the through hole 32, and the other through hole 232A (for example, FIG. 4). It is inserted into the through hole 232A) on the left side in the middle and left side in the left-right direction.

Further, as shown in FIGS. 4 to 6, a pair of front and rear spring recesses 38 formed in substantially the same rectangular cross section and opening upward are provided at the center of the upper end surface of the handle frame 51L in the left-right direction. It is formed so as to be recessed along the vertical direction. The pair of spring recesses 38 are spaced around the central shaft 32B of the through hole 32 and are substantially equal to the diameter of the support shaft 33 or slightly smaller than the diameter of the support shaft 33 (for example, from 0.3 mm to 0.3 mm). They are arranged along the front-rear direction at intervals (1.0 mm smaller). As shown in FIG. 6, each bottom surface portion 38A of the pair of spring recesses 38 has a predetermined height (for example, a height substantially equal to the radius of the support shaft 33) than the bottom surface 32A of the through hole 32 having a rectangular cross section. It is formed so as to be located on the lower side.

As shown in FIGS. 4 and 5, the width of the rectangular cross section of each spring recess 38 in the left-right direction is slightly larger than the outer diameter of the pair of compression coil springs 39 pushed into the spring recess 38 from above ( For example, it is formed to a size (about 0.3 mm to 0.6 mm larger). As shown in FIGS. 5 and 6, the outer diameter of the pair of compression coil springs 39 is formed to be larger than the diameter of the support shaft 33, for example, about 2 to 3 times the diameter of the support shaft 33. There is. Further, as shown in FIGS. 5 and 6, the width of the rectangular cross section of each spring recess 38 in the front-rear direction is slightly shorter than the total length of the compression coil spring 39 (for example, about 0.5 mm to 2 mm shorter). It is formed in. The pair of compression coil springs 39 have the same shape and are set to have the same spring constant.

Therefore, as shown in FIGS. 4 and 6, each of the pair of compression coil springs 39 is pushed into each spring recess 38 from above in a compressed state and abuts on the bottom surface 38A of each spring recess 38. Will be done. As a result, each compression coil spring 39 pushed to the back side of the pair of spring recesses 38 is placed on the outer peripheral surface of the support shaft (shaft member) 33 fitted into the through hole 32 as shown in FIGS. 5 and 6. In contact with each other, the support shaft 33 is urged from both sides in the front-rear direction so as to be located at the center position between the pair of spring recesses 38, that is, on the center shaft 32B of the through hole 32.

Further, when the support shaft 33 is positioned on the central shaft 32B of the through hole 32 by the urging force of the pair of compression coil springs 39, as shown in FIG. 6, the front end surface of the cylindrical portion 231 of the slide member 23L and the front end surface of the cylindrical portion 231 A gap 41 is formed between the upper and lower pairs of the shaft member 22L and the rear end faces of the pair of upper and lower brake lever mounting portions 221. At the same time, as shown in FIGS. 5 and 6, a gap 42 extends over the entire circumference between the front end surface of the handle member 25L and the rear end surface of the mounting cylinder portion BKL1 of the brake lever BKL. It is formed.

At the same time, as shown in FIG. 5, a gap 43 is also formed between the tip of each holding portion 232 of the slide member 23L and the front inner wall surface of each frame side guide groove 28. The distances of the gaps 41, 42, and 43 in the front-rear direction are the distances L1 (see FIGS. 5 and 6) in which the support shaft 33 can be moved in the front-rear direction from the state where the support shaft 33 is located on the central shaft 32B of the through hole 32, as described later. ) Is set to a distance larger than (for example, a distance about 1 mm to 2 mm larger than the distance L1).

As a result, when the user grips the handle member 25L and pushes it forward, the support shaft 33 is positioned at the central shaft 32B of the through hole 32 against the urging force of the compression coil spring 39. It can be moved up to a distance L1 that can be moved in the front direction. Further, when the user grips the handle member 25L and pulls it to the rear side, the support shaft 33 is located at the central shaft 32B of the through hole 32 against the urging force of the compression coil spring 39. It can be moved up to a distance L1 that can be moved in the rearward direction.

Next, the schematic configuration of the acting force detecting means 71L will be described with reference to FIGS. 4 and 5. As shown in FIG. 4, the acting force detecting means 71L is composed of a base member 72, a moving member 73, a pair of pressure-sensitive sensors 75, and the like. As shown in FIGS. 4 and 5, the base member 72 is attached by each screw 76 so as to cover the frame side guide groove 28 formed at the upper end of the right side wall portion 51LR on the inner side in the left-right direction of the handle frame 51L. A front view rectangular flat plate portion 72A and a pair of substantially rectangular flange portions 72B extending from both side edges in the front-rear direction of the flat plate portion 72A in a substantially right-angled right direction over the entire length, that is, in a substantially right-angled inward direction. And are formed from.

Further, the flat plate portion 72A is formed with a stopper through hole 72C having a rectangular cross section that penetrates coaxially with the central axis 32B of the through hole 32 at a position facing the through hole 32 formed in the frame side guide groove 28. There is. The vertical height of the cross section of the stopper through hole 72C is formed to have a size substantially equal to the diameter of the support shaft (shaft member) 33 having a circular cross section. As shown in FIG. 5, the width W1 in the front-rear direction (left-right direction in FIG. 5) of the cross section of the stopper through hole 72C, that is, the front-rear regulation range W1 is wider than the width W2 in the front-rear direction of the cross section of the through hole 32. It is formed in a narrow size.

Therefore, the support shaft 33 fitted into the stopper through hole 72C has the outer peripheral surface of the support shaft 33 in the front-rear direction of the stopper through hole 72C from the neutral position when it is located on the central shaft 32B of the through hole 32. It is configured to be movable by a distance L1 (for example, a distance L1 = 1 mm) in the front-rear direction until it comes into contact with both inner wall surfaces. Further, as shown in FIG. 4, a projecting piece 72D long in the front-rear direction (left-right direction in FIG. 5) is horizontally formed at a predetermined height below a predetermined height of the stopper through hole 72C of the flat plate portion 72A. It is protruding. As shown in FIG. 5, in the protruding piece 72D, the lower surface of the moving member 73 attached to the right end of the support shaft 33 is slidably abutted from above, and the moving member 73 rotates around the central shaft 32B. It is configured to be guided in the front-back direction without being guided.

As shown in FIGS. 4 and 5, the moving member 73 is formed in a rectangular parallelepiped whose left side surface that slidably contacts the flat plate portion 72A of the base member 72 is larger than the cross section of the stopper through hole 72C. At the same time, a pair of stepped portions 73A are formed at both ends in the front-rear direction in the left-side direction, that is, toward the flat plate portion 72A. Further, in the pair of stepped portions 73A formed at both ends in the front-rear direction of the moving member 73, for example, a pair of sensor contact portions 73B formed in a substantially columnar shape with an elastic body such as silicon rubber are attached to the moving member 73. It protrudes outward in the front-rear direction and is mounted coaxially.

Further, as shown in FIG. 4, the moving member 73 is formed with a through hole 73C having an inner diameter substantially equal to the outer diameter of the support shaft 33 at the center position in the front view. Then, as shown in FIG. 5, the moving member 73 is formed at the right end of the support shaft 33 after the right end of the support shaft 33 protruding from the stopper through hole 72C is fitted into the through hole 73C. The E-ring 78 is fixed to the annular groove 33A (see FIG. 4). On the other hand, the left end of the support shaft 33 is fitted into the pair of through holes 232A formed in the pair of holding portions 233 and the through holes 32, and protrudes from the through holes 232A of the left holding portion 232. .. Then, the E-ring 78 is fixed to the annular groove 33B (see FIG. 4) formed at the left end of the support shaft 33.

After that, as described above, the support shaft 33 and the moving member are pushed by pushing each compression coil spring 39 from the upper opening to the back side into each of the pair of spring recesses 38 formed on the upper end surface of the handle frame 51L. 73 is located on the central axis 32B of the through hole 32 and the stopper through hole 72C (see FIG. 5). That is, the support shaft 33 and the moving member 73 are positioned in the neutral position. The support shaft 33 is made of metal such as stainless steel, and the E-ring 78 is a metal plate-shaped member.

As shown in FIGS. 4 and 5, the pair of pressure-sensitive sensors 75 are arranged on the inner side surface of each flange portion 72B of the base member 72 in the front-rear direction in the front-rear direction with respect to the pair of sensor contact portions 73B of the moving member 73. They are attached by adhesion or the like so as to face each other. The pressure sensor 75 is an element that electrically detects pressure. For example, the pressure-sensitive sensor 75 is composed of a pressure-sensitive resistance film composed of an electrode layer and a pressure-sensitive resistance layer.

When the acting force is not detected, that is, when there is no operation by the user, the support shaft 33 and the moving member 73 are located in the neutral position, and the pressure sensitive sensor 75 is not pressed by the sensor contact portion 73B. Since the electrode layer and the pressure-sensitive resistance layer are not in contact with each other, the pressure-sensitive sensor 75 is in an insulated state, and the resistance value of the pressure-sensitive sensor 75 increases (for example, several MΩ or more). On the other hand, when the acting force is detected, that is, when the support shaft 33 and the moving member 73 move in the moving direction by the operation of the user and the pressure sensitive sensor 75 is pressed by the sensor contact portion 73B, the electrode The layer and the pressure-sensitive resistance layer are in contact with each other, and the electrical resistance of the pressure-sensitive sensor 75 according to the pressure is detected. The larger the pressure, the smaller the resistance value of the pressure sensor 75 (about several kΩ).

As a result, the acting force detecting means 71L can move the support shaft 33 and the moving member 73 from the neutral position of the support shaft 33 and the moving member 73 when the user is not operating the handle 20L by the acting force operated by the user. Outputs the detection signal of each pressure sensor 75 according to the movement of the main frame in the front-rear direction to the control device 40.

Specifically, when the handle 20L is pushed (forward acting force), the acting force detecting means 71L sends a detection signal corresponding to the electric resistance corresponding to the pressure of the pressure sensor 75 on the front side to the control device 40. When the handle 20L is pulled (backward acting force), a detection signal corresponding to the electric resistance corresponding to the pressure of the pressure sensor 75 on the rear side is output to the control device 40. That is, in the control device 40, based on the detection signal of each pressure sensor 75 from the acting force detecting means 71L, whether the user is pushing the handle 20L (forward acting force) or releasing it (the handle 20L is neutral). Position) and pulling (backward acting force) can be detected.

The control device 40 uses the acting force detecting means 71L to act on the handle 20L in the forward direction along the front-rear direction of the main frame for a predetermined determination time or longer set in advance. The acting force is detected as a forward acting force, and when the acting force acting in the posterior direction along the front-rear direction of the main frame continues for a preset predetermined determination time or longer, the acting force is detected as a backward acting force. To do. Further, when the control device 40 is the acting force detecting means 71L and the acting force is not acting on the handle 20L for a predetermined determination time or more set in advance and in the front-rear direction of the main frame. Assumes that neither the forward acting force nor the backward acting force is acting (acting force not detected). As a result, erroneous detection of the acting force can be reduced, and the vehicle can be appropriately driven in the traveling direction (forward, reverse, right turn, left turn) desired by the user. The predetermined determination time is, for example, 0.5 [sec].

As shown in FIG. 5, when the support shaft 33 and the moving member 73 are located in the neutral position, the distance L2 between each pressure-sensitive sensor 75 and each of the opposing sensor contact portions 73B is L2. A gap is formed. The distance L2 is smaller than the distance L1 (see FIG. 5) in which the support shaft 33 and the moving member 73 can move in the front-rear direction of the main frame from the state where the support shaft 33 and the moving member 73 are located on the central shaft 32B of the through hole 32 and the stopper through hole 72C. (For example, the distance is set to about 0.3 mm to 0.5 mm smaller than the distance L1). As a result, when the handle member 25L is operated by the user and the moving member 73 moves in the front-rear direction of the main frame by a distance L1, the sensor contact portion 73B reliably presses the pressure-sensitive sensor 75 in the operating direction. be able to.

● [Input / output of control device 40 (FIG. 8)]
FIG. 8 is a block diagram showing input / output of the control device 40. The control device 40 includes a control means such as a CPU (not shown) and a storage means 44 and the like. Further, the control device 40 is input with the detection signals from the traveling speed detecting means 64LE and 64RE, the detection signals from the acting force detecting means 71R and 71L, and the detection signals from the three-axis acceleration / angular velocity sensor 50S.

The operation state of the main switch 12 is input to the control device 40. Further, the control device 40 outputs a control signal to the traveling drive means 64L and 64R.

● [Processing procedure of control device 40 (FIGS. 9 to 15)]
FIG. 9 shows the overall processing in the processing procedure of the control device 40 (see FIG. 8). When the user turns on the main switch 12, the process shown in FIG. 9 is activated at predetermined time intervals (for example, several [msec] intervals). When the process shown in FIG. 9 is activated, the control device 40 proceeds to step S010. In the following, an example of a case where the user walks forward together with the walking support device will be described.

In step S010, the control device 40 executes SB100 (input processing) to proceed to step S030. The details of SB100 (input processing) will be described later.

In step S030, the control device 40 executes SB300 (progress / turning control determination process) to proceed to step S050. The details of SB300 (advancement / turning control determination processing) will be described later.

In step S050, the control device 40 executes SB500 (progress speed adjustment process) to proceed to step S070. The details of SB500 (progress speed adjustment processing) will be described later.

In step S070, the control device 40 executes SB700 (progress speed limiting process) to proceed to step S090. The details of SB700 (progress speed limiting process) will be described later.

In step S090, the control device 40 executes SB900 (progress speed drive process) and ends (returns) the process. The details of SB900 (advanced speed drive processing) will be described later.

● [SB100: Details of input processing (Fig. 10)]
Next, the details of SB100 (input processing) will be described with reference to FIG. When executing SB100 in step S010 shown in FIG. 9, the control device 40 proceeds to step SB010 shown in FIG.

In step SB010, the control device 40 determines the direction of the acting force of the right handle, the right current traveling speed, the direction of the acting force of the left handle, the left current traveling speed, the vehicle body inclination, the pitch angular velocity, the yaw angular velocity, and the roll angular velocity. Is updated, and the process proceeds to step SB030.

Specifically, the control device 40 moves forward along the mainframe front-rear direction, which is the front-back direction with respect to the mainframe 50, which is obtained based on the detection signal from the acting force detecting means 71R (see FIG. 1). Each of the forward acting force acting and the backward acting force acting in the backward direction is detected. When the control device 40 detects the forward acting force, it sets "forward" in the direction of the acting force of the right handle, and when it detects the backward acting force, it sets "rear" in the direction of the acting force of the right handle. "Set. Further, when neither the forward acting force nor the backward acting force is detected, the control device 40 sets "neutral" in the direction of the acting force of the right handle.

Further, the control device 40 detects the rotation speed of the (right) traveling drive means 64R based on the detection signal from the (right) traveling speed detecting means 64RE of the (right) traveling drive means 64R, and detects the rotation speed of the rear wheel 60RR. The traveling speed of the rear wheel 60RR is detected from the number of revolutions and stored in the right current traveling speed (see FIG. 1).

Similarly, the control device 40 stores the direction of the acting force of the left handle and the left current traveling speed. Further, the control device 40 stores tilt information such as the tilt angle and tilt direction of the vehicle body of the walking support device 10 obtained based on the detection signal from the three-axis acceleration / angular velocity sensor 50S (see FIG. 1) in the vehicle body tilt. Further, the control device 40 stores the angular velocity around the Y-axis of the walking support device 10 obtained based on the detection signal from the 3-axis acceleration / angular velocity sensor 50S (see FIG. 1) in the pitch angular velocity, and stores the angular velocity around the Z-axis. It is stored in the yaw angular velocity, and the angular velocity around the X axis is stored in the roll angular velocity.

In step SB030, the control device 40 obtains and stores the current progress speed, which is the progress speed of the walking support device in the current process, based on the right current progress speed and the left current progress speed stored in step SB010, and stores and processes. Exit (return). For example, the control device 40 obtains the current traveling speed (advancing speed) at the current traveling speed = (right traveling speed + left traveling speed) / 2.

● [SB300: Progress / turning control determination process (FIG. 11)]
Next, the details of the SB300 (advancement / turning control determination process) will be described with reference to FIG. When executing SB300 in step S030 shown in FIG. 9, the control device 40 proceeds to step SB305 shown in FIG.

In step SB305, the control device 40 determines the (provisional) control mode and proceeds to step SB310A. The (provisional) control mode is a provisional control mode until the control mode is finally determined in the SB300 (progress / turning control determination process).

Specifically, the control device 40 "forwards" and "reverses" based on the table of FIG. 15 from the stored directions of the acting forces of the left and right handles ("forward", "neutral", "rear"). , "Turn right", "Turn left", or "Stop" and store in the (provisional) control mode. For example, when the direction of the acting force of the right handle is "forward" and the direction of the acting force of the left handle is "rear", the control device 40 makes a "right turn" (provisional). ) Store in control mode.

In step SB310A, the control device 40 determines whether or not the (previous) control mode is "reverse preparation", and if the (previous) control mode is "reverse preparation" (Yes), the process is performed in step SB320A. If the (previous) control mode is not "preparation for reverse movement" (No), the process proceeds to step SB310B. The (previous) control mode is the control mode finally determined in the previous process.

When the process proceeds to step SB310B, the control device 40 determines whether or not the (previous) control mode is "reverse", and if the (previous) control mode is "reverse" (yes), step SB340D. If the (previous) control mode is not "backward" (No), the process proceeds to step SB320B.

When the process proceeds to step SB320A, the control device 40 determines whether or not the (provisional) control mode is "reverse", and if the (provisional) control mode is "reverse" (Yes), step SB330. If the (provisional) control mode is not "backward" (No), the process proceeds to step SB340A.

When the process proceeds to step SB320B, the control device 40 determines whether or not the (provisional) control mode is "reverse", and if the (provisional) control mode is "reverse" (Yes), step SB340C. If the (provisional) control mode is not "backward" (No), the process proceeds to step SB340D. The control device 40 starts counting the internal counter (not shown) when the (provisional) control mode is "reverse" (Yes).

When the process proceeds to step SB330, the control device 40 determines whether or not the predetermined stop time has elapsed, and when the predetermined stop time has elapsed (Yes), the process proceeds to step SB340B and the predetermined stop time elapses. If not (No), the process proceeds to step SB340C. The predetermined stop time is, for example, about 5 [sec]. Further, when the value of the internal counter reaches the value corresponding to the predetermined stop time, the control device 40 determines that the predetermined stop time has elapsed, stops the counting of the internal counter, and initializes the value.

When the process proceeds to step SB340A, the control device 40 stores the mode stored in the (provisional) control mode in the (current) control mode, and proceeds to the process in step SB350.

When the process proceeds to step SB340B, the control device 40 stores "reverse" in the control mode (this time) and proceeds to step SB350.

When the process proceeds to step SB340C, the control device 40 stores "preparation for reverse movement" in the control mode (this time) and proceeds to step SB350.

When the process proceeds to step SB340D, the control device 40 stores the mode stored in the (provisional) control mode in the (current) control mode, and proceeds to the process in step SB350.

When the process proceeds to step SB350, the control device 40 stores the mode stored in the (previous) control mode in the (previous) control mode (saves the (previous) control mode in the (previous) control mode). , End the process (return).

● [SB500: Details of progress speed adjustment process (Fig. 12)]
Next, the details of the SB500 (progress speed adjustment process) will be described with reference to FIG. When executing SB500 in step S050 shown in FIG. 9, the control device 40 proceeds to step SB510A shown in FIG.

In step SB510A, the control device 40 determines whether or not the (this time) control mode is "forward", and if the (this time) control mode is "forward" (Yes), the process proceeds to step SB520A. (This time) If the control mode is not "forward", step SB510B processing proceeds.

When the process proceeds to step SB510B, the control device 40 determines whether or not the (this time) control mode is "reverse", and if the (this time) control mode is "reverse" (Yes), step SB520B. If the control mode is not "backward" (No), the process proceeds to step SB510C.

When the process proceeds to step SB510C, the control device 40 determines whether or not the (this time) control mode is "left turn", and if the (this time) control mode is "left turn" (Yes). The process proceeds to step SB520C, and if the control mode is not "turn left" (No), the process proceeds to step SB510D.

When the process proceeds to step SB510D, the control device 40 determines whether or not the (this time) control mode is "right turn", and when the (this time) control mode is "right turn" (Yes). ) Advances the process to step SB520D, and if the control mode is not "turn right" (No), the process proceeds to step SB510E.

When the process proceeds to step SB510E, the control device 40 determines whether or not the (this time) control mode is "reverse preparation", and if the (this time) control mode is "reverse preparation" (Yes), The process proceeds to step SB520E, and the control device 40 proceeds with step SB520F processing when the control mode (this time) is not "preparation for reverse movement" (No).

When the process proceeds to step SB520A, the control device 40 obtains "current progress speed + predetermined progress speed" and stores it in the right target speed, and obtains "current progress speed + predetermined progress speed" and stores it in the left target speed. And end the process (return). The predetermined traveling speed is a preset predetermined speed amount.

When the process proceeds to step SB520B, the control device 40 obtains "current progress speed-predetermined progress speed" and stores it in the right target speed, and obtains "current progress speed-predetermined progress speed" and stores it in the left target speed. And end the process (return).

When the process proceeds to step SB520C, the control device 40 obtains "current progress speed + predetermined progress speed" and stores it in the right target speed, and obtains "current progress speed-predetermined progress speed" and stores it in the left target speed. And end the process (return).

When the process proceeds to step SB520D, the control device 40 obtains "current progress speed-predetermined progress speed" and stores it in the right target speed, and obtains "current progress speed + predetermined progress speed" and stores it in the left target speed. And end the process (return).

When the process proceeds to step SB520E, the control device 40 stores "speed 0" in the right target speed, stores "speed 0" in the left target speed, and ends (returns) the process.

When the process proceeds to step SB520F, the control device 40 obtains a speed corresponding to "deceleration toward speed 0 (stop)", stores it in the right target speed, and decelerates toward speed 0 (stop). Find the corresponding speed, store it in the left target speed, and end the process (return). Specifically, the control device 40 obtains a speed obtained by subtracting a predetermined speed from the current traveling speed so as to gradually decelerate toward a speed of 0 (stop), and obtains a right target speed. Store in each of the left target speeds.

● [SB700: Details of Progress Speed Limiting Process (Fig. 13)]
Next, the details of the SB700 (progress speed limiting process) will be described with reference to FIG. When executing SB700 in step S070 shown in FIG. 9, the control device 40 proceeds to step SB710A shown in FIG.

In step SB710A, the control device 40 determines whether or not the right target speed is equal to or greater than the forward speed limit (right target speed ≥ forward speed limit), and if the right target speed is equal to or greater than the forward speed limit (Yes). The process proceeds to step SB730A, and if the right target speed is not equal to or higher than the forward speed limit (No), the process proceeds to step SB720A. The forward speed limit is a preset predetermined speed, which is the speed limit for forward traveling of the walking support device. The forward speed limit is, for example, 3 to 4 km / h.

When the process proceeds to step SB720A, the control device 40 determines whether or not the right target speed is equal to or higher than the rear speed limit (right target speed ≤ backward speed limit), and the right target speed is equal to or higher than the rear speed limit. If (Yes), the process proceeds to step SB740A, and if the right target speed is not equal to or higher than the rear speed limit (No), the process proceeds to step SB710B. The rearward speed limit is a preset predetermined speed, which is the speed limit for the walking support device in reverse travel. The rear speed limit is, for example, 1 km / h.

When the process proceeds to step SB730A, the control device 40 stores the forward speed limit in the right target speed, stores the forward speed limit in the left target speed, and proceeds to step SB710B.

When the process proceeds to step SB740A, the control device 40 stores the rear speed limit in the right target speed, stores the rear speed limit in the left target speed, and proceeds to the process in step SB710B.

The processing of steps SB710B to SB740B is a process of obtaining the left target speed, and is the same as the processing of steps SB710A to SB740A of obtaining the right target speed, and thus the description thereof will be omitted.

The SB700 (advancement speed limiting process) allows the walking support device to travel without exceeding the walking speed of the user, so that the user can walk more safely.

● [SB900: Details of traveling speed drive processing (FIG. 14)]
Next, the details of SB900 (advanced speed drive processing) will be described with reference to FIG. When executing SB900 in step S090 shown in FIG. 9, the control device 40 proceeds to step SB910 shown in FIG.

In step SB910, the control device 40 controls the (right) traveling drive means 64R so as to have the right target speed, and controls the (left) traveling drive means 64L so as to have the left target speed, and ends the process. To (return).

● [Details of control mode of walking support device (FIG. 11, FIG. 12, FIG. 15)]
Next, the details of the control mode of the walking support device will be described with reference to FIGS. 11, 12, and 15. The horizontal items in FIG. 15 indicate the direction of the acting force of the right handle, and the vertical items indicate the direction of the acting force of the left handle. Based on the information from the acting force detecting means 71L and 71R, "forward" indicates the case where the acting force applied to the handle is the forward acting force, and "rear" indicates the case where the acting force applied to the handle is the rearward. It shows the case of acting force. "Neutral" indicates the case where no acting force is applied to the handle and it is neither "forward" nor "rear".

In the control mode "forward", the control device 40 detects a forward acting force ("forward") in one of the left and right handles (20R, 20L) and a backward acting force ("backward") in the other handle. When ") is not detected, forward control is performed to control each of the traveling drive means 64L and 64R so as to drive the drive wheels 60RL and 60RR in the forward direction (see FIG. 1).

In the control mode "reverse", the control device 40 detects a backward acting force ("rear") in one of the left and right handles (20R, 20L) and a forward acting force ("forward") in the other handle. When ") is not detected, reverse control is performed to control each of the traveling drive means 64L and 64R so as to drive the drive wheels 60RL and 60RR in the reverse direction.

In the control mode "right turn", the control device 40 detects the backward acting force ("rear") in the right handle 20R and the forward acting force ("forward") in the left handle 20L. When it is detected, it controls turning to the right. Specifically, in the right turn control, the control device 40 is driven in the direction of moving backward with respect to the right drive wheel 60RR, and is driven in the direction of moving forward with respect to the left drive wheel 60RL. Each of the means 64L and 64R is controlled. As a result, the walking support device can be turned while rotating on the spot, and the turning performance can be improved.

In the control mode "left turn", the control device 40 detects the forward acting force ("forward") in the right handle 20R and the backward acting force ("backward") in the left handle 20L. If this is the case, left turn control is performed. Specifically, in the left turn control, the control device 40 is driven in the direction of moving forward with respect to the right drive wheel 60RR, and is driven in the direction of moving backward with respect to the left drive wheel 60RL. Each of 64L and 64R is controlled. As a result, the walking support device can be turned while rotating on the spot, and the turning performance can be improved.

In the control mode "stop", the control device 40 performs stop control when neither the forward acting force nor the backward acting force is detected in both the handles (20R, 20L). Specifically, in the stop control, the control device 40 stops the control of the traveling drive means 64L and 64R, respectively. This is convenient because the walking support device does not leave the user.

In the control mode "preparation for reverse movement", the control device 40 is preset when a backward acting force ("rearward") is detected in both handles (20R, 20L) when the reverse movement is not being controlled. After controlling to stop for a predetermined stop time, reverse control is performed. As a result, since the walking support device controls the reverse movement only when the user desires to move backward, it is possible to prevent the walking support device from traveling backward against the intention of the user.

● [Effect of the present application]
As described above, the walking support device 10 described in the present embodiment is such that the left and right wheels move forward or backward according to the acting force applied to the left and right handles held by the user. It can be driven independently to travel in the direction of travel (forward, reverse, right turn, left turn) desired by the user, and can prevent backward travel contrary to the user's intention. ..

The walking support device of the present invention is not limited to the configuration, structure, shape, processing procedure, etc. described in the present embodiment, and various changes, additions, and deletions can be made without changing the gist of the present invention. ..

In the present embodiment, an example of adjusting the "traveling speed" (current traveling speed) in the control of the traveling drive means (electric motor with a servo mechanism) has been described, but the "torque" is not limited to the control of the "speed". May be controlled, or the motor torque may be controlled to adjust the traveling speed.

Instead of the control in the "right turn" control mode of the present embodiment, the control device 40 is driven so as to stop the right drive wheel 60RR and is driven in a direction to advance with respect to the left drive wheel 60RL. As such, each of the traveling drive means 64L and 64R may be controlled. Further, instead of the control in the control mode of "left turn", the control device 40 drives the left drive wheel 60RL to stop and drives the right drive wheel 60RR in the forward direction. Each of the traveling drive means 64L and 64R may be controlled. As a result, the walking support device can be turned while advancing, and the user can turn more naturally while walking.

In the present embodiment, the control device 40 detects as an acting force by the acting force detecting means 71L, 71R when the acting force (forward acting force / backward acting force) continues for a predetermined predetermined determination time or more set in advance. However, an example in which it is determined that neither the forward acting force nor the backward acting force is detected when the acting force is not acting for a predetermined determination time or longer has been described. Instead of this, the control device 40 detects as an acting force when the acting force (forward acting force / backward acting force) equal to or higher than the preset acting force determination threshold value continues the predetermined determination time, and determines the predetermined determination time. As described above, when the acting force is lower than the acting force determination threshold value, it may be determined that neither the forward acting force nor the backward acting force has been detected. Thereby, the false detection of the acting force can be further reduced.

The acting force detecting means 71L and 71R may detect the acting force by using a switch that turns on when pressed at a predetermined pressure or higher, instead of the pressure sensor 75 described in the present embodiment. .. In this case, the control device 40 determines that the acting force has been detected by the acting force detecting means 71L and 71R when the switch is turned on.

In the present embodiment, even when the grip of either the right handle 20R or the left handle 20L is stopped and released (“neutral”), the forward acting force is applied to the gripped handle. An example of control for driving the walking support device 10 to move forward has been described when it is acting, that is, when it is gripped with only one hand and is walking forward. Not limited to this, for example, when walking forward while grasping only one of the right handle 20R and the left handle 20L, the control device 40 sets the walking support device 10 to 5 [sec]. After advancing for a while, the walking support device 10 may be controlled to be stopped. As a result, even when the user stops gripping with both hands and grips with only one hand to control the walking support device 10 to move forward, by setting a time limit for forward traveling, the user can grip with both hands. You can walk more safely.

In the SB700 (progress speed limiting process) of the present embodiment, the example of limiting the traveling speed has been described, but in addition to the limitation by the traveling speed or instead of the limitation by the traveling speed, the walking support device is based on the acceleration in the traveling direction. You may limit the traveling in the direction of travel. As a result, acceleration of the walking support device in the sudden traveling direction is prevented, the walking support device does not separate from the user, and the user can walk more safely. The acceleration in the traveling direction is obtained based on the traveling speed from the traveling speed detecting means.

Further, the above (≧), the following (≦), the larger (>), the less than (<), etc. may or may not include the equal sign. Further, the numerical values used in the description of the present embodiment are examples, and are not limited to these numerical values.

10 Walking support device 12 Main switch 20L, 20R Handle 22L Shaft member 23L Slide member 25L Handle member 27 Screw 28 Frame side guide groove 30L, 30R Handle cover 32 Through hole 32A Bottom 32B Central axis 33 Support shaft 33A, 33B Ring Groove 36 Rib 38 Spring recess 38A Bottom 39 Compression coil spring 40 Control device 41-43 Gap 50 Main frame (frame)
50K bag 50S Axle acceleration / angular velocity sensor 51L, 51R Handle frame 51LR Right side wall 51RL Left side wall 52L, 52R Wheel frame 53 Connection 54L Link member 60RL, 60RR Rear wheel (drive wheel)
64LE, 64RE Traveling speed detecting means 64L, 64R Driving driving means 71L, 71R Acting force detecting means 72 Base member 72A Flat plate part 72B Flange part 72C Stopper through hole 72D Protruding piece 73 Moving member 73A Step part 73B Sensor contact part 73C Through hole 75 Pressure sensor 76 Screw 78 Ring 90 Central angle 221 Brake lever mounting part 222 Shaft side guide groove 223 Screw hole 225 Through hole 225A Recess 231 Cylindrical part 232 Holding part 232A Through hole 233 Holding part L1 Distance L2 Distance W1 Width Front and rear regulation range)
W2 width

Claims (6)

With the frame
A plurality of wheels including a pair of left and right drive wheels provided on the frame, and
Each driving drive means for driving each of the pair of left and right drive wheels,
A pair of left and right handles provided on the frame and held by the user,
Each of the pair of left and right handles is provided to detect a front acting force acting in the front direction and a rear acting force acting in the rear direction along the frame front-rear direction, which is the front-rear direction with respect to the frame. Each action force detection means and
A control device that controls the traveling drive means and
The traveling drive means and the battery serving as a power source for the control device are provided.
The control device is
With the acting force detecting means
When the front acting force is detected by one of the handles and the rear acting force is not detected by the other handle, the driving wheels are driven in the direction of advancing each of the driving wheels. Forward control to control each of the drive means,
When the rearward acting force is detected by one of the handles and the forward acting force is not detected by the other handle, the driving wheels are driven in the direction of moving backward. Reverse control that controls each of the drive means,
When the backward acting force is detected by the right handle and the forward acting force is detected by the left handle, right turning control is performed.
When the forward acting force is detected by the right handle and the backward acting force is detected by the left handle, left turning control is performed.
When the backward acting force is detected in both of the handles when the reverse control is not in progress, the reverse control is performed after controlling to stop for a predetermined stop time set in advance.
Walking support device. The walking support device according to claim 1.
The control device is
In the right turn control,
Each of the traveling driving means is controlled so as to drive in the direction of moving backward with respect to the driving wheel on the right and driving in the direction of moving forward with respect to the driving wheel on the left.
In the left turn control,
Each of the traveling drive means is controlled so as to drive in a direction to move forward with respect to the drive wheel on the right and to drive in a direction to move backward with respect to the drive wheel on the left.
Walking support device. The walking support device according to claim 1.
The control device is
In the right turn control,
Each of the traveling drive means is controlled so as to stop the right drive wheel and drive the left drive wheel in a forward direction.
In the left turn control,
Each of the traveling drive means is controlled so as to stop the left drive wheel and drive the drive wheel on the right in a forward direction.
Walking support device. The walking support device according to any one of claims 1 to 3.
The control device is
With the acting force detecting means
When neither the front acting force nor the rear acting force is detected in both of the handles, the stop control that controls each of the traveling drive means so as to decelerate each of the drive wheels toward the stop. do,
Walking support device. The walking support device according to any one of claims 1 to 4.
A traveling speed detecting means for detecting a traveling speed, which is a speed in the traveling direction of the walking support device, is provided.
The control device is
Based on the traveling speed from the traveling speed detecting means, the traveling direction acceleration, which is the acceleration in the traveling direction, is obtained.
When the traveling speed becomes equal to or higher than a preset predetermined speed, the driving wheels are driven so that the traveling speed of each of the driving wheels becomes the predetermined speed, or the traveling direction acceleration is a preset predetermined acceleration. In the above cases, the driving wheels are driven so that the acceleration in the traveling direction becomes the predetermined acceleration.
Walking support device. The walking support device according to any one of claims 1 to 5.
The control device is
With the acting force detecting means, at each of the handles
When the acting force acting in the forward direction along the front-rear direction of the frame continues for a predetermined determination time set in advance or longer, the acting force is detected as the forward acting force.
When the acting force acting in the backward direction along the front-rear direction of the frame continues for a predetermined determination time set in advance or longer, the acting force is detected as the backward acting force.
If no acting force is acting along the front-rear direction of the frame for a predetermined time or longer set in advance, it is assumed that neither the front acting force nor the rear acting force is acting.
Walking support device.

Images