JP2022014660A - Walking support robot - Google Patents

Abstract

To provide a walking support robot that can make acceleration at the time of starting from a stop state be more stable acceleration regardless of turning directions of caster wheels in the stop state and supports positive arrangement of the turning directions of the caster wheels in the stop state to a predetermined turning direction.SOLUTION: A walking support robot 10 comprises: caster wheels 31L, 31R that turn to the left and right around forward tilting caster turning shaft members 31BL, 31BR; and a controller (40). The controller (40) estimates caster wheel direction-related amounts related to directions of the caster wheels 31L, 31R and, on the basis of the estimated caster wheel direction-related amounts, corrects reference driving torque set as driving torque in the case that directions of the caster wheels 31L, 31R correspond to a straight advancing direction at the time of straight advancing to control electric motors (33L, 33R).SELECTED DRAWING: Figure 4

Description

The present invention relates to a walking support robot.

In recent years, as the number of elderly people with reduced walking ability has increased, various walking support robots that can be used for walking support, walking training, and the like have been proposed.

For example, FIG. 14 shows a schematic diagram of the walking support device (corresponding to a walking support robot) described in Patent Document 1 (in a stopped state) when viewed from above. As shown in FIG. 14, when viewed from above, the walking support device 110 has a left caster wheel 131L at the front left lower end portion of the frame composed of the left frame 113L and the right frame 113R connected by the connecting member 117. The right caster wheel 131R is arranged at the front right lower end portion, the left drive wheel 132L is arranged at the rear left lower end portion, and the right drive wheel 132R is arranged at the rear right lower end portion. Further, the swivel shaft members 131BL, 131BR and the swivel axis 131JL, 131JR, which are the axes when the left caster wheel 131L and the right caster wheel 131R turn in the left-right direction, are arranged along the vertical direction (Z-axis direction). There is. Note that FIG. 14 shows the walking support device 110 in the stopped state, in which the left caster wheel 131L and the right caster wheel 131R are in an inverted C shape when viewed from above. Further, in FIG. 14, the left caster wheel 131L is in contact with the floor surface at the ground contact point 131SL, and the right caster wheel 131R is in contact with the floor surface at the ground contact point 131SR.

Japanese Unexamined Patent Publication No. 2019-198517

In the walking support device described in Patent Document 1, when starting straight forward (in the X-axis direction) from the stopped state shown in FIG. 14, thrust FL is generated from the left drive wheel 132L and thrust FR is generated from the right drive wheel 132R. Let me start. When starting from the stopped state shown in FIG. 14, an arcuate force FCL centered on the ground contact point 131SL of the left caster wheel 131L is applied to the front end of the left frame 113L, and the right caster is applied to the front end of the right frame 113R. An arcuate force FCR is applied around the grounding point 131SR of the ring 131R. In FIG. 14, the arcuate force FCL and the force FCR are forces acting in a direction that narrows the distance between the left and right frames, but since the left frame 113L and the right frame 113R are fixed by the connecting member 117, they are actually Does not change the interval. In this case, the grounding points 131SL and 131SR can be forcibly slid on the floor surface to finally start.

That is, a relatively large force is required at the time of starting depending on the turning direction of the caster wheel in the stopped state. If the vehicle starts with the same torque, acceleration may slow down depending on the turning direction of the caster wheels in the stopped state. In the walking support device 110 shown in FIG. 14, since the swivel shaft members 131BL and 131BR and the swivel axis lines 131JL and 131JR are arranged along the vertical direction (Z-axis direction), the left and right caster wheels are arranged in the stopped state. It doesn't matter how you turn.

In addition, in order to avoid slowing down the acceleration at the time of starting, if the torque at the time of starting from the stopped state is increased in any case, the left and right caster wheels turn in the direction corresponding to the forward movement in the stopped state. In this case, the acceleration at the time of starting becomes too large, and the walking support robot precedes the user too much, which is not preferable.

The present invention has been devised in view of such a point, and can make the acceleration at the time of starting from the stopped state more stable regardless of the turning direction of the caster wheel in the stopped state. An object of the present invention is to provide a walking support robot that supports positively aligning the turning direction of caster wheels in a predetermined turning direction in a stopped state.

In order to solve the above problems, the first invention of the present invention is a walking support robot that moves with a user who walks with a plurality of wheels, and at least one of the plurality of wheels is the walking support robot. A caster wheel that swivels left and right around a caster swivel shaft member according to the traveling direction, and at least one of the remaining wheels is a drive wheel, which controls an electric motor that drives the drive wheel and the electric motor. A control device is provided, and the caster swivel shaft member is supported by the walking support robot so as to tilt forward by a predetermined forward tilt angle with respect to the vertical direction, and the control device is oriented in the direction of the caster wheels. Based on the caster wheel direction estimation unit that estimates the related caster wheel direction related amount and the estimated caster wheel direction related amount, it is set as the drive torque when traveling straight and when the caster wheels are in the direction corresponding to the straight direction. It is a walking support robot having a drive torque control unit that corrects the reference drive torque and controls the electric motor.

Next, the second invention of the present invention is the walking support robot according to the first invention, and the walking support robot has an inclination detection for detecting an inclination direction and an inclination amount of the walking support robot with respect to the vertical direction. A device is provided, and the control device is a caster wheel direction-related amount based on the tilt direction and tilt amount of the walking support robot detected by the caster wheel direction estimation unit using the tilt detection device. It is a walking support robot that estimates.

Next, the third aspect of the present invention is the walking support robot according to the second aspect of the present invention, wherein the control device is the walking detected by the drive torque control unit using the tilt detecting device. It is a walking support robot that obtains a tilt-related correction amount that corrects the reference drive torque based on the tilt direction and tilt amount of the support robot.

Next, the fourth invention of the present invention is the walking support robot according to the second invention or the third invention, and the walking support robot is related to the running speed related to the running speed of the walking support robot. A traveling speed-related information detection device capable of detecting information is provided, and the control device includes the traveling speed-related information detected by the drive torque control unit using the traveling speed-related information detecting device and the traveling speed-related information. It is a walking support robot that obtains a speed-related correction amount for correcting the reference drive torque based on the inclination direction and the inclination amount of the walking support robot detected by using the inclination detection device.

Next, the fifth invention of the present invention is a walking support robot according to any one of the first to fourth inventions, wherein the walking support robot is a grip for the user to grip. It has a pair of left and right operation units that are operated by the user and stroke in the front-back direction, and the pair of the operation units is used in the front-back direction during non-arm swing walking in which the user walks without swinging his / her arm. In the fixed mode that regulates the stroke range of the operation unit within the regulation range of, and when the user walks while swinging his / her arm, the operation unit is stroked in the front-rear direction beyond the regulation range. The walking support robot is set to either a movable mode that enables A position detection device is provided, and the control device includes the operation mode set by the drive torque control unit and the position of each operation unit detected by using the respective operation unit position detection devices. , Is a walking support robot that obtains the reference drive torque based on.

According to the first invention, when the walking support robot is in the stopped state, gravity acts so that the caster wheel faces the reference caster wheel direction (the direction in which the caster wheel goes straight and corresponds to the straight direction). Therefore, in the walking support robot, the caster turning shaft member is supported by the walking support robot so as to tilt forward with respect to the vertical direction, so that the left and right turning directions of the caster wheels in the stopped state are referred to as the reference caster wheel direction ( It is possible to support positive alignment in a predetermined turning direction).

Further, the control device includes a caster wheel direction estimation unit and a drive torque control unit. The caster wheel direction estimation unit estimates the caster wheel direction-related amount related to the direction of the caster wheel. The drive torque control unit is a reference drive set as a drive torque in the reference caster wheel direction (when traveling straight and the direction in which the caster wheels correspond to the straight direction) based on the caster wheel direction related amount estimated by the caster wheel direction estimation unit. The torque is corrected to control the electric motor. As a result, the walking support robot can make the acceleration at the time of starting from the stopped state more stable regardless of the turning direction of the caster wheel in the stopped state. Therefore, the walking support robot can make the acceleration at the time of starting from the stopped state more stable regardless of the turning direction of the caster wheels in the stopped state, and can set the turning direction of the caster wheels in the stopped state to a predetermined value. It is possible to support positive alignment in the turning direction.

According to the second invention, the caster wheel direction estimation unit can estimate the caster wheel direction related amount based on the tilt direction and the tilt amount of the walking support robot detected by using the tilt detection device. As a result, the walking support robot can more easily estimate the amount related to the caster wheel direction.

According to the third invention, the control device corrects the reference drive torque based on the tilt direction and the tilt amount of the walking support robot detected by the drive torque control unit using the tilt detection device. Ask for. As a result, the walking support robot can more reliably accelerate the acceleration at the time of starting from the stopped state regardless of the turning direction of the caster wheel in the stopped state.

According to the fourth invention, the traveling speed-related information detected by the drive torque control unit using the traveling speed-related information detection device, and the inclination direction and inclination amount of the walking support robot detected by the inclination detection device. Based on, the speed-related correction amount for correcting the reference drive torque is obtained. As a result, the walking support robot can more reliably accelerate the acceleration when starting from the stopped state regardless of the turning direction of the caster wheel in the stopped state.

According to the fifth invention, for either case of non-arm swing walking in which the user walks without swinging the arm or arm swing walking in which the user walks while swinging the arm. , The user can use the walking support robot.

It is an external view explaining an example of the whole structure of a walking support robot. It is a block diagram of the walking support robot shown in FIG. It is a figure explaining the structure which holds the operation part, the range of the stroke of the operation part, and the switching of "locked state" / "released state". It is a figure explaining the change of the inclination of the walking support robot by turning left and right of a caster wheel. It is a figure explaining the change of the inclination of the walking support robot by turning left and right of a caster wheel. It is a figure explaining the change of the inclination of the walking support robot by turning left and right of a caster wheel. It is a figure explaining the change of the inclination of the walking support robot by turning left and right of a caster wheel. It is a flowchart explaining the processing (overall processing) of the control device in the walking support robot of embodiment. It is a flowchart explaining the detail of the process SB100 in the flowchart of FIG. It is a graph explaining the calculation method of the inclination-related correction amount. It is a graph explaining the calculation method of the speed-related correction amount. It is a figure which shows an example of the display screen of a mobile terminal. It is a flowchart explaining the process of a mobile terminal. It is a schematic diagram when the conventional walking support device (corresponding to a walking support robot) is viewed from above.

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 robot 10 (see FIG. 1), the Y-axis direction indicates a direction toward the left when viewed from the walking support robot 10, and the Z-axis direction indicates walking. The direction is shown vertically upward when viewed from the support robot 10. Hereinafter, for the walking support robot 10, the X-axis direction (+ X direction) is defined as "front", the direction opposite to the X-axis direction (-X direction) is defined as "rear", and the Y-axis direction (+ Y direction) is defined as "rear". "Left", the direction opposite to the Y-axis direction (-Y direction) is "right", the Z-axis direction (+ Z direction) is "up", and the direction opposite to the Z-axis direction (-Z direction) is "down". ".

● [Overall configuration of walking support robot 10 (Figs. 1 and 2)]
The walking support robot 10 is a self-propelled type that has a power source such as an electric motor and self-propells with the user. Further, the walking support robot 10 can be used to support arm-swinging walking in which the user walks while swinging his arm, and support for non-arm-swinging walking in which the user walks without swinging his arm.

The walking support robot 10 will be described in detail below with reference to FIGS. 1 and 2, but as shown in FIG. 1, the swivel caster wheels 31L and 31R, the drive wheels 32L and 32R, and the frames 13L and 13R , Electric motors 33L, 33R, battery B, control device 40, operation units 24L, 24R, brake lever BKL, shaft holding portions 22L, 22R, storage box 14, bag 16, and the like. .. As described above, the walking support robot 10 has caster wheels 31L and 31R which are driven wheels that turn, and drive wheels 32L and 32R driven by electric motors 33L and 33R, and includes a plurality of wheels. It is a walking support robot that moves with a walking user.

The drive wheels 32L and 32R are rotationally driven by the electric motors 33L and 33R, and the electric motors 33L and 33R are provided with speed information detection devices 33LE and 33RE. Further, the electric motors 33L and 33R are controlled by a control signal from the control device 40 (see FIG. 2), but the details of the control of the electric motors 33L and 33R will be omitted.

The speed information detection devices 33LE and 33RE are, for example, encoders, and output a detection signal corresponding to the rotation of the electric motors 33L and 33R (that is, the rotation of the drive wheels 32L and 32R) to the control device 40 (see FIG. 2). That is, the speed information detection devices 33LE and 33RE are traveling speed-related information detection devices, and can detect the traveling speed V (traveling speed-related information related to the traveling speed) of the walking support robot 10. The control device 40 is the traveling speed V of the walking support robot 10 based on the detection signals from the speed information detecting devices 33LE and 33RE (traveling speed-related information related to the traveling speed. Including either forward or reverse direction). Can be detected (see FIG. 2).

As shown in FIG. 1, the caster wheels 31L and 31R are caster wheels that can turn left and right around the caster turning shaft members 31BL and 31BR. The caster turning shaft members 31BL and 31BR are supported by the walking support robot 10 so as to tilt forward with respect to the vertical direction, and tilt forward by a predetermined forward tilt angle θc to θd with respect to the vertical direction. Although the details will be described later, since the caster turning shaft members 31BL and 31BR are tilted forward, the tilt of the walking support robot 10 in the vertical direction changes according to the left and right turning of the caster wheels 31L and 31R.

The caster wheels 31L and the drive wheels 32L are supported by the frame 13L, and the caster wheels 31R and the drive wheels 32R are supported by the frame 13R. The frame 13L and the frame 13R are connected by a connecting member 17. A bag 16 is provided in front of the connecting member 17, and a 3-axis acceleration / angular velocity sensor 15S is provided on the connecting member 17.

The 3-axis acceleration / angular velocity sensor 15S measures the angular velocity of rotation around each of the three directions of the X-axis, Y-axis, and Z-axis, and outputs a detection signal based on the measurement result to the control device 40 ( See Figure 2). Based on the detection signal from the 3-axis acceleration / angular velocity sensor 15S, the control device 40 has an inclination angle, acceleration (impact) magnitude, pitch angular velocity, respectively, of the walking support robot 10 with respect to the X-axis, Y-axis, and Z-axis. The yaw angular velocity and roll angular velocity can be detected (see FIG. 2). Here, the elevation angle θy (corresponding to the tilt direction and the tilt amount, not shown) around the Y axis of the walking support robot 10 is the tilt angle with respect to the vertical direction. Instead of the axial acceleration / angular velocity sensor 15S (tilt detection device), a G sensor capable of detecting the respective tilt angles of the walking support robot 10 with respect to the X-axis, Y-axis, and Z-axis may be used.

As described above, the walking support robot 10 includes a plurality of wheels (caster wheels 31R, 31L, drive wheels 32L, 32R), and at least one of the plurality of wheels is in the traveling direction of the walking support robot 10. The caster wheels 31R and 31L are swiveled left and right around the caster swivel shaft members 31BL and 31BR, and at least one of the remaining wheels is the drive wheels 32L and 32R. The walking support robot 10 includes electric motors 33L and 33R for driving the drive wheels 32L and 32R, and a control device 40 for controlling the electric motors 33L and 33R.

The frame 13L is provided with a slide body 12L whose height can be adjusted in the vertical direction, and the frame 13R is provided with a slide body 12R whose height can be adjusted in the vertical direction. Shaft holding portions 22L and 22R are provided at the upper ends of the slide bodies 12L and 12R.

Although the details will be described later, the shaft holding portions 22L and 22R hold the operating portions 24L and 24R that can be gripped by the user slidably in the front-rear direction. The operation units 24L and 24R integrally include grips 20R and 20L (described later) that can be gripped by the user and shafts 21R and 21L. That is, the shaft 21R is integrated with the grip 20R, and the shaft 21L is integrated with the grip 20L. When the shafts 21R and 21L slide in the front-rear direction with respect to the shaft holding portions 22R and 22L, the grips 20R and 20L also move in the front-rear direction together with the shafts 21R and 21L.

The shaft holding portions 22R and 22L have movement amount detection devices 21RS and 21LS, lock / release switching devices 23R and 23L, and lock / release detection devices 23LS and 23RS. The shaft holding portions 22R and 22L hold the shafts 21R and 21L so as to be slidable in the front-rear direction. The movement amount detection devices 21RS and 21LS have detection signals (shaft 21L,) corresponding to the relative positions of the shafts 21R and 21L in the front-rear direction (that is, the relative positions of the grips 20R and 20L in the front-rear direction) with respect to the shaft holding portions 22R and 22L. A detection signal) corresponding to the sliding of the 21R in the front-rear direction is output to the control device 40. As a result, the control device 40 can detect the positions (relative positions) of the grips 20R and 20L in the front-rear direction with respect to the shaft holding portions 22R and 22L.

As will be described later, the lock / release switching devices 23R and 23L have a narrow range of the "locked state" (see the upper part of FIG. 3) in which the range of sliding of the shafts 21R and 21L in the front-rear direction is limited to the regulation range. It is possible to switch between the "released state" (see the middle and lower rows of FIG. 3), which is not limited to, according to the user's operation. The lock / release detection devices 23LS and 23RS output a detection signal according to whether the lock / release switching devices 23R and 23L are in the “locked state” or the “released state” to the control device 40. In the control device 40, the lock / release switching devices 23R and 23L are in the "locked state" or the "released state", respectively, based on the detection signals output by the lock / release detection devices 23LS and 23RS. Can be detected. As will be described later, when both the left and right lock / release switching devices 23R and 23L are in the “locked state”, the walking support robot 10 is set to the “fixed mode”. On the other hand, when both the left and right lock / release switching devices 23R and 23L are in the "released state", the walking support robot 10 is set to the "movable mode".

The grips 20L and 20R are provided with both a grip extending in the front-rear direction and a grip extending in the up-down direction, and the user can select a grip that is easy to grip and perform walking training. Further, each of the grips 20L and 20R is provided with a brake lever BKL, and the user can apply a brake to the drive wheels 32R and 32L by using these brake levers BKL. As described above, the left operation unit 24L has a grip 20L and a shaft 21L. Further, the left operation unit 24L includes a grip 20L for the user to grip, and is operated by the user to stroke in the front-rear direction. The left operation unit 24L is configured. Similarly, the right operating unit 24R has a grip 20R and a shaft 21R. Further, the right operation unit 24R includes a grip 20R for the user to grip, and is operated by the user to stroke in the front-rear direction. In other words, the pair of left and right operating units 24L and 24R have grips 20L and 20R and shafts 21L and 21R. The pair of left and right operation units 24L and 24R include a grip 20R for the user to grip, and are operated by the user to stroke in the front-rear direction.

Further, the walking support robot 10 has an input / output unit 78 that allows the user to input the settings of the walking support robot 10 and output various information (display or output by voice). In this embodiment, as the input / output unit 78, as shown in FIGS. 1 and 2, a mobile terminal 70 (smartphone, tablet, etc.) separate from the walking support robot 10 is used, and is shown in FIG. As described above, the control device 40 has a communication unit 45, communicates with the mobile terminal 70 via the communication unit 45, acquires input information from the user to the mobile terminal 70, and outputs the input information to the user. ..

The input / output unit 78 may be able to input settings from the user and output various information. In addition to the mobile terminal 70, for example, a monitor 50 (touch monitor or the like) or an audio input / output device 51 (speaker). Etc.) can be used. When the monitor 50 and the voice input / output device 51 are used as the input / output unit 78, these are connected to the control device 40, and the control device 40 is from the user via the monitor 50 and the voice input / output device 51. The input is acquired and the output is performed to the user (in this case, the communication unit 45 may or may not be provided in the control device 40).

A storage box 14 is attached to the frame 13R (or the frame 13L), and the battery B (power supply) and the control device 40 are housed in the storage box 14. The control device 40 includes a CPU 41, a RAM 42, a storage device 43, a timer 44, a communication unit 45, and the like. The storage device 43 is, for example, a Flash-ROM or an EEPROM-ROM. Further, as described above, the control device 40 has a communication unit 45 as needed, and the communication unit 45 can wirelessly communicate with the mobile terminal 70. The communication unit 45 communicates with, for example, Bluetooth (registered trademark).

● [Structure of shaft holding portions 22R and 22L and switching between "locked state" and "released state" (Fig. 3)]
Next, the schematic configuration of the shaft holding portions 22R and 22L and the switching of the movable range of the operating portions 24R and 24L will be described with reference to FIG. As described above with reference to FIG. 1, the shaft holding portions 22R and 22L hold the shafts 21R and 21L of the operating portions 24L and 24R slidably back and forth, and are provided in pairs on the left and right. As shown in FIG. 3, the shaft holding portions 22R and 22L have a plurality of rollers 25R, movement amount detection devices 21LS and 21RS, urging members 25A and 25B, fixing members 25C, damper 25D, lock mechanism 27, and lock / release switching. It has devices 23R, 23L and the like.

As shown in FIG. 3, the plurality of rollers 25R and the movement amount detection devices 21LS and 21RS hold the shafts 21L and 21R so as to be slidable in the front-rear direction. As described above, the movement amount detection devices 21LS and 21RS (for example, an encoder) output a detection signal corresponding to the sliding of the shafts 21L and 21R in the front-rear direction to the control device 40. When the movement amount detection devices 21LS and 21RS are encoders, the encoder rotates as the shafts 21L and 21R (operation units 24L and 24R) move in the front-rear direction, and detects detection signals (pulse signals, etc.) according to the rotation. Output. The control device 40 can detect the relative positions of the grips 20R and 20L in the front-rear direction with respect to the shaft holding portions 22R and 22L based on the detection signals from the movement amount detection devices 21LS and 21RS. Here, the relative positions of the grips 20R and 20L in the front-rear direction with respect to the shaft holding portions 22R and 22L are, in other words, the following three positions A to C. A, The position of the grips 20R and 20L integrated with the shafts 21L and 21R in the front-rear direction relative to the shaft holding portions 22R and 22L. B, the operation position where the respective operation units 24L and 24R are stroked. How much each of C, shafts 21L and 21R is pushed or pulled. Therefore, the walking support robot 10 is provided with movement amount detection devices 21LS and 21RS (operation position detection device) capable of detecting the operation position (B) which is the position where the operation units 24L and 24R are stroked, respectively. ..

The urging members 25A and 25B are formed of an elastic body such as a spring. The fixing member 25C is fixed to the shaft holding portions 22L and 22R on the front side (+ X direction side), and the front side (+ X direction side) end portion and the urging member of the urging member 25A on the rear side (-X direction side). It is connected to the front end (+ X direction side) end of 25B. The urging member 25A is connected to the shafts 21L and 21R on the rear side (-X direction side). The damper 25D is connected to the urging member 25B on the front side (+ X direction side), and on the rear side (-X direction side), the flange portion formed at the front side (+ X direction side) end of the shafts 21L and 21R. It faces 21FL and 21FR.

Therefore, in the urging member 25A, the front end (+ X direction side) end is connected to the shaft holding portions 22L and 22R via the fixing member 25C, and the rear side (−X direction side) end is directly connected to the shaft 21L. It is connected to 21R. Further, in the urging member 25B, the front end (+ X direction side) end is fixed to the shaft holding portions 22L and 22R via the fixing member 25C, and the rear side (-X direction side) end is connected to the damper 25D. Has been done.

In the urging members 25A and 25B, the relative positions of the rear ends (-X direction side ends) of the shafts 21L and 21R (operation units 24L and 24R) with respect to the shaft holding portions 22L and 22R are set in advance with the shaft reference position Mz. I am urging to become. That is, when the shaft holding portions 22L and 22R of the operating portions 24L and 24R are at the shaft reference position Mz, the force pulled forward (X direction) from the urging member 25A and the rearward (-X direction) from the urging member 25B. ) Pushes the force to balance. As a result, when the user releases the grips 20R and 20L of the operation units 24L and 24R, the shafts 21L and 21R (also the grips 20R and 20L integrated with the shafts 21R and 21L) are attached to the urging members 25A and 20L. By being urged by the force member 25B, the relative positions of the rear ends (-X direction side ends) of the shafts 21L and 21R are returned (moved) to the shaft reference position Mz.

The lock mechanism 27 includes a lock hole 27A formed in each of the shafts 21L and 21R, a lock pin 27B held in the shaft holding portions 22R and 22L, a lock spring 27C, a lock / release switching device 23L and 23R, and urging release. It is composed of a mechanism (not shown) and the like. The lock pin 27B is arranged at a position facing substantially the center of the lock hole 27A when the shafts 21L and 21R are positioned at the shaft reference position Mz, and is urged to move upward by the lock spring 27C. Further, an urging release mechanism (not shown) is connected to the lock pin 27B. Although details are omitted, the urging release mechanism (for example, a force can be generated by having an electromagnet) is connected to the lock / release switching devices 23R and 23L, and is connected to the lock / release switching devices 23R and 23L. When power is supplied, the lock pin 27B can be urged downward to push the lock pin 27B down, as shown in the middle of FIG.

Hereinafter, a case where power is not supplied to the urging release mechanism (not shown) from the lock / release switching devices 23R and 23L will be described first. As shown in the upper part of FIG. 3, when the shafts 21L and 21R are located at the shaft reference position Mz, the lock pin 27B is urged to move upward by the lock spring 27C, and the tip portion 27BP of the lock pin 27B is urged to move upward. It fits in the substantially center of each lock hole 27A of the shafts 21L and 21R. At this time, the width of the lock hole 27A in the X direction has a gap D11 on the front side (+ X direction side) and a gap D12 on the rear side (−X direction side) with respect to the tip portion 27BP of the lock pin 27B. Is open. D11 is, for example, 1 [mm], and D12 is 1 [mm].

Therefore, as shown in the upper part of FIG. 3, when the shafts 21L and 21R are located at the shaft reference position Mz and the tip portion 27BP of the lock pin 27B is fitted in the lock holes 27A of the shafts 21L and 21R, The user who grips the operation units 24L and 24R can move the shafts 21L and 21R, which are a part of the operation units 24L and 24R, to the front side to D11 and to the rear side to D12, in other words. The user can grasp the operation units 24L and 24R and move them back and forth only with a width of D11 + D12 (D11 + D12 is, for example, 1 + 1 = 2 [mm] as described above). In this way, the tip portion 27BP of the lock pin 27B is fitted into the lock holes 27A of the shafts 21L and 21R, so that the range of sliding of the shafts 21R and 21L (operation portions 24L and 24R) in the front-rear direction can be increased. The state restricted to a narrow regulation range (range of D11 + D12) is referred to as a "locked state".

That is, in the "locked state", the user can grip the grips 20R and 20L and move the shafts 21L and 21R (operation units 24L and 24R) back and forth within a narrow regulation range (range of D11 + D12). Then, at which position in the front-rear direction the shafts 21L, 21R (operation units 24L, 24R) are within a narrow regulation range (range of D11 + D12) (that is, at the position where the respective operation units 24L, 24R are stroked). A certain operation position) is detected by the movement amount detection devices 21LS and 21RS (operation position detection device), and a detection signal corresponding to the operation position is output to the control device 40. As a result, the control device 40 can detect the operation positions of the operation units 24L and 24R.

Next, a case where power is supplied from the lock / release switching devices 23R and 23L to the urging release mechanism (not shown) will be described. When power is supplied to the urging release mechanism (not shown) and the urging release mechanism (not shown) urges the lock pin 27B downward, the tip of the lock pin 27B is shown in the middle and lower stages of FIG. The portion 27BP is not fitted in the lock holes 27A of the shafts 21L and 21R. When the tip portion 27BP of the lock pin 27B is not fitted in the lock holes 27A of the shafts 21L and 21R, the range of sliding of the shafts 21R and 21L in the front-rear direction is as follows. That is, as shown in the middle stage of FIG. 3, as the shafts 21R and 21L move from the shaft reference position Mz to the front side (+ X direction side), the urging member 25B connected to the shafts 21R and 21L via the damper 25D. Is crushed. As shown in the middle of FIG. 3, at the front limit position Ma, which is the limit position on the front side (+ X direction side) of the shafts 21R, 21L (operation units 24L, 24R), the urging member 25B is in the most crushed state. ing. On the other hand, as shown in the lower part of FIG. 3, at the rear limit position Mb, which is the limit position on the rear side (-X direction side) of the shafts 21R, 21L (operation units 24L, 24R), the shafts 21R, 21L. The flange portions 21FL and 21FR of the above are in contact with the rollers 25R and cannot move further to the rear side (-X direction side).

As described above, when the tip portion 27BP of the lock pin 27B is not fitted in the lock holes 27A of the shafts 21L and 21R, the shafts 21L and 21R can be moved to the front side limit position Ma on the front side (FIG. 3). (See middle row), can be moved to the posterior limit position Mb on the rear side (see lower row in FIG. 3). Here, the distance from the shaft reference position Mz to the front limit position Ma is defined as the distance L1 (see the middle stage of FIG. 3), and the distance from the shaft reference position Mz to the rear limit position Mb is defined as the distance L2 (see the middle stage of FIG. 3). And. For example, the distance L1 (see the middle part of FIG. 3) is about several [mm] to several tens [mm], and the distance L2 (see the lower part of FIG. 3) is about 100 to 300 [mm]. The shafts 21L and 21R can be moved by a distance L1 from the shaft reference position Mz to the front limit position Ma on the front side (see the middle stage of FIG. 3), and can be moved by a distance L2 to the rear limit position Mb on the rear side. (See the lower part of FIG. 3). That is, the sliding of the shafts 21L and 21R in the front-rear direction is within the range of L1 + L2. As described above, L1 = several [mm] to several 10 [mm], L2 = 100 [mm] to 300 [mm], and L1 + L2 is, for example, about 100 to 300 [mm].

As described above, since the tip portion 27BP of the lock pin 27B is not fitted in the lock holes 27A of the shafts 21L and 21R, the shafts 21R and 21L can slide in the range of L1 + L2 in the front-rear direction. "Release state". That is, in the "released state", the user grips the grips 20R and 20L, and the shafts 21L and 21R (operation units 24L and 24R) have a wider range (front and back) than in the above-mentioned "locked state". It can be moved back and forth by (width of L1 + L2).

As shown in FIG. 1, the lock / release switching device 23R has a slide switch, and the lock / release switching devices 23R and 23L also have a slide switch. These slide switches can be set by the user to be in the "locked state position" corresponding to the "locked state" or in the "released state position" corresponding to the "released state". Then, if the user sets the "locked state position", the urging release mechanism (not shown) is set to the "locked state" by not supplying current, and if the user sets the "released state position", the urging release mechanism (not shown). A current is supplied to (not shown) and it is set to the "released state". Then, the lock / release detection devices 23LS and 23RS output a detection signal according to whether the lock / release switching devices 23R and 23L are in the "locked state" or the "released state" to the control device 40. do. The control device 40 determines whether the lock / release switching devices 23R and 23L are in the "locked state" or the "released state" based on the detection signals output by the lock / release detection devices 23LS and 23RS. Can be detected. Here, the "locked state" and the "released state" are collectively referred to as the grip state.

As described above, the user can operate the lock / release switching device 23R to set the grip state to the "release state" or the "lock state". Then, when the user walks without swinging his / her arm, he / she walks in the “fixed mode” that regulates the stroke range of the operation units 24L and 24R within the regulation range (range of D11 + D12) in the front-back direction. When setting the operation mode of the support robot 10, it is necessary that both the left and right grip states are in the "locked state". As will be described below, there are two types of "fixed modes": a "grabbing walking assist mode" for assisting the user and a "hand-push walking training mode" for training the user.

On the other hand, in the "movable mode" in which the operation units 24L and 24R can be stroked in the front-rear direction beyond the regulation range (range of D11 + D12) when the user walks while swinging his arm. When setting the operation mode of the walking support robot 10, it is necessary that both the left and right grip states are in the "released state". As described below, the "movable mode" includes a "arm swing walking training mode" for user training.

In these "fixed mode" ("grasping walking assist mode", "hand-push walking training mode") and "movable mode" ("arm swing walking training mode"), the positions where the operation units 24L and 24R are stroked, respectively. The operation position is detected by the movement amount detection devices 21LS and 21RS (operation position detection device), and the control device 40 is electrically operated according to the detection signal from the movement amount detection devices 21LS and 21RS (operation position detection device). Drives the motors 33L and 33R.

In the "grabbing walking assist mode", the control device 40 drives the electric motors 33L and 33R in accordance with the "hand-push walking" in which the user pushes and walks while holding the grips 20R and 20L, and the walking support robot. This is a mode in which 10 is self-propelled. Here, the walking support robot 10 is advanced in accordance with the user's "hand-pushing walking" so as not to apply a walking load to the user's "hand-pushing walking".

In the "grabbing walking assist mode", the user sets both the left and right grip states to the "locked state" and regulates the stroke range of the operation units 24L and 24R within the regulation range (D11 + D12 range) in the front-rear direction. It is a kind of operation mode of "fixed mode" that is set. As a result, in the "grabbing walking assist mode", it is possible to support the user's "hand-push walking" without imposing a walking load on the user.

In the "hand-push walking training mode", the control device 40 applies a load to the electric motors 33L and 33R by regenerative braking or the like in response to the "hand-push walking" in which the user pushes and walks while holding the grips 20R and 20L. , This is a mode in which the walking support robot 10 is made to run by itself. Here, the walking support robot 10 is advanced in accordance with the user's "hand-pushed walking" so as to apply a walking load to the user's "hand-pushed walking". In this way, in the "hand-push walking training mode", it is possible to apply a walking load to the user and support the user's "hand-push walking" training. As described above, in the "hand-push walking training mode", the user sets both the left and right grip states to the "locked state", and the stroke range of the operation units 24L and 24R is within the regulation range (range of D11 + D12) in the front-rear direction. It is a kind of operation mode of "fixed mode" that is set after setting the condition to regulate.

In the "arm swing walking training mode", the control device 40 drives the electric motors 33L and 33R in accordance with the arm swing walking holding the user's grips 20R and 20L, and the walking support robot 10 self-propells. be. In the "arm swing walking training mode", it is possible to support the user's arm swing walking training. In the "arm swing walking training mode", the user can set both the left and right grip states to the "released state" and stroke the operation units 24L and 24R in the front-back direction beyond the regulation range (range of D11 + D12). It is a kind of operation mode of "movable mode" that is set after making it possible.

● [Change in tilt of walking support robot 10 due to left and right turning of caster wheels 31L and 31R (Figs. 4 to 7)]
Next, changes in the inclination of the walking support robot 10 due to left and right turning of the caster wheels 31L and 31R will be described with reference to FIGS. 4 to 7. As described above with reference to FIG. 1, the caster swivel shaft members 31BL and 31BR are supported by the walking support robot 10 so as to tilt forward with respect to the vertical direction. In other words, the turning axes 31JL and 31JR of the caster turning shaft members 31BL and 31BR are tilted forward with respect to the vertical direction.

As shown in FIG. 4, the distance between the wheel rotation centers 31CL and 31CR, which are the rotation centers of the wheels 31WL and 31WR, and the turning axes 31JL and 31JR is defined as the distance 31D. Further, a plane orthogonal to the turning axes 31JL and 31JR and having the wheel rotation centers 31CL and 31CR is defined as a plane 31P.

The caster wheels 31L and 31R rotate around the turning axis lines 31JL and 31JR. When the caster wheels 31L and 31R turn left and right, the wheel rotation centers 31CL and 31CR rotate as follows with respect to the turning axes 31JL and 31JR. Even if the caster wheels 31L and 31R turn left and right, the wheel rotation centers 31CL and 31CR are always on the flat surface 31P. On the plane 31P, the wheel rotation centers 31CL and 31CR are always located at a distance of 31D from the turning axes 31JL and 31JR. Therefore, on the plane 31P, the positions of the wheel rotation centers 31CL and 31CR are on a circle (not shown) having a radius of 31D from the turning axes 31JL and 31JR.

As a result, when the wheel rotation centers 31CL and 31CR are at the rearmost position (see the upper part of FIG. 4), the caster wheels 31L and 31R are closest to the frames 13R and 13L and are at the frontmost position (see the lower part of FIG. 4). The caster wheels 31L and 31R are farthest from the frames 13R and 13L. In the lower part of FIG. 4, the positions of the caster wheels 31L and 31R when the caster wheels 31L and 31R are at the rearmost are shown by a two-dot chain line.

The drive wheels 32L and 32R and the caster wheels 31L and 31R are always in contact with the ground. Therefore, when the wheel rotation centers 31CL and 31CR are at the rearmost position (see the upper part of FIG. 4), the front portion of the walking support robot 10 is lowered to the rearmost position. On the contrary, when the wheel rotation centers 31CL and 31CR are in the front (see the upper part of FIG. 4), the front part of the walking support robot 10 is lifted most.

As shown in the upper part of FIG. 4, when the wheel rotation centers 31CL and 31CR are at the rearmost position, the front part of the walking support robot 10 is lowered to the lowest position, so that the center of gravity of the walking support robot 10 is at the lowest position Ga. Then, the distance between the position Ga and the ground plane of the walking support robot 10 is defined as Hga. On the other hand, as shown in the lower part of FIG. 4, when the wheel rotation centers 31CL and 31CR are in the front, the front part of the walking support robot 10 is raised most, so that the center of gravity of the walking support robot 10 is the most. It becomes the raised position Gb. Then, the distance between the position Gb and the ground plane of the walking support robot 10 is Hgb. The distance between the center of gravity of the walking support robot 10 and the ground plane is from the highest distance Hgb (see the lower part of FIG. 4) to the lowest distance Hga (see the upper part of FIG. 4) according to the rotation of the caster wheels 31L and 31R. Change.

Since gravity is applied to the walking support robot 10, the caster wheels 31L and 31R rotate left and right so that the center of gravity of the walking support robot 10 is lowered by the gravity. The state in which the center of gravity of the walking support robot 10 is lowered most is the state in which the wheel rotation centers 31CL and 31CR are at the rearmost, as shown in the upper part of FIG. 4 and FIG. Therefore, when the user is not touching the walking support robot 10, gravity acts so that the wheel rotation centers 31CL and 31CR move to the rearmost position.

When the wheel rotation centers 31CL and 31CR are at the rearmost position, as shown in FIG. 1, if the user pushes the walking support robot 10 forward (+ X direction), the caster wheels 31L and 31R do not turn left and right. Also, the wheels 31WL and 31WR easily rotate, and the walking support robot 10 moves forward. Therefore, if the walking support robot 10 in the stopped state has the wheel rotation centers 31CL and 31CR at the rearmost position, the walking support robot 10 can start moving smoothly at the time of starting. Therefore, the caster wheels 31L and 31R shown in the upper part of FIG. 4 when the wheel rotation centers 31CL and 31CR are at the rearmost position are reference casters which are "directions in which the caster wheels 31L and 31R correspond to the straight direction". The direction of the wheel. The caster wheels 31L and 31R turn left and right from the reference caster wheel direction shown in the upper part of FIG. 4 to the caster wheel reversal direction shown in the lower part of FIG. 4, which is the direction opposite to the reference caster wheel direction.

As shown in FIG. 4, the caster angle, which is the angle between the turning axes 31JL and 31JR and the vertical line Vv, is when the caster wheels 31L and 31R are facing the reference caster wheel direction (see the upper part of FIG. 4). Is the largest angle θc, and is the smallest angle θd when facing the caster wheel inversion direction (see the lower part of FIG. 4).

As described above, when the walking support robot 10 is in the stopped state, gravity causes the caster wheels 31L and 31R to move in the reference caster wheel direction (when traveling straight and the caster wheels 31L and 31R correspond to the straight direction). Work to face. That is, when the walking support robot 10 is in the stopped state, the turning axes 31JL and 31JR of the caster wheels 31L and 31R are tilted forward by a predetermined forward tilt angle (θc to θd) and gravity automatically determines the reference caster wheel. Help to turn. In other words, in the walking support robot 10, the caster turning shaft members 31BL and 31BR are supported by the walking support robot 10 so as to tilt forward in the vertical direction, so that the caster wheels turn left and right in a stopped state. Supports positive alignment of the direction to the reference caster wheel direction (predetermined turning direction). When the caster wheels 31L and 31R are facing the reference caster wheel direction, the caster wheels 31L and 31R wheels 31WL and 31WR rotate smoothly at the time of starting, so that the walking support robot 10 advances smoothly at the time of starting. You can get started.

Therefore, as shown in the upper part of FIG. 4, the case where the caster wheels 31L and 31R are facing the reference caster wheel direction (when traveling straight and the caster wheels 31L and 31R correspond to the straight traveling direction) is used as a reference. When the caster wheels 31L and 31R used as a reference here face the reference caster wheel direction, the front portion of the walking support robot 10 is lowered most as described above, and in this case, the shafts 21R and 21L The angle between the axis line S10 extending back and forth and the horizontal line Vh is defined as the horizontal reference elevation angle θa. Further, the walking support robot 10 is set so that the angle between the axis line S10 and the horizontal line Vh is equal to the elevation angle θy around the Y axis of the walking support robot 10 measured by the 3-axis acceleration / angular velocity sensor 15S. (Angle between axis S10 and horizontal line Vh = θy). That is, when the caster wheels 31L and 31R are facing the reference caster wheel direction, the elevation angle θy (not shown) is the horizontal reference elevation angle θa (elevation angle θy = horizontal reference elevation angle θa).

Further, as shown in the lower part of FIG. 4, when the caster wheels 31L and 31R are facing the caster wheel reversal direction opposite to the reference caster wheel direction, the front portion of the walking support robot 10 is raised most. In this case, the angle between the axis line S10 extending in the front-rear direction of the shafts 21R and 21L and the horizontal line Vh is θb (in this case, the elevation angle θy = θb). θb is larger than the horizontal reference elevation angle θa (θb> horizontal reference elevation angle θa). As described above, as the caster wheels 31L and 31R face the caster wheel reversal direction (see the lower part of FIG. 4) from the reference caster wheel direction (see the upper part of FIG. 4), the front part of the walking support robot 10 moves. As it lifts up, the angle between the axis S10 and the horizontal line Vh increases from θa to θb, and the elevation angle θy (not shown) measured by the 3-axis acceleration / angular velocity sensor 15S increases from θa to θb. I will go.

The control device 40 stores in advance the value of the horizontal reference elevation angle θa. Then, the value θs (θs = elevation angle θy − horizontal reference elevation angle θa) obtained by subtracting the horizontal reference elevation angle θa from the elevation angle θy is defined as the caster wheel direction-related amount θs. The caster wheel direction-related amount θs is 0 (caster wheel) when the directions of both the left and right caster wheels 31L and 31R are in the reference caster wheel direction (see the upper part of FIG. 4) (elevation angle θy = horizontal reference elevation angle θa). The direction-related amount θs = θa-θa = 0), and in the case of the caster wheel inversion direction (see the lower part of FIG. 4) (elevation angle θy = θb), the value of θb-θa (caster wheel direction-related amount θs = θb-θa). ). As described above, since θb> horizontal reference elevation angle θa, the caster wheel direction related amount θs (θs) as the directions of both the left and right caster wheels 31L and 31R approach from the reference caster wheel direction to the caster wheel reversal direction. = Elevation angle θy − Horizontal reference elevation angle θa) becomes larger (elevation angle θy → large (θa → θb) ⇔ caster wheel direction related amount θs; 0 → θb−θa). In other words, the larger the caster wheel direction related amount θs (θs = elevation angle θy-reference elevation angle θa when horizontal), the more the directions of the left and right caster wheels 31L and 31R are in the reference caster wheel direction (see the upper part of FIG. 4). ) To approach the caster wheel reversal direction (it becomes more difficult to move the walking support robot 10 forward), the position of the center of gravity of the walking support robot 10 becomes higher, and the elevation angle measured by the 3-axis acceleration / angular velocity sensor 15S. θy (not shown) becomes large.

As described above, the 3-axis acceleration / angular velocity sensor 15S measures the elevation angle θy around the Y-axis of the walking support robot 10 and transmits a detection signal to the control device 40, and the walking support robot 10 receives the detection signal based on the detection signal. The control device 40 can detect the elevation angle θy. Further, the control device 40 estimates the caster wheel direction-related amount θs (θs = θy−θa) related to the direction of the caster wheels based on the stored value of the horizontal reference elevation angle θa and the elevation angle θy.

Here, the control device 40 for estimating the caster wheel direction related amount θs (θs = θy−θa) corresponds to the caster wheel direction estimation unit 41A (see FIG. 2). Further, since the elevation angle θy (not shown) around the Y axis of the walking support robot 10 measured by the 3-axis acceleration / angular velocity sensor 15S is an angle, the “tilt direction” of the walking support robot 10 with respect to the vertical direction is indicated by indicating the direction. At the same time, it is also the amount of inclination. The 3-axis acceleration / angular velocity sensor 15S is a tilt detection device.

The above description has described the case where the walking support robot 10 travels on a horizontal plane as shown in FIG. When the walking support robot 10 travels on an inclined surface having an elevation angle θp (tilt angle θp, not shown), the elevation angle θy around the Y axis of the walking support robot 10 and the caster wheel direction related amount θs (θs = θy−θa). Is larger as the elevation angle θp (inclination angle θp, not shown) is larger than when traveling on a horizontal plane.

Further, the above description is a description of the walking support robot 10, and the caster turning shaft members 31BL and 31BR of the walking support robot 10 are supported by the walking support robot 10 so as to tilt forward with respect to the vertical direction. .. On the other hand, as shown in FIGS. 6 and 7, the caster turning shaft members 131BL and 131BR are not tilted forward with respect to the vertical direction, and the caster wheels 131L and 131R are walking support robots having a caster angle of 0. 110 is as follows.

Even if the caster wheels 131L and 131R turn left and right, the wheel rotation centers 131CL and 131CR are always in the horizontal plane 131P. Therefore, even if the caster wheels 131L and 131R turn left and right, the distance between the wheel rotation centers 131CL and 131CR and the ground contact surface of the walking support robot 110 is always constant. As a result, even if the caster wheels 131L and 131R turn left and right, the front portion does not rise or fall with respect to the rear portion of the walking support robot 110. Therefore, even if the caster wheels 131L and 131R turn left and right, the angle between the axis line S110 extending in the front-rear direction of the shafts 121R and 121L and the horizontal line Vh is always θc, and the elevation angle θy around the Y axis of the walking support robot 110. (Not shown) is also always θc. Therefore, in the walking support robot 110, the left-right orientation of the caster wheels 131L and 131R cannot be estimated from the elevation angle θy around the Y axis of the walking support robot 110.

As shown in FIGS. 6 and 7, the position Gc of the center of gravity of the walking support robot 110 does not change even if the caster wheels 131L and 131R turn left and right. The distance between the position Gc of the center of gravity of the walking support robot 110 and the ground contact surface is always Hgc even if the caster wheels 131L and 131R turn left and right. Therefore, when the walking support robot 110 is in the stopped state, gravity does not work so that the caster wheels 131L and 131R face the reference caster wheel direction. Since the caster wheels 131L and 131R do not face the reference caster wheel direction, it is relatively easy for the caster wheels 31L and 31R wheels 131WL and 131WR to be unable to rotate smoothly when starting. In this state, when the walking support robot 110 starts, the walking support robot 110 cannot always start moving smoothly. As a result, the user may hit the walking support robot 110 at the time of starting, and the user may feel uncomfortable. In addition, when a user who performs "arm swing walking training" tries to grasp the grips 120R and 120L and push them forward at the time of starting, unexpectedly, the grips 120R and 120L hit the front end and are uncomfortable. Sound and unpleasant hand feelings may occur.

● [Processing procedure of control device 40 (FIGS. 8 to 11)]
Next, the processing procedure of the control device 40 will be described. When the control device 40 (CPU 41 of the control device 40 (see FIG. 2)) is started, the entire process shown in FIG. 8 is started, for example, at predetermined time intervals (several [ms] to several tens of [ms] intervals). do. When the control device 40 activates the entire process shown in FIG. 8, the control device 40 proceeds to step S010.

In step S010, the control device 40 has grip states (“locked state”, “locked state”, 23R) of the left and right lock / release switching devices 23L and 23R based on the detection signals from the pair of left and right lock / release detection devices 23LS and 23RS. "Release state") is detected, and the process proceeds to step S020.

In step S020, the control device 40 has grip state information, which is information on the left and right grip states (“locked state” or “released state”), and the remaining battery B (SOC) of the walking support robot 10. The state information including the battery remaining amount information which is the information of the above and the transmission request information requesting the transmission of the input information (described later) is transmitted to the mobile terminal 70, and the process proceeds to step S030.

In step S030, the control device 40 determines whether or not the input information has been received from the mobile terminal 70. When the control device 40 receives the input information from the mobile terminal 70 (Yes), the process proceeds to step S040, and when the input information is not received (No), the control device 40 returns the process to step S010.

As will be described later, the input information transmitted from the mobile terminal 70 includes the operation mode information input from the user to the mobile terminal 70. The operation mode input by the user ("arm swing walking training mode", "hand-push walking training mode", or "grasping walking assist mode") and the grip setting state ("fixed mode" or "release mode"). When the mobile terminal 70 determines that the consistency with (?) Is established (step SK050: Yes in FIG. 13), the mobile terminal 70 transmits the input information. Therefore, as described below, when the control device 40 receives the input information from the mobile terminal 70 (step S030: Yes), the control device 40 is included in the input information in the following steps (steps S040 to S070). According to the operation mode information input by the user, the walking support robot 10 is set to drive the electric motors 33L and 33R.

On the other hand, when the input information is not received (step S030: No), the control device 40 can receive the input information from the mobile terminal 70 (step S030: Yes) until the left and right lock / release switching devices 23L, 23R. The grip information of each of the above is acquired (step S010) and sent to the mobile terminal 70 (step S020), and this is repeated. As a result, as will be described later, the mobile terminal 70 has the operation mode (“arm swing walking training mode”, “hand-push walking training mode”, “grasping walking assist mode”) input from the user and the left and right grip settings. It can be determined whether or not the consistency with the state (“fixed mode”, “release mode”) is obtained (step SK050 in FIG. 13), and it can be determined that the consistency is achieved (step SK050 in FIG. 13: Up to Yes), the left and right grip information can be included in the state information and received (step S010 to step S030: No).

When the process proceeds to step S040, the control device 40 acquires the operating state of the walking support robot 10 and proceeds to the process to step S050. As the operating state of the control device 40, for example, the traveling torques TvL and TvR of the electric motors 33L and 33R, the traveling speed V of the walking support robot 10, and the operation unit positions of the grips 20L and 20R (the grips 20L and 20R are forward from the user). Is it pushed or pulled backwards), etc. As described above, the control device 40 obtains the traveling speed V of the walking support robot 10 (traveling speed-related information related to the traveling speed, including either forward or reverse direction) with respect to the speed information detecting device 33LE. It can be detected based on the detection signal from 33RE.

In step S050, the control device 40 has the set operation modes (“fixed mode”, “hand-push walking training mode”, “grabbing walking assist mode”, “movable mode”, “arm swing walking training mode”). Based on the left and right operation unit positions detected using the left and right movement amount detection devices 21LS and 21RS (operation unit position detection device), the reference drive torques TtL and TtR are obtained, and the process proceeds to step S060. .. Here, the reference drive torques TtL and TtR are drive torques when the vehicle travels straight and the caster wheels are oriented in the direction corresponding to the straight direction. To obtain the reference drive torques TtL and TtR, the reference drive torques TtL and TtR set as the drive torques when traveling straight and when the caster wheels are oriented in the straight direction are set. Further, the reference drive torques TtL and TtR are set based on the set operation mode and the left and right operation unit positions detected by using the left and right movement amount detection devices 21LS and 21RS (operation position detection device). The desired control device 40 corresponds to the drive torque control unit 41B (see FIG. 2). In other words, in step S050, the drive torque control unit 41B (see FIG. 2) has the set operation modes (“fixed mode”, “hand-push walking training mode”, “grabbing walking assist mode”, and “movable mode”. The reference drive torque TtL is based on the "arm swing walking training mode") and the left and right operation unit positions detected by using the left and right movement amount detection devices 21LS and 21RS (operation position detection device). , TtR is calculated. Details of the procedure for calculating the reference drive torques TtL and TtR will be omitted.

Further, in the "arm swing walking training mode", the control device 40 drives the electric motors 33L and 33R according to the arm swing of the user holding the left and right grips 20R and 20L to drive the walking support robot 10 together with the user. Let it run by itself. Further, in the "hand-push walking training mode", the control device 40 uses the electric motors 33L, 33R so that a load is applied to the user when the user holding the grips 20R and 20L walks while pushing and pushing the arm lightly forward. To drive. Further, in the "grabbing walking assist mode", the control device 40 is electrically operated so as to assist the user holding the grips 20R and 20L without imposing a load on the user when walking while pushing the arm lightly forward. It drives the motors 33L and 33R.

In step S060, the control device 40 executes the process SB100 (correction process of the reference drive torque shown in FIG. 9) and proceeds to the process to step S070. The details of the processing SB100 (reference drive torque correction processing) will be described later with reference to FIGS. 9 to 11, but in the processing SB100 (reference drive torque correction processing), the caster wheel direction-related amount θs (θs =). Based on θy−θa), the corrected reference drive torques TtcL and TtcR are calculated by correcting the reference drive torques TtL and TtR. Further, the control device 40 for calculating the corrected reference drive torques TtcL and TtcR corresponds to the drive torque control unit 41B (see FIG. 2).

In step S070, the control device 40 outputs a control signal to the electric motors 33L and 33R so as to approach the corrected reference drive torques TtcL and TtcR, and ends the process shown in FIG. The drive wheels 32L and 32R are rotationally driven by the electric motors 33L and 33R that have received the control signal.

● [Process SB100: Reference drive torque correction process (FIG. 9) and reference drive torque correction content (FIG. 10, FIG. 11)]
Next, the details of the process SB100 (reference drive torque correction process) shown in FIG. 8 will be described with reference to FIG. When the control device 40 executes the process SB100 in step S060 shown in FIG. 8, the control device 40 proceeds to the process SB110 shown in FIG. The processing SB100 is a corrected reference driving torque processing that corrects the reference driving torques TtL and TtR calculated in step S050 shown in FIG.

In step SB110, the control device 40 detects the elevation angle θy (inclination direction and inclination amount) around the Y axis of the walking support robot 10, and proceeds to step SB120. As described above with reference to FIGS. 1 and 2, the control device 40 has an elevation angle around the Y axis of the walking support robot 10 based on a detection signal from the 3-axis acceleration / angular velocity sensor 15S (tilt detection device). θy can be detected.

In step SB120, the control device 40 calculates the tilt-related correction amount Tθc and proceeds to step SB130. In step SB120, the control device 40 first estimates (calculates) the caster wheel direction-related amount θs (θs = θy−θa), and further calculates the inclination-related correction amount Tθc. Here, the control device 40 stores the value of the horizontal reference elevation angle θa in advance, and can read the stored value of the horizontal reference elevation angle θa. The control device 40 calculates the caster wheel direction-related amount θs (θs = θy−θa) using the elevation angle θy detected in step SB110 described above and the value of the elevation angle θa read from the memory. The inclination-related correction amount Tθc considers the elevation angle θp (inclination angle θp) of the inclined surface when the walking support robot 10 travels on an inclined surface having an elevation angle θp (inclination angle θp), as described below. This is the amount of correction. When the walking support robot 10 travels on an inclined surface having an elevation angle θp (tilt angle θp), the elevation angle θy around the Y axis of the walking support robot 10 and the caster wheel direction related amount θs (θs = θy−θa) are horizontal planes. The larger the elevation angle θp (inclination angle θp) is, the larger the elevation angle θp (inclination angle θp) is.

As described above with reference to FIG. 4, when the walking support robot 10 is on a horizontal plane, the larger the elevation angle θy around the Y axis of the walking support robot 10 (elevation angle θy → large), the caster wheels 31L on both the left and right sides. The direction of 31R approaches from the reference caster wheel direction (see the upper part of FIG. 4) to the caster wheel reversal direction, and the torques TL and TR generated by the electric motors 33L and 33R required to advance the walking support robot 10 forward. Becomes larger (on the horizontal plane; elevation angle θy → large ⇔ torque TL, TR → large).

Further, when the walking support robot 10 travels on an inclined surface having an elevation angle θp (tilt angle θp), the larger the elevation angle θp (tilt angle θp) (elevation angle θp → large), the more the walking support robot 10 rotates around the Y axis. As the elevation angle θy increases (elevation angle θy → large), the torques TL and TR generated by the electric motors 33L and 33R, which are required to move the walking support robot 10 forward, increase (inclined surface shape; elevation angle θy). → Large ⇔ Elevation angle θy → Large ⇔ Torque TL, TR → Large).

Therefore, even if the directions of the caster wheels 31L and 31R on both the left and right sides are closer to the caster wheel reversal direction from the reference caster wheel direction, the elevation angle θp (tilt angle θp) of the inclined surface on which the walking support robot 10 is traveling is large. The elevation angle θy around the Y axis of the walking support robot 10 also increases (elevation angle θy → large), and the electric motor required to move the walking support robot 10 forward. The torque TL and TR generated by 33L and 33R become large. That is, the larger the elevation angle θy around the Y axis of the walking support robot 10 (elevation angle θy → large), the torque TL, TR generated by the electric motors 33L, 33R, which are required to advance the walking support robot 10 forward. Becomes larger (elevation angle θy → large ⇔ torque TL, TR → large).

The caster wheel direction-related amount θs (θs = θy−θa) increases as the elevation angle θy around the Y axis of the walking support robot 10 increases. Therefore, the larger the caster wheel direction related amount θs (θs = θy−θa), the larger the torque TL and TR generated by the electric motors 33L and 33R required to move the walking support robot 10 forward ( θs → large ⇔ torque TL, TR → large).

Therefore, as shown in the graph of FIG. 10, the inclination-related correction amount Tθc is set so as to increase according to the caster wheel direction-related amount θs. Note that Tθcmax shown in FIG. 10 is the maximum value Tθcmax of the inclination-related correction amount Tθc set so that the torques TL and TR generated in the electric motors 33L and 33R do not exceed the maximum values TLmax and TRmax. As shown in FIG. 10, when the caster wheel direction-related amount θs is θpus or more on an uphill slope, the inclination-related correction amount Tθc is set to the maximum value Tθcmax (Tθc = Tθcmax). On the other hand, as shown in FIG. 10, when the caster wheel direction related amount θs is θpds or less on the downhill, the inclination related correction amount Tθc is set to the maximum value −Tθcmax (Tθc = −Tθcmax). Further, when the caster wheel direction-related amount θs becomes smaller, the inclination-related correction amount Tθc takes a negative value, so that the brake is applied. This is because the elevation angle θp (inclination angle θp) of the inclined surface becomes negative and the caster wheel. On a downhill where the direction-related amount θs becomes small, the walking support robot 10 brakes so as not to fall down the downhill. As a result, the user can use the walking support robot 10 more safely on the downhill.

The control device 40 stores in advance a map corresponding to the graph of FIG. 10 (a map of the caster wheel direction-related amount θs = θy−θa and the inclination-related correction amount Tθc). In step SB120, the control device 40 has a map corresponding to the graph of FIG. 10, and a horizontal reference elevation angle θa which is an elevation angle θy when both the left and right caster wheels 31L and 31R are facing forward (see FIG. 4). And read from the memory. Then, the caster wheel direction-related amount θs (θs = θy−θa) obtained by subtracting the horizontal reference elevation angle θa from the elevation angle θy of the walking support robot 10 detected in step SB110 described above is estimated (calculated), and further, FIG. The inclination-related correction amount Tθc is calculated using the map corresponding to the graph (a map of the caster wheel direction-related amount θs and the inclination-related correction amount Tθc).

Further, in step SB 120, the control device 40 calculates the caster wheel direction-related amount θs, in other words, the control device 40 calculates the caster wheel direction-related amount θs related to the directions of the caster wheels 31L and 31R. Is estimated. The control device 40 for estimating the caster wheel direction related amount θs related to the directions of the caster wheels 31L and 31R corresponds to the caster wheel direction estimation unit 41A (see FIG. 2). The caster wheel direction estimation unit 41A is based on the elevation angle θy (tilt direction and tilt amount) around the Y axis of the walking support robot 10 detected by using the 3-axis acceleration / angular velocity sensor 15S (tilt detection device), and the caster wheel 31L. , The caster wheel direction related amount θs related to the direction of 31R is estimated.

In step SB120, the reference drive torque TtL is based on the elevation angle θy (tilt direction and tilt amount) around the Y axis of the walking support robot 10 detected by using the 3-axis acceleration / angular velocity sensor 15S (tilt detection device). The control device 40 for obtaining the tilt-related correction amount Tθc for correcting TtR corresponds to the drive torque control unit 41B (see FIG. 2).

In step SB130, the control device 40 calculates the speed-related correction amount Cv and proceeds to step SB140. As described below, the speed-related correction amount Cv is the left and right of the caster wheels 31L and 31R when the walking support robot 10 starts to advance on an inclined surface having a traveling speed V and an elevation angle θp (inclination angle θp). This is a correction amount considering that the ease of progress changes depending on the direction of the robot 10 and the elevation angle θp (tilt angle θp) of the walking support robot 10.

When the traveling speed V of the walking support robot 10 is large to some extent, both the left and right caster wheels 31L and 31R are already rotating smoothly, so that the traveling torques TvL and TvR of the electric motors 33L and 33R are increased. There is no walking support robot 10, and the walking support robot 10 proceeds smoothly. On the other hand, when the traveling speed V of the walking support robot 10 is close to 0 at the time of starting the walking support robot 10 or immediately after the start, both the left and right caster wheels 31L and 31R do not rotate smoothly. Therefore, in order to rotate smoothly, the traveling torques TvL and TvR of the electric motors 33L and 33R may be made larger, and in order to make them larger, the speed-related correction amount Cv is set. Further, when the walking support robot 10 is traveling uphill, the larger the elevation angle θp (inclination angle θp) of the uphill (inclined surface), the larger the traveling torques TvL and TvR of the electric motors 33L and 33R. There is a need to. Further, as the elevation angle θp (tilt angle θp) of the inclined surface becomes larger, the torques TL and TR generated by the electric motors 33L and 33R required to move the walking support robot 10 forward also become larger, and further. Also has a larger elevation angle θy.

Therefore, for example, as shown in FIG. 11, the speed-related correction amount Cv is set based on the characteristic curve corresponding to the traveling speed V. Here, as shown in FIG. 11, a plurality of characteristic curves are set according to the caster wheel direction-related amount θs (in FIG. 11, θsA, θsB, and θsC are exemplified as examples of θs). FIG. 11 is a graph in which the vertical axis represents the speed-related correction amount Cv and the horizontal axis represents the traveling speed V of the walking support robot 10. In the graph of FIG. 11, the caster wheel direction related amount θsA is when the caster wheel direction related amount θs is, for example, 1 °, and the caster wheel direction related amount θsB is when the caster wheel direction related amount θs is, for example, 2 °. The caster wheel direction related amount θsC is a case where the caster wheel direction related amount θs is, for example, 3 °. These magnitude relationships are θsA <θsB <θsC. The control device 40 stores the map corresponding to the graph of FIG. 11 in advance. In step SB130, the control device 40 reads out the map corresponding to the graph of FIG. 11 from the memory, and further estimates the traveling speed V of the walking support robot 10 acquired in step S040 of FIG. 8 in the above-mentioned step SB120. The speed-related correction amount Cv is calculated using the caster wheel direction-related amount θs of the walking support robot 10 (calculated).

In step SB130, the control device 40 uses the speed information detection devices 33LE and 33RE (travel speed-related information detection device) to detect the travel speed V (travel speed-related information) and the 3-axis acceleration / angular velocity sensor 15S (). Based on the elevation angle θy (inclination direction and inclination amount) around the Y axis of the walking support robot 10 detected by using the inclination detection device) (caster wheel direction related amount θs = elevation angle θy-reference elevation angle θa when horizontal). ), The speed-related correction amount Cv for correcting the reference drive torques TtL and TtR is obtained. Walking support detected using the running speed V (running speed related information) detected using the speed information detection devices 33LE and 33RE (running speed related information detection device) and the 3-axis acceleration / angular velocity sensor 15S (tilt detection device). The control device 40 obtains the speed-related correction amount Cv for correcting the reference drive torque TtL and TtR based on the elevation angle θy (inclination direction and inclination amount) around the Y axis of the robot 10. (See FIG. 2).

In step SB140, the control device 40 calculates the corrected reference drive torque TtcL and TtcR based on the reference drive torque TtL, TtR, the inclination-related correction amount Tθc, and the speed-related correction amount Cv, and ends the process. The process returns to step S070 shown in. In step SB140, the control device 40 calculates the corrected reference drive torques TtcL and TtcR by substituting them into the following (Equation 1) and (Equation 2), for example.
Corrected reference drive torque TtcL of the left electric motor 33L = reference drive torque TtL × (speed-related correction amount Cv + 1) + tilt-related correction amount Tθc (Equation 1)
Corrected reference drive torque TtcR of the right electric motor 33R = reference drive torque TtR × (speed-related correction amount Cv + 1) + tilt-related correction amount Tθc (Equation 2)

● [Example of screen of mobile terminal 70 and processing procedure of mobile terminal 70 (FIGS. 12 and 13)]
Next, an example of the screen of the mobile terminal 70 will be described with reference to FIG. 12, and the processing procedure of the mobile terminal 70 will be described with reference to FIG. 13. For example, when the application program installed in advance is started, the mobile terminal 70 connects the wireless communication line with the control device 40 by using the communication unit 45 of the control device 40 shown in FIG. 2, and the screen shown in FIG. Is displayed. Then, as shown in the following processing procedure of the mobile terminal 70 shown in FIG. 13, when the user presses the button displayed on the screen, the user's instruction (operation mode or the like) is input to the mobile terminal 70. ..

● [Screen of mobile terminal 70 (Fig. 12)]
As described below, the display screen of the mobile terminal 70 shown in FIG. 12 has a battery display unit 71A, a grip status display unit 71B, a user name display unit 71C, an operation mode selection unit 71D, and a setting request display. There are a unit 71E, a strength input unit 71F, and the like.

The battery display unit 71A includes the battery of the walking support robot 10 included in the state of the remaining battery level (SOC) of the mobile terminal 70 and the state information received from the control device 40 (step SK030 in FIG. 13, which will be described later). B The remaining amount (SOC) status and is displayed.

The grip state display unit 71B displays the grip setting state acquired based on the grip state information received from the control device 40 (described later, step SK030 in FIG. 13). The grip setting state is the "fixed mode" in which both the left and right grip states are in the "locked state", the "movable mode" in which both the left and right are in the "released state", or the left and right grip states match. Is it the "unset mode" in which one of the left and right is in the "locked state" and the other on the left and right is in the "unset state") and the grip state setting can be regarded as not yet set.

FIG. 12 shows a case where the grip setting state is “movable mode” as an example. On the grip status display unit 71B, "fixed mode" is displayed large when the grip setting status is "fixed mode", and "movable mode" is displayed large when the grip setting status is "movable mode". When the grip setting status is "Unset mode", "Please set" is displayed in large size.

If the user name has not been entered, "Please enter the user" is displayed (not shown) on the user name display unit 71C, and if the user name has already been entered, enter it. The registered user name is displayed. FIG. 12 shows, as an example, a case where "Ichiro Yamada" has already been entered as the user name.

In the operation mode selection unit 71D, the walking support robot 10 is set to the "arm swing walking training mode", the "hand-push walking training mode", or the "grabbing walking assist mode" for the user. While prompting the input of the operation mode of setting or, the input is displayed in an identifiable manner (larger display in FIG. 12). As shown in FIG. 12, the operation mode selection unit 71D has a button drawn with "arm swing walking training" indicating "arm swing walking training mode" and "hand pushing walking training" indicating "hand pushing walking training mode". And a button drawn as "grabbing walking assist mode" indicating "grabbing walking assist mode" are displayed, and the user can select an operation mode by pressing these buttons. For example, when the user touches the button labeled "arm swing walking training" and selects the "arm swing walking training mode", the button labeled "arm swing walking training" becomes large as shown in FIG. It is displayed, and the buttons for other modes (the button labeled "Hand-pushed walking training" and the button labeled "Grip walking assist") are displayed small. When the user presses the button indicating these operation modes, which operation mode (“arm swing walking training mode”, “hand-push walking training mode”, “grasping walking assist mode”) is selected by the user. The mobile terminal 70 stores the information of the above and the information that the user has selected the operation mode. Then, in the initial setting, the mobile terminal 70 stores the information that the user has not selected the operation mode.

When the user needs to set the walking support robot 10, the setting request display unit 71E displays "Please set" in dark bold (not shown). When the user needs to set the walking support robot 10, the button of the operation mode selection unit 71D is not pressed and the user does not input the operation mode selection, or the user locks the robot. -It may be necessary to set the release switching devices 23L and 23R. When the display of "Please set" in the setting request display unit 71E is displayed in light bold as shown in FIG. 12, the user has selected it as described below. In the operation mode, the drive wheels 32L and 32R of the walking support robot 10 are rotationally driven.

The strength input unit 71F displays the load amount / assist amount setting information input from the user. The user can instruct (input) the magnitude of the load in the training mode and the magnitude of the assist amount in the assist mode by the load amount / assist amount. If there is no instruction (input) from the user, it is considered that the user has instructed (input) to the standard size which is the initial setting value.

● [Processing procedure of mobile terminal 70 (FIG. 13)]
Next, the processing procedure of the mobile terminal 70 will be described with reference to FIG. For example, when the application program installed in advance is started, the mobile terminal 70 connects the wireless communication line with the control device 40 by using the communication unit 45 of the control device 40 shown in FIG. 2, and displays the battery on the screen. The setting request display unit 71E is displayed from 71A (see FIG. 12), and the process proceeds to step SK010.

In step SK010, the mobile terminal 70 determines whether or not the user name has been input. The mobile terminal 70 proceeds to step SK020 when the user name is input (Yes), and returns to step SK010 when the user name is not input (No). If the user name is not input (step SK010: No), the process of step SK010 is executed again, so that step SK010 is repeatedly executed until the user name is input.

In step SK020, the mobile terminal 70 reads out the memory, and the operation mode (“arm swing walking training mode”, “hand-push walking training mode”, “grabbing walking assist mode”) has already been input by the user. Determine if it is selected. The mobile terminal 70 proceeds to step SK030 when the operation mode is already selected (Yes), and returns to step SK020 when the operation mode is not selected (No). The operation mode is selected by the user pressing the button of the operation mode selection unit 71D displayed on the mobile terminal 70, as described above with reference to FIG. Further, when the user does not input the operation mode and the operation mode is not selected (step SK020: No), the process of step SK020 is executed again. Therefore, the user inputs and operates the step SK020. It is repeated until the mode is selected.

In step SK030, the mobile terminal 70 receives grip state information (information on whether the left and right grip states are "locked" or "released"), transmission request information, etc. from the control device 40 of the walking support robot 10. It is determined whether or not the status information including is received. When the mobile terminal 70 receives the state information (Yes), the process proceeds to step SK040, and when the state information is not received (No), the process returns to step SK030. If the state information is not received from the control device 40 (step SK030: No), the process of step SK030 is executed again, so that step SK030 is repeatedly executed until the state information is received from the control device 40. To.

In step SK040, the mobile terminal 70 acquires the grip setting state based on the grip state information (“locked state”, “released state”) included in the received state information, and displays the grip setting state on the grip state display unit 71B. Display and proceed to step SK050. As described above, the grip setting state is the "fixed mode" in which both the left and right grip states are in the "locked state", or the "movable mode" in which both the left and right grip states are in the "released state". , "Unset mode" in which the left and right do not match (one of the left and right is the "locked state" and the other of the left and right is the "unset state") and can be regarded as not set. The grip state information (information on whether each of the left and right grip states is a "locked state" or an "released state") is included in the received state information (see step SK030). In step SK040, the mobile terminal 70 acquires the grip setting state (“fixed mode”, “release mode”, “unset mode”) based on the grip state information (“locked state”, “released state”). Then, as shown in FIG. 12, the grip setting state is displayed on the grip state display unit 71B. Further, the battery remaining amount information which is the information of the remaining battery B (SOC) of the walking support robot 10 is also included in the received state information, and in step SK040, the mobile terminal 70 is based on the battery remaining amount information. , The state of the remaining battery B (SOC) of the walking support robot 10 is displayed on the battery display unit 71A.

Further, in step SK040, the grip setting state is displayed on the grip state display unit 71B, so that the user does not need to confirm the settings of the lock / release switching devices 23L and 23R, and the grip state display unit of the mobile terminal 70. You can grasp the grip setting state just by looking at 71B. This makes it easier for the user to grasp the grip setting state, and further makes it easier for the user to determine whether or not the lock / release switching devices 23L and 23R need to be set. ..

In step SK050, the mobile terminal 70 has a grip setting state (“fixed mode”, “release mode”, “unset mode”) and an operation mode selected by the user (“arm swing walking training mode”, “hand-push walking”). It is determined whether or not the consistency with the "training mode" and "grabbing walking assist mode") is obtained. The mobile terminal 70 proceeds to step SK060 when it can be determined that the consistency is established (Yes), and proceeds to step SK070 when it cannot be determined that the consistency is established (No). The mobile terminal 70 determines in step SK050 the information stored in the mobile terminal 70 as to which operation mode the user has selected and the information that the user has selected the operation mode. But it will not be overwritten. As described above, the overwriting is performed when the user newly presses the button (see FIG. 12) of the operation mode selection unit 71D and newly selects the operation mode.

As described above with reference to FIG. 3, in the “arm swing walking training mode”, the walking support robot 10 is self-propelled according to the arm swing of the user holding the left and right grips 20R and 20L. Therefore, in order for the walking support robot 10 to be set to the "arm swing walking training mode", both the left and right grip states must be in the "released state" (that is, the grip setting state is the "movable mode". Must be). Therefore, when the operation mode input by the user is the "arm swing walking training mode" and the grip setting state is the "fixed mode" ("arm swing walking training mode" and "fixed mode"), The mobile terminal 70 determines that the consistency is not achieved (step SK050: No), and when the grip setting state is the "movable mode" ("arm swing walking training mode" and "movable mode"). , It is determined that the consistency is obtained (step SK050: Yes). If the consistency is obtained (step SK050: Yes), the walking support robot 10 is set correctly, and if the consistency is not obtained (step SK050: No), the walking support robot 10 is set correctly. It can be considered that it has not been done.

On the other hand, as described above with reference to FIG. 3, in the "hand-push walking training mode" or the "grabbing walking assist mode", the user grips the left and right grips 20R and 20L without swinging his arms, and the walking support robot. Make 10 self-propelled. Therefore, when the walking support robot 10 is set to the "hand-push walking training mode" or the "grabbing walking assist mode", both the left and right grip states need to be in the "locked state" ( That is, the grip setting state needs to be "fixed mode"). Therefore, when the operation mode input by the user is "hand-push walking training mode" or "grasping walking assist mode" and the grip setting state is "fixed mode" ("hand-pushing walking training mode" or "grabbing walking"). In the "assist mode" and "fixed mode"), the mobile terminal 70 determines that the consistency is established (step SK050: Yes), and when the grip setting state is the "movable mode" ("hand-push walking training"). It is determined that the mobile terminal 70 is inconsistent (step SK050: No) in the "mode" or "grasping walking assist mode" and "movable mode").

When the process proceeds to step SK060, the mobile terminal 70 has the user name information input to the user name display unit 71C shown in FIG. 12 and the operation mode input to the operation mode selection unit 71D by the user. The input information including the information of the above and the load amount / assist amount input to the intensity input unit 71F is transmitted to the control device 40, and the process is returned to step SK020. Since step SK060 is a process executed when the mobile terminal 70 determines that the grip setting state and the operation mode input by the user are consistent (step SK050: Yes). , It can be considered that the walking support robot 10 is set correctly because it is consistent. Therefore, in step SK060, the mobile terminal 70 transmits the operation mode information input by the user to the control device 40, and as described above, the control device 40 supports walking based on the received operation mode information. The robot 10 is controlled (steps S030 to S070 in FIG. 8).

When the process proceeds to step SK070, the mobile terminal 70 notifies that the input of the setting is urged, and returns the process to step SK020. The notification to prompt the input of the setting is made by making the display (see FIG. 12) of the setting request display unit 71E "Please set" in dark bold (not shown). The notification method may be any method as long as it can prompt the user to input the setting, and can be changed as appropriate. For example, instead of displaying it, it may be notified by voice (for example, a buzzer or a voice saying "Please set again").

Further, in step SK070, when it can be considered that the operation mode selected by the user and the grip setting state are not consistent and the walking support robot 10 is not set correctly (step SK050: No) is the process to be executed. When the user corrects the setting as follows, the operation mode is set in the walking support robot 10 according to the correction, and in step SK050, it is re-determined whether or not the consistency is obtained.

If the user newly presses the button of the operation mode selection unit 71D to reselect the button, the mobile terminal 70 overwrites the stored information on which operation mode the user has selected. Further, if the user changes the settings of the lock / release switching devices 23L and 23R (switching between the "locked state position" and the "released state position"), the left and right lock / release switching devices 23L and 23R can be switched. Each grip state ("locked state", "released state") is switched. Then, the control device 40 detects the grip state information which is the information of the grip state (“locked state”, “released state”) and transmits it to the mobile terminal 70 (steps S010 to S030 in FIG. 8). In response to this, the mobile terminal 70 reacquires the grip setting state based on the received grip state information in step SK040, and overwrites the grip setting state. Further, the mobile terminal 70 redetermines the consistency in the subsequent step SK050, and if it can be determined that the consistency is obtained (step SK050: Yes), the process of step SK060 is performed and the consistency is not obtained. If it can be determined (step SK050: No), the process of step SK070 is performed. As a result, when the user modifies the settings, it is determined whether or not the settings are consistent (step SK050). Further, when the user changes the setting, the walking support robot 10 can switch the setting of the operation mode according to the change.

● [Effect of this application]
As described with reference to FIGS. 4 and 5, when the walking support robot 10 is in the stopped state, the gravity is such that the caster wheels 31L and 31R are in the reference caster wheel direction (when traveling straight and the caster wheels 31L and 31R are in the straight direction). It works so that it faces (the direction corresponding to). Therefore, in the walking support robot 10, the caster turning shaft members 31BL and 31BR are supported by the walking support robot 10 so as to tilt forward with respect to the vertical direction, so that the caster wheels can turn left and right in the stopped state. It is possible to support positive alignment in the reference caster wheel direction (predetermined turning direction).

Further, the control device 40 includes a caster wheel direction estimation unit 41A and a drive torque control unit 41B. The caster wheel direction estimation unit 41A estimates the caster wheel direction-related amount θs related to the directions of the caster wheels 31L and 31R. The drive torque control unit 41B has a drive torque in the reference caster wheel direction (direction in which the caster wheels 31L and 31R correspond to the straight direction) based on the caster wheel direction related amount θs estimated by the caster wheel direction estimation unit 41A. The reference drive torques TtL and TtR set as are corrected to control the electric motors 33L and 33R. As a result, the walking support robot 10 can make the acceleration at the time of starting from the stopped state more stable regardless of the turning direction of the caster wheels 31L and 31R in the stopped state. Therefore, the walking support robot 10 can make the acceleration at the time of starting from the stopped state regardless of the turning direction of the caster wheels 31L and 31R in the stopped state more stable acceleration, and the caster wheels 31L in the stopped state. It is possible to support positively aligning the turning direction of the 31R with a predetermined turning direction.

Further, the caster wheel direction estimation unit 41A has a caster wheel direction related amount θs based on the elevation angle θy (tilt direction and tilt amount) of the walking support robot 10 detected by using the 3-axis acceleration / angular velocity sensor 15S (tilt detection device). Can be estimated. As a result, the walking support robot 10 can more easily estimate the caster wheel direction-related amount θs.

Further, the control device 40 is based on the elevation angle θy (tilt direction and tilt amount) of the walking support robot 10 detected by the drive torque control unit 41B using the 3-axis acceleration / angular velocity sensor 15S (tilt detection device). The inclination-related correction amount Tθc for correcting the reference drive torques TtL and TtR is obtained. As a result, the walking support robot 10 can more reliably accelerate the acceleration at the time of starting from the stopped state regardless of the turning direction of the caster wheels 31L and 31R in the stopped state.

Further, the traveling speed V (traveling speed-related information) detected by the drive torque control unit 41B using the speed information detecting devices 33LE and 33RE (traveling speed-related information detecting device) and the 3-axis acceleration / angular velocity sensor 15S (tilt). Based on the elevation angle θy (tilt direction and tilt amount) around the Y axis of the walking support robot 10 detected using the detection device), the speed-related correction amount Cv for correcting the reference drive torques TtL and TtR is obtained. As a result, the walking support robot 10 can more reliably accelerate the acceleration at the time of starting from the stopped state regardless of the turning direction of the caster wheels 31L and 31R in the stopped state.

In addition, the user supports walking in either case of non-arm swing walking in which the user walks without swinging the arm or arm swing walking in which the user walks while swinging the arm. The robot 10 can be used.

● [Other embodiments]
The walking support robot of the present invention is not limited to the configuration, shape, structure, etc. of the walking support robot 10 described in the above-described embodiment, and various changes, additions, and deletions can be made without changing the gist of the present invention. be.

In the correction process of the reference drive torque of the process SB100 described above with reference to FIG. 9, the corrected reference drive torques TtcL and TtcR include the term of the tilt-related correction amount Tθc and the term of the speed-related correction amount Cv described above. , An example of calculation using the equations (Equation 1) and (Equation 2) has been described, but the following (Equation 3) in which the term of the inclination-related correction amount Tθc is omitted from the above-mentioned (Equation 1) and (Equation 2). , (Equation 4) may be used to calculate the corrected reference drive torques TtcL and TtcR. Further, the corrected reference drive torques TtcL and TtcR are calculated using the following (Equation 5) and (Equation 6) in which the speed-related correction amount Cv is omitted from the above (Equation 1) and (Equation 2). May be good.
Corrected reference drive torque TtcL of the left electric motor 33L = reference drive torque TtL × (speed-related correction amount Cv + 1) (Equation 3)
Corrected reference drive torque TtcR of the right electric motor 33R = reference drive torque TtR × (speed-related correction amount Cv + 1) (Equation 4)
Corrected reference drive torque TtcL of the left electric motor 33L = reference drive torque TtL + tilt-related correction amount Tθc (Equation 5)
Corrected reference drive torque TtcR of the right electric motor 33R = reference drive torque TtR + tilt-related correction amount Tθc (Equation 6)

The walking support robot 10 of the above-described embodiment has an arm swing walking type (movement mode is "movable mode") that supports arm swing walking in which the user walks while swinging his arm, and a hand without the user swinging his arm. It is a switching type that can be used as a hand-pushed walking type (operation mode is "fixed mode") and can be switched between "movable mode" and "fixed mode". The walking support robot 10 may be a hand-push walking type having only a "fixed mode" as an operation mode, or an arm swing walking type having only an "movable mode" as an operation mode.

Further, the above (≧), the following (≦), the larger (>), the less than (<), etc. may or may not include the equal sign. Moreover, the numerical value used in the explanation of this embodiment is an example, and is not limited to this numerical value.

10 Walking support robot 12L, 12R Slide body 13L, 13R Frame 14 Storage box 15S 3-axis acceleration / angular velocity sensor (tilt detection device)
16 Bag 17 Connecting member 20L, 20R Grip 21L, 21R Shaft 21LS, 21RS Movement amount detection device (operation unit position detection device)
21FL, 21FR Flange part 22L, 22R Shaft holding part 23L, 23R Lock / release switching device 23LS, 23RS Lock / release detection device 24L, 24R Operation part 25A, 25B Bounce member 25C Fixing member 25D Damper 25R Roller 27 Lock mechanism 27A Lock Hole 27B Lock pin 27BP Tip 27C Lock spring 31L, 31R Caster wheel 31BL, 31BR Caster swivel shaft member 31CL, 31CR Wheel rotation center 31WL, 31WR Wheel 31JL, 31JR swivel axis 31P Flat surface 32L, 32R Drive wheel 33L, 33R Electric motor 33LE, 33RE Speed information detection device 40 Control device 41 CPU
41A Caster wheel direction estimation unit 41B Drive torque control unit 43 Storage device 44 Timer 45 Communication unit 50 Monitor 51 Voice input / output device 70 Mobile terminal 71A Battery display unit 71B Grip status display unit 71C User name display unit 71D Operation mode selection unit 71E Setting request display unit 71F Strength input unit 78 Input / output unit 110 Walking support device 131L, 131R Caster wheel 131BL, 131BR Caster turning shaft member 131CL, 131CR Wheel rotation center 131WL, 131WR Wheel 131JL, 131JR Swivel axis 131P Horizontal B Battery BKL Brake Lever D11, D12 Interval Ga-Gc Position Hga, Hgb Distance L1, L2 Distance Ma Front limit position Mb Rear limit position Mz Shaft reference position S10 Axis Tθc Tilt-related correction amount V Travel speed TtL, TtR Reference drive torque TtcL, TtcR Rear reference drive torque TLmax Maximum value Cv Speed-related correction amount Vh Horizontal line Vv Vertical line θa Horizontal reference elevation angle θb to θd Angle θy Elevation angle θp Elevation angle (tilt angle) of the inclined surface
θs, θsA to θsC Caster wheel direction related amount

Claims (5)

A walking support robot that moves with a user who walks with multiple wheels.
At least one of the plurality of wheels is a caster wheel that swivels left and right around a caster swivel shaft member according to the traveling direction of the walking support robot, and at least one of the remaining wheels is a drive wheel.
The electric motor that drives the drive wheels and
A control device that controls the electric motor and
Equipped with
The caster turning shaft member is supported by the walking support robot so as to tilt forward by a predetermined forward tilt angle with respect to the vertical direction.
The control device is
A caster wheel direction estimation unit that estimates a caster wheel direction-related amount related to the direction of the caster wheel, and a caster wheel direction estimation unit.
Based on the estimated amount related to the caster wheel direction, the drive torque that controls the electric motor by correcting the reference drive torque set as the drive torque when traveling straight and when the caster wheels are oriented in the straight direction. Control unit and
Have,
Walking support robot. The walking support robot according to claim 1.
The walking support robot is provided with an inclination detection device that detects the inclination direction and the amount of inclination of the walking support robot with respect to the vertical direction.
The control device is
The caster wheel direction estimation unit estimates the caster wheel direction-related amount based on the tilt direction and the tilt amount of the walking support robot detected by the tilt detection device.
Walking support robot. The walking support robot according to claim 2.
The control device is
The drive torque control unit obtains an inclination-related correction amount for correcting the reference drive torque based on the inclination direction and the inclination amount of the walking support robot detected by the inclination detection device.
Walking support robot. The walking support robot according to claim 2 or 3.
The walking support robot includes
A running speed-related information detection device capable of detecting running speed-related information related to the running speed of the walking support robot is provided.
The control device is
Based on the traveling speed-related information detected by the drive torque control unit using the traveling speed-related information detection device, and the inclination direction and inclination amount of the walking support robot detected by the inclination detection device. To obtain the speed-related correction amount for correcting the reference drive torque.
Walking support robot. The walking support robot according to any one of claims 1 to 4.
The walking support robot
It has a pair of left and right operating units that include a grip for the user to grip and that is operated by the user to stroke in the front-back direction.
The pair of the operation units
A fixed mode that regulates the stroke range of the operation unit within the regulation range in the front-back direction during non-arm swing walking in which the user walks without swinging his arm.
A movable mode in which the operation unit can be stroked in the front-rear direction beyond the regulation range when the user walks while swinging his / her arm.
Set to one of the operating modes, including
The walking support robot includes
Each operation unit position detection device capable of detecting the operation unit position, which is the position where each operation unit is stroked, is provided.
The control device is
The reference drive torque is obtained based on the operation mode set by the drive torque control unit and the operation unit position detected by each operation unit position detection device.
Walking support robot.

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