JP7210907B2 - walking support device - Google Patents

Description

The present invention relates to a walking assistance device.

For users who can walk independently, it is very important that they do not lean on the walker, keep their trunk straight, and swing their arms correctly in sync with their legs. be.

In recent years, there have been various pushcarts, such as luggage trolleys, shopping carts, walkers, wheelchairs, etc., which have front wheels with relatively small diameters at their lower ends. For example, a user may encounter a step while pushing a luggage trolley. When the diameter of the front wheel of the luggage cart is about 200 mm, a step of about 10 mm can be easily overcome by the user just by pushing it strongly. , it is very difficult to climb over the step. For this reason, various types of wheels and wheel mechanisms have been proposed to make it easier to climb over bumps.

In Patent Document 1, as shown in FIGS. 12 and 13, a movable holder 320 to which a front wheel 331 and a rear wheel 332 are attached, and a step-crossing wheel 301 which is movable with respect to a fixed holder 310 are provided. disclosed. A fixed holder shaft 311 is fixed to the fixed holder 310. The fixed holder shaft 311 is inserted through a movable holder slotted hole 321 formed in the movable holder 320. The fixed holder 310 and the movable holder 320 are connected The shaft 311 is connected to the movable holder slot 321 . The movable holder 320 is provided with a front wheel 331 that rotates around the front spring support portion 322 and a rear wheel 332 that rotates around the rear wheel shaft member 324 . A fixed spring support portion 312 is provided on the fixed holder 310 , and a rear spring support portion 323 is provided on the movable holder 320 . A front spring 325 is attached to the fixed spring support portion 312 and the front spring support portion 322 , and a rear spring 326 is attached to the fixed spring support portion 312 and the rear spring support portion 323 , so that the rear wheels 332 are placed on the ground surface. It is grounded and the front wheels 331 are held at a position above the ground surface by a predetermined distance (see FIG. 12). When encountering a step, the fixed holder 310 moves forward along the movable holder long hole 321 and the movable holder 320 moves backward with respect to the fixed holder 310, as shown in FIG. Further, the movable holder 320 rotates counterclockwise with respect to the fixed holder 310, and the rear wheels 332 are pulled up. 12 by the elastic forces of the front spring 325 and the rear spring 326 after the step is overcome.

JP-A-11-1102

12 and 13, a step-crossing wheel 301 described in Patent Document 1 has a fixed holder 310 and a movable holder 320 connected by a fixed holder shaft 311 and a movable holder long hole 321. In contrast, the movable holder 320 tends to tilt in the left-right direction. If the movable holder 320 tilts in the left-right direction with respect to the fixed holder 310, the movement of the movable holder 320 may be caught, and the movement over the step may not work well. Also, the structure is complicated. Requires various parts.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a walking support device that can easily climb over a step without adding any other parts. and

In order to solve the above-mentioned problems, a first invention provides a frame, a pair of left and right arm portions provided on the frame, and a pair of left and right arm portions provided on the pair of left and right arms to be gripped by a user and attached to the frame. A pair of left and right grips movable in the front-rear direction, a plurality of wheels including at least one driving wheel provided at the lower end of the frame, and driving means for driving the driving wheels to move the walking support device forward or backward. , a battery that serves as a power supply for the driving means, a drive control means that controls the driving means, and a step contact detection means that detects contact with a step on the road surface. A walking support device that moves forward or backward together with a user walking while holding and swinging an arm, wherein the drive control means detects contact between a step and the wheel based on a detection signal from the step contact detection means. step-climbing control for controlling the drive means to increase the driving torque of the drive wheels and moving the walking support device forward so as to climb over the step when it is determined that the step has come into contact with the step. It is a walking support device that executes

A second aspect of the present invention is the walking support device according to the first aspect, wherein each grip portion driving means capable of moving each of the grip portions and the drive control means include the The walking support device controls the gripping portion driving means to move the gripping portion backward by a predetermined distance with respect to the frame when step climbing control is executed.

A third aspect of the present invention is the walking support device according to the second aspect, further comprising gripping portion movement limiting means for restricting movement of each of the gripping portions with respect to the frame, wherein the drive control means includes: and when it is determined that the wheel has come into contact with a step based on the detection signal from the step contact detection means, the grip portion driving means is operated to move each of the grip portions to a predetermined position with respect to the frame. a walking support device that controls and fixes the grip portion movement restricting means.

A fourth invention of the present invention is a walking support device according to any one of the first to third inventions, further comprising gripping portion state detection means for detecting a state of each of the gripping portions, and the drive control means. is determined based on the detection signal from the step contact detection means that the wheel has come into contact with the step, and further based on the information from the grip portion state detection means, the user desires to go over the step. The walking support device executes the step-climbing control when it is determined that the user has the step-climbing intention to do so.

A fifth invention of the present invention is a walking support device according to any one of the first to third inventions, further comprising gripping portion state detection means for detecting a state of each of the gripping portions, and the drive control means. detects the user's intention to move backward based on the information from the grip portion state detecting means when it is determined that the wheel has come into contact with the step based on the detection signal from the step contact detecting means. In this case, the driving means is controlled so as to move the walking support device backward by a predetermined distance, and thereafter, the user indicates the intention to climb over the step based on the information from the grip portion state detecting means. The walking support device executes the step climbing control when it is determined that the device has the walking support device.

A sixth invention of the present invention is the walking support device according to the fourth or fifth invention, wherein the drive control means, after a predetermined period of time has elapsed after determining that the wheel has come into contact with a step, Based on the information from the grip portion state detection means, when the forward force applied to each of the grip portions is greater than the rearward force applied to each of the grip portions, the user climbs over the step. It is a walking support device that determines that a person has an intention.

A seventh aspect of the present invention is the walking assistance device according to any one of the fourth aspect to the sixth aspect, wherein the drive control means determines that the user has an intention to climb over the step. After that, based on the information from the grip state detection means, a difference between the forward force applied to each of the grip portions and the rearward force applied to each grip is smaller than a predetermined magnitude. or when each position of the gripping portion with respect to the frame is in the vicinity of the rear end, the step climbing control is terminated.

According to the first invention, when encountering a step, it is possible to easily climb over the step without adding any other parts.

According to the second invention, it is possible to prevent the user from losing balance by being pulled by the walking assistance device moving forward with the increased drive torque when the walking assistance device climbs over a step.

According to the third invention, when the walking support device determines that the user has no intention of going over the step, or when the grip portion is positioned near the rear end of the arm portion, the Step climbing control in the walking support device is ended.

According to the fourth aspect of the invention, when it is determined that the user has the step-climbing intention of wanting to climb over the step, the step-climbing control is executed. As a result, the step can be climbed over according to the user's intention.

According to the fifth invention, when the user's intention to go backward is detected, the driving means is controlled so as to move the walking support device backward by a predetermined distance, and furthermore, the step that the user desires to climb over. When it is determined that the vehicle has the intention to climb over, step climb control is executed. As a result, the walking support device moves backward to give momentum to overcome the step, so that the step can be overcome more easily.

According to the sixth invention, when the user pushes the grip portion forward, it is determined that the user has the step-climbing intention of wanting to climb over the step. can be easily detected to move the walking support device forward.

According to the seventh invention, in step climbing control, the gripping portion of the arm portion can be fixed at a predetermined position, and the user's intention to move the walking assistance device forward or backward can be appropriately determined via the gripping portion. can tell

It is a perspective view explaining the whole structure of a walking assistance device. FIG. 3 is a perspective view explaining the structure and function of a handle and rails; FIG. 3 is a cross-sectional view of the handle viewed from the III-III direction in FIG. 2; FIG. 3 is a cross-sectional view of the handle viewed from the IV-IV direction in FIG. 2; 4 is a block diagram illustrating input/output of drive control means of the walking support device; FIG. 4 is a flowchart for explaining the overall processing of drive control means of the walking support device and the processing procedure of moving load control; 4 is a flowchart for explaining a walking control processing procedure of drive control means of the walking support device; 5 is a flowchart for explaining a process procedure of step-over process of drive control means of the walking support device; 5 is a flowchart for explaining a process procedure of step-over process of drive control means of the walking support device; It is a figure explaining the operation mode of a walking assistance apparatus determined based on the output of each detection means. It is a figure explaining the operation|movement of overcoming a level|step difference of a walking assistance apparatus. FIG. 3 is a diagram illustrating the structure of a conventional step-climbing wheel and a state before the step-climbing wheel comes into contact with a step; FIG. 10 is a diagram illustrating how a conventional bump-climbing wheel climbs over a bump;

Embodiments for carrying out the present invention will be described below with reference to the drawings. In addition, when the X-axis, the Y-axis, and the Z-axis are described in the drawing, each axis is orthogonal to each other. 1, the Z-axis direction indicates the direction from the front wheel 60FR to the rear wheel 60RR, and the X-axis direction indicates the direction from left to right on the frame 50. As shown in FIG. In the frame 50, the X-axis direction is defined as "right", the direction opposite to the X-axis direction is defined as "left", the direction opposite to the Z-axis direction is defined as "front", and the Z-axis direction is defined as "rear". Also, the Y-axis direction is defined as "up", and the opposite direction to the Y-axis direction is defined as "down".

● [Schematic overall configuration of the first embodiment (Fig. 1)]
A schematic configuration of a mode for carrying out the present invention will be described with reference to FIG. FIG. 1 is a diagram for explaining a walking support device 10 according to this embodiment. The walking support device 10 includes handles 20R and 20L (corresponding to grips), rails 30R and 30L (corresponding to arms), drive control means 40, a frame 50, and front wheels 60FR and 60FL (corresponding to wheels). , rear wheels 60RR and 60RL (corresponding to driving wheels), driving means 64R and 64L (for example, electric motors), a control panel 70, and a battery B.

As shown in FIG. 1, the frame 50 has a symmetrical shape with respect to the left-right direction. Operate 10. The front wheels 60FR and 60FL are driven wheels (rotatable caster wheels) provided at the front lower end of the frame 50 . The rear wheels 60RR and 60RL are drive wheels provided at the rear lower end of the frame 50 and driven by drive means 64R and 64L via belts 62, respectively. In the example shown in FIG. 1, a pair of left and right rear wheels, which are driving wheels, are driven independently by driving means (64R, 64L).

A rail 30R is provided on the right side of the frame 50, and a rail 30L is provided on the left side thereof. Each of the rails 30R and 30L is provided with handles 20R and 20L projecting upward. The handles 20R and 20L move back and forth within respective movable ranges of the rails 30R and 30L in accordance with the swing of the arms as the user walks. A pair of left and right rails and handles are provided.

Further, the frame 50 is provided with a three-axis acceleration/angular velocity sensor 52 (corresponding to step contact detection means) that detects the inclination of the walking support device 10 in the respective axial directions of the X, Y, and Z axes.

The three-axis acceleration/angular velocity sensor 52 measures acceleration with respect to each of the three axes of the X, Y, and Z axes, and also measures angular velocity in rotation about each of the three axes. For example, when the walking support device 10 is traveling on an inclined surface, the three-axis acceleration/angular velocity sensor 52 outputs detection signals corresponding to the respective inclinations of the X, Y, and Z axes of the vehicle with respect to the inclined surface to the drive control means 40. output to The three-axis acceleration/angular velocity sensor 52 also detects changes in acceleration applied to the vehicle body of the walking support device 10 (impact to the vehicle body), and outputs a signal corresponding to the detected acceleration change to the drive control means 40. do. The three-axis acceleration/angular velocity sensor 52 also detects the pitch angular velocity, yaw angular velocity, and roll angular velocity of the vehicle body of the walking support device 10 and outputs a signal corresponding to the detected angular velocity to the drive control means 40 .

As shown in FIG. 1, the control panel 70 is provided, for example, on the top of the frame 50 at a position where it is easy for the user to operate. The control panel 70 has a main switch 72 , an assist amount adjustment volume 74 a , a load amount adjustment volume 74 b , a moving load control mode switch 76 and a monitor 78 .

The main switch 72 is the main switch of the walking assistance device 10 , and when turned on, supplies power from the battery B to the drive control means 40 and the driving means 64 R and 64 L, thereby enabling the operation of the walking assistance device 10 .

The moving load control mode switching 76 selects an assist mode for assisting the movement of the handles 20R and 20L on the rails 30R and 30L by the motors 32R and 32L (corresponding to gripping portion driving means) (see FIG. 2), which will be described later, or reducing the load on the movement. Switch the loading mode. For example, the movement load control mode switching 76 includes an "assist mode" that assists the movement of the handle, a "load mode" that adds a load to the movement of the handle, and both assist and load for the movement of the handle. It is possible to switch between three modes, "Normal mode" and "Normal mode".

The assist amount adjustment volume 74a is for adjusting the assist amount in the assist mode, and the load amount adjustment volume 74b is for adjusting the load amount in the load mode. The monitor 78 displays various states, such as the amount of charge in the battery B, the setting of various modes, the state of operation, and the like.

● [Detailed structure of walking support device 10 (Figs. 2 to 4)]
The structure of the walking support device 10 will be described in detail with reference to FIGS. 2 to 4. FIG. The walking support device 10 has a symmetrical structure on the left and right sides of the frame 50 except for the control panel 70, the drive control means 40, the three-axis acceleration/angular velocity sensor 52, and the battery B. describes the structure on the right side. FIG. 2 is a perspective view explaining the structure and function of the handle 20R and the rail 30R. 3 is a cross-sectional view of the handle 20R viewed from the III-III direction in FIG. FIG. 4 is a cross-sectional view of the handle 20R viewed from the IV-IV direction in FIG.

As shown in FIG. 2, the rail 30R has a handle 20R, pulleys PB and PF, and a wire W. As shown in FIG. The rail 30R has an upwardly concave curved shape, and has a rail slit portion 38 that opens upward along the front-rear direction. Further, the rail 30R is provided with pulleys PB and PF at both ends in the front-rear direction. The wire W is hooked on the pulley PF arranged in front and the pulley PB arranged in the rear, and the respective rotations are interlocked. In addition, the motor 32R, the right handle position detecting means 34R (for example, an encoder), and the handle movement limiting means 35R are provided coaxially with respect to the pulley PF. As shown in FIG. 4, a wire is fixed to the wire connection portion WA of the anchor portion 22B, and the wire is inserted through the wire hole WH without being fixed. A handle 20R is connected to the anchor portion 22B. Accordingly, the motor 32R rotates the pulley PF to rotate the wire W between the pulleys, thereby enabling the handle 20R to move along the rail 30R. Also, the motor 32R can assist the movement of the handle 20R or apply a load to the movement of the handle 20R. The right handle position detection means 34R outputs to the drive control means 40 the amount of rotation of the pulley PF accompanying the movement of the handle 20R on the rail 30R, that is, the amount of movement of the handle 20R.

As shown in FIG. 3, the handle 20R has a handle shaft portion 21a, a shaft portion insertion hole 21b, a slider 22, a grip portion 26a, switch grip portions 26b and 26ba, and a brake lever BKL. are doing. Further, the slider 22 is composed of a handle holding portion 22A and an anchor portion 22B.

As shown in FIG. 3, one end of the biasing means 24 is connected to the handle shaft portion 21a, and the other end is connected to the bottom portion of the shaft portion fitting hole 21b. A collar portion 21c is provided in the circumferential direction at the end portion of the handle shaft portion 21a to which the biasing means 24 is connected. An inner flange portion 20c is provided on the inner wall surface of the opening of the shaft fitting hole 21b. Thereby, the grip portion 26a can slide up and down along the longitudinal direction of the handle shaft portion 21a without being separated from the handle shaft portion 21a. That is, the handle 20R has an extension/contraction mechanism that enables extension/contraction in the projecting direction.

A handle support shaft JK is provided on the side of the handle shaft portion 21a to which the biasing means 24 is not connected. The handle support shaft JK has a substantially spherical tip, and forms a ball joint with a concave portion provided in the handle holding portion 22A. As a result, the handle 20R can be tilted forward, backward, left and right within a range restricted by the opening with respect to the handle holding portion 22A (see FIGS. 3 and 4). A right handle inclination detection means 33R for detecting the amount of inclination is provided in the opening of the handle holding portion 22A and arranged with respect to the handle support shaft JK from the front, back, left and right. The right handle inclination detection means 33R may be, for example, a pressure sensor that detects pressure due to expansion and contraction of the spring provided between the side surface of the handle support shaft JK and the opening of the handle holding portion 22A.

As shown in FIG. 3, the switch grip portions 26b and 26ba are provided so that a predetermined gap is formed between the grip portion 26a and the switch grip portions 26b and 26ba by a grip biasing means 28 (for example, a spring). there is When the user grips the handle 20R, the grip detection means 25R moves the switch grip portion 26b toward the grip portion 26a, outputs a signal corresponding to the applied pressure, and turns off when the pressure is no longer applied. In addition, when the user grips the handle 20R, the switch grip portion 26ba of the grip detection means 25aR moves toward the grip portion 26a, outputs a signal corresponding to the applied pressure, and turns off when the pressure is no longer applied. . The grip detection means 25R and 25aR are, for example, pressure sensors or load sensors. The grip detection means 25R outputs a signal corresponding to the magnitude of the applied force (force Fb applied in the rearward direction). The grip detection means 25aR outputs a signal corresponding to the magnitude of the applied force (force Ff applied in the forward direction).

One end of the brake lever BKL is connected to the lower front side of the grip portion 26a. A mechanism that locks the rotation of the front wheels 60FR and 60FL and the rear wheels 60RR and 60RL when the user grasps the brake lever BKL and pulls it toward the grip portion 26a, maintains the locked state, and releases the lock when the user pulls the brake lever BKL further. (not shown).

As shown in FIG. 2, the rail 30R is provided with a handle movement restricting means 35R that permits and prohibits movement of the handle 20R with respect to the frame 50. As shown in FIG. For example, the handle movement restricting means 35R has a lock mechanism that locks the rotation of the motor 32R. , allows movement of the handle relative to the rail (ie, relative to the frame). Further, as this locking mechanism, for example, a powder brake may be used, or a large DC current may be applied to the motor 32R to lock it.

As shown in FIGS. 2 and 4, one wire W is inserted through the wire hole WH provided in the anchor portion 22B, and the other wire W is connected (fixed) to the wire connection portion WA. there). Also, the handle 20R can move on the rail 30R by sliding the narrowed portion connecting the handle holding portion 22A and the anchor portion 22B in the rail slit portion 38. As shown in FIG.

One end of the signal cable 36 is connected to the anchor portion 22B, and the other end is connected to the drive control means 40. Detection signals from the grip detection means 25R and the right hand inclination detection means 33R are transmitted to the drive control means 40. do. The signal cable 36 may be, for example, a flexible cable such as a flexible cable. The drive control means 40 can detect the position of the handle 20R on the rail 30R based on the detection signal from the right handle position detection means 34R. Further, the drive control means 40 can detect which direction, front, back, left, and right, and how much the holding hand 20R is tilted, based on the detection signal from the right hand tilt detecting means 33R. Further, the drive control means 40 can detect whether or not the handle 20R is being held by the user based on the detection signals from the holding detection means 25R and 25aR.

● [Functions of walking support device 10 (Figs. 5 to 11)]
Functions of the walking support device 10 (see FIG. 1) will be described in detail with reference to FIGS. 5 to 11. FIG. FIG. 5 is a block diagram for explaining inputs and outputs of the driving control means 40 (for example, a control device having a CPU) of the walking support device. As shown in FIG. 5, the drive control means 40 receives input information from the handle information acquisition means 42 (corresponding to grip portion state detection means), a triaxial acceleration/angular velocity sensor 52, and input information from the control panel 70. , the motors 32R and 32L, the handle movement limiting means 35R and 35L, and the driving means 64R and 64L are controlled. The holding hand information acquiring means 42 includes grip detecting means 25R, 25L, 25aR, and 25aL, right holding hand inclination detecting means 33R, left holding hand inclination detecting means 33L, right holding hand position detecting means 34R, and left hand holding. and hand position detecting means 34L. The storage means 44 is a means for storing information, and stores and reads information according to a request from the drive control means 40 . The drive control means 40 also receives signals from the main switch 72 of the control panel 70, the assist amount adjustment volume 74a, the load amount adjustment volume 74b, and the moving load control mode switch 76, and outputs image signals and the like to the monitor 78.

● [Processing procedure in drive control means 40 of walking support device 10 (FIGS. 6 to 10)]
6 to 9 are flowcharts for explaining the processing procedure of the drive control means 40 (see FIG. 5) of the walking support device 10 (see FIG. 1). FIG. 10 is a diagram for explaining the operation mode of the walking support device 10 determined based on the output of each detection means.

When the user turns on the main switch 72 (see FIG. 5), the drive control means 40 starts operating. The drive control means 40 determines whether or not the handles 20R, 20L (see FIG. 1) are held by the user based on the information from the grip detection means 25R, 25L, 25aR, 25aL (see FIG. 5). judge. When the drive control means 40 determines that one of the handles 20R and 20L (see FIG. 1) is not being held, the drive control means 40 controls the handle movement limiting means 35R and 35L to the prohibition side. When the drive control means 40 determines that the handles 20R and 20L are being held, the drive control means 40 controls the handle movement restriction means 35R and 35L (see FIG. 5) to the permission side, and executes the overall processing in FIG. do. A lock mechanism is provided in the driving means 64R and 64L (see FIG. 5), and when it is determined that the handles 20R and 20L are not being gripped, the driving means 64R and 64L are locked and the handles 20R and 20L are locked. If it is determined that the object is being held, the driving means 64R and 64L may be unlocked.

A processing procedure of the drive control means 40 of the walking support device 10 will be described with reference to the flowchart of FIG. The overall processing of the drive control means 40 is composed of movement load control (step S100), walking control (step S200), and step climbing processing (step S300).

● [Overall processing of drive control means 40 (Fig. 6)]
When activated, the control means 40 initializes (turns off) each of the following flags, and executes the entire process at predetermined time intervals (for example, at intervals of several [ms]).

[Detailed description of the flag]
The step-over process flag 1 is a flag that is set to ON when it is determined that the front wheels (60FR, 60FL, see FIG. 1) of the walking support device 10 come into contact with a step (the wheels are impacted). The step-over process flag 2 stores in advance the change in force Ff applied to each of the handles (20R, 20L) in the forward direction when the user pushes the handles (20R, 20L, see FIG. 1). This is a flag that is set to ON when the size is greater than a predetermined size.

Handle fixation completion flag 1, handle fixation completion flag 2, and handle fixation completion flag 3 determine that the positions of both the left and right handles (20R, 20L) on the rails (30R, 30L, see FIG. 1) are fixed. This is a flag that is set to ON when the The handle fixation completion flag 1 is a flag indicating completion of fixation of the positions of the handles 20R and 20L on the rails 30R and 30L when it is determined that the front wheels of the walking support device 10 have contacted a step. . The handle fixation completion flag 2 is set for each rail 30R when it is determined that the front wheels of the walking support device 10 are not in contact with the step and when it is determined that the user desires to climb over the step. , 30L. The handle fixation completion flag 3 indicates that the positions of the handles 20R and 20L on the rails 30R and 30L are fixed at the target fixation positions Pt, and the walking support device 10 has stopped (completion of step climbing process). is a flag indicating

The backward movement processing flag is a flag that is set to ON when both the left and right handles (20R, 20L) are moved forward by the first target movement distance Lm1 and the walking support device is moved backward by the backward movement distance Ld1. be. The forward processing flag is set to ON when both the left and right handles (20R, 20L) are moved backward by the second target movement distance Lm2 and the walking support device 10 is moved forward by the forward distance Ld2. is.

Each step of the overall processing will be described in detail below.

In step S10, if the drive control means 40 determines that the wheels (front wheels 60FR, 60FL) are impacted based on the three-axis acceleration/angular velocity sensor 52 (Yes), the process proceeds to step S20, and the wheels (front wheels 60FR, 60FL, If it is determined that there is no impact at 60FL) (No), the process proceeds to step S30. Based on the three-axis acceleration/angular velocity sensor 52, the drive control means 40 controls the amount of change in the acceleration of the wheels (front wheels 60FR and 60FL) in the Z-axis direction exceeding a pre-stored value and When the amount of change in axial acceleration exceeds a predetermined value stored in advance, it is determined that there is an impact, and it is detected that the front wheels 60FR and 60FL of the walking support device 10 (FIG. 1) have come into contact with a step. .

In step S20, the drive control means 40 sets the step-climbing process flag 1 to ON, sets the step-climbing process flag 2 to OFF, and proceeds to step S50.

In step S30, if the drive control means 40 determines that the change in the force Ff applied in the forward direction is greater than a predetermined magnitude based on the information from the grip detection means (25R, 25L, 25aR, 25aL) (Yes) , the process proceeds to step S40, and when it is determined that the change in the force Ff applied in the forward direction is not larger than the predetermined magnitude (No), the process proceeds to step S50. In this case, the user desires to climb over the step and pushes the handles (20R, 20L) forward in order to accelerate the walking support device 10. FIG. When the drive control means 40 determines that the change in the force Ff applied in the forward direction is greater than a predetermined magnitude, it determines that the user has the step-climbing intention of wanting to climb over the step.

In step S40, the drive control means 40 sets the step-climbing process flag 1 to OFF, sets the step-climbing process flag 2 to ON, and proceeds to step S50.

In step S50, if the step-climbing process flag 1=OFF and the step-climbing process flag 2=OFF (Yes), the drive control means 40 proceeds to step S100 (moving load control), (step-climbing process If the flag 1 is not OFF and the step-climbing process flag 2 is not OFF (No), the process proceeds to step S300 (step-climbing process).

● [Moving load control (step S100) (Fig. 6)]
Each step of step S100 (moving load control) will be described in detail below.

In step S110, the drive control means 40 acquires the state of the moving load control mode switching 76 (assist mode, load mode, or normal mode), stores it in the storage means 44, and proceeds to step S120.

In step S120, the drive control means 40 acquires the adjustment amounts of the assist amount adjustment volume 74a and the load amount adjustment volume 74b, and adjusts the handle movement assist adjustment amount and the load amount adjustment volume 74b according to the assist amount adjustment volume 74a. The corresponding handle movement load adjustment amount is determined, stored in the storage means 44, and the process proceeds to step S130.

In step S130, if the state of the moving load control mode switching 76 is the assist mode (Yes), the drive control means 40 proceeds to step S140, and if not (No), the drive control means 40 proceeds to step S150.

In step S140, the drive control means 40 controls the movement of the handles 20R and 20L in the forward direction (the same direction as the moving direction of the handles) by the motor 32R and the motor 32R so as to assist the handle movement assist adjustment amount determined in step S120. 32L to end the moving load control (step S100) and return to the overall processing. The motors 32R and 32L that assist the movement of the handle in step S140 correspond to assist means.

In step S150, the drive control means 40 proceeds to step S160 when the state of the moving load control mode switching 76 is the load mode (Yes), and proceeds to step S170 when it is not the load mode (No).

In step S160, the drive control means 40 causes the handles 20R and 20L to move in the opposite direction (direction opposite to the moving direction of the handles) so as to apply the handle movement load adjustment amount determined in step S120. The motors 32R and 32L are controlled to end the moving load control (step S100) and return to the overall processing. The motors 32R and 32L that apply a load to the movement of the handle in step S160 correspond to load means.

In step S170, the drive control means 40 stops the motors 32R and 32L (puts them in an idle state), ends the moving load control (step S100), and returns to the overall processing.

● [Walking control (step S200) (Fig. 7)]
Each step of step S200 (walking control) will be described in detail below.

In step S210, the drive control means 40 acquires the inclinations of the holding hands 20R and 20L (right holding hand inclination, left holding hand inclination) from the right holding hand inclination detecting means 33R and left holding hand inclination detecting means 33L. The positions of the handles 20R and 20L on the rails 30R and 30L (right hand position, left hand position) are acquired from the hand position detection means 34R and the left hand position detection means 34L, and stored in the storage means 44, respectively. Then, the process proceeds to step S220.

In step S220, the drive control means 40 calculates the right amplitude DR from the position of the handle 20R stored in the storage means 44 and the position of the handle 20R stored one before (at the time of execution of the previous overall processing). is calculated, the right amplitude DR is stored in the storage means 44, and the process proceeds to step S230.

In step S230, the drive control means 40 calculates the left amplitude DL from the position of the handle 20L stored in the storage means 44 and the position of the handle 20L stored immediately before (at the time of execution of the previous overall processing). is calculated, the left amplitude DL is stored in the storage means 44, and the process proceeds to step S240.

In step S240, drive control means 40 calculates moving speed Vc=(DR+DL)/(predetermined time interval)/2 from right amplitude DR and left amplitude DL, and proceeds to step S250. The "predetermined time interval" is the time interval for executing the entire process.

In step S250, the drive control means 40 calculates the moving speed difference V _D =|DR−DL|/(predetermined time interval) from the right amplitude DR and the left amplitude DL, and proceeds to step S260.

In step S260, the drive control means 40 operates based on the state shown in FIG. 10 from the right hand tilt, left hand tilt, right hand position, left hand position, and front-back amplitude. A mode (straight ahead, right turn, left turn) is determined, and the process proceeds to step S270.

As shown in FIG. 10, the operation mode is determined based on the right hand tilt, left hand tilt, right hand position, left hand position, and front-back amplitude. For example, in the straight mode in which the walking support device 10 moves straight forward, the handle 20R is moved from the front to the rear, the handle 20L is moved from the rear to the front, and the front-rear amplitude is the same between the left and right sides. 20L is moved from the front to the rear, the handle 20R is moved from the rear to the front, and the front-rear amplitude is the same on the left and right. Further, for example, in the right turning mode for turning the walking support device 10 to the right, the tilt of the left hand is "inward tilt", that is, the hand 20L is tilted toward the user, and the left amplitude is larger than the right amplitude in the front-rear amplitude. be. Further, for example, the left turning mode for turning the walking support device 10 to the left is a case where the inclination of the right hand is "inwardly inclined", that is, the hand 20R is inclined toward the user, and the left amplitude is smaller than the right amplitude in the front-rear amplitude. . In addition, there is a straight mode in which it is determined that the user wants to go straight, a right turn mode in which it is determined that the user wants to turn right, and a left turn mode in which it is determined that the user wants to turn left. Each determination method for the times mode is not limited to the determination method described above.

In step S270, if the operation mode is the right turn mode (Yes, the user desires right turn), the process proceeds to step S275, and if the operation mode is not the right turn mode (No), Proceed to step S280.

In step S275, the drive control means 40 controls the driving means 64R so that the speed of the rear wheels 60RR becomes V _C -V _D /2, and the speed of the rear wheels 60RL becomes V _C +V _D /2. The drive means 64L is controlled to generate a difference in the number of revolutions of the left and right rear wheels to cause the walking support device 10 to turn right.

In step S280, if the operation mode is the left turn mode (Yes, the user desires to turn left), the process proceeds to step S285, and if the operation mode is not the left turn mode (No), the process proceeds to step S290. move on.

In step S285, the drive control means 40 controls the driving means 64R so that the speed of the rear wheels 60RR becomes V _C +V _D /2, and the speed of the rear wheels 60RL becomes V _C -V _D /2. The driving means 64L is controlled to generate a difference in the number of rotations of the left and right rear wheels to turn the walking support device 10 left, the walking control (step S200) is ended, and the process returns to the overall process.

In step S290, the driving control means 40 controls the driving means 64R so that the speed of the rear wheels _60RR becomes VC, and controls the driving means _64L so that the speed of the rear wheels 60RL becomes VC. The support device 10 is caused to go straight, the walking control (step S200) is terminated, and the overall processing is returned to.

● [Step Climbing Process (Step S300) (Figs. 8 and 9)]
Each step of step S300 (step-over process) will be described in detail below.

In step S305, the drive control means 40 (see FIG. 5) proceeds to step S310 when the step-over-step processing flag 1=ON (Yes), and proceeds to step S310 when the step-over-step processing flag 1=ON is not (No). Proceed to S370.

In step S310, if the handle fixing completion flag 1 is ON (Yes), the drive control means 40 proceeds to step S325, and if the handle fixing completion flag 1 is not ON (No), the drive control means 40 proceeds to step S315. .

In step S315, the drive control means 40 controls the handle movement restricting means (35R, 35L) (see FIG. 5) so that both the left and right handles (20R, 20L) move on the rails (30R, 30L). Fix the position (see FIG. 1) and proceed to step S320.

In step S320, the drive control means 40 sets the handle fixation completion flag 1 to ON (handle fixation completion flag 1=ON), and proceeds to step S325.

In step S325, the drive control means 40 determines that the force Ff applied in the forward direction is greater than the force Fb applied in the rearward direction based on the information from the grip detection means (25R, 25L, 25aR, 25aL) (see FIG. 5). If it is determined to be small (Yes), the process proceeds to step S345, and if it is determined that the force Ff applied in the forward direction is not smaller than the force Fb applied in the rearward direction (No), the process proceeds to step S330.

In step S330, the drive control means 40 controls the handle movement limiting means (35R, 35L) to fix the respective positions of the left and right handles (20R, 20L) on the rails (30R, 30L), The walking support device 10 (see FIG. 1) is stopped, and the process proceeds to step S335. The driving control means 40 controls the driving means (64R, 64L) to stop the rear wheels (60RR, 60RL) which are driving wheels, thereby stopping the walking support device 10. FIG.

In step S335, if the driving control means 40 determines that the predetermined time has passed after stopping the walking support device 10 in step S330 (Yes), the process proceeds to step S340, and after stopping the walking support device 10 If it is determined that the predetermined time has not elapsed (No), the step-over process (step S300) is terminated, and the process returns to the overall process.

In step S340, if the drive control means 40 determines that the force Ff applied in the forward direction is greater than the force Fb applied in the rearward direction based on the information from the grip detection means (25R, 25L, 25aR, 25aL). If (Yes), the process proceeds to step SA305 in A1 (FIG. 9), and if it is determined that the force Ff applied in the forward direction is not greater than the force Fb applied in the rearward direction (No), step climbing processing (step S300 ) and return to the overall process. When the drive control means 40 determines that the force Ff applied in the forward direction is greater than the force Fb applied in the rearward direction, the drive control means 40 determines that the user has an intention to climb over the step. .

In step S345, if the reverse movement flag is not ON (No), the drive control means 40 proceeds to step S350, and if the reverse movement flag is ON (Yes), the step-over process (step S300) ends. , return to overall processing.

In step S350, the drive control means 40 determines the first target movement distance Lm1 of both the left and right handles (20R, 20L), determines the backward movement distance Ld1 of the walking support device 10, and proceeds to step S355. The first target travel distance Lm1 and the backward travel distance Ld1 are predetermined values stored in advance, and Ld1≧Lm1.

In step S355, the drive control means 40 drives the motors (32R, 32L) (see FIG. 5) to move both the left and right handles (20R, 20L) forward by the first target movement distance Lm1, The driving wheels (rear wheels 60RR and 60RL) are driven so that the walking support device is moved backward by the backward movement distance Ld1, and the process proceeds to step S360.

In step S360, the drive control means 40 determines that the left and right handles (20R, 20L) have moved forward by the first target movement distance Lm1 and the walking support device 10 has moved backward by the backward movement distance Ld1. If so (Yes), proceed to step S365. The step-over process (step S300) is terminated, and the process returns to the overall process.

In step S365, the drive control means 40 sets the reverse process flag to ON (reverse process flag=ON), ends the step-over process (step S300), and returns to the overall process.

In step S370, if the handle fixation completion flag 2 is ON (Yes), the drive control means 40 proceeds to step SA305 in A1 (FIG. 9), and if the handle fixation completion flag 2 is not ON (No). goes to step S375.

In step S375, the drive control means 40 controls the handle movement limiting means (35R, 35L) to fix the respective positions of the left and right handles (20R, 20L) on the rails (30R, 30L). , go to step S380.

In step S380, the drive control means 40 sets the handle fixation completion flag 2 to ON (handle fixation completion flag 2=ON), and proceeds to step SA305 in A1 (FIG. 9).

At step SA305, if the forward process flag is not ON (No), the drive control means 40 proceeds to step SA310, and if the forward process flag is ON (Yes), the drive control means 40 proceeds to step SA335.

In step SA310, the drive control means 40 determines the second target movement distance Lm2 of both the left and right handles (20R, 20L), determines the forward distance Ld2 of the walking support device 10, and proceeds to step S355. The second target movement distance Lm2 and the forward distance Ld2 are predetermined values stored in advance, and Ld2≧Lm2.

In step SA315, the drive control means 40 sets the drive torque of the drive wheels (rear wheels 60RR, 60RL) to the bump climbing torque, and proceeds to step SA320. The step-climbing torque is the maximum driving torque of the driving wheels (rear wheels 60RR, 60RL) when the walking support device is moved forward so as to climb over the step when it is determined that the vehicle has come into contact with the step.

In step SA320, the drive control means 40 drives the motors (32R, 32L) so as to move both the left and right handles (20R, 20L) backward by the second target movement distance Lm2, thereby moving the walking support device forward. The drive wheels (rear wheels 60RR and 60RL) are driven so as to move forward by a distance Ld2, and the process proceeds to step SA325. The driving control means 40 controls the driving means (64R, 64L) so as to increase the driving torque in the driving wheels (rear wheels 60RR, 60RL), and moves the walking support device 10 forward so as to climb over the step. , the motors (32R, 32L) are controlled so as to move the handles (20R, 20L) rearward on the rails (30R, 30L) by a predetermined distance (corresponding to step climbing control).

At step SA325, the drive control means 40 determines that the left and right handles (20R, 20L) have moved backward by the second target movement distance Lm2 and the walking support device 10 has moved forward by the forward distance Ld2. If so (Yes), proceed to step SA330. The step-over process (step S300) is terminated, and the process returns to the overall process.

In step SA330, the drive control means 40 sets the forward process flag to ON (forward process flag=ON), and proceeds to step SA335.

In step SA335, if the drive control means 40 determines that |Ff-Fb| If it is determined that it is not (No), the process proceeds to step SA340. |Ff−Fb| is the absolute value of the difference between the force Ff applied in the forward direction and the force Fb applied in the rearward direction. Ferr is a predetermined value stored in advance. When |Ff−Fb| becomes smaller than a predetermined value, Ferr, the drive control means 40 ends the step climbing control.

In step SA340, if the drive control means 40 determines that the positions of the handles (20R, 20L) are near the rear ends of the rails (30R, 30L) (Yes), the process proceeds to step SA345. When it is determined that the positions of the hands (20R, 20L) are not near the rear ends of the rails (30R, 30L) (No), the step-over process (step S300) is terminated, and the process returns to the overall process.

In step SA345, if the handle fixation completion flag 3 is not ON (No), the drive control means 40 proceeds to step SA350, and if the handle fixation completion flag 3 is ON (Yes), the drive control means 40 proceeds to step SA370. .

In step SA350, the drive control means 40 determines the target fixed positions Pt of both the left and right handles (20R, 20L), and proceeds to step SA355. Note that the target fixed position Pt is a predetermined value stored in advance.

In step SA355, the drive control means 40 drives the motors (32R, 32L) to move the left and right handles (20R, 20L) to the target fixed positions Pt, and drives the walking support device 10 to stop. Stop driving the wheels (rear wheels 60RR, 60RL) and proceed to step SA360.

In step SA360, if the drive control means 40 determines that (the left and right handles (20R, 20L) have moved to the target fixed positions Pt and the walking support device 10 has stopped) (Yes), step SA365 , and if it is determined that the left and right handles (20R, 20L) have moved to the target fixed positions Pt and the walking support device 10 has stopped (No), the step climbing process (step S300) is performed. Terminate and return to the overall process.

In step SA365, the drive control means 40 sets the handle fixation completion flag 3 to ON (handle fixation completion flag 3=ON), ends the step climbing process (step S300), and returns to the overall process.

At step SA370, the drive control means 40 initializes (turns off) all flags, terminates the step climbing process (step S300), and returns to the overall process. Specifically, the drive control means 40 sets a step-climbing process flag 1, a step-climbing process flag 2, a handle fixation completion flag 1, a handle fixation completion flag 2, a handle fixation completion flag 3, and a backward movement. The processing flag and forward processing flag are set to OFF.

● [Description of the step-over operation of the walking support device 10 (Fig. 11)]
FIG. 11 is a diagram for explaining the step-over operation of the walking support device (10, 10A, 10B, 10C). The walking support device 10 is a diagram for explaining the operation of the walking support device in a normal state (state not in contact with a step). The walking support device 10A is a diagram for explaining the operation of the walking support device in a state where the walking support device comes into contact with a step STP on the road surface and the walking support device stops. The walking support device 10B is a diagram for explaining the operation of the walking support device in a state where the walking support device contacts a step on the road surface and the user moves the walking support device backward. The walking support device 10C is a diagram for explaining the operation of the walking support device after the user moves the walking support device backward and then the user moves the walking support device forward to get over a step. Each step indicates a step of processing in FIGS. 6 to 9. FIG.

In the state of the walking support device 10, the drive control means 40 (see FIG. 5) controls the movement load (step S100) and walking control (step S200) to move the walking support device forward and backward in accordance with the arm swing of the user. Turn right, turn left.

In the state of the walking support device 10A, the drive control means 40 controls the impact on the wheels (front wheels 60FR, 60FL) due to contact with the step STP based on the information from the three-axis acceleration/angular velocity sensor 52 (see FIG. 5). (step S10). For example, when the wheels (front wheels 60FR, 60FL) come into contact with the step STP and the wheels (front wheels 60FR, 60FL) ride on the step STP, the walking support device 10A instantaneously receives an acceleration Fz in the Z-axis direction and an acceleration Fy in the Y direction. occurs on a regular basis. The drive control means 40 compares each of the acceleration Fz and the acceleration Fy in the Y direction with a predetermined value stored in advance to determine whether or not there is an impact on the wheels (front wheels 60FR and 60FL). Determine the presence or absence of contact.

In the state of the walking support device 10A, when the drive control means 40 determines that there is contact with the step STP, the step-over process (step S300) is executed. When the user pulls the handles (20R, 20L) backward (force applied forward Ff<force applied backward Fb), the drive control means 40 causes the user to move the walking support device backward. It is determined that the user desires to allow the user to operate (step S325). The drive control means 40 moves the handles (20R, 20L) forward on the rails (30R, 30L) by a distance of k×Lm1, and moves the walking support device backward by a distance of k×Ld1 (steps S350 to S355). Since the distance by which the walking support device is moved backward is greater than the distance by which the handle (20R, 20L) is moved forward (Ld1≧Lm1), the handle (20R, 20L) is positioned backward from the position P1. Move to a certain position P2. In addition, the walking support device moves to the position of the walking support device 10B behind the position of the walking support device 10A by a distance of k×Ld1 in the Z-axis direction. Note that k is a matching constant, which is a constant for reducing variations in target performance caused by variations in the characteristics of parts constituting the walking support device and matching the target performance.

In the state of the walking support device 10B, when the user pushes the handles (20R, 20L) forward (force Ff applied in the forward direction>force Fb applied in the rearward direction), It is determined that the user wishes to move the walking support device forward (step S340). The drive control means 40 moves the handles (20R, 20L) backward on the rails (30R, 30L) by a distance of k×Lm2, and advances the walking support device by a distance of k×Ld2 (steps SA310 to SA310). SA320). Since the forward distance of the walking support device is greater than the backward movement distance of the handles (20R, 20L) (Ld2≧Lm2), the handles (20R, 20L) move forward from the position P2. Move to a certain position P3. In addition, the walking support device moves from the position of the walking support device 10B to the position of the walking support device 10C ahead of the position of the walking support device 10B by a distance of k×Ld2 in the Z-axis direction.
● [Effects of the application]

As described above, the walking support device of the present invention can easily climb over a step when encountering a step without adding any other parts.

The walking support device of the present invention is not limited to the configuration, structure, shape, processing procedure, etc. described in the present embodiment, and various changes, additions, and deletions are possible without changing the gist of the present invention. . Greater than (≧), less than (≦), greater than (>), less than (<), etc. may or may not include an equal sign. Also, the numerical values used in the description of the present embodiment are examples, and the present invention is not limited to these numerical values.

In this embodiment, an example in which the walking support device is a four-wheeled vehicle and has two driving wheels has been described. The two wheels may be caster wheels. That is, the walking support device should have at least one driving wheel. Further, in the present embodiment, when the step is overcome, the walking support device is moved backward and then forward to overcome the step, but the step may be overcome only by forward movement without backward movement.

In the description of the present embodiment, an example is described in which walking control (forward movement, right turn, left turn) in the walking support device is performed by swinging the arm of the user. A walking support device that does not control walking by swinging the arm may be used as long as it can move in the front-rear direction of the rail. Although an example in which the rails 30R and 30L have an upwardly curved concave shape has been described, the rails 30R and 30L may have a linear shape. Further, the walking support device described in the present embodiment has a rail and a handle, and an example of a configuration in which the handle is moved in the front-rear direction along the rail has been described. However, in place of the rail, a handle is provided at the tip of a stock-like member that protrudes swingably from a rotating shaft provided on the frame, and the handle swings back and forth with respect to the frame. Anything that makes you do it is fine.

Further, the grip portion driving means for moving the handles 20R and 20L in the front-rear direction with respect to the frame 50 is limited to the configuration of the electric motors (motors 32R and 32L), pulleys, and wires described in the present embodiment. Instead, the handles 20R and 20L can be moved back and forth with respect to the frame 50 in various configurations. Further, the configuration, arrangement, etc. of the right hand position detection means 34R and the left hand position detection means 34L for detecting the positions of the respective handles 20R, 20L are limited to those shown in the present embodiment. can be of various configurations and arrangements. Further, the configuration, arrangement, etc. of the right hand inclination detection means 33R and the left hand inclination detection means 33L for detecting the inclination of the respective handles 20R, 20L are limited to those shown in the present embodiment. can be of various configurations and arrangements. Moreover, the grip detecting means 25R and 25L for detecting the force applied to the respective handles 20R and 20L are not limited to the configuration and arrangement shown in the present embodiment, and various configurations and arrangements may be made. can be done. In addition, although an example (see FIGS. 3 and 4) in which biasing means (such as a spring) is provided on each of the handles 20R and 20L has been described, various elastic members can be applied without being limited to springs and the like. You can make it work.

10 walking support device 10A, 10B, 10C walking support device 20R, 20L handle 21a handle shaft portion 21b shaft portion insertion hole 22 slider 22A handle holding portion 22B anchor portion 24 biasing means 25R, 25L grip detection means 25aR, 25aL Grip detecting means 26a Grip portion 26b Switch grip portion 26ba Switch grip portion 28 Grip urging means 30R, 30L Rail (arm portion)
32R, 32L Motor 33R Right Hand Inclination Detection Means 33L Left Hand Inclination Detection Means 34R Right Hand Position Detection Means 34L Left Hand Position Detection Means 35R, 35L Hand Movement Limiting Means 36 Signal Cable 38 Rail Slit Section 40 Drive Control Means 42 Handle information acquisition means 44 Storage means 50 Frame 52 3-axis acceleration/angular velocity sensor 60FR, 60FL Front wheels 60RR, 60RL Rear wheels 62 Belts 64R, 64L Driving means 70 Control panel 72 Main switch 74a Assist amount adjustment volume 74b Load amount adjustment Volume 76 Movement load control mode switch 78 Monitor B Battery BKL Brake lever JK Handle support shaft PB, PF Pulley W Wire k Matching constant Lm1 First target movement distance Lm2 Second target movement distance Ld1 Reverse distance Ld2 Forward distance Fz Acceleration Fy Acceleration P1 position P2 position P3 position Pt target fixing position STP step Fb force applied in the rearward direction Ff force applied in the forward direction 301 wheel for step-crossing 310 fixed holder 311 fixed holder shaft 312 fixed spring support part 320 movable holder 321 movable holder length Hole 322 Front spring support 323 Rear spring support 324 Rear wheel shaft member 325 Front spring 326 Rear spring 331 Front wheel 332 Rear wheel

Claims (6)

a frame;
a pair of left and right arm portions provided on the frame;
a pair of left and right grip portions provided on the pair of left and right arm portions, capable of being gripped by a user and movable in the front-rear direction with respect to the frame;
a plurality of wheels including at least one drive wheel provided at the lower end of the frame;
a driving means for driving the driving wheels to move the walking support device forward or backward;
a battery that serves as a power source for the driving means;
drive control means for controlling the drive means;
step contact detection means for detecting contact with a step on the road surface;
and moves forward or backward together with a user who is walking while swinging his or her arms by holding the respective grips,
The drive control means is
detecting contact between the step and the wheel based on the detection signal from the step contact detection means;
When it is determined that the vehicle has come into contact with a step, the step-climbing control is executed to control the drive means to increase the driving torque of the driving wheels and move the walking support device forward so as to overcome the step. ,
and each gripping portion driving means capable of moving each of the gripping portions,
The drive control means is
controlling the gripping portion driving means to move the gripping portion backward by a predetermined distance with respect to the frame when executing the step climbing control;
Walking support device. The walking support device according to claim 1 ,
gripper movement limiting means for restricting movement of each of the grippers relative to the frame;
The drive control means is
When it is determined that the wheel has come into contact with a step based on the detection signal from the step contact detection means, the grip portion driving means is controlled so as to move each of the grip portions to a predetermined position with respect to the frame. and controlling and fixing the gripping portion movement limiting means;
Walking support device. The walking support device according to claim 1 or 2 ,
Provided with gripping portion state detection means for detecting the state of each of the gripping portions,
The drive control means is
When it is determined that the wheel has come into contact with a step based on the detection signal from the step contact detection means, and further based on the information from the grip portion state detection means, the user desires to climb over the step. When it is determined that there is an intention to climb over, the step climbing control is executed;
Walking support device. The walking support device according to claim 1 or 2 ,
Provided with gripping portion state detection means for detecting the state of each of the gripping portions,
The drive control means is
When it is determined that the wheel has come into contact with a step based on the detection signal from the step contact detection means, and when the user's intention to move backward is detected based on the information from the grip portion state detection means. and controlling the driving means to move the walking support device backward by a predetermined distance, and thereafter, based on the information from the grip portion state detecting means, the user has an intention to climb over the step. When it is determined that the step climbing control is performed,
Walking support device. The walking support device according to claim 3 or 4 ,
The drive control means is
After a predetermined period of time after it is determined that the wheel has come into contact with the step, each of the gripping portions receives a forward force applied to each of the gripping portions based on information from the gripping portion state detection means. Determining that the user has an intention to climb over the step when the force applied in the backward direction is greater than the force applied;
Walking support device. The walking support device according to any one of claims 3 to 5 ,
The drive control means is
After determining that the user has the intention to climb over the step,
When the difference between the forward force applied to each of the gripping portions and the rearward force applied to each of the gripping portions becomes smaller than a predetermined magnitude based on the information from the grip portion state detection means. , or when each position of the gripping portion with respect to the frame is a position near the rear end, the step climbing control is terminated;
Walking support device.

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