JP7340767B2 - Walking support device - Google Patents

Description

The present disclosure relates to technology for supporting a user's walking.

Conventionally, there are walking support robots that improve the physical abilities of users such as elderly people while supporting their walking.

For example, Patent Document 1 discloses a walking support robot that moves according to a handle load while supporting a user's walking. The walking support robot disclosed in Patent Document 1 uses a detection unit to detect the handle load applied to the handle of the walk support robot, moves the walking support robot using a moving device according to the handle load detected by the detection unit, and moves the handle load on the handle of the walk support robot. The user's foot position is estimated based on changes in the load, and the load to be applied to the user is set based on the foot position information.

However, the above-mentioned conventional technology does not disclose automatic adjustment of the height of the handle portion, and further improvements are needed.

Japanese Patent Application Publication No. 2018-153542

The present disclosure has been made in order to solve the above problems, and provides a technology that can stably support a user's walking and more effectively improve the user's physical abilities. The purpose is to

A walking support device according to an aspect of the present disclosure includes a main body, a handle that is provided on the main body and can be held by a user, a load setting unit that sets a load to be applied to the user, and a load setting unit that includes a movement control unit that controls a rotating body to move the walking support device based on the set load; a handle lifting mechanism that includes an actuator and lifts and lowers the handle unit; and controlling the handle lifting mechanism; A handle height adjustment part that automatically adjusts the height of the handle part is provided.

According to the present disclosure, it is possible to stably support the user's walking, and it is also possible to more effectively improve the user's physical ability.

1 is an external view showing the configuration of a walking support device according to Embodiment 1 of the present disclosure. FIG. 1 is a block diagram showing the configuration of a walking support device according to Embodiment 1 of the present disclosure. 2 is a flowchart for explaining walking support processing by the walking support device according to Embodiment 1 of the present disclosure. FIG. 2 is a block diagram showing the configuration of a walking support device according to Embodiment 2 of the present disclosure. It is a flow chart for explaining walking support processing by a walking support device concerning Embodiment 2 of this indication. FIG. 3 is a block diagram showing the configuration of a walking support device according to Embodiment 3 of the present disclosure. 12 is a first flowchart for explaining walking support processing by the walking support device according to Embodiment 3 of the present disclosure. 12 is a second flowchart for explaining walking support processing by the walking support device according to Embodiment 3 of the present disclosure. FIG. 3 is a block diagram showing the configuration of a walking support device according to Embodiment 4 of the present disclosure. 12 is a first flowchart for explaining walking support processing by the walking support device according to Embodiment 4 of the present disclosure. 12 is a second flowchart for explaining walking support processing by the walking support device according to Embodiment 4 of the present disclosure. FIG. 3 is a block diagram showing the configuration of a walking support device according to Embodiment 5 of the present disclosure. 12 is a first flowchart for explaining walking support processing by the walking support device according to Embodiment 5 of the present disclosure. 12 is a second flowchart for explaining walking support processing by the walking support device according to Embodiment 5 of the present disclosure. FIG. 3 is a block diagram showing the configuration of a walking support device according to Embodiment 6 of the present disclosure. 12 is a flowchart for explaining walking support processing by the walking support device according to Embodiment 6 of the present disclosure. FIG. 3 is a block diagram showing the configuration of a walking support device according to Embodiment 7 of the present disclosure. 11 is a first flowchart for explaining walking support processing by a walking support device according to Embodiment 7 of the present disclosure. 12 is a second flowchart for explaining walking support processing by the walking support device according to Embodiment 7 of the present disclosure. FIG. 3 is a block diagram showing the configuration of a walking support device according to Embodiment 8 of the present disclosure. 12 is a flowchart for explaining walking support processing by a walking support device according to Embodiment 8 of the present disclosure. FIG. 7 is a block diagram showing the configuration of a walking support device according to Embodiment 9 of the present disclosure. 11 is a first flowchart for explaining walking support processing by the walking support device according to Embodiment 9 of the present disclosure. 12 is a second flowchart for explaining walking support processing by the walking support device according to Embodiment 9 of the present disclosure. FIG. 3 is a block diagram showing the configuration of a walking support device according to Embodiment 10 of the present disclosure. 12 is a first flowchart for explaining walking support processing by the walking support device according to Embodiment 10 of the present disclosure. 12 is a second flowchart for explaining walking support processing by the walking support device according to Embodiment 10 of the present disclosure.

(Findings that formed the basis of this disclosure)
The appropriate height of the handle portion of the walking support device varies depending on the user. If the height of the handle of the walking support device is not the optimal height for the user, it will be difficult to stably support the user's walking, and it will be difficult to improve the user's physical abilities more effectively. be. Therefore, the height of the handle portion of the walking support device needs to be adjusted for each user. However, the above-mentioned prior art does not disclose automatically adjusting the height of the handle portion.

In order to solve the above problems, a walking support device according to an aspect of the present disclosure includes a main body part, a handle part provided on the main body part that can be grasped by a user, and a load that sets a load to be applied to the user. a setting section, a movement control section that controls a rotating body to move the walking support device based on the load set by the load setting section, and a handle lifting mechanism that includes an actuator and lifts and lowers the handle section. , a handle height adjustment section that controls the handle lifting mechanism and automatically adjusts the height of the handle section.

According to this configuration, the height of the handle portion of the walking support device that applies a load to the user and supports the user's walking is automatically adjusted for each user, so it is possible to stably support the user's walking. At the same time, the user's physical ability can be improved more effectively.

Further, in the above-mentioned walking support device, a user information storage unit further includes a user information storage unit that stores in advance user information in which user identification information for identifying the user is associated with a height of the handle portion according to the user; The handle height adjusting unit further includes a user recognition unit that recognizes the user, and the handle height adjustment unit adjusts the height of the handle unit that is associated with the user identification information of the user recognized by the user recognition unit. may be acquired from the user information storage section, and the handle section may be raised or lowered according to the acquired height.

According to this configuration, a user is recognized, the height of the handle portion associated with the user identification information of the recognized user is acquired, and the handle portion is raised or lowered according to the acquired height. Therefore, the height of the handle portion can be automatically adjusted to a pre-stored height according to the user.

Further, in the above-mentioned walking support device, the user information storage unit further includes a user information storage unit that stores in advance user information in which user identification information for identifying the user is associated with the height of the user; The handle height adjustment unit includes a handle information storage unit that stores in advance handle information that associates the height of the handle unit with the height of the handle, and a user recognition unit that recognizes the user. The height of the user, which is associated with the user identification information of the user recognized by the user recognition unit, is acquired from the user information storage unit, and the height of the handle unit is associated with the acquired height. may be acquired from the handle information storage section, and the handle section may be raised or lowered according to the acquired height.

According to this configuration, the user is recognized, the height of the handle portion corresponding to the height of the recognized user is acquired, and the handle portion is raised or lowered according to the acquired height. Therefore, the height of the handle portion can be automatically adjusted to a pre-stored height according to the user's height.

The above-mentioned walking support device further includes a load detection unit that detects a moment in a roll direction applied to the handle portion, and the handle height adjustment unit is configured to adjust the height of the handle to a predetermined position when the user is walking while pushing the walk support device. During the period, the moment in the roll direction detected by the load detection section is acquired, and if the variance value or maximum value of the moment during the acquired predetermined period is smaller than a threshold value, the height at that time is set to the handle section. If the height is determined to be a height of , and the obtained variance value or maximum value of the moment during the predetermined period is equal to or greater than a threshold value, the handle portion may be raised or lowered.

If the variance value or maximum value of the detected moment in the roll direction is smaller than the threshold value during a predetermined period in which the user is walking while pushing the walking support device, it can be said that the user's walking is stable. Therefore, when the variance value or the maximum value of the moment for a predetermined period is smaller than the threshold value, the height at that time is determined as the height of the handle portion. Further, if the variance value or the maximum value of the detected moment in the roll direction is greater than or equal to the threshold value during a predetermined period in which the user is walking while pushing the walking support device, it can be said that the user's walking is unstable. Therefore, when the variance value or the maximum value of the moment for a predetermined period is greater than or equal to the threshold value, the handle portion is raised or lowered. Then, after the handle portion is raised or lowered, the moment in the roll direction detected during a predetermined period in which the user is walking while pushing the walking support device is acquired again. Therefore, the handle portion can be automatically adjusted to the height when the user is walking stably.

The above-mentioned walking support device further includes a load detection section that detects a load applied to the handle section, and the handle height adjustment section is arranged so that the user stands upright while holding the handle section, or when the user stands upright while holding the handle section, or When the user is walking while pushing the walking support device, the handle part is raised or lowered, and the load applied in the downward direction is detected by the load detection part while the handle part is being raised or lowered. is obtained, and if the obtained load applied in the downward direction falls within a predetermined range, the height at that time is determined as the height of the handle portion, and the raising or lowering of the handle portion is stopped. good.

According to this configuration, the handle portion is raised or lowered when the user is standing upright holding the handle portion or when the user is walking while pushing the walking support device. If the load applied to the downward direction of the handle falls within a predetermined range while the handle is rising or falling, the height at that time is determined as the height of the handle, and the height of the handle falls within a predetermined range. Ascent or descent is stopped. Therefore, when the downward load on the handle falls within a predetermined range that is optimal for the user, the height at that time is determined as the height of the handle. It can be automatically adjusted to the optimal height.

The above-mentioned walking support device further includes a load detection section that detects a load applied to the handle section, and the handle height adjustment section is arranged so that the user stands upright while holding the handle section, or when the user stands upright while holding the handle section, or In a state where the user is walking while pushing the walking support device, the load applied in the downward direction detected by the load detection unit is acquired, and if the acquired load applied in the downward direction is equal to or greater than a predetermined value, the handle If the acquired downward load becomes less than the predetermined value, the height at that time is determined as the height of the handle part, and the raising of the handle part is stopped. good.

According to this configuration, when the user is holding the handle and standing upright, or the user is pushing the walking support device while walking, if the load applied downward to the handle is equal to or greater than a predetermined value, the handle is raised. If the load applied downward to the handle becomes less than a predetermined value, the height at that time is determined as the height of the handle, so the height of the handle is set to the height that is optimal for the user. Can be adjusted automatically.

Further, in the above-mentioned walking support device, a load detection unit that detects a load applied to the handle portion, and elbow angle information that associates the load applied to the handle portion and the angle of the elbow are stored in advance. an elbow angle information storage section, and the handle height adjustment section adjusts the height of the handle when the user is standing upright holding the handle, or when the user is walking while pushing the walking support device. while the handle part is being raised or lowered, the load applied in the vertical direction detected by the load detection part is obtained, and the load is correlated to the acquired load applied in the vertical direction. The angle of the elbow being held is acquired from the elbow angle information storage unit, and when the acquired angle of the elbow becomes a predetermined angle, the height at that time is determined as the height of the handle part, and the height of the handle part is determined. The raising or lowering of the part may be stopped.

According to this configuration, the handle portion is raised or lowered when the user is standing upright holding the handle portion or when the user is walking while pushing the walking support device. If the angle of the user's elbow corresponding to the load applied in the vertical direction of the handle reaches a predetermined angle while the handle is rising or falling, the height at that time becomes the height of the handle. is determined, and the raising or lowering of the handle portion is stopped. Therefore, when the angle of the user's elbow reaches a predetermined angle that is optimal for the user, the height at that time is determined as the height of the handle, so the height of the handle can be adjusted to the optimal height for the user. can be adjusted automatically.

The above-mentioned walking support device further includes a load detection section that detects a load applied to the handle section, and the handle height adjustment section is configured to detect the load applied in the upward and downward directions detected by the load detection section. A load is obtained, and if the obtained load applied in the upward direction is equal to or greater than a threshold value, the handle portion is raised; if the obtained load applied in the downward direction is equal to or greater than the threshold value, the handle portion is lowered; While the handle part is rising or falling, the load applied in the upward or downward direction detected by the load detection part is obtained, and the obtained load applied in the upward or downward direction is equal to or less than a predetermined value. In this case, the height at that time may be determined as the height of the handle portion, and the raising or lowering of the handle portion may be stopped.

According to this configuration, when the user performs an action of pulling up the handle portion, an upward load is applied, and when the user performs an action of pushing down the handle portion, a downward load is applied. When the user releases his or her hand from the handle that was applying upward or downward force, the load applied upward or downward to the handle becomes close to zero. Therefore, the user pulls the handle upward and releases the handle when the user reaches a height that he or she feels is optimal. The user also pushes the handle downward and releases the handle when the user reaches a height that he or she feels is optimal. Thereby, the height of the handle portion can be adjusted to a height that the user feels is optimal.

The walking support device may further include a position detection unit that detects positions of a plurality of body parts of the user in a predetermined space; a posture information storage section that stores in advance posture information indicating the positional relationship of the plurality of parts of the human body in the predetermined space; When the user is standing upright or walking while pushing the walking support device, the handle portion is raised or lowered, and while the handle portion is being raised or lowered, the position is detected by the position detection unit. acquiring the positions of the plurality of body parts in the predetermined space, and the positional relationship between the acquired positions of the plurality of body parts in the predetermined space is the same as the positional relationship stored in the posture information storage unit; When the height is reached, the height at that time may be determined as the height of the handle portion, and the raising or lowering of the handle portion may be stopped.

According to this configuration, the handle portion is raised or lowered when the user is standing upright holding the handle portion or when the user is walking while pushing the walking support device. While the handle section is rising or falling, the positions of multiple parts of the user's body in a predetermined space are acquired, and the positional relationship between the acquired positions of the multiple parts in the predetermined space is stored in advance. When the positional relationship becomes the same as that shown in FIG. Therefore, when the positional relationship between the positions of multiple parts of the user's body in a predetermined space becomes a predetermined positional relationship that is optimal for the user, the height at that time is determined as the height of the handle part. The height of the handle can be automatically adjusted to the optimal height for the user.

The walking support device further includes an exercise load detection section that detects an exercise load applied to the user, and the handle height adjustment section changes the height of the handle section to each of a plurality of heights. After changing the height of the handle part, the exercise load detected by the exercise load detection part is acquired while the user is walking while pushing the walking support device, and Among them, the height at which the acquired exercise load becomes maximum may be determined as the height of the handle portion.

According to this configuration, after the height of the handle part is changed, the detected exercise load is acquired while the user is walking while pushing the walking support device, and the acquired exercise load is selected from among the plurality of heights. The height at which the load is maximum is determined as the height of the handle portion. Therefore, the height of the handle portion is determined to be the height at which the exercise load applied to the user is maximum, so that the height of the handle portion can be automatically adjusted to the optimal height for the user.

The walking support device further includes an input receiving section that receives an input from the user as to whether or not the height of the handle section is a comfortable height, and the handle height adjustment section is configured to adjust the height of the handle section. If the height of the handle part is input as being at a comfortable height, the height at that time is determined as the height of the handle part, and the height of the handle part is raised or lowered. It may be stopped.

According to this configuration, the handle portion is raised or lowered, and input from the user as to whether the height of the handle portion is at a comfortable height is accepted, and it is determined that the height of the handle portion is at a comfortable height. If the height is input, the height at that time is determined as the height of the handle portion, so that the height of the handle portion can be automatically adjusted to the height optimal for the user.

The walking support device may further include a correction receiving unit that receives correction of the height of the handle by the user after the height of the handle is automatically adjusted by the handle height adjuster. , further comprising a correction value storage unit that stores the correction value accepted by the correction reception unit, and when the correction value is stored in the correction value storage unit, the handle height adjustment unit determines the correction value. The correction value may be added to the height of the handle portion.

According to this configuration, after the height of the handle portion is automatically adjusted, correction of the height of the handle portion by the user is accepted, and the accepted correction value is stored in the correction value storage unit. If the correction value is stored in the correction value storage section, the correction value is added to the determined height of the handle section. Therefore, the determined height of the handle portion can be automatically corrected to the height desired by the user.

Furthermore, the walking support device described above may further include a safety control unit that controls the handle lifting mechanism or the rotating body when raising and lowering the handle unit.

According to this configuration, when the handle part moves up and down, the handle lift mechanism or the rotating body is controlled so as to improve safety, so that the handle part can be raised and lowered safely.

Furthermore, in the walking support device described above, the safety control section may stop the rotating body when raising and lowering the handle section.

According to this configuration, since the rotating body is stopped when the handle part is raised and lowered, the handle part can be safely raised and lowered while the walking support device is stopped.

The walking support device further includes a handle grip detection section that detects whether or not the user is gripping the handle section, and the safety control section is configured to detect the handle section when the handle section is raised or lowered. When the handle grip detection unit detects that the user is gripping the handle part, the lifting and lowering of the handle part may be stopped.

According to this configuration, if it is detected that the user is grasping the handle when the handle is moving up and down, the elevation of the handle is stopped, so when the user is not grasping the handle, The handle part can be raised and lowered safely, and the handle part can be raised and lowered safely.

The walking support device further includes a load detection unit that detects a load applied to the handle portion, and the safety control unit is configured to detect a load that is applied to the right direction and a load applied to the left direction when the difference between the load applied to the right direction and the load applied to the left direction is greater than or equal to a threshold value. In some cases, the handle portion may be stopped from moving up and down.

According to this configuration, when the difference between the load applied to the right side and the load applied to the left side of the handle part is equal to or greater than a threshold value, that is, when an object is hung on the handle part, the lifting and lowering of the handle part is stopped. Therefore, the handle part can be raised and lowered when no object is hung on the handle part, and the handle part can be raised and lowered safely.

The above-mentioned walking support device further includes a load detection unit that detects a load applied to the handle part, and the safety control unit detects a load applied in an upward direction when the load applied in an upward direction is a threshold value or more, or a load applied in a downward direction. is equal to or greater than a threshold value, the lifting and lowering of the handle portion may be stopped.

According to this configuration, when the load applied in the upward direction of the handle part is equal to or more than the threshold value, or when the load applied in the downward direction is equal to or more than the threshold value, the raising and lowering of the handle part is stopped. It is possible to prevent the handle portion from continuing to rise or fall if it comes into contact with an object while descending.

Further, in the walking support device described above, the lifting direction of the handle portion is inclined with respect to the vertical direction, and the safety control portion moves the walking support device forward when raising the handle portion, and When lowering the handle portion, the walking support device may be moved backward.

According to this configuration, if the lifting direction of the handle part is inclined with respect to the vertical direction, the walking support device moves forward when the handle part goes up, and the walking support device moves forward when the handle part goes down. Go backwards. Therefore, when the handle part rises, the walking support device moves forward according to the rise of the handle part, so that the user is no longer pushed by the handle part, and the user can be prevented from falling. Moreover, when the handle part is lowered, the walking support device moves backward in accordance with the lowering of the handle part, so that the user is no longer pulled by the handle part, and it is possible to prevent the user from falling.

The walking support device further includes a rotation speed detection section that detects the rotation speed of the rotating body, and the safety control section is configured such that the rotation speed detected by the rotation speed detection section is equal to or higher than a threshold value. In this case, the handle portion may be stopped from moving up and down.

According to this configuration, the rotation speed of the rotating body is detected, and when the detected rotation speed is equal to or higher than the threshold value, that is, when the walking support device is moving, the lifting and lowering of the handle part is stopped, so that the rotation speed of the rotating body is detected. The handle part can be safely raised and lowered with the support device stopped.

The above-mentioned walking support device further includes an acceleration detection section that detects acceleration of the walking support device, and when the acceleration detected by the acceleration detection section is equal to or higher than a threshold, the safety control section controls the The handle portion may be raised and lowered so that the height of the handle portion becomes a predetermined height at which the walking support device is stabilized.

According to this configuration, the acceleration of the walking support device is detected, and when the detected acceleration is equal to or higher than the threshold value, the height of the handle portion is adjusted to a predetermined height at which the walking support device is stabilized. is raised and lowered. Therefore, it is possible to prevent the walking support device from falling over due to sudden movement of the walking support device.

In addition, the present disclosure can be implemented not only as a walking support device having the above-described characteristic configuration, but also as a walking support method that executes characteristic processing corresponding to the characteristic configuration of the walking support device. It can also be realized as Further, the characteristic processing included in such a walking support method can also be realized as a computer program that causes a computer to execute it. Therefore, the following other aspects can also produce the same effects as the above-mentioned walking support device.

A walking support method according to another aspect of the present disclosure is a walking support method in a walking support device that includes a main body and a handle that is provided on the main body and can be grasped by a user, the method comprising: is set, and based on the set load, a rotating body is controlled to move the walking support device, a handle lifting mechanism having an actuator that raises and lowers the handle part is controlled, and the height of the handle part is adjusted. automatically adjust.

A walking support program according to another aspect of the present disclosure is a walking support program for supporting the user's walking using a walking support device that includes a main body and a handle that is provided on the main body and can be grasped by the user. A handle lifting mechanism that sets a load to be applied to the user, controls a rotating body to move the walking support device based on the set load, has an actuator, and lifts and lowers the handle part. controlling and activating the computer to automatically adjust the height of the handle portion.

Embodiments of the present disclosure will be described below with reference to the accompanying drawings. Note that the following embodiments are examples that embody the present disclosure, and do not limit the technical scope of the present disclosure.

(Embodiment 1)
FIG. 1 is an external view showing the configuration of a walking support device 1 according to Embodiment 1 of the present disclosure.

The walking support device 1 shown in FIG. 1 includes a main body part 2, a handle part 3, a control part 4, a moving part 5, a handle elevating mechanism 6, an IC card reader 7, a load sensor 8, a touch panel 9, and a front wheel part 10.

The main body part 2 is constructed of a frame having a rigidity that supports other structural members and can support the load when the user walks.

The handle part 3 is provided on the upper part of the main body part 2 and can be grasped by the user. The handle portion 3 is shaped so that it can be easily held by both hands of the user while walking.

The control section 4 is built into the main body section 2. The control unit 4 is realized by a microprocessor and memory. The memory is a storage device capable of storing various information, such as a RAM (Random Access Memory), an SSD (Solid State Drive), or a flash memory.

The handle lifting mechanism 6 is built into the main body 2. The handle elevating mechanism 6 includes an electric actuator (actuator) and raises and lowers the handle portion 3. An electric actuator includes a motor and a ball screw that converts rotational motion of the motor into linear motion. The handle lifting/lowering mechanism 6 raises the handle part 3 and lowers the handle part 3. Thereby, the height of the handle portion 3 is adjusted. Note that the direction in which the handle portion 3 moves up and down is inclined toward the user with respect to the vertical direction.

The IC card reader 7 is built into the handle portion 3. The IC card reader 7 reads information stored in the IC card in a contactless manner using NFC (Near Field Communication). The IC card stores in advance a user ID (user identification information) for identifying the user. The user brings the IC card storing his or her user ID close to the IC card reader 7. Thereby, the IC card reader 7 acquires the user ID from the nearby IC card.

The load sensor 8 is built into the joint between the main body 2 and the handle 3. The load sensor 8 detects the load applied to the handle portion 3. The load sensor 8 detects the load that the user applies to the handle 3 when the user grips the handle 3 . Specifically, when the user walks while holding the handle 3, the user applies a load to the handle 3. The load sensor 8 detects the direction and magnitude of the load applied to the handle portion 3 by the user.

The load sensor 8 is a six-axis force sensor that can detect forces applied in the directions of three axes perpendicular to each other and moments around the three axes. The three axes that are perpendicular to each other are an x-axis extending in the left-right direction of the walking support device 1, a y-axis extending in the front-back direction of the walking support device 1, and a z-axis extending in the height direction of the walking support device 1. It is the axis. The forces applied in the three axial directions are a force Fx applied in the x-axis direction, a force Fy applied in the y-axis direction, and a force Fz applied in the z-axis direction. In the first embodiment, of the force Fx, the force applied in the right direction is +Fx, and the force applied in the left direction is −Fx. Of the force Fy, the force applied in the front direction is +Fy, and the force applied in the rear direction is -Fy. In the Fz direction, the force applied in the vertically downward direction to the walking surface is defined as -Fz, and the force applied in the vertically upward direction to the walking surface is defined as +Fz. The moments around the three axes are the moment Mx around the x-axis (pitch direction), the moment My around the y-axis (roll direction), and the moment Mz around the z-axis (yaw direction). be.

The moving unit 5 includes a pair of rotating bodies 51 provided at the rear lower part of the main body 2 and a pair of driving units 52 that drive and control the pair of rotating bodies 51, respectively.

The two rotating bodies 51 are provided at the tips of two rear legs extending rearward from the bottom of the main body 2 . The two rotating bodies 51 are wheels that support the main body part 2 in a self-supporting state and are rotationally driven by the driving part 52, respectively. In the first embodiment, the rotating body 51 is rotated by the drive unit 52 to move the walking support device 1. Specifically, the two rotating bodies 51 move the main body 2 forward or backward while keeping the walking support device 1 in an independent posture.

The drive unit 52 drives the rotating body 51 based on the load detected by the load sensor 8.

The moving section 5 moves the main body section 2. The moving unit 5 moves the main body 2 based on the magnitude and direction of the load (force and moment) detected by the load sensor 8.

The moving part 5 moves the main body part 2 in the forward direction when the force of +Fy is detected by the load sensor 8. That is, when the force of +Fy is detected by the load sensor 8, the walking support device 1 performs a forward motion. When the +Fy force detected by the load sensor 8 increases while the walking support device 1 is moving forward, the moving unit 5 increases the forward movement speed of the walking support device 1. On the other hand, when the +Fy force detected by the load sensor 8 becomes smaller while the walking support device 1 is moving forward, the moving unit 5 reduces the forward movement speed of the walking support device 1.

The moving section 5 moves the main body section 2 in the rear direction when the force of -Fy is detected by the load sensor 8. That is, when the force of -Fy is detected by the load sensor 8, the walking support device 1 performs a backward movement. When the force -Fy detected by the load sensor 8 increases while the walking support device 1 is performing a backward movement, the moving unit 5 increases the speed of backward movement of the walking support device 1. On the other hand, when the force -Fy detected by the load sensor 8 becomes smaller while the walking support device 1 is performing a backward movement, the moving unit 5 reduces the backward movement speed of the walking support device 1.

When the force sensor 8 detects a force of +Fy and a moment of +Mz, the moving section 5 pivots the main body section 2 to the right. That is, when the load sensor 8 detects a force of +Fy and a moment of +Mz, the walking support device 1 performs a right turning operation. While the walking support device 1 is performing a right turning operation, as the +Mz moment detected by the load sensor 8 increases, the turning radius of the walking support device 1 becomes smaller. Furthermore, while the walking support device 1 is performing a right turning operation, as the +Fy force detected by the load sensor 8 increases, the turning speed increases.

The moving unit 5 pivots the main body 2 to the left when a force of +Fy and a moment of -Mz are detected by the load sensor. That is, when the load sensor 8 detects a force of +Fy and a moment of -Mz, the walking support device 1 performs a left turning operation. While the walking support device 1 is performing a left turning operation, as the moment of -Mz detected by the load sensor 8 increases, the turning radius of the walking support device 1 becomes smaller. Further, while the walking support device 1 is performing a left turning operation, as the +Fy force detected by the load sensor 8 increases, the turning speed increases.

Note that the control of the moving unit 5 is not limited to the example described above. The moving unit 5 may control the forward movement and backward movement of the walking support device 1 based on the forces of Fy and Fz, for example. Further, the moving unit 5 may control the turning operation of the walking support device 1 based on the moment of Mx or My, for example. In addition, the handle load used to calculate the moving speed may be a forward (+Fy) load or a downward (-Fz) load, or a combination of a forward (+Fy) load and a downward (-Fz) load. The load may be a combination of the load Fz).

In the above embodiment, the rotating body 51 is driven and controlled based on the value of the load sensor 8, but the value of the load sensor 8 is not necessarily required, and the user's load setting value and the feedback value from the motor can also be used. The rotating body 51 may be driven and controlled.

The touch panel 9 displays various information and receives information input by the user.

The front wheel section 10 is provided at the front lower part of the main body section 2 and has a pair of rotating bodies (wheels). The two rotating bodies are provided at the tips of two front legs extending forward from the bottom of the main body 2. The front wheel portion 10 may include one rotating body (wheel).

Here, the detailed configuration of the control section 4 shown in FIG. 1 will be explained.

FIG. 2 is a block diagram showing the configuration of the walking support device 1 according to Embodiment 1 of the present disclosure.

The control section 4 shown in FIG. 2 includes a load setting section 21, a movement control section 22, a handle height adjustment section 23, a user recognition section 24, a user information storage section 25, and a safety control section 26.

The user information storage section 25 stores in advance user information in which a user ID (user identification information) for identifying a user is associated with a height of the handle section 3 according to the user. Note that the user information may include not only the height of the handle portion 3 but also various information regarding the user in association with the user ID. For example, the user information may associate a user ID with the user's age, gender, height, and weight. Further, for example, the user information may correspond to a user ID and a user's walking history. The walking history includes, for example, walking speed, walking time, and walking distance. Further, for example, the user information may correspond to a user ID and a load given to the user.

The load setting unit 21 sets the load to be applied to the user. The load setting unit 21 acquires and sets the load to be applied to the user, which is stored in the user information storage unit 25. The load setting unit 21 sets the load based on user information. For example, the load setting unit 21 may reduce the driving force of the moving unit 5 of the walking support device 1 depending on the magnitude of the load applied to the user. Specifically, the load setting unit 21 controls the driving force of the moving unit 5 by correcting the load detected by the load sensor 8, thereby controlling the load applied to the user. The moving unit 5 moves at a moving speed according to the load detected by the load sensor 8. Therefore, the load setting section 21 can change the moving speed of the moving section 5 by correcting the load.

The movement control unit 22 controls the rotating body 51 to move the walking support device 1 based on the load set by the load setting unit 21.

The user recognition unit 24 recognizes a user who uses the walking support device 1. The user recognition unit 24 acquires the user ID from the IC card reader 7, and determines whether the acquired user ID matches the user ID stored in the user information storage unit 25. If the acquired user ID and the user ID stored in the user information storage unit 25 match, the user recognition unit 24 recognizes that the user using the walking support device 1 is a previously registered user. Then, the user ID is output to the handle height adjustment section 23. On the other hand, if the acquired user ID and the user ID stored in the user information storage unit 25 do not match, the user recognition unit 24 determines that the user using the walking support device 1 is not a pre-registered user. A screen prohibiting the use of the walking support device 1 is displayed on the touch panel 9. Note that when the user recognition unit 24 recognizes that the user using the walking support device 1 is not a previously registered user, the user recognition unit 24 may display a screen on the touch panel 9 that prompts the user to register the user information.

The handle height adjustment section 23 controls the handle lifting mechanism 6 and automatically adjusts the height of the handle section 3. The handle height adjustment section 23 acquires the height of the handle section 3 associated with the user ID of the user recognized by the user recognition section 24 from the user information storage section 25, and adjusts the handle according to the acquired height. Part 3 is raised and lowered.

The safety control unit 26 controls the handle lifting mechanism 6 or the rotating body 51 when raising and lowering the handle unit 3. In the first embodiment, the safety control section 26 stops the rotating body 51 when the handle section 3 is raised or lowered. The movement controller 22 is instructed to stop the body 51. The movement control section 22 outputs a drive stop signal to the moving section 5 to stop the rotating body 51. When the drive unit 52 of the moving unit 5 acquires the drive stop signal, it stops driving the rotating body 51 and prevents the walking support device 1 from moving.

Next, walking support processing by the walking support device 1 according to Embodiment 1 of the present disclosure will be described.

FIG. 3 is a flowchart for explaining walking support processing by the walking support device 1 according to Embodiment 1 of the present disclosure.

First, in step S1, the user recognition unit 24 acquires a user ID from the IC card reader 7.

Note that in the first embodiment, the user recognition unit 24 acquires the user ID read by the IC card reader 7, but the present disclosure is not particularly limited to this, and the user recognition unit 24 acquires the user ID read by the IC card reader 7. The user ID may be obtained by reading the code. Further, the user recognition unit 24 may image the user's face with a camera and acquire the user ID associated with the captured face image from the user information storage unit 25. Further, the user recognition unit 24 may acquire the user's voice using a microphone, and acquire the user ID associated with the acquired voice from the user information storage unit 25.

Further, the user recognition unit 24 may cause the touch panel 9 to display a list of names of users whose user information is registered in advance, and allow the user to select his or her own name from the list. The user recognition unit 24 may acquire the user ID associated with the selected name from the user information storage unit 25.

Next, in step S2, the user recognition unit 24 recognizes the user who uses the walking support device 1 based on the user ID acquired from the IC card reader 7. If the acquired user ID and the user ID stored in the user information storage unit 25 match, the user recognition unit 24 recognizes that the user using the walking support device 1 is a previously registered user. Then, the user ID is output to the handle height adjustment section 23.

Next, in step S3, the handle height adjustment section 23 acquires the height of the handle section 3 associated with the user ID of the user recognized by the user recognition section 24 from the user information storage section 25.

Next, in step S4, the safety control section 26 instructs the movement control section 22 to stop the rotating body 51. The safety control section 26 instructs the movement control section 22 to stop the rotating body 51. The movement control section 22 outputs a drive stop signal to the moving section 5 to stop the rotating body 51. When the drive unit 52 of the moving unit 5 acquires the drive stop signal, it stops driving the rotating body 51 and prevents the walking support device 1 from moving.

Next, in step S5, the handle height adjustment section 23 raises and lowers the handle section 3 according to the acquired height. The handle height adjustment unit 23 outputs a handle lift signal to the handle lift mechanism 6 for raising and lowering the handle unit 3 to a position corresponding to the acquired height. The handle elevation mechanism 6 raises and lowers the handle portion 3 based on the handle elevation signal acquired from the handle height adjustment unit 23.

Next, in step S6, the safety control unit 26 releases the stoppage of the rotating body 51. The safety control unit 26 instructs the movement control unit 22 to release the stoppage of the rotating body 51. The movement control unit 22 outputs a stop release signal to the moving unit 5 to release the stoppage of the rotating body 51 . When the drive unit 52 of the moving unit 5 receives the stop release signal, it starts driving the rotating body 51 and makes the walking support device 1 movable.

Next, in step S7, the load setting unit 21 sets the load to be applied to the user. The load setting unit 21 acquires load information associated with the user ID of the user recognized by the user recognition unit 24 from the user information storage unit 25, and outputs the acquired load information to the movement control unit 22.

Next, in step S8, the movement control unit 22 moves the rotating body 51 based on the magnitude and direction of the load (force and moment) detected by the load sensor 8 and load information indicating the load applied to the user. Control. That is, the movement control unit 22 calculates the user's movement direction and movement speed based on the magnitude and direction of the load (force and moment) detected by the load sensor 8 and load information indicating the load applied to the user. do. Then, the movement control unit 22 calculates the amount of rotation of the rotating body 51 according to the calculated moving direction and moving speed, and outputs a drive signal to the moving unit 5 for driving with the calculated amount of rotation. The drive unit 52 of the moving unit 5 drives the rotating body 51 in response to a drive signal from the movement control unit 22.

In this way, the height of the handle portion 3 of the walking support device 1 that applies a load to the user and supports the user's walking is automatically adjusted for each user, so that it is possible to stably support the user's walking. At the same time, the user's physical ability can be improved more effectively.

Note that in the first embodiment, the safety control unit 26 instructs the movement control unit 22 to stop the rotating body 51 when moving the handle unit 3 up and down, but the present disclosure is particularly limited to this. Not done. If the moving section 5 has a physical brake, the safety control section 26 may instruct the movement control section 22 to apply the physical brake when moving the handle section 3 up and down. The movement control unit 22 may output a brake activation signal for applying a physical brake to the movement unit 5. When the moving unit 5 acquires the brake activation signal, it may actuate a physical brake and prevent the walking support device 1 from moving.

Furthermore, in the first embodiment, the walking support device 1 may include a handle grip detection section that detects whether the user is gripping the handle section 3 or not. When raising and lowering the handle part 3, the safety control part 26 may stop the raising and lowering of the handle part 3 if the handle grip detection part detects that the user is gripping the handle part 3.

Further, in the first embodiment, the safety control unit 26 acquires the load applied in the right direction and the load applied in the left direction detected by the load sensor 8, and compares the load applied in the right direction and the load applied in the left direction. It may be determined whether the difference is greater than or equal to a threshold value. The safety control unit 26 may stop the lifting and lowering of the handle unit 3 when the difference between the load applied in the right direction and the load applied in the left direction is a threshold value or more.

Further, in the first embodiment, the safety control unit 26 acquires the load applied in the upward direction or the load applied in the downward direction detected by the load sensor 8, and determines whether the load applied in the upward direction is equal to or greater than a threshold value. Alternatively, it may be determined whether the load applied in the downward direction is equal to or greater than a threshold value. The safety control unit 26 may stop the lifting and lowering of the handle portion 3 when the load applied in the upward direction is equal to or greater than a threshold value, or when the load applied in the downward direction is equal to or greater than a threshold value. Thereby, for example, when the handle part 3 comes into contact with the ceiling while rising, it is possible to prevent the handle part 3 from continuing to rise.

Furthermore, in the first embodiment, the walking support device 1 includes a voltage detection unit that detects a voltage applied to a motor included in the handle lift mechanism 6 or a current detection unit that detects a current applied to a motor included in the handle lift mechanism 6. It may also include a section. The safety control unit 26 may determine whether the voltage detected by the voltage detection unit is greater than or equal to a threshold value, or whether the current detected by the current detection unit is greater than or equal to a threshold value. The safety control section 26 may stop the vertical movement of the handle section 3 when the voltage detected by the voltage detection section is equal to or greater than the threshold value, or when the current detected by the current detection section is equal to or greater than the threshold value.

Further, in the first embodiment, the safety control unit 26 may move the walking support device 1 forward when raising the handle portion 3, and may move the walking support device 1 backward when lowering the handle portion 3. . In the first embodiment, the ascending and descending direction of the handle portion 3 is inclined with respect to the vertical direction. Therefore, when the user is gripping the handle part 3 and the handle part 3 rises while the walking support device 1 is stopped, the user will be pushed by the handle part 3. Therefore, when the handle part 3 is raised, by moving the walking support device 1 forward in accordance with the rise of the handle part 3, the user is no longer pushed by the handle part 3, and the user can be prevented from falling.

Furthermore, in the first embodiment, the walking support device 1 may include a rotation speed detection unit that detects the rotation speed of the rotating body 51. The safety control section 26 may determine whether the rotation speed detected by the rotation speed detection section is equal to or higher than a threshold value. The safety control section 26 may stop the vertical movement of the handle section 3 when the rotation speed detected by the rotation speed detection section is equal to or higher than a threshold value.

Furthermore, in the first embodiment, the walking support device 1 may include an acceleration detection section that detects the acceleration of the walking support device 1. The safety control unit 26 may determine whether the acceleration detected by the acceleration detection unit is greater than or equal to a threshold value. When the acceleration detected by the acceleration detection unit is equal to or higher than the threshold value, the safety control unit 26 raises and lowers the handle part 3 so that the height of the handle part 3 becomes a predetermined height at which the walking support device 1 is stabilized. You may let them. A predetermined height at which the walking support device 1 is stable is determined in advance based on the shape of the walking support device 1. If the walking support device 1 suddenly accelerates, there is a risk that the walking support device 1 will fall. However, when the acceleration is equal to or higher than the threshold value, the height of the handle portion 3 is changed to a predetermined height at which the walking support device 1 is stabilized, so that the walking support device 1 can be prevented from falling over.

In addition, in the first embodiment, the walking support device 1 includes an angle storage unit that stores the height of the handle part 3 and the angle of the touch panel 9 in advance in association with each other, and an angle storage part that stores the height of the handle part 3 and the angle of the touch panel 9 according to the height of the handle part 3. It may also include an angle adjustment section that adjusts the angle. When the touch panel 9 is attached to the handle part 3, when the handle part 3 goes up or down, the touch panel 9 also goes up or down. At this time, if the angle of the touch panel 9 is constant, the height of the handle portion 3 changes, making it difficult for the user to view the screen of the touch panel 9. Therefore, the angle adjustment section acquires the angle of the touch panel 9 that is associated with the height of the handle section 3 from the angle storage section, and changes the angle of the touch panel 9 according to the adjusted height of the handle section 3. It's okay.

Further, the angle adjustment section may adjust the angle of the touch panel 9 according to the height of the user and the height of the handle section 3. In this case, the angle storage section may store the height, the height of the handle section 3, and the angle of the touch panel 9 in advance in association with each other. The angle adjustment section may change the angle of the touch panel 9 according to the height of the user stored in advance and the adjusted height of the handle section 3.

Further, in the first embodiment, the load sensor 8 may be calibrated by detecting the load value of the load sensor 8 while the user is taking his/her hand off the handle portion 3. .

Further, in the first embodiment, the height of the handle portion 3 can be changed in multiple stages, and the height of the handle portion 3 of each of the plurality of walking support devices may be adjusted to different heights. Thereby, for example, when a plurality of walking support devices are located in the same facility, it becomes possible to store the plurality of walking support devices in a stacked manner.

(Embodiment 2)
In the first embodiment, the handle height adjustment section 23 acquires the height of the handle section 3 associated with the user ID from the user information storage section 25. In contrast, in the second embodiment, the handle height adjustment section acquires the height of the handle section 3 that is associated with the user's height from the handle information storage section.

FIG. 4 is a block diagram showing the configuration of a walking support device 1A according to Embodiment 2 of the present disclosure. Note that the appearance of the walking support device 1A is the same as the appearance of the walking support device 1 shown in FIG. Further, in the second embodiment, the same components as in the first embodiment are given the same reference numerals, and the description thereof will be omitted.

The walking support device 1A includes a main body part 2, a handle part 3, a control part 4A, a moving part 5, a handle elevating mechanism 6, an IC card reader 7, a load sensor 8, a touch panel 9, and a front wheel part 10.

The control unit 4A shown in FIG. 4 includes a load setting unit 21, a movement control unit 22, a handle height adjustment unit 23A, a user recognition unit 24, a user information storage unit 25A, a safety control unit 26, and a handle information storage unit 27.

The user information storage unit 25A stores in advance user information in which a user ID for identifying a user is associated with the user's height.

The handle information storage unit 27 stores in advance handle information in which height is associated with the height of the handle portion 3 according to the height.

The handle height adjustment section 23A acquires the height of the user associated with the user ID of the user recognized by the user recognition section 24 from the user information storage section 25A. Furthermore, the handle height adjustment section 23A acquires from the handle information storage section 27 the height of the handle section 3 that is associated with the height acquired from the user information storage section 25A. Then, the handle height adjustment section 23A raises or lowers the handle section 3 according to the height of the handle section 3 acquired from the handle information storage section 27.

Next, walking support processing by the walking support device 1A according to Embodiment 2 of the present disclosure will be described.

FIG. 5 is a flowchart for explaining walking support processing by the walking support device 1A according to Embodiment 2 of the present disclosure.

The processing in steps S11 and S12 is the same as the processing in steps S1 and S2 shown in FIG. 3, so a description thereof will be omitted.

Next, in step S13, the handle height adjustment section 23A acquires the height of the user associated with the user ID of the user recognized by the user recognition section 24 from the user information storage section 25A.

Next, in step S14, the handle height adjustment section 23A obtains from the handle information storage section 27 the height of the handle section 3 that is associated with the user's height obtained from the user information storage section 25A.

The processing from step S15 to step S19 is the same as the processing from step S4 to step S8 shown in FIG. 3, so the explanation will be omitted.

Note that the user information storage unit 25A may store in advance user information in which a user ID for identifying a user is associated with the user's age. In this case, the control unit 4A may further include a height information storage unit that stores in advance height information that associates age with a general average height. The handle height adjustment unit 23A may acquire the age of the user associated with the user ID of the user recognized by the user recognition unit 24 from the user information storage unit 25A. Furthermore, the handle height adjustment section 23A may obtain from the height information storage section the average height that is associated with the age obtained from the user information storage section 25A. Furthermore, the handle height adjustment section 23A may obtain from the handle information storage section 27 the height of the handle section 3 that is associated with the average height obtained from the height information storage section. Then, the handle height adjustment section 23A may raise or lower the handle section 3 according to the height of the handle section 3 acquired from the handle information storage section 27.

Further, the user information storage unit 25A may store in advance user information in which a user ID for identifying a user is associated with the user's gender and age. In this case, the control unit 4A may further include a height information storage unit that stores height information in which gender and age are associated with a general average height. The handle height adjustment unit 23A may acquire the user's gender and age associated with the user ID of the user recognized by the user recognition unit 24 from the user information storage unit 25A. Furthermore, the handle height adjustment section 23A may acquire from the height information storage section the average height that is associated with the gender and age acquired from the user information storage section 25A. Furthermore, the handle height adjustment section 23A may obtain from the handle information storage section 27 the height of the handle section 3 that is associated with the average height obtained from the height information storage section. Then, the handle height adjustment section 23A may raise or lower the handle section 3 according to the height of the handle section 3 acquired from the handle information storage section 27.

Further, the user information storage unit 25A may store in advance user information in which a user ID for identifying a user is associated with the user's gender and age. Further, the handle information storage section 27 may store in advance handle information in which gender and age are associated with the height of the handle section 3. In this case, the handle height adjustment section 23A may acquire the gender and age of the user associated with the user ID of the user recognized by the user recognition section 24 from the user information storage section 25A. Furthermore, the handle height adjustment section 23A may obtain from the handle information storage section 27 the height of the handle section 3 that is associated with the gender and age obtained from the user information storage section 25A. Then, the handle height adjustment section 23A may raise or lower the handle section 3 according to the height of the handle section 3 acquired from the handle information storage section 27.

(Embodiment 3)
In the first embodiment, the handle height adjustment section 23 acquires the height of the handle section 3 associated with the user ID from the user information storage section 25. In contrast, in Embodiment 3, the handle height adjustment section acquires the moment in the roll direction detected by the load sensor during a predetermined period in which the user is walking while pushing the walking support device, and When the variance value or the maximum value of the moment is smaller than the threshold value, the height at that time is determined as the height of the handle portion 3.

FIG. 6 is a block diagram showing the configuration of a walking support device 1B according to Embodiment 3 of the present disclosure. Note that the appearance of the walking support device 1B is the same as the appearance of the walking support device 1 shown in FIG. Furthermore, in the third embodiment, the same components as those in the first embodiment are given the same reference numerals, and the description thereof will be omitted.

The walking support device 1B includes a main body part 2, a handle part 3, a control part 4B, a moving part 5, a handle lifting mechanism 6, an IC card reader 7, a load sensor 8, a touch panel 9, and a front wheel part 10.

The control section 4B shown in FIG. 6 includes a load setting section 21, a movement control section 22, a handle height adjustment section 23B, a user recognition section 24, a user information storage section 25, and a safety control section 26.

The load sensor 8 detects the load applied to the handle portion 3. The load sensor 8 detects the moment applied to the handle portion 3 in the roll direction.

The handle height adjustment unit 23B acquires the moment in the roll direction detected by the load sensor 8 during a predetermined period when the user is walking while pushing the walking support device 1B. When the acquired variance value or maximum value of the moment for a predetermined period is smaller than the threshold value, the handle height adjustment unit 23B determines the height at that time as the height of the handle unit 3. On the other hand, the handle height adjustment section 23B raises or lowers the handle section 3 when the acquired variance value or maximum value of the moment for the predetermined period is equal to or greater than the threshold value.

Next, walking support processing by the walking support device 1B according to Embodiment 3 of the present disclosure will be described.

FIG. 7 is a first flowchart for explaining walking support processing by the walking support device 1B according to the third embodiment of the present disclosure, and FIG. 8 is a first flowchart for explaining walking support processing by the walking support device 1B according to the third embodiment of the present disclosure. FIG. 2 is a second flowchart for explaining walking support processing according to FIG.

The processing in steps S21 and S22 is the same as the processing in steps S1 and S2 shown in FIG. 3, so a description thereof will be omitted.

Next, in step S23, the handle height adjustment section 23B raises and lowers the handle section 3 according to the initial height. The control unit 4B stores the initial height in advance. The initial height may be, for example, an intermediate height between the upper limit height and the lower limit height of the handle portion 3, the upper limit height of the handle portion 3, or the lower limit height of the handle portion 3. It may be. The handle height adjustment section 23B outputs a handle lift signal to the handle lift mechanism 6 for raising and lowering the handle part 3 to a position corresponding to the initial height. The handle elevation mechanism 6 raises and lowers the handle portion 3 based on the handle elevation signal acquired from the handle height adjustment unit 23.

Note that the touch panel 9 may accept input of the initial height by the user. The user may manually change the height of the handle portion 3 to the initial height.

Furthermore, the handle height adjustment unit 23B may perform the processing from step S24 onwards from the current height of the handle part 3, without raising or lowering the handle part 3 according to the initial height. In this case, the process of step S23 becomes unnecessary.

Next, in step S24, the movement control unit 22 determines whether the user has started walking. If the movement control unit 22 detects that the rotating body 51 has started rotating, it determines that the user has started walking, and if it has not detected that the rotating body 51 has started rotating, it determines that the user has started walking. It is determined that it has not started.

Here, if it is determined that the user has not started walking (NO in step S24), the determination process in step S24 is performed until the user starts walking.

On the other hand, if it is determined that the user has started walking (YES in step S24), the load sensor 8 detects the load applied to the handle portion 3 in step S25. At this time, the load sensor 8 detects the moment in the roll direction.

Next, in step S26, the handle height adjustment section 23B acquires the moment in the roll direction detected by the load sensor 8.

Next, in step S27, the handle height adjustment unit 23B determines whether a predetermined time has elapsed since the user started walking. The predetermined time is, for example, 30 seconds. Note that the handle height adjustment section 23B may determine whether the user has walked a predetermined distance. Furthermore, the handle height adjustment section 23B may determine whether the user has walked a predetermined number of steps. The number of steps can be calculated based on the detected change in load.

Here, if it is determined that the predetermined time has not passed since the user started walking (NO in step S27), the process returns to step S25.

On the other hand, if it is determined that the predetermined time has passed since the user started walking (YES in step S27), in step S28, the handle height adjustment unit 23B adjusts the moment in the roll direction detected within the predetermined time. Calculate the variance of

Next, in step S29, the handle height adjustment section 23B determines whether the calculated variance value is smaller than a threshold value. If the variance value of the moments in the roll direction detected within a predetermined time is smaller than the threshold, the user's walking can be said to be stable, and the variance value of the moments in the roll direction detected within the predetermined time is greater than or equal to the threshold. In this case, it can be said that the user's walking is unstable.

Here, if it is determined that the calculated variance value is smaller than the threshold value (YES in step S29), the handle height adjustment unit 23B adjusts the height of the user's handle part 3 to the current height of the handle part 3 in step S30. Decide on height. Note that the handle height adjustment section 23B may store the determined height of the handle section 3 in the user information storage section 25 in association with the user ID.

The processing from step S31 to step S32 is the same as the processing from step S7 to step S8 shown in FIG. 3, so a description thereof will be omitted.

If it is determined that the calculated variance value is greater than or equal to the threshold (NO in step S29), in step S33, the handle height adjustment unit 23B determines whether or not the variance value determination is the first determination.

Here, if it is determined that the variance value determination is the first determination (YES in step S33), the handle height adjustment unit 23B raises the handle part 3 to a predetermined height in step S34. The predetermined height is, for example, 5 centimeters. The handle height adjustment section 23B outputs a handle lift signal to the handle lift mechanism 6 for raising the handle part 3 to a predetermined height. The handle lift mechanism 6 raises the handle portion 3 to a predetermined height based on the handle lift signal acquired from the handle height adjustment unit 23B. After the handle portion 3 rises to a predetermined height, the process returns to step S24.

Note that in the third embodiment, the handle height adjustment section 23B raises the handle part 3 to a predetermined height in step S34, but the present disclosure is not particularly limited to this, and the handle height adjustment part 23B raises the handle part 3 to a predetermined height. The height may be lowered.

On the other hand, if it is determined that the variance value determination is not the first determination (NO in step S33), in step S35, the handle height adjustment unit 23B determines whether the variance value calculated this time is larger than the variance value calculated last time. Determine whether or not. Note that the control unit 4B stores previously calculated variance values.

Here, if it is determined that the variance value calculated this time is larger than the variance value calculated last time (YES in step S35), in step S36, the handle height adjustment part 23B moves the handle part 3 in the opposite direction from the previous time. Move to a predetermined height. The predetermined height is, for example, 5 centimeters. Note that the control section 4B stores the direction in which the handle section 3 was moved in the past. For example, if it is determined that the handle portion 3 was raised last time and the variance value calculated this time is larger than the variance value calculated last time, the handle height adjustment unit 23B lowers the handle portion 3 by a predetermined height. Further, for example, if the handle part 3 was lowered last time and it is determined that the variance value calculated this time is larger than the variance value calculated last time, the handle height adjustment part 23B raises the handle part 3 to a predetermined height. let After the handle portion 3 moves a predetermined height in the opposite direction to the previous time, the process returns to step S24.

Note that although the handle height adjustment unit 23B moves the handle unit 3 by a predetermined height in the opposite direction from the previous time, the present disclosure is not particularly limited to this, and the variance value calculated this time and The handle portion 3 may be moved in the opposite direction from the previous time by a height corresponding to the magnitude of the difference from the previously calculated variance value. In other words, if the difference between the dispersion value calculated this time and the dispersion value calculated last time is large, the length to which the handle part 3 is moved will be long; The length over which the section 3 is moved also becomes shorter.

On the other hand, if it is determined that the variance value calculated this time is less than or equal to the variance value calculated last time (NO in step S35), in step S37, the handle height adjustment unit 23B moves the handle part 3 to a predetermined direction in the same direction as last time. move the height of The predetermined height is, for example, 5 centimeters. For example, if it is determined that the handle portion 3 was raised last time and the variance value calculated this time is less than or equal to the variance value calculated last time, the handle height adjustment unit 23B raises the handle portion 3 to a predetermined height. . Further, for example, if it is determined that the handle portion 3 was lowered last time and the variance value calculated this time is less than or equal to the variance value calculated last time, the handle height adjustment unit 23B adjusts the handle portion 3 to a predetermined height. lower it. After the handle portion 3 moves a predetermined height in the same direction as the previous time, the process returns to step S24.

Note that although the handle height adjustment unit 23B moves the handle unit 3 by a predetermined height in the same direction as the previous time, the present disclosure is not particularly limited to this. The handle portion 3 may be moved in the same direction as the previous time by a height corresponding to the magnitude of the difference from the calculated variance value. In other words, if the difference between the dispersion value calculated this time and the dispersion value calculated last time is large, the length to which the handle part 3 is moved will be long; The length over which the section 3 is moved also becomes shorter.

As described above, in the third embodiment, the variance value of the moment in the roll direction of the user who has walked for a predetermined period of time is calculated, and if the calculated variance value is smaller than the threshold value, the height of the user's handle part 3 is changed to the current height. The height of the handle portion 3 is determined. On the other hand, if the calculated variance value is equal to or greater than the threshold value, the height of the handle portion 3 is changed. At this time, if the variance value determination is the first determination, the handle portion 3 is raised or lowered by a predetermined height. If the variance value determination is not the first determination and the variance value calculated this time is larger than the variance value calculated last time, the height of the handle portion 3 is changed in the opposite direction from the previous one. Furthermore, if the variance value determination is not the first determination and the currently calculated variance value is less than or equal to the previously calculated variance value, the height of the handle portion 3 is changed in the same direction as the previous time.

Note that in the third embodiment, the handle height adjustment unit 23B calculates the variance value of the moment in the roll direction detected within a predetermined time; however, the present disclosure is not particularly limited to this; The maximum value of the moment in the roll direction detected within the range may be calculated. The handle height adjustment unit 23B may then determine whether the calculated maximum value is smaller than a threshold value. If it is determined that the calculated maximum value is smaller than the threshold, the handle height adjustment unit 23B may determine the height of the user's handle part 3 to be the current height of the handle part 3.

Further, in the third embodiment, the handle height adjustment section 23B may calculate the difference in the variation of the load applied in the vertical direction detected within a predetermined period of time. If the height of the handle portion 3 is not suitable for the user, the degree to which the user leans on the handle portion 3 becomes stronger. Therefore, it is possible to determine whether the user is walking stably (whether or not the user is walking straight) based on the difference in the variation of the load applied in the vertical direction. The handle height adjustment unit 23B may then determine whether the calculated difference is smaller than a threshold value. If it is determined that the calculated difference is smaller than the threshold, the handle height adjustment unit 23B may determine the height of the user's handle part 3 to be the current height of the handle part 3.

In addition, in the third embodiment, the handle height adjustment unit 23B does not acquire the moment in the roll direction detected within a predetermined time, but rather the number of rotations of the left and right rotating bodies 51 detected within a predetermined time. may be obtained. In this case, the walking support device 1B may further include a rotation speed detection section that detects the rotation speed of the left and right rotating bodies 51. The handle height adjustment unit 23B may calculate the difference between the rotation speeds of the left and right rotating bodies 51 detected within a predetermined period of time. If the height of the handle portion 3 is not suitable for the user, it becomes difficult for the user to walk straight. When the user is walking straight, the rotation speeds of the left and right rotating bodies 51 are approximately the same, and when the user is not walking straight, the rotation speeds of the left and right rotating bodies 51 are different. Therefore, it is possible to determine whether the user is walking stably (whether or not the user is walking straight) based on the difference in the number of rotations of the left and right rotating bodies 51. The handle height adjustment unit 23B may then determine whether the calculated difference is smaller than a threshold value. If it is determined that the calculated difference is smaller than the threshold, the handle height adjustment unit 23B may determine the height of the user's handle part 3 to be the current height of the handle part 3.

In addition, in the third embodiment, the handle height adjustment unit 23B operates under the condition that the variance value or the maximum value of the moment in the roll direction detected within a predetermined time is smaller than the threshold value, and the handle height adjustment unit 23B If at least one of the following conditions is satisfied: the difference in the variation in load applied to the left and right rotating bodies 51 is smaller than the threshold, and the number of rotations of the left and right rotating bodies 51 detected within a predetermined time is smaller than the threshold, the user's handle 3 may be determined as the current height of the handle portion 3.

Further, in steps S23, S34, S36, and S37 described above, the safety control unit 26 may stop the rotating body 51 when raising or lowering the handle portion 3. The handle height adjustment section 23B may raise or lower the handle section 3 while the rotating body 51 (walking support device 1B) is stopped.

Further, the handle height adjustment section 23B may raise or lower the handle section 3 while the user is walking using the walking support device 1B.

Furthermore, in the third embodiment, the walking support device 1B includes the handle height adjustment unit 23B, but the present disclosure is not particularly limited to this, and the handle height adjustment unit 23B is communicably connected to the walking support device 1B via a network. The server may be provided with a handle height adjustment section 23B. In this case, the walking support device 1B further includes a communication section. This communication unit may transmit data acquired by the load sensor 8 to the server, and may also receive instructions for raising and lowering the handle unit 3 from the server.

(Embodiment 4)
In the fourth embodiment, while the handle portion is rising or falling, the load applied in the downward direction detected by the load sensor is acquired, and when the acquired load applied in the downward direction falls within a predetermined range, The height at that time is determined as the height of the handle portion 3.

FIG. 9 is a block diagram showing the configuration of a walking support device 1C according to Embodiment 4 of the present disclosure. Note that the appearance of the walking support device 1C is the same as the appearance of the walking support device 1 shown in FIG. Furthermore, in the fourth embodiment, the same components as those in the first embodiment are given the same reference numerals, and the description thereof will be omitted.

The walking support device 1C includes a main body part 2, a handle part 3, a control part 4C, a moving part 5, a handle elevating mechanism 6, an IC card reader 7, a load sensor 8, a touch panel 9, and a front wheel part 10.

The control section 4C shown in FIG. 9 includes a load setting section 21, a movement control section 22, a handle height adjustment section 23C, a user recognition section 24, a user information storage section 25, and a safety control section 26.

The handle height adjustment unit 23C raises or lowers the handle 3 when the user is holding the handle 3 and standing upright, or when the user is walking while pushing the walking support device 1C. The handle height adjustment section 23C acquires the downward load detected by the load sensor 8 while the handle section 3 is ascending or descending. When the acquired downward load falls within a predetermined range, the handle height adjustment unit 23C determines the height at that time as the height of the handle part 3, and stops the handle part 3 from rising or falling. let

Note that the predetermined range is, for example, a range in which ±0.5N (Newton) is added to a predetermined load applied downward to the handle portion 3 when the height of the handle portion 3 is optimal for the user. be.

Next, walking support processing by the walking support device 1C according to Embodiment 4 of the present disclosure will be described.

FIG. 10 is a first flowchart for explaining walking support processing by the walking support device 1C according to the fourth embodiment of the present disclosure, and FIG. 11 is a first flowchart for explaining walking support processing by the walking support device 1C according to the fourth embodiment of the present disclosure. FIG. 2 is a second flowchart for explaining walking support processing according to FIG.

The processing from step S41 to step S42 is the same as the processing from step S1 to step S2 shown in FIG. 3, and the processing from step S43 is the same as the processing from step S23 shown in FIG. 7, so a description thereof will be omitted.

Next, in step S44, the handle height adjustment unit 23C continuously raises the handle portion 3 at a constant speed while the user grips the handle portion 3 and stands upright. Note that the state in which the user is holding the handle part 3 and standing upright can be determined by detecting that the user is holding the handle part 3 and detecting that the rotating body 51 is not rotating. It is possible to determine.

Furthermore, the handle height adjustment section 23C may continuously raise the handle section 3 at a constant speed while the user is walking while pushing the walking support device 1C. In this case, the movement control unit 22 may determine whether the user has started walking.

Next, in step S45, the load sensor 8 detects the load applied to the handle portion 3. At this time, the load sensor 8 detects at least the load applied in the downward direction.

Next, in step S46, the handle height adjustment section 23C obtains the downward load detected by the load sensor 8.

Next, in step S47, the handle height adjustment unit 23C determines whether the acquired downward load is within a predetermined range. Here, if it is determined that the acquired downward load is within the predetermined range (YES in step S47), in step S48, the handle height adjustment unit 23C adjusts the current height of the user's handle part 3. The height of the handle portion 3 is determined as follows. Note that the handle height adjustment section 23C may store the determined height of the handle section 3 in the user information storage section 25 in association with the user ID.

The handle height adjustment unit 23C may also determine whether the acquired downward load is a predetermined value. If it is determined that the acquired downward load is a predetermined value, the handle height adjustment unit 23C may determine the height of the user's handle part 3 to be the current height of the handle part 3. .

Next, in step S49, the handle height adjustment section 23C stops the handle section 3 from rising.

The processing from step S50 to step S51 is the same as the processing from step S7 to step S8 shown in FIG. 3, so a description thereof will be omitted.

On the other hand, if it is determined that the acquired downward load is not within the predetermined range (NO in step S47), in step S52, the handle height adjustment unit 23C determines that the height of the handle part 3 is at the upper limit height. Determine whether it exists or not.

Here, if it is determined that the height of the handle portion 3 is not the upper limit height (NO in step S52), the process returns to step S44.

On the other hand, when it is determined that the height of the handle part 3 is the upper limit height (YES in step S52), in step S53, the handle height adjustment part 23C is adjusted so that the height of the handle part 3 is adjusted to a state in which the user holds the handle part 3 and stands upright. At this point, the handle portion 3 is continuously lowered at a constant speed.

Furthermore, the handle height adjustment section 23C may lower the handle section 3 continuously at a constant speed while the user is walking while pushing the walking support device 1C.

The processing from step S54 to step S57 is the same as the processing from step S45 to step S48 shown in FIG. 10, so a description thereof will be omitted.

Next, in step S58, the handle height adjustment section 23C stops the lowering of the handle section 3.

The processing from step S59 to step S60 is the same as the processing from step S7 to step S8 shown in FIG. 3, so a description thereof will be omitted.

On the other hand, if it is determined that the acquired downward load is not within the predetermined range (NO in step S56), in step S61, the handle height adjustment unit 23C determines that the height of the handle part 3 is at the lower limit height. Determine whether it exists or not.

Here, if it is determined that the height of the handle portion 3 is not the lower limit height (NO in step S61), the process returns to step S53.

On the other hand, if it is determined that the height of the handle part 3 is the lower limit height (YES in step S61), in step S62, the handle height adjustment part 23C determines the height of the handle part 3 to be the initial height. do. That is, when the load applied downward does not fall within a predetermined range even when the handle portion 3 is moved from the upper limit height to the lower limit height, the handle height adjustment portion 23C adjusts the height of the handle portion 3 to the initial height. Decide on height.

The process in step S63 is the same as the process in step S23 shown in FIG. 7, so the explanation will be omitted.

Note that in the fourth embodiment, the handle height adjustment unit 23C raises the handle part 3 from the initial height to the upper limit height and then lowers the handle part 3, but the present disclosure is particularly limited to this. Instead, the handle portion 3 may be lowered from the initial height to the lower limit height and then raised.

Further, in the fourth embodiment, the handle height adjustment section 23C continuously raises or lowers the handle section 3 at a constant speed while the user is walking in a straight line by pushing the walking support device. The load applied in the direction may also be obtained. When the load applied to the left and the load applied to the right are the same, or when the rotation speeds of the left and right rotating bodies 51 are the same, the handle height adjustment unit 23C adjusts the handle height adjustment unit 23C by pushing the walking support device in a straight line. It is possible to determine that the person is walking. The handle height adjustment unit 23C may acquire the load applied in the downward direction when the user pushes the walking support device and walks in a straight line. Moreover, the handle height adjustment unit 23C does not need to acquire the load applied in the downward direction when the user is not walking in a straight line by pushing the walking support device.

Furthermore, in the fourth embodiment, the walking support device 1C includes a handle height adjustment section 23C, but the present disclosure is not particularly limited to this, and the handle height adjustment section 23C is communicably connected to the walking support device 1C via a network. The server may be provided with a handle height adjustment section 23C. In this case, the walking support device 1C further includes a communication section. This communication unit may transmit data acquired by the load sensor 8 to the server, and may also receive instructions for raising and lowering the handle unit 3 from the server.

In addition, in the fourth embodiment, the handle height adjustment section 23C is detected by the load sensor 8 when the user is holding the handle section 3 and standing upright, or when the user is walking while pushing the walking support device 1C. The load applied in the downward direction may also be obtained. Then, the handle height adjustment section 23C raises the handle section 3 when the obtained downward load is equal to or greater than a predetermined value, and when the obtained downward load becomes less than a predetermined value. The height at this time may be determined to be the height of the handle portion 3, and the raising of the handle portion 3 may be stopped.

(Embodiment 5)
In the fifth embodiment, the handle height adjustment unit acquires the load applied in the vertical direction detected by the load sensor while the handle unit is rising or lowering, and associates it with the acquired load applied in the vertical direction. The angle of the elbow that is being held is acquired, and when the acquired elbow angle reaches a predetermined angle, the height at that time is determined as the height of the handle portion 3.

FIG. 12 is a block diagram showing the configuration of walking support device 1D according to Embodiment 5 of the present disclosure. Note that the appearance of the walking support device 1D is the same as the appearance of the walking support device 1 shown in FIG. Furthermore, in the fifth embodiment, the same components as those in the first embodiment are given the same reference numerals, and the description thereof will be omitted.

The walking support device 1D includes a main body part 2, a handle part 3, a control part 4D, a moving part 5, a handle lifting mechanism 6, an IC card reader 7, a load sensor 8, a touch panel 9, and a front wheel part 10.

The control unit 4D shown in FIG. 12 includes a load setting unit 21, a movement control unit 22, a handle height adjustment unit 23D, a user recognition unit 24, a user information storage unit 25, a safety control unit 26, and an elbow angle information storage unit 28. .

The elbow angle information storage section 28 stores in advance elbow angle information that associates the load applied to the handle section 3 with the angle of the elbow.

In the fifth embodiment, the angle of the elbow is, for example, the angle formed by a straight line that extends vertically downward from the elbow and a straight line that extends from the elbow to the hand.

Note that the angle of the elbow may be, for example, an angle formed by a straight line extending from the elbow to the shoulder (upper arm) and a straight line extending from the elbow to the hand (forearm), with the elbow as the apex. In addition, the angle of the elbow is, for example, the angle formed by a straight line that extends from the elbow to the shoulder in the opposite direction from the shoulder, with the elbow as the apex, and a straight line that extends from the elbow to the hand (forearm). Good too. Further, the angle of the elbow may be, for example, an angle formed by a straight line that extends vertically upward from the elbow and a straight line that extends from the elbow to the hand. Further, the angle of the elbow may be, for example, an angle between a straight line extending from the hand to the elbow and a horizontal line, with the hand at the apex.

The optimal angle of the elbow (the angle between a straight line extending vertically downward from the elbow and a straight line extending from the elbow to the hand, with the elbow as the apex) when the user pushes the walking support device 1D is, for example, 30 degrees. There is a correlation between the load applied in the vertical direction and the angle of the elbow. Therefore, the angle of the elbow can be estimated from the load applied in the vertical direction.

The handle height adjustment unit 23D raises or lowers the handle 3 when the user is holding the handle 3 and standing upright, or when the user is walking while pushing the walking support device 1D. The handle height adjustment section 23D acquires the load applied in the vertical direction detected by the load sensor 8 while the handle section 3 is ascending or descending. The handle height adjustment unit 23D acquires the elbow angle associated with the acquired vertical load from the elbow angle information storage unit 28. When the obtained elbow angle reaches a predetermined angle, the handle height adjustment unit 23D determines the height at that time as the height of the handle part 3, and stops the handle part 3 from rising or falling.

Next, walking support processing by the walking support device 1D according to Embodiment 5 of the present disclosure will be described.

FIG. 13 is a first flowchart for explaining walking support processing by the walking support device 1D according to the fifth embodiment of the present disclosure, and FIG. 14 is a first flowchart for explaining walking support processing by the walking support device 1D according to the fifth embodiment of the present disclosure. FIG. 2 is a second flowchart for explaining walking support processing according to FIG.

The processing from step S71 to step S72 is the same as the processing from step S1 to step S2 shown in FIG. 3, the processing from step S73 is the same as the processing from step S23 shown in FIG. 7, and the processing from step S74 is as follows. Since this process is the same as the process in step S44 shown in FIG. 10, the explanation will be omitted.

Next, in step S75, the load sensor 8 detects the load applied to the handle portion 3. At this time, the load sensor 8 detects the load applied at least in the vertical direction.

Next, in step S76, the handle height adjustment section 23D acquires the load applied in the vertical direction detected by the load sensor 8.

Next, in step S77, the handle height adjustment unit 23D acquires the elbow angle associated with the acquired vertical load from the elbow angle information storage unit 28. Note that the angle of the elbow is, for example, the angle formed by a straight line that extends vertically downward from the elbow and a straight line that extends from the elbow to the hand.

Next, in step S78, the handle height adjustment unit 23D determines whether the obtained elbow angle is a predetermined angle. Note that the predetermined angle is, for example, 30 degrees.

Here, if it is determined that the obtained elbow angle is a predetermined angle (YES in step S78), in step S79, the handle height adjustment unit 23D adjusts the height of the user's handle part 3 to the current handle The height of section 3 is determined. Note that the handle height adjustment section 23D may store the determined height of the handle section 3 in the user information storage section 25 in association with the user ID.

Next, in step S80, the handle height adjustment section 23D stops the handle section 3 from rising.

The processing from step S81 to step S82 is the same as the processing from step S7 to step S8 shown in FIG. 3, so a description thereof will be omitted.

On the other hand, if it is determined that the acquired elbow angle is not the predetermined angle (NO in step S78), in step S83, the handle height adjustment unit 23D determines whether the height of the handle part 3 is the upper limit height or not. Determine whether or not.

The processing from step S83 to step S84 is the same as the processing from step S52 to step S53 shown in FIGS. 10 and 11, and the processing from step S85 to step S89 is the same as the processing from step S75 to step S79 shown in FIG. Therefore, the explanation will be omitted.

Next, in step S90, the handle height adjustment section 23D stops the lowering of the handle section 3.

The processing from step S91 to step S92 is the same as the processing from step S7 to step S8 shown in FIG. 3, so a description thereof will be omitted.

On the other hand, if it is determined that the obtained elbow angle is not the predetermined angle (NO in step S88), in step S93, the handle height adjustment unit 23D determines whether the height of the handle part 3 is the lower limit height or not. Determine whether or not.

The processing from step S93 to step S95 is the same as the processing from step S61 to step S63 shown in FIG. 11, so a description thereof will be omitted.

Note that in the fifth embodiment, the handle height adjustment section 23D raises the handle part 3 from the initial height to the upper limit height and then lowers the handle part 3, but the present disclosure is particularly limited to this. Instead, the handle portion 3 may be lowered from the initial height to the lower limit height and then raised.

Further, in the fifth embodiment, the walking support device 1D includes the handle height adjustment section 23D and the elbow angle information storage section 28, but the present disclosure is not particularly limited to this, and the walking support device 1D and the network are A server communicatively connected thereto may include the handle height adjustment section 23D and the elbow angle information storage section 28. In this case, the walking support device 1D further includes a communication section. This communication unit may transmit data acquired by the load sensor 8 to the server, and may also receive instructions for raising and lowering the handle unit 3 from the server.

(Embodiment 6)
In the sixth embodiment, the handle height adjustment section raises the handle when the load applied in the upward direction is equal to or greater than the threshold, and lowers the handle when the load applied in the downward direction is equal to or greater than the threshold. If the load applied upward or downward becomes less than a predetermined value while the handle part 3 is being raised or lowered, the height at that time is determined as the height of the handle part 3.

FIG. 15 is a block diagram showing the configuration of a walking support device 1E according to Embodiment 6 of the present disclosure. Note that the appearance of the walking support device 1E is the same as the appearance of the walking support device 1 shown in FIG. Further, in the sixth embodiment, the same components as in the first embodiment are given the same reference numerals, and the description thereof will be omitted.

The walking support device 1E includes a main body part 2, a handle part 3, a control part 4E, a moving part 5, a handle elevating mechanism 6, an IC card reader 7, a load sensor 8, a touch panel 9, and a front wheel part 10.

The control section 4E shown in FIG. 15 includes a load setting section 21, a movement control section 22, a handle height adjustment section 23E, a user recognition section 24, a user information storage section 25, and a safety control section 26.

The handle height adjustment unit 23E acquires the loads applied in the upward and downward directions detected by the load sensor 8. The handle height adjustment unit 23E raises the handle unit 3 when the acquired upward load is equal to or greater than a threshold value. The handle height adjustment unit 23E lowers the handle unit 3 when the acquired downward load is equal to or greater than a threshold value. The handle height adjustment section 23E acquires the load applied in the upward or downward direction detected by the load sensor 8 while the handle section 3 is rising or falling. When the acquired upward or downward load is below a predetermined value, the handle height adjustment section 23E determines the height at that time as the height of the handle section 3, and raises or lowers the handle section 3. Stop the descent.

In the sixth embodiment, when the acquired load applied in the upward or downward direction becomes 0, the handle height adjustment unit 23E determines the height at that time as the height of the handle part 3, and adjusts the handle height. The raising or lowering of section 3 is stopped.

Next, walking support processing by the walking support device 1E according to Embodiment 6 of the present disclosure will be described.

FIG. 16 is a flowchart for explaining walking support processing by the walking support device 1E according to Embodiment 6 of the present disclosure.

The processing in steps S101 and S102 is the same as the processing in steps S1 and S2 shown in FIG. 3, so a description thereof will be omitted.

Next, in step S103, the load sensor 8 detects the load applied to the handle portion 3. At this time, the load sensor 8 detects at least the load applied in the upward and downward directions. When the user performs an action of pulling up the handle portion 3, an upward load is applied, and when the user performs an action of pushing down the handle portion 3, a downward load is applied.

Next, in step S104, the handle height adjustment unit 23E obtains the loads applied in the upward and downward directions detected by the load sensor 8.

Next, in step S105, the handle height adjustment unit 23E determines whether the acquired upward load is equal to or greater than a threshold value.

Here, if it is determined that the acquired upward load is equal to or greater than the threshold value (YES in step S105), in step S106, the handle height adjustment unit 23E continuously moves the handle part 3 at a constant speed. raise.

Next, in step S105, the handle height adjustment unit 23E determines whether the acquired upward load is zero. When the user releases his/her hand from the handle portion 3 that has been pulled upward, the load applied upward to the handle portion 3 becomes zero. Here, if it is determined that the acquired upward load is not 0 (NO in step S107), the process returns to step S106. In addition, the handle height adjustment part 23E may stop the raising of the handle part 3 when the height of the handle part 3 reaches the upper limit height.

On the other hand, if it is determined that the acquired upward load is 0 (YES in step S107), in step S108, the handle height adjustment unit 23E adjusts the height of the user's handle part 3 to the current handle part. Set the height to 3. Note that the handle height adjustment section 23E may store the determined height of the handle section 3 in the user information storage section 25 in association with the user ID.

Next, in step S109, the handle height adjustment section 23E stops the handle section 3 from rising. That is, the user pulls up the handle portion 3 and releases the handle portion 3 when it reaches a height that the user feels is optimal. Thereby, the handle portion 3 is adjusted to a height that the user feels is optimal.

The processing from step S110 to step S111 is the same as the processing from step S7 to step S8 shown in FIG. 3, so a description thereof will be omitted.

On the other hand, if it is determined that the acquired load applied in the upward direction is not equal to or greater than the threshold value (NO in step S105), in step S112, the handle height adjustment unit 23E determines that the acquired load applied in the downward direction is equal to or greater than the threshold value. Determine whether or not.

Here, if it is determined that the acquired downward load is not equal to or greater than the threshold value (NO in step S112), the process returns to step S103.

On the other hand, if it is determined that the acquired downward load is equal to or greater than the threshold value (YES in step S112), in step S113, the handle height adjustment unit 23E continuously lowers the handle part 3 at a constant speed. let

Next, in step S114, the handle height adjustment unit 23E determines whether the acquired downward load is zero. When the user releases his/her hand from the handle part 3 that has been pushed down, the load applied downward to the handle part 3 becomes zero. Here, if it is determined that the acquired downward load is not 0 (NO in step S114), the process returns to step S113. In addition, the handle height adjustment part 23E may stop the lowering of the handle part 3 when the height of the handle part 3 reaches the lower limit height.

On the other hand, if it is determined that the acquired downward load is 0 (YES in step S114), in step S115, the handle height adjustment unit 23E adjusts the height of the user's handle part 3 to the current height of the handle part 3. Set the height to 3. Note that the handle height adjustment section 23E may store the determined height of the handle section 3 in the user information storage section 25 in association with the user ID.

Next, in step S116, the handle height adjustment section 23E stops the lowering of the handle section 3. That is, the user pushes the handle portion 3 downward and releases the handle portion 3 when the height that the user feels is optimal is reached. Thereby, the handle portion 3 is adjusted to a height that the user feels is optimal.

(Embodiment 7)
In Embodiment 7, the handle height adjustment unit acquires the positions of multiple parts of the user's body in a predetermined space while the handle part is rising or lowering, and adjusts the positions of the acquired parts in the predetermined space. If the positional relationship between the upper positions becomes the same as the previously memorized positional relationship of multiple parts of a person's body in a predetermined space when the person grasps the handle portion at the optimal height, then The height of the handle portion 3 is determined as the height of the handle portion 3.

FIG. 17 is a block diagram showing the configuration of a walking support device 1F according to Embodiment 7 of the present disclosure. Note that the appearance of the walking support device 1F is the same as the appearance of the walking support device 1 shown in FIG. Furthermore, in the seventh embodiment, the same components as those in the first embodiment are given the same reference numerals, and the description thereof will be omitted.

The walking support device 1F includes a main body part 2, a handle part 3, a control part 4F, a moving part 5, a handle elevating mechanism 6, an IC card reader 7, a load sensor 8, a touch panel 9, a front wheel part 10, and a camera 11.

The control section 4F shown in FIG. 17 includes a load setting section 21, a movement control section 22, a handle height adjustment section 23F, a user recognition section 24, a user information storage section 25, a safety control section 26, a position detection section 29, and an attitude information storage section. 30.

The camera 11 images the user when the user is standing upright holding the handle 3 or when the user is walking while pushing the walking support device 1F. The camera 11 acquires moving image data by capturing an image of the user. The camera 11 may be provided in the walking support device 1F, or may be provided outside the walking support device 1F. The camera 11 may be connected to the walking support device 1F by wire or wirelessly.

The position detection unit 29 acquires moving image data output by the camera 11. The position detection unit 29 detects the positions of multiple parts of the user's body in a predetermined space. The predetermined space is, for example, a two-dimensional space or a three-dimensional space.

The position detection unit 29 extracts skeleton data indicating the user's skeleton from the video data acquired from the camera 11. The skeletal data is represented by the coordinates of a plurality of feature points (parts) indicating the user's joints, etc., and straight lines connecting the feature points. The position detection unit 29 may use software (for example, OpenPose or 3D-pose-baseline) that detects the coordinates of feature points of a person from two-dimensional image data.

The position detection unit 29 extracts skeletal data from two-dimensional image data including the user's image. For example, the skeletal data includes a feature point that indicates the head, a feature point that indicates the center of both shoulders, a feature point that indicates the right shoulder, a feature point that indicates the right elbow, a feature point that indicates the right hand, a feature point that indicates the left shoulder, and a feature point that indicates the left elbow. Feature points showing the left hand, Feature points showing the waist, Feature points showing the right hip joint, Feature points showing the right knee joint, Feature points showing the right ankle joint, Feature points showing the right toe, Feature points showing the left hip joint It includes a feature point, a feature point indicating the left knee joint, a feature point indicating the left ankle joint, and a feature point indicating the left toe.

The moving image data is composed of a plurality of two-dimensional image data. The position detection unit 29 extracts time-series skeleton data from each of a plurality of two-dimensional image data forming the moving image data. Note that the position detection unit 29 may extract the skeleton data from the two-dimensional image data of all frames, or may extract the skeleton data from the two-dimensional image data of each predetermined frame. Furthermore, in the seventh embodiment, the height of the handle portion 3 that is optimal for the user is determined. Therefore, the position detection unit 29 detects the skeletal data of the user's upper limbs (a feature point indicating the right shoulder, a feature point indicating the right elbow, a feature point indicating the right hand, a feature point indicating the left shoulder, a feature point indicating the left elbow, and a feature point indicating the left hand). It is also possible to extract only the feature points (feature points shown).

The posture information storage unit 30 stores in advance posture information indicating the positional relationship in a predetermined space of a plurality of parts of a person's body when the person grips the handle portion 3 at an optimal height. For example, the posture information storage unit 30 may previously store posture information indicating the positional relationship in a two-dimensional space of a feature point indicating the right shoulder, a feature point indicating the right elbow, and a feature point indicating the right hand. The positional relationship in two-dimensional space of the feature point indicating the right shoulder, the feature point indicating the right elbow, and the feature point indicating the right hand is, for example, with the feature point indicating the right elbow as the vertex, and the feature point indicating the right shoulder and the right elbow. This is the right elbow angle formed by a straight line connecting the feature points indicating the right elbow and a straight line connecting the feature points indicating the right elbow and the feature points indicating the right hand.

Further, for example, the posture information storage unit 30 may previously store posture information indicating the positional relationship in a two-dimensional space of a feature point indicating the left shoulder, a feature point indicating the left elbow, and a feature point indicating the left hand. The positional relationship in the two-dimensional space of the feature point indicating the left shoulder, the feature point indicating the left elbow, and the feature point indicating the left hand is, for example, with the feature point indicating the left elbow as the vertex, and the feature point indicating the left shoulder and the feature point indicating the left elbow. This is the left elbow angle formed by a straight line connecting the feature points and a straight line connecting the feature points indicating the left elbow and the feature point indicating the left hand.

The handle height adjustment section 23F raises or lowers the handle section 3 when the user is holding the handle section 3 and standing upright, or when the user is walking while pushing the walking support device 1F.

The handle height adjustment section 23F acquires the positions of the plurality of parts detected by the position detection section 29 in a predetermined space while the handle section 3 is being raised or lowered. The handle height adjustment unit 23F adjusts the feature point indicating the right shoulder, the feature point indicating the right elbow, the feature point indicating the right hand, and the left shoulder detected by the position detection unit 29 while the handle unit 3 is rising or descending. , a feature point indicating the left elbow, and a feature point indicating the left hand in two-dimensional space.

The handle height adjustment unit 23F calculates the positional relationship between the acquired positions of the plurality of parts in a predetermined space. For example, the handle height adjustment unit 23F selects the acquired feature points indicating the right shoulder, feature points indicating the right elbow, feature points indicating the right hand, feature points indicating the left shoulder, feature points indicating the left elbow, and features indicating the left hand. The right elbow angle or left elbow angle is calculated from the position of the point in the two-dimensional space as a positional relationship.

When the positional relationship between the acquired positions of the plurality of parts in a predetermined space becomes the same as the positional relationship stored in the posture information storage unit 30, the handle height adjustment unit 23F adjusts the height at that time to the handle height. The height of the handle portion 3 is determined, and the raising or lowering of the handle portion 3 is stopped. For example, the handle height adjustment unit 23F selects the acquired feature points indicating the right shoulder, feature points indicating the right elbow, feature points indicating the right hand, feature points indicating the left shoulder, feature points indicating the left elbow, and features indicating the left hand. When the right elbow angle or left elbow angle calculated from the position of the point in the two-dimensional space becomes the same as the right elbow angle or left elbow angle stored in the posture information storage unit 30, the height at that time is determined to be the height of the handle part 3, and the raising or lowering of the handle part 3 is stopped.

Next, walking support processing by the walking support device 1F according to Embodiment 7 of the present disclosure will be described.

FIG. 18 is a first flowchart for explaining walking support processing by the walking support device 1F according to the seventh embodiment of the present disclosure, and FIG. 19 is a first flowchart for explaining the walking support processing by the walking support device 1F according to the seventh embodiment of the present disclosure. FIG. 2 is a second flowchart for explaining walking support processing according to FIG.

The processing in steps S121 and S122 is the same as the processing in steps S1 and S2 shown in FIG. 3, the processing in step S123 is the same as the processing in step S23 shown in FIG. 7, and the processing in step S124 is as follows. Since this process is the same as the process in step S44 shown in FIG. 10, the explanation will be omitted.

Next, in step S125, the position detection unit 29 detects the positions of multiple parts of the user's body in a predetermined space. At this time, the position detection unit 29 extracts skeletal data indicating the user's skeleton from the video data acquired from the camera 11, and extracts skeletal data indicating the user's skeleton from the video data acquired from the camera 11, and places the user's right shoulder, right elbow, right hand, left shoulder, left elbow, and left hand in a two-dimensional space. Detect the position of.

Next, in step S126, the handle height adjustment section 23F calculates the positional relationship between the positions of the plurality of parts detected by the position detection section 29 in a predetermined space. At this time, the handle height adjustment unit 23F calculates the right elbow angle or the left elbow angle from the positions in the two-dimensional space of the right shoulder, right elbow, right hand, left shoulder, left elbow, and left hand detected by the position detection unit 29. Calculate as a positional relationship. Note that depending on the angle at which the camera 11 images the user, all positions of the user's right shoulder, right elbow, right hand, left shoulder, left elbow, and left hand may not be detected. Therefore, the handle height adjustment section 23F may calculate both the right elbow angle and the left elbow angle, or may calculate either the right elbow angle or the left elbow angle.

Next, in step S127, the handle height adjustment unit 23F determines whether the calculated positional relationship is the same as the positional relationship stored in the posture information storage unit 30. At this time, the handle height adjustment unit 23F determines whether one of the calculated right elbow angle and left elbow angle is the same as either the right elbow angle or the left elbow angle stored in the posture information storage unit 30. Determine whether it exists or not.

Here, if it is determined that the calculated positional relationship is the same as the stored positional relationship (YES in step S127), in step S128, the handle height adjustment unit 23F adjusts the height of the handle part 3 of the user. The height is determined to be the current height of the handle portion 3. Note that the handle height adjustment section 23F may store the determined height of the handle section 3 in the user information storage section 25 in association with the user ID.

Next, in step S129, the handle height adjustment section 23F stops the handle section 3 from rising.

The processing from step S130 to step S131 is the same as the processing from step S7 to step S8 shown in FIG. 3, so a description thereof will be omitted.

On the other hand, if it is determined that the calculated positional relationship is not the same as the stored positional relationship (NO in step S127), in step S132, the handle height adjustment unit 23F adjusts the height of the handle part 3 to be the upper limit. Determine whether the height is the same.

The processing from step S132 to step S133 is the same as the processing from step S52 to step S53 shown in FIGS. 10 and 11, and the processing from step S134 to step S137 is the same as the processing from step S125 to step S128 shown in FIG. Therefore, the explanation will be omitted.

Next, in step S138, the handle height adjustment section 23F stops the lowering of the handle section 3.

The processing from step S139 to step S140 is the same as the processing from step S7 to step S8 shown in FIG. 3, so a description thereof will be omitted.

On the other hand, if it is determined that the calculated positional relationship is not the same as the stored positional relationship (NO in step S136), in step S141, the handle height adjustment unit 23F adjusts the height of the handle part 3 to the lower limit. Determine whether the height is the same.

The processing from step S141 to step S143 is the same as the processing from step S61 to step S63 shown in FIG. 11, so a description thereof will be omitted.

Note that in the seventh embodiment, the handle height adjustment section 23F raises the handle part 3 from the initial height to the upper limit height and then lowers the handle part 3, but the present disclosure is particularly limited to this. Instead, the handle portion 3 may be lowered from the initial height to the lower limit height and then raised.

Further, in the seventh embodiment, the position detection unit 29 extracts skeletal data based on the moving image data acquired from the camera 11, but the present disclosure is not particularly limited to this, and the motion capture system is Skeletal data may be extracted using The motion capture system may be an optical type, a magnetic type, a mechanical type, or an inertial sensor type. For example, an optical motion capture system uses a camera to photograph a user with a marker attached to a joint, and detects the position of the marker from the photographed image. The position detection unit 29 acquires the user's skeletal data from the position data detected by the motion capture system.

Further, the motion capture system may include a depth sensor and a color camera, and may automatically extract position information of the user's joint points from the video and detect the user's posture. In this case, the user does not need to paste the marker.

Further, in the seventh embodiment, the walking support device 1F includes the handle height adjustment section 23F and the position detection section 29, but the present disclosure is not particularly limited to this, and the walking support device 1F and the A communicably connected server may include the handle height adjustment section 23F and the position detection section 29. In this case, the walking support device 1F further includes a communication section. This communication section may transmit data acquired by the camera 11 to the server, and may also receive instructions for raising and lowering the handle section 3 from the server.

(Embodiment 8)
In the eighth embodiment, after changing the height of the handle part 3 to each of a plurality of heights, the handle height adjustment part adjusts the detected exercise load while the user is walking while pushing the walking support device. The height at which the acquired exercise load is maximum is determined as the height of the handle portion 3 among the plurality of heights.

FIG. 20 is a block diagram showing the configuration of a walking support device 1G according to Embodiment 8 of the present disclosure. Note that the appearance of the walking support device 1G is the same as the appearance of the walking support device 1 shown in FIG. Further, in the eighth embodiment, the same components as in the first embodiment are given the same reference numerals, and the description thereof will be omitted.

The walking support device 1G includes a main body part 2, a handle part 3, a control part 4G, a moving part 5, a handle elevating mechanism 6, an IC card reader 7, a load sensor 8, a touch panel 9, a front wheel part 10, and a biosensor 12.

The control section 4G shown in FIG. 20 includes a load setting section 21, a movement control section 22, a handle height adjustment section 23G, a user recognition section 24, a user information storage section 25, a safety control section 26, and an exercise load storage section 31.

The biosensor 12 detects the exercise load placed on the user. The exercise load is, for example, heart rate.

The biosensor 12 is a radio wave sensor that is installed in the walking support device 1G and measures a person's biometric information in a non-contact manner. The biosensor 12 measures the biometric information of the person by irradiating the person with microwaves and measuring minute changes in distance between the biosensor 12 and the person based on the Doppler shift of the reflected waves. The biological information includes, for example, breathing rate and heart rate.

In the eighth embodiment, the walking support device 1G includes a non-contact radio wave sensor as the biosensor 12, but the sensor is not limited to a radio wave sensor as long as it is capable of detecting the exercise load applied to the user. The biological sensor 12 may be, for example, a contact type sensor. The biosensor 12 may be, for example, a wearable terminal worn on the arm, and a contact sensor provided on the wearable terminal may measure biometric information such as the user's heart rate.

The handle height adjustment section 23G changes the height of the handle section 3 to each of a plurality of heights. After changing the height of the handle part 3, the handle height adjustment part 23G acquires the exercise load detected by the biosensor 12 while the user is walking while pushing the walking support device 1G.

The exercise load storage unit 31 corresponds to the plurality of heights of the handle part 3 and the exercise loads detected by the biosensor 12 when the user was walking while pushing the walking support device 1G at each of the plurality of heights. Attach and memorize. The handle height adjustment section 23G stores the acquired exercise load in the exercise load storage section 31 in association with the height of the handle section 3.

The handle height adjustment section 23G determines the height at which the acquired exercise load is maximum among the plurality of heights as the height of the handle section 3. The handle height adjustment unit 23G sets the height associated with the maximum exercise load among the plurality of exercise loads stored in the exercise load storage unit 31 to the user's optimal height of the handle unit 3. decide.

Next, walking support processing by the walking support device 1G according to Embodiment 8 of the present disclosure will be described.

FIG. 21 is a flowchart for explaining walking support processing by the walking support device 1G according to Embodiment 8 of the present disclosure.

The processing from step S151 to step S152 is the same as the processing from step S1 to step S2 shown in FIG. 3, and the processing from step S153 to step S154 is the same as the processing from step S23 to step S24 shown in FIG. , the explanation is omitted.

If it is determined that the user has started walking (YES in step S154), the biosensor 12 detects the user's heart rate in step S155.

Next, in step S156, the handle height adjustment unit 23G determines whether a predetermined time has elapsed since the user started walking. The predetermined time is, for example, one minute. Here, if it is determined that the predetermined time has not passed since the user started walking (NO in step S156), the process returns to step S155.

On the other hand, if it is determined that the predetermined time has passed since the user started walking (YES in step S156), in step S157, the handle height adjustment unit 23G adjusts the heart rate of the user detected by the biosensor 12. get.

Next, in step S158, the handle height adjustment section 23G stores the current height of the handle section 3 and the acquired heart rate of the user in the exercise load storage section 31 in association with each other.

Next, in step S159, the handle height adjustment unit 23G determines whether the heart rate has been detected at all of the plurality of predetermined heights.

Here, if it is determined that the heart rate has been detected at all of the plurality of heights (YES in step S159), in step S160, the handle height adjustment unit 23G refers to the exercise load storage unit 31 and The height of the handle portion 3 is determined to be the height associated with the highest heart rate among the plurality of heights. Note that the handle height adjustment section 23G may store the determined height of the handle section 3 in the user information storage section 25 in association with the user ID.

The processing from step S161 to step S162 is the same as the processing from step S7 to step S8 shown in FIG. 3, so a description thereof will be omitted.

On the other hand, if it is determined that the heart rate is not detected at all of the plurality of heights (NO in step S159), in step S163, the handle height adjustment section 23G determines that the heart rate is not detected at all of the plurality of heights. The height of the handle part 3 is changed to a height that is not detected.

Note that in the eighth embodiment, the exercise load is heart rate, but the present disclosure is not particularly limited thereto. The exercise load may be a walking distance, a walking time, a walking speed, or a force (load in the advancing direction) with which the user pushes the walking support device 1G. The handle height adjustment unit 23G may determine the height of the handle part 3 of the user to be the height of the handle part 3 at which the walking distance is the longest among a plurality of heights. Moreover, the handle height adjustment unit 23G may determine the height of the handle part 3 of the user to be the height of the handle part 3 at which the walking time is the longest among a plurality of heights. Moreover, the handle height adjustment unit 23G may determine the height of the handle part 3 of the user to be the height of the handle part 3 at which the user's walking speed becomes the fastest among a plurality of heights. Moreover, the handle height adjustment unit 23G may determine the height of the handle part 3 of the user to be the height of the handle part 3 at which the load in the traveling direction becomes the maximum among a plurality of heights.

Further, in the eighth embodiment, the walking support device 1G includes the handle height adjustment section 23G and the exercise load storage section 31, but the present disclosure is not particularly limited to this, and the walking support device 1G and the A server communicably connected may include the handle height adjustment section 23G and the exercise load storage section 31. In this case, the walking support device 1G further includes a communication section. This communication unit may transmit data acquired by the biosensor 12 to the server, and may also receive instructions for raising and lowering the handle unit 3 from the server.

(Embodiment 9)
In the ninth embodiment, when it is input that the height of the handle part 3 is not a comfortable height, the handle height adjustment part raises or lowers the handle part so that the height of the handle part 3 becomes a comfortable height. If the height is inputted, the height at that time is determined as the height of the handle portion 3.

FIG. 22 is a block diagram showing the configuration of a walking support device 1H according to Embodiment 9 of the present disclosure. Note that the appearance of the walking support device 1H is the same as the appearance of the walking support device 1 shown in FIG. Further, in the ninth embodiment, the same components as those in the first embodiment are given the same reference numerals, and the description thereof will be omitted.

The walking support device 1H includes a main body part 2, a handle part 3, a control part 4H, a moving part 5, a handle elevating mechanism 6, an IC card reader 7, a load sensor 8, a touch panel 9, and a front wheel part 10.

The control section 4H shown in FIG. 22 includes a load setting section 21, a movement control section 22, a handle height adjustment section 23H, a user recognition section 24, a user information storage section 25, and a safety control section 26.

The touch panel 9 accepts an input from the user as to whether the height of the handle portion 3 is a comfortable height.

The handle height adjustment section 23H raises or lowers the handle section 3. When it is input that the height of the handle part 3 is a comfortable height, the handle height adjustment part 23H determines the current height as the height of the handle part 3, and raises or lowers the handle part 3. to stop.

Next, walking support processing by the walking support device 1H according to Embodiment 9 of the present disclosure will be described.

FIG. 23 is a first flowchart for explaining walking support processing by the walking support device 1H according to the ninth embodiment of the present disclosure, and FIG. 24 is a first flowchart for explaining walking support processing by the walking support device 1H according to the ninth embodiment of the present disclosure. FIG. 2 is a second flowchart for explaining walking support processing according to FIG.

The processing from step S171 to step S172 is the same as the processing from step S1 to step S2 shown in FIG. 3, the processing from step S173 is the same as the processing from step S23 shown in FIG. 7, and the processing from step S174 is as follows. Since this process is the same as the process in step S44 shown in FIG. 10, the explanation will be omitted.

Next, in step S175, the touch panel 9 receives an input from the user as to whether the current height of the handle portion 3 is a comfortable height. For example, the touch panel 9 displays a height determination button indicating that the current height of the handle portion 3 is a comfortable height. The user touches the height determination button displayed on the touch panel 9 when the current height of the handle portion 3 is a comfortable height.

Next, in step S176, the handle height adjustment section 23H determines whether or not the height determination button indicating that the current height of the handle section 3 is a comfortable height has been touched.

Here, if it is determined that the height determination button has been touched (YES in step S176), the handle height adjustment unit 23H adjusts the height of the user's handle part 3 to the current height of the handle part 3 in step S177. Decide now. Note that the handle height adjustment section 23H may store the determined height of the handle section 3 in the user information storage section 25 in association with the user ID.

Next, in step S178, the handle height adjustment section 23H stops the handle section 3 from rising.

The processing from step S179 to step S180 is the same as the processing from step S7 to step S8 shown in FIG. 3, so a description thereof will be omitted.

On the other hand, if it is determined that the height determination button is not touched (NO in step S176), in step S181, the handle height adjustment unit 23H determines whether the height of the handle part 3 is the upper limit height or not. Determine.

The processing from step S181 to step S182 is the same as the processing from step S52 to step S53 shown in FIGS. 10 and 11, and the processing from step S183 to step S185 is the same as the processing from step S175 to step S177 shown in FIG. Therefore, the explanation will be omitted.

Next, in step S186, the handle height adjustment section 23H stops the lowering of the handle section 3.

The processing from step S187 to step S188 is the same as the processing from step S7 to step S8 shown in FIG. 3, so a description thereof will be omitted.

On the other hand, if it is determined that the height determination button is not touched (NO in step S184), in step S189, the handle height adjustment unit 23H determines whether the height of the handle part 3 is the lower limit height or not. Determine.

The processing from step S189 to step S191 is the same as the processing from step S61 to step S63 shown in FIG. 11, so a description thereof will be omitted.

In the ninth embodiment, the handle height adjustment unit 23H raises the handle part 3 from the initial height to the upper limit height and then lowers the handle part 3, but the present disclosure is particularly limited to this. Instead, the handle portion 3 may be lowered from the initial height to the lower limit height and then raised.

Furthermore, in the ninth embodiment, the user's input regarding the current height of the handle portion 3 is fed back to determine the optimal height of the handle portion 3, but the present disclosure is not particularly limited thereto. The walking support device 1G may include a biosensor that detects biometric information of the user. The handle height adjustment unit 23H may calculate the user's emotional state value from biological information detected by a biological sensor. The emotional state value is represented by two-dimensional coordinates indicating the degree of arousal and emotional valence. The handle height adjustment unit 23H may calculate the emotional state value on two-dimensional coordinates. The two-dimensional coordinates are, for example, Russell's circular diagram. The degree of arousal is indicated by a value from -1.0 (sedation) to +1.0 (arousal), and the emotional valence is indicated by a value from -1.0 (discomfort) to +1.0 (comfortable). The walking support device 1G may determine the height of the handle portion 3 at which the calculated emotional value becomes comfortable as the optimal height.

Furthermore, in the ninth embodiment, when the handle height adjustment section 23H receives an input that the height of the handle section 3 is a comfortable height while the handle section 3 is being raised or lowered, Although the height at that time is determined to be the height of the handle portion 3 and the raising or lowering of the handle portion 3 is stopped, the present disclosure is not particularly limited thereto. When the handle height adjustment unit 23H inputs that the height of the handle part 3 is a comfortable height after the handle part 3 has been raised or lowered, the handle height adjustment part 23H adjusts the height at that time to the height of the handle part 3. You may decide. That is, the user raises or lowers the handle portion 3, stops the raising or lowering of the handle portion 3, and then pushes the walking support device 1G to try walking. After the user finishes walking, the touch panel 9 may receive an input from the user as to whether the height of the handle portion 3 is a comfortable height. If it is input that the height of the handle part 3 is a comfortable height, the handle height adjustment part 23H may determine the height at that time as the height of the handle part 3.

(Embodiment 10)
In Embodiment 10, after the height of the handle portion 3 is automatically adjusted by the handle height adjustment unit, correction of the height of the handle portion 3 by the user is accepted, and the accepted correction value is stored. .

FIG. 25 is a block diagram showing the configuration of a walking support device 1I according to Embodiment 10 of the present disclosure. Note that the appearance of the walking support device 1I is the same as the appearance of the walking support device 1 shown in FIG. Furthermore, in Embodiment 10, the same components as in Embodiment 1 are given the same reference numerals, and description thereof will be omitted.

The walking support device 1I includes a main body part 2, a handle part 3, a control part 4I, a moving part 5, a handle lifting mechanism 6, an IC card reader 7, a load sensor 8, a touch panel 9, and a front wheel part 10.

The control section 4I shown in FIG. 25 includes a load setting section 21, a movement control section 22, a handle height adjustment section 23I, a user recognition section 24, a user information storage section 25, a safety control section 26, and a correction value storage section 32.

The touch panel 9 accepts correction by the user of the height of the handle part 3 after the height of the handle part 3 is automatically adjusted by the handle height adjustment part 23I. The touch panel 9 is an example of a correction receiving section.

The correction value storage unit 32 stores correction values accepted by the touch panel 9. If the correction value is +3 cm, the handle part 3 is raised by 3 cm, and if the correction value is -3 cm, the handle part 3 is lowered by 3 cm.

The handle height adjustment unit 23I raises or lowers the handle 3 when the user is holding the handle 3 and standing upright, or when the user is walking while pushing the walking support device 1I. The handle height adjustment section 23I acquires the downward load detected by the load sensor 8 while the handle section 3 is rising or falling. When the acquired downward load falls within a predetermined range, the handle height adjustment unit 23I determines the height at that time as the height of the handle part 3, and stops raising or lowering the handle part 3. let

Further, the handle height adjustment unit 23I raises or lowers the handle portion 3 in accordance with the user's correction of the height of the handle portion 3 accepted by the touch panel 9. The handle height adjustment unit 23I raises the handle part 3 when the touch panel 9 instructs the handle part 3 to rise. The handle height adjustment unit 23I lowers the handle portion 3 when the touch panel 9 instructs the handle portion 3 to lower.

Furthermore, when the correction value is stored in the correction value storage section 32, the handle height adjustment section 23I adds the correction value to the determined height of the handle section 3.

Next, walking support processing by the walking support device 1I according to Embodiment 10 of the present disclosure will be described.

FIG. 26 is a first flowchart for explaining walking support processing by the walking support device 1I according to the tenth embodiment of the present disclosure, and FIG. 27 is a first flowchart for explaining walking support processing by the walking support device 1I according to the tenth embodiment of the present disclosure. FIG. 2 is a second flowchart for explaining walking support processing according to FIG.

The processing from step S201 to step S202 is the same as the processing from step S1 to step S2 shown in FIG. 3, and the processing from step S203 is the same as the processing from step S23 shown in FIG. The process is the same as the process from step S44 to step S49 shown in FIG. 10, so the explanation will be omitted.

Next, in step S210, the handle height adjustment section 23I determines whether a correction value is stored in the correction value storage section 32.

Here, if it is determined that the correction value is not stored in the correction value storage unit 32 (NO in step S210), the touch panel 9 accepts correction of the height of the handle part 3 by the user in step S211. For example, the touch panel 9 displays a rise button for raising the handle part 3 and a lower button for lowering the handle part 3. The user touches either the up button or the down button displayed on the touch panel 9. The handle height adjustment part 23I raises the handle part 3 while the raise button displayed on the touch panel 9 is touched, and stops raising the handle part 3 when the raise button is no longer touched. Further, the handle height adjustment unit 23I lowers the handle portion 3 while the lowering button displayed on the touch panel 9 is touched, and stops the lowering of the handle portion 3 when the lowering button is no longer touched. Thereby, the user can correct the current height of the handle portion 3 automatically adjusted by the handle height adjustment portion 23I to a height that the user feels comfortable with.

Next, in step S212, the handle height adjustment section 23I stores the correction value accepted by the touch panel 9 in the correction value storage section 32.

On the other hand, if it is determined that the correction value is stored in the correction value storage unit 32 (YES in step S210), in step S213, the handle height adjustment unit 23I adjusts the correction value stored in the correction value storage unit 32. The handle part 3 is raised and lowered according to the value.

The processing from step S214 to step S215 is the same as the processing from step S7 to step S8 shown in FIG. 3, so a description thereof will be omitted.

On the other hand, if it is determined that the acquired downward load is not within the predetermined range (NO in step S207), in step S216, the handle height adjustment unit 23I determines that the height of the handle part 3 is at the upper limit height. Determine whether it exists or not.

The processing from step S216 to step S217 is the same as the processing from step S52 to step S53 shown in FIGS. 10 and 11, and the processing from step S218 to step S222 is the same as the processing from step S54 to step S58 shown in FIG. Therefore, the explanation will be omitted.

Further, the processing from step S223 to step S228 is the same as the processing from step S210 to step S215 shown in FIG. 26, and the processing from step S229 to step S231 is the same as the processing from step S61 to step S63 shown in FIG. Therefore, the explanation will be omitted.

Note that in the tenth embodiment, the handle height adjustment section 23I automatically adjusts the height of the handle portion 3, which is the same as in the fourth embodiment, but the present disclosure is not particularly limited to this, and the present disclosure is not limited to this. The height of the handle portion 3 may be automatically adjusted as in Embodiments 1 to 3 and 5 to 9.

Furthermore, the operation of the safety control section 26 in the second to tenth embodiments is the same as the operation of the safety control section 26 in the first embodiment.

Note that in each of the above embodiments, each component may be configured with dedicated hardware, or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

Part or all of the functions of the device according to the embodiments of the present disclosure are typically realized as an LSI (Large Scale Integration), which is an integrated circuit. These may be integrated into one chip individually, or may be integrated into one chip including some or all of them. Further, circuit integration is not limited to LSI, and may be realized using a dedicated circuit or a general-purpose processor. An FPGA (Field Programmable Gate Array) that can be programmed after the LSI is manufactured, or a reconfigurable processor that can reconfigure the connections and settings of circuit cells inside the LSI may be used.

Further, some or all of the functions of the device according to the embodiment of the present disclosure may be realized by a processor such as a CPU executing a program.

Moreover, all the numbers used above are exemplified to specifically explain the present disclosure, and the present disclosure is not limited to the illustrated numbers.

Further, the order in which the steps shown in the above flowchart are executed is for illustrative purposes to specifically explain the present disclosure, and an order other than the above may be used as long as the same effect can be obtained. . Further, some of the above steps may be executed simultaneously (in parallel) with other steps.

The technology according to the present disclosure can stably support a user's walking, and can more effectively improve the user's physical ability, so it is useful as a technology for supporting a user's walking.

Claims (16)

The main body and
a handle portion provided on the main body portion and capable of being gripped by a user;
a load setting unit that sets a load to be applied to the user;
a movement control unit that controls a rotating body to move the walking support device based on the load set by the load setting unit;
a handle lifting/lowering mechanism having an actuator and lifting/lowering the handle portion;
a handle height adjustment section that controls the handle lifting mechanism and automatically adjusts the height of the handle section;
a load detection section that detects a moment in a roll direction applied to the handle section;
Equipped with
The handle height adjustment section is
acquiring the moment in the roll direction detected by the load detection unit during a predetermined period in which the user is walking while pushing the walking support device;
If the obtained variance value or maximum value of the moment for the predetermined period is smaller than a threshold, the height at that time is determined as the height of the handle part,
If the obtained variance value or maximum value of the moment during the predetermined period is equal to or greater than a threshold value, raising or lowering the handle part;
Walking support device. The main body and
a handle portion provided on the main body portion and capable of being gripped by a user;
a load setting unit that sets a load to be applied to the user;
a movement control unit that controls a rotating body to move the walking support device based on the load set by the load setting unit;
a handle lifting/lowering mechanism having an actuator and lifting/lowering the handle portion;
a handle height adjustment section that controls the handle lifting mechanism and automatically adjusts the height of the handle section;
a load detection section that detects a load applied to the handle section ;
Equipped with
The handle height adjustment section is
Raising or lowering the handle part while the user is standing upright holding the handle part or in a state where the user is pushing the walking support device and walking;
Obtaining the load applied in the downward direction detected by the load detection unit while the handle unit is ascending or descending;
When the obtained load applied in the downward direction falls within a predetermined range, the height at that time is determined as the height of the handle part, and the raising or lowering of the handle part is stopped;
Walking support device. The main body and
a handle portion provided on the main body portion and capable of being gripped by a user;
a load setting unit that sets a load to be applied to the user;
a movement control unit that controls a rotating body to move the walking support device based on the load set by the load setting unit;
a handle lifting/lowering mechanism having an actuator and lifting/lowering the handle portion;
a handle height adjustment section that controls the handle lifting mechanism and automatically adjusts the height of the handle section;
a load detection section that detects a load applied to the handle section ;
Equipped with
The handle height adjustment section is
Obtaining the downward load detected by the load detection unit in a state where the user is standing upright while holding the handle part, or in a state where the user is pushing the walking support device while walking;
If the obtained load applied in the downward direction is equal to or greater than a predetermined value, the handle portion is raised;
If the obtained load applied in the downward direction becomes less than the predetermined value, the height at that time is determined as the height of the handle part, and the raising of the handle part is stopped.
Walking support device. The main body and
a handle portion provided on the main body portion and capable of being gripped by a user;
a load setting unit that sets a load to be applied to the user;
a movement control unit that controls a rotating body to move the walking support device based on the load set by the load setting unit;
a handle lifting/lowering mechanism having an actuator and lifting/lowering the handle portion;
a handle height adjustment section that controls the handle lifting mechanism and automatically adjusts the height of the handle section;
a load detection section that detects a load applied to the handle section;
an elbow angle information storage unit that stores in advance elbow angle information that associates the load applied to the handle portion with the angle of the elbow;
Equipped with
The handle height adjustment section is
Raising or lowering the handle part while the user is standing upright holding the handle part or in a state where the user is pushing the walking support device and walking;
Obtaining the load applied in the vertical direction detected by the load detection unit while the handle unit is ascending or descending;
acquiring the angle of the elbow associated with the acquired load applied in the vertical direction from the elbow angle information storage unit;
When the obtained angle of the elbow reaches a predetermined angle, the height at that time is determined as the height of the handle part, and the raising or lowering of the handle part is stopped.
Walking support device. The main body and
a handle portion provided on the main body portion and capable of being gripped by a user;
a load setting unit that sets a load to be applied to the user;
a movement control unit that controls a rotating body to move the walking support device based on the load set by the load setting unit;
a handle lifting/lowering mechanism having an actuator and lifting/lowering the handle portion;
a handle height adjustment section that controls the handle lifting mechanism and automatically adjusts the height of the handle section;
a load detection section that detects a load applied to the handle section ;
Equipped with
The handle height adjustment section is
obtaining the loads applied in the upward and downward directions detected by the load detection unit;
If the obtained load applied in the upward direction is equal to or greater than a threshold, the handle portion is raised;
If the obtained load applied in the downward direction is equal to or greater than a threshold value, lowering the handle part,
Obtaining the load applied in an upward or downward direction detected by the load detection unit while the handle unit is ascending or descending;
When the obtained load applied in the upward or downward direction becomes less than a predetermined value, the height at that time is determined as the height of the handle part, and the raising or lowering of the handle part is stopped.
Walking support device. The main body and
a handle portion provided on the main body portion and capable of being gripped by a user;
a load setting unit that sets a load to be applied to the user;
a movement control unit that controls a rotating body to move the walking support device based on the load set by the load setting unit;
a handle lifting/lowering mechanism having an actuator and lifting/lowering the handle portion;
a handle height adjustment section that controls the handle lifting mechanism and automatically adjusts the height of the handle section;
a position detection unit that detects positions of a plurality of body parts of the user in a predetermined space;
a posture information storage unit that stores in advance posture information indicating the positional relationship of the plurality of parts of the person's body in the predetermined space when the person grips the handle portion at an optimal height;
Equipped with
The handle height adjustment section is
Raising or lowering the handle part while the user is standing upright holding the handle part or in a state where the user is pushing the walking support device and walking;
acquiring the positions of the plurality of parts in the predetermined space detected by the position detection unit while the handle part is rising or falling;
When the acquired positional relationship of the plurality of parts in the predetermined space becomes the same as the positional relationship stored in the posture information storage unit, the height at that time is set as the height of the handle unit. and stopping the raising or lowering of the handle portion;
Walking support device. The main body and
a handle portion provided on the main body portion and capable of being gripped by a user;
a load setting unit that sets a load to be applied to the user;
a movement control unit that controls a rotating body to move the walking support device based on the load set by the load setting unit;
a handle lifting/lowering mechanism having an actuator and lifting/lowering the handle portion;
a handle height adjustment section that controls the handle lifting mechanism and automatically adjusts the height of the handle section;
an exercise load detection unit that detects an exercise load applied to the user ;
Equipped with
The handle height adjustment section is
changing the height of the handle portion to each of a plurality of heights,
After changing the height of the handle portion, acquiring the exercise load detected by the exercise load detection unit while the user is walking while pushing the walking support device;
Of the plurality of heights, a height at which the acquired exercise load is maximum is determined as the height of the handle portion;
Walking support device. The main body and
a handle portion provided on the main body portion and capable of being gripped by a user;
a load setting unit that sets a load to be applied to the user;
a movement control unit that controls a rotating body to move the walking support device based on the load set by the load setting unit;
a handle lifting/lowering mechanism having an actuator and lifting/lowering the handle portion;
a handle height adjustment section that controls the handle lifting mechanism and automatically adjusts the height of the handle section;
a correction reception unit that receives correction of the height of the handle by the user after the height of the handle is automatically adjusted by the handle height adjustment unit;
a correction value storage unit that stores the correction value accepted by the correction reception unit;
Equipped with
The handle height adjustment unit adds the correction value to the determined height of the handle when the correction value is stored in the correction value storage unit.
Walking support device. Furthermore, a safety control unit is provided that controls the handle lifting mechanism or the rotating body when raising and lowering the handle part.
The walking support device according to any one of claims 1 to 8 . The safety control section stops the rotating body when raising and lowering the handle section.
The walking support device according to claim 9 . The main body and
a handle portion provided on the main body portion and capable of being gripped by a user;
a load setting unit that sets a load to be applied to the user;
a movement control unit that controls a rotating body to move the walking support device based on the load set by the load setting unit;
a handle lifting/lowering mechanism having an actuator and lifting/lowering the handle portion;
a handle height adjustment section that controls the handle lifting mechanism and automatically adjusts the height of the handle section;
a safety control unit that controls the handle lifting mechanism or the rotating body when raising and lowering the handle part;
a handle grip detection unit that detects whether the user is gripping the handle unit ;
Equipped with
The safety control unit stops the lifting and lowering of the handle when the handle grip detection unit detects that the user is gripping the handle when raising and lowering the handle.
Walking support device. The main body and
a handle portion provided on the main body portion and capable of being gripped by a user;
a load setting unit that sets a load to be applied to the user;
a movement control unit that controls a rotating body to move the walking support device based on the load set by the load setting unit;
a handle lifting/lowering mechanism having an actuator and lifting/lowering the handle portion;
a handle height adjustment section that controls the handle lifting mechanism and automatically adjusts the height of the handle section;
a safety control unit that controls the handle lifting mechanism or the rotating body when raising and lowering the handle part;
a load detection section that detects a load applied to the handle section ;
Equipped with
The safety control unit stops the lifting and lowering of the handle unit when a difference between a load applied in the right direction and a load applied in the left direction is a threshold value or more.
Walking support device. The main body and
a handle portion provided on the main body portion and capable of being gripped by a user;
a load setting unit that sets a load to be applied to the user;
a movement control unit that controls a rotating body to move the walking support device based on the load set by the load setting unit;
a handle lifting/lowering mechanism having an actuator and lifting/lowering the handle portion;
a handle height adjustment section that controls the handle lifting mechanism and automatically adjusts the height of the handle section;
a safety control unit that controls the handle lifting mechanism or the rotating body when raising and lowering the handle part;
a load detection section that detects a load applied to the handle section ;
Equipped with
The safety control unit stops the lifting and lowering of the handle unit when the load applied in the upward direction is equal to or more than a threshold value, or when the load applied in the downward direction is equal to or more than a threshold value.
Walking support device. The main body and
a handle portion provided on the main body portion and capable of being gripped by a user;
a load setting unit that sets a load to be applied to the user;
a movement control unit that controls a rotating body to move the walking support device based on the load set by the load setting unit;
a handle lifting/lowering mechanism having an actuator and lifting/lowering the handle portion;
a handle height adjustment section that controls the handle lifting mechanism and automatically adjusts the height of the handle section;
a safety control unit that controls the handle lifting mechanism or the rotating body when raising and lowering the handle part;
Equipped with
The lifting direction of the handle portion is inclined with respect to the vertical direction,
The safety control unit moves the walking support device forward when raising the handle portion, and moves the walking support device backward when lowering the handle portion.
Walking support device. The main body and
a handle portion provided on the main body portion and capable of being gripped by a user;
a load setting unit that sets a load to be applied to the user;
a movement control unit that controls a rotating body to move the walking support device based on the load set by the load setting unit;
a handle lifting/lowering mechanism having an actuator and lifting/lowering the handle portion;
a handle height adjustment section that controls the handle lifting mechanism and automatically adjusts the height of the handle section;
a safety control unit that controls the handle lifting mechanism or the rotating body when raising and lowering the handle part;
a rotation speed detection unit that detects the rotation speed of the rotating body ;
Equipped with
The safety control section stops the lifting and lowering of the handle section when the rotation speed detected by the rotation speed detection section is equal to or higher than a threshold value.
Walking support device. The main body and
a handle portion provided on the main body portion and capable of being gripped by a user;
a load setting unit that sets a load to be applied to the user;
a movement control unit that controls a rotating body to move the walking support device based on the load set by the load setting unit;
a handle lifting/lowering mechanism having an actuator and lifting/lowering the handle portion;
a handle height adjustment section that controls the handle lifting mechanism and automatically adjusts the height of the handle section;
a safety control unit that controls the handle lifting mechanism or the rotating body when raising and lowering the handle part;
an acceleration detection unit that detects acceleration of the walking support device ;
Equipped with
The safety control section controls the handle section so that when the acceleration detected by the acceleration detection section is equal to or higher than a threshold, the height of the handle section becomes a predetermined height at which the walking support device is stabilized. raise and lower the
Walking support device.

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