KR100821641B1 - Apparatus for handlebar of walking assistant - Google Patents

Abstract

A walking assistant with a handle bar sensing user's walking intention is provided to decide more correctly and effectively user's walking intention of giving force or sustaining force to be used more conveniently. A walking assistant with a handle bar sensing user's walking intention includes a support portion(10), a frame portion(20), a handle bar(30) and a control portion(40). The support portion supports the user's elbow and armpit. The frame portion supports the support portion and comprises a wheel. The handle bar includes a cylindrical capacitive sensor and an FRS sensor to recognize the user's walking intention. The control portion controls the direction and the speed of the walking assistant by using the user's walking intention recognized from the handle bar.

Description

Walking aid with a handlebar for detecting the user's walking will {Apparatus for handlebar of walking assistant}

1 is a perspective view of a walking aid provided with a handle bar for detecting the user walking will in accordance with the present invention.

Figure 2 is a perspective view of a handlebar for detecting the user walking will in accordance with the present invention.

Figure 3 is an exploded view of the handlebar for detecting the user walking will in accordance with the present invention.

Figure 4 is a control block diagram of a walking aid provided with a handlebar for detecting the user walking will in accordance with the present invention.

5 is a reference diagram illustrating a capacitance detection method of a walking aid provided with a handle bar for detecting a user walking will in accordance with the present invention.

Figure 6 is a circuit diagram of a capacitive detection sensor of a walk aid provided with a handlebar for detecting the user walking will in accordance with the present invention.

Figure 7 is a circuit diagram of the FRS sensor of the walk aid provided with a handlebar for detecting the user walking will in accordance with the present invention.

8 is a measurement data of the FRS sensor before and after the filter processing of the walking aid provided with a handle bar for detecting the user walking will in accordance with the present invention.

9 is a restoring force measurement data of the FRS sensor of the walking aid provided with a handle bar for detecting the user walking will in accordance with the present invention.

10 is a modeling diagram for driving a walking aid provided with a handlebar for detecting the user walking will in accordance with the present invention.

<Description of the symbols for the main parts of the drawings>

10: support portion 11: first support

12: support rod 13: connecting rod

14: second support 20: frame portion

21: vertical bar 22: horizontal bar

23: support block 24: steering

25 wheel 30 handlebar

31 handle 32 capacitive sensor

33: handle cover 34: upper body

35: lower body 36: fixed shaft

37: sensor support 38: FRS sensor

39: connection plate 40: control unit

41: DSP module 42: DSP

43: motor driver

The present invention relates to a walking aid, and more particularly, to a walking aid provided with a handle bar for detecting a user's walking intention to grasp a walking intention of a user in order to serve as a more flexible walking aid in using a walking aid. will be.

In 2019, 14% of the population is expected to enter the so-called aging society, which is 65 years old or older.As a result, the so-called silver industry, which sells goods and services to the elderly, has surged. have. In developed countries, where the aging has been rapidly progressing, the silver industry has developed, but mainly focused on welfare facilities and service programs, but the growing number of elderly people who want active and productive activities and who have advanced information in the field of engineering has been able to meet these needs. As the necessity of the technology increases, the development of an intelligent walking aid for assisting the walking ability of the weak elderly and monitoring the biometric information while moving is urgently needed.

In general, the user uses a joystick provided in the electric wheelchair to move the elderly or physically handicapped with lowered leg muscles, and the user moves to a destination by sitting in a wheelchair.

However, such a driving method that can produce a strong force with only a weak force of the wrist, such as the electric wheelchair has a problem that is not suitable for the driving method to increase the walking ability to the elderly or physically disabled.

In order to solve the problems as described above, in the present invention, the walking aid determines the walking will of the user to support the force and apply the force to the handlebar portion holding the hand in the walking aid for the purpose of driving, according to the magnitude of the force An object of the present invention is to provide a walking aid provided with a handle bar that detects a user's walking intention to cut off power when a user's convenience and a dangerous situation occur by having a capacitive sensor (non-contact sensor) and a FRS sensor to determine a direction and speed.

In the structure to achieve the purpose,

A first support having a ⊂ shape supporting the elbow of the user is provided, and support rods having a plurality of fastening holes formed therein are inserted into both front and rear ends of the first support, and a connection rod is provided inward on one side of the support rod to protrude upward. And the support portion is provided with a second support for supporting the armpit of the user; The support rod is inserted into the vertical bar in the front and rear ends, the front vertical rod is provided with a horizontal rod is fixed to the support member fixed to the support block by the fastening member, the wheels are provided in the support block and the lower vertical bar A frame portion provided with a steering wheel on the support block; Both upper ends of the first support are fixed with bolts, and an upper body having an opening and a fastening hole is provided, and a lower body having a seating portion is coupled to a lower portion of the upper body with a connection plate interposed therebetween, A handle bar into which an electrostatic capacitive sensor and a handle cover are inserted into an opening, and the handle bar is inserted into the first fastening hole of the upper body, and the lower body has a handle bar to which a sensor support into which the FRS sensor is inserted is fastened by a bolt; The horizontal bar is provided with a control unit for controlling the wheel to electrically receive the capacitance sensor and the FRS sensor signal of the handle bar.

As another feature of the present invention, the vertical rod is provided with a fastening member fixed to the fastening nut in the fastening hole formed in the support bar to the upper and lower height of the support bar is provided in the front and rear vertical bar, the connecting rod inside the front and rear fixing member Is connected.

As another feature of the present invention, the control unit is provided with a DSP module and a DSP fixed to the horizontal rod, the upper wheel is provided with a motor driver for controlling the wheel by the DSP.

1 is a perspective view of a walking aid provided with a handlebar for detecting a user walking will in accordance with the present invention, Figure 2 is a perspective view of a handlebar for detecting a user walking will in accordance with the present invention, Figure 3 is a user according to the present invention 4 is an exploded view of a handlebar for detecting a walking will, FIG. 4 is a control block diagram of a walking aid provided with a handlebar for detecting a user's walking will, and FIG. 5 is a handle for detecting a user's walking will according to the present invention. 6 is a reference diagram illustrating a capacitance detecting method of a walking aid provided with a bar, FIG. 6 is a circuit diagram of a capacitance detecting sensor of a walking aid provided with a handle bar for detecting a user's walking intention according to the present invention, and FIG. FRS sensor circuit diagram of a walking aid provided with a handle bar for detecting the user walking will according to Figure 8 is to detect the user walking will according to the present invention FRS sensor measurement data before and after the filter processing of the walking aid equipped with a bar, Figure 9 is the restoring force measurement data of the FRS sensor of the walking aid provided with a handlebar for detecting the user walking will in accordance with the present invention, Figure 10 is the present invention A modeling diagram for driving a walking aid provided with a handlebar for detecting the user's walking will.

Hereinafter, the components will be described with reference to the drawings.

1 is a perspective view of a walking aid provided with a handle bar for detecting the user's walking will of the present invention, the support 10 for supporting the elbow and armpit of the user, and the support 10 and the wheel 25 is provided The handle part 30 which is provided with the frame part 20, the capacitive sensor 32, and the FRS sensor 38 for grasping the walking intention of the user, and the walking of the user identified from the handle bar 30 It consists of a control unit 40 for controlling the direction and speed of the walk aid using the will.

The support part 10 is provided with a ⊂-shaped first support 11 for supporting the elbow of the user, the support rod 12 is formed with a plurality of fastening holes 121 in the lower front and rear ends of the first support 11 ) Is inserted, a second support 14 for supporting the user's armpit is provided with a connecting rod 13 inwardly provided on the upper side of the support rod 12 to support the user's armpit.

The frame portion 20 is provided with a vertical rod (21) in the front and rear ends, the support rod 12 is inserted into the inside, the front end of the vertical rod 21 is fixed to the insertion member 221 and the support block 23 A horizontal bar 22 fixed to the fastening member 222 is provided, and a wheel 25 to which a shock absorber 251 is attached is provided below the support block 23 and the front and rear vertical bars 21. The support block 23 is provided with a steering device 24 that is a steering device.

The vertical bar 21 is a vertical bar front and rear end of the fixing member 211 is fixed to the fastening nut 213 to the fastening hole 121 formed in the support bar 12 to enable the vertical height of the support bar 12 to be adjusted 21 is provided, and is connected to the front and rear end fixing member 211 by a connecting rod 212.

2 and 3, the handlebar 30 is fixed to the front end portions of the first support 11 with bolts B, and the openings 341 and the fastening holes 342 and 343 are formed. Is provided with an upper body 34, the lower body 35, the seating portion 351 is formed in the lower portion of the upper body 34 is coupled with the connecting plate 39, the connecting plate 39 The bolt (B) is coupled to the through-hole 391 and the through-hole 352 formed in the lower body 35 to be coupled to.

The insertion hole 312 having a ∨ shape of the lower portion of the handle 31 to which the capacitive sensor 32 and the handle cover 33 are coupled is inserted into the opening 341 of the upper body 34, and the insertion hole 312 is inserted into the opening 341. The fastening hole 311 is formed on one side is coincident with the first fastening hole 342 formed in the upper body 34 is rotatably installed to the fixed shaft 36, the separation of the fixed shaft 36 Fixing members 361 are provided at both sides to prevent the same.

In addition, the lower body 35 is bent into the upper groove of the sensor support (37) is inserted between the front and rear pair of dampers (381) formed of a urethane material is formed of a urethane material, the insertion hole 371 is formed Located in the insertion groove (353) of the upper lower body 35 is provided to be supported by the connection plate 39, the sensor support 37 is provided in a pair to face the inner side and the lower body (35) It is fastened to the bottom surface of the bolt (B).

The handle bar 30 is provided to support the user's body while holding the hand of the user, the handle 31 is made of a plastic material to use the capacitive sensor 32, the connection Plate 39 may be stacked in one or several layers, it is used to adjust the distance between the fixed shaft 36 and the FRS sensor 38.

As shown in the control block diagram of FIG. 4, the controller 40 is configured to control the wheel 25 by electrically receiving the capacitance sensor 32 and the FRS sensor 38 signals of the handle bar 30. The DSP module 41 and the DSP 42 fixed to the horizontal bar 22 with the bolt B are installed, and the motor driver 43 for controlling the wheel 25 by the DSP 42 on the top of the wheel 25. ) Is provided.

The motor driver 43 is installed on the front wheel driven by the steering motor and the left wheel driven by the left wheel motor and the right wheel driven by the right wheel motor, respectively.

Referring to the operation method of the walking aid provided with a handle bar for detecting the user walking will of the present invention configured as described above are as follows.

First, as shown in FIG. 5, a capacitive sensor 32 which automatically detects whether the user approaches the walking aid or the user is using the walking aid, and an FRS sensor that can more actively grasp the user's walking will. The user is identified through the handle bar 30 provided with 38.

By using the capacitive sensor 32 and the FRS sensor 38 of the handle bar 30, it is possible to actively check whether the user is using the walking aid.

As shown in FIG. 6, the capacitive sensor 32 is provided omnidirectionally without shielding the shape of the metal plate using the capacitive detection type proximity sensor U1 (QT113H), and the sensing distance is about 5 to 10 cm. Adjustable by C1 (47 uF). J1 turns it ON for HIGH input and J2 turns OFF for LOW input. The circuit is capable of outputting LOW to HIGH at the point A when the human body is detected, and outputs the signal from HIGH to LOW when the human body is not detected again, and also implements a filter circuit so that the waveform can be evenly output at the B point. do.

In the capacitive detection method, when a person approaches the metal plate provided with the capacitive sensor 32, the power is turned on by recognizing a change in the capacitor value between the earth and the metal plate, and when the person moves away from the metal plate, the power is turned on. Will be turned off. This capacitance detection method can grasp the willingness to handle and handle the handlebar 30, which is the primary condition for the user's walking will, when the user does not want to steer or fall while walking It is possible to secure walking stability by cutting off the power of the walking aid.

In order to perform the walking determination of the user, it is necessary to basically predict the change in the force for the walking will of the user, and the FRS sensor 38 is used to predict the change in the force for the determination of the user's will. . The FRS sensor 38 is a resistance value is changed according to the change in the magnitude of the force, it is possible to more clearly grasp the user's will by using a physical feature.

When the user expresses the willingness to move forward through the handlebar 30, when the handlebar 30 is pulled backward, the rear FRS sensor 38 is connected by the hinge portion of the fixed shaft 36 provided at the lower end. ), The greater the force, the greater the walking aid user's willingness to move forward, and when the handlebar 30 is pushed forward, the force is applied to the front FRS sensor 38 to stop the walking aid. do.

Accordingly, the direction of the walking aid is determined according to the direction of the handlebar 30 controlled by the user, the direction signal of the handlebar 30 is the wheel 25 in the DSP 42 via the DSP module 41. That is, the direction is controlled by transmitting a signal to the motor driver 43 which controls the front wheel with the steering motor, the left wheel with the left wheel motor and the right wheel with the right wheel motor.

FIG. 7 is a circuit diagram of the FRS sensor 38 for determining the walking intention of the walking aid, and by configuring a circuit that makes it difficult to quantitatively convert by nonlinearity, the linearity of the sensor data can be secured. At this time, the value of RA is 1㏀, the value of RB is 15㏀, and the values of the two resistors are fixed and used as the OPAMP input voltage. In addition, the value of R1 is used as a fixed value 240㏀, R2 is used as the resistance value of the FRS sensor 38. In order to output linear data of the FRS, the linear data output of the OPAMP LM358 can be obtained by the following equation (1).

--- 식 (1)

--- Equation (1)

Quantifying the user's will and building a more linear system by referring to the walking aid provided with a handle bar for detecting the user's walking will and the data values of Table 1 and Table 2 below. The experiment to perform was performed.

V power supply voltage (V) I current (A) RA (Kohm) RB (Kohm) VI input voltage (V) 3.3 0.20625 One 15 0.20625

VI input voltage (V) R1 REF (Kohm) R2 FSR (Kohm) VO output voltage (V) Weight (Kg) 0.20625 240 1000 0.255750 0 0.20625 240 800 0.268125 One 0.20625 240 600 0.288750 2 0.20625 240 400 0.330000 3 To 0.20625 240 40 1.443750 19 0.20625 240 35 1.620535 20 0.20625 240 30 1.856250 21 0.20625 240 25 2.186250 22

8 is FRS sensor measurement data before and after filter processing of a walking aid equipped with a handlebar for detecting a user's walking will according to the present invention, Figure 8 (a) shows a pure value of the force sensor measured value to weight, When the sensor does not perform any filtering, it can be seen that noise appears for a certain time of data, and the irregularity of such data is difficult to accurately measure the user's accurate walking intention when using the walking aid.

Therefore, if the data is arranged using the moving average filter, which is a linear filter, the FRS measurement data compared to the force arranged by the filter can be obtained as shown in FIG. When comparing FIG. 8 (a) and FIG. 8 (b), it can be seen that the data processed by the Moving Average Filter is more stable and reliable.

Based on the data obtained in FIG. 8, a sensor data resilience experiment was conducted to more smoothly grasp the user's will.

9 is a restoring force measurement data of the FRS sensor of the walking aid provided with a handle bar for detecting the user walking will according to the present invention, Figure 9 (a) shows the restoring force measurement data of the FRS sensor, the FRS sensor restoring force measurement Was performed 10 times, and the average restoration speed was about 0.6 s, and the stability of the force sensor was analyzed using only the first experimental result of the experiment of FIG. 9 (a). 9 (b) is the first result of the resilience measurement results, it can be seen that the time taken from the time when the handlebar is not applied to the recovery time takes about 120ms.

FIG. 10 is a modeling diagram for driving a walking aid provided with a handlebar for detecting a user's walking will. First, the control algorithm included in the walking aid is generated by the FRS sensor 38 of the handlebar 30. The sensor data is received as voltage information through the ADC, and the TI320F2812 includes a 12-bit ADC at a 3.3V voltage level, so the accuracy of the data is 0.81mV. After receiving the data of each sensor in this way, based on the sensor data to determine the user's willing direction and speed, and through this process to determine the center speed and the moving direction of the walking aid according to the user's will.

Then, the wheel 25 speed is calculated based on the center speed and the direction of movement of the walker aid. The walk assistant moves through the wheel drive, and the linear speed of each wheel 25 axis is calculated by the Ackman formula. 10 shows Ackman drive modeling, and Equations (2), (3), and (4) below represent the angular velocity at the center defined by Ackman and the angular velocity by wheel driving of each wheel 25 accordingly. Indicates.

--- 식(2)

--- Equation (2)

--- 식(3)

--- Equation (3)

--- 식(4)

--- Equation (4)

Here, ω _C is the angular velocity with respect to the virtual drive wheel, v _C is the data that can be obtained by the user's handlebar 30 information as the speed of the virtual drive wheel, ω _L is the angular velocity of the left drive wheel, ω _R Is the angular velocity of the right drive wheel, and if the ICR is at infinity, the walking aid moves straight.

In Ackman driving, the walk assistant always rotates around the Instantaneous Center of Rotation (ICR), so that the ICR for forward and reverse rotation without rotation is infinite and does not exist. Since the walking aid of the present invention consists of two driving wheels of the rear wheel and one caster of the passive type in the front, the ICR always exists on an extension line of the rear wheel shaft, and the three wheels form concentric circles with the center of the ICR as the center of the circle, It rotates according to the angular velocity of the driving wheel of the rear wheel. In particular, the driving wheel of the rear wheel is a differential drive, controlled by each motor driver 43, the movement of the walking aid using the ICR is determined by the steering angle of the front wheel and the angular velocity of the rear wheel. It is done by Forward Kinematics for Ackerman Drive.

When the control is performed with the angular velocity of each wheel 25 generated through the Ackman technique, if the system is built with proportional control compared to the speed, the acceleration data on the wheel 25 becomes too large to have a walking aid. In order to prevent such a situation, in order to prevent such a situation, in the present invention, each wheel 25 control is configured through integral control, and Equation (5) below represents an integral control relation applied to the system.

---식(5)

--- Equation (5)

In Equation (5), K _i represents the integral coefficient, v _i represents the target speed of arrival of the walking aid at the present time, and v (t) represents the current velocity. Therefore, if the driving motor is controlled based on Equation (5), the risk of injury to the user may be reduced by the rapid movement of the walking aid caused by sudden acceleration, and the physical shock may be applied to the coater or the controller by the rapid control. Can be reduced. After that, the drive shaft PWM value is determined in response to the current speed of the walking aid, and the driving aid can be controlled by driving the motor.

While the invention has been shown and described with respect to particular embodiments, it will be apparent to those skilled in the art that various modifications and variations can be made without departing from the spirit and scope of the invention as set forth in the appended claims. Anyone can grow up easily.

As described above, the present invention includes a capacitive sensor and a FRS sensor in the handle bar portion for holding the hand in the walking aid, the walking aid of the user to support the force and apply the force, the walk aid is accurate and effective By judging, it is possible to cut off the power when the user's convenience and dangerous situation occurs, so that the user can use the walking aid more efficiently, and the uncomfortable user can enjoy a better quality of life through the walking aid of the present invention. It has an effect.

Claims (3)

In walking aids, A first support 11 having a ⊂ shape supporting the elbow of the user is provided, and support rods 12 having a plurality of fastening holes 121 formed therein are inserted into both front and rear ends of the first support 11. A support part 10 having a second support 14 for supporting the armpit of the user by protruding upwardly with a support 13 provided at an upper side of the support rod 12; Vertical rods 21 into which the supporting rods 12 are inserted are provided at front and rear ends, and the front vertical rods 21 are fixed to the vertical vertical rods 21 by inserting members 221 to fasten the supporting blocks 23 to the fastening members 222. The horizontal bar 22 is fixed, and the support block 23 and the front and rear end of the vertical bar 21, the wheel 25 is provided, the support block 23, the frame portion provided with the steering 24 20; An upper body 34 is fixed to both front ends of the first support 11 with bolts B and has openings 341 and fastening holes 342 and 343 formed therein, and is seated below the upper body 34. The lower body 35 having the portion 351 formed therein is coupled with the connecting plate 39 interposed therebetween, and the capacitive sensor 32 and the handle cover 33 are opened to the opening 341 of the upper body 34. The handle 31 to be coupled is inserted into the first fastening hole 342 of the upper body 34 is installed as a fixed shaft 36, the lower body 35, the sensor support for the FRS sensor 38 is seated A handle bar 30 to which 37 is fastened with a bolt B; The horizontal bar 22 is provided with a control unit 40 for controlling the wheel 25 by receiving the capacitance sensor 32 and the FRS sensor 38 signal of the handle bar 30 electrically Walking aids with handlebars that detect the user's willingness to walk. The method of claim 1, The vertical rod 21 is a vertical rod of the front and rear end of the fixing member 211 is fixed to the fastening nut 213 to the fastening hole 121 formed in the support rod 12 to enable the vertical height adjustment of the support rod 12 A walking aid provided with a handle bar for detecting a user's walking will, characterized in that it is provided in the 21, the front and rear end fixing member 211 is connected to the connecting rod 212. The method of claim 1, The controller 40 has a DSP module 41 and a DSP 42 fixed to the horizontal rod 22 by bolts B, and the wheel 25 is mounted on the wheel 25 by the DSP 42. A walking aid provided with a handle bar for detecting a user's walking will, characterized in that the motor driver 43 for controlling the.

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