KR102069092B1 - Control device for walking aids - Google Patents

Abstract

A driving and steering control apparatus for a walking aid for controlling the moving speed and direction of the walking aid is connected in a horizontal direction to the handle portion of the walking aid. The driving and steering control apparatus of the walking aid includes a fixing bar, a first grip part, a second grip part, a magnet member, a first hall sensor, a second hall sensor, and a controller. The fixing bar is disposed in the horizontal direction on the handle portion of the walking aid, and a hollow is formed therein. The first grip part and the second grip part are respectively connected to both sides of the fixing bar so as to be movable. The magnet member is installed at the inner center of the fixing bar. The first hall sensor and the second hall sensor are respectively installed on the first grip part and the second grip part around the magnet member, and detect the magnetic field change of the magnet member according to the movement of the first grip part and the second grip part and output the voltage signal. do. The controller controls the driving direction and speed of the walking aid by comparing the magnitudes of the voltage signals output from the first and second hall sensors.

Description

Drive and steering control device for walking aids

The present invention relates to a drive and steering control device of the walking aid for controlling the moving speed and direction of the walking aid is connected to the handle portion of the walking aid in a horizontal direction, and more particularly, the magnitude of the force applied by the user and The present invention relates to a driving and steering control apparatus for a walking aid that detects a direction and actively determines and controls a moving speed and a moving direction of the walking aid.

Recently, with the rapid growth of technology, the development of a device for controlling the system according to the user's operation intention by actively grasping the user's operation intention in many industries. In particular, in the field of the robot or automobile industry, a technology for controlling a robot or a vehicle according to a user's motion has been commercialized.

The technology that allows the system to conform to the user's willingness to operate can be generalized to motion compliance control technology. Such a system is ultimately composed of a master, which is a means of expressing a user's manipulation intention, and a slave moving in response to the manipulation by the master, and the master and the slave are implemented in the same hardware.

In order to grasp the intuitive intention of the user, hardware for measuring the manipulation force and software for determining the intention of operation should be provided. Since the control system, which is software, is generally designed according to a hardware specification, a conventional technical classification is possible according to the hardware used first.

A joystick or a mouse can be mentioned as an example of the conventional method for grasping the user's will. However, in order to operate a joystick or a mouse, there is a restriction that a user must use at least one hand fixedly to the joystick or a mouse. In addition, the process must be familiar to the user to learn how to operate.

In addition, the easiest way to measure the operating force is to use a six-axis force / moment sensor using the load cell principle. This method is excellent in terms of measurement precision and band but is generally very expensive and has a problem of its own weight depending on the required measurement force specification.

Another common method is to use Force Sensitive Resister (FSR) devices. FSR has the property that the resistance of both ends decreases when force / pressure is applied, and it has the advantage of simply measuring force / pressure. However, FSR is very hygienic and non-linear, which makes it difficult to apply where accurate measurements are needed. Price is also relatively expensive.

As such, a system for grasping the operation intention of the user in the related art employs a very heavy and complicated structure, or is expensive, and thus a simple and compact user's intention grasp system is required in order to adopt the system.

In particular, in the mobile assisting device, since the user had to manually move the device in consideration of the weight of the device manually, there was a problem that the user was difficult and difficult to operate in the absence of power. Accordingly, a user needs a device for identifying an operation intention that allows the user to use a little force and move the device.

An object of the present invention can control both the speed and the direction of the walking aid according to the magnitude and direction of the force applied in the Y-axis direction by the user, to provide a driving and steering control device of the walking aid with increased use and convenience. Is in.

In addition, an object of the present invention is to form the first grip portion and the second grip portion to move and return within the fixed bar through the spring member to drive the walking aid with a small force, Force Sensitive Resistor (force sensing resistor) The present invention provides a driving and steering control device for a walking aid with improved driving and control by not using a non-quantitative sensor.

Driving and steering control apparatus of the walking aid according to the present invention for achieving the above object is a fixed bar, the first grip portion, the second grip portion, the magnet member, the first Hall sensor, the second Hall sensor, and the control unit It includes. The fixing bar is disposed in the horizontal direction on the handle portion of the walking aid, and a hollow is formed therein. The first grip part and the second grip part are respectively connected to both sides of the fixing bar so as to be movable. The magnet member is installed at the inner center of the fixing bar. The first hall sensor and the second hall sensor are respectively installed on the first grip part and the second grip part around the magnet member, and detect the magnetic field change of the magnet member according to the movement of the first grip part and the second grip part and output the voltage signal. do. The controller controls the driving direction and speed of the walking aid by comparing the magnitudes of the voltage signals output from the first and second hall sensors.

According to one embodiment, the first grip portion and the second grip portion are formed to be movable in the Y-axis direction.

According to one embodiment, the first grip portion is disposed on the left side of the fixing bar and the second grip portion is disposed on the right side of the fixing bar.

According to an embodiment, if the Hall voltage value of the voltage signal output from the first Hall sensor and the second Hall sensor is positive, the controller determines the driving direction of the walking aid as forward, and the first Hall sensor and the second Hall sensor. If the Hall voltage value for the voltage signal output from the negative is negative, the driving direction of the walk aid is determined as backward, the Hall voltage value for the voltage signal output from the first Hall sensor is positive, the voltage output from the second Hall sensor If the hall voltage value for the signal is negative, the driving direction of the walking aid is determined to be a right turn, the hall voltage value for the voltage signal output from the first Hall sensor is negative, and the hole for the voltage signal output from the second Hall sensor is determined. If the voltage value is positive, the driving direction of the walking aid is determined to be left turn.

According to one embodiment, the first Hall sensor and the second Hall sensor outputs a positive Hall voltage value when the first grip part and the second grip part move forward, and a negative hole when it moves backward. Output the voltage value.

According to one embodiment, the control unit calculates the sum of the voltage signals respectively output from the first Hall sensor and the second Hall sensor, and determines the speed of the walking aid according to the calculated value.

According to an embodiment, the controller increases the speed of the walking aid if the calculated value is positive, and decreases the speed of the walking aid if the calculated value is negative.

According to an embodiment, the controller controls the driving direction and the speed of the walking aid by controlling the drive motor connected to the drive wheels of the walking aid.

According to one embodiment, the first grip portion and the second grip portion are respectively connected to both sides of the fixing bar via a spring member.

According to one embodiment, both sides of the fixing bar is formed with stepped to support one surface of the spring member.

According to one embodiment, one side of the first grip portion and the second grip portion is formed with a protruding member protruding outward along the circumference, one surface of the spring member is supported on the step and the other surface is supported by the protrusion member.

According to one embodiment, the fixing bar includes a connection member, a pair of coupling members, and a pair of support members. The connecting member is connected to the walking aid in the X axis direction. The coupling member is coupled to both ends of the coupling member, respectively, and has a long hole for guiding the first grip portion and the second grip portion in the Y-axis direction. The support members are respectively disposed in the coupling member to support the coupling member and the first grip portion, and the coupling member and the second grip portion.

The driving and steering control apparatus of the walking aid according to the present invention includes a fixing bar, a first grip part, a second grip part, a spring member, a magnet member, a first hall sensor, a second hall sensor, and a controller. . The fixing bar is disposed in the X-axis direction at the handle portion of the walking aid, and a hollow is formed therein. The first grip part and the second grip part are respectively disposed on both sides of the fixing bar to move in the Y-axis direction, and a part of the grip part is inserted into the fixing bar. The spring member elastically supports between the fixing bar and the first grip portion and the fixing bar and the second grip portion such that the first grip portion and the second grip portion are movable and returnable. The magnet member is installed at the inner center of the fixing bar. The first hall sensor and the second hall sensor are respectively installed on the first grip part and the second grip part around the magnet member, and detect the magnetic field change of the magnet member according to the movement of the first grip part and the second grip part and output the voltage signal. do. The controller controls the driving direction and speed of the walking aid by comparing the magnitudes of the voltage signals output from the first and second hall sensors.

According to one embodiment, the first grip portion is disposed on the left side of the fixing bar and the second grip portion is disposed on the right side of the fixing bar.

According to an embodiment, if the Hall voltage value of the voltage signal output from the first Hall sensor and the second Hall sensor is positive, the controller determines the driving direction of the walking aid as forward, and the first Hall sensor and the second Hall sensor. If the Hall voltage value for the voltage signal output from the negative is negative, the driving direction of the walk aid is determined as backward, the Hall voltage value for the voltage signal output from the first Hall sensor is positive, the voltage output from the second Hall sensor If the hall voltage value for the signal is negative, the driving direction of the walking aid is determined to be a right turn, the hall voltage value for the voltage signal output from the first Hall sensor is negative, and the hole for the voltage signal output from the second Hall sensor is determined. If the voltage value is positive, the driving direction of the walking aid is determined to be left turn.

According to one embodiment, the first Hall sensor and the second Hall sensor outputs a positive Hall voltage value when the first grip part and the second grip part move forward, and a negative hole when it moves backward. Output the voltage value.

According to one embodiment, the control unit calculates the sum of the voltage signals respectively output from the first Hall sensor and the second Hall sensor, and determines the speed of the walking aid according to the calculated value.

According to an embodiment, the controller increases the speed of the walking aid when the calculated value is positive, and decreases the speed of the walking aid when the calculated value is negative.

According to the present invention, according to the magnitude and direction of the force applied by the user is classified into six types of walking, forward, backward, left turn, right turn, forward-left turn, forward-right turn, according to the classification result of the walking aid The speed and direction of the drive wheels can be controlled for ease of use.

In addition, since the speed and direction of the walking aid is controlled only by pushing or pulling force, the elderly can easily use it.

In addition, since the first grip part and the second grip part move or automatically return through the spring member, the driving aid can be controlled even with a small force, thereby enabling the elderly to use.

In addition, the transmission and reception speed of data for changing the direction and increasing speed can be improved to control the walking aid faster.

1 is a perspective view of a driving and steering control device of a walking aid according to an embodiment of the present invention.
FIG. 2 is an exploded perspective view of a driving and steering control apparatus of the walking aid shown in FIG. 1; FIG.
3 is a cross-sectional view of a driving and steering control apparatus of the walking aid shown in FIG.
4 is an operation diagram for driving the walk aid forward through the drive and steering control device of the walk aid shown in FIG.
FIG. 5 is an operation diagram for driving the walk aid backward through the drive and steering control device of the walk aid shown in FIG. 1; FIG.
6 is an operation diagram for rotationally driving the walking aid in the right direction through the driving and steering control device of the walking aid shown in FIG.
FIG. 7 is an operation diagram for rotationally driving a walking aid in a left direction through a driving and steering control device of the walking aid shown in FIG. 1; FIG.
8 is a view showing a state in which the driving control device of the walking aid is installed in the walking aid.
FIG. 9 is a block diagram illustrating a control process for a driving and steering control apparatus of the walking aid shown in FIG. 1.

Hereinafter, a driving and steering control apparatus for a walking aid according to a preferred embodiment will be described in detail with reference to the accompanying drawings. Here, the same reference numerals are used for the same configurations, and detailed descriptions of well-known functions and configurations that may unnecessarily obscure the repeated description and the subject matter of the invention will be omitted. Embodiments of the invention are provided to more completely describe the invention for those skilled in the art. Accordingly, the shape and size of elements in the drawings may be exaggerated for clarity.

1 is a perspective view of a driving and steering control device of the walking aid according to an embodiment of the present invention, Figure 2 is an exploded perspective view of the driving and steering control device of the walking aid shown in Figure 1, Figure 3 is FIG. It is sectional drawing about the drive and steering control apparatus of the walking aid shown in FIG. 4 is an operation diagram for driving the walking aid forward through the driving and steering control device of the walking aid shown in FIG. 1, and FIG. 5 is a driving and steering control device of the walking aid shown in FIG. 1. FIG. 6 is an operation diagram for driving the walking aid backward, FIG. 6 is an operation diagram for rotationally driving the walking aid in the right direction through the driving and steering control device of the walking aid shown in FIG. 1, and FIG. It is an operation diagram for rotating the walking aid to the left direction through the driving and steering control device of the illustrated walking aid. 8 is a view showing a state in which the drive control device of the walking aid is installed in the walking aid.

As shown in FIGS. 1 to 8, the driving and steering control apparatus 100 of the walking aid includes a fixing bar 110, a first grip part 120, a second grip part 130, and a magnet member 140. ), A first hall sensor 150, a second hall sensor 160, and a controller 170. Here, the walking aid 1 refers to a mobility assisting device for assisting the movement of a user who is inconvenient to move, such as an elderly person or a disabled person, and may be applied to various mobility assisting devices such as a cart, a cane, and a baby carriage.

The fixing bar 110 may be installed in a horizontal direction on the handle portion of the walking aid 1. Specifically, the fixing bar 110 may be disposed in the horizontal direction and connected to the driving shaft of the walking aid 1, and a hollow may be formed therein to reduce the weight. Here, the horizontal direction means the left and right directions of the walking aid 1, that is, the X-axis direction.

The fixed bar 110 includes a connection member 111, a coupling member 112, and a support member 113.

The connection member 111 may be formed in a pipe shape having a hollow formed therein and connected to the handle portion of the walking aid 1 in the X-axis direction.

Coupling member 112 is provided in a pair may be coupled to both ends of the connection member 111, respectively. At this time, the coupling member 112 may be formed with a thread formed to be engaged with each other on one side of the coupling member 112 and the connection member 111 for coupling with the connection member 111. Through this structure, the coupling member 112 may be separated and fastened from the connection member 111.

A long hole 112a may be formed in the coupling member 112 to guide the first grip part 120 and the second grip part 130 to be described later in the Y-axis direction. The long hole 112a has the same diameter in the X-axis direction as that of the first grip part 120 and the second grip part 130, and the diameter in the Y-axis direction is equal to the first grip part 120 and the second grip part 130. It may be formed larger than the diameter of. Accordingly, the first grip part 120 and the second grip part 130 do not move in the X-axis direction, but move only in the Y-axis direction, respectively, in the coupling member 112. Here, the Y-axis direction means the front and rear direction of the walking aid (1).

The support member 113 may be provided in pairs and disposed in the coupling member 112, respectively. Each support member 113 may support the coupling member 112 and the first grip part 120 disposed on the left side, and the coupling member 112 and the second grip part 130 disposed on the right side. At this time, one side of the first grip portion 120 and the second grip portion 130 is formed with protruding members 121 and 122 protruding outward along the circumference, so that the support member 113 is a protruding member 121 and 122. And may be supported between the coupling member 112.

The first grip part 120 and the second grip part 130 may be connected to both sides of the fixing bar 110 so as to be movable.

Specifically, a part of the first grip part 120 may be inserted into the fixing bar 110, and may be connected to the left side of the fixing bar 110 through the spring member 180 to move in the Y-axis direction. . As such, as the first grip part 120 is connected to the fixing bar 110 through the spring member 180, when the first grip part 120 is gripped and pressed in the Y-axis direction, the spring member 180 is extended to the first grip part 120. The grip part 120 moves in the Y-axis direction along the long hole 112a. When the grip part is released, the first grip part 120 moves to the initial position by the restoring force of the spring member 180.

The second grip part 130 may be connected to the other side of the fixing bar 110 to be movable. Like the first grip part 120, a part of the second grip part 130 may be inserted into the fixing bar 110, and may be connected to the right side of the fixing bar 110 through the spring member 180 to be in the Y-axis direction. You can go to

A pair of spring members 180 connected to the first grip part 120 and the second grip part 130 may be installed in the fixing bar 110. To this end, stepped portions 111a for supporting one surface of the spring member 180 may be formed in both sides of the fixing bar 110. Accordingly, one surface of the spring member 180 may be supported by the stepped portion 111a and the other surface thereof may be supported by the protruding members 121 and 122. In this case, the spring member 180 may be fixed to the step 111a and the protruding members 121 and 122 through an adhesive or a fixing pin to prevent the spring member 180 from being separated from the fixing bar 110.

The magnet member 140 may be installed at the inner center of the fixing bar 110. The magnet member 140 may be formed of a permanent magnet and may be installed inside the fixing bar 110 through a separate fixing means for fixing the adhesive or the magnet member 140.

The first hall sensor 150 and the second hall sensor 160 may be installed on the first grip part 120 and the second grip part 130 with respect to the magnet member 140, respectively. In detail, the first hall sensor 150 may be installed inside the first grip part 120 to detect a magnetic field change of the magnet member 140 according to the movement of the first grip part 120 and output the voltage signal. . That is, when the first grip part 120 moves, the magnetic field strength of the magnet member 140 measured by changing the distance between the magnet member 140 and the first hall sensor 150 is changed, and the first hall sensor 150 is changed. In this case, the strength of the magnetic field is output as a voltage signal by using a hall effect in which voltage is generated in a direction perpendicular to the magnetic field. In this case, since the value of the voltage signal output through the first hall sensor 150 includes direction information, it may be output as positive (+) or negative (-).

The second hall sensor 160 may be installed inside the second grip part 130 to detect a magnetic field change of the magnet member 140 according to the movement of the first grip part 120 and output the voltage signal. Since the operation of the second hall sensor 160 is the same as the operation of the first hall sensor 150 described above, a detailed description thereof will be omitted.

The controller 170 may control the driving direction and speed of the walking aid 1 by comparing the magnitudes of the voltage signals output from the first hall sensor 150 and the second hall sensor 160.

In detail, the controller 170 may determine the driving direction of the walk assistance device 1 as the forward direction when the Hall voltage value of the voltage signals output from the first Hall sensor 150 and the second Hall sensor 160 is positive. have. In this case, when the first grip part 120 and the second grip part 130 move forward along the Y-axis direction, the first hall sensor 150 and the second hall sensor 160 move toward the positive Hall voltage. The output voltage may be configured to output a negative Hall voltage value when it is moved backwards.

Therefore, as shown in FIG. 4, when the first grip part 120 and the second grip part 130 move forward along the Y-axis direction, the first grip part 120 and the second grip part 130 move from the first hall sensor 150 and the second hall sensor 160. A hall voltage value of +) is output, and the controller 170 detects this and can drive the walk assistance device 1 forward. In this case, the battery 190 is built in the handle bar 110 to enable the operation of the controller 170.

In addition, the controller 170 may determine the driving direction of the walking aid 1 as backward when the Hall voltage value of the voltage signals output from the first Hall sensor 150 and the second Hall sensor 160 is negative. . Thus, as shown in FIG. 5, when the first grip part 120 and the second grip part 130 move backward along the Y-axis direction, the first grip part 120 and the second grip part 130 move from the first hall sensor 150 and the second hall sensor 160. The Hall voltage value of-) is output, and the control unit 170 detects this to drive the walk assistance device 1 backward.

In addition, the controller 170 is a walking aid when the Hall voltage value for the voltage signal output from the first Hall sensor 150 is positive, and the Hall voltage value for the voltage signal output from the second Hall sensor 160 is negative. The driving direction of (1) can be judged as right turn. Therefore, as shown in FIG. 6, when the first grip part 120 moves forward along the Y-axis direction, a positive Hall voltage value is output from the first Hall sensor 150, and the second grip part 130 is output. ) Is moved backward along the Y-axis direction, so that a negative (-) Hall voltage value is output from the second Hall sensor 160, so that the controller 170 detects this and rotates the walking aid 1 to the right. You can do it. In this case, the controller 170 may determine the direction of the walking aid 1 by controlling the direction of the driving motor connected to the rear wheel of the walking aid 1.

In addition, when the Hall voltage value for the voltage signal output from the first Hall sensor 150 is negative, and the Hall voltage value for the voltage signal output from the second Hall sensor 160 is positive, the driving aid 1 is driven. The direction can be determined to turn left. Therefore, as shown in FIG. 7, when the first grip part 120 moves backward along the Y-axis direction, a negative Hall voltage value is output from the first Hall sensor 150, and the second grip part 130 is output. ) Moves forward along the Y-axis direction, so a positive Hall voltage value is output from the second Hall sensor 160, so that the controller 170 detects this and drives the walk assistance device 1 to rotate to the left. You can do it.

The controller 170 may calculate a sum of voltage signals output from the first hall sensor 150 and the second hall sensor 160, and determine the speed of the walking aid 1 according to the calculated value. . If the sum of the voltage signals is positive, the speed of the walking aid 1 may be increased. If the sum of the voltage signals is negative, the speed of the walking aid 1 may be decreased. The speed of this walking aid 1 can be achieved by controlling a drive motor connected to the drive wheels of the walking aid 1. Specifically, the driving speed of the walking aid 1 can be controlled by controlling the duty cycle value of PWM for the driving motor of the walking aid 1.

As described above, the driving and steering control device 100 of the walk assistance device moves forward, backward, left turn, right turn, forward-left turn, and forward-right turn according to the magnitude and direction of the force applied by the user. It is easy to use because it is classified into the branches, and the speed and direction of the driving wheel of the walking aid 1 can be controlled according to the classification result.

In addition, since the speed and direction of the walking aid (1) is controlled only by pushing or pulling force, the elderly can easily use it.

In addition, since the first grip part 120 and the second grip part 130 are moved or automatically returned through the spring member 180, the driving aid 1 can be controlled even with a small force, thereby preventing the use of the elderly. It becomes possible.

In addition, the transmission and reception speed of data for changing direction and increasing speed is improved, so that the walking aid 1 can be controlled more quickly.

FIG. 9 is a block diagram illustrating a control process of a driving and steering control apparatus of the walking aid illustrated in FIG. 1. Referring to FIGS. 1 to 9, a control operation for the driving and steering control apparatus 100 of the walking aid is described as follows.

First, in order to drive the walking aid 1 forward, as illustrated in FIG. 4, the first grip part 120 and the second grip part 130 disposed on the front left and right sides of the user are gripped along the Y-axis direction. Move forward

Then, the first hall sensor and the second hall sensor 160 installed in the first grip part 120 and the second grip part 130 output a positive Hall voltage value according to the distance from the magnet member 140 in real time. do. As such, when all the hall voltage values are positive, the controller 170 determines that the walking intention of the user is moving forward, and advances the driving wheel of the walking aid 1 along the Y-axis direction. The duty cycle value of the PWM for the driving motor is controlled according to the sum of the sum of the Hall voltage values output from the first Hall sensor 150 and the second Hall sensor 160, respectively, to thereby increase the moving speed of the walking aid 1. Can be controlled. That is, if the magnitude of the sum of the hall voltage values is continuously increased, the controller 170 increases the moving speed of the walking aid 1, and if the magnitude of the sum of the hall voltage values is continuously reduced, the controller 170 is walking aid 1. Decrease the speed of movement.

On the contrary, in order to drive the walking aid 1 backward, as shown in FIG. 5, the first grip part 120 and the second grip part 130 disposed on the front left and right sides of the user are gripped along the Y-axis direction. Move backward Then, the first hall sensor and the second hall sensor 160 installed in the first grip part 120 and the second grip part 130 output negative hall voltage values according to the distance from the magnet member 140 in real time. do. As such, when the hall voltage values are all negative, the controller 170 determines that the walking intention of the user is backward, and reverses the driving wheel of the walking aid 1 along the Y-axis direction.

On the other hand, in order to rotate the driving aid 1 in the left direction, as shown in FIG. 6, the first grip part 120 disposed on the front left side of the user is gripped and moved forward along the Y-axis direction, The second grip part 130 disposed on the right side is gripped and moved backward along the Y-axis direction.

Then, the first Hall sensor installed in the first grip part 120 outputs a positive Hall voltage value, and the second Hall sensor installed in the second grip part 130 outputs a negative Hall voltage value. . Through the polarity of the Hall voltage value, the controller 170 determines that the walking intention of the user is left turning, and rotates the driving wheel of the walking aid 1 to the left by controlling the driving motor.

On the contrary, in order to rotationally drive the walking aid 1 in the right direction, the first grip part 120 disposed on the front left side of the user is gripped and moved backward along the Y-axis direction, and the second grip part disposed on the front right side ( 130) to move forward along the Y-axis direction.

Then, the first Hall sensor installed in the first grip part 120 outputs a negative Hall voltage value, and the second Hall sensor installed in the second grip part 130 outputs a positive Hall voltage value. . Through the polarity of the Hall voltage value, the controller 170 determines that the walking intention of the user is a right turn, and rotates the driving wheel of the walking aid 1 to the left by controlling the driving motor.

Although the present invention has been described with reference to one embodiment shown in the accompanying drawings, this is merely exemplary, and it will be understood by those skilled in the art that various modifications and equivalent other embodiments are possible therefrom. Could be. Accordingly, the true scope of protection of the invention should be defined only by the appended claims.

110 .. Fixed bar
111 .. Connecting members
112 .. Coupling members
112a .. Janghol
113 .. Supporting members
120. First grip
130 .. Second grip
140 .. No magnet
150 .. First Hall Sensor
160 .. 2nd Hall sensor
170 .. Controls
180 .. Spring member
190 .. Battery

Claims (18)

A hollow fixing bar disposed in a horizontal direction on a handle portion of the walking aid;
A first grip part and a second grip part connected to both sides of the fixing bar to be movable;
A magnet member installed at an inner center of the fixing bar;
The first grip part and the second grip part are installed one by one with respect to the magnet member, respectively, and detect the magnetic field change of the magnet member as the first grip part and the second grip part move forward or backward, and output the voltage signal. A first hall sensor and a second hall sensor; And
A controller for controlling a driving direction and a speed of the walking aid by comparing magnitudes of voltage signals output from the first and second hall sensors;
Including;
The control unit detects forward, backward, clockwise, right-turn, forward-left turn, and forward-right turn according to the hall voltage values sensed by the first and second hall sensors, and from the first and second hall sensors. A driving and steering control device for a walking aid to determine the speed of the walking aid by calculating the sum of the output voltage signals.
The method of claim 1,
The first grip portion and the second grip portion driving and steering control device of the walking aids formed to be movable in the Y-axis direction.
The method of claim 1,
The first grip portion is disposed on the left side of the fixing bar, the second grip portion is driving and steering control device of the walk aid is disposed on the right side of the fixing bar.
The method of claim 3,
The control unit,
When the Hall voltage value of the voltage signal output from the first Hall sensor and the second Hall sensor is positive, the driving direction of the walking aid is determined as forward,
If the Hall voltage value for the voltage signal output from the first Hall sensor and the second Hall sensor is negative, the driving direction of the walking aid is determined as backward,
If the Hall voltage value for the voltage signal output from the first Hall sensor is positive, and the Hall voltage value for the voltage signal output from the second Hall sensor is negative, the driving direction of the walk assistance device is determined to be a right turn,
When the Hall voltage value for the voltage signal output from the first Hall sensor is negative, and the Hall voltage value for the voltage signal output from the second Hall sensor is positive, the walking aid to determine the driving direction of the walking aid to the left turn Drive and steering controls.
The method of claim 4, wherein
The first Hall sensor and the second Hall sensor,
The first and second grip parts move forward and output a positive Hall voltage value, and when moved to the rear, the driving aid and steering control device for outputting a negative (-) Hall voltage value.
delete The method of claim 1,
The control unit,
And if the calculated value is positive, increases the speed of the walking aid, and if the calculated value is negative, reduces the speed of the walking aid.
The method of claim 1,
The controller controls the driving motor connected to the driving wheels of the walking aids to control the driving direction and the speed of the walking aids and steering control device.
The method of claim 1,
And a first grip part and a second grip part respectively connected to both sides of the fixed bar through a spring member.
The method of claim 9,
Driving and steering control device of the walk aids formed on both sides of the fixing bar, the stepped to support one surface of the spring member.
The method of claim 10,
Protruding members protruding outwardly along a circumference are formed at one side of the first grip part and the second grip part,
One side of the spring member is supported on the step and the other side driving and steering control device of the walk aid is supported by the protruding member.
The method of claim 1,
The fixing bar,
A connecting member connected to the walking aid in the X-axis direction;
A pair of coupling members coupled to both ends of the connection member and having a long hole for guiding the first grip portion and the second grip portion in a Y-axis direction;
And a pair of support members disposed in the coupling member to support the coupling member, the first grip portion, and the coupling member and the second grip portion, respectively.
A hollow fixing bar disposed in the X-axis direction at a handle portion of the walking aid;
A first grip part and a second grip part disposed on both sides of the fixing bar and moving in the Y-axis direction, a part of which is inserted into the fixing bar;
A pair of spring members elastically supporting the fixing bar and the first grip part and the fixing bar and the second grip part such that the first grip part and the second grip part are movable and returnable;
A magnet member installed at an inner center of the fixing bar;
The first grip part and the second grip part are installed one by one with respect to the magnet member, respectively, and detect the magnetic field change of the magnet member as the first grip part and the second grip part move forward or backward, and output the voltage signal. A first hall sensor and a second hall sensor; And
A controller for controlling a driving direction and a speed of the walking aid by comparing magnitudes of voltage signals output from the first and second hall sensors;
Including;
The control unit detects forward, backward, clockwise, right-turn, forward-left turn, and forward-right turn according to the hall voltage values detected by the first and second hall sensors, and from the first and second hall sensors. A driving and steering control device for a walking aid to determine the speed of the walking aid by calculating the sum of the output voltage signals.
The method of claim 13,
The first grip portion is disposed on the left side of the fixing bar, the second grip portion is driving and steering control device of the walk aid is disposed on the right side of the fixing bar.
The method of claim 14,
The control unit,
When the Hall voltage value of the voltage signal output from the first Hall sensor and the second Hall sensor is positive, the driving direction of the walking aid is determined as forward,
If the Hall voltage value for the voltage signal output from the first Hall sensor and the second Hall sensor is negative, the driving direction of the walking aid is determined as backward,
If the Hall voltage value for the voltage signal output from the first Hall sensor is positive, and the Hall voltage value for the voltage signal output from the second Hall sensor is negative, the driving direction of the walk assistance device is determined to be a right turn,
When the Hall voltage value for the voltage signal output from the first Hall sensor is negative, and the Hall voltage value for the voltage signal output from the second Hall sensor is positive, the walking aid to determine the driving direction of the walking aid to the left turn Drive and steering controls.
The method of claim 15,
The first Hall sensor and the second Hall sensor,
The first and second grip parts move forward and output a positive Hall voltage value, and when moved to the rear, the driving aid and steering control device for outputting a negative (-) Hall voltage value.
delete The method of claim 13,
The control unit,
And if the calculated value is positive, increases the speed of the walking aid, and if the calculated value is negative, reduces the speed of the walking aid.

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