KR102663335B1 - Rollator capable of smart walking assistance and smart driving method of rollator - Google Patents

Abstract

Examples: main frame; a wheel frame installed on the main frame and connecting a plurality of wheels; a vertical frame installed on the main frame and adjustable in height; A support unit installed on the vertical frame; a handle portion connected to the support portion; a power supply unit that provides rotational power to the wheel; And a controller including a memory storing one or more programs including instructions and a processor for executing the program, wherein the processor monitors the moving speed of the walking vehicle and provides power so that the walking vehicle moves at an average moving speed calculated. A walking vehicle capable of smart walking assistance that controls the vehicle can be provided.

Description

A walking vehicle capable of smart walking assistance and a smart driving method of a walking vehicle {Rollator capable of smart walking assistance and smart driving method of rollator}

The present invention relates to a walking vehicle capable of smart walking assistance and a smart driving method for the walking vehicle.

The continued increase in the number of elderly people requires the distribution of elderly-friendly products, and this demand is increasing the need for development and evaluation of elderly-friendly products in terms of ergonomics and design. Because senior-friendly products have not yet attracted the attention of many companies due to lack of marketability, extensive product development and research have not been provided. This has resulted in the elderly being forced to make insufficient choices and use inappropriate products. Analysis of product safety accidents shows that the accident rate for users over 60 years of age is much higher than that of users under 60 years of age. Looking at the detailed analysis results, the most common place was home at 57.2%, followed by public administration and service areas at 14.7%, and roads at 9.8%. And by accident type, falls, falls, and slips accounted for 55.3%, collisions and impacts accounted for 7.5%, accidents involving cuts or tears by objects accounted for 4.5%, and crushing and pinching accounted for 4.0%. Also, by accident area, 26.4% were in the head and face, 24% in the legs and feet, 18.1% in the arms and hands, and 14.7% in the neck, abdomen, back, and waist (Safety Status for the Elderly, Consumer Age). , 4-5, October 2007). In particular, as can be seen when looking at the types of accidents involving the elderly, falls-related accidents account for more than half. The most representative senior-friendly product that can prevent falls is the walking car (rollator). Until recently, various products with various functions added to walking vehicles and improved convenience of use and durability have appeared. In relation to this, a rollator-trolley with an adjustable handle position according to the use of Korean Patent Publication No. 2017-0134394, Korea Research and development is being conducted steadily, including the walking state estimation method and device for walking aids in Registered Patent Publication No. 1908176, the Stroller rollator in US Patent Publication No. 9974708, and the Foldable rollator in US Patent Publication No. 9839571. To date, the focus has been on the development of walking vehicle technology to increase the walking stability of the elderly and the weak when walking, but it is inconvenient for the elderly and the weak to push the walking vehicle, which results in the walking vehicle actually impairing stable walking on uphill or downhill roads. It also caused it.

Korean Patent Publication No. 2017-0134394 Korean Patent Publication No. 1908176 US Patent Publication No. 9974708 U.S. Patent Publication No. 9839571

The present invention can provide a walking vehicle capable of smart walking assistance and a smart driving method for the walking vehicle.

Additionally, the present invention can provide a walking vehicle that is more stable and has improved convenience by automatically controlling the driving speed according to the driving environment.

In addition, the present invention can provide a walking vehicle that can adjust the moving direction and smart driving speed according to the detection of pressure naturally applied to the handle according to the driving environment.

Examples: main frame; a wheel frame installed on the main frame and connecting a plurality of wheels; a vertical frame installed on the main frame and adjustable in height; A support unit installed on the vertical frame; a handle portion connected to the support portion; a power supply unit that provides rotational power to the wheel; And a controller including a memory storing one or more programs including instructions and a processor for executing the program, wherein the processor monitors the moving speed of the walking vehicle and provides power so that the walking vehicle moves at an average moving speed calculated. A walking vehicle capable of smart walking assistance that controls the vehicle can be provided.

In another aspect, the processor monitors the moving speed of the walking vehicle in response to receiving a smart driving setting signal until receiving a smart driving setting end signal, and monitors the moving speed of the walking vehicle in response to receiving the smart driving setting end signal. A walking vehicle capable of smart walking assistance can be provided, wherein the average moving speed is calculated, and the handle unit is equipped with a first handle input unit for inputting the smart driving setting signal and the smart driving setting end signal.

In another aspect, the processor controls the power supply unit to move the walking vehicle at an average moving speed calculated until reception of a smart driving end signal in response to receiving a smart driving start signal, and the handle unit includes the smart driving unit. A walking vehicle capable of smart walking assistance equipped with a second handle input unit for inputting a start signal and the smart driving end signal can be provided.

In another aspect, it further includes a smart driving assistance device that detects movement of the handle during smart driving, wherein the processor controls the power supply unit to increase or decrease the speed of the average moving speed based on the movement of the handle. A walking vehicle capable of smart walking assistance can be provided.

In another aspect, the smart driving assistance device includes a first and a second assistance device, and the handle portion includes first and second handle bars, a grip portion connecting the first and second handle bars, and a grip portion formed on the first handle bar. It includes a first protrusion and a second protrusion formed on the second handlebar, and the first auxiliary device includes a first guide portion, a first elastic portion, and a first pressure measuring portion, and the second auxiliary device includes a second guide portion. It includes a second elastic part and a second pressure measuring part, wherein the first pressure measuring part measures the pressure applied to the first elastic part by the movement of the first protrusion, and the second pressure measuring part measures the pressure applied to the first elastic part by the movement of the first protrusion. 2 Measures the pressure applied to the second elastic part by the movement of the protrusion, and the processor controls the power supply unit based on the pressure information detected from the first and second pressure measurement units to control the power supply of the walking vehicle. A walking vehicle capable of smart walking assistance that controls movement speed can be provided.

In another aspect, it further includes a recognition unit installed on the handle to recognize the user's face, wherein the processor determines whether to stop the smart driving based on the user's gaze direction based on a detection result of the recognition unit. A walking vehicle capable of smart walking assistance can be provided.

In another aspect, the wheel frame includes first and second wheel frames facing each other, one of the first and second wheel frames includes a plurality of light output sensors and the other includes a plurality of light reception sensors. The plurality of light output sensors and the plurality of light reception sensors correspond 1:1 to each other, so that the light reception sensor receives the light output from the light output sensor, and the processor receives the light from the light reception sensor. It is possible to provide a walking vehicle capable of smart walking assistance that determines whether to stop smart driving by distinguishing between normal and abnormal patterns according to walking based on the change pattern of reception status.

The embodiment may provide a walking vehicle capable of assisting walking through autonomous driving of the walking vehicle and a method of providing smart walking assistance.

In addition, the embodiment monitors the speed of movement of the walking vehicle and automatically moves at an appropriate speed even if the user does not forcibly push the walking vehicle, thereby improving the convenience of dragging the walking vehicle while maintaining the function of the walking vehicle. .

In addition, the embodiment detects the direction of movement within a predetermined range of the handle, which is the part held by the user, and controls the speed during smart driving, thereby allowing the speed to be actively changed and the stability of autonomous driving to be secured.

In addition, the embodiment determines when the user's walking speed is slower than the moving speed of the walking vehicle or when the user's walking speed is faster than the moving speed of the walking vehicle in various driving environment situations and automatically controls the moving speed of the walking vehicle. Enables safe and smart driving assistance.

In addition, the embodiment considers cases where smart driving conditions are unexpectedly triggered not only while walking, but also in an environment where the user sits on a walking vehicle or places luggage, etc., and determines the direction of the user's gaze for a condition to stop smart driving. A walking vehicle capable of detecting and/or analyzing pattern information according to the user's walking may be provided.

In addition, the embodiment detects changes in pressure naturally applied to the handle when moving the walking car in various directions and moves the walking car in various directions, thereby increasing the convenience of moving and driving the walking car, especially. Even if the elderly and infirm, who are the main users of the walking car, do not apply excessive force, the walking car can move naturally in the walking direction desired by the elderly and weak.

Figure 1 is a perspective view of a walking vehicle capable of smart walking assistance according to an embodiment of the present invention.
Figure 2 schematically shows a user walking using a walking vehicle.
Figure 3 is a block diagram of the controller.
Figure 4 is a flowchart of a smart driving method for a walking vehicle according to an embodiment of the present invention.
Figure 5 illustrates a portion of a walking vehicle capable of smart walking assistance according to various embodiments of the present invention.
Figure 6 schematically shows a smart driving assistance device that assists smart autonomous driving according to the manipulation of the handle in a walking vehicle according to an embodiment of the present invention.
Figure 7 is for explaining the adjustment of the moving speed of the walking vehicle according to the manipulation of the handle according to the smart driving of the walking vehicle.
Figure 8 is for explaining a method of controlling the moving direction of a walking vehicle according to manipulation of the handle of the walking vehicle.
Figure 9 is for explaining the conditions for stopping the smart driving mode.

Since the present invention can be modified in various ways and can have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various forms. In the following embodiments, terms such as first and second are used not in a limiting sense but for the purpose of distinguishing one component from another component. Additionally, singular expressions include plural expressions unless the context clearly dictates otherwise. Additionally, terms such as include or have mean that the features or components described in the specification exist, and do not preclude the possibility of adding one or more other features or components. Additionally, in the drawings, the sizes of components may be exaggerated or reduced for convenience of explanation. For example, the size and thickness of each component shown in the drawings are shown arbitrarily for convenience of explanation, so the present invention is not necessarily limited to what is shown.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. When describing with reference to the drawings, identical or corresponding components will be assigned the same reference numerals and redundant description thereof will be omitted. .

- Walking vehicle with smart walking assistance

Figure 1 is a perspective view of a walking vehicle capable of smart walking assistance according to an embodiment of the present invention. And, Figure 2 schematically shows a user walking using a walking vehicle.

Referring to Figure 1, the walking vehicle 100 capable of smart walking assistance according to an embodiment of the present invention includes a main frame 110, a vertical frame 120, a support portion 130, a handle portion 140, and a wheel frame. It may include 150, wheel 160, and controller 190.

The main frame 110 has a bar-type shape and is located close to the ground and can fix and support the vertical frame 120 and the wheel frame 150.

The vertical frame 120 has a cylindrical shape and is installed in the upper center area of the main frame 110. It is positioned perpendicular to the main frame 110 and can determine the height of the walking vehicle 100.

The vertical frame 120 may include a first vertical frame 121 connected to the main frame 110 and a second vertical frame 122 located to surround at least a portion of the first vertical frame 121. The overall height of the walking vehicle 100 can be adjusted by adjusting the distance of the second vertical frame 122 from the main frame 110 on the first vertical frame 121. A gas spring is built into the vertical frame 120 to adjust the height of the second vertical frame 122. However, the height adjustment method of the vertical frame 120 is not limited to the gas spring structure.

The support portion 130 may be positioned parallel to the ground and have a box-type shape.

A support portion 130 may be installed on the upper side of the vertical frame 120. The support unit 130 is connected to the upper end of the second vertical frame 122, so that the distance between the support unit 130 and the ground can be adjusted according to the height adjustment of the vertical frame 120.

The support part 130 may include a lower support part 131 and an upper support part 132 that covers the upper surface of the lower support part 131.

The handle portion 140 extends a predetermined distance forward from both sides of the front area of the lower support portion 131, and each of them is bent and extended in the upward direction and in a direction approaching each other, meeting each other, forming one handle portion 140 ) can be configured.

The handle portion 140 may be located in front of the support portion 130 and connected to the lower support portion 131. A cushion portion 140c made of an elastic material may be provided in at least a portion of the handle portion 140.

The wheel frame 150 may be located close to the ground and connected to the main frame 110. The wheel frame 150 may include a first wheel frame 151 and a second wheel frame 152.

The first wheel frame 151 is installed on one side of the main frame 110, and the second wheel frame 152 is installed on the other side of the main frame 110, and they may be positioned parallel to each other.

A wheel 160 may be installed on the wheel frame 150.

A first wheel 161 may be installed on one side of the first wheel frame 151, and a second wheel 162 may be installed on the other side. Additionally, a third wheel 163 may be installed on one side of the second wheel frame 152, and a fourth wheel 164 may be installed on the other side.

A tire made of an elastic material may be installed on the wheel 160.

A direction control unit 170 may be installed on one side of the first and second wheel frames 151 and 152. The direction control unit 170 may include a first direction control unit 171 installed on one side of the first wheel frame 151 and a second direction control unit 172 installed on one side of the second wheel frame 152.

The direction control unit 170 may change the moving direction of the walking vehicle 100 by rotating the first and third wheels 161 and 163 at a predetermined angle based on reception of the direction control command signal.

A power supply unit 180 may be installed on the other side of the first and second wheel frames 151 and 152. The power provider 180 may include a first power provider 181 installed on the other side of the first wheel frame 151 and a second power provider 182 installed on the other side of the second wheel frame 152. there is.

The power provider 180 may control the movement and speed of the walking vehicle 100 by providing rotational power to the second and fourth wheels 162 and 164 based on the drive command signal.

Figure 3 is a block diagram of the controller.

Referring to Figures 1 and 3, the controller 190 may be built into the main frame 110. The controller 190 may include a processor 191, a memory 192, a main input unit 193, and a communication unit 194.

One or more programs including instructions may be stored in the memory 192. One or more programs may be executed by processor 191.

The processor 191 may perform a preset operation based on the input signal input from the main input unit 193. The main input unit 193 may be installed on the main frame 110. Additionally, the main input unit 193 may be a button type or dial type input device, but is not limited thereto. The power on/off of the controller 190 can be controlled through the input unit 193.

The communication unit 194 may receive sensing information from the sensor 200 installed in the walking vehicle 100. The communication unit 194 can transmit and receive data by communicating with an external device. The communication unit 194 can communicate with the direction control unit 170 and the power supply unit 180.

The communication unit 194 may communicate with the sensor 200, an external device, the direction control unit 170, and the power supply unit 180 by wired and/or wirelessly.

A height control input unit 133 may be installed on the support unit 130.

The height control input unit 133 may be installed on the right side of the support unit 130, but is not limited thereto.

The user can input a height control command signal by pressing the height control input unit 133 from the bottom to the top or from the top to the bottom.

The communication unit 194 may receive an input signal input to the height control input unit 133 and information on the direction of pressure applied to the height control input unit 133.

The processor 191 may adjust the height of the vertical frame 120 based on the height control command signal received from the height control input unit 133. For example, based on a height increase command signal pressed from the bottom to the top of the height control input unit 133, the processor 191 increases the height of the vertical frame 120 and increases the height of the vertical frame 120 from the top to the bottom of the height control input unit 133. The processor 191 may reduce the height of the vertical frame 120 based on the height reduction command signal pressed in the direction.

The handle unit 140 may be equipped with a handle input unit 300.

The handle input unit 300 may include first and second handle input units 310 and 320.

The communication unit 194 may receive an input signal from the handle input unit 300.

The processor 191 may perform a preset operation based on the input signal received from the handle input unit 300.

- Smart driving method

Figure 4 is a flowchart of a smart driving method for a walking vehicle according to an embodiment of the present invention.

Referring to FIG. 4, the smart driving method (S100) of a walking vehicle according to an embodiment of the present invention includes receiving a smart driving setting signal from a first handle input unit (S110), and monitoring the moving speed of the walking vehicle (S110). S120), determining whether a smart driving setting end signal is received from the first steering wheel input unit (S130), determining whether a smart driving start signal is received from the second steering wheel input unit (S140), executing the smart driving mode It may include a step (S150), a step of determining whether a smart driving end signal is received from the second steering wheel input unit (S160), and a step of ending the smart driving mode (S170).

The user can input a smart driving setting signal into the first handle input unit 310 while walking using the walking vehicle 100. In various embodiments, the first handle input unit 310 may be configured as a button type. The user can input a smart driving setting signal simply by pressing the button on the first steering wheel input unit 310.

The processor 191 may monitor the current moving speed of the walking vehicle 100 in response to the input of the smart driving setting signal.

The processor 191 may monitor the current moving speed of the walking vehicle 100 until a smart driving setting end signal is received from the first handle input unit 310.

The user can input the smart driving setting end signal by pressing the button on the first steering wheel input unit 310. In various embodiments, the processor 191 monitors the moving speed of the walking vehicle 100 while the user presses the button on the first handle input unit 310, and when the button on the first handle input unit 310 is released, the processor 191 monitors the The monitoring operation of the moving speed of the walking vehicle 100 may be terminated based on the reception of the travel setting end signal.

The processor 191 may calculate the average moving speed of the walking vehicle 100 during the monitoring time of the moving speed of the walking vehicle 100 in response to receiving the smart driving setting end signal.

The user can input a smart driving start signal through the second steering wheel input unit 320. In various embodiments, a user may input a smart driving start signal by pressing a button on the second steering wheel input unit 320.

The processor 191 may control the power supply unit 180 so that the walking vehicle 100 moves at the average moving speed calculated in response to the input of the smart driving start signal.

Even when there is no external force, the walking vehicle 100 can automatically travel at the average moving speed calculated according to the driving of the power supply unit 180.

The processor 191 may maintain the smart driving mode of the walking vehicle 100 until a smart driving end signal is received from the second handle input unit 320.

The user can input a smart driving end signal into the second steering wheel input unit 320. In various embodiments, the processor 191 executes the smart driving mode while the button is being pressed after the first input of the button of the second steering wheel input unit 320, and when the button is released, a smart driving end signal is input. It is determined that the smart driving mode can be terminated.

According to the embodiment, the user can set the smart driving mode by manipulating the first steering wheel input unit 310 and execute or end the smart driving mode by manipulating the second steering wheel input unit 320.

Figure 5 illustrates a portion of a walking vehicle capable of smart walking assistance according to various embodiments of the present invention.

Referring to FIGS. 1 and 5 , the support unit 130 may include an elevation unit 134 .

The lifting unit 134 may be installed inside the lower support unit 131.

The lifting unit 134 can be driven upward or downward.

As the lifting unit 134 rises, the upper support unit 132 may rise in response to the rising height of the lifting unit 134.

The lifting unit 134 may be located in the front center direction inside the lower support unit 131. Accordingly, when the lifting unit 134 rises, it lifts the front center portion of the upper support unit 132 upward, so that it can be inclined at a predetermined angle around the rear edge of the upper support part 132.

While the user is holding the handle unit 140, the user's support unit 130 supports the user's arm. In this case, the user can adjust the angle of the upper support part 132 according to his or her posture or human body conditions so that the arm part is comfortably supported.

The processor 191 may drive the lifting unit 134 based on a manipulation signal from the dial on the input unit 193. As an example, when the dial is rotated in one direction, the lifting unit 134 can be raised by the rotation angle, and when the dial is rotated in the other direction, the lifted unit 134 can be lowered by the rotation angle.

Figure 6 schematically shows a smart driving assistance device that assists smart autonomous driving according to the manipulation of the handle in a walking vehicle according to an embodiment of the present invention.

Referring to FIGS. 1 and 6 , the smart driving assistance device 400 may include first and second assistance devices 401 and 402.

The smart driving assistance device 400 can detect the movement of the handle unit 140.

The smart driving assistance device 400 may be installed within the lower support portion 131. The first auxiliary device 401 may be installed on the right side of the lower support part 131, and the second auxiliary device 402 may be installed on the left side of the lower support part 131.

The first auxiliary device 401 may include a first guide part 410, a first elastic part 430, and a first pressure measuring part 450.

The second auxiliary device 402 may include a second guide part 420, a second elastic part 440, and a second pressure measuring part 460.

The first guide part 410 has a plate shape and is positioned perpendicular to the bottom of the lower support part 131, and a first guide hole 411 may be formed in the center area.

The second guide part 420 has a plate shape and is positioned perpendicular to the bottom of the lower support part 131, and a second guide hole 421 may be formed in the center area.

The first elastic part 430 is located facing one side of the first guide part 410 and includes a 1-1 elastic part 431 and a 1-2 elastic part 432 spaced apart at a predetermined distance. can do.

The second elastic part 440 is located facing one side of the second guide part 420 and includes a 2-1 elastic part 441 and a 2-2 elastic part 442 spaced apart at a predetermined distance. can do.

The handle unit 140 may be composed of three components integrally formed with each other. The handle unit 140 may include first and second handle bars 141 and 142 and a grip unit 143.

A partial area is inserted into the interior of the lower support portion 131 through the front of the lower support portion 131 of the first handle bar 141, and the second handle bar 142 is inserted into the front of the lower support portion 11. Some areas may be inserted into the lower support portion 131. The grip portion 143 is located between the first and second handlebars 141 and 142 and is integrally connected with them to connect them to each other and may be a part that the user holds.

A first protrusion 144 is formed on the area inserted into the lower support 131 of the first handle bar 141, and a first protrusion 144 is formed on the area inserted into the lower support 131 of the second handle bar 142. A second protrusion 145 may be formed.

The first protrusion 144 may be formed by extending a portion of the first handle bar 141 a predetermined distance toward the second handle bar 142, and the second protrusion 145 may be formed by extending the second handle bar 142 ( A partial area of 142) may be formed to extend a predetermined distance toward the first handle bar 141.

The first handle bar 141 may be positioned facing the other side of the first guide part 410, and the second handle bar 142 may be positioned facing the other side of the second guide part 420. And, a portion of the first protrusion 144 may be positioned between the 1-1 elastic portion 431 and the 1-2 elastic portion 432 after being inserted through the first guide hole 411, A portion of the second protrusion 145 may be positioned between the 2-1 elastic part 441 and the 2-2 elastic part 442 after being inserted through the second guide hole 421. Accordingly, the first protrusion 144 is located in the area between one side of each of the 1-1 elastic part 431 and the 1-2 elastic part 432, and the 2-1 elastic part 441 and the second elastic part 432 -2 A second protrusion 145 may be located in an area between one side of each elastic part 442.

In addition, the first pressure measuring unit 451 includes a 1-1 pressure measuring unit 451 located on the other side of the 1-1 elastic unit 431 and a first pressure measuring unit 451 located on the other side of the 1-2 elastic unit 432. -2 It may include a pressure measuring part 452, and the second pressure measuring part 460 is a 2-1 pressure measuring part 461 located on the other side of the 2-1 elastic part 441 and a 2- 2 It may include a 2-2 pressure measuring unit 462 located on the other side of the elastic unit 442.

Assuming that the user pushes the handle portion 140 in the same direction as the forward movement direction of the walking vehicle 100, the first and second handle bars 141 and 142 move forward to form the first and second protrusions. (144, 145) Each can move forward along the first and second guide holes 411 and 421. Accordingly, the first protrusion 144 can press the 1-1 elastic part 431, and the second protrusion 145 can press the 2-1 elastic part 441. In addition, the 1-1 pressure measurement unit 451 and the 2-1 pressure measurement unit 461 can each detect a pressure above the reference value, and the 1-2 pressure measurement unit 452 and the 2-2 pressure Each of the measuring units 462 can detect a pressure below the reference value.

In addition, assuming that the user pulls the handle unit 140 in the reverse direction of the forward movement direction of the walking vehicle 100, the first and second handle bars 141 and 142 move rearward and move the first and second handle bars 140 to the rear. Each of the second protrusions 144 and 145 can move rearward along the first and second guide holes 411 and 421. Accordingly, the first protrusion 144 can press the 1-2 elastic part 432, and the second protrusion 145 can press the 2-2 elastic part 442. In addition, the 1-2 pressure measuring unit 452 and the 2-2 pressure measuring unit 462 can each detect a pressure above the reference value, and the 1-1 pressure measuring unit 451 and the 2-1 pressure measuring unit 451 can detect the pressure above the standard value. Each of the measuring units 461 can detect a pressure below the reference value.

In addition, assuming that the user pushes the right side of the handle unit 140 and pulls the left side so that the running walking vehicle 100 can turn left, the first handle bar 141 moves forward, and the second handle bar 141 moves forward. The handlebar 142 moves rearward, the first protrusion 144 moves forward along the first guide hole 411, and the second protrusion 145 moves rearward along the second guide hole 421. You can. Accordingly, the first protrusion 144 can press the 1-1 elastic part 431, and the second protrusion 145 can press the 2-2 elastic part 442. In addition, the 1-1 pressure measurement unit 451 and the 2-2 pressure measurement unit 462 can each detect a pressure above the reference value, and the 1-2 pressure measurement unit 452 and the 2-1 pressure Each of the measuring units 461 can detect a pressure below the reference value.

In addition, assuming that the user pushes the left side of the handle unit 140 and pulls the right side so that the running walking vehicle 100 can turn right, the first handle bar 141 moves rearward, and the second handle bar 141 moves backward. The handlebar 142 moves forward, the first protrusion 144 moves rearward along the first guide hole 411, and the second protrusion 145 moves forward along the second guide hole 421. You can. Accordingly, the first protrusion 144 may press the 1-2 elastic part 432, and the second protrusion 145 may press the 2-1 elastic part 441. In addition, the 1-2 pressure measurement unit 452 and the 2-1 pressure measurement unit 461 can each detect a pressure above the reference value, and the 1-1 pressure measurement unit 452 and the 2-2 pressure Each of the measuring units 461 can detect a pressure below the reference value.

Meanwhile, the first and second protrusions 144 and 145 move along the first and second guide holes 411 and 421, but the moving distance is limited to the size of the first and second guide holes 411 and 421. . Accordingly, the width of the movement distance of the handle unit 140 is limited to the size of the first and second guide holes 411 and 421.

Figure 7 is for explaining the adjustment of the moving speed of the walking vehicle according to the manipulation of the handle according to the smart driving of the walking vehicle.

Referring to FIGS. 3, 4, 6, and 7, it is assumed that the walking vehicle 100 is moving at the calculated average moving speed according to smart driving.

In the case of uphill or downhill or on flat ground, when the user cannot walk at the speed of autonomous driving of the walking vehicle 100 due to various factors such as the driving environment or the user's physical strength when walking, the handle unit 140 naturally Pressure is applied to the handle unit 140 toward the user, that is, in a direction opposite to the direction of movement of the walking vehicle 100 (that is, the handle unit 140 is pulled). The processor 191 of the controller 190 may control the moving speed of the walking vehicle 100 based on pressure changes detected by the first and second pressure measuring units 450 and 460. In detail, a pressure higher than the reference value is detected in the 1-2 pressure measurement unit 452 and the 2-2 pressure measurement unit 462, and the 1-1 pressure measurement unit 451 and the 2-1 pressure measurement unit At 461, a pressure below the reference value may be detected. The processor 191 can detect this and reduce the movement speed to a preset rate. In addition, when the user walks at a walking speed that exceeds the autonomous driving speed of the walking vehicle 100, depending on various factors such as the driving environment or the user's physical strength when walking on an uphill or downhill or flat ground, the handle naturally The unit 140 applies pressure to the handle unit 140 (i.e., pushes the handle unit 140) toward the front, that is, in the same forward direction as the moving direction of the walking vehicle 100. The processor 191 of the controller 190 may control the moving speed of the walking vehicle 100 based on pressure changes detected by the first and second pressure measuring units 450 and 460. In detail, a pressure below the reference value is detected in the 1-2 pressure measurement unit 452 and the 2-2 pressure measurement unit 462, and the 1-1 pressure measurement unit 451 and the 2-1 pressure measurement unit A pressure greater than a standard value may be detected in unit 461. The processor 191 can detect this and increase the movement speed at a preset rate. In this way, the embodiment can safely assist the user's walking by controlling the autonomous driving speed of the walking vehicle 100 according to the user's walking speed when the walking vehicle 100 is smartly driven.

Figure 8 is for explaining a method of controlling the moving direction of a walking vehicle according to manipulation of the handle of the walking vehicle.

Referring to FIGS. 1, 3, 6, and 7, assuming that the user turns left while walking while relying on the walking vehicle 100, the user's right hand is used to turn the walking vehicle 100 to the left. 140) is pushed and the left hand pulls the handle unit 140, so that the processor 191 detects a pressure above the reference value in the 1-1 pressure measurement unit 451 and the 2-2 pressure measurement unit 462 and Detection information of a pressure below the reference value may be received from the -2 pressure measurement unit 452 and the 2-1 pressure measurement unit 461. The processor 191 may transmit a direction control signal to the direction control unit 170 in response. In detail, the first direction control unit 171 and the second direction control unit 172 rotate the first and third wheels 161 and 163 counterclockwise at a predetermined angle so that the walking vehicle 100 can turn left. Let it happen.

Figure 9 is for explaining the conditions for stopping the smart driving mode.

Referring to FIGS. 1, 3, 4, and 9, a recognition unit 500 may be provided on the handle unit 140. The recognition unit 500 may be located between the first and second handle input units 310 and 320.

The recognition unit 500 can recognize the user's face.

When the user presses the second handle input unit 320 to move the walking vehicle 100 in the smart driving mode, the recognition unit 500 may monitor the user's face.

The processor 191 may determine whether the user is looking forward by analyzing the user's facial monitoring information from the recognition unit 500. If the processor 191 determines that the user is looking ahead, the processor 191 may maintain the moving state of the walking vehicle 100 at the calculated average moving speed. If the processor 191 determines that the user is looking at an angular direction outside a predetermined range based on the front, the processor 191 may control the power supply unit 180 to slow down the moving speed of the walking vehicle 100.

Additionally, if the processor 191 determines that the user's face is not recognized, it can control the power supply unit 180 to stop the smart driving mode.

In addition, assume that the user is sitting on the support unit 130 as shown in FIG. 9(b) or that an object such as a bag is placed on the support unit 130 as shown in FIG. 9(c). In this case, the second steering wheel input unit 320 may be manipulated by the user's head, back, or object to execute the smart driving mode. In this case, the processor 191 may stop executing the smart driving mode because the user's face is not recognized as a result of analyzing the user's face monitoring information in the recognition unit 500.

In various embodiments, a plurality of sensors 200 spaced apart from each other may be provided inside the first and second wheel frames 151 and 152 as shown in FIG. 1 to improve the precision of the smart driving mode interruption condition. You can. One of the first and second wheel frames 151 and 152 may be provided with a light output sensor, and the other may be provided with a light reception sensor. The light output sensor and the light reception sensor face each other and may have a 1:1 correspondence relationship. When there is no object or user between the first and second wheel frames 151 and 152, the light reception sensor may receive light output from each of the light output sensors. Additionally, as shown in FIG. 9(b), when a user sits on the support unit 130, some light reception sensors cannot receive output light from some corresponding light output sensors. Additionally, when a user walks while relying on the walking vehicle 100, the light receiving sensor that receives light may change from time to time. The processor 191 may monitor whether the light reception sensor receives light. The processor 191 may determine whether to walk based on light reception from a plurality of light reception sensors and change information of the light reception sensor receiving the light. Therefore, as shown in FIG. 9(b), there may be cases where some light receiving sensors are unable to receive light due to the user's legs when the user is sitting on the support unit 130, or when the user is sitting on the support unit 130 The light receiving sensor that receives light may change depending on the movement of the leg. In addition, even in the state of FIG. 9(c), other objects may be placed between the first and second wheel frames 151 and 152. The processor 191 distinguishes between the variation pattern of whether or not light is received by the light receiving sensors according to the case where the user walks while relying on the walking vehicle 100 and the variation pattern of whether or not light is received by other light receiving sensors to determine the user's It is possible to determine whether or not you are walking. The processor 191 may stop the smart driving mode if it determines that the change pattern is an abnormal change pattern rather than a normal change pattern due to walking.

The embodiments according to the present invention described above can be implemented in the form of program instructions that can be executed through various computer components and recorded on a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, etc., singly or in combination. Program instructions recorded on the computer-readable recording medium may be specially designed and configured for the present invention, or may be known and usable by those skilled in the computer software field. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, and magneto-optical media such as floptical disks. medium), and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, etc. Examples of program instructions include not only machine language code such as that created by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like. A hardware device can be converted into one or more software modules to perform processing according to the invention and vice versa.

The specific implementations described in the present invention are examples and do not limit the scope of the present invention in any way. For the sake of brevity of the specification, descriptions of conventional electronic components, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connections or connection members of lines between components shown in the drawings exemplify functional connections and/or physical or circuit connections, and in actual devices, various functional connections or physical connections may be replaced or added. Can be represented as connections, or circuit connections. Additionally, if there is no specific mention such as “essential,” “important,” etc., it may not be a necessary component for the application of the present invention.

In addition, although the detailed description of the present invention has been described with reference to preferred embodiments of the present invention, those skilled in the art or those skilled in the art will understand the spirit of the present invention as described in the patent claims to be described later. It will be understood that the present invention can be modified and changed in various ways without departing from the technical scope. Therefore, the technical scope of the present invention should not be limited to what is described in the detailed description of the specification, but should be defined by the scope of the claims.

Walking vehicle (100), main frame (110), vertical frame (120)
First vertical frame 121, second vertical frame 122
Support portion 130, lower support portion 131, upper support portion 132
Height control input (133)
Handle portion 140, cushion portion 140c, first handle bar 141, second handle bar 142
Grip portion 143, first protrusion 144, second protrusion 145
Wheel frame (150), first wheel frame (151), second wheel frame (152)
Wheel 160, first and second wheels 161, 162, third and fourth wheels 163, 164
Direction control unit 170, first direction control unit 171, second direction control unit 172
Power provider (180), first power provider (181), second power provider (182)
Controller 190, processor 191, memory 192, input unit 193, communication unit 194
Sensor 200, handle input unit 300, first handle input unit 310, second handle input unit 320
Smart driving assistance device (400), first assistance device (401), first guide unit (410)
First guide hole 411, first elastic part 430, elastic part 431
1-1 elastic part 432, first pressure measuring part 450, 1-1 pressure measuring part 451
1-2 pressure measuring unit 452, first auxiliary device 402, second guide unit 420
Second guide hole 421, second elastic part 440, 2-1 elastic part (441)
2-2 elastic part 442, second pressure measuring part 460, 2-1 pressure measuring part 461
2-2 pressure measurement unit 462, recognition unit 500

Claims (7)

main frame;
A wheel frame installed on the main frame and connecting a plurality of wheels
A vertical frame installed on the main frame and adjustable in height;
A support unit installed on the vertical frame;
A handle part connected to the support part;
A power supply unit that provides rotational power to the wheel;
A recognition unit installed on the handle to recognize the user's face; and
A controller including a memory storing one or more programs including instructions and a processor executing the programs,
The processor monitors the moving speed of the walking vehicle and controls the power supply unit to move the walking vehicle at an average moving speed calculated,
The processor monitors the moving speed of the walking vehicle in response to receiving a smart driving setting signal until receiving a smart driving setting end signal, and monitors the average moving speed of the walking vehicle in response to receiving the smart driving setting end signal. Calculate
The handle unit is provided with a first handle input unit for inputting the smart driving setting signal and the smart driving setting end signal,
The processor controls the power supply unit to move the walking vehicle at a calculated average moving speed until reception of a smart driving end signal in response to receiving a smart driving start signal,
A second handle input unit is installed in the handle unit for inputting the smart driving start signal and the smart driving end signal,
The processor determines whether to stop the smart driving based on the user's gaze direction based on the detection result of the recognition unit.
A walking vehicle with smart walking assistance. delete delete According to claim 1,
It further includes a smart driving assistance device that detects movement of the handle during smart driving,
The processor controls the power supply unit to increase or decrease the speed of the average moving speed based on the movement of the handle unit.
A walking vehicle with smart walking assistance. According to clause 4,
The smart driving assistance device includes a first and a second assistance device,
The handle portion includes first and second handle bars, a grip portion connecting the first and second handle bars, a first protrusion formed on the first handle bar, and a second protrusion formed on the second handle bar,
The first auxiliary device includes a first guide portion, a first elastic portion, and a first pressure measuring portion, and the second auxiliary device includes a second guide portion, a second elastic portion, and a second pressure measuring portion,
The first pressure measuring unit measures the pressure applied to the first elastic part by the movement of the first protrusion, and the second pressure measuring unit measures the pressure applied to the second elastic part by the movement of the second protrusion. measure the pressure,
The processor controls the power supply unit based on the pressure information detected from the first and second pressure measuring units to control the moving speed of the walking vehicle.
A walking vehicle with smart walking assistance. delete According to clause 4,
The wheel frame includes first and second wheel frames facing each other,
One of the first and second wheel frames includes a plurality of light output sensors and the other includes a plurality of light reception sensors,
The plurality of light output sensors and the plurality of light reception sensors correspond 1:1 to each other, and the light reception sensor receives the light output from the light output sensor,
The processor determines whether to stop the smart driving by distinguishing between normal and abnormal patterns according to walking based on the fluctuating pattern of whether or not light is received from the light receiving sensor.
A walking vehicle with smart walking assistance.