KR20230123081A - Rollator capable of smart walking assistance and smart driving method of rollator - Google Patents

Abstract

Example. 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 supporting part installed on the vertical frame; a handle part connected to the supporting part; a power supply unit providing rotational power to the wheel; and a controller including a memory storing one or more programs including instructions and a processor executing the program, wherein the processor provides power to the walking vehicle to move at an average moving speed calculated by monitoring a moving speed of the walking vehicle. It is possible to provide a walking vehicle capable of smart walking assistance for controlling parts.

Description

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 of the walking vehicle.

The continuous increase in the number of elderly people requires the distribution of elderly-friendly products, and this demand increases the need for development and evaluation of elderly-friendly products in terms of ergonomics and design. Since elderly-friendly products have not yet attracted the attention of many companies due to lack of marketability, development and research of a wide range of products have not been provided. This has resulted in a phenomenon in which the elderly are forced to make insufficient choices and inappropriate use. As a result of product safety accident analysis, it can be seen that the accident rate of users aged 60 years or older is much higher than that of users younger than 60 years old. As a result of detailed analysis, the most common place was home with 57.2%, followed by public administration and service areas with 14.7% and roads with 9.8%. And by accident type, falls, falls, and slips accounted for 55.3%, collisions and shocks accounted for 7.5%, cuts or tears from objects accounted for 4.5%, and crushing and pinching accounted for 4.0%. In addition, by accident part, 26.4% of the head and face, 24% of the legs and feet, 18.1% of the arms and hands, and 14.7% of the neck, stomach, back, and waist were surveyed (Elderly Safety Status, Consumer Times). , 4-5, October 2007). In particular, as can be seen from the types of accidents involving the elderly, more than half of accidents are related to falls. The most representative elderly-friendly product that can prevent falls is a walking vehicle (rollator). Until recently, various functionalities have been added to walking vehicles, and various products with improved usability and durability have emerged. Research and development such as a gait state estimation method and apparatus for walking aids of Patent Registration No. 1908176, a stroller rollator of US Patent Registration No. 9974708, and a foldable rollator of US Patent Registration No. 9839571 have been steadily conducted. Until now, the focus has been on the development of walking vehicle technology to increase walking stability in the elderly and the weak, but there is inconvenience in the elderly pushing the walking vehicle, which results in the walking vehicle harming stable walking on uphill or downhill roads. also caused

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

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

In addition, the present invention can provide a more stable and improved walking vehicle by automatically controlling the driving speed according to the driving environment.

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

Example. 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 supporting part installed on the vertical frame; a handle part connected to the supporting part; a power supply unit providing rotational power to the wheel; and a controller including a memory storing one or more programs including instructions and a processor executing the program, wherein the processor provides power to the walking vehicle to move at an average moving speed calculated by monitoring a moving speed of the walking vehicle. It is possible to provide a walking vehicle capable of smart walking assistance for controlling parts.

In another aspect, the processor monitors the moving speed of the walking vehicle until a smart driving setting end signal is received in response to receiving the smart driving setting signal, and the walking vehicle in response to receiving the smart driving setting end signal. It is possible to provide a walking vehicle capable of smart walking assistance by calculating an average moving speed of and having a first handle input unit installed on the handle 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 receiving a smart driving end signal in response to receiving a smart driving start signal, and the handle unit has the smart driving A walking vehicle capable of smart walking assistance installed with a second handle input unit for inputting a start signal and the smart driving end signal may be provided.

In another aspect, a smart driving assist device for detecting a movement of the handle unit during smart driving; further comprising, wherein the processor controls the power supply unit to increase or decrease the average moving speed based on the movement of the handle unit A walking vehicle capable of smart walking assistance may be provided.

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

In another aspect, a recognition unit installed in the handle unit and recognizing a user's face; further comprising, wherein the processor determines whether or not the smart driving is stopped based on a gaze direction of the user based on a detection result of the recognition unit. A walking vehicle capable of determining smart walking assistance may be provided.

In another aspect, the wheel frame includes first and second wheel frames facing each other, and one of the first and second wheel frames includes a plurality of light output sensors and the other one includes a plurality of light reception sensors. and the plurality of light output sensors and the plurality of light reception sensors are corresponded 1:1 to each other so that the light reception sensor receives the light output from the light output sensors, and the processor receives the light from the light reception sensors. It is possible to provide a walking vehicle capable of smart walking assistance that determines whether or not to stop the smart driving by distinguishing a normal pattern and an abnormal pattern according to walking based on a variation pattern of reception or not.

Embodiments may provide a walking vehicle capable of assisting walking through autonomous driving of the walking vehicle and a method for smart walking assistance.

In addition, the embodiment monitors the movement speed of the walking vehicle and automatically moves at an appropriate speed even if the user does not forcefully 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 can actively change the speed and secure the stability of autonomous driving by controlling the speed during smart driving by detecting the moving direction of the handle part, which is a part to be gripped by the user, within a predetermined range.

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

In addition, the embodiment considers the case where the smart driving condition is triggered unexpectedly not only during walking but also according to an environment in which the user can sit on a walking vehicle or put a load on the user's gaze direction for a condition for stopping smart driving. A walking vehicle capable of detecting and/or analyzing pattern information according to a user's walking may be provided.

In addition, the embodiment can increase the convenience of movement and driving of the walking vehicle by detecting a change in pressure naturally applied to the handle portion when moving the walking vehicle in various directions and moving the walking vehicle in various directions. In particular, Even if the elderly, the main user of the walking vehicle, does not apply excessive force, the walking vehicle can move naturally in the walking direction desired by the elderly.

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

Since the present invention can apply various transformations and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. Effects and features of the present invention, and methods for achieving them will become clear with reference to the embodiments described later in detail together 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 for the purpose of distinguishing one component from another component without limiting meaning. Also, expressions in the singular number include plural expressions unless the context clearly dictates otherwise. In addition, terms such as include or have mean that features or elements described in the specification exist, and do not preclude the possibility that one or more other features or elements may be added. In addition, in the drawings, the size of components may be exaggerated or reduced for convenience of description. For example, since the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of description, the present invention is not necessarily limited to the illustrated bar.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and when describing with reference to the drawings, the same or corresponding components are assigned the same reference numerals, and overlapping descriptions thereof will be omitted. .

- Pedestrian car with smart walking assistance

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

Referring to FIG. 1 , a 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 part 130, a handle part 140, and a wheel frame. 150, wheel 160 and controller 190.

The main frame 110 has a bar-type shape, is positioned 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, is installed in the upper central region of the main frame 110, 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 positioned to surround at least a portion of the first vertical frame 121 . The second vertical frame 122 can adjust the overall height of the walking vehicle 100 while the distance separated from the main frame 110 is adjusted 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 supporting portion 130 may be positioned parallel to the ground and have a box-type shape.

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

The supporting portion 130 may include a lower supporting portion 131 and an upper supporting portion 132 covering an upper surface of the lower supporting portion 131 .

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

The handle part 140 may be located in front of the supporting part 130 and connected to the lower supporting part 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. Also, 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 controller 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 the 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 supply unit 180 may include a first power supply unit 181 installed on the other side of the first wheel frame 151 and a second power supply unit 182 installed on the other side of the second wheel frame 152. there is.

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

3 is a block diagram of a controller.

Referring to FIGS. 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 an input signal input from the main input unit 193 . The main input unit 193 may be installed on the main frame 110 . In addition, the main input unit 193 may be a button type or dial type input device, but is not limited thereto. Power on/off of the controller 190 may 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 may transmit/receive data by communicating with an external device. The communication unit 194 may 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 wire and/or wirelessly.

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

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

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

The communication unit 194 may receive an input signal input to the height control input unit 133 and direction information 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 . Illustratively, the processor 191 increases the height of the vertical frame 120 based on a height increase command signal pressed from the lower side to the upper side of the height control input unit 133, and from the upper side to the lower side of the height control input unit 133. Based on the height reduction command signal pressed in the direction, the processor 191 may decrease the height of the vertical frame 120 .

The handle input unit 300 may be installed in the handle unit 140 .

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 of 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

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 , in the smart driving method of a walking vehicle (S100) according to an embodiment of the present invention, a step of receiving a smart driving setting signal from a first handle input unit (S110), and monitoring a 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 a 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 may input a smart driving setting signal to the first handle input unit 310 while walking using the walking vehicle 100 . In various embodiments, the first handle input unit 310 may be of a button type. The user may input the smart driving setting signal only by pressing the button of 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 may input a smart driving setting end signal through an action of pressing a button of the first handle input unit 310 . In various embodiments, while the user presses the button of the first handle input unit 310, the processor 191 monitors the moving speed of the walking vehicle 100, and when the button press of the first handle input unit 310 is released, the smart The monitoring operation of the moving speed of the walking vehicle 100 may be terminated by determining that the driving setting end signal is received.

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 may input a smart driving start signal through the second steering wheel input unit 320 . In various embodiments, the user may input a smart driving start signal through an operation of pressing a button of 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 calculated average moving speed 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 an 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 may input a smart driving end signal to the second handle input unit 320 . In various embodiments, the processor 191 executes the smart driving mode while the button is pressed after the first input of the button of the second steering wheel input unit 320, and when the button is released, the smart driving end signal is input. The smart driving mode may be terminated by determining that the

According to the embodiment, the user may manipulate the first steering wheel input unit 310 to set the smart driving mode, and operate or terminate the smart driving mode by operating the second steering wheel input unit 320.

5 illustrates a part of a walking vehicle capable of smart walking assistance according to various embodiments of the present disclosure.

Referring to FIGS. 1 and 5 , the supporting part 130 may include a lifting part 134 .

The elevation part 134 may be installed inside the lower supporting part 131 .

The elevating unit 134 may be driven up or down.

As the elevation part 134 rises, the upper supporting part 132 may rise corresponding to the height of the elevation part 134 .

The elevation part 134 may be located in the front center direction from the inside of the lower supporting part 131 . Therefore, since the elevating part 134 lifts the front center portion of the upper supporting part 132 upward when it is raised, it may be inclined at a predetermined angle with respect to the rear edge of the upper supporting part 132 .

In a state in which the user grips the handle part 140, the user's supporting part 130 supports the arm. In this case, the user can adjust the angle of the upper support part 132 according to his/her posture or body condition so that the arm can be comfortably supported.

The processor 191 may drive the elevation unit 134 based on a manipulation signal of a dial on the input unit 193 . Illustratively, when the dial is rotated in one direction, the elevation part 134 may be raised by the rotation angle, and when the dial is rotated in the other direction, the elevation unit 134 may be moved down by the rotation angle.

6 schematically illustrates a smart driving assistance device assisting smart autonomous driving according to manipulation of a handle unit in a walking vehicle according to an embodiment of the present invention.

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

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

The smart driving assistance device 400 may be installed in the lower support 131. The first auxiliary device 401 may be installed on the right side of the lower support portion 131 and the second auxiliary device 402 may be installed on the left side of the lower support portion 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 perpendicularly to the lower surface of the lower supporting part 131, and a first guide hole 411 may be formed in a central region.

The second guide part 420 has a plate shape and is positioned perpendicularly to the lower surface of the lower supporting part 131, and a second guide hole 421 may be formed in a central region.

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 by 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 by a predetermined distance. can do.

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

A partial area is inserted into the lower support portion 131 through the front surface of the lower support portion 131 of the first handle bar 141, and the second handle bar 142 covers the front surface of the lower support portion 11. Through this, a partial region may be inserted into the lower supporting portion 131 . The grip part 143 may be located between the first and second handlebars 141 and 142 and integrally connected thereto to connect them to each other and be a part that a user grips.

A first protrusion 144 is formed on the area inserted into the lower support portion 131 of the first handle bar 141, and on the area inserted into the lower support portion 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 handlebar 141 toward the second handlebar 142 by a predetermined distance, and the second protrusion 145 may be formed by extending a portion of the first handlebar 141 toward the second handlebar 142. 142) may be formed by extending a predetermined distance toward the first handlebar 141.

The first handle bar 141 may be positioned to face the other side of the first guide part 410 , and the second handle bar 142 may be positioned to face the other side of the second guide part 420 . Also, after being inserted through the first guide hole 411, a partial area of the first protrusion 144 may be located between the 1-1 elastic part 431 and the 1-2 elastic part 432, After being inserted through the second guide hole 421 , a partial area of the second protrusion 145 may be located between the 2-1st elastic part 441 and the 2-2nd elastic part 442 . Therefore, the first protrusion 144 is located in the region between one side of each of the 1-1st elastic part 431 and the 1-2nd elastic part 432, and the 2-1st elastic part 441 and the second -2 The second protruding part 145 may be located in an area between each one side of the elastic part 442 .

In addition, the first pressure measuring unit 451 includes the 1-1 pressure measuring unit 451 located on the other side of the 1-1 elastic part 431 and the first pressure measuring unit 451 located on the other side of the 1-2 elastic part 432. It may include a -2 pressure measuring unit 452, and the second pressure measuring unit 460 may include the 2-1 pressure measuring unit 461 located on the other side of the 2-1 elastic part 441 and the second- 2 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 part 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 and the first and second protrusions Each of 144 and 145 may move forward along the first and second guide holes 411 and 421 . Accordingly, the first protrusion 144 may press the 1-1 elastic part 431 and the second protrusion 145 may press the 2-1 elastic part 441 . In addition, each of the 1-1 pressure measuring unit 451 and the 2-1 pressure measuring unit 461 may detect a pressure equal to or higher than the reference value, and the 1-2 pressure measuring unit 452 and the 2-2 pressure Each of the measuring units 462 may detect a pressure less than a reference value.

In addition, assuming that the user pulls the handle part 140 in a direction opposite to the forward movement direction of the walking vehicle 100, the first and second handle bars 141 and 142 move backward, and the first and second handle bars 141 and 142 move backward. Each of the second protrusions 144 and 145 may move backward along the first and second guide holes 411 and 421 . Accordingly, the first protrusion 144 may press the 1-2 elastic part 432 , and the second protrusion 145 may press the 2-2 elastic part 442 . In addition, each of the 1-2 pressure measuring unit 452 and the 2-2 pressure measuring unit 462 may detect a pressure equal to or higher than the reference value, and the 1-1 pressure measuring unit 451 and the 2-1 pressure Each of the measuring units 461 may detect a pressure less than a 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 walking vehicle 100 can make a left turn, the first handle bar 141 moves forward, and the second handle bar 141 moves forward. The handle bar 142 moves backward, the first protrusion 144 moves forward along the first guide hole 411, and the second protrusion 145 moves backward along the second guide hole 421. can Accordingly, the first protrusion 144 may press the 1-1 elastic part 431 and the second protrusion 145 may press the 2-2 elastic part 442 . In addition, each of the 1-1 pressure measurement unit 451 and the 2-2 pressure measurement unit 462 may detect a pressure equal to or higher than the reference value, and the 1-2 pressure measurement unit 452 and the 2-1 pressure Each of the measuring units 461 may detect a pressure less than a reference value.

In addition, assuming that the user pushes the left part of the handle part 140 and pulls the right part so that the walking vehicle 100 while driving can turn right, the first handle bar 141 moves backward, and the second handle bar 141 moves backward. The handle bar 142 moves forward, the first protrusion 144 moves backward along the first guide hole 411, and the second protrusion 145 moves forward along the second guide hole 421. can Accordingly, the first protrusion 144 may press the 1-2nd elastic part 432 , and the second protrusion 145 may press the 2-1st elastic part 441 . In addition, each of the 1-2 pressure measuring unit 452 and the 2-1 pressure measuring unit 461 may detect a pressure equal to or higher than the reference value, and the 1-1 pressure measuring unit 452 and the 2-2 pressure Each of the measuring units 461 may detect a pressure less than a reference value.

Meanwhile, the first and second protrusions 144 and 145 move along the first and second guide holes 411 and 421, but the movement 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 sizes of the first and second guide holes 411 and 421 .

7 is for explaining the adjustment of the moving speed of the walking vehicle according to the manipulation of the handle unit 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 in the case where the user cannot walk along the autonomous driving speed of the walking vehicle 100 according to various factors such as the driving environment or the user's physical strength when walking on flat ground, the handle unit 140 naturally Pressure is applied to the handle part 140 toward the user, that is, in a direction opposite to the moving direction of the walking vehicle 100 (ie, the handle part 140 is pulled). The processor 191 of the controller 190 may control the moving speed of the walking vehicle 100 based on the change in pressure detected by the first and second pressure measuring units 450 and 460 . In detail, the 1-2 pressure measurement unit 452 and the 2-2 pressure measurement unit 462 detect a pressure equal to or higher than the reference value, and the 1-1 pressure measurement unit 451 and the 2-1 pressure measurement unit 462 detect the pressure. In 461, a pressure less than a reference value may be detected. The processor 191 may detect this and decelerate the movement speed at a preset rate. In addition, when the user walks at a walking speed exceeding the autonomous driving speed of the walking vehicle 100 according to various factors such as the driving environment or the user's physical strength when walking on an uphill or downhill or on a flat surface, the steering wheel is naturally handled. Pressure is applied to the handle portion 140 of the portion 140 toward the front, that is, in the same forward direction as the moving direction of the walking vehicle 100 (that is, the handle portion 140 is pushed). The processor 191 of the controller 190 may control the moving speed of the walking vehicle 100 based on the change in pressure detected by the first and second pressure measuring units 450 and 460 . In detail, the 1-2 pressure measurement unit 452 and the 2-2 pressure measurement unit 462 detect a pressure less than the reference value, and the 1-1 pressure measurement unit 451 and the 2-1 pressure measurement unit 462 detect the pressure. A pressure higher than a reference value may be detected in the unit 461 . The processor 191 may detect this and increase the movement speed at a preset rate. As such, 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 during smart driving of the walking vehicle 100 .

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

Referring to FIGS. 1, 3, 6, and 7, assuming that the user makes a left turn while walking by relying on the walking vehicle 100, the user's right hand is the handle portion ( 140) and the left hand pulls the handle part 140, so that the processor 191 detects the pressure above the standard value in the 1-1 pressure measuring unit 451 and the 2-2 pressure measuring unit 462 and performs the first The -2 pressure measurement unit 452 and the 2-1 pressure measurement unit 461 may receive detection information of a pressure less than a reference value. The processor 191 may transmit a direction control signal to the direction control unit 170 in response to this. 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 be

9 is for explaining a condition for stopping a 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 may recognize a user's face.

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

The processor 191 may analyze the user's face monitoring information of the recognizer 500 to determine whether the user is looking forward. When determining that the user is looking forward, the processor 191 may maintain the moving state of the walking vehicle 100 at the calculated average moving speed. The processor 191 may control the power supply unit 180 to decelerate the moving speed of the walking vehicle 100 when it is determined that the user is looking at an angular direction out of a predetermined range based on the front.

In addition, the processor 191 may control the power supply unit 180 to stop the smart driving mode when it is determined that the user's face is not recognized.

In addition, as shown in FIG. 9 (b), assume a state in which the user is sitting on the support portion 130 or a state in which an object such as a bag is placed on the support portion 130 as shown in FIG. 9 (c). In this case, the smart driving mode may be executed by manipulating the second handle input unit 320 by the user's head, back or object. In this case, the processor 191 may stop execution of 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 recognizer 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 stop condition. can A light output sensor may be provided on one of the first and second wheel frames 151 and 152, and a light reception sensor may be provided on the other. The light output sensor and the light reception sensor face each other and may have a 1:1 correspondence relationship. When no object or user exists between the first and second wheel frames 151 and 152, the light receiving sensor may receive light output from each of the light output sensors. Also, as shown in FIG. 9(b), when a user sits on the supporting portion 130, some light receiving sensors do not receive output light from some corresponding light output sensors. In addition, when the user walks by relying on the walking vehicle 100, the light receiving sensor for receiving light may change moment by moment. The processor 191 may monitor whether the light receiving sensor receives light. The processor 191 may determine whether to walk based on light reception by the plurality of light reception sensors and change information of the light reception sensors that receive light. Therefore, as shown in FIG. 9 (b), there is a case where the user is sitting on the support part 130 and some light reception sensors do not receive light due to the user's leg, or when the user is sitting on the support part 130 A light receiving sensor for receiving light may fluctuate according to 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 separates the light reception/non-reception variation pattern of the light receiving sensors according to the case where the user walks by relying on the walking vehicle 100 and the light reception/non-reception variation pattern of the other light receiving sensors, so that the user's walking can be judged. The processor 191 may stop the smart driving mode when determining that the variation pattern is an abnormal variation pattern rather than a normal variation pattern according to walking.

Embodiments according to the present invention described above may 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. alone 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 to those skilled in the art of computer software. 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 specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include high-level language codes that can be executed by a computer using an interpreter or the like as well as machine language codes generated by a compiler. A hardware device may be modified with one or more software modules to perform processing according to the present invention and vice versa.

Specific implementations described in the present invention are examples and do not limit the scope of the present invention in any way. For brevity of the specification, description of conventional electronic components, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connection of lines or connecting members between the components shown in the drawings are examples of functional connections and / or physical or circuit connections, which can be replaced in actual devices or additional various functional connections, physical connection, or circuit connections. In addition, if there is no specific reference such as “essential” or “important”, it may not be a component necessarily required for the application of the present invention.

In addition, the detailed description of the present invention described has been described with reference to preferred embodiments of the present invention, but those skilled in the art or those having ordinary knowledge in the art will find the spirit of the present invention described in the claims to be described later. And it will be understood that the present invention can be variously modified and changed without departing from the technical scope. Therefore, the technical scope of the present invention is not limited to the contents described in the detailed description of the specification, but should be defined by the claims.

Walking car (100), main frame (110), vertical frame (120)
First vertical frame 121, second vertical frame 122
Support part 130, lower support part 131, upper support part 132
Height control input (133)
Handle part 140, cushion part 140c, first handle bar 141, second handle bar 142
Grip part 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 and 162, third and fourth wheels 163 and 164
Direction control unit 170, first direction control unit 171, second direction control unit 172
Power supply unit 180, first power supply unit 181, second power supply unit 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 assist device 400, first assist device 401, first guide unit 410
First guide hole 411, first elastic part 430, elastic part 431
1-1 elastic part 432, 1st pressure measuring part 450, 1-1 pressure measuring part 451
1-2 pressure measuring unit 452, first auxiliary device 402, second guide unit 420
The second guide hole 421, the second elastic part 440, and the 2-1 elastic part 441
2-2 elastic part 442, 2nd pressure measuring part 460, 2-1 pressure measuring part 461
2-2 pressure measuring unit 462, recognizing unit 500

Claims (7)

main frame;
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 supporting part installed on the vertical frame;
a handle part connected to the supporting part;
a power supply unit providing rotational power to the wheel; and
A controller including a memory in which one or more programs including instructions are stored and a processor executing the program;
The processor controls the power supply unit to move the walking vehicle at the average moving speed calculated by monitoring the moving speed of the walking vehicle.
A walking vehicle with smart walking assistance. According to claim 1,
The processor monitors the moving speed of the walking vehicle in response to receiving the smart driving setting signal until receiving the smart driving setting end signal, and the average moving speed of the walking vehicle in response to receiving the smart driving setting end signal. Calculate,
A first handle input unit for inputting the smart driving setting signal and the smart driving setting end signal is installed in the handle unit.
A walking vehicle with smart walking assistance. According to claim 2,
The processor controls the power supply unit to move the walking vehicle at an average moving speed calculated until receiving a smart driving end signal in response to receiving a smart driving start signal,
A second handle input unit for inputting the smart driving start signal and the smart driving end signal is installed in the handle unit.
A walking vehicle with smart walking assistance. According to claim 3,
Further comprising: a smart driving assist device for detecting the movement of the handle unit during smart driving;
The processor controls the power supply unit to increase or decrease the average moving speed based on the movement of the handle unit.
A walking vehicle with smart walking assistance. According to claim 4,
The smart driving assist device includes first and second assist devices,
The handle part includes first and second handle bars, a grip part 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 part, a first elastic part, and a first pressure measuring part, and the second auxiliary device includes a second guide part, a second elastic part, and a second pressure measuring part,
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. According to claim 3,
A recognition unit installed in the handle unit to recognize a user's face; further comprising,
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. According to claim 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 one 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 light output from the light output sensors;
The processor determines whether to stop the smart driving by distinguishing a normal pattern and an abnormal pattern according to walking based on a variation pattern of whether light is received from the light reception sensor.
A walking vehicle with smart walking assistance.