TW202123902A - Automatically adjustable supporting equipment and method for automatically adjusting supporting equipment - Google Patents

Abstract

An automatically adjustable supporting equipment includes a supporting band, an adjusting device and a controller. The supporting band surrounds a body part of a user. The adjusting device is disposed on the supporting band and includes an actuating mechanism and an accelerometer. The actuating mechanism is configured to adjust a pressure applied on the body part by the supporting band. The accelerometer is configured to measure an acceleration. The controller is coupled to the adjusting device and configured to drive the actuating mechanism according to the acceleration to adjust the pressure to a pressure preset value.

Description

Automatic control type protective gear and automatic control method of protective gear

The present disclosure relates to a protective gear and a method for regulating and controlling the protective gear, and particularly relates to an automatically regulating protective gear and a method for regulating and controlling the protective gear.

In recent years, due to the advancement of science and technology, many work items that used to be completed by humans have begun to be replaced by mechanical forces in large numbers. Although it brings a lot of convenience in life, for the human body itself, the opportunities for relative activities are gradually reduced. People's life style has gradually changed from an active life to a sedentary life, which will inevitably lead to a gradual decline in the physical fitness of the human body. In the physical fitness ability, in the past, the focus was mostly on the assessment and improvement of cardiopulmonary function, but it was often ignored for other physical fitness capabilities. This will promote the imbalance of physical fitness and also make the training effect greatly compromised. Among them, the decline of muscle fitness during exercise is one of the causes of common civilization diseases, such as low back pain, which is mostly caused by myogenic problems during exercise-that is, muscle weakness (Muscle weakness) or muscle tightness.

In view of this, the industry has invented various protective gears that can fix the user’s limbs in a relatively stable position to ensure that they are not easily injured. However, the prior art protective gears still have shortcomings, such as: To achieve better protection and increase muscle strength, the tighter the protective gear covers the limbs, the better, but this will cause the user to experience muscle strength decline and discomfort after long-term use, resulting in protection and comfort It is difficult to balance the two.

The present disclosure provides an automatic control type protective gear and an automatic control method of the protective gear, which can adjust the pressure exerted by the support strap on the user's limbs according to the movement type of the user's limbs.

An automatic control type protective gear disclosed in the present disclosure includes a supporting strap, an actuation mechanism, an acceleration sensor and a controller. The support strap wraps around the user's limbs. The actuating mechanism is assembled with the support strap and used to adjust the pressure exerted by the support strap on the limb. The acceleration sensor is used to sense the acceleration value. The controller is coupled to the actuation mechanism and the acceleration sensor, and is configured to drive the actuation mechanism to adjust the pressure to a preset pressure value according to changes in the acceleration value.

An automatic control type protective gear disclosed in the present disclosure includes a supporting strap, an actuation mechanism and a controller. The support strap is adapted to encircle the user's limbs. The actuation mechanism includes a motor and a solenoid valve. The motor is adapted to be assembled with the support strap, and is configured to drive the support strap to adjust the pressure exerted by the support strap on the limb. The solenoid valve is configured to be movable between an engaged position and a rotating position, and includes a stopper. The controller is coupled to the actuating mechanism and can control the solenoid valve to move to the engagement position or the rotation position, wherein when the solenoid valve is in the engagement position, the stop of the solenoid valve The element engages with the rotating shaft of the motor to block the rotation of the motor. When the solenoid valve is in the rotating position, the stopper of the solenoid valve is disengaged from the rotating shaft, allowing the motor to be free Rotate.

The automatic control method of the protective gear disclosed in the present disclosure includes the following steps. Wrap the support strap around the user's limb. The acceleration sensor senses the acceleration value of the limb. The controller judges the user's action pattern according to the change in the acceleration value, and adjusts the support strap accordingly, so that the pressure exerted by the support strap on the limb is equal to a preset pressure value, The preset pressure value is responsive to the action pattern.

Based on the above, the self-regulating protective gear of the present disclosure can determine the user's movement pattern according to the movement parameters of the limbs sensed by the sensor, and drive the actuation mechanism to adjust (increase or decrease) according to the movement pattern. ) The pressure exerted by the support strap on the limb. Therefore, when the user is in a dynamic action state, the actuation mechanism can increase the pressure (tightening) exerted by the support strap on the limbs, so as to increase the supporting force and restraining force on the limbs. When the user is in a static state of action, the actuation mechanism can reduce the pressure (relaxation) exerted by the support strap on the limbs to improve the comfort of the user.

The foregoing and other technical contents, features, and effects of this disclosure will be clearly presented in the following detailed description of each embodiment with reference to the drawings. The directional terms mentioned in the following embodiments, for example: "up", "down", "front", "rear", "left", "right", etc., are only directions for referring to the attached drawings. Therefore, the directional terms used are used to illustrate, but not to limit this disclosure. In addition, in the following embodiments, the same or similar elements will use the same or similar reference numerals.

Fig. 1 is a schematic diagram of a use situation of an automatically adjustable protective gear according to an embodiment of the present disclosure. FIG. 2 is a block diagram of an automatically adjustable protective gear according to an embodiment of the disclosure. Please refer to FIGS. 1 and 2 at the same time. In some embodiments, the self-regulating protective gear 100 may be worn on the limb 10 of the user to provide support and protection to the limb 10. In some embodiments, the self-regulating protective gear 100 may be worn on the waist, limbs, joints, or other suitable parts of the user, for example, that is, the limb 10 may include waist, limbs, joints and other parts. In this embodiment, the limb 10 may be the user's knee joint as shown in FIG. 1, but the disclosure is not limited to this.

In some embodiments, the automatically adjustable protective gear 100 may include a supporting strap 110, an actuation mechanism 120, a sensor module 130 and a controller 140. The supporting strap 110 is used to surround the limb 10 of the user. In some embodiments, the support strap 110 may directly surround the user's limb 10, such as the user's waist or at least one side of the joint, so as to directly tighten or relax the limb 10 to control the limb 10 Provide support and protection. In other embodiments, the automatically adjustable protective gear 100 may additionally include a protective device 20 with high mechanical strength (for example, knee pads, elbow pads, and other joint protection devices), which can cover the user's limbs 10 to To prevent the limb 10 from being injured by external forces such as impact, the support strap 110 can surround the protective device 20 to tighten or loosen the protective device 20.

In some embodiments, the actuation mechanism 120 can be assembled with the support strap 110 and used to adjust the pressure exerted by the support strap 110 on the limb 10. In this embodiment, the sensing module 130 can be used to sense motion parameters (such as acceleration or angle, etc.) of the limb 10, and it can be arranged on the limb 10 or on at least one side of the limb 10, for example. In this embodiment, the automatically adjustable protective gear 100 may include a single sensing module 130, that is, the number of sensing modules 130 may be one, but this embodiment is not limited to this. In other embodiments, the self-regulating protective gear may also include more than two sensing modules to separately or cooperatively sense the motion parameters of the limb 10.

In some embodiments, the controller 140 is coupled to the actuation mechanism 120 and the sensing module 130 to determine the user's action type according to the motion parameters sensed by the sensing module 130, and according to the action type To drive the actuation mechanism 120 to adjust the pressure exerted by the support strap 110 on the limb 10. In some embodiments, the controller 140 can control the actuation mechanism 120 to adjust the pressure applied by the support strap 110 to a preset pressure value according to the user's action pattern.

In this embodiment, the sensing module 130 may include an acceleration sensor 132 configured to sense the acceleration value of the limb 10. The controller 140 is coupled to the acceleration sensor 132 to determine the user's action pattern according to the acceleration value sensed by the acceleration sensor 132, and drives the actuation mechanism 120 to adjust the support belt 110 according to the action pattern The pressure applied to the limb 10. The controller 140 can be installed in the sensing module 130, but can also be installed in the actuating mechanism 120.

For example, when the acceleration value sensed by the acceleration sensor 132 is substantially greater than or equal to the preset acceleration value, the controller 140 can determine that the limb 10 is in a dynamic motion state accordingly, and drive the actuation accordingly. The mechanism 120 increases the pressure applied by the supporting strap 110 to a dynamic pressure preset value. In this embodiment, the preset value of acceleration can be approximately between 1G and 2G, and the preset value of dynamic pressure can be approximately between 3kg/cm ² and 12kg/cm ² . However, the above numerical range is only an example. Any person with ordinary knowledge in the art should understand that the above numerical range will vary with different body parts and different user conditions, and the present disclosure is not limited thereto. In contrast, when the acceleration value sensed by the acceleration sensor 132 is substantially less than the preset acceleration value, and the state where the acceleration value is less than the preset acceleration value lasts for substantially longer than a preset time, the controller 140 It is determined that the limb 10 is in a static motion state, and accordingly, the actuating mechanism 120 is driven to reduce the pressure applied by the support strap 110 to a static pressure preset value. In this embodiment, the preset value of acceleration can be approximately between 0G and 0.1G, and the preset value of static pressure can be approximately between 1kg/cm ² and 3kg/cm ² . However, the above numerical range is only an example. Any person with ordinary knowledge in the art should understand that the above numerical range will vary with different body parts and different user conditions, and the present disclosure is not limited thereto. In some embodiments, the acceleration sensor 132 may be a three-axis acceleration sensor to sense the acceleration values of the limb 10 in the X direction, the Y direction, and the Z direction.

FIG. 1A is a block diagram of an automatically adjustable protective gear according to another embodiment of the disclosure. It must be noted here that the automatic control type protective gear of this embodiment is similar to the automatic control type protective gear of FIG. The same or similar elements, and the description of the same technical content is omitted. For the description of the omitted parts, reference may be made to the foregoing embodiment, and this embodiment will not be repeated. The following will describe the differences between the automatic control type protective gear of this embodiment and the automatic control type protective gear of FIG. 1.

Please refer to FIG. 1A. In this embodiment, the automatically adjustable protective gear may include two sensing modules 130a and 130b, which can sense the motion parameters of the limb 10 separately or cooperatively. For example, when the limb 10 is a user’s joint, the sensing modules 130a and 130b can be respectively arranged on opposite sides of the joint to sense acceleration values and/or the position at the opposite ends of the joint. Motion parameters such as the angle of the clip. Furthermore, when the limb 10 is a joint of the user, the sensor modules 130a and 130b can be respectively arranged in the thigh and calf connected to the knee joint near the knee joint as shown in FIG. 1A to respectively sense Movement parameters of the thigh and calf (such as acceleration and the angle between the thigh and calf, etc.).

FIG. 7 is a schematic flowchart of an automatic adjustment method of a protective gear according to an embodiment of the present disclosure. Please refer to Figure 1, Figure 2 and Figure 7 at the same time. Under the aforementioned configuration, the automatic adjustment method of the protective gear may include the following steps. First, the protective gear 100 is worn on the user's limb 10, for example, the support strap 110 is wrapped around the user's limb 10 (step S110). Next, the sensing module 130 senses the motion parameters of the limb 10, for example, senses the acceleration value of the limb 10 (step S120). In some embodiments, the acceleration sensor 132 may be disposed on the limb 10, one side of the limb 10, or two opposite sides of the limb 10, for example. In this embodiment, the limb 10 may be, for example, the user's knee joint, and the acceleration sensors 132 may be respectively disposed on opposite sides of the knee joint, for example, to sense the limbs connected to the knee joint (such as the thigh and Calf) acceleration value.

Then, step S130 is executed to determine the user's action pattern (for example, a dynamic action pattern or a static action pattern) according to the measured acceleration value. Under various action patterns of the user, the acceleration value sensed by the acceleration sensor 132 can have a variety of different sensing result combinations, and the controller 140 can combine a variety of different action patterns with their corresponding multiple different combinations. The combination of the sensing results is matched, and then the user's action pattern is determined according to the different sensing result combinations sensed by the sensing module 130 (as the previous example, but not limited to this). Then, step S140 is executed, and the controller 140 adjusts the pressure exerted by the support strap 110 on the limb 10 according to the determined action pattern, for example, to make the pressure approximately equal to the preset pressure value corresponding to the action pattern.

FIG. 2A is a schematic block diagram of an automatically adjustable protective gear according to another embodiment of the present disclosure. It must be noted here that the automatic control type protective gear of this embodiment is similar to the automatic control type protective gear of FIG. The same or similar elements, and the description of the same technical content is omitted. For the description of the omitted parts, reference may be made to the foregoing embodiment, and this embodiment will not be repeated. Please refer to FIG. 1 and FIG. 2A. The following will describe the differences between the automatic control type protective gear of this embodiment and the automatic control type protective gear 100 of FIG. 2.

In some embodiments, the sensing module 130 may further include a pressure sensor 134 coupled to the controller 140 and the support strap 110 to sense the pressure exerted by the support strap 110 on the limb 10. In this embodiment, the controller 140 can be provided in the sensing module 130, but can also be provided in the actuating mechanism 120. The pressure sensor 134 of this embodiment may be disposed on the surface of the support strap 110 that contacts the limb 10, for example. With this configuration, when the pressure sensor 134 senses that the pressure is approximately equal to the preset pressure value, the controller 140 stops driving the actuation mechanism 120. For example, if the controller 140 determines that the limb 10 is in a dynamic motion type, it drives the actuation mechanism 120 to increase the pressure applied by the support belt 110, and when the pressure sensor 134 senses the support belt 110 When the pressure reaches (in real value greater than or equal to) the dynamic pressure preset value, the controller 140 stops driving the actuation mechanism 120, that is, stops continuing to tighten and support the strap 110. In contrast, if the controller 140 determines that the limb 10 is in a static motion state, it drives the actuation mechanism 120 to reduce the pressure exerted by the support belt 110, and when the pressure sensor 134 senses the support belt 110 When the pressure reaches (the real value is less than or equal to) the static pressure preset value, the controller 140 stops driving the actuation mechanism 120, that is, stops continuing to relax the support strap 110.

Under such a configuration, the self-regulating protective gear 100 of the present disclosure can determine the user's movement pattern according to the movement parameters of the limb sensed by the sensor, and drive the actuation mechanism to adjust according to the movement pattern ( Increase or decrease) the pressure exerted by the support strap 110 on the limb 10. Therefore, when the user is in a dynamic action pattern (such as walking, running, falling, sitting to standing, or standing to sitting, etc.), the actuation mechanism 120 can increase the amount of the support strap 110 exerted on the limb 10 Pressure (tightening) to increase the support and restraint force on the limb 10. When the user is in a static state of action (such as sitting, lying, standing, etc.), the actuating mechanism 120 can reduce the pressure (relaxation) exerted by the support strap 110 on the limb 10 to improve use The comfort of the user.

Fig. 3 is a schematic diagram of an actuation mechanism of an automatically-regulated protective gear according to an embodiment of the present disclosure. In this embodiment, the actuation mechanism 120 includes a motor 122 and a solenoid valve 124. In some embodiments, the motor 122 may be connected to the support strap 110. The motor 122 is configured to drive the support strap 110 to adjust the pressure exerted by the support strap 110 on the limb 10. In this embodiment, the motor 122 may be, for example, a spindle motor, which may include a rotating shaft 1221. The motor 122 is used to drive the rotating shaft 1221 to rotate. In this embodiment, at least one end of the support strap 110 can be disposed on the rotating shaft 1221, so that the end of the support strap 110 can be driven to rotate through the rotating shaft 1221 to adjust the tightness of the support strap 110, and thereby The pressure exerted by the support strap 110 on the limb 10 is adjusted. In this embodiment, the supporting strap 110 may include a movable portion 112 and a fixed portion 114, wherein the end of the movable portion is disposed on the rotating shaft 1221 to adjust the tightness of the supporting strap 110 as the rotating shaft 1221 rotates. The fixed portion 114 remained fixed.

In some embodiments, the solenoid valve 124 is coupled to the controller 140 to be controlled by the controller 140 to move between an engaged position and a rotating position along the switch direction D1. In this embodiment, the circumference of the rotating shaft 1221 may include a plurality of teeth 1222, and the solenoid valve 124 may include a stopper 1241 adapted to mesh with the teeth 1222. With this configuration, when the controller 140 wants to stop driving the actuation mechanism 120 (for example, when the pressure sensed by the pressure sensor 134 is approximately equal to the pressure preset value), the controller 140 controls the solenoid valve 124 to move as shown in FIG. 3 The illustrated meshing position enables the stopper 1241 of the solenoid valve 124 to mesh with the teeth 1222 of the rotating shaft 1221 of the motor 122 to prevent the motor from rotating and stop the driving motor 122 from rotating. In this way, the end of the support strap 110 stops being driven and the tightness of the support strap 110 can be fixed.

Similarly, when the controller 140 wants to adjust the pressure exerted by the support strap 110 on the limb 10 (for example, when the controller determines that the user's action pattern changes), the controller 140 controls the solenoid valve 124 to move in the switching direction D1 (for example, Move to the right of FIG. 3) to the rotating position, and drive the motor 122 to start rotating. At this time, the stopper 1241 of the solenoid valve 124 is disengaged from the teeth 1222 of the rotating shaft 1221 of the motor 122, so that the motor 122 can rotate freely. In this way, the end of the supporting strap 110 starts to be driven to rotate, so that the tightness of the supporting strap 110 can be adjusted. The controller 140 can be provided in the sensing module, but can also be provided in the actuating mechanism 120.

Under such a configuration, the self-regulating protective gear 100 of the present disclosure only needs to move the solenoid valve 124 to the engaged position when the actuation mechanism 120 is to be stopped, so that the motor 122 and the end of the support strap 110 can be fixed at the current position. , The current tightness of the support strap 110 can be fixed. After that, it is not necessary to continuously supply power to the actuating mechanism 120, and only the mechanical meshing relationship between the stopper 1241 of the solenoid valve 124 and the rotating shaft 1221 of the motor 122 is used to maintain the tightness of the supporting strap 110. Therefore, the automatically adjustable protective gear 100 of the present disclosure can not only automatically adjust the tightness of the supporting strap 110, but also achieve the effect of saving electricity.

4 and 5 are schematic diagrams of two states of the actuation mechanism of an automatically adjustable protective gear according to another embodiment of the present disclosure. It must be noted here that the actuating mechanism 120 of this embodiment is similar to the actuating mechanism 120 of FIG. Similar components, and the description of the same technical content is omitted. For the description of the omitted parts, reference may be made to the foregoing embodiment, and this embodiment will not be repeated. Please refer to FIG. 4 and FIG. 5, the difference between the actuation mechanism 120 of this embodiment and the actuation mechanism 120 of FIG. 3 will be described below.

In this embodiment, the motor 122 may include a plurality of motors 122a, 122b, which are respectively assembled with opposite ends of the support strap 110 to drive the two ends of the support strap 110 (for example, relative rotation) to adjust the support. The pressure exerted by the strap 110 on the limb 110. Therefore, the actuating mechanism 120 of this embodiment uses two motors 122a and 122b to respectively drive the opposite ends of the support belt 110 to rotate in opposite directions at the same time, so that the efficiency of adjusting the tightness of the support belt 110 can be accelerated. It takes a shorter time to adjust the support strap 110 to the desired pressure preset value.

In this embodiment, the motors 122a, 122b each include a rotating shaft 1221a, 1221b. The peripheral edges of the rotating shafts 1221a, 1221b may each include a plurality of teeth 1222a, 122b. In some embodiments, the rotation directions of the rotating shafts 1221a, 1221b of the motors 122a, 122b are opposite to each other, and they are respectively assembled with opposite ends of the supporting strap 110 to drive the two ends of the supporting strap 110 (for example, : Rotate in the opposite direction to roll up or release). The solenoid valve 124 may be arranged between the two motors 122a, 122b, for example. With this configuration, when the controller 140 wants to adjust the pressure exerted by the support strap 110 on the limb 10 (for example, when the controller determines that the user's action state changes), the controller 140 controls the solenoid valve 124 to move to the position shown in FIG. 4 Rotate the position and drive the motor 122 to start rotating. At this time, the stopper 1241 of the solenoid valve 124 is disengaged from the teeth 1222 of the rotating shaft 1221 of the motor 122, so that the motor 122 can rotate freely. In this way, the two ends of the support strap 110 start to rotate relative to each other, and the tightness of the support strap 110 can be adjusted.

In contrast, when the controller 140 wants to stop driving the actuation mechanism 120, for example, when the pressure sensed by the pressure sensor 134 is approximately equal to the preset pressure value, the controller 140 controls the solenoid valve 124 to move as shown in FIG. 5 The meshing position of the solenoid valve 124 makes the stopper 1241 of the solenoid valve 124 mesh with the teeth 1222a, 1222b of the rotating shafts 1221a, 1221b of the motors 122a, 122b, respectively, to block the rotation of the motors 122a, 122b, and the controller 140 stops driving the motor 122 to rotate, At this time, the stopper 1241 meshes with the teeth 1222a, 1222b of the rotating shafts 1221a, 1221b, and the motor 122 is positioned. In this way, the opposite ends of the support strap 110 stop being rolled up, and the tightness of the support strap 110 can be fixed. The controller 140 can be provided in the sensing module, but can also be provided in the actuating mechanism 120.

Under such a configuration, the automatically adjustable protective gear of this embodiment uses two motors 122a, 122b to drive the opposite ends of the support belt 110 to rotate in opposite directions at the same time, so that the support belt 110 can be adjusted more quickly To the desired pressure preset value. Moreover, the actuating mechanism 120 only needs to move one solenoid valve 124 to the engaged position when the actuating mechanism 120 is to be stopped, and then it can engage with the two motors 122a and 122b at the same time to stop driving the opposite ends of the support belt 110. The opposite ends of the support strap 110 are fixed at the current position, so that the current tightness of the support strap 110 can be fixed. After the solenoid valve 124 is in the engaged position, there is no need to continue to supply power to the actuating mechanism 120. At this time, only the stopper 1241 of the solenoid valve 124 is engaged with the rotating shafts 1221a and 122b of the motors 122a and 122b to maintain the support belt. 110 tightness. Therefore, the automatically adjustable protective gear of this embodiment can not only improve the efficiency of automatically adjusting the tightness of the support strap 110, but also achieve the effect of saving electricity.

FIG. 6 is a block diagram of an automatically adjustable protective gear according to another embodiment of the disclosure. FIG. 7A is a schematic flowchart of an automatic adjustment method of a protective gear according to another embodiment of the present disclosure. Please refer to FIGS. 6 and 7A at the same time. In some embodiments, the automatically adjustable protective gear 100 can be used for joint protection, that is, the limb 10 includes the user's joint and the two limb parts 11 connected by the joint. , 12. In this embodiment, the automatically adjustable protective gear 100 may include a plurality of sensor modules 130a, 130b, which are respectively disposed on opposite sides of the joint to respectively sense the motion parameters on both sides of the joint. For example, if the automatically adjustable protective gear 100 is used to protect the knee joint, the sensor modules 130a and 130b can be respectively arranged on the two limb parts 11 and 12 connected to the knee joint as shown in FIG. The thigh and calf are close to the knee joint to respectively sense the motion parameters of the thigh and calf (such as acceleration and the angle between the thigh and the calf, etc.). In some embodiments, the acceleration sensor 132 may include a plurality of acceleration sensors 132a and 132b, which are respectively arranged on the limb parts 11 and 12 connected to the joint. In some embodiments, the automatically adjustable protective gear 100 may further include a plurality of angle sensors 136a, 136b, which are coupled to the controller 140, and are respectively disposed on the limb parts 11, 12 connected to the joints to sense all the angle sensors. State the angle of the joint. In this embodiment, the angle sensors 136a and 136b may be gyroscopes, but this embodiment is not limited to this.

Under such a configuration, the automatic adjustment method of the protective gear may include the following steps. First, the protective gear 100 is worn on the user's limb 10, for example, the support strap 110 is wrapped around the user's limb 10 (step S110). Next, the sensing module 130 senses the motion parameters of the limb 10, such as sensing the acceleration value of the limb 10 (step S120) and/or sensing the angle presented by the limb 10 (step S125). In this embodiment, the acceleration sensors 132a and 132b may be respectively disposed on opposite sides of the knee joint, for example, to respectively sense the acceleration values of the limb parts 11 and 12 (such as the thigh and the lower leg) connected to the knee joint. The angle sensors 136a and 136b can be respectively arranged on opposite sides of the joint, that is, respectively, on the limbs 11 and 12 connected to the joint to sense the angle of the knee joint, that is, the limb connected to the knee joint. The angle between 11 and 12 (such as thigh and calf).

Then, step S130 is executed to determine the user's action type (for example, a dynamic action type or a static action type) according to the measured acceleration value and/or angle. Under various user action patterns, the acceleration values sensed by the acceleration sensors 132a and 132b and the angle sensed by the angle sensors 136a and 136b have various combinations of sensing results. The controller 140 A variety of different action patterns can be matched with a variety of different sensing result combinations corresponding to them, and the user's action pattern can be determined according to the different sensing result combinations sensed by the sensing module 130. The following will list some of the action types and their corresponding sensing result combinations as examples, but the present disclosure is not limited to this. Then, step S140 is executed, and the controller 140 adjusts the pressure exerted by the support strap 110 on the limb 10 according to the determined action pattern, for example, to make the pressure approximately equal to the preset pressure value corresponding to the action pattern, wherein, The method of making the pressure approximately equal to the preset pressure value corresponding to the action pattern (step S140) may include the following sub-steps. For example, the pressure sensor 134 is used to sense the pressure exerted by the support strap 110 on the limb 10, when the pressure sensor 134 senses the pressure exerted by the support strap 110 on the limb 10 approximately equal to the preset pressure value (step S142), the controller 140 stops adjusting the pressure exerted by the support strap 110 on the limb 10 (step S144), that is, fixes the current tightness of the support strap 110.

8 and 9 are schematic diagrams of usage scenarios of an automatically adjustable protective gear in different action types according to an embodiment of the present disclosure. FIG. 10 is a schematic diagram of angle curves sensed by an angle sensor in different action types according to an embodiment of the disclosure. Please refer to FIGS. 8 and 10 first. In an embodiment of the present disclosure, when the user moves from sitting to standing, as shown in FIG. 8, the angle of the user's knee joint (limb 10) Will increase from approximately 90 degrees to approximately 180 degrees (angle θ1 to angle θ2). Since the user's thighs and calves are in motion, the acceleration value will also increase. Therefore, when the acceleration value sensed by the acceleration sensors 132a, 132b is substantially greater than or equal to the acceleration preset value and the angle sensed by the angle sensors 136a, 136b increases, the controller 140 determines that the limb 10 is sitting to standing. The action pattern of is a dynamic action pattern. Therefore, the actuation mechanism 120 is driven to adjust the support strap 110 to increase the pressure exerted by the support strap 110 on the limb 10, for example, to a dynamic pressure preset value.

It should be noted that the relationship curve between the joint angle and time sensed by the angle sensors 136a and 136b is shown in FIG. Up and down 90 degrees, during T2, the user's movement pattern is from sitting to standing, so the angle of his knee joint increases from about 90 degrees to close to 180 degrees. During T3, the user maintains a standing motion pattern, while during T4, the user’s motion pattern changes from standing to sitting. Therefore, the controller 140 of the self-regulating protective gear 100 of this embodiment can determine the user's action pattern from the angle relationship graph. In some embodiments, the controller 140 can also determine the user's action pattern only based on the angles sensed by the angle sensors 136a and 136b. In addition, since the posture, angle, and momentum of the user’s body may be slightly different each time, and the angle and momentum presented by different users in the same posture will also be different, the angle and acceleration mentioned in this disclosure Values such as, pressure, etc. are all examples. The so-called "substantially", "approximately", "left and right" and other terms represent at least plus or minus 15% error. The controller 140 can be provided in the sensing module, but can also be provided in the actuation mechanism.

Please refer to FIGS. 9 and 10 again. In an embodiment of the present disclosure, when the user moves from standing to sitting, as shown in FIG. 9, the angle of the user's knee joint (limb 10) It will decrease from approximately 180 degrees to approximately 90 degrees (during T4 in Figure 10), and because the user’s thighs and calves are close to a static state after sitting down, the acceleration value will be greatly reduced and remain this low The state of the acceleration value for a period of time. Therefore, when the angle sensed by the angle sensors 136a, 136b decreases, and the acceleration value sensed by the acceleration sensors 132a, 132b is substantially less than a predetermined acceleration value and the duration is substantially greater than or equal to a predetermined value Time (for example, about 10 seconds), the controller 140 determines that the limb 10 is in a sitting state, which is a static state, and drives the actuation mechanism 120 to adjust the support belt 110 accordingly to reduce the support belt The pressure 110 exerted on the limb 10 is reduced to a preset value of static pressure, for example. The controller 140 can be provided in the sensing module, but can also be provided in the actuating mechanism 120.

11 and 12 are schematic diagrams of usage scenarios of an automatically adjustable protective gear in different action types according to an embodiment of the present disclosure. FIG. 13 is a schematic diagram of angle curves sensed by an angle sensor in different action types according to an embodiment of the disclosure. Please refer to FIG. 11 first. In an embodiment of the present disclosure, when the user moves from walking to standing, as shown in FIG. 11, the angle of the user's knee joint increases from approximately 135 degrees to Close to 180 degrees (angle θ1 to angle θ2). In addition, since the thighs and calves of the user are close to a static state when the user is standing, the acceleration value thereof will be greatly reduced and the state of the low acceleration value will be maintained for a period of time. Therefore, when the angle sensed by the angle sensors 136a, 136b gradually increases to close to 180 degrees, and the acceleration value sensed by the acceleration sensors 132a, 132b is substantially less than a predetermined acceleration value and the duration is substantially greater than or It is equal to a preset time (for example, about 10 seconds). In this case, the controller 140 determines that the limb 10 is in a standing motion type, which is a static motion type, and the controller 140 drives the actuation mechanism 120 to adjust the support beam accordingly. The belt 110 is used to reduce the pressure exerted by the support belt 110 on the limb 10, for example, to a static pressure preset value. The controller 140 can be provided in the sensing module, but can also be provided in the actuating mechanism 120.

Please refer to FIGS. 12 and 13, in an embodiment of the present disclosure, when the user moves from standing to walking, as shown in FIGS. 12 and 13, the angle of the knee joint when the user starts to walk Will continue to change. Because the user’s thighs and calves are in motion, the acceleration value increases and there is a larger acceleration value. Therefore, when the acceleration value sensed by the acceleration sensors 132a, 132b increases and continues to change, and the angle sensor When the angles sensed by 136a and 136b also continue to change, the controller 140 determines that the limb 10 is in a walking motion type, which is a dynamic motion type, and the controller 140 accordingly drives the actuation mechanism 120 to adjust the support belt 110 to The pressure exerted by the support strap 110 on the limb 10 is increased, for example, to a dynamic pressure preset value. The controller 140 can be provided in the sensing module, but can also be provided in the actuating mechanism 120.

FIG. 14 is a schematic diagram of an acceleration curve sensed by an acceleration sensor in another action type according to an embodiment of the disclosure. 15 is a schematic diagram of an angle curve sensed by an angle sensor in another action type according to an embodiment of the disclosure. The user may have a variety of different action patterns, and various action patterns have their corresponding different action trajectories. For example, the action patterns can include walking, running, falling, squatting, kneeling, lying, etc., some of which are The movement trajectory is more complicated. Figures 14 and 15 show the values read by the acceleration sensor and the angle sensor in the action type of "falling". The changes in the values in all directions are more complicated, and the acceleration of each fall is proportional to The angle changes may also be different. Therefore, in some embodiments, the controller 140 further includes at least one motion recognition model 142 (as shown in FIG. 2A). The motion recognition model 142 of the controller 140 can be based on the acceleration sensors 132a, 132b and the angle sensor. The sensing results of 136a and 136b are used to determine the user's action pattern. In this embodiment, the action recognition model 142 may be, for example, using Python to build a neural model training database, input the sensing results of the acceleration sensors 132a, 132b and the angle sensors 136a, 136b, and enable the action recognition The model performs feature analysis and extraction to identify (judge) the user's action pattern through the machine learning identification algorithm. Of course, this embodiment is only used as an example, and the disclosure is not limited thereto.

After the controller 140 determines the user's action pattern, the controller 140 drives the actuation mechanism 120 to adjust (increase or decrease) the pressure applied by the support belt 110 to a preset pressure value, for example, to increase to a dynamic pressure preset value. Set the value or reduce to the static pressure preset value. When the pressure sensor 134 senses that the pressure exerted by the support strap 110 on the limb 10 is approximately equal to the preset pressure value (step S142), step S144 is executed, and the controller 140 stops adjusting the pressure on the limb 10 by the support strap 110. The applied pressure is to fix the tightness of the current support strap 110. The controller 140 can be provided in the sensing module, but can also be provided in the actuation mechanism.

Based on the above discussion, it can be seen that the embodiments of the present disclosure provide various advantages. However, it should be understood that not all advantages are discussed herein, and other embodiments may provide different advantages, and not all embodiments require specific advantages.

In summary, the self-regulating protective gear of the present disclosure can determine the user's movement pattern according to the movement parameters of the limbs sensed by the sensor, and drive the actuation mechanism to adjust (add or Decrease the pressure exerted by the support strap on the limb. Therefore, when the user is in a dynamic action state, the actuation mechanism can increase the pressure (tightening) exerted by the support strap on the limbs, so as to increase the supporting force and restraining force on the limbs. When the user is in a static state of action, the actuation mechanism can reduce the pressure (relaxation) exerted by the support strap on the limbs to improve the comfort of the user.

In addition, the self-regulating protective gear of the present disclosure only needs to move the solenoid valve to the engaged position when the actuation mechanism is to be stopped, so that the motor and the end of the support strap can be fixed at the current position, and the support strap can be fixed. The current tightness. After that, there is no need to continuously supply power to the actuating mechanism, and only the meshing relationship between the stopper of the solenoid valve and the rotating shaft of the motor is used to maintain the tightness of the support strap. Therefore, the self-regulating protective gear disclosed in the present disclosure can not only automatically adjust the tightness of the supporting strap, but also achieve the effect of saving electricity.

Although the present disclosure has been disclosed in the above embodiments, it is not intended to limit the present disclosure. Anyone with ordinary knowledge in the relevant technical field can make some changes and modifications without departing from the spirit and scope of this disclosure. Therefore, The scope of protection of this disclosure shall be subject to those defined by the attached patent scope.

10: Limb 11, 12: Limbs 20: Protective device 100: Automatically adjustable protective gear 110: Support strap 120: Actuating mechanism 122, 122a, 122b: Motor 1221, 1221a, 1221b: Rotation axis 1222, 1222a, 122b: teeth 124: Solenoid valve 1241: stop 130, 130a, 130b: sensor module 132, 132a, 132b: acceleration sensor 134: Pressure Sensor 136a, 136b: Angle sensor 140: Controller 142: Action Recognition Model D1: Switch direction

Fig. 1 is a schematic diagram of a use situation of an automatically adjustable protective gear according to an embodiment of the present disclosure. FIG. 1A is a schematic diagram of a use situation of an automatically adjustable protective gear according to another embodiment of the present disclosure. FIG. 2 is a block diagram of an automatically adjustable protective gear according to an embodiment of the disclosure. FIG. 2A is a schematic block diagram of an automatically adjustable protective gear according to another embodiment of the present disclosure. Fig. 3 is a schematic diagram of an actuation mechanism of an automatically-regulated protective gear according to an embodiment of the present disclosure. 4 and 5 are schematic diagrams of two states of the actuation mechanism of an automatically adjustable protective gear according to another embodiment of the present disclosure. FIG. 6 is a block diagram of an automatically adjustable protective gear according to another embodiment of the disclosure. FIG. 7 is a schematic flowchart of an automatic adjustment method of a protective gear according to an embodiment of the present disclosure. FIG. 7A is a schematic flowchart of an automatic adjustment method of a protective gear according to another embodiment of the present disclosure. FIGS. 8 and 9 are schematic diagrams of usage scenarios of an automatically adjustable protective gear in different exercise patterns according to an embodiment of the present disclosure. FIG. 10 is a schematic diagram of angle curves sensed by an angle sensor in different motion patterns according to an embodiment of the disclosure. 11 and 12 are schematic diagrams of usage scenarios of an automatically-regulated protective gear in different exercise patterns according to an embodiment of the present disclosure. FIG. 13 is a schematic diagram of angle curves sensed by an angle sensor in different motion patterns according to an embodiment of the disclosure. FIG. 14 is a schematic diagram of an acceleration curve sensed by an acceleration sensor according to an embodiment of the present disclosure in another motion type. 15 is a schematic diagram of an angle curve sensed by an angle sensor according to an embodiment of the present disclosure under another motion type.

10: Limb

100: Automatically adjustable protective gear

110: Support strap

120: Actuating mechanism

130: sensor module

132: Acceleration sensor

140: Controller

Claims (35)

An automatic control type protective gear, including: Support straps around the user’s limbs; An actuation mechanism assembled with the support strap and used to adjust the pressure exerted by the support strap on the limb; and An acceleration sensor for sensing the acceleration value; and The controller is coupled to the actuation mechanism and the acceleration sensor, and is configured to drive the actuation mechanism to adjust the pressure to a preset pressure value according to the acceleration value. The self-regulating protective gear according to claim 1, further comprising a pressure sensor, coupled to the controller and the supporting strap and used to sense the pressure. The automatically-regulated protective gear according to claim 2, wherein the controller is configured to determine the user's action pattern according to the acceleration value, and when the pressure sensor detects that the pressure reaches When the pressure preset value corresponding to the action pattern, the controller stops driving the actuating mechanism. The automatically-regulated protective gear according to claim 1, wherein the actuating mechanism includes: A motor configured to drive the support strap to adjust the pressure exerted by the support strap on the limb; and The solenoid valve is configured to be controlled by the controller to be able to move between the engaged position and the rotating position. The automatically-regulated protective gear according to claim 4, wherein the solenoid valve includes a stopper, the motor includes a rotating shaft, and when the solenoid valve is at the engaged position, the stopper of the solenoid valve The stopper meshes with the rotation shaft of the motor to block the rotation of the motor. When the solenoid valve is in the rotating position, the stopper of the solenoid valve is in contact with the rotation of the motor. The shaft is disengaged so that the motor can rotate freely. The automatically adjustable protective gear according to claim 4, wherein the motor includes a plurality of motors, which are respectively assembled with opposite ends of the support strap, and are configured to drive the two ends to adjust the support strap With the pressure applied to the limb. The self-regulating protective gear according to claim 6, wherein the rotation directions of the plurality of motors are opposite to each other. The automatically-regulated protective gear according to claim 1, wherein when the acceleration value sensed by the acceleration sensor is greater than or equal to a preset acceleration value, the controller drives the actuating mechanism to adjust the The support strap is used to increase the pressure applied by the support strap to the limb to a preset value of dynamic pressure. The automatically-regulated protective gear according to claim 1, wherein when the acceleration value sensed by the acceleration sensor is less than a preset acceleration value and the duration is greater than or equal to a preset time, the controller drives the The actuating mechanism adjusts the support strap to reduce the pressure exerted by the support strap on the limb to a preset static pressure value. The automatically-regulated protective gear according to claim 1, wherein the acceleration sensor includes a plurality of acceleration sensors. The automatically adjustable protective gear according to claim 10 further includes a plurality of angle sensors, which are coupled to the controller and used to sense the angle of the limb. The automatically adjustable protective gear according to claim 11, wherein the controller is configured to drive the actuating mechanism to adjust the support strap according to the acceleration value and the angle to adjust the support strap The pressure applied to the limb. The automatically adjustable protective gear according to claim 11, wherein the angle sensor includes a gyroscope. The automatically-regulated protective gear according to claim 11, wherein when the acceleration value is greater than or equal to the preset acceleration value and the angle increases, the controller drives the actuation mechanism to adjust the support strap to Increase the pressure exerted by the support strap on the limb. The automatically-regulated protective gear according to claim 11, wherein when the angle is reduced, and the acceleration value is less than a preset acceleration value and the duration is greater than or equal to a preset time, the controller drives the actuation The mechanism adjusts the support strap to reduce the pressure exerted by the support strap on the limb. The automatically-regulated protective gear according to claim 11, wherein when the angle increases to greater than or equal to 180 degrees, and the acceleration value is less than the acceleration preset value and the duration is greater than or equal to the preset time, the controller The actuation mechanism is driven to adjust the support strap to reduce the pressure exerted by the support strap on the limb. The automatically adjustable protective gear according to claim 11, wherein when the angle continuously changes and the acceleration value increases and continuously changes, the controller drives the actuating mechanism to adjust the support belt to increase The pressure applied by the support strap to the limb. The automatic control type protective gear according to claim 1, wherein the controller determines the user's action pattern by using at least one action recognition model. An automatic control type protective gear, including: Support strap, suitable for encircling the user's limbs; Actuating mechanisms, including: A motor adapted to be assembled with the support strap and configured to drive the support strap to adjust the pressure exerted by the support strap on the limb; and The solenoid valve is configured to be movable between the engaged position and the rotating position, and includes a stopper; A controller, coupled to the actuation mechanism, and capable of controlling the solenoid valve to move to the engagement position or the rotation position, Wherein, when the solenoid valve is in the engagement position, the stopper of the solenoid valve is engaged with the rotation shaft of the motor to block the rotation of the motor, and when the solenoid valve is in the rotation In the position, the stopper of the solenoid valve is disengaged from the rotating shaft, allowing the motor to rotate freely. The automatically adjustable protective gear according to claim 19, wherein the motor includes a plurality of motors, which are respectively assembled with opposite ends of the support strap, and are configured to drive the two ends to adjust the support The pressure exerted by the strap on the limb. The automatically-regulated protective gear according to claim 19, further comprising an acceleration sensor for sensing an acceleration value, and the controller is coupled to the acceleration sensor to drive the acceleration value according to the acceleration value. The actuating mechanism adjusts the support strap so that the pressure applied by the support strap to the limb reaches a preset pressure value. The automatically adjustable protective gear according to claim 19, further comprising a pressure sensor, which is coupled to the controller and the support strap and used to sense all the force exerted by the support strap on the limb述压。 Said pressure. The automatically-regulated protective gear according to claim 22, wherein when the pressure sensor senses that the pressure reaches the pressure preset value, the controller stops driving the actuation mechanism. The automatically-regulated protective gear according to claim 19, wherein the acceleration sensor includes a plurality of acceleration sensors. The automatically adjustable protective gear according to claim 24 further includes a plurality of angle sensors coupled to the controller and respectively arranged on the supporting straps to sense the angle of the limbs. The automatically adjustable protective gear according to claim 25, wherein the controller is configured to drive the actuation mechanism to adjust the support strap according to the angle so that the pressure is equal to a preset pressure corresponding to the pressure value. The automatically-regulated protective gear according to claim 19, wherein the controller determines the user's action pattern by using at least one action recognition model. An automatic control method for protective gear includes: Wrap the support belt around the user's limbs; The acceleration sensor senses the acceleration value of the limb; and The controller judges the user's action pattern according to the acceleration value, and adjusts the support strap accordingly, so that the pressure exerted by the support strap on the limb is equal to a preset pressure value, wherein The preset pressure value is responsive to the action pattern. The automatic adjustment method of the protective gear according to claim 28, wherein the controller adjusts the support strap accordingly, so that the pressure exerted by the support strap on the limb is equal to the pressure preset Values include: The pressure sensor senses the pressure exerted by the support strap on the limb; and When the pressure is equal to the preset pressure value, the controller stops adjusting the support strap. The automatic adjustment method of the protective gear as described in claim 28 further includes: The angle sensor senses the angle presented by the limb, The controller judging the action pattern of the user according to the acceleration value includes: the controller judging the action pattern of the user according to the acceleration value and the angle. The automatic adjustment method of the protective gear according to claim 30, wherein when the acceleration value is substantially greater than or equal to the preset acceleration value and the angle increases, the controller determines that the limb is in a dynamic action type, and Accordingly, the support strap is adjusted to increase the pressure exerted by the support strap on the limb to a preset dynamic pressure value. The automatic adjustment method of the protective gear according to claim 30, wherein when the angle decreases, and the acceleration value is less than the acceleration preset value and the duration is greater than or equal to the preset time, the controller determines the limb It is a static action type, and the support strap is adjusted to reduce the pressure exerted by the support strap on the limb to a preset value of static pressure. The automatic adjustment method of the protective gear according to claim 30, wherein when the angle is increased to equal to 180 degrees, and the acceleration value is less than the acceleration preset value and the duration is substantially greater than or equal to the preset time, the control The device determines that the limb is in a static motion state, and adjusts the support strap to reduce the pressure applied by the support strap on the limb to a preset static pressure value. The automatic adjustment method of the protective gear according to claim 30, wherein when the angle continues to change, and the acceleration value increases and continues to change, the controller determines that the limb is a dynamic action type, and adjusts The supporting strap is used to increase the pressure exerted by the supporting strap on the limb to a preset dynamic pressure value. The automatic adjustment method of the protective gear according to claim 28, wherein the controller determines the action pattern of the user according to the acceleration value includes the controller judges by at least one action recognition model The action type of the user.

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