WO2016031262A1

WO2016031262A1 - Walking assistance device, method for controlling walking assistance device, and program for causing computer to control walking assistance device

Info

Publication number: WO2016031262A1
Application number: PCT/JP2015/052301
Authority: WO
Inventors: 剛英松本; 藤田　英明; 上山　明紀; 松岡　祐樹
Original assignee: シャープ株式会社
Priority date: 2014-08-27
Filing date: 2015-01-28
Publication date: 2016-03-03
Also published as: JP5922200B2; JP2016047123A

Abstract

Provided is a walking assistance device with which safety is increased. A walking assistance cart, which is an embodiment of the walking assistance device, is provided with: an acting force-detecting unit (11) for detecting forces acting on a base; a speed-detecting unit (12) for detecting the speed of the walking assistance cart; a progress direction-detecting unit (13) for detecting the direction of progress (for example, forward or backward) of the walking assistance cart; a movement control unit (14) for determining a control method for moving the walking assistance cart and controlling the movement of the walking assistance cart; a driving unit (15) for driving the front wheels and the back wheels; and a safety control unit (16) for controlling the driving of the walking assistance cart on the basis of state of the walking assistance cart and the direction in which the acting force acts on the walking assistance cart.

Description

Walking assistance device, method for controlling walking assistance device, and program for causing computer to control walking assistance device

This disclosure relates to the control of a walking assist device, and more particularly to the safety control of a walking assist device.

Conventionally, walking aid vehicles such as walker and silver car exist as devices for assisting walking of elderly people and the like who are difficult to walk. In addition, a walking assist vehicle that gives the wheels driving force by a motor or the like and brakes on the downhill to suppress the speed (hereinafter also referred to as “speed reduction”) or assists the climb on the uphill. Has been developed.

For example, Japanese Patent Application Laid-Open No. 2003-290302 (Patent Document 1) describes a technique of “in a walking assistance device, even if a person does not adjust, the motion characteristics are automatically adjusted so that the device can be handled easily”. Disclosure. The walking assist device disclosed in Patent Document 1 is “by a movable base, a motion control mechanism for controlling the movement of the base, a support provided on the base to support the user, and an action from the user. A sensor 9 for detecting a change in the resulting device, and a motion control arithmetic device for controlling the motion control mechanism in accordance with the detection value 41 detected by the sensor 9, ”the motion control arithmetic device stores the motion characteristic parameter for storing the motion characteristic parameter. A storage unit 32, an exercise characteristic adjustment unit 34 that adjusts an exercise characteristic parameter based on the detection value 41, and an exercise control unit 31 that controls the exercise control mechanism according to the detection value 41 and the exercise characteristic parameter. Summary]).

JP 2003-290302 A

According to the technique disclosed in Patent Document 1, the driving force is adjusted using a force sensor or a speed sensor. However, when the driving force is applied when the wheel is fixed by an obstacle, etc. with the force sensor alone, excessive current flows to drive the wheel, or a sudden driving force is applied when the lock is released. There is. In addition, the speed sensor alone may not be correctly controlled when the substrate such as the inclination moves contrary to the user's intention. More specifically, when the wheel is locked due to a groove, an obstacle, or the like, there is a risk that the user may be at risk if the assist force is activated. Or since an elderly person or a person with a reduced mobility uses a walking assist device, further safety is required. Therefore, there is a need for a technique that increases user safety. There is also a need for a walking assist device that moves according to the user's intention.

The present disclosure has been made to solve the above-described problems, and an object in one aspect is to provide a walking assist device that increases the safety of the user. An object in another aspect is to provide a walking assistance device that moves in accordance with a user's intention.

An object in another aspect is to provide a method for controlling the walking assist device so as to increase the safety of the user. An object in another aspect is to provide a method for controlling a walking assistance device to move in accordance with a user's intention.

An object in another aspect is to provide a program for causing a computer to control a walking assist device so as to increase the safety of the user. An object in another aspect is to provide a program for causing a computer to control a walking assistance device so as to move in accordance with a user's intention.

A walking assist device according to an embodiment includes a base, a drive unit for moving the base, an action force detection unit for detecting an action force acting on the base, and a state detection for detecting the state of the base And a movement control unit for controlling the movement of the base by the driving unit based on the acting force detected by the acting force detecting unit, the driving unit according to the direction in which the acting force acts and the state of the substrate. And a safety control unit for stopping the movement of the base body.

Preferably, the condition includes the speed of the substrate. The safety control unit is configured to stop the movement of the substrate by the driving unit when the substrate is stopped.

Preferably, the safety control unit is configured to detect that the substrate is in an abnormal state when the direction of the acting force is opposite to the traveling direction of the substrate.

Preferably, the state includes the tilt of the substrate. When the base body is in an upwardly inclined state and an acting force in the traveling direction of the base body is detected, the safety control unit controls the movement control unit so that the base body moves in the traveling direction.

Preferably, the walking assist device further includes a brake for stopping the base. The state detection unit includes a brake detection unit that detects that the brake is operated. When the brake is activated, the safety control unit is configured to stop the movement of the base body by the drive unit.

Preferably, the safety control unit detects that the base body is in an abnormal state when the speed of the base body is equal to or higher than a predetermined speed after a predetermined time has elapsed since the brake operation was detected. It is configured as follows.

Preferably, when the acting force is detected, the safety control unit is configured to detect that the substrate is in an abnormal state when the stopped state of the substrate continues for a predetermined time.

Preferably, the walking assist device further includes a notification unit for notifying that the base body is in an abnormal state.

Preferably, the drive unit includes a motor. The walking assist device further includes a motor electromagnetic brake. When the base is in an abnormal state, the safety control unit is configured to operate the electromagnetic brake.

Preferably, a base power source switch is further provided. When it is detected that the substrate is in an abnormal state, the safety control unit is configured to turn off the switch.

According to another embodiment, a method for controlling a walking assistance device is provided. The method includes a step of moving the walking assistance device, a step of detecting an acting force acting on the walking assistance device, a step of detecting the state of the walking assistance device, and a walking assistance device based on the detected acting force. And a step of stopping the movement of the walking assistance device according to the direction in which the acting force works and the state of the walking assistance device.

According to yet another embodiment, a program for causing a computer to control a walking assist device is provided. This program is based on the step of moving the walking assist device to the computer, the step of detecting the acting force acting on the walking assist device, the step of detecting the state of the walking assist device, and the detected acting force. The step of controlling the movement of the walking assist device, the direction in which the acting force works, and the step of stopping the movement of the walking assist device according to the state of the walking assist device are executed.

The above and other objects, features, aspects and advantages of the present invention will become apparent from the following detailed description of the present invention which is to be understood in connection with the accompanying drawings.

1 is a diagram illustrating a configuration of a walking auxiliary vehicle 1. FIG. It is a figure showing the state in which the user is holding the walk auxiliary vehicle. It is a block diagram showing the function with which the walk auxiliary vehicle 1 is provided. It is a flowchart showing a part of process which the walk auxiliary vehicle 1 performs. It is a figure showing the external appearance of the walk auxiliary vehicle 500. FIG. It is a figure showing the functional composition of walk auxiliary vehicle 500. It is a flowchart showing a part of process which the walk auxiliary vehicle 500 performs. FIG. 5 is a block diagram illustrating a configuration of functions realized by walking auxiliary vehicle 800. 5 is a flowchart showing a part of processing executed by walking auxiliary vehicle 900. It is a flowchart showing a part of process which the walk auxiliary vehicle 1 performs.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same parts are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

In the following embodiment, a walking assistance vehicle that mainly assists (assists) walking is exemplified as an example of the walking assistance device, but the application target of the technical idea according to the present disclosure is not limited to the walking assistance vehicle. For example, the technical idea is applied to all devices that have a member that supports at least a part of the user's body on a movable base and assist the user's walk by assisting the movement of the base. can do. Therefore, the technical idea can be applied to a moving device such as a stroller, a carriage, a silver car, a wheelchair, etc., which moves forward when pushed by a person.

[First embodiment]
In summary, in the walking auxiliary vehicle according to the present embodiment, the wheels are rotated by a driving force such as a motor to assist the user's walking. The driving force can be adjusted by the force with which the user pushes the grip of the walking assist vehicle. In the state where the movement control by the driving force of the motor is performed, the movement control is not performed when the walking auxiliary vehicle is stopped even if the force pushing the grip is detected. As a result, since the walking auxiliary vehicle continues to stop, it is possible to prevent accidents such as a user's falling due to unexpected movement.

<Hardware configuration>
With reference to FIG. 1, the structure of the walking auxiliary vehicle 1 which concerns on 1st Embodiment is demonstrated. FIG. 1A is a view of the walking assist vehicle 1 as seen from the side. FIG. 1B is a view of the walking assist vehicle 1 as viewed from above. FIG. 1C is a block diagram illustrating the configuration of the control unit 10 of the walking assist vehicle 1.

As shown in FIGS. 1A and 1B, the walking assist vehicle 1 includes a base frame (hereinafter also simply referred to as “base”) 40, a grip 2, and a brake lever 7 for manual operation. , A start / stop switch 2A and a bag 26 for storing objects. The base body 40 includes a left frame 41, a right frame 42, a frame 43, and a control unit 10 for controlling the walking auxiliary vehicle 1.

The frame 43 is bridged between the left frame 41 and the right frame 42 to connect the left frame 41 and the right frame 42. A part of the frame 43 constitutes a seatable seat. The left frame 41 and the right frame 42 are each provided with a grip 2, a front wheel 3, and a rear wheel 4 that are gripped by a user during walking. The rear wheel 4 is driven by a motor 5. The grip 2 is configured to support at least a part of the body of the user of the walking assistance vehicle 1 as a support portion.

In the bag 26, a battery unit 25 for supplying electric power to each part of the walking auxiliary vehicle 1 is arranged. The battery unit 25 is, for example, a rechargeable battery. In addition, the attachment position of the control part 10 and the battery part 25 should just be a position which does not become obstructive at the time of a walk, and is not limited to the position shown by FIG. 1 (A) and FIG. 1 (B).

Referring to FIG. 1C, the control unit 10 includes a CPU (Central Processing Unit) 21, a memory 22, an input unit 23, and an output unit 24. The memory 22 is realized by, for example, a ROM (Read Only Memory) and a RAM (Random Access Memory). The input unit 23 receives input of signals output from various sensors. The output unit 24 outputs a signal to the motor 5 and other units.

The control unit 10 controls the operation of the walking auxiliary vehicle 1. For example, the control unit 10 controls the rotation of the motor 5. The motor 5 is realized by, for example, a DC (Direct Current) motor. The rear wheel 4 is connected to a rotating shaft (not shown) of the motor 5 and rotates in conjunction with the rotating motion of the motor 5. In the present embodiment, the motor 5 is provided on the rear wheel 4, and the walking auxiliary vehicle 1 is rear wheel drive. However, the driving type of the walking auxiliary vehicle 1 is not limited to this, and may be front wheel driving in which the front wheels 3 are driven, or four wheel driving in which both the front wheels 3 and the rear wheels 4 are driven.

In the present embodiment, the braking force can act on the base body 40 by using the short brake (short circuit braking) of the motor 5. In the short brake, the coil of the motor 5 is short-circuited by ON / OFF of a switch to obtain a braking force.

¡In response to the user's operation of the brake lever 7, the brake stops the wheel rotation like a bicycle brake. In the present embodiment, when the brake lever 7 is operated, the CPU 21 stops the current supply to the motor 5 so that the braking force by the brake acts on the motor 5 while the current is supplied to the motor 5. This prevents the front wheel 3 and the rear wheel 4 from being locked. In another aspect, when the driving control of the walking auxiliary vehicle 1 cannot be performed due to the battery running out of the battery unit 25 or the like, the walking auxiliary vehicle 1 is used as a normal walker in which the assist force and the deceleration force by the motor 5 do not act. obtain.

<Usage>
With reference to FIG. 2, the use of the walking auxiliary vehicle 1 will be described. FIG. 2 is a diagram illustrating a state in which the user is holding the walking assist vehicle 1.

When walking, the user holds the grip 2 and pushes the walking auxiliary vehicle 1 in the traveling direction (that is, in the direction of the arrow). At this time, the control unit 10 detects a pushing force (hereinafter also referred to as “acting force”) acting on the walking auxiliary vehicle 1 based on a signal from a sensor (not shown). The control unit 10 determines the rotation amount (rotation direction and angle) of the motor 5 from the detection result, and rotates the motor 5 according to the determined rotation amount. When the rear wheel 4 rotates in the traveling direction due to the rotation of the motor 5, the front wheel 3 also rotates in conjunction with this rotation, and the walking assist vehicle 1 moves in the traveling direction. The user in the state of gripping the grip 2 is urged to walk in the traveling direction along with the movement, that is, the walk is assisted and can walk stably.

<Functional configuration>
With reference to FIG. 3, a functional configuration of walking auxiliary vehicle 1 according to the present embodiment will be described. FIG. 3 is a block diagram showing functions provided in the walking assistance vehicle 1. The walking auxiliary vehicle 1 includes an acting force detection unit 11, a speed detection unit 12, a traveling direction detection unit 13, a movement control unit 14, a drive unit 15, and a safety control unit 16.

The acting force detector 11 detects a force applied to the base body 40 by a user or the like. More specifically, the acting force detector 11 detects the force applied to the base body 40 from the output of a force sensor (not shown) built in the grip 2. For example, the grip 2 includes a force sensor (not shown). The force sensor detects a force (pushing force or pulling force) applied to the grip 2 and outputs the detection result as an electric signal, like a strain gauge or a force sensor. The applied force detection unit 11 detects the magnitude and direction of the force applied to the grip 2 from the electrical signal output by the force sensor, and the force is a force that pushes the walking auxiliary vehicle 1 or a pulling force. Determine whether. In the present embodiment, the force in the arrow direction in FIG. 2 (the force acting in the traveling direction) is a pushing force, and the force in the reverse direction is a pulling force.

The speed detector 12 detects the speed of the walking auxiliary vehicle 1.
The traveling direction detection unit 13 detects the traveling direction of the walking auxiliary vehicle 1 (for example, forward or backward). In one aspect, the traveling direction detection unit 13 detects the traveling direction of the moving base body 40. For example, the traveling direction detection unit 13 detects the traveling direction of the base body 40 based on the rotation direction of the wheels. The traveling direction detector 13 detects the traveling direction (the arrow direction in FIG. 2 or the opposite direction) from the control signal. The traveling direction detection method is not limited to this. For example, the traveling direction detection unit 13 uses a sensor for detecting the rotation direction of a wheel or an axle to detect the traveling direction from the output of the sensor. May be.

The movement control unit 14 determines a control method for moving the walking auxiliary vehicle 1 and controls the movement of the walking auxiliary vehicle 1. More specifically, the movement control unit 14 determines the rotational direction, rotational torque, rotational speed, and the like of the drive wheels. More specifically, for example, the movement control unit 14 determines the driving wheel (for example, the front wheel) based on the force applied to the grip 2 detected by the acting force detection unit 11 and the traveling direction detected by the traveling direction detection unit 13. 3 and the control method of the motor 5 for transmitting the driving force to the rear wheels 4). In one aspect, the control method indicates a driving rate. The driving rate indicates the magnitude of the driving assist force transmitted to the driving wheel by the motor 5 in order to assist the driving. Specifically, the drive rate is determined by a set of the magnitude of the assist force (unit:%) and the magnitude of the speed reduction force (unit:%). Here, the control method is indicated by a driving rate using a ratio (unit:%) to a predetermined reference control method (assist force α or deceleration force β). For example, when the assist force α is the maximum driving force of the motor 5 and the deceleration force β is the maximum braking force (100%) of the motor 5, the driving rate is the walking assist vehicle 1 (more specifically, more specifically). , Whether the auxiliary driving force is applied to the base body 40).

In one aspect, when the movement control unit 14 determines that the direction of the force applied to the grip 2 and the traveling direction are the same or substantially the same, the movement control unit 14 selects the control method according to any one of the following cases 1 to 3 Determine from.
(Case 1) When it is determined that the walking auxiliary vehicle 1 is moving on a flat ground, a control method in which an assist force having a predetermined magnitude is assisted (Case 2) The walking auxiliary vehicle 1 moves uphill. A control method in which an assist force larger than the assist force in (Case 1) is assisted (Case 3), when it is determined that the walking assistance vehicle 1 is moving downhill (Case 1) A control method in which a deceleration force larger than the assist force is applied in the direction opposite to the movement direction.

The driving unit 15 drives the front wheel 3 and the rear wheel 4. In one aspect, the drive unit 15 generates a control signal for rotating the motor 5 based on a signal from the movement control unit 14. The drive part 15 produces | generates a control signal by PWM (Pulse Width Modulation), for example.

The safety control unit 16 controls the driving of the walking assistance vehicle 1 based on the state of the walking assistance vehicle 1 and the direction in which the acting force acts on the walking assistance vehicle 1.

In one aspect, the safety control unit 16 stops the movement of the base body 40 by the driving unit 15 according to the direction in which the acting force acts on the base body 40 and the state of the base body 40.

For example, the state of the substrate 40 includes the speed of the substrate 40. When the base body 40 is stopped, the safety control unit 16 is configured to stop the movement of the base body 40 by the driving unit 15. If the base body 40 is stopped despite the detection of the acting force, the base body 40 is likely to be locked by a step or other obstacle. Therefore, in such a case, the safety of the user is enhanced by stopping the movement control (by stopping the movement of the walking auxiliary vehicle 1).

In another aspect, when the direction of the acting force and the traveling direction of the base body 40 are opposite, the safety control unit 16 is configured to detect that the base body 40 is in an abnormal state. Normally, the base body 40 moves in the direction in which the acting force is detected. Therefore, when the direction of the acting force and the traveling direction of the base body 40 are opposite, it can be determined that the state of the walking assist vehicle 1 is abnormal.

In another aspect, the safety control unit 16 is configured to stop the movement of the base body 40 by the drive unit 15 when the brake of the walking auxiliary vehicle 1 is activated. For example, the safety control unit 16 stops supplying power to the drive unit 15. With such a configuration, the operating state of the brake is detected as a user's intention to stop. It is possible to eliminate the state in which the driving force by the motor 5 is working even though the user is braking. Thereby, the safety of the walking auxiliary vehicle 1 increases.

In another aspect, when the speed of the base body 40 is equal to or higher than a predetermined speed after a predetermined time has elapsed since the operation of the brake is detected, the safety control unit 16 determines that the base body 40 is abnormal. It is comprised so that it may detect that it is in a state. Normally, the base body 40 is configured to stop when the brake is applied. However, if the base body 40 does not stop when the brake is activated, the walking auxiliary vehicle 1 detects that the walking auxiliary vehicle 1 is in an abnormal state.

In another aspect, when the acting force is detected, the safety control unit 16 is configured to detect that the base body 40 is in an abnormal state when the stop state of the base body 40 continues for a predetermined time. Yes. With such a configuration, when the base body 40 does not move for a certain period of time even though the acting force is detected, there is a high possibility that the driving wheel of the base body 40 is locked. It can be detected that there is an abnormal condition.

In another aspect, the walking auxiliary vehicle 1 further includes a notification unit for notifying that the base body is in an abnormal state. The notification unit may be realized by, for example, an LED (Light Emitting Diode) or other light emitting device, a buzzer or other audio output device, a monitor or other display device. With such a configuration, the user is easily aware of the abnormal state by notifying the user of the abnormal state. As a result, since the response to the walking auxiliary vehicle 1 such as repair and inspection of defects can be promptly performed, safety is improved.

In another aspect, the walking auxiliary vehicle 1 further includes an electromagnetic brake (not shown) of the motor 5. When the base body 40 is in an abnormal state, the safety control unit 16 is configured to operate the electromagnetic brake. By controlling the motor 5 so as to stop the base body 40 in an abnormal state, the safety of the walking assist vehicle 1 is increased.

In another aspect, the walking auxiliary vehicle 1 further includes a switch (not shown) of a power source (for example, the motor 5) of the base body 40. When it is detected that the base body 40 is in an abnormal state, the safety control unit 16 is configured to turn off the switch. With such a configuration, the entire movement control system stops so that the walking auxiliary vehicle 1 stops in an abnormal state. Thereby, since occurrence of problems such as runaway of the system is prevented, the safety of the walking assist vehicle 1 using the system is enhanced.

<Control structure>
With reference to FIG. 4, a control structure of walking auxiliary vehicle 1 according to the present embodiment will be described. FIG. 4 is a flowchart showing a part of processing executed by the walking auxiliary vehicle 1. In a certain aspect, the processing is realized by the CPU 21 executing a program. Note that part or all of the processing may be realized by a circuit or other hardware that implements unique processing.

First, when the user of the walking assist vehicle 1 holds the grip 2 and switches the start / stop switch 2A from stop to start, the CPU 21 detects the start and supplies power to each part to control the assist function. To start.

In step S <b> 102, the CPU 21 determines whether the user's force is applied to the grip 2 based on the output of the force sensor of the grip 2 as the acting force detection unit 11. When CPU 21 determines that the force is applied to grip 2 (YES in step S102), CPU 21 switches control to step S103. If not (NO in step S102), CPU 21 switches control to step S108.

In step S103, the CPU 21 detects the pressing force on the grip 2 and the rotation state of the wheel (for example, the rotation direction, the rotation speed, etc.).

In step S104, the CPU 21 determines, as the movement control unit 14, a control method for the walking assist vehicle 1 based on the detected state of the base body 40. When the start switch remains on, the walking assistance vehicle 1 operates to assist the user's walking based on the determined control method. When the force to push the grip is strong, the CPU 21 increases the assist force. For example, when the user is moving on a flat ground, the CPU 21 determines the assist force so that the assist force is smaller than that of the uphill as a control method. When the user moves uphill, the CPU 21 determines the assist force in proportion to the magnitude of the base 40 according to the magnitude of the inclination of the base body 40, for example. The assist force determined is greater than the assist force when moving on a flat ground. In another aspect, when the user moves downhill, the CPU 21 acts in the direction opposite to the moving direction so as to be larger than the assist force in the case of flat ground in proportion to the inclination of the base body 40. Decide what speed to slow.

In step S105, the CPU 21 controls the drive unit 15 as the movement control unit 14 according to the control method determined in step S104. When the drive unit 15 drives the motor 5, the walking assist vehicle 1 moves with an assist force.

In step S106, the CPU 21 determines, as the safety control unit 16, whether or not the base body 40 of the walking assist vehicle 1 is stopped based on the output from the sensor. When CPU 21 determines that base body 40 is stopped (YES in step S106), control is switched to step S107. If not (NO in step S106), CPU 21 returns control to step S102.

In step S107, the CPU 21 sends a stop command to the drive unit 15 as the movement control unit 14, and stops the drive by the drive unit 15. Thereafter, the control is returned to step S102.

In step S108, the CPU 21 determines whether or not the stop switch has been pressed. When CPU 21 determines that the stop switch has been pressed (YES in step S108), CPU 21 stops driving auxiliary walking vehicle 1 and ends the control. If not (NO in step S108), CPU 21 switches control to step S102.

As described above, according to the present embodiment, the walking assistance vehicle 1 prohibits the motor 5 from being driven to advance the walking assistance vehicle 1 while it is stopped. Car 1 stops moving. This increases safety.

[Second Embodiment]
Hereinafter, a second embodiment will be described. The walking auxiliary vehicle 500 according to the present embodiment has a function of weakening the driving force without stopping the driving unit 15 when moving uphill, and the walking according to the first embodiment. Different from auxiliary vehicle 1. That is, in the first embodiment, the driving force is not applied when the wheel is stopped even if a force is applied to the grip, whereas the driving force is not applied in the second embodiment if it is an uphill. The walk auxiliary vehicle 50 according to the present embodiment is different from the walk auxiliary vehicle 1 according to the first embodiment in that

<Hardware configuration>
With reference to FIG. 5, the structure of the walking auxiliary vehicle 500 which concerns on 2nd Embodiment is demonstrated. FIG. 5 is a diagram illustrating the appearance of the walking assistance vehicle 500. The walking auxiliary vehicle 500 further includes an inclination sensor 6 in addition to the configuration of the walking auxiliary vehicle 1 according to the first embodiment. The inclination sensor 6 detects the degree of inclination of the walking auxiliary vehicle 500 that is moving.

Other hardware configurations of the walking assistance vehicle 500 are the same as the hardware configuration of the walking assistance vehicle 1 according to the first embodiment. Therefore, the description of the hardware configuration will not be repeated.

<Functional configuration>
With reference to FIG. 6, the function implement | achieved by the walk auxiliary vehicle 500 is demonstrated. FIG. 6 is a diagram illustrating a functional configuration of the walking assist vehicle 500. The walking auxiliary vehicle 500 further includes an inclination detection unit 17 in addition to the configuration of the walking auxiliary vehicle 1 according to the first embodiment. The inclination detection unit 17 is realized by the inclination sensor 6, for example.

The inclination detector 17 detects the degree of inclination of the walking assist vehicle 500. For example, the inclination detector 17 detects the degree of inclination such as 5 degrees uphill or 10 degrees downhill. The detected degree of inclination of the walking assist vehicle 500 is input to the safety control unit 16. The safety control unit 16 controls the driving of the motor 5 by the driving unit 15 according to the degree of inclination of the walking assist vehicle 500.

In one aspect, the state of the base body 40 is detected as the inclination of the base body 40. When the base body 40 is in an upwardly inclined state and an acting force in the traveling direction of the base body 40 is detected, the safety control unit 16 moves the base body 40 in the traveling direction even when the base body 40 is stopped. For example, the movement control unit 14 is controlled so that a force that is weaker than the force that acts during normal assisting acts. The movement control unit 14 controls the drive unit 15 based on a signal from the safety control unit 16. Thereby, since the force which assists the advance of the walk auxiliary vehicle 500 acts, it becomes easy to start from a stop state on an uphill.

<Control structure>
With reference to FIG. 7, a control structure of walking auxiliary vehicle 500 will be described. FIG. 7 is a flowchart showing a part of processing executed by walking assist vehicle 500. In addition, the same step number is attached | subjected to the process same as the process which concerns on 1st Embodiment. Therefore, the description of the same process will not be repeated.

In step S106, the CPU 21 as the safety control unit 16 determines whether or not the base body 40 is stopped based on the output from the sensor. When CPU 21 determines that base body 40 is stopped (YES in step S106), CPU 21 switches control to step S110. If not (NO in step S106), CPU 21 returns control to step S102.

In step S110, the CPU 21 as the safety control unit 16 determines whether or not the walking assistance vehicle 500 is on an uphill, based on the output of the inclination detection unit 17. When CPU 21 determines that walking auxiliary vehicle 500 is on the uphill (YES in step S110), CPU 21 switches control to step S111. If not (NO in step S110), CPU 21 switches control to step S107.

In step S111, the CPU 21 sends a signal to the driving unit 15 as the safety control unit 16 so as to reduce the driving force of the motor 5. The drive unit 15 reduces the power supplied to the motor 5 based on the command.

<Effect of Embodiment>
As described above, according to the second embodiment, when the walking assist vehicle 500 is stopped on an uphill, at least a driving force that does not reversely acts as an assist force. Thereby, it is possible to prevent the walking assistance vehicle 500 from moving forward against the intention of the user to stop on the uphill, or the walking assistance vehicle 500 from sliding down toward the user.

[Third Embodiment]
The third embodiment will be described below. The walking auxiliary vehicle 800 according to the third embodiment is different from the walking auxiliary vehicle 1,500 in that it includes a configuration for controlling the driving of the walking auxiliary vehicle 800 when the brake is operated. Note that the hardware configuration of the walking auxiliary vehicle 800 is realized by the hardware configuration of the walking auxiliary vehicle 1 or the hardware configuration of the walking auxiliary vehicle 500. Therefore, description of the hardware configuration of walking assistance vehicle 800 will not be repeated.

<Functional configuration>
With reference to FIG. 8, the structure of the walking assistance vehicle 800 is demonstrated. FIG. 8 is a block diagram showing a configuration of functions realized by walking auxiliary vehicle 800. The walking assistance vehicle 800 further includes a brake detection unit 18 in addition to the configuration shown in FIG. 3.

The brake detection unit 18 detects that the brake lever 7 (FIG. 1) of the walking auxiliary vehicle 800 has been operated. The detection result is input to the safety control unit 16.

<Control structure>
With reference to FIG. 9, a control structure of walking auxiliary vehicle 800 will be described. FIG. 9 is a flowchart showing a part of processing executed by walking auxiliary vehicle 900. In addition, the same step number is attached | subjected to the process same as the process which concerns on 1st Embodiment. Therefore, the description of the same process will not be repeated.

In step S106, the CPU 21 as the safety control unit 16 determines whether or not the base body 40 is stopped based on the output from the sensor. When CPU 21 determines that base body 40 is stopped (YES in step S106), control is switched to step S107. If not (NO in step S106), CPU 21 switches control to step S112.

In step S112, the CPU 21 determines whether or not the brake lever 7 is operating based on a signal from the brake detection unit 18. When CPU 21 determines that brake lever 7 is operating (YES in step S112), control is switched to step S107. If not (NO in step S112), CPU 21 returns control to step S102.

In step S107, the CPU 21 sends a stop command to the drive unit 15 as the movement control unit 14, and causes the drive unit 15 to stop driving the motor 5. The walking auxiliary vehicle 1 reliably maintains the stopped state. Thereafter, the control is returned to step S102.

As described above, according to the present embodiment, when walking assist vehicle 800 is stopped (YES in step S106), if the operation of the brake is detected (YES in step S112), walking Since the motor 5 of the auxiliary vehicle 800 does not rotate, the walking auxiliary vehicle 800 does not start suddenly. Thereby, since it can prevent that the walk auxiliary vehicle 800 moves against a user's will, the safety of the walk auxiliary vehicle 800 increases.

[Fourth Embodiment]
Hereinafter, a fourth embodiment will be described. The walking assistance vehicle according to the present embodiment is different from the walking assistance vehicle according to each of the above-described embodiments in that it has an abnormal state detection function. More specifically, when the walking assistance vehicle according to the present embodiment is recognized as having no correlation between the state detected by each sensor and the operation (speed, traveling direction) of the base 40 of the walking assistance vehicle. In addition, it is detected that the walking assistance vehicle is in an abnormal state. Then, the walking assist vehicle 1 performs safety control when an abnormal state is detected.

Note that the hardware configuration of the walking assistance vehicle according to the present embodiment is the same as the hardware configuration of the walking assistance vehicle according to each of the embodiments described above. Accordingly, the walking assistance vehicle according to the fourth embodiment will be described below based on the configuration of the walking assistance vehicle according to the above-described embodiment.

In one aspect, the safety control unit 16 correlates a state detected from a signal sent from each detection unit (for example, the acting force detection unit 11, the speed detection unit 12, and the traveling direction detection unit 13) with the operation of the base body 40. Judge whether or not. When the correlation between the state and the motion is not obtained, the safety control unit 16 detects that the walking assist vehicle 1 is in an abnormal state.

For example, the base body 40 normally moves in the direction intended by the user, that is, in the direction in which the grip 2 is pressed, and therefore is detected by the direction of the acting force detected by the acting force detector 11 and the traveling direction detector 13. When the traveling direction of the base body 40 is opposite, it is assumed that the walking auxiliary vehicle 1 is in an abnormal state such that some external force is applied to the wheel or the base body 40 or the acting force detection unit 11 is out of order. Is done.

In another aspect, the wheel is locked by an obstacle or the like when the base body 40 has not moved in the traveling direction for a certain period of time despite the fact that the grip 2 is pushed and the acting force is detected. It is assumed that the walking assistance vehicle 1 is in an abnormal state, such as being in a state or having a malfunction in the acting force detector 11.

In still another aspect, when the base body 40 is moving even though the brake has been operating for a certain period of time, some external force is applied to the wheel or the base body 40, or a brake or a malfunction (not shown) is detected. It is assumed that the walking assistance vehicle 1 is in an abnormal state, such as a malfunction of the force detection unit 11.

The safety control unit 16 performs control for ensuring safety when such an abnormal state is detected.

<Control structure>
With reference to FIG. 10, a control structure of walking auxiliary vehicle 1 according to the present embodiment will be described. FIG. 10 is a flowchart showing a part of processing executed by the walking auxiliary vehicle 1. In addition, the same step number is attached | subjected to the process same as the process which concerns on 1st Embodiment. Therefore, the description of the same process will not be repeated.

In step S113, the CPU 21 determines, as the safety control unit 16, whether or not an abnormal state of the walking auxiliary vehicle 1 has been detected based on each signal sent from each sensor. When CPU 21 determines that an abnormal state of walking auxiliary vehicle 1 has been detected (YES in step S113), control is switched to step S114. If not (NO in step S113), CPU 21 returns control to step S102.

In step S114, the CPU 21 executes safety control. For example, the CPU 21 outputs an alarm sound or the like from a speaker (not shown) as the safety control unit 16 to notify the user of the occurrence of an abnormality. In another aspect, the CPU 21 can act as a safety control unit 16 and a braking force by an electromagnetic brake of the motor 5. In yet another aspect, the CPU 21 can forcibly turn off the power of the system of the walking assistance vehicle 1. Note that the aspect of the safety control may vary depending on the detected abnormal state, or may be changed with the passage of time that the abnormal state continues.

As described above, since the walking auxiliary vehicle 1 according to the present embodiment has a safety control function, it is possible to ensure the safety of the user even when an abnormal state is detected.

It should be noted that the above-described embodiments may be selectively combined as appropriate. Moreover, the function for implement | achieving the walk auxiliary vehicle which concerns on each embodiment is implement | achieved by the processor which performs the command contained in the memory which stores a program, and the said program in a certain situation. The program is stored in advance in a nonvolatile data recording medium (for example, a flash memory) of the walking assist vehicle 1. In another aspect, when the walking assistance vehicle has a communication function, the program may be downloadable from a provider of the program via the Internet or other networks. In this case, the communication method is not particularly limited. In still another aspect, the function can be realized by a combination of circuits that realize each process.

The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

1,500,800,900 Walk auxiliary vehicle, 2 grip, 2A start / stop switch, 3 front wheel, 4 rear wheel, 5 motor, 6 tilt sensor, 7 brake lever, 10 control unit, 11 acting force detection unit, 12 speed Detection unit, 13 Travel direction detection unit, 14 Movement control unit, 15 Drive unit, 16 Safety control unit, 17 Inclination detection unit, 18 Brake detection unit, 21 CPU, 22 Memory, 23 Input unit, 24 Output unit, 25 Battery unit , 26 bag, 40 base, 41 left frame, 42 right frame, 43 frame.

Claims

A substrate;
A drive unit for moving the substrate;
An action force detector for detecting an action force acting on the substrate;
A state detector for detecting the state of the substrate;
A movement control unit for controlling movement of the base body by the driving unit based on the acting force detected by the acting force detection unit;
A walking assist device, comprising: a safety control unit for stopping movement of the base body by the driving unit according to a direction in which the acting force works and a state of the base body.
The condition includes the speed of the substrate;
The walking assistance device according to claim 1, wherein the safety control unit is configured to stop the movement of the base body by the driving unit when the base body is stopped.
The walking assistance device according to claim 2, wherein the safety control unit is configured to detect that the base body is in an abnormal state when the direction of the acting force is opposite to the traveling direction of the base body. .
The state includes the inclination of the substrate,
The safety control unit controls the movement control unit so that the base body moves in the traveling direction when the base body is in an upwardly inclined state and an acting force in the traveling direction of the base body is detected; The walking assist device according to claim 1.
A brake for stopping the base;
The state detection unit includes a brake detection unit that detects that the brake is operated,
The walking assistance device according to claim 1, wherein the safety control unit is configured to stop the movement of the base body by the driving unit when the brake is operated.
The safety control unit detects that the substrate is in an abnormal state when the speed of the base body is equal to or higher than a predetermined speed after a predetermined time has elapsed since the operation of the brake was detected. The walking assist device according to claim 5, wherein the walking assist device is configured to perform.
The safety control unit is configured to detect that the base body is in an abnormal state when the stop state of the base body continues for a predetermined time when the acting force is detected. The walking assist device according to any one of 1 to 5.
The walking assistance device according to claim 6 or 7, further comprising a notification unit for notifying that the base body is in an abnormal state.
The drive unit includes a motor,
The walking assist device further includes an electromagnetic brake of the motor,
The walking assist device according to any one of claims 6 to 8, wherein the safety control unit is configured to operate the electromagnetic brake when the base is in an abnormal state.
A power source switch for the base body,
The walking assistance device according to any one of claims 6 to 9, wherein the safety control unit is configured to turn off the switch when it is detected that the base body is in an abnormal state.
A method for controlling a walking assist device, comprising:
Moving the walking aid device;
Detecting an acting force acting on the walking assist device;
Detecting the state of the walking assist device;
Controlling the movement of the walking assistance device based on the detected acting force;
The method includes the step of stopping the movement of the walking assistance device according to the direction in which the acting force works and the state of the walking assistance device.
A program for causing a computer to control a walking assistance device, wherein the program is
Moving the walking aid device;
Detecting an acting force acting on the walking assist device;
Detecting the state of the walking assist device;
Controlling the movement of the walking assistance device based on the detected acting force;
The program which performs the step which stops the movement of the said walking assistance apparatus according to the direction which the said action force works, and the state of the said walking assistance apparatus.