WO2016121465A1 - Véhicule d'aide à la marche - Google Patents

Véhicule d'aide à la marche Download PDF

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Publication number
WO2016121465A1
WO2016121465A1 PCT/JP2016/050509 JP2016050509W WO2016121465A1 WO 2016121465 A1 WO2016121465 A1 WO 2016121465A1 JP 2016050509 W JP2016050509 W JP 2016050509W WO 2016121465 A1 WO2016121465 A1 WO 2016121465A1
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WO
WIPO (PCT)
Prior art keywords
turning
base
inclination
detection unit
walking
Prior art date
Application number
PCT/JP2016/050509
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English (en)
Japanese (ja)
Inventor
上山　明紀
剛英 松本
藤田　英明
瑛昌 沢戸
松岡　祐樹
尚久 蔦田
慎治 鈴木
Original Assignee
シャープ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by シャープ株式会社 filed Critical シャープ株式会社
Publication of WO2016121465A1 publication Critical patent/WO2016121465A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor

Definitions

  • the present invention relates to a method for controlling a walking auxiliary vehicle equipped with a drive mechanism such as a motor.
  • walking aids such as walker and silver car as equipment to assist walking of elderly people.
  • the walking assist device of Patent Document 1 includes a frame body having a handle portion gripped by a pedestrian, a plurality of wheels provided on the left and right sides of the frame body, a plurality of drive motors that respectively rotate and drive each wheel, and a drive Control means for detecting a counter electromotive force generated in the motor and controlling the drive motor based on the counter electromotive force.
  • the walking assist device of Patent Document 1 when a pedestrian tries to turn left, torque is applied to the right wheel and a back electromotive force is generated in the drive motor. By controlling to increase the speed of the right wheel based on the counter electromotive force, the walking assist device can be easily turned to the left.
  • the present invention has been made in view of the above-described problems, and an object thereof is to improve the stability of a walking auxiliary vehicle when turning.
  • the walking auxiliary vehicle of the present invention includes a base body, wheels provided on the left and right sides of the base body, a drive unit that drives the wheel, a turn detection unit that detects the turn of the base body, and a drive unit when the turn of the base body is detected. And a movement control unit for controlling the speed of the base to suppress the base.
  • the walking assistance vehicle of the present invention includes an inclination detection unit that detects the inclination of the base body and a storage unit that stores the detected inclination, and the movement control unit moves the inclination without turning the base body.
  • a first control mode for storing the detected tilt in the storage unit, and decelerating the base according to the detected tilt; and when the base is moving while tilting, the pre-turning stored in the storage unit And a second control mode for decelerating the base according to the inclination.
  • the stability of the walking auxiliary vehicle during turning can be improved.
  • FIG. 3 is a control flowchart of the walking assistance vehicle according to the first embodiment. It is a block diagram which shows the structure of the walk auxiliary vehicle of Embodiment 2. FIG. It is a top view of the walk auxiliary vehicle which shows the action force to a grip. It is a block diagram which shows the structure of the walk auxiliary vehicle of Embodiment 3. It is a control flow figure of the walk auxiliary vehicle of Embodiment 3. It is the side view and top view which show the walk auxiliary vehicle of Embodiment 4.
  • FIG. 1 It is a block diagram which shows the structure of the walk auxiliary vehicle of Embodiment 4. It is a control flow figure of the walk auxiliary vehicle of Embodiment 4. It is the side view and top view which show the walk auxiliary vehicle of Embodiment 5. It is a block diagram which shows the structure of the walk auxiliary vehicle of Embodiment 5. It is explanatory drawing when moving a slope with a walk auxiliary vehicle. It is a flowchart of the whole control of a walk auxiliary vehicle. It is a control flow diagram and a speed reduction rate table in a normal mode. 7 is a control flow diagram and a speed reduction rate table in control mode 1; FIG. 5 is a control flow diagram and a speed reduction rate table for control mode 2.
  • FIG. 1 is a control flow diagram and a speed reduction rate table for control mode 2.
  • FIGS. 1A and 1B show a side view and a top view of a walking assistance vehicle 101 according to Embodiment 1 of the present invention.
  • the walking assistance vehicle 101 includes a base body 1, a grip 2 provided on the base body 1, a front wheel 3, and a rear wheel 4.
  • the walking auxiliary vehicle 101 stabilizes the walking of the pedestrian when the pedestrian walks while pressing the grip 2.
  • the brake lever 6 is provided in the grip 2 of the walking assist vehicle 101, and when the pedestrian pulls the brake lever 6, the front wheels 3 and the rear wheels 4 can be braked and stopped.
  • the rear wheel 4 of the walking assistance vehicle 101 is provided with a motor 5 so that the movement of the walking assistance vehicle 101 can be assisted by driving the rear wheel 4.
  • the motor 5 may be installed on the front wheel 3 or on both the front wheel 3 and the rear wheel 4.
  • FIG. 2 is a block diagram illustrating a configuration of the walking assist vehicle 101 according to the first embodiment.
  • the walking assist vehicle 101 includes a turning detection unit 11, a movement control unit 12, and a drive unit 13.
  • the turning detector 11 detects the turning motion of the base 1.
  • the turning operation can usually be detected from the difference between the rotational speeds of the left and right wheels, but a turning detection sensor such as a gyro sensor may be provided on the base 1.
  • the movement control unit 12 When the movement control unit 12 detects the turning motion of the base body 1, the movement control unit 12 determines the control condition of the driving unit 13 in order to control the turning speed.
  • the drive unit 13 drives the motor 5 based on the control conditions determined by the movement control unit 12.
  • the left and right rear wheels 4 are similarly decelerated as a control condition of the drive unit 13, but the decelerating force may be changed on the left and right. For example, when turning to the left, turning the left wheel more smoothly than the right wheel can make a smooth turn.
  • FIG. 3 is a flowchart showing an example of a method for controlling the walking auxiliary vehicle 101 of the present invention.
  • the pedestrian turns on a start button or the like provided on the walking assist vehicle 101 to cause the movement control unit 12 to function (S101).
  • the movement control unit 12 detects the turning operation of the base 1 by the turning detection unit 11 (S102). When the turning motion of the base 1 is detected, the rotational speed of the motor 5 is controlled by the drive unit 13 in order to stabilize the turning state (S103).
  • control during normal walking is performed (S104).
  • the wheels may be free without controlling the motor 5, or the motor 5 may be rotated in the traveling direction to assist walking.
  • the walking auxiliary vehicle of the first embodiment suppresses the base body 1 when the base body 1, the drive unit 13 that moves the base body 1, the turning detection part 11 that detects the turning of the base body 1, and the turning is detected.
  • the movement control unit 12 that controls the drive unit 13 is provided. Thereby, a pedestrian can always turn slowly and can improve stability at the time of turning of a walk auxiliary vehicle.
  • FIG. 4 is a block diagram illustrating a configuration of the walking assist vehicle 102 according to the second embodiment.
  • the acting force detection unit 14 is provided on the left and right grips 2. Since other configurations are the same as those of the first embodiment, description thereof is omitted.
  • the acting force detection unit 14 detects a force that the pedestrian acts on the base body 1 from the left and right grips 2 and includes a pressure sensor or the like incorporated in the grip 2.
  • FIG. 5 is a top view of the walking assistance vehicle 102 of the second embodiment.
  • the turning detection unit 11 detects the turning operation of the base 1 by detecting the difference in the force by which the pedestrian presses the left and right grips 2 and the difference in the direction in which the left and right grips 2 are pressed by the acting force detection unit 14. Can do.
  • FIG. 5A is a diagram showing the strength of the pressing force acting on the left and right grips 2 when turning to the left.
  • the acting force detection unit 14 detects a force that the pedestrian pushes the left and right grips 2 when moving forward, and detects a pulling force when moving backward. Usually, the force with which the pedestrian pushes the grip 2 is detected.
  • FIG. 5B is a diagram showing the direction of the force acting on the left and right grips 2 when turning to the left.
  • the turning of the base 1 is detected when the direction of the force acting on the left and right grips 2 by the pedestrian is different.
  • the turning is detected only by the detection value of the acting force detection unit 14, but the accuracy can be improved by making a judgment in combination with other sensors.
  • a sensor is provided to detect that a pedestrian is gripping the left and right grips 2. You may judge turning by another sensor, without detecting.
  • the walking assistance vehicle 102 includes an action force detection unit 14 that detects an action force that the pedestrian acts on the base body 1, and the turning detection unit 11 detects the left and right of the pedestrian detected by the action force detection unit 14. It is detected that the pedestrian is going to turn the auxiliary walking vehicle 102 based on the difference in the acting force. This makes it possible to determine whether or not the pedestrian is intentionally turning, and prevents the speed reduction control from being performed unnecessarily due to unintentional turning such as wobbling.
  • FIG. 6 is a block diagram illustrating a configuration of the walking auxiliary vehicle 103 according to the third embodiment.
  • the walking auxiliary vehicle 103 according to the third embodiment includes a speed detection unit 15 for detecting a turning speed.
  • the movement control unit 12 detects the turning speed by the speed detection unit 15 when the turning of the base body 1 is detected, and performs the speed reduction control when the turning speed exceeds a threshold value. Alternatively, the deceleration force is changed according to the turning speed.
  • FIG. 7 is a flowchart illustrating an example of a control method for the walking auxiliary vehicle 103 according to the third embodiment.
  • the speed detection unit 15 detects the rotational speed of the wheel, and determines whether the left or right rotational speed is greater than or equal to the threshold value. (S107).
  • the walking auxiliary vehicle of the third embodiment includes a speed detection unit that detects the turning speed, and performs speed reduction control when the turning speed is too high.
  • a speed detection unit that detects the turning speed, and performs speed reduction control when the turning speed is too high.
  • FIGS. 8A and 8B show a side view and a top view of the walking assistance vehicle 104 of the fourth embodiment.
  • the walking auxiliary vehicle 104 according to the fourth embodiment includes an inclination detection unit 16 that detects the inclination of the base body 1.
  • the inclination detector 16 may be attached at any position as long as the inclination of the base 1 can be detected during walking.
  • FIG. 9 is a block diagram illustrating a configuration of the walking auxiliary vehicle 104 according to the fourth embodiment.
  • the movement control unit 12 performs speed reduction control when turning is detected by the inclination detection unit 16 and inclination is detected by the inclination detection unit 16. Alternatively, when the tilt is detected and the vehicle turns in the downward direction, the speed reduction control is performed.
  • FIG. 10 is a flowchart illustrating an example of a method for controlling the walking auxiliary vehicle 104 according to the fourth embodiment.
  • the walking auxiliary vehicle 104 When the turning and inclination of the base body 1 are detected, the walking auxiliary vehicle 104 according to the fourth embodiment is controlled as follows. For example, when crossing a downward slope, the vehicle is accelerated by its own weight when turning right, and the vehicle is decelerated by its own weight when turning left. There is no control.
  • control when crossing a downward slope, control may be performed so that the deceleration force in the case of a right turn is greater than that in the case of a left turn.
  • the walking assistance vehicle of the fourth embodiment can stabilize the turning of the walking assistance vehicle in response to the change of its own weight even when turning while crossing the slope.
  • the walking assistance vehicle 105 of the fifth embodiment sudden deceleration control is prevented even when the inclination state changes greatly, such as when the inclination is reversed from ascending to descending inclination.
  • the basic configuration of the walking assistance vehicle 105 is the same as the configuration shown in the first to fourth embodiments, and thus a duplicate description is omitted.
  • FIGS. 11A and 11B are a side view and a top view of the walking assistance vehicle 105 according to the fifth embodiment.
  • FIG. 12 is a block diagram illustrating a configuration of the walking auxiliary vehicle 105 according to the fifth embodiment.
  • the walking auxiliary vehicle 105 includes a braking unit 7 and a storage unit 17 in addition to the movement control unit 12, the turning detection unit 11, the speed detection unit 15, and the inclination detection unit 16.
  • the braking unit 7 is a powder brake, an electrorheological fluid, a motor or the like that transmits a deceleration force to the wheel, and controls the rotation speed of the wheel.
  • the storage unit 17 also stores tilt information of the base 1 detected by the tilt detection unit 16.
  • the movement control unit 12 stores the detected inclination information in the storage unit 17 and moves the base 1 in accordance with the detected inclination information while the base 1 is moving without tilting.
  • the second control mode is provided for controlling the speed of the base 1 in accordance with the tilt information before turning stored in the storage unit 17.
  • FIGS. 13A and 13B are diagrams showing the travel route (A to E) of the walking assistance vehicle 105 in the case of turning on an up slope (a) and the case of turning on a down slope (b). is there.
  • FIG. 14 is a flowchart showing a method for controlling the walking auxiliary vehicle 105.
  • the inclination detection unit 16 detects the inclination state of the base body 1 (S202). If the walking assistance vehicle 105 is moving on a flat surface without an inclination, it shifts to the normal control mode (S210).
  • FIG. 15 shows a flowchart of the normal control mode and the table 1 used in the normal control mode.
  • the speed detector 15 detects the speed (S212).
  • Detected speed information is stored for a certain period of time, and control is performed according to this speed information when the mode is shifted to control mode 1 described later.
  • the speed detection unit 15 acquires rotational speeds by the left and right wheel sensors every 0.025 seconds, updates and saves data for one second (40 pieces), and sets average data as speed information before turning.
  • the movement control unit 12 obtains a speed reduction rate corresponding to the speed from the table 1 of FIG. 15 (S213), drives the braking unit 7 to control the speed of the walking assist vehicle 105 with the speed reduction rate. Thereby, the speed control of the walking assist vehicle 105 is performed on the flat surface in the normal control mode.
  • the turning detection unit 11 detects the turning motion (S203). For example, the turning detection unit 11 detects a turning operation from a difference in rotational speed between the left and right wheels. If the vehicle is not turning uphill or downhill as in the travel route A of FIG. 13, the control mode 1 is shifted to the first control mode (S220).
  • FIG. 16 shows a flowchart of the control mode 1, and the tables 2 and 3 used in the control mode 1.
  • the speed is detected by the speed detector 15 (S222), and the tilt information is stored in the storage unit 17 (S223).
  • the inclination detection unit 16 acquires, for example, an inclination angle every 0.025 seconds, updates and stores data for 1 second (40 pieces), and uses average value data as inclination information before turning.
  • the inclination information is stored for a certain period of time, and control is performed based on this inclination information when a transition is made to a second control mode 2 described later.
  • the speed reduction rate is set from Table 2 (speed) and Table 3 (inclination angle) in FIG. 16 (S227).
  • a larger deceleration rate is set than when flat.
  • the larger one of the deceleration rates calculated from Table 2 and Table 3 is applied as the deceleration rate of the downward slope.
  • the movement control unit 12 drives the braking unit 7 to control the speed of the walking auxiliary vehicle 105 with the deceleration rate. As a result, since the speed is likely to be obtained in the downward inclination, the speed is controlled so as to decelerate compared with the flat state.
  • FIG. 17 shows a flowchart of the control mode 2 and the tables 4 and 5 used in the control mode 2.
  • the turning detection unit 11 detects the turning amount (S232).
  • a threshold is set for the turning amount.
  • the control mode is prevented from frequently changing with respect to a slight turn due to a pedestrian's wobbling or the like, thereby reducing the pedestrian's discomfort.
  • the deceleration rate corresponding to the inclination information stored in the storage unit 17 in S235 is obtained from the table 4 or the table 5 of FIG. Select (S235).
  • Inclination information before turning is stored in the storage unit 17, and by using this inclination information, even if the inclination state changes greatly due to turning on the slope, the speed reduction rate is prevented from changing suddenly. .
  • the movement control unit 12 controls the speed of the walking auxiliary vehicle 105 with the deceleration rate (S238).
  • the walking assistance vehicle 105 includes a base, wheels provided on the left and right sides of the base, a braking unit that brakes the wheel, a movement control unit that controls the braking unit, and the speed of the base.
  • a speed detecting unit for detecting, a turning detecting unit for detecting turning of the base, a tilt detecting unit for detecting the tilt angle of the base, and a storage unit for storing the tilt angle are provided.
  • the movement control unit determines a deceleration rate according to the inclination angle before turning stored in the storage unit, and controls the base body to be slowed using the braking unit. .
  • the walking assistance vehicle can be stably turned without performing rapid speed control.
  • FIG. 18 is a block diagram illustrating a configuration of the walking assistance vehicle 106 according to the sixth embodiment.
  • the walking auxiliary vehicle 106 of the sixth embodiment includes a yaw angle detection unit 18 that detects the turning angle of the base body such as an angular velocity sensor and an azimuth sensor. The detection value of the yaw angle detection means 18 is sent to the turning detection unit 11.
  • FIG. 19 is a block diagram illustrating a configuration of the walking assist vehicle 107 according to the seventh embodiment.
  • the walking assist vehicle 107 of the seventh embodiment includes grip sensors 19 such as pressure sensors on the left and right grips 2. Control can be performed by detecting the intention of the pedestrian to turn based on the pressure difference between the left and right grip sensors 19 and the difference in the direction of pressure.
  • FIG. 20 is a block diagram illustrating a configuration of the walking assistance vehicle 108 according to the eighth embodiment.
  • a walking assistance vehicle 108 according to the eighth embodiment includes an inclination detection unit 20 that detects two axes of a pitch angle and a roll angle, instead of the inclination detection unit 16 of the seventh embodiment.
  • the pitch angle is a forward / backward rotation angle about the horizontal direction of the substrate 1, where the forward rise is represented by a positive angle and the forward decline is represented by a ⁇ angle.
  • the roll angle is a left-right rotation angle with the front-rear direction of the substrate 1 as an axis.
  • a right-up is represented by a + angle
  • a left-up is represented by a-angle.
  • the uniaxial inclination detection unit 16 can only detect an inclination state in a straight traveling direction such as an upward inclination or a downward inclination, as shown in FIG. 22, in the case of crossing a slope or moving the slope diagonally, etc. It was difficult to control the speed according to the inclination state.
  • the inclination state is determined based on the pitch angle and the roll angle of the base 1 and the speed reduction rate is controlled according to the inclination state.
  • FIG. 23 shows various tables 6 to 9 for speed control according to the inclination state in the walking auxiliary vehicle 108 of the eighth embodiment.
  • the tilt information pitch angle and roll angle
  • the storage unit before turning is used.
  • the pitch angle is +2 degrees or more and larger than the roll angle
  • the slope is an upward slope
  • control is performed according to the speed reduction rate of the table 6 set in accordance with the upward slope.
  • the deceleration rate increases according to the pitch angle, but a slightly lower value is set.
  • the pitch angle is ⁇ 2 degrees or more and larger than the roll angle
  • the slope is a downward slope
  • control is performed according to the speed reduction rate of the table 7 set in accordance with the downward slope. Since the speed increases due to its own weight in the downward inclination, the speed reduction rate of the table 7 for the downward inclination is set to be larger than the speed reduction ratio of the table 6 for the upward inclination.
  • the inclination detecting unit 20 that detects the two axes of the pitch angle and the roll angle can be detected even when the inclination is moved obliquely.
  • the deceleration information that is detected before turning is used and the deceleration rate is set according to the inclination state, even if the inclination state changes abruptly by performing the turning operation at an inclination, the acceleration rate is changed suddenly. It is possible to turn the walking auxiliary vehicle stably without any trouble.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Chemical & Material Sciences (AREA)
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  • Combustion & Propulsion (AREA)
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  • Handcart (AREA)

Abstract

L'objectif de la présente invention est d'améliorer la stabilité d'un véhicule d'aide à la marche lorsque le véhicule d'aide à la marche tourne. Un véhicule d'aide à la marche est caractérisé en ce qu'il comprend : une base ; des roues prévues sur la gauche et la droite de la base ; une section d'entraînement permettant d'entraîner les roues ; une section de détection de rotation permettant de détecter la rotation de la base ; et une section de commande de mouvement permettant de commander la section d'entraînement lors de la détection de la rotation de la base, ce qui permet de réduire la vitesse de la base.
PCT/JP2016/050509 2015-01-28 2016-01-08 Véhicule d'aide à la marche WO2016121465A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015014410A JP5960304B1 (ja) 2015-01-28 2015-01-28 歩行補助車
JP2015-014410 2015-01-28

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WO2016121465A1 true WO2016121465A1 (fr) 2016-08-04

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114845910A (zh) * 2019-12-25 2022-08-02 纳博特斯克有限公司 带电动制动机构的车辆、车轮单元以及车轮单元的控制用程序

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7083593B2 (ja) 2016-10-11 2022-06-13 ナブテスコ株式会社 電動車両および電動車両の制動方法
JP2021045400A (ja) * 2019-09-19 2021-03-25 株式会社ジェイテクト 歩行支援装置
JP7479146B2 (ja) * 2019-12-25 2024-05-08 ナブテスコ株式会社 電気制御車両

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09168570A (ja) * 1995-12-19 1997-06-30 Atex Co Ltd 電動歩行補助車
JP2000084016A (ja) * 1998-09-17 2000-03-28 Hitachi Ltd 歩行訓練装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09168570A (ja) * 1995-12-19 1997-06-30 Atex Co Ltd 電動歩行補助車
JP2000084016A (ja) * 1998-09-17 2000-03-28 Hitachi Ltd 歩行訓練装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114845910A (zh) * 2019-12-25 2022-08-02 纳博特斯克有限公司 带电动制动机构的车辆、车轮单元以及车轮单元的控制用程序

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JP5960304B1 (ja) 2016-08-02

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