Multifunctional rehabilitation training walking vehicle based on simulation mechanics balance

Abstract

The application improves multifunctional rehabilitation training walking aid vehicle based on simulation mechanical balance, which comprises a vehicle body, left and right driving wheels, left and right driving units and a monitoring module; the left and right driving units drive the left and right driving wheels to rotate respectively; the monitoring module comprises a rotating speed detection unit for detecting the rotating speed of the driving wheels and a control unit for travel control; the control unit receives the rotating speed of the driving wheels sent by the rotating speed detection unit and calculates the rotating speed difference to obtain the user's intention and control the driving unit to drive the corresponding driving wheel to complete speed control. The application adopts two independently controlled driving wheels, can judge the user's intention according to the rotating speed difference of the two driving wheels, and then realizes automatic following, improves the cooperation degree of the walking aid vehicle and the user and reduces accidents of the user.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation training equipment technology, specifically a multifunctional rehabilitation training walking aid based on simulated mechanical balance. Background Technology

[0002] With the aging population becoming increasingly serious, a significant aspect is the growing demand for companionship, most notably the unsteady gait of many elderly people. Many post-surgical patients and people with disabilities (difficulty walking) require assistance during their rehabilitation. Currently, the number of qualified professionals to care for them is limited and extremely time-consuming. This invention aims to create a walking assistance cart to aid in the rehabilitation of people with mobility impairments. The cart features handrails for support and incorporates voice control, storage, rest areas, location tracking, and a call function (for emergency contact with doctors or family members), replacing the need for dedicated human assistance and care.

[0003] Currently, there are many limb rehabilitation devices available in China, but they are all limited to simulating the movement of specific limbs to achieve a rehabilitation effect. If a person wants to walk, they still need the assistance of others or the support of a special brace (walking is quite strenuous, and walking for extended periods is not conducive to leg rehabilitation). Since the beginning of this century, rehabilitation training robots and assistive rehabilitation robots have emerged. Rehabilitation training robots focus on repeating a specific limb movement to stimulate the motor nerves controlling the limb, thereby achieving the goal of repairing the body; they do not have the function of assisting the user in walking.

[0004] Although research on assistive rehabilitation robots has made some progress in recent years both domestically and internationally (assistive rehabilitation robots are mainly used to help patients with limb movement difficulties complete a series of limb movements), domestic research in this area is still in its early stages, with limited results. Furthermore, assistive rehabilitation robots and rehabilitation training robots still share many characteristics, with most focusing on completing movements rather than assisting the user's actions. If the user needs to go out, assistance from others is still required. Currently, there are no semi-automatic walking aids available in China.

[0005] For example, the utility model patent disclosed in announcement number CN215274330U discloses a multifunctional rehabilitation walking aid vehicle that combines walking and seating functions, but does not have intelligent detection functions or speed following functions. Summary of the Invention

[0006] The technical problem to be solved by this invention is how to improve the automatic following performance of rehabilitation training walking aids.

[0007] The present invention solves the above-mentioned technical problems through the following technical means:

[0008] A multifunctional rehabilitation training walking aid based on simulated mechanical balance includes a walking body, left and right drive wheels, left and right drive units, and a monitoring module; the left and right drive units respectively drive the left and right drive wheels to rotate.

[0009] The monitoring module includes a speed detection unit for detecting the speed of the left and right drive wheels and a control unit for driving control. The control unit receives the speed of the left and right drive wheels sent by the speed detection unit, calculates the speed difference, thereby obtaining the user's intention, and then controls the drive unit to drive the corresponding drive wheels to complete speed control.

[0010] This invention employs two independently controlled drive wheels to achieve speed following, improve the coordination between the walking aid and the user, further reduce the physical exertion of users with poor physical fitness, and reduce the risk of accidents.

[0011] Furthermore, the specific process of speed control in the speed-following mode is as follows: the speed selection gear of the walking aid is p, and the standard speeds of gears (q-1), q, and (q+1) are... m / s m / s m / s, and satisfy When the actual speed meets

[0012]

[0013] The user is currently in park (P) gear, and the standard speeds for the left and right drive wheels are set as follows: The actual speed of the left drive wheel of the walking aid is The actual speed of the right drive wheel is The allowable speed correction error coefficient is m, the turning tendency judgment coefficient for determining when the assisted vehicle enters the automatic turning phase is k, and the standard speed of the left and right wheels for setting the q gear is... The speed difference between any two adjacent speed gears is a fixed value. ;

[0014] 1) First, determine whether speed following is enabled. If speed following is not enabled, skip this step and enter the non-speed following correction mode.

[0015] If satisfied

[0016]

[0017] At this point, shift the gear to Q and adjust the speed accordingly.

[0018]

[0019] If satisfied

[0020]

[0021] Or satisfy

[0022]

[0023] At this point, the walking aid will shift to gear Q and adjust the speed of the two drive wheels to [value missing]. Then make a judgment based on the subsequent user operations;

[0024] If satisfied

[0025]

[0026] Or satisfy

[0027]

[0028] At this point, because the velocities on both sides are approaching each other... Approaching At this point, it is determined that there are external interference factors, so the speed following phase is skipped, and the speeds on both sides are corrected to...

[0029] If satisfied

[0030]

[0031] Or satisfy

[0032]

[0033] At this point, because the velocities on both sides are approaching each other... Approaching At this point, it is determined that there are external interference factors, so the speed following phase is skipped, and the speeds on both sides are corrected to...

[0034] 2) If there is speed following or skipping speed following after speed following.

[0035]

[0036] At this point, the car enters the speed correction phase, correcting its speed to...

[0037]

[0038] 3) After speed correction, if the speed meets the requirements...

[0039]

[0040] Or satisfy

[0041]

[0042] At this point, the walking aid enters the automatic right turn mode and corrects its speed to...

[0043]

[0044] The duration of continuous turning is t, after which it re-enters the straight-ahead phase, satisfying

[0045]

[0046] Or, after speed correction, if the speed meets the requirements...

[0047]

[0048] Or satisfy

[0049]

[0050] At this point, the walking aid enters the automatic left-turn mode and corrects its speed to...

[0051]

[0052] The duration of continuous turning is t, after which it re-enters the straight-ahead phase, satisfying

[0053] .

[0054] Furthermore, the monitoring module also includes a handlebar release detection unit, an obstacle detection unit, and an emergency braking unit; the handlebar release detection unit, the obstacle detection unit, and the emergency braking unit are all communicatively connected to the control unit; the handlebar release detection unit monitors whether the user has detached from the handlebar, the obstacle detection unit monitors whether there are obstacles on the travel path, and the control unit controls the emergency braking unit to operate based on the signals sent by the handlebar release detection unit and the obstacle detection unit.

[0055] Furthermore, the handlebar release detection unit includes a photosensitive sensor fixed to the handlebars of the walking aid; the photosensitive sensor is communicatively connected to the control unit.

[0056] Furthermore, the emergency braking unit is an electromagnetic brake fixed to the left and right drive wheels.

[0057] Furthermore, it also includes two lifting handrails, which are respectively installed on the left and right sides of the vehicle body; each lifting handrail includes a lifting frame, and arm supports are fixed to the top of the two lifting frames; the front ends of the two lifting frames are connected by a crossbar, and a control panel is fixed on the crossbar, which is equipped with gear options and whether speed follows.

[0058] Furthermore, a handle and a handbrake are designed at the front end of the lifting frame.

[0059] Furthermore, the rotational speed detection unit uses a photoelectric encoder to detect the rotational speed of the left and right drive wheels.

[0060] Furthermore, first folding auxiliary wheels are fixed on the left and right sides of the vehicle body, respectively.

[0061] Furthermore, the folding auxiliary wheel includes a first folding frame and a connecting rod; the first folding frame is rotatably connected to the lifting frame; the lifting frame includes a reinforcing beam; one end of the connecting rod is rotatably connected to the reinforcing beam, and the other end is detachably connected to the first folding frame.

[0062] Furthermore, second folding auxiliary wheels are fixed to the left and right sides of the vehicle body, respectively.

[0063] Furthermore, the second folding auxiliary wheel includes a second folding frame and a positioning pin. The second folding frame is rotatably connected to the lifting frame. One end of the positioning pin is rotatably connected to the second folding frame, and the other end is fastened to a buckle provided on the lifting frame.

[0064] The advantages of this invention are:

[0065] This invention employs two independently controlled drive wheels. Based on the speed difference between the two drive wheels, the user's intention can be determined, thereby achieving automatic following, improving the coordination between the walking aid and the user, and reducing the risk of accidents to the user.

[0066] This invention utilizes a user's initial turning motion to create a speed difference between the left and right drive wheels. The user's turning intention and direction are determined based on this speed difference. Since the turning angle and duration are set to be fixed for each turn, a single automatic turn is often insufficient to meet the user's needs. Therefore, multiple turns are combined to achieve a more precise turning effect and avoid over-turning.

[0067] This invention features height-adjustable armrests to accommodate users of different heights, improving user comfort. Armrests support the user's forearms, reducing wrist fatigue and extending training time. Foldable auxiliary wheels facilitate storage.

[0068] By using a light-sensitive sensor on the handlebars, the system can detect in time whether the user has taken off the handlebars, enabling emergency braking and reducing injury to the user. Attached Figure Description

[0069] Figure 1 This is a schematic diagram of the overall structure of the walking aid vehicle in an embodiment of the present invention;

[0070] Figure 2 This is a schematic diagram of the vertical cross-sectional structure of the right lifting handrail of the walking aid in an embodiment of the present invention;

[0071] Figure 3 for Figure 2 Enlarged structural diagram of section A in the middle;

[0072] Figure 4 This is a schematic diagram of the seat structure of the walking aid vehicle in an embodiment of the present invention;

[0073] Figure 5 This is a schematic diagram of the control panel and handlebar brake of the walking aid in an embodiment of the present invention;

[0074] Figure 6 This is a schematic diagram of the external structure of the equipment box designed at the lower front of the walking aid in an embodiment of the present invention;

[0075] Figure 7 for Figure 6 A schematic diagram of the structure of the equipment box without its outer shell;

[0076] Figure 8 This is a schematic diagram of the structure of the first folding auxiliary wheel in the walking aid vehicle in an embodiment of the present invention;

[0077] Figure 9 This is a schematic diagram of the structure of the second folding auxiliary wheel in the walking aid in an embodiment of the present invention;

[0078] Figure 10 This is a schematic diagram of the turning trajectory of the drive wheel of the walking aid vehicle during one Δt turn in an embodiment of the present invention;

[0079] Figure 11 This is a schematic diagram illustrating the trajectory of the drive wheels of the walking aid vehicle undergoing multiple steering maneuvers in an embodiment of the present invention;

[0080] Figure 12 This is an electrical function diagram of the walking aid vehicle in an embodiment of the present invention;

[0081] Figure 13 This is a functional block diagram of the mobility aid vehicle in an embodiment of the present invention;

[0082] Figure 14 This is a flowchart illustrating the speed correction process for the mobility aid under non-emergency handbrake and non-speed-following conditions in an embodiment of the present invention.

[0083] Figure 15 This is a diagram illustrating the implementation method of the communication module of the walking aid in an embodiment of the present invention;

[0084] Figure 16 This is a diagram illustrating the touchscreen display and control of the mobility aid vehicle in an embodiment of the present invention. Detailed Implementation

[0085] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0086] This embodiment provides a highly safe, stable, and foldable walking aid. Figure 1 This is a schematic diagram of the folded shape, which mimics the appearance of a suitcase. Users can pull the lever 1 to move the walker, improving its portability. The specific structure of the walker is as follows:

[0087] The vehicle includes the main body, with left and right drive wheels mounted at the bottom. Each drive wheel is driven independently by a separate drive unit. In addition to the drive wheels, at least one set of auxiliary wheels is provided. This example has two sets of auxiliary wheels, which improves the stability of the walking aid. All auxiliary wheels can be folded and stored in a storage box. Furthermore, a height-adjustable handrail is provided on the main body, allowing for adjustment of the handrail height according to different user heights.

[0088] like Figure 1 As shown, the vehicle body includes a chassis ( Figure 1 (The middle is obscured by an external frame). The base frame is a U-shaped frame made of welded metal pipes or bolted together. The U-shaped opening of the base frame is where the user stands. Left and right drive wheels and left and right driven wheels are fixed to the bottom of the base frame, and the left and right drive units are also fixed to the base frame, thus forming a driveable main body. Lifting handrails are fixed to both sides of the base frame, including a lifting frame and a top armrest 10. The lifting frame is an inverted U-shaped frame, and a flexible armrest 10 is fixed to the top to support the user's forearm. Figure 2 As shown, the lifting frame includes a top operating crossbar and two telescopic vertical bars 43 fixed at both ends of the operating crossbar. The operating crossbar includes a sleeve 40, inside which a pressure rod 41 is fitted. A first spring 42 is provided at the bottom of the pressure rod 41. When the lifting frame is fixed at a certain height, the first spring 42 pushes against the pressure rod 41 at the top of the sleeve 40. A button 36 is installed on the sleeve 40. The button 36 is wedge-shaped, and the wedge-shaped front end of the button 36 is located between the pressure rod 41 and the top wall of the sleeve 40. When the user presses the button 36, the wedge-shaped button 36 squeezes the pressure rod 41 and moves it downward. Figure 3As shown, the telescopic vertical rod 43 includes an outer rod 430, a middle rod 431, and an inner rod 432, which are sequentially arranged. The bottom of the middle rod 431 is a blind end. A slider 433 is placed at the bottom of the middle rod 431. A pin 435 is fixed to one side of the slider 433, and a second spring 435 limits its movement between the other side and the wall of the inner rod 432. The slider 433 has a slanted groove, and the bottom end of the inner rod 432 has a sliding key that mates with the slanted groove. Multiple holes are vertically opened on the middle rod 431 and the outer rod 430. The pin 435 can be inserted into the corresponding holes of the middle rod 431 and the outer rod 430 to position the height of the lifting frame. The two ends of the pressure rod 41 are fixed to the bottom of the two corresponding inner rods 432 respectively. When the user presses the button 36, the wedge of the button 36 presses the pressure rod downwards, and the two ends of the pressure rod press the inner rods 432 downwards. With the cooperation of the sliding key and the inclined groove, the slider 433 moves in the direction of the second spring 434, which drives the pin 435 to be pulled out from the holes of the outer rod 430 and the middle rod 431. At this time, the height of the lifting frame can be adjusted. When the appropriate height is adjusted, the button 36 is released, the pressure rod is reset under the action of the first spring 42, the slider 433 is reset under the action of the second spring 434, and the pin 435 is inserted into the corresponding holes of the middle rod 431 and the outer rod 430, thereby locking the height of the lifting frame.

[0089] like Figure 5 As shown, two crossbeams are fixed to the front ends of the left and right lifting frames to secure components such as the control panel 33, the seat, and the hanging storage basket 34. Figure 4 As shown, the seat 72 is unfolded and folded by the extension and retraction of an electric push rod 71. The seat 72 is rotatably fixed to the upper crossbeam, and one end of the electric push rod 71 is fixed to the lower crossbeam. The output end is rotatably connected to the lower surface of the seat. Driving the electric push rod 71 can unfold and fold the seat, making operation convenient. When the user is tired and needs to rest, the seat 72 can be unfolded to sit down and rest. The front end of the armrest 10 is also equipped with a handle 31 and a handbrake 32 for easy braking in emergency situations. An electrical control box is also formed by iron sheets or other materials around the bottom of the left and right lifting frames. Figure 6 , Figure 7 The diagram shows the internal and external structure of the electronic control front box. The front panel 251 has a USB port 21, allowing external data cables to connect to the internal STM32 development board for code transfer. It also includes a small speaker 22 with an internal voice module 263 for voice broadcasting. An infrared ranging module 23 detects obstacles ahead. The side panel 251 has a charging port 24 for charging the internal power supply. Removing the front panel 252 reveals the internal electronic components 26, including the STM32 development board 261, a spare AD converter 262, a voice module 263, a Cat1 network communication module 264, a GPS positioning module 265, a DC brushless motor drive board 266, a lithium battery 267, and a power detection module 268.

[0090] A first folding auxiliary wheel and a second folding auxiliary wheel are fixed to both sides of the left and right lifting frames, respectively. For example... Figure 8 As shown, the first folding auxiliary wheel includes a first folding frame 51 and a connecting rod 52. The first folding frame 51 is generally L-shaped, with its top rotatably fixed to the telescopic vertical rod 43 at the front end of the lifting frame, and auxiliary wheels installed at its bottom. A reinforcing beam connects the front and rear telescopic vertical rods 43. One end of the connecting rod 52 is rotatably connected to the reinforcing beam, and the other end is connected to the first folding frame 51 by a snap-fit ​​method. When it needs to be opened, the first folding frame 51 is rotated to the outside, and the connecting rod 52 is fixed to the snap-fit ​​on the first folding frame 51, thereby locking the position of the first folding frame 51. Folding it up is the reverse operation, which allows the first folding frame 51 to be folded to fit against the outside of the lifting frame.

[0091] like Figure 9 As shown, the second folding auxiliary wheel includes a second folding frame 61 and a positioning pin 62. The top of the second folding frame 61 is rotatably connected to the lifting vertical rod 43 at the rear end of the lifting frame, and the bottom end is fixed with an auxiliary wheel. The second folding frame 61 is an inclined rod, set at an angle with the telescopic vertical rod 43. One end of the positioning pin 62 is rotatably connected to the second folding frame 61, and the other end is engaged with the buckle on the telescopic vertical rod 43, thereby locking the position of the second folding frame 61. When it is necessary to fold up, the positioning pin 62 is released from the buckle on the telescopic vertical rod 43, and the second folding frame 61 is rotated inward to be stored in the U-shaped cavity of the base frame.

[0092] like Figure 12 As shown, Figure 12 The diagram shows the electrical functions of the walking aid in this embodiment. As can be seen from the diagram, in addition to the mechanical structure, the walking aid also includes a communication module, a positioning module, a voice module, a driving module, and a sensor module. All of these modules are connected to the microcontroller to realize functions such as handlebar release detection, emergency braking, obstacle detection, speed following, turning, and speed correction during use.

[0093] Handle removal test:

[0094] A light-sensitive sensor 37 is installed on the handle 31. When the user grips the handle 31 with both hands, blocking the light-sensitive sensor 37, the system is considered normal. When the user's hand leaves the light-sensitive sensor 37, the system is considered to have disengaged from the handle, triggering an emergency brake. The installation position of the light-sensitive sensor 37 ensures that the user's hand can cover it during normal use. Of course, sensors such as a heart rate sensor to detect the user's vital signs, as well as environmental sensors such as temperature and humidity sensors, can also be installed on the handle 31.

[0095] Emergency braking:

[0096] This embodiment installs electromagnetic brakes on the two drive wheels. In case of an emergency, the walking aid will brake suddenly, stopping the motor and simultaneously locking the drive wheels mechanically. The following describes the emergency braking scenario:

[0097] (1) When the user believes there is an emergency, he / she shall actively pull down the mechanical handbrake 32.

[0098] After the mechanical handbrake 32 is pulled, the vehicle speed fluctuates significantly. The photoelectric encoder detects an abnormal speed and outputs a signal to the control unit. In this embodiment, the control unit is a microcontroller. The microcontroller controls the motor control board to stop the scooter motor and put it into 0 speed (the motor stops rotating but does not lock). With the mechanical handbrake 32 pulled, the mechanical mechanism has locked the drive wheels, and the entire system completes emergency braking.

[0099] (2) When the speed is out of control and the user is unable to operate the handbrake, the forced braking is activated.

[0100] The walking aid requires a speed detection module to check if the vehicle speed has reached the system's set speed limit (to trigger an emergency deceleration) and to monitor the speed in real time. For speed detection, the walking aid uses a photoelectric encoder to detect the tire rotation speed, thereby determining the actual vehicle speed. The photoelectric encoder sensor uses the changes in light caused by mechanical motion to calculate specific mechanical motion data. The photoelectric encoder mainly consists of a grating disk and a photoelectric detection device. When the motor rotates, the grating disk rotates coaxially with the motor. At this time, the photoelectric detection device detects the light and outputs multiple pulse signals. By judging the number of pulses per second, the motor speed can be determined, and thus the vehicle's speed.

[0101] The two front drive wheels of the walking aid are equipped with photoelectric encoders, which can measure the actual rotation speed of the left and right drive wheels respectively, thus providing power to the drive system.

[0102] (3) When both of the user’s hands are off the handle, a dangerous situation is determined.

[0103] When the light sensors on both handles 31 receive a strong light signal, it means that the user is not holding the handles 31 with either hand. The microcontroller receives the signal from the light sensors, stops the motor, locks the mechanical structure, and completes the emergency braking.

[0104] (4) When the infrared detection device detects that the distance ahead has entered a dangerous distance, it will automatically force the manually selected speed gear to be changed to 0 speed.

[0105] When the infrared sensor detects that an obstacle is too close to the vehicle and there may be an emergency, the microcontroller will apply the brakes to the vehicle and simultaneously announce the presence of an obstacle ahead.

[0106] Obstacle detection module:

[0107] A distance sensor is fixed to the front of the walking aid. When the walking aid reaches a certain distance from an obstacle, the voice broadcast system will remind the user, and the walking aid will brake suddenly to prevent a collision. The distance sensing module uses infrared sensors and employs the triangulation principle. The infrared sensor emits a beam of infrared light, which is reflected back to the sensor's receiving part when it touches an object. The sensor then converts the light signal into a voltage signal, and the distance between the object and the sensor can be determined by judging the magnitude of the voltage.

[0108] The walking aid is equipped with two infrared sensors, symmetrically positioned at the front of the vehicle along its central axis. When the microcontroller receives signals from the infrared sensors via the data interface, it sends a command to the voice module to provide a voice reminder to the user. When the walking aid is less than a certain distance from an obstacle, the entire vehicle will brake suddenly.

[0109] Automatic driving assistance:

[0110] The control panel 33 displays three options: non-speed follow mode, speed follow mode, and cornering assist mode, which can be selected according to the user's needs. The following sections describe these two functions separately.

[0111] Non-speed follow mode:

[0112] When the user needs the walking aid to provide forward propulsion, they can select speed levels 1-5 according to their individual needs. During motor operation, the motor speed needs to be continuously monitored to ensure it remains within the acceptable error range and matches the selected speed level. Figure 14 As shown, the current motor speed is detected by a photoelectric encoder, and the motor speed error is calculated by comparing it with the given current speed gear. The error coefficient is then compared with the error value, and the MCU determines whether to correct the speed. If the current speed gear is P, then the current speed will be forcibly corrected to P gear when not turning.

[0113] When the user applies the emergency handbrake, if the error coefficient is less than -0.5, or even close to -1, the system will not correct the motor speed and will enter the 0-speed state. The user can then select an appropriate speed gear based on their current physical condition. If the current speed gear is P, the system will forcibly correct the current speed to P gear when not turning.

[0114] Speed ​​Follow Mode:

[0115] When the user actively applies force, causing the speed of the two drive wheels of the car to increase or decrease simultaneously to a certain level and remain so for a certain period of time, and the speeds of the two wheels are relatively close, it is determined that the user wants to increase or decrease the speed.

[0116] For example, if the speed setting of the walking aid is p, the standard speeds for gears (q-1), q, and (q+1) are... m / s, m / s m / s, and satisfy When the actual speed meets

[0117]

[0118] And last for a certain period of time At this point, the actual speed is corrected to the standard speed of the qth gear, so that the actual speed meets the requirements.

[0119]

[0120] m is the corrected error coefficient.

[0121] Then, the selected gear is adjusted to gear q and the gear is locked, thus completing one speed follow cycle.

[0122] Speed-following control mode is only activated when the user selects it. When speed-following is enabled, gear shifting will occur, whereas when speed-following is disabled, the speed correction effect only adjusts the speed to the currently set gear. With this function in use, users only need to manually push the car to change its speed to shift gears. The speed-following control mode has a certain speed correction interval, during which the user can actively adjust the speed. If the speed correction interval is too short, speed correction may begin before the user has adjusted the speed to their desired level, resulting in a discrepancy between the actual speed and the user's desired gear, thus reducing the user experience.

[0123] When driving on a flat road, the car's speed is minimally affected by disturbances, making speed following feasible. However, on a slope, the car's speed is affected by the incline, and the actual speed may not equal the selected speed. In this case, if the speed following criteria are applied, the system may interpret external disturbances as the user's intention to actively change speed, leading to significant errors.

[0124] To avoid potential issues on ramps after enabling this module, the time difference between two speed tracking determinations can be increased to T, such as 2 minutes. In this way, even after activation, the speed tracking module will only perform one speed tracking operation every T minutes, with each detection lasting [duration missing]. On ramps, external interference factors are not amplified, and the reasonably set detection time difference T is not too short. When the user needs to change gears, The internal speed-following module can also adjust the speed according to the user.

[0125] Assisted Turning Mode:

[0126] Since the vehicle uses two steering front wheels and two drive rear wheels, cornering control only requires controlling the two drive rear wheels. A microcontroller is used to control a brushless DC motor control board, allowing for independent speed control of the two drive wheels to achieve cornering.

[0127] When a user wants to make a turn, the system should be able to detect the turning trend and initiate the turn. When the user holds the cart and applies force to one side, causing the speed of that drive wheel to deviate from its normal speed and have a certain difference from the speed of the other drive wheel, the system should then assume that the user needs to make a turn.

[0128] When the photoelectric detector detects a certain speed difference between the two drive wheels, it defaults to entering a cornering process. Assuming the current speed is in P gear, the rotational speed of the two drive wheels should be bm / s, and two different cornering processes need to be considered.

[0129] 1) Turning on a level road

[0130] During a turn on a level road, there are fewer interfering factors. At this time, the speed of one drive wheel should be b m / s, while the speed of the other drive wheel should be greater than b(1+k) m / s (k must be greater than 0; setting k is to avoid error effects. Only when the speed of one drive wheel exceeds a certain value is it considered to have a turning tendency). The motor control board will then drive one drive wheel to rotate at b m / s and the other at b(1±c) m / s, and... This state is maintained for t. t is a certain time value, and it is very short, satisfying that the actual displacement angle θ is close to 10°.

[0131] Reference Figure 10 A more detailed analysis can be conducted in The turning process of the pedestrian vehicle within t. Let the distance between the two drive wheels be d, the radius of the partial circular motion of the right wheel be r, and the two wheels have the same angular velocity w. Ignore the velocity acceleration at the beginning of the turning process, and assume that the velocity of the left wheel when the drive wheel enters the turning process is b(1+c) m / s.

[0132] have ,Right now

[0133]

[0134]

[0135] Right now

[0136] Since θ and b are constants, c and b can be adjusted according to the above relationship. The value of t corresponds to the angle of change in the direction of the pedestrian vehicle's velocity, which is α = 2θ. Here is a reference example: when the turning angle θ = 10° each time... Given d = 0.4 m, b = 0.5 m / s, k = 0.3, based on this... If c=1, then t=0.2791 s. That is, it takes about 0.28s to complete a 10° displacement angle turn, and the displacement distance of the left wheel can also be calculated. , , That is, the left and right displacement distance is about 5 cm, and the forward distance is about 27 cm.

[0137] After one After t, the displacement angle of the car is θ, and then it returns to the straight-line state. If the turning angle is considered insufficient, force can be continuously applied to one side to make the car repeat the above automatic turning method, so that the total displacement angle increases until the user thinks it is appropriate, and then it can return to the straight-line state after completing the last turn.

[0138] For continuous steering, please refer to Figure 11 Specific analysis in multiple The turning process of the pedestrian vehicle within t.

[0139] Because in After the turning motion within time t is completed, the user may initiate the next turning process after a very short delay Ti. During this time, the vehicle will move in an approximately straight-line manner, but the vehicle's speed changes. The speed of the left wheel decreases from b(1+c) m / s to bm / s, and the process time Tq is extremely short. After this, the speed of both wheels remains at bm / s until the next turning process begins. At this point, a mathematical model can be established to calculate the vehicle's turning time Tn, the actual displacement angle θn (where n is the number of turns), and the angle of change in velocity direction after multiple turns. .

[0140] set up During n turns, there are n-1 straight-line drives, each with a straight-line duration of Ti. When making a right turn, the displacement of the left wheel is D, and the straight-line drive within Ti is Si.

[0141]

[0142]

[0143] If we consider the acceleration phase of the car after it starts driving straight and then enters a turning phase, then the pedestrian vehicle... Within time t, the left wheel first travels through time Tq, its velocity changing from b m / s to b(1+c) m / s. This displacement is approximately linear motion. The walking vehicle... The steering motion within t is still equivalent to an ideal steering process (such as...). Figure 4 However, this results in a value that is larger than the actual value, therefore it will be... The extra error within t is corrected into Si, making

[0144]

[0145]

[0146] for We need to analyze the two cases where n is either odd or even.

[0147] Reference Figure 11 The diagram on the left illustrates the analysis of two turns, including a brief period of straight-line motion. The analysis primarily focuses on the motion of the left wheel.

[0148] have

[0149]

[0150]

[0151] When n is even, D is equivalent to n / 2 times Ds and superposition,

[0152]

[0153]

[0154]

[0155] When n is odd, D is equivalent to D1 and (n-1) / 2 times the sum of Ds. superposition,

[0156]

[0157]

[0158]

[0159]

[0160]

[0161] From the above, All have been obtained.

[0162] When n=2, assuming the user's linear motion is continuous between two turns with no interval, and θ=10°=π / 18, d=0.4 m, b=0.5 m / s, c=1, then Q2={0.558 s, 20°, 40°}. When n=3, Q3={0.837 s, 29.71°, 60°}.

[0163] When n=2, and considering the linear motion during the turning process, let T1=0.05 s, with other conditions remaining unchanged, Q2={0.563 s, 20°, 40°}.

[0164] When n=3, and considering the linear motion during the turning process, let T1=0.05 s, T2=0.1 s, and other conditions remain unchanged, Q3={0.988 s, 30.285°, 60°}.

[0165] Based on the above theoretical and data analysis, the theoretical effect of cornering is quite good.

[0166] 2) Turning on a ramp

[0167] When turning on a slope, it is necessary to consider that the actual speed on the slope is not equal to the selected speed. During the descent, the actual speed may be significantly greater than the selected speed. In this case, the system needs to adjust the speed to decelerate the vehicle. If the speed has not been completely reduced, the system will not actively detect the turning trend and the user needs to actively turn. However, this situation is unlikely to occur. The speed feedback adjustment is a relatively quick process, and the user will not have the opportunity to turn in this state.

[0168] The following summary can be made regarding all driving logic decisions:

[0169] The user is currently in park (P) gear, and the standard speeds for the left and right wheels are set as follows: The actual speed of the left wheel of the walking aid is The actual speed of the right wheel is The allowable speed correction error coefficient is m (m is close to 0), the turning tendency judgment coefficient for determining whether the assisted vehicle enters the automatic turning phase is k, and the standard speed of the left and right wheels for setting the q gear is... The speed difference between any two adjacent speed gears is a fixed value. .

[0170] 1) First, determine whether speed following is enabled. If speed following is not enabled, skip this step and enter the speed correction mode in non-speed following mode.

[0171] If satisfied

[0172]

[0173] At this point, shift to Q gear and adjust the speed accordingly.

[0174]

[0175] If satisfied

[0176]

[0177] Or satisfy

[0178]

[0179] At this point, the walking aid prioritizes shifting to gear 'q' and adjusts the speed of the two drive wheels to [value missing]. Then, a judgment is made based on subsequent user actions.

[0180] If satisfied

[0181]

[0182] Or satisfy

[0183]

[0184] At this point, because the velocities on both sides are approaching each other... Approaching At this point, it is determined that there are external interference factors affecting the speed, so the speed following phase is skipped, and the speeds on both sides are corrected first. .

[0185] If satisfied

[0186]

[0187] Or satisfy

[0188]

[0189] At this point, because the speeds of the wheels on both sides are approaching each other... Approaching At this point, it is determined that there are external interference factors affecting the speed, so the speed following phase is skipped, and the speeds on both sides are corrected first. .

[0190] 2) After speed follow or skip speed follow, if there is (the default standard speed for the current gear is...) )

[0191]

[0192] At this point, the car enters the basic speed gear correction phase, correcting the speed to...

[0193]

[0194] 3) After speed correction, if the speed meets the standard (the default standard speed for the current gear is...) )

[0195]

[0196] Or satisfy

[0197]

[0198] At this point, the walking aid enters the automatic right turn mode and corrects its speed to...

[0199]

[0200] The duration of continuous turning is t, after which it re-enters the straight-ahead phase, satisfying

[0201]

[0202] Or, after the first speed correction, if the speed meets the requirements...

[0203]

[0204] Or satisfy

[0205]

[0206] At this point, the walking aid enters the automatic left-turn mode and corrects its speed to...

[0207]

[0208] The duration of continuous turning is t, after which it re-enters the straight-ahead phase, satisfying

[0209] .

[0210] Battery detection module:

[0211] The power detection module is used to measure the remaining power of the walker's power supply. The power value is collected by the power measurement module and transmitted to the microcontroller, which then displays it on the LCD resistive screen.

[0212] The battery level is measured by a battery level measurement module. The output voltage varies depending on the remaining charge level of the lithium battery. Based on the voltage and capacity characteristics of a 24V lithium battery, the voltage can be measured using a sampling resistor, and the remaining charge level can be calculated. During implementation, an algorithm model can be used to reduce actual errors.

[0213] Environmental monitoring module:

[0214] like Figure 13 As shown, the environmental detection module primarily monitors the temperature and humidity of the external environment. Temperature and humidity sensors are installed on the exterior of the mobility scooter to detect the external environment and provide prompts to the user via a voice system.

[0215] Temperature and humidity monitoring can effectively mitigate the risk of heatstroke. Heatstroke can be caused by a combination of factors, including temperature and relative humidity. If either exceeds a certain threshold, the risk of heatstroke increases. Users undergoing rehabilitation training may face this risk during the hot summer months. If a user suffers heatstroke during rehabilitation training due to hot weather, it can lead to serious consequences. The walking aid is equipped with a DHT11 temperature and humidity sensor. This NTC thermistor, under a certain measurement power, exhibits a rapid decrease in resistance as temperature rises. The ambient temperature can be determined by measuring the resistance of the NTC thermistor. The sensor also includes a resistive humidity-sensing element. A film made of a humidity-sensitive material is coated on its substrate. When water vapor in the air is adsorbed onto the humidity-sensing film, the resistivity and resistance of the element change. This characteristic can be used to measure humidity.

[0216] When measuring temperature and relative humidity, the voice system will provide corresponding prompts when the user's body is weak and the values ​​exceed the thresholds formed by a temperature of 26°C, relative humidity of 85%, and a temperature of 38°C and relative humidity of 30%.

[0217] Heart rate detection module

[0218] like Figure 13 As shown, real-time heart rate measurement during outdoor rehabilitation training can, to some extent, prevent users from experiencing sudden cardiac events. An optical heart rate sensor is installed on the handrail of the walking bike. This sensor emits infrared light, which is refracted upon contact with the user's hand. The sensor then receives and analyzes the infrared light reflected from the blood vessels, transmits the data to a microcontroller, and displays the relevant heart rate data on an LCD resistive touchscreen.

[0219] It should be noted that the accuracy of optical heart rate sensors is affected by the user. If the user sweats during rehabilitation training or has a darker skin tone, it will affect the infrared light received by the sensor. In addition, the influence of muscles and other body tissues on the propagation of infrared light will cause a large error. Therefore, the measured heart rate value is not completely accurate and should only be used as a reference value.

[0220] Communication module

[0221] GPS and Emergency Communications

[0222] The communication system is implemented through a Cat1 wireless communication module. This module is connected to an STM32 microcontroller to achieve bidirectional communication between them. It also connects to a network server for bidirectional data transmission, ultimately completing communication between the STM32 microcontroller and the host computer. (Refer to...) Figure 15 .

[0223] The location information is transmitted from the BeiDou-GPS dual-mode positioning module to the STM32 microcontroller. The STM32 microcontroller then connects to Alibaba Cloud or other cloud platforms via the Cat1 module and the MQTT protocol, transmitting corresponding JSON format data. This allows the location information captured by the BeiDou-GPS dual-mode positioning module to be displayed on the server. Simultaneously, a two-dimensional visualization view is created for use with Amap or other maps, enabling location display on the host computer. Furthermore, a rule engine is established on the relevant cloud platform, and a related WeChat mini-program is developed to display the location within WeChat.

[0224] The emergency contact module is implemented through the communication function of Cat1, and conducts voice calls with the host computer through the network server.

[0225] Accessibility

[0226] LCD resistive touchscreen display

[0227] The touchscreen uses a 3.2-inch resistive screen. When an external force causes the upper and lower layers of the resistive screen to contact at a certain point, the change in voltage determines whether a touch has occurred. The measured voltage is converted into a digital signal by the microcontroller's AD conversion function, thereby realizing the touchscreen function.

[0228] The touchscreen functionality is linked to features such as battery level display and heart rate measurement. Users can operate the device or view relevant data by touching icons on the screen. The functions controllable on the touchscreen can be found in [reference needed]. Figure 16 .

[0229] radio

[0230] The pedestrian vehicle is equipped with a radio, and the radio channels can be switched using a mechanical knob.

[0231] Voice broadcast module

[0232] The voice playback module can remind users how to operate the device, whether the car is about to hit an obstacle, etc., which is of great assistance to some users (such as those with poor eyesight). The voice broadcast system uses a DY-SV5W microcontroller, which can be controlled by an STM32 microcontroller. The microcontroller detects and processes the data transmitted from other modules, transmits the signal to the voice module, and the voice module plays the corresponding voice prompts to the user. Considering that the user may be elderly, the selected voice module should have a sufficiently loud volume. This module can be connected to an external loudspeaker to ensure that the user can hear the voice prompts.

[0233] This embodiment uses two independently controlled drive wheels and has two speed control modes: non-automatic following mode and speed following mode.

[0234] In non-automatic follow mode, the photoelectric encoder continuously detects the current speed of the vehicle, and the MCU corrects the actual speed of the vehicle to the speed level selected by the user.

[0235] The speed following mode cancels the gear speed correction in the non-automatic following mode. The photoelectric encoder detects the actual speed of the vehicle within a certain period of time. The MCU then corrects the speed gear to the gear closest to the actual speed based on the actual speed of the vehicle, thereby achieving speed following, improving the coordination between the walking aid and the user, further reducing the physical exertion of users with poor physical fitness, and reducing the risk of accidents.

[0236] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multifunctional rehabilitation training walker based on simulated mechanical equilibrium, characterized in that, It includes a vehicle body, left and right drive wheels, left and right drive units, and a monitoring module; the left and right drive units respectively drive the left and right drive wheels to rotate; The monitoring module includes a speed detection unit for detecting the speed of the left and right drive wheels and a control unit for driving control. The control unit receives the speed of the left and right drive wheels sent by the speed detection unit, calculates the speed difference, thereby obtaining the user's intention, and then controls the drive unit to drive the corresponding drive wheels to complete speed control. The specific process of speed control in speed follow mode is as follows: The speed selection gears of the walking aid are p, (q-1), q, (q+1) gears, and the standard speeds of the gears are m / s, m / s, m / s, and satisfy When the actual speed satisfies Assuming that the user is currently in the p speed, the standard speed of the left and right drive wheels is set to , the actual left drive wheel speed of the walker is , the actual right drive wheel speed is , the allowable speed correction error coefficient is m, the turning tendency determination coefficient of the walker entering the automatic turning link is k, the standard speed of the left and right wheels of the q speed is set to , and the speed difference between each adjacent two speed gears is a fixed value . 1) First, determine whether speed following is enabled. If speed following is not enabled, skip this step and enter the non-speed following correction mode. If satisfied At this point, shift the gear to Q and adjust the speed accordingly. If satisfied Or satisfy At this time, the scooter adjusts the gear to the q gear and adjusts the speed of the two drive wheels to and makes a judgment according to the subsequent user operation. If satisfied Or satisfy At this time, one side approaches , the other side approaches , at this time, it is determined that there is an external interference factor, the speed following link is skipped, and the two sides are corrected to ; If satisfied Or satisfy At this time, as the speed on both sides approaches , the speed on both sides approaches , at this time, it is determined that there is an external interference factor, the speed following link is skipped, and the speed on both sides is corrected to ; 2) If there is speed following or skipping speed following after speed following. At this point, the car enters the speed correction phase, correcting its speed to... 3) After speed correction, if the speed meets the requirements... Or satisfy At this point, the walking aid enters the automatic right turn mode and corrects its speed to... The time for the continuous steering is t, after which the straight-ahead phase is re-entered, satisfying Or, after speed correction, if the speed meets the requirements... Or satisfy At this point, the walking aid enters the automatic left-turn mode and corrects its speed to... The time for the continuous steering is t, after which the straight-ahead phase is re-entered, satisfying 。 2. The multifunctional rehabilitation training walking aid based on simulated mechanical balance according to claim 1, characterized in that, The monitoring module also includes a handlebar release detection unit, an obstacle detection unit, and an emergency braking unit; the handlebar release detection unit, the obstacle detection unit, and the emergency braking unit are all communicatively connected to the control unit; the handlebar release detection unit monitors whether the user has detached from the handlebar, the obstacle detection unit monitors whether there are obstacles on the travel path, and the control unit controls the emergency braking unit to operate based on the signals sent by the handlebar release detection unit and the obstacle detection unit.

3. The multifunctional rehabilitation training walking aid based on simulated mechanical balance according to claim 2, characterized in that, The handlebar release detection unit includes a photosensitive sensor fixed to the handlebars of the walking aid; the photosensitive sensor is communicatively connected to the control unit.

4. The multifunctional rehabilitation training walking aid based on simulated mechanical balance according to claim 3, characterized in that, The emergency braking unit is an electromagnetic brake fixed to the left and right drive wheels.

5. The multifunctional rehabilitation training walking aid based on simulated mechanical balance according to claim 1, characterized in that, It also includes two lifting handrails, which are installed on the left and right sides of the vehicle body respectively. Each lifting handrail includes a lifting frame, and an arm rest is fixed to the top of the two lifting frames. The front ends of the two lifting frames are connected by a crossbar, and a control panel is fixed on the crossbar. The control panel has gear options and a speed follow option.

6. The multifunctional rehabilitation training walking aid based on simulated mechanical balance according to claim 5, characterized in that, A handle and a handbrake are provided at the front end of the lifting frame.

7. The multifunctional rehabilitation training walking aid based on simulated mechanical balance according to claim 1, characterized in that, The rotational speed detection unit uses an optical encoder to detect the rotational speed of the left and right drive wheels.

8. The multifunctional rehabilitation training walking aid based on simulated mechanical balance according to claim 5, characterized in that, First folding auxiliary wheels are fixed on the left and right sides of the vehicle body, respectively.

9. The multifunctional rehabilitation training walking aid based on simulated mechanical balance according to claim 8, characterized in that, The folding auxiliary wheel includes a first folding frame and a connecting rod; the first folding frame is rotatably connected to the lifting frame; the lifting frame includes a reinforcing beam; one end of the connecting rod is rotatably connected to the reinforcing beam, and the other end is detachably connected to the first folding frame.

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