Human body induction recognition method and system applied to rollator and rollator

Abstract

The invention relates to the field of human body induction recognition, and discloses a human body induction recognition method and system applied to a rollator and the rollator, and the method comprises the steps that voltage and / or current between two grips are / is collected, and the grips are connected in series in a sampling loop; and according to the voltage and / or the current between the two grips or the equivalent resistance calculated according to the voltage and / or the current, judging and outputting the current holding state and / or the holding force of the grips. According to the invention, the holding tightness can be indirectly judged by judging the holding voltage in the series loop. Wherein the tighter the grip is, the larger the contact area of the human skin and the grip is, the smaller the resistance is, and the smaller the voltage division degree is, so that mistaken touch and normal grip can be accurately recognized, mistaken recognition is avoided, and the safety risk is reduced.

Description

Technical Field

[0001] The present invention relates to the field of human body sensing and recognition, and in particular to a human body sensing and recognition method and system applied to a rollator, and the rollator. Background Art

[0002] Due to its specific use objects and scope, rollators have extremely high safety requirements. The system must be able to start only after the user has completely stood firmly and held the handles firmly when the system is started, and it must be able to stop quickly in an emergency.

[0003] In order to determine whether the user is holding the handle properly, existing technologies often use sensors as a key means of identification. However, due to the detection characteristics of the sensor, it can usually only determine whether there is contact with the handle, and it is difficult to distinguish between false touches and normal grip. If the user accidentally touches the handle without standing completely firmly, it is easy to cause misjudgment and activation, affecting safety of use. Summary of the Invention

[0004] To address the difficulty existing sensor solutions have in identifying accidental handlebar touches, the present invention provides a human body sensing identification method, system, and rollator for use with a rollator. By determining the handlebar voltage in a series circuit, the tightness of the grip can be indirectly determined. The tighter the grip, the greater the contact area between the skin and the handlebar, the lower the resistance, and the smaller the voltage divider. This method accurately distinguishes between accidental touches and normal grips, avoiding misidentification and reducing safety risks.

[0005] The following are the technical solutions of the present invention.

[0006] The human body sensing and recognition method applied to a rollator includes: collecting the voltage and / or current between two handles, the handles being connected in series in a sampling circuit; The current gripping state and / or gripping force of the grips are determined and output based on the voltage and / or current between the two grips, or based on the equivalent resistance calculated based on the voltage and / or current.

[0007] In the present invention, after the sampling circuit is energized, the tightness of the human grip directly affects the resistance between the two grips, and thus affects the collected voltage and / or current between the two grips. Under stable power conditions, based on the pre-converted relationship between the human body resistance and the sampled voltage and / or current, an equivalent resistance can be directly obtained based on the actual collected voltage and / or current. Furthermore, the current grip state and / or grip strength can be determined based on the resistance at different grip levels. Of course, the relationship between the voltage and / or current and the grip state can also be directly converted in advance, eliminating the need to directly obtain the result using the equivalent resistance as a calculation medium.

[0008] Preferably, the method further includes: determining whether the current gripping state and / or gripping strength meets the starting condition; if the starting condition is met, obtaining a signal from a Hall sensor of a motor of the rollator; and determining a rollator mode according to a change in the signal.

[0009] Preferably, the method further includes: determining whether the current holding state and / or holding strength meets the starting conditions; if the starting conditions are not met, entering the parking mode.

[0010] Preferably, if the signal of the Hall sensor of the rollator motor does not change, the vehicle enters the parking mode; otherwise, the vehicle enters the power-assist mode.

[0011] Preferably, the parking mode includes: controlling the output torque of the motor of the rollator to be -K, wherein K is the maximum output torque of the motor.

[0012] As an advantage, the power-assistance mode includes: controlling the output torque of the motor of the rollator to be n+log a u, where u is the voltage between the two grips, n is the minimum power assist that the motor can provide, and a is the sensitivity coefficient, which is used to adjust the sensitivity of the power assist.

[0013] Unlike the common method of directly controlling torque based on the signal from the motor's Hall sensor, the present invention first determines the mode and then controls the torque output based on the voltage value between the two handles, thus flexibly adjusting the vehicle's output torque in real time. This provides a better operator experience and increases safety and stability.

[0014] The present invention also provides a human body sensing and recognition system for a rollator, comprising a controller and: An induction combination with two conductive handles as the smallest unit, wherein each conductive handle is connected in series to a sampling circuit of a controller, with one conductive handle connected to a sampling terminal of the controller; The controller is used to collect the voltage and / or current between the two conductive grips, and judge and output the current grip state and / or grip strength of the grips based on the voltage and / or current between the two grips, or the equivalent resistance calculated based on the voltage and / or current.

[0015] Preferably, the controller is also connected to the motor of the rollator, and is used to determine the motor output torque based on the voltage and / or current between the two conductive handles, or the current gripping state and / or gripping force, combined with the signal change of the motor Hall sensor.

[0016] Preferably, if the controller determines that the signal of the Hall sensor of the rollator motor has not changed, the controller enters the parking mode; otherwise, the controller enters the power-assist mode.

[0017] The present invention also provides a rollator, comprising any one of the above-mentioned human body sensing and recognition systems applied to a rollator.

[0018] The present invention also provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned human body sensing and recognition method applied to a rollator when calling the computer program in the memory.

[0019] The present invention also provides a storage medium storing computer-executable instructions. When the computer-executable instructions are loaded and executed by a processor, the steps of the human body sensing and recognition method applied to a rollator are implemented.

[0020] The substantial effects of the present invention include: By leveraging the principle that the human body has resistance and that different gripping areas result in different resistances, misjudgment of grip status can be greatly reduced. The judgment is only valid when both hands are placed on the grip, and the solution is simple and stable.

[0021] The conductive grip is low in cost and can be processed using engineering plastics doped with conductive materials. The process is convenient and greatly reduces processing costs.

[0022] Unlike the common method of directly controlling torque based on signals from the motor's Hall effect sensors, this system first determines the mode and then controls torque output based on the voltage between the two handlebars. This dual-detection system ensures that the user is holding the handlebars firmly and applying power to the vehicle before entering power-assisted mode. The system then adjusts motor output based on grip status and system forces, resulting in extremely fast response and flexible, real-time adjustments to vehicle output torque, providing a better operator experience, greater safety, and improved stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a flow chart of an embodiment of the present invention; Figure 2 is a circuit schematic diagram of a sampling loop according to an embodiment of the present invention; Figure 3 This is a torque control curve diagram of an embodiment of the present invention. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions will be clearly and completely described below in conjunction with the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] It should be understood that in various embodiments of the present invention, the size of the sequence number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0026] It should be understood that in the present invention, "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0027] It should be understood that in the present invention, "multiple" refers to two or more. "And / or" is only a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "Contains A, B and C", "Contains A, B, C" means that A, B, and C are all included, "Contains A, B or C" means that one of A, B, and C is included, and "Contains A, B and / or C" means that any one, any two, or any three of A, B, and C are included.

[0028] The technical solution of the present invention is described in detail below with reference to specific embodiments. The embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0029] Example: The human body sensing and recognition method applied to a rollator includes: collecting the voltage and / or current between two handles, the handles being connected in series in a sampling circuit; The current gripping state and / or gripping force of the grips are determined and output based on the voltage and / or current between the two grips, or based on the equivalent resistance calculated based on the voltage and / or current.

[0030] In this embodiment, the grips are not insulators. After the sampling circuit is energized, the tightness of the human grip directly affects the resistance between the two grips, and thus affects the collected voltage and / or current between the two grips. Under stable power conditions, based on the pre-converted relationship between the human body resistance and the sampled voltage and / or current, the equivalent resistance can be directly obtained based on the actual collected voltage and / or current, and the current grip state and / or grip strength can be determined based on the resistance at different grip levels. Of course, the relationship between the voltage and / or current and the grip state can also be directly converted in advance, eliminating the need to directly obtain the result using the equivalent resistance as a calculation medium.

[0031] As a possible implementation method, this embodiment also links the motor of the rollator, such as Figure 1 The following is a summary of the execution logic, including: First, perform the "handle detection": If the detection result is "no", go directly to "motor parking". If the detection result is "yes", go to the next step "determine whether someone is pushing by Hall effect change".

[0032] Hall effect change judgment: If the judgment result is "No", the vehicle will enter "Motor Parking". If the judgment result is "Yes", the vehicle will enter "Assist Mode".

[0033] After entering "Power Assist Mode", the "Handle Check" is performed in real time: if the test result is "Yes", the "Power Assist Mode" will continue to be maintained (this test is repeated). If the test result is "No", the "Motor Parking" mode will be entered.

[0034] This execution logic differs from the common method of directly controlling torque based on signals from the motor's Hall effect sensors. Instead, it first determines the mode and then controls torque output based on the voltage between the two handlebars. This dual-detection process ensures that the user is holding the handlebars firmly and applying power to the vehicle before entering power-assisted mode. Motor output is then adjusted based on grip status and system forces. This extremely fast response allows for flexible, real-time adjustments to vehicle output torque, providing a better operator experience, greater safety, and improved stability.

[0035] In addition, although this embodiment does not impose any specific restrictions on the sampling circuit, an example of a sampling circuit is provided for ease of understanding. Figure 2 As shown, the grip is connected to the circuit via connector J7, serving as the input contact for human body resistance detection (R57). This circuit uses the TR port (MCU TR) of the controller (MCU) as the core acquisition node. A 3.3V power supply, after passing through pull-up resistor R54, connects to connector J7 and detection resistor R56 to form a voltage divider detection loop. The voltage divider node between connector J7 and detection resistor R56 is connected to ground via filter capacitor C45, electrostatic protection diode ESD4, and rectifier diode D1. A 5V power supply is connected to this voltage divider node via rectifier diode D2.

[0036] The filter module consists of electrostatic protection diode ESD4, filter capacitor C45, rectifier diode D1, and rectifier diode D2. ESD protection diode ESD4 is connected in parallel with the grip input to prevent electrostatic interference from affecting the detection signal. Filter capacitor C45 is connected in parallel between the voltage divider node and ground to stabilize the voltage signal input to the MCU and reduce noise interference. Rectifier diodes D1 and D2, connected in series with the power supply and ground loops, prevent reverse polarity. The divided voltage signal is ultimately input to the MCU via the MCU TR port, enabling real-time detection of the grip status.

[0037] The sampling circuit of the embodiment belongs to an analog circuit, and signal interference is reduced through sufficient filtering and anti-interference measures, so that a switching module or a switching tube is no longer needed. Compared with a digital circuit commonly used in the art, the voltage at an output point changes with the change of the gripping force, so that the change of the gripping force can be detected, and whether contact is made is no longer determined by "0" or "1" of the voltage.

[0038] When the human body holds the handle with both hands, the human body resistance (2KΩ-20MΩ) is connected to the circuit, and a new voltage division network is formed with R54 and R56. After the human hand holds the handle, the voltage collected at the MCU port is V = R 57 / (R 57 +R 54 )VDD. Wherein R 57 (e.g. 100KΩ) is the human body resistance (including the contact resistance of the handle, and more accurately, the resistance of the connecting wire). Wherein, the contact resistance can also be calculated separately , wherein represents the resistivity, L represents the distance between the human hand and the handle, and S represents the contact area between the hand and the handle. At this time, the existence of R 57 will make the collected voltage present a clear numerical range, and then according to the change of the signal of the motor Hall sensor of the walker, the specific walker mode is determined.

[0039] When the conductive silica gel handle is not held, the circuit is equivalent to the voltage division of R54 and R56 in series. Since there is no human body resistance connected, R57 (the equivalent resistance of the handle + the contact resistance) tends to infinity, so the voltage at the voltage division node is about equal to 3.3V. Therefore, the MCU detects that the voltage is greater than 3V, and determines that "no human hand holds", and triggers the parking mode. For example, when the total resistance is less than 46KΩ, that is, the collected voltage value is less than 1V, it is determined that it is not a human hand holding the handle, and the motor parking mode is directly entered.

[0040] In addition, in the embodiment, the value of R 57 may also not be calculated in detail, for example, the walker is usually a private product, and the user can hold it with different forces during the first use. The system collects the voltage under different forces (the change of the voltage has reflected the change of the resistance), and directly establishes the relationship between the holding force and the voltage.

[0041] As a feasible way, the embodiment determines whether the current holding state and / or holding force meets the starting condition. If the starting condition is met, the signal of the motor Hall sensor of the walker is acquired, and according to the change of the signal, the walker mode is determined. If the signal of the motor Hall sensor of the walker does not change, the parking mode is entered, otherwise the power-assisted mode is entered.

[0042] Specifically, in the embodiment, the motor output torque is as follows Figure 3 As shown, the corresponding expression is: In parking mode, the motor output torque of the vehicle is controlled to be -K, where K is the maximum output torque of the motor. <u<1时,认为是某种导体误放在手把两端,当3<u<3.3时,认为未紧握握把以及悬空,这两种状态下均驻车。

[0043] In the power-assisted mode of this embodiment, the motor output torque of the vehicle is controlled to be n+log a u, where u is the voltage between the two grips, n represents the minimum assist force the motor can provide, and a is the sensitivity coefficient (less than 1), which is used to adjust the assist force sensitivity. In other words, when 1 ≤ u ≤ 3, the MCU determines the output force based on the AD value. The tighter the grip and the larger the body, the smaller the resistance value and the greater the output torque.

[0044] At the same time, during the movement, if the person's hands leave the handlebars, the MCU will monitor the voltage changes in real time. When the voltage is detected to be 3.3V, the rollator will stop moving in real time.

[0045] Because this embodiment accurately determines grip force based on voltage, it doesn't directly adjust motor torque based on speed or motor Hall effect changes. Instead, it only uses this for determination mode. In resistance mode, torque is output based on the voltage between the two grips, minimizing the user's actual needs. This embodiment leverages the correlation between grip force and system force, indirectly determining system force based on grip force to determine motor output torque.

[0046] This embodiment also provides a human body sensing and recognition system for a rollator, including a controller and: An induction combination with two conductive handles as the smallest unit, wherein each conductive handle is connected in series to a sampling circuit of a controller, with one conductive handle connected to a sampling terminal of the controller; The controller is used to collect the voltage and / or current between the two conductive grips, and judge and output the current grip state and / or grip strength of the grips based on the voltage and / or current between the two grips, or the equivalent resistance calculated based on the voltage and / or current.

[0047] As a possible implementation method, this embodiment includes two left and right conductive silicone grips, which are made of engineering plastics mixed with conductive materials, and can form a conductive path when the surface comes into contact with the human body.

[0048] As a feasible mode in the embodiment, the controller is further connected to the motor of the walker, and is configured to determine the motor output torque according to the voltage and / or current between the two conductive handles, or the current holding state and / or holding force, in combination with the signal change of the motor Hall sensor.

[0049] As a feasible mode in the embodiment, the controller enters the parking mode if it is determined that the signal of the motor Hall sensor of the walker does not change, otherwise, the controller enters the power-assisted mode.

[0050] The specific implementation of the embodiment is consistent with the foregoing method, and will not be described again.

[0051] The handle of the embodiment is easy to install. Only when both hands are placed on the handle of the vehicle body, the vehicle body can identify that the person is in place. The handle is connected to the wire through the connector, and the wire is connected to the controller along the vehicle body frame. The installation is simple, and it is very suitable for the modification of the original walker.

[0052] The embodiment also provides a walker, which comprises any one of the human body sensing and identifying systems applied to the walker.

[0053] The embodiment also provides an electronic device, which comprises a memory and a processor. The memory stores a computer program. When the processor invokes the computer program in the memory, the steps of the human body sensing and identifying method applied to the walker are implemented.

[0054] The embodiment also provides a storage medium, which stores computer executable instructions. When the computer executable instructions are loaded and executed by a processor, the steps of the human body sensing and identifying method applied to the walker are implemented.

[0055] The substantial effects of the embodiment include: By means of the principle that the human body itself has resistance and different holding areas result in different resistances, the misjudgment of the handle state can be greatly reduced. Only when both hands are placed on the handle, it is determined to be effective. The scheme is simple and stable.

[0056] The conductive handle is low in cost and can be processed by using engineering plastic containing conductive material. The process is convenient, and the processing cost is greatly reduced.

[0057] Unlike the common method of directly controlling the torque according to the signal of the motor Hall sensor, the torque output is controlled according to the voltage between the two handles after the mode is determined. After the double detection, the walker enters the power-assisted mode only when the person holds the handle steadily and applies power to the vehicle body. The output torque of the motor is adjusted according to the holding state and the system stress. The reaction speed is extremely fast, the output torque of the vehicle is flexibly and real-timely adjusted, the operator has a better experience, and the safety and stability are higher.

[0058] Through the description of the above embodiments, those skilled in the art can understand that, for the convenience and brevity of description, only the division of the above functional modules is exemplified, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the specific device is divided into different functional modules to complete all or part of the functions described above.

[0059] In the embodiments provided in the present application, it should be understood that the disclosed structures and methods can be implemented in other manners. For example, the above-described embodiments of the structure are merely illustrative, and the division of the modules or units is merely a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another structure, or some features can be ignored or not executed. In addition, the displayed or discussed coupling or direct coupling or communication connection between the units can be indirect coupling or communication connection through some interfaces, structures or units, and can be electrical, mechanical or in other forms.

[0060] The units described as separated components can or can not be physically separated, and the components displayed as units can be one physical unit or a plurality of physical units, that is, can be located in one place, or also can be distributed to a plurality of different places. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments.

[0061] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be implemented in the form of hardware or in the form of software function unit.

[0062] If the integrated unit is implemented in the form of software function unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application essentially or the parts contributing to the prior art, or all or part of the technical solutions can be embodied in the form of a software product. The software product is stored in a storage medium, and includes a plurality of instructions for causing an apparatus (which can be a single chip machine, a chip, etc.) or a processor to execute all or part of the steps of the methods of the embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0063] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A human body sensing and recognition method applied to a rollator, characterized in that: include: collecting the voltage and / or current between two handles, the handles being connected in series in a sampling circuit; The current gripping state and / or gripping force of the grips are determined and output based on the voltage and / or current between the two grips, or based on the equivalent resistance calculated based on the voltage and / or current.

2. The human body sensing and recognition method for a rollator according to claim 1, characterized in that: Also includes: Determine whether the current grip state and / or grip strength meets the start-up conditions. If the start-up conditions are met, obtain the signal of the Hall effect sensor of the rollator motor and determine the rollator mode based on the signal change.

3. The human body sensing and recognition method for a rollator according to claim 1, characterized in that: Also includes: Determine whether the current grip state and / or grip strength meets the start conditions. If the start conditions are not met, enter the parking mode.

4. The human body sensing and recognition method for a rollator according to claim 2, characterized in that: If the signal of the Hall sensor of the rollator motor does not change, the vehicle enters parking mode, otherwise it enters power-assist mode.

5. The human body sensing and recognition method for a rollator according to claim 3 or 4, characterized in that: The parking mode includes: controlling the output torque of the motor of the rollator to -K, where K is the maximum output torque of the motor.

6. The human body sensing and recognition method for a rollator according to claim 4, characterized in that: The power assist mode includes: controlling the output torque of the motor of the rollator to be n+log a u, where u is the voltage between the two handles, n is the minimum power assist that the motor can provide, and a is the sensitivity coefficient, which is used to adjust the sensitivity of the power assist.

7. A human body sensing and recognition system for a rollator, including a controller, characterized in that: Also includes: An induction combination with two conductive handles as the smallest unit, wherein each conductive handle is connected in series to a sampling circuit of a controller, with one conductive handle connected to a sampling terminal of the controller; The controller is used to collect the voltage and / or current between the two conductive grips, and judge and output the current grip state and / or grip strength of the grips based on the voltage and / or current between the two grips, or the equivalent resistance calculated based on the voltage and / or current.

8. The human body sensing and recognition system for a rollator according to claim 7, characterized in that: The controller is also connected to the motor of the rollator and is used to determine the motor output torque based on the voltage and / or current between the two conductive handles, or the current gripping state and / or gripping force, combined with the signal change of the motor Hall sensor.

9. The human body sensing and recognition system for a rollator according to claim 8, characterized in that: If the controller determines that the signal of the Hall sensor of the rollator motor has not changed, the vehicle enters the parking mode; otherwise, the vehicle enters the power-assist mode.

10. A rollator, characterized in that: The method comprises the human body sensing and recognition system applied to a rollator as claimed in any one of claims 7 to 9.

Images