Intelligent environment sensing and adapting method and system of walking aid
By combining a thrust sensor and a gyroscope sensor with an electronic control unit, the walking aid automatically adjusts its speed and assist mode, solving the problems of inconvenient speed adjustment and slope adaptation in four-wheeled walking aids, thus improving ease of use and safety.
Patent Information
- Application Number
- CN202511848311.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-09
- Publication Date
- 2026-01-09
AI Technical Summary
Existing four-wheeled walking aids require manual speed adjustment, which is inconvenient to use, and they lack automatic adaptability when going uphill or downhill.
By combining a thrust sensor and a gyroscope sensor with an electronic control unit, the system automatically detects changes in the user's thrust and the slope of the environment, adjusting the assist speed and posture of the walker to achieve automatic adaptation.
The walking aid automatically adjusts its speed and assist mode under different conditions, improving ease of use and safety, especially its stability when going uphill or downhill.
Smart Images
Figure CN121287465A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the technical field of patient transportation, and in particular to an intelligent environmental perception and adaptation method and system for a walking aid. Background Technology
[0002] A walking aid, as the name suggests, is a device that assists in walking. Its function is to support body weight, maintain standing balance, and assist in walking, thereby compensating for and improving walking ability. As an assistive device, walking aids are indispensable in the rehabilitation training process for the elderly, those with limb disabilities, and those who have suffered limb injuries.
[0003] Wheeled walking aids are based on frame walking aids but with added wheels, making them easier to propel. Two-wheeled walking aids consist of two front wheels and two non-slip rear legs, eliminating the need to lift the walking aid and making it easier to propel. The non-slip rear legs also prevent loss of control. They are suitable for users with insufficient upper limb strength who cannot lift the walking aid, such as the elderly or those with weaker muscles. Four-wheeled walking aids have all four legs made of wheels, allowing for more flexible movement. Four-wheeled walking aids allow for faster walking and are more suitable for outdoor use, but they have lower stability and require good balance to use.
[0004] Current four-wheeled walking aids also incorporate some power-assist mechanisms to help users move more effortlessly. However, these mechanisms are typically driven by a motor and a reducer, with the motor's speed determining the walking speed. This requires users to adjust the speed via buttons, and also necessitates manual stopping when needed, making the process somewhat inconvenient. Summary of the Invention
[0005] To facilitate the control of four-wheeled walking aids and enable them to automatically adapt to the user's situation, this invention provides an intelligent environmental perception and adaptation method and system for walking aids.
[0006] This invention provides an intelligent environmental sensing and adaptation system for a walking aid, employing the following technical solution: An intelligent environmental sensing and adaptation system for a walking aid includes a frame, a handlebar, and an electronic control unit. The handlebar is located at the top of the frame, and the electronic control unit is located inside the frame. The handlebar is provided with buttons for pressing with the left and right hands, and the buttons are electrically connected to the electronic control unit. The handlebars are equipped with a thrust sensor, the frame is equipped with a gyroscope sensor, and the frame is equipped with a drive motor that is electrically connected to the electronic control unit.
[0007] This invention also provides an intelligent environmental perception and adaptation method for a walking aid, employing the following technical solution: A method for intelligent environmental perception and adaptation of a walking aid, employing the aforementioned intelligent environmental perception and adaptation system for the walking aid, further includes the following steps: The electronic control unit detects a continuous start signal, locks the walker brakes, performs dynamic zero-point calculation, and unlocks the brakes after completion; Detect thrust changes and activate booster accordingly; After the assist is activated, the walking speed of the walker is adjusted according to the changes in thrust; The gyroscope sensor determines the posture of the walking aid and adjusts the assist mode of the walking aid. Automatically initializes after shutdown.
[0008] In one specific feasible implementation, after the walker brake locks, the electronic control unit obtains a preset time. The static thrust within the data is stored in the static thrust dataset. Within, calculate the preset time. The average value of the static thrust within is used as the dynamic zero point to unlock the brake signal.
[0009] In one specific feasible implementation, after the walker brake locks, the electronic control unit obtains a preset time. The static thrust within the data is stored in the static thrust dataset. Within, calculate the preset time. The average value of the static thrust within is used as the dynamic zero point to unlock the brake signal.
[0010] In a specific feasible implementation plan, the basis for initiating assist based on thrust changes is the travel thrust. With static thrust difference Specifically: like This indicates a need to assist in user engagement; if This indicates that no assistance is needed.
[0011] In a specific feasible implementation, adjusting the walking aid's speed according to changes in thrust is specifically as follows: The walking aid's speed gradually increases from 0.3m to 0.5m per minute. At this time, the walking aid maintains the current walking speed.
[0012] In a specific feasible implementation, determining the posture of the walking aid based on a gyroscope sensor and adjusting the walking aid's assistance mode includes the following steps: Determine whether the walking aid is going uphill or downhill based on the angle between it and the horizontal plane. When using the walking aid to go uphill, the thrust is adjusted. When the walking aid is going downhill, the walking aid's speed is kept constant. If the walking aid accelerates, the walking aid is braked.
[0013] In one specific implementation, when going downhill, the electronic control unit responds to a stop signal to lock the walking aid until the stop signal is canceled, at which point the electronic control unit controls the walking aid to move forward.
[0014] In one specific implementation scheme, when going downhill, if any activation signal disappears for more than a preset time threshold... The electronic control unit locks the walker until it receives two activation signals again.
[0015] In a specific feasible implementation, the formula for calculating the thrust correction is as follows:
[0016] In the above formula, The thrust applied to the user at the current moment; For propulsion With static thrust difference.
[0017] In one specific implementation, the walker detects a start signal during its movement; if any start signal disappears for more than a preset time threshold, the system will detect the signal. The walker is locked; once the electronic control unit receives the two start signals again, the walker is started to move.
[0018] In summary, the present invention has the following beneficial effects: 1. The assist speed of the walker is adjusted according to the change in the thrust it receives, so as to adjust according to the user's specific situation. When the user stops, the walker can automatically stop with the user, which facilitates the speed control of the walker.
[0019] 2. The gyroscope sensor can automatically sense the surrounding uphill and downhill environment and adjust the assist mode of the walking aid according to the uphill and downhill conditions, so that it can still assist the user during uphill and downhill processes. Attached Figure Description
[0020] Figure 1 This is a flowchart of the intelligent environmental perception and adaptation method for walking aids. Detailed Implementation
[0021] The following is in conjunction with the appendix Figure 1 The present invention will be described in further detail below.
[0022] Reference Figure 1The intelligent environmental perception and adaptation system of the walking aid includes a frame, handlebars, and an electronic control unit. The electronic control unit is installed inside the frame, and the handlebars are at the top of the frame for easy gripping by the user.
[0023] There are two handlebars, one for each hand, and each handlebar has a button electrically connected to the electronic control unit. The button is used to send a start signal to the electronic control unit. A drive motor connected to the wheels is located at the bottom of the frame. The drive motor is connected to the wheels via a reducer for power transmission. The electronic control unit is electrically connected to the drive motor and can control the drive motor's speed, thereby controlling the wheel speed.
[0024] The handle is equipped with a thrust sensor to detect the force exerted by the user when pushing or pulling the handle. The electronic control unit receives the thrust signal transmitted by the thrust sensor and adjusts the wheel speed accordingly. The greater the force exerted by the user on the handle, the faster the wheel speed, meaning the greater the force exerted by the user to push the walker, the faster the walker travels. Conversely, the smaller the force detected by the handle, the slower the walker travels. When the detected thrust is less than the start-up threshold, the drive motor does not operate.
[0025] The frame also contains a gyroscope sensor that is electrically connected to the electronic control unit. Based on the angle of the frame tilt on different axes in different environments measured by the gyroscope sensor, it is determined whether the walker is going uphill or downhill. Different control signals are sent to the drive motor according to whether it is going uphill or downhill, and the form of assistance to the user is automatically adjusted.
[0026] This invention also discloses an intelligent environment sensing and adaptation method for a walking aid, which employs the aforementioned intelligent environment sensing and adaptation system for the walking aid and includes the following steps: S1, the electronic control unit detects the start signal. When a continuous start signal is detected, the assist mode is activated, the walker brake is locked, and dynamic zero-point calculation is performed.
[0027] The user presses both hands on the button, causing it to continuously emit a start signal. The electronic control unit responds to both start signals and activates the power assist mode. If only one start signal is detected, or if one start signal disappears during power assist mode, the power assist mode is deactivated.
[0028] In boost mode, the electronic control unit acquires the electrical signal from the thrust sensor and stores the thrust data in a static thrust dataset in the memory. Inside, , express The first moment One thrust, , Indicates the thrust to the left and right. This indicates the pushing force of the right hand.
[0029] It's important to note that when the assist mode is activated, the electronic control unit sends a locking signal to the brakes on the wheels, causing the brakes to lock the wheels and thus locking the walker to a stationary position. Because different users have different physical conditions—for example, some users have weaker lower limbs due to injury or other reasons and need to rely on the walker for support—they will lean more on the handlebars, and the thrust sensor will detect a greater thrust. Other users have better lower limb strength and can stand and walk independently, requiring only simple assistance from the walker; the thrust sensor will detect a smaller thrust. Additionally, users may have significantly different weights compared to the average person, resulting in noticeable differences in the thrust exerted on the handlebars when stationary. Therefore, the same thrust cannot correspond to the same travel speed.
[0030] By calculating the preset time The average static thrust within the handle is used to obtain the static thrust exerted by the user while standing, thus serving as the dynamic "zero point". The formula for calculating the static thrust is:
[0031] In the above formula, For time Inner Time The total number. After completing the calculation of the dynamic zero point, the electronic control unit sends an unlock signal to the brakes of the wheels, allowing the walking aid to move freely.
[0032] S2 detects thrust changes and makes a start-up judgment.
[0033] As the user transitions from standing to walking, they will push the handle further, increasing the pushing force according to the walking thrust. With static thrust The difference is used to further calculate the walking speed of the walker and control the drive motor to make corresponding speed adjustments.
[0034]
[0035] In the above formula, That is, the propulsive force. With static thrust difference. like , This is the thrust threshold, indicating that the user is indeed moving and needs assistance to propel them; if... This indicates that the user's pushing force is insufficient or there has been an accidental activation; therefore, no assistance is provided, and the drive motor remains stationary. It is understandable that during assist, if... This indicates that the user may want to stop moving. The electronic control unit sends a stop signal to the drive motor, causing the drive motor to stop.
[0036] S3 adapts to changes in thrust and adjusts its walking speed accordingly.
[0037] Once it's determined that user assistance is needed, the electronic control unit sends an acceleration signal to the drive motor, controlling it to gradually accelerate, increasing the wheel speed by 0.3m-0.5m per minute. Simultaneously, the electronic control unit records changes in thrust from the thrust sensor. As the walker's speed increases, the thrust applied by the user gradually decreases, and the thrust also decreases. When the walker's speed approaches the user's speed... It will approach This causes the drive motor to stop; therefore, an acceleration threshold is set. ,and ,when At this time, the electronic control unit sends a holding signal to the drive motor, so that the drive motor maintains the current operating speed and controls the speed change of the walker to be less than or equal to 0.3m / min.
[0038] S4 determines the posture of the walker based on the gyroscope sensor and adjusts the assist mode of the walker according to the posture of the walker.
[0039] When the walking aid is going uphill or downhill, its orientation changes significantly. The electronic control unit calculates the angle between the walking aid and the horizontal plane (i.e., the ground) based on the angle signal emitted by the gyroscope sensor. Determine whether the walking aid is for going uphill or downhill.
[0040] When in an uphill position, the walking aid tends to slide down the slope due to its own weight. This requires the user to exert more force to maintain the same speed as on flat ground. Make corrections to avoid [the situation where]... Always greater than This causes the walking aid's speed to be significantly greater than the user's speed. When in a downhill position, the walking aid's own weight causes it to tend to slide down the slope, requiring the user to apply a counter-pulling force to maintain the walking aid at the same speed as on flat ground, i.e., braking the walking aid is necessary.
[0041] When in an uphill position, use the corrected thrust. and and Comparison, corrected thrust The calculation formula is:
[0042] In the above formula, The thrust applied to the user at the current moment. That is, when... When the walking aid moves at a speed similar to that of the user, the electronic control unit sends a hold signal to the drive motor; otherwise, the electronic control unit sends an acceleration signal to the drive motor.
[0043] When descending a slope, the electronic control unit (ECU) stops acquiring data from the thrust sensor. Instead, it monitors the drive motor's speed to maintain the walker's speed at the same level as on flat ground. If the walker's speed increases, the ECU immediately sends a deceleration signal to the brakes, causing them to slow the wheels. Simultaneously, a stop button is located on the handlebars. When pressed, the ECU responds by sending an emergency stop signal to the brakes, locking the wheels and securing the walker on the slope. Pressing the stop button again cancels the stop signal, and the ECU resumes controlling the walker's descent at its normal speed.
[0044] Furthermore, when in a downhill state, if a certain activation signal disappears continuously for more than a preset time threshold... This indicates that the user may have lost control of the walking aid. The electronic control unit (ECU) immediately sends an emergency stop signal to the brakes, which lock the wheels to prevent the walking aid from sliding. Similarly, when the ECU receives both start signals simultaneously again, it sends an unlock signal to the brakes, allowing the walking aid to move.
[0045] S5, Signal detection is initiated during movement; if the preset time threshold is exceeded... Lock the walker.
[0046] As the user pushes the walker, the electronic control unit continuously receives start signals from the buttons, and two start signals must be sent simultaneously and continuously. When one start signal disappears, a timer immediately starts counting down the time until a preset time threshold is reached. This indicates that the user may have lost control of the walking aid. The electronic control unit immediately sends an emergency stop signal to the brakes, locking the walking aid. Once the electronic control unit receives the two start signals again, it restarts the walking aid.
[0047] S6, mode off, automatic initialization.
[0048] When the user presses the power button, the electronic control unit initializes the static thrust dataset. The data in the system, as well as the calculated data, will be used to re-execute steps S1-S5 upon the next startup. At this point, the walking aid is no different from a regular four-wheeled walking aid.
[0049] The above are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.
Claims
1. An intelligent environmental sensing and adaptation system for a walking aid, characterized in that: The vehicle includes a frame, handlebars, and an electronic control unit. The handlebars are located at the top of the frame, and the electronic control unit is located inside the frame. The handlebars are equipped with buttons for pressing with the left and right hands, and the buttons are electrically connected to the electronic control unit. The handlebars are equipped with a thrust sensor, the frame is equipped with a gyroscope sensor, and the frame is equipped with a drive motor that is electrically connected to the electronic control unit.
2. A method for intelligent environmental perception and adaptation of a walking aid, characterized in that: The intelligent environmental perception and adaptation system for the walking aid described in claim 1 further includes the following steps: The electronic control unit detects a continuous start signal, locks the walker brakes, performs dynamic zero-point calculation, and unlocks the brakes after completion; Detect thrust changes and activate booster accordingly; After the assist is activated, the walking speed of the walker is adjusted according to the changes in thrust; The gyroscope sensor determines the posture of the walking aid and adjusts the assist mode of the walking aid. Automatically initializes after shutdown.
3. The intelligent environmental perception and adaptation method for walking aids according to claim 2, characterized in that: After the walker brakes are locked, the electronic control unit obtains the preset time. The static thrust within the data is stored in the static thrust dataset. Within, calculate the preset time. The average value of the static thrust within is used as the dynamic zero point to unlock the brake signal.
4. The intelligent environmental perception and adaptation method for a walking aid according to claim 2, characterized in that: The basis for initiating booster based on thrust changes is the travel thrust. With static thrust difference Specifically: like This indicates a need to assist in user engagement; if This indicates that no assistance is needed.
5. The intelligent environmental perception and adaptation method for a walking aid according to claim 2, characterized in that: The specific steps for adjusting the walking aid's speed based on thrust changes are as follows: The walking aid's speed gradually increases from 0.3m to 0.5m per minute. At this time, the walking aid maintains the current walking speed.
6. The intelligent environmental perception and adaptation method for a walking aid according to claim 2, characterized in that: Determining the walking aid's posture using a gyroscope sensor and adjusting the walking aid's assistance mode involves the following steps: Determine whether the walking aid is going uphill or downhill based on the angle between it and the horizontal plane. When using the walking aid to go uphill, the thrust is adjusted. When the walking aid is going downhill, the walking aid's speed is kept constant. If the walking aid accelerates, the walking aid is braked.
7. The intelligent environmental perception and adaptation method for a walking aid according to claim 6, characterized in that: When going downhill, the electronic control unit responds to the stop signal and locks the walking aid until the stop signal is canceled, at which point the electronic control unit controls the walking aid to move forward.
8. The intelligent environmental perception and adaptation method for a walking aid according to claim 6, characterized in that: When going downhill, if any activation signal disappears for more than a preset time threshold... The electronic control unit locks the walker until it receives two activation signals again.
9. The intelligent environmental perception and adaptation method for a walking aid according to claim 6, characterized in that: The formula for calculating thrust correction is as follows: In the above formula, The thrust applied to the user at the current moment; For propulsion With static thrust difference; The angle between the walking aid and the horizontal plane.
10. The intelligent environmental perception and adaptation method for a walking aid according to claim 2, characterized in that: The walker detects activation signals during its movement. If any activation signal disappears for more than a preset time threshold, the system will detect the activation signal. The walker is locked; once the electronic control unit receives the two start signals again, the walker is started to move.