Active stability augmentation type intelligent walking aid and control method thereof

Abstract

This invention discloses an active stabilization intelligent walking aid and its control method, including a support frame, drive wheels, casters, a longitudinal adjustment device for the handrail, a lateral adjustment device for the handrail, a linear electric cylinder, a depth camera, and a visual-tactile sensor. Before use, the device is initialized. Based on the user's posture detected by the depth camera, the electric cylinder automatically raises and lowers to provide the optimal support height, and the lateral adjustment device provides an appropriate width. Multimodal data is collected by the depth camera and visual-tactile sensor to determine the user's movement intention and stability, controlling multiple actuators to perform coordinated actions, thereby achieving active stabilization of the walking aid during walking, improving walking safety while ensuring the effectiveness of the aid.

Description

Technical Field

[0001] This invention relates to the field of intelligent mobility aids, and in particular to an active stabilization type intelligent mobility aid and its control method. Background Technology

[0002] Walking aids are important medical devices that assist the elderly and patients with lower limb motor dysfunction in walking and rehabilitation. They can distribute the weight of the lower limbs through upper limb support, expand the support surface, help users walk, and prevent falls. However, existing walking aids have many technical defects and cannot meet users' safety needs. Most current mainstream walking aids use a fixed rigid frame structure. Once the height, width, and spatial position of the handrails are locked, they cannot be dynamically adjusted during movement. When the user's center of gravity shifts unexpectedly, the fixed structure cannot actively adapt to the change in center of gravity, which can easily cause the walking aid to tip over. In turning or lateral force scenarios, the center of gravity of the walking aid and the user may also become mismatched, resulting in a significant decrease in turning stability.

[0003] At the same time, most walking aids lack the ability to perceive and predict the user's status, have no effective sensing and data analysis modules, cannot accurately identify the user's intentions to walk, turn, stop, etc., and cannot detect the risk of falling in time. They can only achieve basic support functions and are unable to carry out active safety protection.

[0004] Furthermore, existing human-computer interaction technologies are insufficiently applied in the field of walking aids. Faced with multi-dimensional human-computer collaboration scenarios, they cannot integrate multi-source information to accurately capture user intentions, thus hindering the intelligent upgrade of walking aids. Therefore, developing an intelligent walking aid with active sensing, center of gravity adjustment, and stability enhancement functions, along with its corresponding control methods, has become an urgent need for the industry. Summary of the Invention

[0005] The purpose of this invention is to provide an active stabilization-enhancing intelligent walking aid and its control method.

[0006] To achieve the above objectives, the present invention is implemented according to the following technical solution: The present invention includes a support frame, a longitudinal and lateral adjustment device for the handrail mounted on the support frame, a drive wheel and a caster wheel mounted on the bottom of the support frame, and linear electric cylinders vertically arranged on both sides of the support frame: The linear electric cylinder includes an electric cylinder, a motor, a universal connector, and a hinge. The bottom end of the electric cylinder is hinged to the bottom beam of the support frame through the hinge, and the top end of the electric cylinder is connected to the support frame through the universal connector. The support frame is provided with a handrail lateral adjustment device, which includes a second linear module, a third support plate and a fourth support plate; The second linear module is equipped with a handrail longitudinal adjustment device, which includes an armrest, a handle, a first support plate, a first linear module, a second support plate, and a visual-tactile sensor. A depth camera is mounted on the bottom of the third support plate, with the lens of the depth camera facing the user.

[0007] Furthermore, a bullseye wheel is provided at the bottom of the second support plate, and the bullseye wheel makes rolling contact with the upper surface of the fourth support plate.

[0008] Furthermore, the third support plate is fixedly connected to the support frame, and the second linear module is horizontally mounted on the third support plate, with the second support plate and the second linear module being fixedly connected.

[0009] Furthermore, the second support plate and the fourth support plate are connected by a bullseye wheel, the first linear module is mounted on the second support plate in the front-to-back direction, the first support plate is slidably fixed to the first linear module, the armrest and the grip are both fixed on the first support plate, and the visual-tactile sensor is embedded inside the armrest.

[0010] Furthermore, two visual-tactile sensors are provided, embedded in the left and right armrests respectively, for collecting six-dimensional force data of the armrests on both sides. and ;in The six-dimensional force on the left armrest. The six-dimensional force on the right armrest. The force is in the left x-axis direction. The force is in the left y-axis direction. The force is in the z-axis direction on the left. This represents the torque along the left x-axis. This represents the torque along the left y-axis. The torque is in the left z-axis direction. The force is in the x-axis direction on the right. The force is in the y-axis direction on the right. The force is in the z-axis direction on the right. The torque is in the x-axis direction on the right. This represents the torque along the right y-axis. This represents the torque along the z-axis on the right side.

[0011] Secondly, the control method for the active stabilization intelligent walking aid includes the following steps: S1. Multimodal data acquisition: Obtain the coordinates of the user's feet and the user's center of gravity using a depth camera. Six-dimensional force data of the left and right armrests are collected through visual-tactile sensors, including force in three directions and torque in three directions; among which The left foot's x-coordinate The x-coordinate of the right foot The left foot's y-coordinate The y-coordinate of the right foot The x-coordinate of the centroid The ordinate of the centroid; S2. Motion Intent and Stability Determination: Behavioral Intent Judgment: Calculate the comprehensive thrust index based on the forward and backward thrust of the left and right arms. : ; in For braking sensitivity coefficient, Take only The negative part in; if Then it is determined to be an intention to brake. This is then determined to be an intention to turn; among which This is the braking threshold; Stability assessment: Based on the difference in thrust between the left and right arm supports in the forward and backward directions, as well as the torque in the vertical direction of the left and right arm supports, and calculation of turning parameters. : in Due to thrust difference, For wrist torque and, This is the thrust weighting coefficient. This is the torque weighting coefficient; if This is then determined to be an intention to turn; This is the turning sensitivity threshold; When the absolute value of the turning indicator exceeds the turning sensitivity threshold, it is determined to be a turning intention; Stability determination: A safe quadrilateral consisting of a left boundary, a right boundary, a front boundary, and a back boundary is considered stable when the x-coordinate of the centroid exceeds the left or right boundary, or the y-coordinate exceeds the back or front boundary. S3. Multi-actuator coordinated action: During normal walking, the forward speed of the drive wheels is controlled according to the average thrust of both arms; When a turning intention is detected, the drive wheels are controlled to rotate differentially, and the first linear module is adjusted synchronously to move the outer handrail forward and retract the inner handrail. When a fall risk is detected, the second linear module is controlled to move the handrail position. The moving distance is determined based on the degree to which the center of gravity deviates from the corresponding safety boundary, expressed as: ; in The center of gravity position The corresponding safety boundary threshold. For safety compensation coefficient, This is a safety margin constant.

[0012] Furthermore, in S2, when the turning index is greater than the turning sensitivity threshold, it is determined as a right turn intention; when the turning index is greater than the opposite of the turning sensitivity threshold, it is determined as a left turn intention.

[0013] Furthermore, in step S3, after the active stabilization is completed, the second linear module is controlled to reset the handrail to its initial position.

[0014] The beneficial effects of this invention are: This invention relates to an active stabilization-enhancing intelligent walking aid and its control method. Compared with the prior art, this invention has the following technical advantages: This invention proposes a mechanical structure for a walking aid with three-dimensional active adjustment capability, particularly by achieving decoupled control of the XY plane position through a three-dimensional linear module; it introduces a fusion perception of visual-tactile sensors and depth parameters, unlike ordinary force sensors, the visual-tactile sensors can detect six-dimensional forces on the surface in contact with the forearm, thereby more accurately predicting the user's walking intention; and it proposes a stabilization strategy based on dynamic coupling of human-machine center of gravity, which maintains the joint center of gravity stability of the human-machine system by actively changing the spatial position of the handrail. Attached Figure Description

[0015] Figure 1 This is a flowchart illustrating the steps of an active stabilization-enhanced intelligent walking aid and its control method according to the present invention. Figure 2 This is a schematic diagram of the overall structure of an active stabilization intelligent walking aid according to an embodiment of the present invention; Figure 3 This is a side view of the longitudinal handrail adjustment device of an active stabilization intelligent walking aid according to an embodiment of the present invention; Figure 4 This is a top view of a longitudinal handrail adjustment device for an active stabilization intelligent walking aid according to an embodiment of the present invention; Figure 5 This is a diagram of a lateral handrail adjustment device for an active stabilization intelligent walking aid according to an embodiment of the present invention; Figure 6 This is a support frame diagram of an active stabilization intelligent walking aid according to an embodiment of the present invention; Among them, 1-drive wheel, 2-linear electric cylinder, 3-handrail longitudinal adjustment device, 4-universal wheel, 5-support frame, 6-depth camera, 7-handrail lateral adjustment device, 201-electric cylinder, 202-motor, 203-fisheye connector, 204-hinge, 301-arm rest, 302-handle, 303-first support plate, 304-first linear module, 305-second support plate, 306-bullseye wheel, 307-visual tactile sensor, 501-guide rail, 502-slider, 503-support frame, 701-second linear module, 702-synchronous belt flange, 703-third support plate, 704-fourth support plate. Detailed Implementation

[0016] The present invention will be further described below through specific embodiments. The illustrative embodiments and descriptions herein are used to explain the present invention, but are not intended to limit the present invention.

[0017] The present invention discloses an active stabilization-enhanced intelligent walking aid and its control method, comprising the following steps: like Figure 1 As shown, in this embodiment, it includes a support frame (5), a longitudinal adjustment device (3) and a lateral adjustment device (7) for the handrail installed on the support frame, a drive wheel (1) and a caster wheel (4) installed at the bottom of the support frame (5), and linear electric cylinders (2) vertically arranged on both sides of the support frame (5). Its characteristic is that: The linear electric cylinder (2) includes an electric cylinder (201), a motor (202), a universal connector and a hinge (204). The bottom end of the electric cylinder (201) is hinged to the bottom beam of the support frame (5) through the hinge (204), and the top end of the electric cylinder (201) is connected to the support frame (5) through the universal connector. The support frame (5) is provided with a handrail lateral adjustment device (7), which includes a second linear module (701), a third support plate (703) and a fourth support plate (704). The second linear module (701) is provided with a handrail longitudinal adjustment device (3), which includes an armrest (301), a handle (302), a first support plate (303), a first linear module (304), a second support plate (305), and a visual-tactile sensor (307). A depth camera (6) is mounted on the bottom of the third support plate (703), with the lens of the depth camera (6) facing the user; In actual evaluation, the universal connector is a fisheye joint.

[0018] In this embodiment, a bullseye wheel (306) is provided at the bottom of the second support plate (305), and the bullseye wheel (306) rolls in contact with the upper surface of the fourth support plate (704).

[0019] In this embodiment, the third support plate is fixedly connected to the support frame, the second linear module is horizontally mounted on the third support plate, and the fourth support plate is fixedly connected to the second linear module.

[0020] In this embodiment, the second support plate is slidably connected to the bullseye wheel under the fourth support plate, the first linear module is mounted on the second support plate in the front-back direction, the first support plate is slidably fixed to the first linear module, the armrest and the grip are both fixed on the first support plate, and the visual-tactile sensor is embedded inside the armrest.

[0021] In this embodiment, two visual-tactile sensors (307) are provided, respectively embedded in the left and right armrests (301), for collecting six-dimensional force data of the armrests on both sides, expressed as: ; ; in The six-dimensional force on the left armrest. The six-dimensional force on the right armrest. The force is in the left x-axis direction. The force is in the left y-axis direction. The force is in the z-axis direction on the left. This represents the torque along the left x-axis. This represents the torque along the left y-axis. The torque is in the left z-axis direction. The force is in the x-axis direction on the right. The force is in the y-axis direction on the right. The force is in the z-axis direction on the right. The torque is in the x-axis direction on the right. This represents the torque along the right y-axis. This represents the torque along the z-axis on the right side.

[0022] Secondly, a control method for an active stabilization-enhancing intelligent walking aid includes the following steps: S1. Multimodal data acquisition: Obtain the coordinates of the user's feet and the user's center of gravity using a depth camera. The system collects six-dimensional force data of the left and right armrests using visual-tactile sensors, including force in three directions and torque in three directions; among which... The left foot's x-coordinate The x-coordinate of the right foot The left foot's y-coordinate The y-coordinate of the right foot The x-coordinate of the centroid The ordinate of the centroid; S2. Motion Intent and Stability Determination: Behavioral Intent Judgment: Calculate the comprehensive thrust index based on the forward and backward thrust of the left and right arms. : ; in For braking sensitivity coefficient, Take only The negative part in; if Then it is determined to be an intention to brake. This is then determined to be an intention to turn; among which This is the braking threshold; Stability assessment: Calculate the overall thrust index based on the thrust in the forward and backward directions of the left and right arm supports. in Due to thrust difference, For wrist torque and, This is the thrust weighting coefficient. This is the torque weighting coefficient; if This is then determined to be an intention to turn; This is the turning sensitivity threshold; Stability determination: Set from the left boundary Right boundary Front boundary Back boundary The resulting safe quadrilateral, if the position of its centroid satisfies or or or If so, it is determined that there is a risk of falling; S3. Multi-actuator coordinated action: During normal walking, the forward speed of the drive wheel (1) is controlled according to the average thrust of the two arms; When the intention to turn is detected, the drive wheel (1) is controlled to rotate at a differential speed, and the first straight module (304) is adjusted synchronously to move the outer handrail forward and the inner handrail backward; When a fall risk is detected, the second linear module is controlled to move the handrail position. The moving distance is determined based on the degree to which the center of gravity deviates from the corresponding safety boundary, expressed as: ; in The center of gravity position The corresponding safety boundary threshold. For safety compensation coefficient, As a safety margin constant, it is used to actively support or guide the user's center of gravity back to the correct position.

[0023] In this embodiment, in step S2, when the turning index is greater than the turning sensitivity threshold, it is determined as a right turn intention; when the turning index is greater than the opposite of the turning sensitivity threshold, it is determined as a left turn intention.

[0024] In this embodiment, in step S3, after the active stabilization is completed, the second linear module is controlled to reset the handrail to its initial position.

[0025] In this embodiment, S1 further includes a pre-use initialization step: controlling the linear electric cylinder (2) to automatically lift and lower based on the user posture detected by the depth camera.

[0026] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An active stabilization type intelligent walking aid, comprising a support frame, a longitudinal adjustment device and a lateral adjustment device for the handrail mounted on the support frame, a drive wheel and a caster wheel mounted on the bottom of the support frame, and linear electric cylinders vertically arranged on both sides of the support frame, characterized in that: The linear electric cylinder includes an electric cylinder, a motor, a universal connector, and a hinge. The bottom end of the electric cylinder is hinged to the bottom beam of the support frame through the hinge, and the top end of the electric cylinder is connected to the support frame through the universal connector. The support frame is provided with a handrail lateral adjustment device, which includes a second linear module, a third support plate and a fourth support plate; The fourth support plate is provided with a handrail longitudinal adjustment device, which includes an armrest, a handle, a first support plate, a first linear module, a second support plate, and a visual and tactile sensor. A depth camera is mounted on the bottom of the third support plate, with the lens of the depth camera facing the user.

2. The active stabilization intelligent walking aid according to claim 1, characterized in that, The bottom of the second support plate is provided with a bullseye wheel, which makes rolling contact with the upper surface of the fourth support plate.

3. The active stabilization intelligent walking aid according to claim 1, characterized in that, The third support plate is fixedly connected to the support frame, and the second linear module is installed horizontally on the third support plate. The second support plate and the second linear module are fixedly connected.

4. The active stabilization intelligent walking aid according to claim 1, characterized in that, The third support plate is fixed to the fourth support plate. The first linear module is mounted on the second support plate in the front-back direction. The first support plate and the first linear module are slidably fixed together. The arm rest and the handle are both fixed on the first support plate. The visual and tactile sensor is embedded inside the arm rest.

5. The active stabilization intelligent walking aid according to claim 1, characterized in that, Two visual-tactile sensors are provided, which are embedded in the armrests on the left and right sides respectively, and are used to collect six-dimensional force data of the armrests on both sides.

6. The control method for an active stabilization intelligent walking aid according to claims 1-5, characterized in that, Includes the following steps: S1. Multimodal data acquisition: The user's foot coordinates and center of gravity are obtained through a depth camera; the six-dimensional force data of the left and right armrests, including force in three directions and torque in three directions, are collected through visual-tactile sensors. S2. Motion Intent and Stability Determination: Behavioral intent judgment: Calculate the comprehensive thrust index based on the thrust in the forward and backward directions of the left and right arm supports. When the comprehensive thrust index is lower than the braking threshold, it is judged as braking intent. Stability assessment: Based on the difference in thrust between the left and right arm supports in the forward and backward directions, as well as the torque in the vertical direction of the left and right arm supports, the turning index is calculated. When the absolute value of the turning index exceeds the turning sensitivity threshold, it is determined to be a turning intention. Stability determination: A safe quadrilateral consisting of a left boundary, a right boundary, a front boundary, and a back boundary is considered stable when the x-coordinate of the centroid exceeds the left or right boundary, or the y-coordinate exceeds the back or front boundary. S3. Multi-actuator coordinated action: During normal walking, the forward speed of the drive wheels is controlled according to the average thrust of both arms; When a turning intention is detected, the drive wheels are controlled to rotate differentially, and the first linear module is adjusted synchronously to move the outer handrail forward and retract the inner handrail. When a risk of falling is detected, the second linear module is controlled to move the handrail position. The moving distance is determined based on the degree to which the center of gravity deviates from the corresponding safety boundary.

7. The control method for an active stabilization intelligent walking aid according to claim 6, characterized in that, In S2, when the turning index is greater than the turning sensitivity threshold, it is determined as a right turn intention; when the turning index is greater than the opposite number of the turning sensitivity threshold, it is determined as a left turn intention.

8. The control method for an active stabilization intelligent walking aid according to claim 6, characterized in that, In step S3, after the active stabilization is completed, the second linear module is controlled to reset the handrail to its initial position.

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