Motor-assisted, self-balancing walking and transport aid

Abstract

A motor-assisted, self-balancing walking and transport aid, characterized by the fact that ◯ a frame or frame assembly (3, 4), ◯ one or more motors (9), ◯ one or more wheels or tires (1), ◯ a voltage source or several voltage sources (5), ◯ one or more computing units, e.g. microcontrollers (6), ◯ a motor drive control (7), ◯ one inertial measurement unit (IMU or IMMU) or several inertial measurement units (8) and ◯ a handle or several handles (2) are connected to each other in such a way that the components mentioned form a motor-assisted, self-balancing walking and transport aid, by which persons are supported in walking and / or in transporting objects and / or living beings, by which this walking and transport aid moves forwards or backwards independently by tilting it forwards or backwards in the direction of travel by the user(s) and behaves according to the reverse pendulum principle in such a way that, with or without tilting by the user(s), a nearly vertical position as shown in Figs. 2 and 3 or 5 and 6 is maintained, and thus it is possible for the user(s) to support themselves on the handle(s), similar to a walking stick, while the motor-assisted, self-balancing walking and transport aid is rolling or not rolling.

Description

[0001] Non-rolling walking aids, such as walking sticks and walking frames, offer basic support and stability, but have significant limitations in terms of maneuverability and continuous user support. These aids often require considerable physical effort and, with the exception of simple single-point walking sticks, are generally bulky and difficult to maneuver. They are particularly impractical on uneven terrain or in confined spaces. Furthermore, especially large walking aids can require considerable force when overcoming obstacles such as curbs, which can lead to fatigue and an increased risk of falls. Additionally, these walking aids are poorly suited for carrying luggage, as this can impair stability and handling.

[0002] Unmotorized, wheeled walking aids do not provide continuous active support while walking. The user must push the device themselves, which requires considerable physical effort and reduces effective support during the pushing motion. This is particularly problematic for elderly people or those with limited strength or mobility.

[0003] Walking frames and rollators, both with and without motor assistance, are relatively large, heavy, and bulky, making them difficult to use in confined spaces or on public transportation. Even with more than three points of contact with the ground, they rarely provide stable support on uneven terrain.

[0004] Walking aids that are obviously designed to assist walking are often stigmatizing, as they are perceived as visible signs of frailty and dependency. This can lead to users feeling uncomfortable and avoiding using these aids, even though they would benefit from them.

[0005] The concept of balance sticks with an omnidirectional wheel is a good approach to solving the aforementioned disadvantages, but due to its complex construction it is expensive and maintenance-intensive, and therefore less suitable for replacing conventional aids on a broad scale.

[0006] The motor-assisted, self-balancing walking and transport aid, hereinafter also abbreviated as GTH, overcomes the aforementioned limitations by integrating one or more motors for balance and navigation. The user can walk in front of, behind, or alongside the self-propelled GTH, or, depending on the model, be pulled or pushed by it, or move around while seated on it. This innovation offers continuous stability, safety, and ease of use on various terrains.

[0007] Thanks to one or more motor-assisted wheels, the user is assisted or transported by the GTH during movement, reducing physical effort.

[0008] Active vertical balance is achieved using the reverse pendulum principle. It also allows for the transport of luggage, which is particularly useful for everyday errands and longer walks.

[0009] Thanks to its compact and vertically balancing design, the GTH remains light and easy to maneuver, even in confined spaces or on public transport. It is also possible to adjust the device's tilt angle to suit usage and environmental conditions, such as tackling inclines or declines.

[0010] Each wheel maintains constant contact with the ground, ensuring high stability and smooth running. Unlike four-legged walking sticks or rollators, where a ground contact element (e.g., a wheel) typically lifts off the ground on uneven surfaces, the GTH offers significantly greater stability. This is because, in models with more than one wheel, the use of movable elements ensures that all wheels maintain constant contact with the ground, as shown in... Fig. 3 shows where a swing-mounted connection (12) between the motor connection (11) and the main frame (4) ensures that the wheels (1) of this two-wheeled version can adapt to uneven ground without the handle (2) being significantly moved from its position, which could not be ruled out with a rigid connection between the main frame (4) and the motor connection (11) and would then lead to instability.

[0011] When using multiple wheels, straight-line stability and resistance to lateral drift can be electronically adjusted. This significantly improves maneuverability and adapts to the user's needs. Depending on the model, adjustments for walking speed, luggage weight, terrain, or support force can be made manually or audibly by the user, or dynamically or via preset settings by the GTH (Gear Transfer Device).

[0012] The height-adjustable handle ensures an ergonomic adaptation to the user's body size and promotes a healthy posture while walking. Technical features

[0013] In one of several embodiments, a motor-assisted, self-balancing walking and transport aid (WTE) comprises one or more handles (2), one or more computation unit(s) (6), one or more motor controllers (7), one or more inertial measurement units (8), and a frame or frame assembly (3 and 4) connecting the handle(s) (2) and one or more driven wheels (1). When multiple wheels are used, it is ensured that all wheels maintain ground contact without the handle or handle assembly being substantially moved from its position, or requiring such movement.The GTH can have one or more proximity sensors, one or more gyroscopes, one or more accelerometers, one or more voltage sources, reflective or self-illuminating front, rear, and side lights or reflectors, hooks or other devices for attaching or holding objects, one or more control modules, or other function-enhancing elements. The proximity sensor can provide a proximity signal corresponding to the position of an obstacle and can thus either actively brake or provide an audible, haptic, or visual warning of an obstacle. The gyroscope and accelerometer serve for the active balancing of the GTH and also for the dynamic differential adjustment of the wheels to influence straight-line stability. Alternative or additional embodiment 1: Space-saving GTH

[0014] Another embodiment is designed to be reduced in size to facilitate the transport and storage of the GTH. This reduction in size can be achieved by a sliding, rotating, or folding mechanism, or several or combinations thereof, on the frame or frame assembly, the wheel assembly, the handle or handle assembly, and / or by disassembling individual components, such as the handle or the wheels. Alternative or additional embodiment 2: GPS-supported GTH

[0015] Another embodiment is equipped with a GPS module to assist the user with navigation or to inform relatives or emergency services of the user's location. This embodiment can include a mobile app that displays the user's current location and provides navigation instructions to reach a destination. The app can also warn of obstacles or uneven terrain or place an emergency call in the event of a fall. A person's fall would be detected using data from the accelerometer and gyroscope. Alternative or additional embodiment 3: GTH with obstacle detection and collision avoidance

[0016] Another embodiment can include distance sensors for obstacle detection and automatic adjustment of the driving direction. These sensors can use ultrasonic, infrared, or LiDAR technology to detect objects in the environment and actively provide visual, acoustic, and / or haptic assistance to avoid obstacles. Alternative or additional embodiment 4: GTH with health monitoring

[0017] Monitors and sensors that individually or in combination continuously, at intervals or at specific times record environmental data (e.g. temperature, humidity, particulate matter pollution) and / or user vital data (e.g. heart rate and blood oxygen saturation) and display them visually and / or audibly on a display on the handle (2) or another location on the walking aid, send them to a mobile app or process them further in other ways. Alternative or additional embodiment 5: GTH with voice control

[0018] One embodiment can include voice control, allowing the user to control the GTH through voice commands. This can be particularly useful for users with limited hand mobility or visual impairments. Voice commands can be used to start and stop the self-balancing walking aid, turn the light on and off, adjust the speed and direction, or perform other listed functions. Alternative or additional embodiment 6: GTH with alternative handle designs

[0019] The handle or body contact surface can be available in various ergonomic designs and be interchangeable to meet different needs. For example, handles specifically designed for users with arthritis or other hand problems can be attached, resembling a forearm crutch, axillary crutch, or various classic walking sticks to offer comfort, personal design preferences, and support. Alternative or additional embodiment 7: All-terrain GTH

[0020] A robust version specifically designed for off-road use. This version may include larger, all-terrain wheels and / or tires, a reinforced frame structure, adapted suspension, larger mudguards, and more powerful motors for better performance on particularly rough terrain, such as forest tracks or gravel roads. Alternative or additional embodiment 8: GTH with integrated lighting system

[0021] One embodiment may include a lighting system consisting of front and / or rear light(s) and / or side light(s) and / or reflectors. These lights can be activated automatically or by the user to increase the user's visibility and to illuminate the surroundings and / or the ground in front of and / or behind the self-balancing walking aid. This enhances the user's visibility and the detection of uneven surfaces and potential hazards. The front light(s) is / are white, the rear light(s) red, and the side light(s) yellow. The orientation of the colors can dynamically adjust according to the direction of travel of the walking aid. When the walking speed decreases, the rear light can increase its brightness to signal a slowdown. Alternative or additional embodiment 9: GTH with security alarm and / or emergency call system

[0022] The self-balancing walking aid can be equipped with a safety alarm and / or an emergency call system. In the event of a fall or other emergency, the user can press a button to trigger a loud alarm and / or send a notification to pre-programmed emergency contacts. Alternatively, the self-balancing walking aid can detect emergencies or falls using its accelerometer and / or gyroscope and send appropriate emergency signals.

[0023] Alternative or additional embodiment 10: Connection of several GTHs Two or more one- or multi-wheeled self-balancing walking aids with one or more connecting element(s) are connected to each other to form a rolling, self-balancing, motorized frame. Two or more GTHs can be arranged one behind the other and / or side by side in the direction of travel. When arranged one behind the other in the direction of travel, at least one joint in the connecting element(s) ensures that balancing of all self-balancing walking aids remains possible. Alternative or additional embodiment 11: GTH with independent wheel control

[0024] In another embodiment, two or more wheels can be controlled and operated independently of each other, either autonomously by the GTH itself, e.g. software-controlled and / or sensor-controlled, or by manual input from the user to enable active steering and control, but can also be used to influence the stability of straight-line driving.

[0025] These additional designs expand the functionality and applicability of the self-balancing walking aid and offer users a wide range of options to meet their individual needs and preferences. Summary

[0026] The invention relates to a motor-assisted, self-balancing walking and transport aid designed to support people with limited mobility. The device combines self-balancing technology with a drive system that helps the user move safely and stably. It includes several embodiments, including those with one or more wheels, to meet different requirements. The invention aims to increase people's mobility and independence by providing a safe, simple, and flexible way to move around and transport objects.

[0027] Exemplary embodiments of the invention are described by the Fig. Numbers 1 to 6 are shown. Fig. 1: A top view of the walking and transport aid with two wheels Fig. 2: A side view of the walking and transport aid with two wheels Fig. 3: A front view of the walking and transport aid with two wheels Fig. 4: A top view of the walking and transport aid with one wheel Fig. 5: A side view of the walking and transport aid with one wheel Fig. 6: A front view of the walking and transport aid with one wheel Reference symbol list 1 wheel, tire 2 handles 3 Secondary frames 4 main frames 5 Voltage source 6. Computing unit, e.g. microcontroller 7 Motor drive control 8 Inertial measurement unit e.g. IMU or IMMU 9 Motor e.g. hub motor 10 Motor mounting 11 Motor connection 12. Movable connection between engine mounting and main frame 13 dampers 14 Height lock 15 Front light 16 Rear light 17 axis of rotation

Claims

[1] A motor-assisted, self-balancing walking and transport aid, characterized by , that ◯ a frame or frame assembly (3, 4), ◯ one or more motors (9), ◯ one or more wheels or tires (1), ◯ a voltage source or several voltage sources (5), ◯ one or more computing units, e.g. microcontrollers (6), ◯ a motor drive control (7), ◯ one inertial measurement unit (IMU or IMMU) or several inertial measurement units (8) and ◯ a handle or several handles (2) connected together in such a way that the aforementioned components form a motor-assisted, self-balancing walking and transport aid, by which persons are supported in walking and / or in transporting objects and / or living beings, by which this walking and transport aid moves forwards or backwards by tilting it in the direction of travel by the user(s), moves independently forwards or backwards and behaves according to the reverse pendulum principle in such a way that, with or without tilting by the user(s), a nearly vertical position is achieved as in Fig. 2 and Fig. 3 or 5 and Fig. 6 shown, is maintained, thus enabling the user or users to support themselves on the handle(s), similar to a walking stick, while the motor-assisted, self-balancing walking and transport aid is rolling or not rolling. [2] Walking and transport aid according to claim 1, characterized by, that A joint or joints, or functionally equivalent components, whose axis of rotation (17) is almost perpendicular to at least one wheel axle and is located slightly above, below, or exactly at the level of at least one wheel axle, ensures that all wheels can maintain constant contact with the ground on uneven terrain without the handle (2) being significantly moved from its position. The smoothness of movement of the joint can be influenced by dampers (13) or in other ways. [3] Walking and transport aid according to claim 1, characterized by , that o a height adjustment, e.g. consisting of main (4), secondary frame (3) and locking mechanism (14), it makes it possible to position the handle (2) at the desired height. [4] Walking and transport aid according to claim 1, characterized by , that ◯ it can be disabled remotely. [5] Walking and transport aid according to at least one of the preceding claims, characterized by , that ◯ Navigation (e.g. self-balancing, acceleration, deceleration, and steering) is possible via remote control. [6] Walking and transport aid according to at least one of the preceding claims, characterized by , that: ◯ The rotational speed of the wheels (1) is regulated to enable various driving characteristics, from stable straight-line tracking to agile cornering, with the adjustment being dynamically performed by the system. Information such as walking speed and support force of the user, total weight, surface, tire pressure, and gradient can be taken into account. [7] Walking and transport aid according to at least one of the preceding claims, characterized by , that ◯ the rotational speed of the wheels (1) is regulated so that different driving behaviors from stable straight-line driving to agile cornering are possible, with the adjustment being made manually and / or acoustically by the user. [8] Walking and transport aid according to at least one of the preceding claims, characterized by , that ◯ a lighting system consisting of front (15) and rear lights (16) and optional side lights or reflectors, in which the lights can be switched on automatically, e.g. in poor lighting conditions, or manually. [9] Walking and transport aid according to at least one of the preceding claims, characterized by , that ◯ a lighting system consisting of front (15) and rear lights (16) and optional side lights or reflectors, wherein the lights, when switched on, automatically and dynamically adjust the color according to the direction of travel, e.g. white at the front, red at the rear, yellow or orange at the sides. [10] Walking and transport aid according to at least one of the preceding claims, characterized by , that ◯ Monitors and sensors that individually or in combination continuously, at intervals or at specific times record environmental data (e.g. temperature, humidity, particulate matter pollution) and / or user vital data (e.g. heart rate and blood oxygen saturation) and display them optically and / or acoustically on a display on the handle (2) or another location, send them to a mobile app or process them further in another way. [11] Walking and transport aid according to at least one of the preceding claims, characterized by , that ◯ Voice control allows the user to control the device using voice commands. This can include functions such as start, stop, light control, speed adjustment, and direction change. [12] Walking and transport aid according to at least one of the preceding claims, characterized by , that ◯ a holding option for objects, such as luggage, exists. [13] Walking and transport aid according to at least one of the preceding claims, characterized by , that ◯ Various interchangeable handles can be fitted to meet different ergonomic needs, including, but not limited to, designs that correspond to that of a forearm crutch, axillary crutch or various classic walking sticks. [14] Walking and transport aid according to at least one of the preceding claims, characterized by , that ◯ A safety alarm and emergency call system exists which can be activated in the event of a fall or emergency situation to trigger an alarm and send a notification to pre-programmed emergency contacts. [15] Walking and transport aid according to at least one of the preceding claims, characterized by , that ◯ the walking and transport aid can be reduced in size by a rotating, sliding, folding or other mechanism or several on the main frame (4), the wheels (1) and / or the handle (2) or by removing or repositioning parts. [16] Walking and transport aid according to at least one of the preceding claims, characterized by , that ◯ an embodiment in which the height lock (14) also serves as a luggage holder. [17] Walking and transport aid according to at least one of the preceding claims, characterized by , that ◯ one embodiment can also be used as a vehicle in the sense of a self-balancing scooter or mobility aid by means of a footboard or similar. [18] Walking and transport aid according to at least one of the preceding claims, characterized by , that ◯ Two or more single- or multi-wheeled motorized self-balancing walking and transport aids that can be connected with a pole or other connecting unit to form a rolling, self-balancing frame, similar to a rollator or walking frame with wheels. [19] Walking and transport aid according to at least one of the preceding claims, characterized by , that ◯ an embodiment in which both wheels (1) can be controlled and operated independently of each other, for example autonomously by the device itself, by manual input from the user or third parties, to enable active steering and control.

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