Method and device for controlling assistive force of an intelligent walking assistance device, intelligent walking assistance device, controller

Abstract

The present invention relates to a method and apparatus for controlling the assist force of an intelligent walking assist device, an intelligent walking assist device (100), and a controller. The intelligent walking assist device (100) includes a vehicle body, a seat (101) for riding or loading goods is installed on the vehicle body, and front wheels and rear wheels are installed on the lower part of the wheels, and the front wheels or rear wheels are driven by a motor. The method comprises the step of obtaining the load weight of the vehicle body (S201); and, when the load weight exceeds a set threshold value, entering a first assist force compensation mode, wherein in the first assist force compensation mode, the torque output of the motor is compensated based on a first assist force compensation threshold value, and the first assist force compensation threshold value is directly proportional to at least one parameter among the load weight of the intelligent walking assist device and the movement speed of the intelligent walking assist device (100) (S202). The intelligent walking assistance device (100) can be safely used even when there is a very large difference in load weight, and prevents the motor torque output from being too large when the user falls over when the item is loaded or not loaded, or the motor torque output from being too small when a person is riding on it, thereby preventing power shortage.

Description

Technology Field

[0001] The embodiments of the present invention relate to the technical field of intelligent walking assistance devices, and in particular to a method and apparatus for controlling assistive force of an intelligent walking assistance device, an intelligent walking assistance device, and a controller. Background Technology

[0002] As times have advanced, many intelligent walking assistance devices for the elderly, such as electric wheelchairs and shopping aids, have emerged.

[0003] Wheelchairs are generally divided into two categories: electric wheelchairs pushed by a caregiver and electric wheelchairs operated by the user. Manual wheelchair users are generally those who have lost some mobility in their hands and feet, whereas electric wheelchair users are those who can operate the wheelchair via a locker. Electric wheelchair users are elderly people and those with disabilities whose hands are normal but who have lost some mobility in their feet.

[0004] Shopping aids generally feature cargo loading and walking assistance functions and are commonly used in developed countries such as Europe, the United States, Japan, and Korea. Users are typically the elderly or individuals with limited mobility in their legs, and the shopping aid requires the user to propel themselves forward.

[0005] There are significant differences in application scenarios and control methods between wheelchairs and shopping aids, and currently, there is no product that combines the functions and advantages of both. The problem to be solved

[0006] In light of this, the present invention provides a method and device for controlling the assisting force of an intelligent walking assistance device, an intelligent walking assistance device, and a controller. By automatically determining whether a person is riding on the intelligent walking assistance device or if goods are loaded based on the load of the intelligent walking assistance device, a first assisting force compensation mode (wheelchair mode) or a second assisting force compensation mode (shopping cart mode) is automatically selected, and an assisting force compensation threshold value is automatically adjusted based on the distinction of the assisting force compensation mode. Consequently, the intelligent walking assistance device of the present invention is implemented more intelligently, thereby enabling the realization of the user's intention to propel the intelligent walking assistance device and ensuring smooth propulsion even in any road conditions. means of solving the problem

[0007] According to a first aspect, an embodiment of the present invention provides a method for controlling the assisting force of an intelligent walking assistance device, wherein the intelligent walking assistance device comprises a vehicle body, wherein a cushion for riding or loading goods is installed on the vehicle body, and a front wheel and a rear wheel are installed on the lower part of the wheel, and wherein the front wheel or the rear wheel is driven by a motor, and the method comprises

[0008] Step of obtaining the load weight of the above vehicle body; and

[0009] When the load weight exceeds a set threshold value, the first assist force compensation mode is entered, wherein in the first assist force compensation mode, the torque output of the motor is compensated based on a first assist force compensation threshold value, and the first assist force compensation threshold value is directly proportional to at least one parameter among the load weight of the intelligent walking assistance device and the movement speed of the intelligent walking assistance device.

[0010] Optionally, obtaining the load weight of the above vehicle body is,

[0011] Includes acquiring a manually set gear ratio and acquiring a pre-set load weight corresponding to said gear ratio;

[0012] and / or,

[0013] Automatically acquiring the load weight of the above vehicle body is,

[0014] Acquiring at least one parameter among the acceleration time of the intelligent walking assistance device, the motor output power of the intelligent walking assistance device, and the current of the motor under a set speed condition; and

[0015] It includes obtaining a load weight corresponding to at least one parameter set in advance and setting it as the current load weight of the vehicle body.

[0016] Optionally,

[0017] If the load weight is a set threshold value, the method enters a second auxiliary force compensation mode, wherein in the second auxiliary force compensation mode, the torque output of the motor is compensated based on a second auxiliary force compensation threshold value, and the method further includes a step in which the second auxiliary force compensation threshold value is obtained based on a set gear ratio.

[0018] Optionally, determining the first auxiliary force compensation threshold value is,

[0019] A step of determining a fixed compensation value, wherein the fixed compensation value includes a speed compensation value, a weight compensation value, and a slope compensation value;

[0020] A step of determining a specific compensation value, wherein the specific compensation value includes an acceleration / deceleration compensation value and / or a steering compensation value; and

[0021] It includes the step of obtaining the first auxiliary force compensation threshold value based on the fixed compensation value and the specific compensation value.

[0022] Optionally, the step of determining the above speed compensation value is,

[0023] Acquiring the current movement speed of the above intelligent walking assistance device; and

[0024] Based on the above movement speed, a table is searched to obtain the currently required power compensation coefficient, and based on the above movement speed and the above power compensation coefficient, the speed compensation value is obtained, wherein the speed compensation value is directly proportional to the above movement speed and the above power compensation coefficient.

[0025] Optionally, the step of determining the slope compensation value is,

[0026] In the case of an uphill slope, the steeper the slope, the larger the slope compensation value; and

[0027] In the case of a downhill slope, the slope compensation value is negative, and the slope compensation value becomes smaller as the slope increases.

[0028] Optionally, the step of determining the slope compensation value is,

[0029] If the vertical angle of the vehicle body is greater than a first set threshold value, and at the same time the vertical angular velocity of the vehicle body is greater than a second set threshold value, the intelligent walking assistance device is in a state of transitioning from a flat surface to an uphill slope, and the slope compensation value is determined to be gradually increased; and

[0030] If the vertical angle of the vehicle body is smaller than a third set threshold value which is a negative value, and at the same time the vertical angular velocity of the vehicle body is greater than a set fourth threshold value, the intelligent walking assistance device is in a state of transitioning from a downhill to a flat surface, and the slope compensation value which is a negative value is determined to be gradually increased.

[0031] Optionally, the step of determining the above acceleration / deceleration compensation value is,

[0032] The intelligent walking assistance device acquires acceleration and deceleration as it moves forward, wherein the acceleration indicates that the intelligent walking assistance device is in an acceleration phase and the deceleration indicates that the intelligent walking assistance device is in a deceleration phase;

[0033] When the above intelligent walking assistance device is in the acceleration phase, determining that the acceleration / deceleration compensation value is a positive value and simultaneously directly proportional to the acceleration; and

[0034] When the intelligent walking assistance device is in the deceleration phase, the acceleration / deceleration compensation value is determined to be a negative value and simultaneously directly proportional to the rate of deceleration.

[0035] Optionally, the front wheel or the rear wheel includes a left wheel and a right wheel, the left wheel and the right wheel are controlled by different motors, the steering compensation value includes a left wheel steering compensation value and a right wheel steering compensation value, and the step of determining the steering compensation value is

[0036] When the intelligent walking assistance device steers to the right, increasing the left wheel steering compensation value and / or decreasing the right wheel steering compensation value; and

[0037] When the intelligent walking assistance device is steered to the left, the right wheel steering compensation value is increased, and / or the left wheel steering compensation value is decreased. Optionally,

[0038] When the intelligent walking assistance device is steered to the right, the step of increasing the left wheel steering compensation value and / or decreasing the right wheel steering compensation value in a manner directly proportional to the steering angle of the intelligent walking assistance device; and

[0039] The method further includes the step of increasing the right wheel steering compensation value and / or decreasing the left wheel steering compensation value in a manner directly proportional to the steering angle of the intelligent walking assistance device when the intelligent walking assistance device is steered to the left.

[0040] Optionally,

[0041] Step of obtaining the movement speed of the left wheel and the movement speed of the right wheel; and

[0042] The method further includes a step of triggering a steering judgment of the intelligent walking assistance device when the difference between the movement speed of the left wheel and the movement speed of the right wheel exceeds a set difference threshold.

[0043] According to a second aspect, an embodiment of the present invention provides an assistive force control device for an intelligent walking assistance device, wherein the intelligent walking assistance device includes a vehicle body, said vehicle body is equipped with a cushion for riding or loading goods, said vehicle body has a front wheel and a rear wheel installed at the lower part of said wheel, said front wheel or rear wheel is driven by a motor, and said device,

[0044] A load weight acquisition module for acquiring the load weight of the above vehicle body; and

[0045] When the load weight exceeds a set threshold value, a first assist force compensation mode is entered, wherein in the first assist force compensation mode, the torque output of the motor is compensated based on a first assist force compensation threshold value, and the first assist force compensation threshold value is provided with a first assist force compensation mode entry module that is directly proportional to at least one parameter among the load weight of the intelligent walking assistance device and the movement speed of the intelligent walking assistance device.

[0046] According to a third aspect, an embodiment of the present invention provides an intelligent walking assistance device, wherein the device comprises:

[0047] It is equipped with at least one memory and at least one processor;

[0048] The above memory stores one or more programs;

[0049] When the above one or more programs are executed by the at least one processor, the at least one processor is made to implement the steps of the method for controlling the assisting force of an intelligent walking assistance device described in the first aspect of the embodiment of the present invention.

[0050] According to the fourth aspect, an embodiment of the present invention provides a controller, wherein the controller is,

[0051] It is equipped with at least one memory and at least one processor;

[0052] The above memory stores one or more programs;

[0053] When the above one or more programs are executed by the at least one processor, the at least one processor is made to implement the steps of the method for controlling the assisting force of an intelligent walking assistance device described in the first aspect of the embodiment of the present invention. Effects of the invention

[0054] In an embodiment of the present invention, by automatically determining whether a person is riding on the intelligent walking assistance device or if goods are loaded based on the load of the intelligent walking assistance device, a first assistance force compensation mode (wheelchair mode) or a second assistance force compensation mode (shopping cart mode) is automatically selected, and an assistance force compensation threshold value is automatically adjusted based on the distinction of the assistance force compensation mode, thereby enabling the intelligent walking assistance device of the present invention to be implemented more intelligently; furthermore, in the first assistance force compensation mode, inclination compensation, speed compensation, acceleration compensation, and steering compensation are performed on the intelligent walking assistance device to realize the user's intention to propel the intelligent walking assistance device even in any road conditions and to enable smooth propulsion. Brief explanation of the drawing

[0055] In order to more clearly explain the technical methods of the embodiments of the present invention or the prior art, drawings necessary for the use of the description of the embodiments or prior art are briefly introduced below. The drawings described below are merely some embodiments of the present invention, and it is obvious to those skilled in the art that other drawings can be obtained based on these drawings without requiring creative labor. Fig. 1 is a schematic diagram of the structure of an intelligent walking assistance device provided by the present invention. Fig. 2 is a flowchart of an assistive force control method of an intelligent walking assistance device provided by the present invention. Fig. 3 is a flowchart of an assistive force control method of an intelligent walking assistance device provided by the present invention. Fig. 4 is a schematic diagram of the structure of an assistive force control device of an intelligent walking assistance device provided by the present invention. Specific details for implementing the invention

[0056] In order to clarify the purpose, technical solution, and advantages of the present invention, the method of an embodiment of the present invention will be described in more detail below with reference to the drawings.

[0057] It must be clarified that the described embodiments are only some embodiments of the embodiments of the present invention and not all embodiments. All other embodiments obtained by a person skilled in the art without creative labor based on the embodiments among the embodiments of the present invention fall within the scope of protection of the embodiments of the present invention.

[0058] The terms used in the embodiments of the present invention are used solely for the purpose of describing specific embodiments and are not intended to limit the embodiments of the present invention. The singular forms of “a kind,” “above,” and “the subject” used in the embodiments of the present invention and the appended claims are designed to include multiple forms unless the context clearly indicates a different meaning. Furthermore, it should be understood that the term “and / or” as used herein indicates or includes any or all possible combinations of one or more related listed items.

[0059] Where the description below relates to drawings, unless otherwise indicated, identical numbers in different drawings represent identical or similar elements. The embodiments described in the exemplary examples below do not represent all embodiments consistent with the present invention. On the contrary, they are merely examples of apparatuses and methods consistent with some aspects of the present invention as described in detail in the appended claims. It should be understood that in the description of the present invention, terms such as “first,” “second,” “third,” etc. are used merely to distinguish similar parts and do not describe a specific order or sequence, nor do they indicate or imply relative importance. Those skilled in the art will understand the specific meaning of the terms in the present invention as specific cases may.

[0060] Additionally, in the description of the present invention, “plural” indicates two or more unless otherwise stated. “And / or” describes the relationship between related human bodies and indicates the existence of three relationships. For example, A and / or B indicates that A exists alone, A and B exist simultaneously, and B exists alone. The symbol “ / ” generally indicates that the related human bodies are in an “or” relationship.

[0061] The intelligent walking assistance device described in the embodiment of the present invention may specifically be an electric wheelchair, a shopping assistance vehicle, a handcart, etc., and the intelligent walking assistance device includes a front wheel and a rear wheel, and the rear wheel or the front wheel is driven by a motor. As shown in FIG. 1, the intelligent walking assistance device is described as an example of a multi-functional walking assistance tool, wherein the multi-functional walking assistance tool can be used as an electric wheelchair, and can also be used as a shopping assistance vehicle and a handcart to load goods.

[0062] As shown in FIG. 1, the intelligent walking assistance device (100) comprises a vehicle body, and the vehicle body is equipped with a seat (101) for riding or loading goods. A front wheel, i.e., a driven wheel (102) without power output, is provided at the front of the vehicle body, and a first rear wheel (1031) and a second rear wheel (1032) are provided at the rear of the vehicle body. Here, the first rear wheel (1031) and the second rear wheel (1032) are each driven by different motors. In some examples, the first rear wheel (1031) and the second rear wheel (1032) may be driven by a single motor.

[0063] Preferably, the intelligent walking aid device (100) may be implemented by forward control operation by a passenger or by rear control operation by a driver. Specifically, a horizontal handle (104) (in a folded state in the drawing) is installed on the vehicle body, and an intelligent forward control device (105) is installed in front of the handle (104). Preferably, the intelligent forward control device (105) is equipped with a rocker capable of swinging 360° in a horizontal plane, and additionally, a plurality of buttons and displays for operating a multi-functional walking aid are installed.

[0064] A first horizontal handle (106) and a second horizontal handle (107) for hand gripping are further installed on the rear side of the vehicle body, and an intelligent rear control device (108) is installed on the second horizontal handle (107). Preferably, the intelligent rear control device (108) consists of a liquid crystal screen, a constant speed finger, a signal detection module, a button, a posture detection device, an intelligent rear control bracket, and an intelligent rear control. Here, the button includes one switch key, one direction change key, and one auxiliary power level change key, and the liquid crystal screen displays speed, gear position, residual power, and a multi-function display, and the constant speed finger can control the vehicle during the touch process to operate at a constant speed at a set gear position speed, and the intelligent rear control is fixed to the front of the second horizontal handle via the intelligent rear control bracket.

[0065] Here, the intelligent front control device (105) is a Hall control system, and the user can realize the function of a walking assistance vehicle by controlling the walking assistance device 360° over-control through the Hall control system to move forward, backward, left and right, etc.

[0066] In a traditional example, the intelligent walking assistance device includes a general mode and a constant speed assistance compensation mode. Here, in the constant speed assistance mode, different speed gear ratios can be set through the intelligent front control device (105) or the intelligent rear control device (106), and when one speed gear ratio is selected, the intelligent walking assistance device enters the constant speed mode, and the vehicle body drives at a constant speed to obtain an assistance effect.

[0067] In some examples, the intelligent walking assistance device may automatically enter a constant speed assistance compensation mode according to some pre-installed judgment mode, or may enter a constant speed assistance compensation mode through manual operation, for example, by touching a constant speed finger on the intelligent rear control device (9).

[0068] The principle of the aforementioned constant speed assist compensation mode is to collect the current speed according to the set speed and control the torque of the rear wheel motor output through feedback, thereby making the current speed equal to the set speed.

[0069] However, this control method requires the user to continuously walk at a speed corresponding to the set gear ratio, and the movement speed cannot be changed unless the user continuously adjusts the gear ratio. Additionally, the user may need to adjust according to road conditions; particularly when using an intelligent walking aid for wheelchair use, the user may become exhausted from coping with various road situations due to excessive load.

[0070] In response to these technical problems, the embodiment of the present invention adds an automatic assist force compensation method for an intelligent walking assistance device based on traditional technology, and said automatic assist force compensation method may be a special automatic assist force compensation mode and may be implemented by the intelligent front control device (16) or the intelligent rear control device (9) of FIG. 1. In other examples, said automatic assist force compensation mode may be applied to any intelligent walking assistance device having front wheels and rear wheels, wherein the front wheel may be an electric wheel or the rear wheel may be an electric wheel. In the embodiment of the present invention, an example in which the rear wheel is an electric wheel will be described.

[0071] In some examples, when the user pushes the intelligent walking aid forward and the movement speed exceeds a set value, the automatic assist force compensation mode function is automatically unlocked, and at this time, the control system compensates power to the motor; if the speed is below the set value, the automatic assist force compensation mode function is canceled.

[0072] In one specific example, as shown in FIG. 2, the execution of the automatic assist force compensation mode includes the steps of a control method for an intelligent walking assistance device as follows.

[0073] S201: Acquire the load weight of the above vehicle body;

[0074] S202: When the load weight exceeds a set threshold value, the first assist force compensation mode is entered, wherein in the first assist force compensation mode, the torque output of the motor is compensated based on the first assist force compensation threshold value, and the first assist force compensation threshold value is directly proportional to at least one parameter among the load weight of the intelligent walking assistance device and the movement speed of the intelligent walking assistance device.

[0075] Other examples include the following additional steps.

[0076] S203: If the above load weight is less than or equal to a set threshold value, a second auxiliary force compensation mode is entered, wherein in the second auxiliary force compensation mode, the torque output of the motor is compensated based on a second auxiliary force compensation threshold value, and the second auxiliary force compensation threshold value is obtained based on a set gear ratio.

[0077] Here, the load weight represents the weight applied to the cushion (101) shown in FIG. 1, which may be the pressure value of a person riding on the cushion (101) or an item loaded thereon, and the set threshold value is a weight value that has been set in advance and may be 20 kg.

[0078] The load weight can intelligently determine whether the current use of the intelligent walking assistance device is the first assistance force compensation mode (wheelchair mode) or the second assistance force compensation mode (shopping cart mode).

[0079] In the case of a shopping cart mode with a light load, for example, if the load is less than 20 kg, further load weight identification judgment is not required, and the user can distinguish various usage levels by selecting various gear ratios through the control panel, and can respond to different power compensation values ​​by setting different usage level load values, or can compensate the motor's torque output based on the movement speed of the intelligent walking assistance device.

[0080] In the case of a wheelchair mode with a heavy load, for example, if the load is greater than 20 kg, the torque output of the motor can be compensated based on a first assist force compensation threshold value that is directly proportional to the load or the speed of movement.

[0081] According to the method for controlling the assisting force of an intelligent walking assistance device of the present invention, by automatically determining whether a person is riding on the intelligent walking assistance device or whether goods are loaded based on the load of the intelligent walking assistance device, a first assisting force compensation mode (wheelchair mode) or a second assisting force compensation mode (shopping cart mode) is automatically selected, and the assisting force compensation threshold value is automatically adjusted based on the distinction of the assisting force compensation mode. Thus, the intelligent walking assistance device can be implemented more intelligently and automatically adjusted based on the user's walking speed.

[0082] The load weight of the vehicle body described above can be manually set by the user, and the manually set gear ratio can be acquired to obtain a pre-set load weight corresponding to the gear ratio. In one embodiment, it can be automatically identified through a weight sensor installed on the cushion.

[0083] In another embodiment, after intelligently identifying the load weight, the load weight of the vehicle body can be obtained, and the assist force control method of the intelligent walking assistance device of the embodiment of the present invention is

[0084] Under set speed conditions, the step of obtaining at least one parameter among the acceleration time of the intelligent walking assistance device, the motor output power of the intelligent walking assistance device, and the current of the motor; and

[0085] It further includes the step of obtaining a load weight corresponding to at least one parameter set in advance and setting it as the current load weight of the vehicle body.

[0086] Here, the three load weight identification methods described above may exist individually or simultaneously in an intelligent walking assistance device, and the user may select and use one of the weight identification methods.

[0087] Preferably, the intelligent walking assistance device is driven to accelerate from a preset initial speed to a preset intermediate speed with a torque output set on the motor, and the acceleration time is recorded. Additionally, the motor power and current when the intelligent walking assistance device is traveling at the preset intermediate speed are collected again and, combined with the acceleration time, a preset corresponding load weight value can be obtained by searching a table through software.

[0088] In one specific example, the first auxiliary force compensation threshold consists of two parts, such as a fixed compensation value and a specific compensation value. As shown in FIG. 3, determining the first auxiliary force compensation threshold is,

[0089] S301: A step of determining a fixed compensation value, wherein the fixed compensation value includes a speed compensation value, a weight compensation value, and a slope compensation value;

[0090] S302: A step of determining a specific compensation value, wherein the specific compensation value includes an acceleration / deceleration compensation value and / or a steering compensation value; and

[0091] S303: Includes the step of obtaining the first auxiliary force compensation threshold value based on the fixed compensation value and the specific compensation value.

[0092] Here, for various operating situations, the fixed compensation value and the specific compensation value can both be positive, negative, or zero. If the value is positive, it indicates driving the motor to apply forward power, and if the value is negative, it indicates driving the motor to apply backward resistance, i.e., braking force in the opposite direction.

[0093] The first auxiliary force compensation threshold can be determined by the weighted sum of a fixed compensation value and a specific compensation value, and in one preferred example, "first auxiliary force compensation threshold = fixed compensation value + specific compensation value".

[0094] Likewise, the fixed compensation value can be determined by the sum of weights between the speed compensation value, the weight compensation value, and the slope compensation value, and the specific compensation value may include any one of the acceleration / deceleration compensation value or the steering compensation value, and can be determined by the sum of weights between the acceleration / deceleration compensation value and the steering compensation value.

[0095] The speed compensation value can be determined based on the current movement speed of the intelligent walking assistance device, and the faster the movement speed, the larger the speed compensation value becomes.

[0096] In one preferred example, the step of determining the speed compensation value is,

[0097] Acquiring the current movement speed of the above intelligent walking assistance device; and

[0098] Based on the above movement speed, a table is searched to obtain the currently required power compensation coefficient, and based on the above movement speed and the above power compensation coefficient, the above speed compensation value is obtained, wherein the above speed compensation value is directly proportional to the above movement speed and the above power compensation coefficient. Preferably, "speed compensation value = movement speed * power compensation coefficient".

[0099] The weight compensation value can be determined based on the current load weight of the intelligent walking assistance device, and the greater the load, the larger the weight compensation value becomes.

[0100] In the case of a slope compensation value, the step of determining the slope compensation value is,

[0101] In the case of an uphill slope, the steeper the slope, the larger the slope compensation value; and

[0102] In the case of a downhill slope, the steeper the slope, the more negative the slope compensation value becomes, and the smaller the slope compensation value becomes.

[0103] In other words, when going uphill, the greater the angle, the greater the forward compensating power, increasing the forward power of the intelligent walking assistance device and conserving more energy on the uphill; when going downhill, the greater the angle, the greater the reverse compensating power, increasing the reverse braking force of the intelligent walking assistance device and reducing forward speed, making the downhill safer.

[0104] Here, the detection of an uphill or downhill state is obtained by detecting the attitude of the vehicle body through an attitude sensing component installed on the vehicle body of FIG. 1, and preferably, the attitude sensing component includes an acceleration sensor and an angle sensor. The roll and pitch, which are the horizontal and vertical angles of the wheelchair, and the rotational angular velocities in both directions can be obtained through four-element dissolution and Euler's formula.

[0105] In order to make the slope more gentle from flat ground to uphill, more gentle from downhill to flat ground, and smoother when encountering potholes, in one preferred example, the step of determining the slope compensation value is,

[0106] If the absolute value of the vertical angle of the above vehicle body is less than or equal to a set threshold value (the set threshold angle is a positive value), the wheelchair is considered to be in a level road condition, thereby avoiding misjudging a bumpy road condition as an uphill or downhill slope.

[0107] If the vertical angle of the vehicle body is greater than the first set threshold value (which is a positive value) and at the same time the vertical angular velocity of the vehicle body is greater than the second set threshold value, it is determined that the intelligent walking assistance device is in a state of transitioning from flat ground to an uphill slope, and the slope compensation value is gradually increased to realize a gentle uphill climb.

[0108] If the vertical angle of the vehicle body is smaller than a third set threshold value which is a negative value, and at the same time the vertical angular velocity of the vehicle body is greater than a set fourth threshold value, it is determined that the intelligent walking assistance device is in a state of transitioning from a downhill to a flat surface, and the slope compensation value which is a negative value can be gradually increased to end the gentle downhill descent.

[0109] When using a traditional walking assistance device, as the propulsion speed increases, not only is propulsion more difficult, but the force required for propulsion also increases accordingly. To increase power compensation during the acceleration phase, the intelligent walking assistance device initiates braking force compensation during the deceleration phase to realize an emergency braking state and rapidly reduce speed.

[0110] The acceleration / deceleration compensation value is used to determine the aforementioned user intent, namely, the user's intent to change the vehicle body movement state, such as starting, stopping, and acceleration / deceleration, and in one preferred example, the step of determining the acceleration / deceleration compensation value is

[0111] The intelligent walking assistance device acquires acceleration and deceleration as it moves forward, wherein the acceleration indicates that the intelligent walking assistance device is in an acceleration phase and the deceleration indicates that the intelligent walking assistance device is in a deceleration phase; if the intelligent walking assistance device is in an acceleration phase, the acceleration / deceleration compensation value is determined to be a positive value and simultaneously directly proportional to the acceleration; and

[0112] When the intelligent walking assistance device is in a deceleration phase, it includes determining that the acceleration / deceleration compensation value is a negative value and is simultaneously directly proportional to the rate of deceleration. Here, the acceleration of the intelligent walking assistance device moving forward can be obtained through the acceleration sensor in the above-described embodiment.

[0113] A steering compensation value is used to perform power compensation for the steering of an intelligent walking assistance device, wherein in FIG. 1, the left and right wheels among the rear wheels are controlled by different motors, and the steering compensation value includes a left wheel steering compensation value and a right wheel steering compensation value, and the step of determining the steering compensation value is

[0114] When the intelligent walking assistance device steers to the right, increasing the left wheel steering compensation value and / or decreasing the right wheel steering compensation value; and

[0115] When the intelligent walking assistance device is steered to the left, the right wheel steering compensation value is increased, and / or the left wheel steering compensation value is decreased.

[0116] Here, the steering state of the intelligent walking assistance device can be obtained through an acceleration sensor, and in one preferred example, the difference between the left wheel and the right wheel is acquired, and the steering state of the intelligent walking assistance device can be intelligently acquired through the difference.

[0117] Preferably, increasing the left wheel steering compensation value decreases the right wheel steering compensation value, and increasing the right wheel steering compensation value also decreases the left wheel steering compensation value. In other words, the larger the steering angle, the larger the auxiliary force compensation threshold of the outer wheel becomes, and the greater the auxiliary force compensation threshold of the inner wheel becomes, which helps to form a differential between the motors of the two wheels and realize steering.

[0118] In one example, when the intelligent walking assistance device steers to the right, the left wheel steering compensation value is increased in a manner directly proportional to the steering angle of the intelligent walking assistance device, and preferably, the right wheel steering compensation value is also decreased in a manner directly proportional to the steering angle of the intelligent walking assistance device;

[0119] When the intelligent walking assistance device is steered to the left, the right wheel steering compensation value is increased in a manner directly proportional to the steering angle of the intelligent walking assistance device, and preferably, the left wheel steering compensation value is also decreased in a manner directly proportional to the steering angle of the intelligent walking assistance device.

[0120] The steering compensation described above is triggered only when it is detected that the steering has reached a specific angle, and in one preferred example,

[0121] Step of obtaining the movement speed of the left wheel and the movement speed of the right wheel; and

[0122] The method further includes a step of triggering a steering judgment of the intelligent walking assistance device when the difference between the movement speed of the left wheel and the movement speed of the right wheel exceeds a set difference threshold.

[0123] In other words, it intelligently detects the steering angle through the difference between the left and right wheels.

[0124] As shown in FIG. 4, corresponding to the assistance force control method of the intelligent walking assistance device described above, the embodiment of the present invention further provides an assistance force control device (400) of the intelligent walking assistance device, wherein the device is

[0125] A load weight acquisition module (401) for acquiring the load weight of the vehicle body; and

[0126] When the load weight exceeds a set threshold value, a first auxiliary force compensation mode is entered, wherein in the first auxiliary force compensation mode, the torque output of the motor is compensated based on a first auxiliary force compensation threshold value, and the first auxiliary force compensation threshold value is provided with a first auxiliary force compensation mode entry module (402) which is directly proportional to at least one parameter among the load weight of the intelligent walking assistance device and the movement speed of the intelligent walking assistance device.

[0127] In one optional embodiment, the load weight acquisition module is,

[0128] A load installation unit that acquires a manually set gear ratio and obtains the load weight of the vehicle body corresponding to the gear ratio;

[0129] and / or,

[0130] It includes an automatic load weight acquisition unit that automatically acquires the load weight of the vehicle body, and

[0131] The automatic load weight acquisition unit is,

[0132] A first parameter acquisition sub-unit for acquiring at least one parameter among the acceleration time of the intelligent walking assistance device, the motor output power of the intelligent walking assistance device, and the current of the motor under a set speed condition; and

[0133] It includes a load weight acquisition sub-unit that acquires a load weight corresponding to at least one parameter set in advance and sets it as the current load weight of the vehicle body.

[0134] In one optional embodiment, the device is,

[0135] If the load weight is a set threshold value, it enters a second auxiliary force compensation mode, wherein in the second auxiliary force compensation mode, the torque output of the motor is compensated based on a second auxiliary force compensation threshold value, and the second auxiliary force compensation threshold value is obtained based on a set gear ratio, and further includes a second auxiliary force compensation mode entry module.

[0136] In one optional embodiment, a first auxiliary force compensation threshold determination module is further included, said module,

[0137] A fixed compensation value is determined, wherein the fixed compensation value includes a speed compensation value, a weight compensation value, and a slope compensation value; a fixed compensation value determination unit.

[0138] A specific compensation value determination unit that determines a specific compensation value, wherein the specific compensation value includes an acceleration / deceleration compensation value and / or a steering compensation value; and

[0139] It includes a first auxiliary power compensation threshold determination unit that obtains the first auxiliary power compensation threshold based on the fixed compensation value and the specific compensation value.

[0140] In one optional embodiment, the fixed compensation value determination unit is,

[0141] A movement speed acquisition sub-unit for acquiring the current movement speed of the above intelligent walking assistance device; and

[0142] Based on the above movement speed, a table is searched to obtain the currently required power compensation coefficient, and based on the above movement speed and the above power compensation coefficient, the speed compensation value is obtained, and the speed compensation value is included in a speed compensation acquisition sub-unit that is directly proportional to the above movement speed and the above power compensation coefficient.

[0143] In one optional embodiment, the fixed compensation value determination unit is,

[0144] A first slope compensation sub-unit that determines that, in the case of an uphill slope, the slope compensation value increases as the slope becomes steeper;

[0145] It includes a second slope compensation sub-unit that determines that, in the case of a downhill slope, the slope compensation value is a negative value, and the slope compensation value becomes smaller as the slope increases.

[0146] In one optional embodiment, the fixed compensation value determination unit is,

[0147] A third slope compensation sub-unit that determines that if the vertical angle of the vehicle body is greater than a first set threshold value and the vertical angular velocity of the vehicle body is greater than a second set threshold value, the intelligent walking assistance device is in a state of transitioning from a flat ground to an uphill slope and gradually increases the slope compensation value; and

[0148] If the vertical angle of the vehicle body is smaller than a third set threshold value which is a negative value, and at the same time the vertical angular velocity of the vehicle body is greater than a set fourth threshold value, the intelligent walking assistance device is in a state of transitioning from a downhill to a flat surface, and includes a fourth slope compensation sub-unit that determines that the slope compensation value which is a negative value is gradually increased.

[0149] In one optional embodiment, a specific compensation value determination unit,

[0150] A first acceleration acquisition sub-unit that acquires the acceleration and deceleration of the intelligent walking assistance device moving forward, wherein the acceleration indicates that the intelligent walking assistance device is in an acceleration phase and the deceleration indicates that the intelligent walking assistance device is in a deceleration phase;

[0151] A second acceleration acquisition sub-unit that determines that, when the intelligent walking assistance device is in the acceleration phase, the acceleration / deceleration compensation value is a positive value and is simultaneously directly proportional to the acceleration; and

[0152] When the intelligent walking assistance device is in the deceleration phase, it includes a third acceleration acquisition sub-unit that determines that the acceleration / deceleration compensation value is a negative value and is simultaneously directly proportional to the rate of deceleration.

[0153] In one optional embodiment, the front wheel or the rear wheel includes a left wheel and a right wheel, the left wheel and the right wheel are controlled by different motors, the steering compensation value includes a left wheel steering compensation value and a right wheel steering compensation value, and a specific compensation value determination unit,

[0154] A first steering compensation unit that increases the left wheel steering compensation value and / or decreases the right wheel steering compensation value when the intelligent walking assistance device steers to the right; and

[0155] The intelligent walking assistance device includes a second steering compensation unit that increases the right wheel steering compensation value and / or decreases the left wheel steering compensation value when steering to the left.

[0156] In one optional embodiment, a specific compensation value determination unit,

[0157] A third steering compensation unit that increases the left wheel steering compensation value and / or decreases the right wheel steering compensation value in a manner directly proportional to the steering angle of the intelligent walking assistance device when the intelligent walking assistance device is steered to the right; and

[0158] The intelligent walking assistance device further includes a fourth steering compensation unit that, when steering to the left, increases the right wheel steering compensation value and / or decreases the left wheel steering compensation value in a manner directly proportional to the steering angle of the intelligent walking assistance device.

[0159] In one optional embodiment, a specific compensation value determination unit,

[0160] A left wheel and right wheel movement speed acquisition sub-unit for acquiring the movement speed of the left wheel and the movement speed of the right wheel; and

[0161] It further includes a steering judgment trigger sub-unit that triggers a steering judgment of the intelligent walking assistance device when the difference between the movement speed of the left wheel and the movement speed of the right wheel exceeds a set difference threshold.

[0162] In correspondence with the method for controlling the assisting force of the intelligent walking assistance device described above, an embodiment of the present invention further provides an intelligent walking assistance device, wherein the device comprises:

[0163] It is equipped with at least one memory and at least one processor;

[0164] The above memory stores one or more programs;

[0165] When the above one or more programs are executed by the above at least one processor, the above at least one processor is made to implement the steps of the method for controlling the assisting force of an intelligent walking assistance device described in any one embodiment above.

[0166] In correspondence with the method for controlling the assisting force of the intelligent walking assistance device described above, an embodiment of the present invention further provides a controller, wherein the controller is,

[0167] It is equipped with at least one memory and at least one processor;

[0168] The above memory stores one or more programs;

[0169] When the above one or more programs are executed by the above at least one processor, the above at least one processor is made to implement the steps of the method for controlling the assisting force of an intelligent walking assistance device described in any one embodiment above.

[0170] In an embodiment of the present invention, by automatically determining whether a person is riding on the intelligent walking assistance device or whether goods are loaded based on the load of the intelligent walking assistance device, a first assistance force compensation mode (wheelchair mode) or a second assistance force compensation mode (shopping cart mode) is automatically selected, and an assistance force compensation threshold value is automatically adjusted based on the distinction of the assistance force compensation mode, thereby enabling the intelligent walking assistance device of the present invention to be implemented more intelligently; furthermore, in the first assistance force compensation mode, inclination compensation, speed compensation, acceleration / deceleration compensation, and steering compensation are performed for the intelligent walking assistance device, thereby enabling the user's intention to drive the intelligent walking assistance device to be realized and smooth driving to be achieved even in any road conditions.

[0171] It should be understood that the embodiments of the present invention are not limited to the exact structures described above and shown in the drawings, and that various modifications and changes are possible without departing from the scope thereof. The scope of the embodiments of the present invention is limited only by the appended claims.

[0172] The embodiments described above represent only a few embodiments of the present invention. Although the description is relatively specific and detailed, it should not be understood as a limitation on the scope of the patent. It is necessary to point out that those skilled in the art may make numerous modifications and improvements without departing from the concept of the embodiments of the present invention, and that all of these fall within the scope of protection of the embodiments of the present invention. Explanation of the symbols

[0173] 100: Intelligent walking assistance device; 101: Cushion; 102:Passive wheel; 1031:1st rear wheel; 1032: Second rear wheel; 104: Horizontal handle; 105: Intelligent front control unit; 106: 1st horizontal handle; 107: 2nd horizontal handle; 108: Intelligent rear control unit.

Claims

Claim 1 A method for controlling the auxiliary force of an intelligent walking aid device comprising a vehicle body, wherein the vehicle body is equipped with a cushion for riding or loading goods, and the lower part of the vehicle body is equipped with front and rear wheels, wherein the front or rear wheels are driven by a motor, the method comprises: a step of acquiring the load weight of the vehicle body; and, when the load weight exceeds a set threshold value, entering a first auxiliary force compensation mode, wherein in the first auxiliary force compensation mode, the torque output of the motor is compensated based on a first auxiliary force compensation threshold value, and the first auxiliary force compensation threshold value is directly proportional to at least one parameter among the load weight of the intelligent walking aid device and the movement speed of the intelligent walking aid device; wherein acquiring the load weight of the vehicle body includes acquiring a manually set gear ratio and acquiring a pre-set load weight corresponding to said gear ratio; or, automatically acquiring the load weight of the vehicle body includes acquiring at least one parameter among the acceleration time of the intelligent walking aid device, the motor output power of the intelligent walking aid device, and the current of the motor under a set speed condition. A method for controlling the assist force of an intelligent walking assistance device, comprising: acquiring a load weight corresponding to at least one parameter set in advance and setting it as the current load weight of the vehicle body; wherein determining the first assist force compensation threshold value comprises: determining a fixed compensation value, wherein the fixed compensation value includes a speed compensation value, a weight compensation value, and a slope compensation value; determining a specific compensation value, wherein the specific compensation value includes an acceleration / deceleration compensation value and a steering compensation value; and obtaining the first assist force compensation threshold value based on the fixed compensation value and the specific compensation value. Claim 2 delete Claim 3 A method for controlling the auxiliary force of an intelligent walking assistance device according to claim 1, wherein if the load weight is less than or equal to a set threshold value, a second auxiliary force compensation mode is entered, wherein in the second auxiliary force compensation mode, the torque output of the motor is compensated based on a second auxiliary force compensation threshold value, and the second auxiliary force compensation threshold value is obtained based on a set gear ratio. Claim 4 delete Claim 5 A method for controlling the assistive force of an intelligent walking assistance device according to claim 1, wherein the step of determining the speed compensation value comprises: acquiring the current movement speed of the intelligent walking assistance device; and based on the movement speed, searching a table to acquire the currently required power compensation coefficient, and based on the movement speed and the power compensation coefficient, acquiring the speed compensation value, wherein the speed compensation value is directly proportional to the movement speed and the power compensation coefficient. Claim 6 A method for controlling the assistive force of an intelligent walking assistance device according to claim 1, wherein the step of determining the slope compensation value comprises: in the case of an uphill slope, the slope compensation value increases as the slope increases; and in the case of a downhill slope, the slope compensation value is a negative value and the slope compensation value decreases as the slope increases. Claim 7 A method for controlling the assisting force of an intelligent walking assistance device according to claim 6, wherein the step of determining the slope compensation value comprises: determining that if the vertical angle of the vehicle body is greater than a first set threshold value and the vertical angular velocity of the vehicle body is greater than a second set threshold value, the intelligent walking assistance device is in a state of transitioning from a flat surface to an uphill slope and the slope compensation value is gradually increased; and determining that if the vertical angle of the vehicle body is smaller than a third set threshold value which is a negative value and the vertical angular velocity of the vehicle body is greater than a set fourth threshold value, the intelligent walking assistance device is in a state of transitioning from a downhill slope to a flat surface and the slope compensation value which is a negative value is gradually increased. Claim 8 A method for controlling the auxiliary force of an intelligent walking aid device according to claim 1, wherein the step of determining the acceleration and deceleration compensation value comprises acquiring the acceleration and deceleration of the intelligent walking aid device moving forward, wherein the acceleration indicates that the intelligent walking aid device is in an acceleration phase and the deceleration indicates that the intelligent walking aid device is in a deceleration phase; determining that if the intelligent walking aid device is in an acceleration phase, the acceleration and deceleration compensation value is a positive value and is directly proportional to the acceleration; and determining that if the intelligent walking aid device is in a deceleration phase, the acceleration and deceleration compensation value is a negative value and is directly proportional to the deceleration. Claim 9 A method for controlling the assistive force of an intelligent walking assistance device according to claim 1, wherein the front wheel or the rear wheel includes a left wheel and a right wheel, and the left wheel and the right wheel are controlled by different motors, and the steering compensation value includes a left wheel steering compensation value and a right wheel steering compensation value, and the step of determining the steering compensation value comprises: increasing the left wheel steering compensation value or decreasing the right wheel steering compensation value when the intelligent walking assistance device steers to the right; and increasing the right wheel steering compensation value or decreasing the left wheel steering compensation value when the intelligent walking assistance device steers to the left. Claim 10 A method for controlling the assisting force of an intelligent walking assistance device according to claim 9, further comprising: a step of increasing the left wheel steering compensation value and / or decreasing the right wheel steering compensation value in a manner directly proportional to the steering angle of the intelligent walking assistance device when the intelligent walking assistance device is steered to the right; and a step of increasing the right wheel steering compensation value and / or decreasing the left wheel steering compensation value in a manner directly proportional to the steering angle of the intelligent walking assistance device when the intelligent walking assistance device is steered to the left. Claim 11 A method for controlling the assisting force of an intelligent walking assistance device, characterized in that, in claim 10, it further comprises the step of obtaining the movement speed of the left wheel and the movement speed of the right wheel; and the step of triggering a steering judgment of the intelligent walking assistance device when the difference between the movement speed of the left wheel and the movement speed of the right wheel exceeds a set difference threshold. Claim 12 An auxiliary force control device for an intelligent walking assistance device comprising a vehicle body, wherein the vehicle body is equipped with a cushion for riding or loading goods, and the lower part of the vehicle body is equipped with front wheels and rear wheels, and the front wheels or rear wheels are driven by a motor, wherein the auxiliary force control device comprises: a load weight acquisition module for acquiring the load weight of the vehicle body; The system comprises: a first auxiliary force compensation mode entry module that, when the load weight exceeds a set threshold value, enters a first auxiliary force compensation mode, wherein in the first auxiliary force compensation mode, the torque output of the motor is compensated based on a first auxiliary force compensation threshold value, and the first auxiliary force compensation threshold value is directly proportional to at least one parameter among the load weight of the intelligent walking assistance device and the movement speed of the intelligent walking assistance device; wherein the load weight acquisition module comprises a load installation unit that acquires a manually set gear ratio and acquires a pre-set load weight of the vehicle body corresponding to the gear ratio; or a load weight automatic acquisition unit that automatically acquires the load weight of the vehicle body, and the load weight automatic acquisition unit comprises a first parameter acquisition sub-unit that acquires at least one parameter among the acceleration time of the intelligent walking assistance device, the motor output power of the intelligent walking assistance device, and the current of the motor under a set speed condition; and a load weight acquisition sub-unit that acquires a load weight corresponding to at least one parameter set in advance and sets it as the current load weight of the vehicle body; and further comprises a first auxiliary force compensation threshold value determination module, wherein the first auxiliary force compensation threshold value determination module comprises: a fixed compensation value determination unit that determines a fixed compensation value, wherein the fixed compensation value includes a speed compensation value, a weight compensation value, and a slope compensation value; and a specific compensation value determination unit that determines a specific compensation value, wherein the specific compensation value includes an acceleration / deceleration compensation value and / or a steering compensation value.An assist force control device for an intelligent walking assistance device, characterized by including a first assist force compensation threshold determination unit that obtains the first assist force compensation threshold based on the fixed compensation value and the specific compensation value. Claim 13 An intelligent walking assistance device comprising at least one memory and at least one processor; wherein the memory stores one or more programs; and wherein, when the one or more programs are executed by the at least one processor, the at least one processor is configured to implement the steps of the method for controlling the assisting force of an intelligent walking assistance device according to any one of claims 1, 3, 5 to 11. Claim 14 A controller comprising at least one memory and at least one processor; wherein the memory stores one or more programs; and wherein, when the one or more programs are executed by the at least one processor, the at least one processor is configured to implement the steps of the method for controlling the assisting force of an intelligent walking assistance device according to any one of claims 1, 3, 5 to 11.

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