CN113975108A

CN113975108A - Intelligent walking aid device and method for controlling and adjusting configuration of intelligent walking aid device

Info

Publication number: CN113975108A
Application number: CN202111376594.2A
Authority: CN
Inventors: 陶春静; 樊瑜波; 李剑锋; 郭江真
Original assignee: Beihang University
Current assignee: Beihang University
Priority date: 2021-11-19
Filing date: 2021-11-19
Publication date: 2022-01-28
Anticipated expiration: 2041-11-19
Also published as: CN113975108B

Abstract

An intelligent walker device and method for controlling adjustments to its configuration are provided. The intelligent walking aid device comprises a first support frame, a second support frame, a third support frame, a fourth support frame, a central joint part, a walking aid controller and at least one sensor. The first support frame and the second support frame are respectively provided with an armrest plate, the third support frame and the fourth support frame are respectively connected with the two chassis moving devices, and the central combination part is provided with at least four connecting parts respectively connected with the support frames. The at least one sensor is configured for detecting user body parameter information and/or environmental parameter information. The walker control is disposed at the central junction and is configured to pose at least one of the first support frame, the second support frame, the third support frame, and the fourth support frame of the intelligent walker device to provide a suitable configuration of the intelligent walker device. The intelligent walking aid device can adapt to various conditions and/or application environments to automatically change the configuration.

Description

Intelligent walking aid device and method for controlling and adjusting configuration of intelligent walking aid device

Technical Field

The invention relates to the field of intelligent walking aids, in particular to an intelligent walking aid device capable of automatically adjusting the configuration according to needs and a corresponding method for controlling and adjusting the configuration of the intelligent walking aid device.

Background

Patients with damaged lower limbs due to accidents, injuries and the like often need to continuously carry out walking training to achieve the aim of rehabilitation in order to prevent muscular atrophy caused by long-time bed rest. In addition, the weakness of the leg muscles of the elderly often causes the mobility of the elderly to be inconvenient and even the mobility of the elderly to be lost, which seriously affects the life quality of the elderly. Therefore, there is a wide social demand for an intelligent device capable of assisting patients with lower limb dysfunction and the elderly to walk safely.

A lot of individuals and organizations make great efforts in this respect, but the existing related devices have single functions, can only simply realize the walking assisting function, have low intelligence degree, and are difficult to change the self structural configuration based on different user conditions and different application scenes to realize the walking aid of the user.

Therefore, there is a need for an intelligent walker device that addresses at least one of the above-mentioned problems.

Disclosure of Invention

The invention provides an intelligent walking aid device and a method for controlling and adjusting the configuration of the intelligent walking aid device, which can automatically adjust the configuration of the intelligent walking aid device according to various user conditions and/or application environments.

According to a first aspect of the present invention, there is provided an intelligent walking aid device, comprising a first support frame, a second support frame, a third support frame, a fourth support frame, a central joint, a walking aid controller and at least one sensor, wherein the first support frame and the second support frame are respectively provided with a handrail plate, the third support frame and the fourth support frame are respectively connected with two chassis moving devices, the central joint has at least four interface parts respectively engaging with the first support frame, the second support frame, the third support frame and the fourth support frame, and the at least one sensor is configured to detect body parameter information and/or environmental parameter information of a user; and the walker control is disposed at the central junction and configured to pose at least one of the first support frame, the second support frame, the third support frame, and the fourth support frame of the intelligent walker device based at least on preset user body parameter information, preset walker modes, detected user body parameter information, and/or detected environmental parameter information to provide a suitable configuration of the intelligent walker device.

In one embodiment, the first, second, third and fourth struts are joined together via the central bond to form an "X" configuration of the walker device.

In one embodiment, at least a portion of the first, second, third and/or fourth support brackets is provided with a variable stiffness material or a variable stiffness component comprised of a spring member to adjust the stiffness of the at least a portion of the first, second, third and/or fourth support brackets as a function of temperature and/or pressure.

In one embodiment, the first support frame, the second support frame, the third support frame and/or the fourth support frame are provided with telescopic parts which can be changed in a telescopic way under the control of the walking aid controller to adjust the length of the first support frame, the second support frame, the third support frame and/or the fourth support frame so as to realize automatic configuration change of the height and/or the width of the intelligent walking aid device.

In one embodiment, the at least one sensor comprises at least one of a temperature sensor, a heart rate sensor, and/or a force sensor disposed at the armrest panel, the temperature sensor, heart rate sensor, and/or force sensor configured to monitor the physical parameter information of the user, the force sensor including at least one of a force sensitive sensor, a torque sensor, and a multi-axis force sensor.

In one embodiment, the intelligent walker apparatus comprises at least one force sensing device, each of the at least one force sensing device comprising at least one manipulating component and at least one of the force sensors indirectly connected to the at least one manipulating component, the at least one manipulating component being disposed at the arm panel, the at least one force sensor being configured to sense a magnitude of pressure and/or torque in at least one direction generated when the at least one manipulating component is manipulated by a user and to generate force data for the user.

In one embodiment, the at least one sensor further comprises at least one of a camera sensor, a laser sensor, a level sensor and/or an ultrasound sensor configured to detect the user body parameter information and/or environmental parameter information.

In one embodiment, the user physical parameter information comprises at least one of: height, weight, shoulder width, spinal column inclination, body center of gravity position, gait, hand exertion, temperature and/or heart rate of the user; and/or the environmental parameter information comprises at least one of: road surface gradient, road surface condition, obstacle location and/or obstacle shape.

In one embodiment, the walking aid controller is further configured to perform a posture adjustment of at least one of the first support, the second support, the third support and the fourth support to change a height, a width, a stiffness and/or an inclination of the intelligent walking aid device based on at least one of preset or detected height, weight, shoulder width, spinal tilt angle, body center of gravity position, gait, hand exertion, temperature and/or heart rate information of the user.

In one embodiment, the walk assist controller is further configured to perform attitude adjustment of at least one of the first support frame, the second support frame, the third support frame, and the fourth support frame to change a height, a width, a stiffness, and/or an inclination of the intelligent walk assist apparatus based on at least one of a preset walk assist pattern, a detected road surface gradient, a road surface condition, an obstacle position, and/or obstacle shape information.

In one embodiment, the two chassis moving devices respectively connected to the third support frame and the fourth support frame each comprise a housing of the chassis moving device, a motor disposed within the housing, and omni-directional wheels connected to the motor, the omni-directional wheels comprising any one of mecanum wheels and omni-directional wheels, the walker control being further configured to cooperatively adjust the height and/or width of the intelligent walker by controlling the direction and speed of movement of the respective omni-directional wheels of the two chassis moving devices respectively in conjunction with the telescoping sections of the first support frame, second support frame, third support frame, and/or fourth support frame such that it assumes a desired configuration.

According to a second aspect of the present invention, there is provided a method for controlling adjustment of a configuration of an intelligent walker device, the intelligent walker device comprising a first support frame, a second support frame, a third support frame, a fourth support frame, a central joint, a walker control and at least one sensor, wherein the first support frame and the second support frame are each provided with a handrail plate, the third support frame and the fourth support frame are each connected to two chassis moving devices, the central joint has at least four interface portions that respectively engage the first support frame, the second support frame, the third support frame and the fourth support frame, the method comprising: detecting user body parameter information and/or environmental parameter information using the at least one sensor; and the walk-assisting controller performs posture adjustment on at least one of the first support frame, the second support frame, the third support frame and the fourth support frame of the intelligent walk-assisting device based on at least preset user body parameter information, a preset walk-assisting mode, detected user body parameter information and/or detected environment parameter information to provide a suitable configuration of the intelligent walk-assisting device.

In one embodiment, the method further comprises: the walking aid controller performs posture adjustment on at least one of the first support frame, the second support frame, the third support frame and the fourth support frame based on at least one of detected or preset height, weight, shoulder width, spinal column inclination angle, human body gravity center position, gait, hand exertion, temperature and/or heart rate information of the user to change the height, width, rigidity and/or inclination of the intelligent walking aid device.

In one embodiment, the method further comprises: the walk-assisting controller performs attitude adjustment of at least one of the first support frame, the second support frame, the third support frame, and the fourth support frame to change a height, a width, a rigidity, and/or an inclination of the intelligent walk-assisting device based on at least one of the detected road surface gradient, road surface condition, obstacle position, and/or obstacle shape information, and/or based on a preset walk-assisting mode.

In one embodiment, the two chassis moving devices respectively connected to the third support frame and the fourth support frame each include a housing of the chassis moving device, a motor disposed within the housing, and omni-directional wheels connected to the motor, the omni-directional wheels including any one of mecanum wheels and omni wheels, the method further comprising: the walking aid controller is used for adjusting the height and/or width of the intelligent walking aid device in a linkage manner by respectively controlling the moving direction and the rotating speed of corresponding omnibearing moving wheels of the two chassis moving devices and combining telescopic parts of the first support frame, the second support frame, the third support frame and/or the fourth support frame so that the intelligent walking aid device is in a desired configuration.

According to a third aspect of the present invention, there is provided a computing apparatus, characterized in that the computing apparatus comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, the processor being capable of implementing the functions of the help controller in the above method when executing the computer program.

According to a fourth aspect of the present invention, there is provided a computer storage medium characterized in that the computer storage medium stores a computer program which, when executed, is capable of implementing the functions of the help controller in the above method.

The intelligent walking aid device provided by the scheme of the invention can automatically adjust the structure configuration of the intelligent walking aid device based on the body parameter information of the user and/or the environment parameter information under different conditions to realize more suitable intelligent walking assistance for the user, can adapt to users with different body types and/or different application environments, greatly improves the user experience of the intelligent walking aid device, and effectively improves the comfort, multi-scene adaptability, reliability and stability of walking aid control. In order to make the above objects, features and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Drawings

The invention will now be described by way of non-limiting example only with reference to the accompanying drawings, in which:

FIG. 1 illustrates a perspective view of an intelligent walker apparatus according to one embodiment of the present invention;

FIG. 2a illustrates a top view of an intelligent walker device according to one embodiment of the present invention;

FIG. 2b illustrates a bottom view of the intelligent walker device according to one embodiment of the present invention;

FIG. 3a illustrates a front view of a combination panel at a central junction of an intelligent walker device according to one embodiment of the present invention in an open configuration;

FIG. 3b illustrates a right rear side bottom view of a combination board at a central junction of an intelligent walker device according to one embodiment of the present invention in an open position;

FIG. 3c illustrates a top left rear side view with the combination panels open at the central junction of the intelligent walker device according to one embodiment of the present invention;

FIG. 3d illustrates a top left rear side view of the composite panels in a closed position at the central junction of the intelligent walker device according to one embodiment of the present invention;

FIG. 3e illustrates a top right-rear side view of the composite panels in a closed position at the central junction of the intelligent walker device in accordance with one embodiment of the present invention;

FIG. 4a illustrates a schematic diagram of one embodiment of a force sensing device in an intelligent assistive device, according to the invention;

FIG. 4b illustrates a schematic view of one embodiment of a protective cover for a force sensing device;

FIG. 5 illustrates a mounting schematic for one embodiment of a force sensitive sensor;

FIG. 6 illustrates a schematic diagram of one embodiment of a force sensing device including a torque sensor;

FIG. 7 illustrates a schematic diagram of one embodiment of a force sensing device including a multi-axis force sensor;

FIG. 8 illustrates a schematic flow diagram of a method for controlling adjustment of the configuration of an intelligent walker device in accordance with one embodiment of the present invention.

To facilitate understanding, identical reference numerals have been used, where possible, to designate identical elements that are common to the figures.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.

In addition, with respect to the orientation terms used herein, such as "front", "rear", "left", "right"

"Upper", "lower", etc. generally refer to the orientation that a user determines when using the intelligent walker device in all possible deformed states, respectively, which orientation can be determined by one skilled in the art in conjunction with the drawings and the context.

Furthermore, spatially relative terms, such as "upper," "lower," "left," "right," "above," "upper," "lower," and "lower," may be used herein for ease of description to describe one element, component, portion, or element's relationship to another element, component, portion, or element as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "on," "over," or "upper" relative to another element, component, portion, or element would be "under," "below," or "lower" relative to the other element. Thus, the term "upper" encompasses an upper orientation and a lower orientation, depending on the spatial orientation of the device. The device may also be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative terms used herein should be interpreted accordingly.

FIG. 1 illustrates a perspective view of an intelligent walker device 100 in accordance with one embodiment of the present invention. FIG. 2a illustrates a top view of the intelligent walker device 100 in accordance with one embodiment of the present invention; FIG. 2b illustrates a bottom view of the intelligent walker device 100 in accordance with one embodiment of the present invention. The intelligent walker device 100 includes a first support frame 101, a second support frame 102, a third support frame 103, a fourth support frame 104, and a central joint 105. The central joint 105 has at least four interface portions engaging the first 101, second 102, third 103 and fourth 104 support frames, respectively. The first support frame 101 and the second support frame 102 are each provided with a corresponding armrest panel 106. The third support frame 103 and the fourth support frame 104 are each connected to a corresponding chassis moving device 109.

At the central junction 105, a walk-assisting controller is provided that is configured to pose at least one of the first support 101, the second support 102, the third support 103 and the fourth support 104 of the intelligent walker device 100 based on at least preset user body parameter information, preset walking patterns, detected user body parameter information and/or detected environmental parameter information to provide a suitable configuration of the intelligent walker device 100.

In one embodiment, the first support frame 101, the second support frame 102, the third support frame 103, and the fourth support frame 104 are joined together via a central joint 105 to form an "X" shaped configuration of the intelligent walker device 100.

In another embodiment, at least a portion of the first support frame 101, the second support frame 102, the third support frame 103, and/or the fourth support frame 104 employ a variable stiffness design. Alternatively, the variable stiffness design employed may employ a variable stiffness component provided with a variable stiffness material or comprised of a spring member to adjust the stiffness of the at least a portion of the first support frame 101, the second support frame 102, the third support frame 103, and/or the fourth support frame 104 as a function of temperature and/or pressure. In one embodiment, for example, a variable stiffness material having properties such as temperature or force sensitivity may be employed at the balustrade panel 106 to fine tune the configuration of the structure at the balustrade panel 106 based on palm temperature or force magnitude while a user is holding the hand, thereby providing the user with an optimal balustrade panel comfort experience. In another embodiment, for example, a variable stiffness member such as a spring member may be employed at the bend of the third support frame 103 and the fourth support frame 104. Additionally, optionally, for example, one end of the variable stiffness member is connected to the chassis moving device 109 and controlled by the walker control to adjust the stretched length of the variable stiffness member to achieve automatic height change of the "X" shaped intelligent walker device 100. The variable stiffness component with flexibility may also prevent bump kickback and act as a shock absorber to protect the user's joints from injury.

In one embodiment, the first support frame 101, the second support frame 102, the third support frame 103 and/or the fourth support frame 104 are provided with telescoping features that enable telescoping changes under the control of the mobility control to adjust the length of the first support frame 101, the second support frame 102, the third support frame 103 and/or the fourth support frame 104 to enable automatic configuration changes in the height and/or width of the intelligent walker device 100.

Optionally, the retractable member may comprise a structural configuration of at least two retractable support brackets and/or retractable pins that can be nested together or at least two fixed bars connected by a spring therebetween or any combination thereof. In one embodiment, control buttons may be provided at the arm rest panels 106 that may be manually operated by a user as desired to adjust the height and/or width of the telescoping support and/or the telescoping pin to adjust the height and/or width of the intelligent walker apparatus 100 as a whole. The control buttons may be pulled or pressed to effect raising or lowering of the intelligent walker device 100 and the control buttons may be pushed left or right to effect widening or narrowing of the intelligent walker device 100, depending on the time of the control buttons, the walker control being responsive to the switch button signals to instruct the intelligent walker device 100 to effect a change in elevation and/or a change in width.

In one embodiment, the intelligent walker device 100 further includes upper and

lower doublers

1081, 1082 disposed at the central joint 105. When necessary, the upper combining plate 1081 and the lower combining plate 1082 may be opened, as shown in fig. 3a, 3b and 3 c; when not needed, it may be folded over inside the central bond 105, as shown in fig. 3d and 3 e. A display screen (e.g., a touch screen control panel) may also be disposed, for example, on the inner side of the upper panel 1081 or at the central joint 105 to display relevant information and be manipulated by the user for user controlled adjustment of the intelligent walker device. The lower panel 1082, when open, may also act as a seat for the user to rest. Optionally, the outer sides of the upper panel 1081, the lower panel 1082, or the central joint 105 may be provided with solar panels to provide the power required by the intelligent walker device 100.

The intelligent walker device 100 further comprises at least one sensor configured for detecting user physical parameter information and/or environmental parameter information. The user body parameter information comprises at least one of: height, weight, shoulder width, spinal column inclination, body center of gravity position, gait, hand exertion, temperature and/or heart rate of the user. The environmental parameter information includes at least one of: road surface gradient, road surface condition, obstacle location and/or obstacle shape.

In one embodiment, at least one of a temperature sensor, a heart rate sensor, and/or a force sensor configured to monitor the body parameter information of the user is provided at the balustrade panel 106, the force sensor including at least one of a force sensitive sensor, a torque sensor, and a multi-axis force sensor (as described in fig. 4 a-7 below).

In one embodiment, the two chassis moving devices 109 respectively connected to the third support frame 103 and the fourth support frame 104 each comprise a chassis moving device housing, a motor disposed within the housing, and omni-directional wheels connected to the motor, the omni-directional wheels comprising any one of mecanum wheels and omni-directional wheels, the mobility assistance controller being further configured to cooperatively adjust the height and/or width of the intelligent mobility aid 10 to assume a desired configuration by controlling the direction of movement and the rotational speed of the respective omni-directional wheels of the two chassis moving devices 109, respectively, in conjunction with the telescoping sections of the first support frame 101, the second support frame 102, the third support frame 103, and/or the fourth support frame 104.

The intelligent walker device 100 further comprises at least one force sensing device, each of said at least one force sensing device comprising at least one manipulating component 107 and at least one said force sensor indirectly connected to the at least one manipulating component 107, the at least one manipulating component 107 being arranged at the arm board 106, the at least one said force sensor being configured to sense a magnitude of pressure and/or torque in at least one direction resulting from the manipulation of the at least one manipulating component 107 by a user and to generate force data of said user. In one embodiment, the walk-assist controller controls the two chassis mobile devices 109 to move by acquiring the generated force data of the user and analyzing the walking intention of the user based on the force data of the user, thereby assisting the user in walking. In addition, the height, width, stiffness and/or inclination of the intelligent walker device 100 may also be varied by coordinated attitude adjustment of at least one of the first support frame 101, the second support frame 102, the third support frame 103 and/or the fourth support frame 104.

In one embodiment, the at least one sensor further comprises at least one of a camera sensor, a laser sensor, a level sensor and/or an ultrasound sensor to detect the user body parameter information and/or environmental parameter information.

In one embodiment, a camera sensor is disposed above the central junction 105 to capture body parameter information of a user's body characteristics such as height, shoulder width, spine or waist tilt angle, and the walker controller poses at least one of the first support frame 101, the second support frame 102, the third support frame 103 and/or the fourth support frame 104 based on the captured user body parameter information to change the height, width, stiffness and/or tilt of the intelligent walker device 100 to better fit the user's position of center of gravity.

In one embodiment, laser sensors are arranged at both front sides of the central coupling portion 105 to detect a road condition to identify an environment, a set of ultrasonic sensors are arranged below the central coupling portion 105 to check whether the ground is rugged or sloped, and sensed obstacle information is transmitted to the driving assistance controller through a serial port. The walking aid controller judges whether an obstacle exists in a predetermined range according to the received sensor information, and if so, the walking aid controller performs posture adjustment on at least one of the first support frame 101, the second support frame 102, the third support frame 103 and/or the fourth support frame 104 to change the height, width, rigidity and/or inclination of the intelligent walking aid device 100 and controls the chassis moving device 109 to stop moving or bypass the obstacle in linkage.

In one embodiment, a level sensor is built into the central junction 105 to detect the tilt angle of the intelligent walker device. By means of the level sensor, it may be facilitated for the intelligent aid device to provide a greater assistance to the user when detecting that the intelligent aid device is located on an uphill slope and to provide a suitable braking when detecting a downhill slope. In addition, with the level sensor, it is also possible to ensure that the user can open the lower modular panel 1082 to act as a seat by adjusting the configuration of the intelligent walker device to a more comfortable level regardless of the surrounding environment, such as the slope of the ground.

In one embodiment, the walker aid controller may pose at least one of the first support frame 101, the second support frame 102, the third support frame 103, and/or the fourth support frame 104 based on a preset walker aid pattern to change the height, width, stiffness, and/or inclination of the intelligent walker aid device 100. For example, when the intelligent walking aid device 100 is started to be used, basic initial settings are first performed, that is, basic information such as the age, sex, and weight of the user needs to be input, and the camera on the intelligent walking aid device 100 can automatically detect the height and shoulder width of the user and record data. Subsequently entering the commissioning phase, the test state may be entered by designing several target actions, such as designing several actions to go forward, go backward, turn left and right, brake, prevent overturning, etc. and to calibrate the action intention according to the travelling experience and to record the variable configuration of the "X" shaped intelligent walker device 100 under the action intention. Optionally, the intelligent walker device 100 may use the above-mentioned state as a preset walking mode, so that the intelligent walker device 100 may have a memory function and adjust the autonomously planned driving path of the intelligent walker device 100, the height, width, stiffness and/or inclination of the first support frame 101, the second support frame 102, the third support frame 103 and/or the fourth support frame 104 according to the preset walking mode to adapt to the walking habits of the user.

In one embodiment, a pointing device and gyroscope may also be built into the central junction 105, in conjunction with the display screen described above, to provide navigation for the user. In one embodiment, bluetooth is built in the central junction 105, and can be connected to a user's smart terminal device (e.g., a mobile phone, a smart watch, or other smart wearable device) via bluetooth, and the smart walker can be controlled via the user's smart terminal device if necessary. For example, according to the physiological information of the user monitored by the sensor, if the monitored physiological parameter exceeds a relevant threshold value, safety early warning can be performed on the physical condition of the user, and the relevant information can be sent to a doctor or family, so that the doctor or family can communicate with the user in real time or rescue the user in time. In one embodiment, a night light may be placed outside the central joint 105 and a speaker and microphone may be placed above the central joint 105 to facilitate interaction with the user.

FIG. 4a illustrates a schematic view of one embodiment of the force sensing device in the intelligent walker device 100 according to the present invention.

Preferably, the intelligent walker device further comprises at least one force sensing device such as two identical force sensing devices comprising a manipulating component 107 as shown in FIG. 1.

In one embodiment of the force sensing device as shown in fig. 4a, the force sensing device may comprise at least one manipulation member 107 and at least one force sensor (e.g., 41, 42, 43, and/or 44) directly or indirectly connected to the at least one manipulation member. The force sensing devices may, for example, be provided at the first and second support frames 101 and 102 (e.g., the armrest panel 106), respectively, and at least one force sensor included in the force sensing devices may be configured to sense a pressure value in at least one direction generated when the at least one manipulation member 107 is manipulated by a user and generate the force data.

In one embodiment of the force sensing device as shown in FIG. 4a, the intelligent walker device may include a manipulating member 107 and at least two force sensitive sensors (e.g., four force sensitive sensors) directly or indirectly connected to the manipulating member. Four force sensitive sensors, such as pressure sensitive sensors or other known simple, small sensors for sensing forces commonly used in the art, constitute a force sensing recording unit. In fig. 4a, reference numerals 41-44 show the mounting locations of four force sensitive sensors. A manipulating member connecting plate 402 connected to the manipulating member 107 is provided below the manipulating member. The handling member interface disc 402 has a first hole provided in an upper surface thereof, and the handling member 107 may be provided in the first hole of the handling member interface disc. The at least two force sensitive sensors are respectively arranged in at least two mounting locations in an upper surface of the manipulating part connecting disc, the at least two mounting locations being evenly spaced in a circumferential direction around the first hole in the manipulating part connecting disc.

In the embodiment shown in fig. 4a, the force sensing means comprises an actuation member 107 in the form of a cylindrical push rod. But as will be readily apparent to those skilled in the art after reading this disclosure, the manipulating component may also be a screw or a manipulating handle or other manipulating component of various shapes suitable for manipulation by the user, so long as it is implemented such that the force-sensitive sensor senses the force data of the user using the intelligent walker device and thus learns the walking intent of the user.

The manipulating member coupling plate 402 may further include at least two grooves (45-47 shown in fig. 4 a) disposed in an upper surface thereof, the at least two grooves being evenly spaced between the at least two mounting locations. A screw capable of fixing a lower end of the spring in place in the groove and a spring connected to the screw capable of supporting a protective cover of the manipulating part when the protective cover is placed over the manipulating part connecting plate so that a space exists between the protective cover and an upper surface of the manipulating part connecting plate may be provided in each of the at least two grooves. Specifically, when the force sensing device is not subjected to the thrust action, the force-sensitive sensor cannot be contacted with the push rod due to the supporting action of the spring, so that the zero drift of the force-sensitive sensor caused by the gravity of the force sensing device is eliminated. If the user promotes the push rod, the spring receives the extrusion, and the push rod inclines along user's thrust direction, thereby the force sensor of this direction has received the pressure of push rod can measure the numerical value of this pressure, in case thrust disappears, the spring can jack-up the push rod again and make it reconversion. The pressure value collected by the force-sensitive sensor can be transmitted to the assistant controller through the data acquisition card.

FIG. 4b illustrates a schematic view of one embodiment of a protective cover for a force sensing device.

As shown in fig. 4b, the force sensing device may further comprise a protective cover 49 having a second hole therein, the manipulating member being capable of passing through the second hole in the protective cover and covering over the manipulating member connecting plate 402 to protect the force sensing sensor provided in the manipulating member connecting plate.

The protective cover shown in fig. 4b snaps over the push rod when installed, serving as a design enhancement and protecting the force sensitive sensor at the bottom of the push rod. It should be noted that fig. 4a shows one of the left and right push rods of the two force sensing devices of fig. 1 including the manipulating part 107. The structure of the left and right push rods can be identical or different. A push rod arrangement together with, for example, 4 force sensors connected thereto may form a force sensor device. Under the condition that the intelligent walking aid device comprises two force sensing devices, the controller can simultaneously obtain pressure values acquired by 8 force-sensitive sensors so as to comprehensively judge the walking intention of the user.

FIG. 5 illustrates a mounting diagram for one embodiment of a force sensitive sensor.

Preferably, the force sensor 411 itself may be a thin sheet, and the surface of the force sensor may be treated with silica gel or have silica gel sheets mounted on the top and bottom to ensure uniform force. As illustrated in fig. 5, an upper silicone sheet 410 may be mounted at an upper surface of the force sensor 411, and a lower silicone sheet 412 may be mounted at a lower surface of the force sensor 411.

FIG. 6 illustrates a schematic diagram of one embodiment of a force sensing device including a torque sensor.

In one embodiment, the intelligent walker device may include two of the force sensing devices disposed on the left and right sides of the first and second support frames of the intelligent walker device, respectively, wherein one of the two force sensing devices includes a manipulating member and at least two force sensitive sensors directly or indirectly connected to the manipulating member and the other of the two force sensing devices (as shown in FIG. 6) includes another manipulating member and an associated torque sensor 403. The torque sensor 403 is disposed inside or directly or indirectly connected with the other manipulating part, and the torque sensor 403 is configured to sense the amount of torque generated when the manipulating part connected thereto is manipulated by a user.

FIG. 7 illustrates a schematic diagram of one embodiment of a force sensing device including a multi-axis force sensor.

In one embodiment, the intelligent walker device includes a force sensing device disposed on the first support frame and/or the second support frame of the intelligent walker device, the force sensing device including a manipulating member and a multi-axis force sensor 405 (shown in FIG. 7) coupled to the manipulating member. The multi-axis force sensor 405 is configured to sense a magnitude of a pressure and/or a torque in at least one direction generated when a manipulation member connected thereto is manipulated by a user. The multi-axis force sensor is capable of detecting forces in multiple degrees of freedom, and a tri-axis force sensor may be employed herein to detect walking intent (or intent force) of a user.

In case the intelligent walker device comprises a multi-axis force sensor 405, an upper mounting plate 404 and a lower mounting plate 406 may be provided above and below the multi-axis force sensor, respectively, the upper mounting plate having a third hole in its upper surface, the manipulating member being provided in at least the third hole of the upper mounting plate 404.

FIG. 8 illustrates a schematic flow diagram of a method 800 for controlling adjustment of the configuration of the intelligent walker device 100 in accordance with one embodiment of the present invention. The method 800 comprises steps S801-S802.

Specifically, in step S801, the user body parameter information and/or the environmental parameter information is detected using the at least one sensor. The user body parameter information comprises at least one of: height, weight, shoulder width, spinal column inclination, body center of gravity position, gait, hand exertion, temperature and/or heart rate of the user. The environmental parameter information includes at least one of: road surface gradient, road surface condition, obstacle location and/or obstacle shape.

At step S802, the walker control poses at least one of the first support frame 101, the second support frame 102, the third support frame 103 and/or the fourth support frame 104 of the intelligent walker device 100 based at least on preset user body parameter information, preset walker modes, detected user body parameter information and/or detected environmental parameter information to provide a suitable configuration of the intelligent walker device 100. Preferably, in one embodiment, the first support frame 101, the second support frame 102, the third support frame 103, and the fourth support frame 104 are joined together via a central joint 105 to form an "X" configuration of the intelligent walker device 100.

Optionally, in one embodiment, a motor is placed at the central junction 105, and the motor may be connected to the first support frame 101 and the second support frame 102. The adjustment of the inclination angles of the first support frame 101 and the second support frame 102 is realized through the positive and negative rotation of the motor. Fan-shaped chucks may be provided at the ends of the third support 103 and the fourth support 104, for example, and the chucks may be engaged with locking devices disposed at the central joint 105, and the adjustment of the tilt angles of the third support 103 and the fourth support 104 may be performed by engaging with omni-directional wheels at the two chassis moving devices 109. For example, if the inclination angles of the third support frame 103 and the fourth support frame 104 are increased, the locking device is released, the bottom omni-directional moving wheels respectively drive the two chassis moving devices 109 to move in the direction away from the center line, and the chuck is locked after the third support frame 103 and the fourth support frame 104 reach a predetermined angle; if the inclination angles of the third support frame 103 and the fourth support frame 104 are decreased, the locking device is released, the bottom omni-directional moving wheels respectively drive the two chassis moving devices 109 to move towards the direction close to the central line, and the chuck is locked after the third support frame 103 and the fourth support frame 104 reach the preset angle. The design of the chuck can refer to the design of a machine tool clutch, a multi-layer pressurization mode is adopted, the locking device adopts a linear motor, and the linear motor is used for controlling the opening and closing of the locking mechanism.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the apparatuses and components described in the above method embodiments may refer to the corresponding technical features in the foregoing apparatus embodiments, and are not described herein again. Thus, the method embodiments may be supplemented, explained and may serve as a basis for modifications thereof, based on the solutions or features mentioned in the previous device embodiments of the intelligent walker device.

In yet another aspect of the present invention, a computing device is further provided, which includes a memory, a processor, and a computer program stored on the memory and capable of running on the processor, and the processor is capable of implementing the functions of the help controller in the above method when executing the computer program.

In still another aspect of the present invention, a computer storage medium is further provided, which stores a computer program, and the computer program can realize the functions of the help controller in the above method when being executed.

As will be appreciated by a person skilled in the art after reading the present disclosure, in one embodiment the help controller may be implemented by a corresponding computer program code, as long as the corresponding technical effect is achieved.

It should be noted that the embodiments provided in this application are only the alternative embodiments described in this application, and those skilled in the art can make various modifications and/or changes based on the disclosure herein, and design more embodiments, and such modifications and/or changes are considered to fall within the protection scope of the present invention.

Those of ordinary skill in the art will appreciate that the various illustrative components and/or steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Those of ordinary skill in the art may implement the described functionality in varying ways depending on the particular application, and such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In one or more of the embodiments provided above, it should be understood that the disclosed apparatus and methods may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, e.g., a division of elements or components into only one logical division, and additional divisions may be achieved in practice, e.g., multiple elements or components may be combined or integrated into another component, or some features may be omitted, or not implemented. Further, the connections shown or discussed may be made via interfaces, and the indirect or communicative connection of devices or units may be electrical, mechanical or otherwise.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the walk-assisting controller portion of the intelligent walk-assisting device may be embodied in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computing device or a mobile terminal, a server or a network device, etc.) or a processor to perform all or part of the steps of the methods of the various embodiments of the present application. The foregoing storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The flowchart and/or block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart and/or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The above embodiments of the present application are provided only, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present disclosure, and such changes or substitutions should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An intelligent walking aid device, which is characterized by comprising a first support frame, a second support frame, a third support frame, a fourth support frame, a central joint part, a walking aid controller and at least one sensor,

the first support frame and the second support frame are respectively provided with a handrail plate,

the third support frame and the fourth support frame are respectively connected with two chassis moving devices,

the central joining portion having at least four interface portions that respectively engage the first support bracket, the second support bracket, the third support bracket, and the fourth support bracket,

the at least one sensor is configured for detecting user body parameter information and/or environmental parameter information; and

the walker control is disposed at the central junction and is configured to pose at least one of the first support frame, the second support frame, the third support frame, and the fourth support frame of the intelligent walker device based on at least preset user body parameter information, preset walker modes, detected user body parameter information, and/or detected environmental parameter information to provide a suitable configuration of the intelligent walker device.

2. The intelligent walker device of claim 1 wherein the first, second, third and fourth struts are joined together via the central joint to form an "X" configuration of the walker device.

3. The intelligent walker device of claim 1 wherein at least a portion of the first, second, third and/or fourth struts are provided with a variable stiffness material or a variable stiffness component comprised of a spring member to adjust the stiffness of the at least a portion of the first, second, third and/or fourth struts as a function of temperature and/or pressure.

4. The intelligent walker device of claim 1 wherein the first, second, third and/or fourth support brackets are provided with telescoping features that enable telescoping changes under the control of the walker control to adjust the length of the first, second, third and/or fourth support brackets to enable automatic configuration changes of the height and/or width of the intelligent walker device.

5. The intelligent walker apparatus of any one of claims 1-4 wherein the at least one sensor includes at least one of a temperature sensor, a heart rate sensor, and/or a force sensor disposed at the arm rest deck, the temperature sensor, heart rate sensor, and/or force sensor configured to monitor the physical parameter information of a user, the force sensor including at least one of a force sensitive sensor, a torque sensor, and a multi-axis force sensor.

6. The intelligent walker device of claim 5, wherein the intelligent walker device comprises at least one force sensing device, each of the at least one force sensing device comprising at least one manipulation member and at least one force sensor indirectly connected to the at least one manipulation member, the at least one manipulation member being disposed at the arm panel, the at least one force sensor being configured to sense a magnitude of pressure and/or torque in at least one direction generated when the at least one manipulation member is manipulated by a user and to generate force data for the user.

7. The intelligent walker apparatus of claim 5 wherein the at least one sensor further comprises at least one of a camera sensor, a laser sensor, a level sensor, and/or an ultrasonic sensor configured to detect the user body parameter information and/or environmental parameter information.

8. The intelligent walker device of claim 7,

the user body parameter information comprises at least one of: height, weight, shoulder width, spinal column inclination, body center of gravity position, gait, hand exertion, temperature and/or heart rate of the user; and/or the presence of a gas in the gas,

the environmental parameter information includes at least one of: road surface gradient, road surface condition, obstacle location and/or obstacle shape.

9. The intelligent walker device of any one of claims 1-4 wherein the walker controller is further configured to perform a posture adjustment of at least one of the first support frame, the second support frame, the third support frame and the fourth support frame to change a height, width, stiffness and/or inclination of the intelligent walker device based on at least one of preset or detected height, weight, shoulder width, spinal inclination angle, body center of gravity position, gait, hand exertion, temperature and/or heart rate information of the user.

10. The intelligent walker device of any one of claims 1-4 wherein the walker control is further configured to pose at least one of the first support frame, the second support frame, the third support frame and the fourth support frame to change a height, width, stiffness and/or inclination of the intelligent walker device based on at least one of a preset walker mode, a detected road grade, a road condition, an obstacle location and/or obstacle shape information.

11. The intelligent walker device of any one of claims 1-4 wherein the two chassis moving devices respectively connected to the third and fourth support frames each include a chassis moving device housing, a motor disposed within the housing, and omni-directional wheels connected to the motor, the omni-directional wheels including any one of mecanum wheels and omni-directional wheels, the walker control being further configured to cooperatively adjust the height and/or width of the intelligent walker device to assume a desired configuration by controlling the direction and speed of movement of the respective omni-directional wheels of the two chassis moving devices, respectively, in conjunction with the telescoping sections of the first, second, third, and/or fourth support frames.

12. A method for controlling adjustment of a configuration of an intelligent walker device, the intelligent walker device comprising a first support frame, a second support frame, a third support frame, a fourth support frame, a central junction, a walker control, and at least one sensor, wherein,

the method comprises the following steps:

detecting user body parameter information and/or environmental parameter information using the at least one sensor; and

the walk-assisting controller performs posture adjustment on at least one of the first support frame, the second support frame, the third support frame and the fourth support frame of the intelligent walk-assisting device based on at least preset user body parameter information, a preset walk-assisting mode, detected user body parameter information and/or detected environmental parameter information to provide a suitable configuration of the intelligent walk-assisting device.

13. The method of claim 12, wherein the first, second, third, and fourth struts are joined together via the central bond to form an "X" configuration of the walker device.

14. The method of claim 12, wherein at least a portion of the first, second, third, and/or fourth support brackets are provided with a variable stiffness component of a variable stiffness material or a spring member to adjust the stiffness of the at least a portion of the first, second, third, and/or fourth support brackets as a function of temperature and/or pressure.

15. The method of claim 12, wherein the first, second, third and/or fourth support frames are provided with telescoping features that enable telescoping changes under the control of the walker control to adjust the length of the first, second, third and/or fourth support frames to enable automatic configuration changes of the height and/or width of the intelligent walker device.

16. The method according to any one of claims 12 to 15, characterized in that the method further comprises:

the walking aid controller performs posture adjustment on at least one of the first support frame, the second support frame, the third support frame and the fourth support frame based on at least one of detected or preset height, weight, shoulder width, spinal column inclination angle, human body gravity center position, gait, hand exertion, temperature and/or heart rate information of the user to change the height, width, rigidity and/or inclination of the intelligent walking aid device.

17. The method according to any one of claims 12 to 15, characterized in that the method further comprises:

the walk-assisting controller performs attitude adjustment of at least one of the first support frame, the second support frame, the third support frame, and the fourth support frame to change a height, a width, a rigidity, and/or an inclination of the intelligent walk-assisting device based on at least one of the detected road surface gradient, road surface condition, obstacle position, and/or obstacle shape information, and/or based on a preset walk-assisting mode.

18. The method of any one of claims 12 to 15, wherein the two chassis moving devices respectively connected to the third and fourth support frames each comprise a chassis moving device housing, a motor disposed within the housing, and omni-directional moving wheels connected to the motor, the omni-directional moving wheels comprising any one of mecanum wheels and omni-directional wheels,

the method further comprises: the walking aid controller is used for adjusting the height and/or width of the intelligent walking aid device in a linkage manner by respectively controlling the moving direction and the rotating speed of corresponding omnibearing moving wheels of the two chassis moving devices and combining telescopic parts of the first support frame, the second support frame, the third support frame and/or the fourth support frame so that the intelligent walking aid device is in a desired configuration.

19. A computing device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor being capable of implementing the functions of the helper controller in the method according to any of claims 12 to 18 when executing the computer program.

20. A computer storage medium, characterized in that it stores a computer program which, when executed, is capable of implementing the functionality of a help controller in a method according to any one of claims 12 to 18.