WO2021104091A1 - Electric walking stick, posture detection device and robot - Google Patents
Electric walking stick, posture detection device and robot Download PDFInfo
- Publication number
- WO2021104091A1 WO2021104091A1 PCT/CN2020/129199 CN2020129199W WO2021104091A1 WO 2021104091 A1 WO2021104091 A1 WO 2021104091A1 CN 2020129199 W CN2020129199 W CN 2020129199W WO 2021104091 A1 WO2021104091 A1 WO 2021104091A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- follower
- balanced
- posture
- detection device
- rod body
- Prior art date
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 34
- 241001166076 Diapheromera femorata Species 0.000 title claims abstract description 4
- 230000033001 locomotion Effects 0.000 claims abstract description 39
- 230000001133 acceleration Effects 0.000 claims description 7
- 230000000694 effects Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000005489 elastic deformation Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/02—Crutches
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/02—Crutches
- A61H3/0244—Arrangements for storing or keeping upright when not in use
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/002—Appliances for aiding patients or disabled persons to walk about with attached or incorporated article carrying means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/002—Appliances for aiding patients or disabled persons to walk about with attached or incorporated article carrying means
- A61H2003/004—Trays
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
- A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5084—Acceleration sensors
Definitions
- the invention relates to the technical field of detection and control, in particular to an electric crutches, a posture detection device and a robot.
- crutches also known as crutches, is a simple device to assist walking, usually a stick made of wood or metal materials. For the elderly or patients with inconvenient legs and feet, crutches are used to move out and maintain body balance. Play an important auxiliary role.
- the Chinese patent with publication number CN109276001A discloses a balance walking stick with automatic following and safety assistance, which includes a grip, a stick body and a balancing device , A battery pack is set on the rod body to provide power.
- the balance device includes a control component, a motor, a reducer, a differential, and casters.
- the control component can sense the tilt of the rod body and control it through speed control and motor drive
- the casters rotate to compensate for the posture change of the stick body, so that the stick can restore and dynamically maintain a balanced state, so as to realize the function of following and assisting the user.
- the first purpose of the present invention is to provide an electric crutches, which has the advantage of being able to accurately detect the inclination posture of the stick body and thus improve the balance in various usage scenarios.
- An electric crutches includes a grip, a rod body and a balance device, the balance device includes a motion mechanism and a main control board that controls the motion of the motion mechanism, a posture detection device is connected between the rod body and the motion mechanism, and
- the attitude detection device includes: a follower connecting piece connected to the rod body and maintaining linkage with the rod body; an elastic support piece, connected between the following connecting piece and the motion mechanism, for carrying the following connecting piece and serving as a follower
- the movable connector provides an activity space; the posture sensor is installed on the follower connector or the rod body to sense the posture change of the rod body and feed it back to the main control board.
- the operator applies the tilt tendency of the stick body in the corresponding direction, because the stick body is connected in the follow-up connection
- the follower connector can be tilted in any direction in the activity space under the support of the elastic support, which is different from the electric crutches of the prior art, and the rod body can be supported by the follower connector, itself and synchronously.
- the follower connector drives the follower connector to tilt in any direction, so that the posture sensor can detect the forward, backward, left, and right tilt change components of the stick body, so as to more accurately detect the tilt posture change of the stick body.
- the user's travel intention is thus more conducive to controlling the motion mechanism to compensate for the posture change of the rod body, so that the balance of the electric crutches in a variety of use scenarios is improved.
- the present invention can be further configured as follows: the attitude sensor is one or a combination of a nine-axis inertial sensor, a three-axis acceleration sensor, a three-axis gyroscope, and a three-axis electronic compass.
- nine-axis inertial sensors can be directly selected, or three-axis acceleration sensors, three-axis gyroscopes, three-axis electronic compasses or a combination thereof can be selected according to application needs, which has good selectivity and expandability.
- the rod body and the follower connector are fixedly connected by a fixed structure.
- the rod body and the follower connector are fixedly connected to realize the linkage between the two, and the posture change of the staff body is directly converted into the posture change of the follower connector, which is more synchronized and timely.
- the present invention can be further configured as follows: the follower connector is a plate body, and the rod body is connected at the geometric center of the plate body.
- the plate body provides a relatively flat and abundant connection space for the fixed structure and the rod body, and the rod body is connected to the geometric center of the plate body, which is more conducive to the balance and stability of the electric crutches.
- the present invention can be further configured as: the board body includes a mounting part for horizontally mounting the attitude sensor, and the attitude sensor is mounted on the mounting part.
- the installation part provides a horizontal installation plane, which facilitates the installation and debugging of the attitude sensor.
- the present invention can be further configured as: the elastic support is a spring.
- the spring has good bearing capacity and elastic deformation and restoring force, can well support the follower connector, and enable it to change its posture in the active space.
- the present invention can be further configured as: the springs are arranged in a plurality and are distributedly connected to the outer periphery of the follower connector.
- the spring is a component that produces elastic deformation along its axial direction.
- the spring is arranged on the outer periphery of the plate-shaped follower connector, which is equivalent to keeping the spring away from the geometric center of the follower connector.
- the connector When the connector is tilted, it can increase the torque along the spring axis and reduce the horizontal torque.
- the service life of the spring itself can be prolonged.
- the common support of the spring makes the force transmission ability of the follower connection more reliable when the posture changes or when the natural equilibrium state is maintained.
- the second object of the present invention is to provide a posture detection device, which has the advantage of being able to accurately detect the tilt posture of the to-be-balanced part to improve the balance in a variety of usage scenarios.
- a posture detection device includes: a follower connecting piece for connecting with the part to be balanced and maintaining linkage with the part to be balanced; an elastic support piece, connected between the following connecting piece and the motion mechanism, for carrying the follower connection It also provides an activity space for the follow-up connecting piece; the attitude sensor is installed on the follow-up connecting piece or the part to be balanced, and is used to sense the posture change of the part to be balanced and feed it back to the main control board.
- the posture detection device can be applied to a variety of machines that include the part to be balanced and the balancing device, in the travel of a variety of usage scenarios, such as forward, back, turn left, turn right, and part to be balanced.
- the to-be-balanced part itself and the follower connector can be synchronously driven to tilt in any direction, so that the attitude sensor can detect the forward, backward, left, and right tilt components to It can more accurately detect the change of its tilting posture, which is more conducive to controlling the motion mechanism to compensate for the posture change of the part to be balanced, and improving the balance in various usage scenarios.
- the present invention can be further configured as follows: the attitude sensor is one or a combination of a nine-axis inertial sensor, a three-axis acceleration sensor, a three-axis gyroscope, and a three-axis electronic compass.
- the follower connector is provided with a fixing structure for fixedly connecting the part to be balanced.
- the present invention can be further configured as follows: the follower connecting member is a plate body, and the geometric center of the plate body is used to connect the part to be balanced.
- the present invention can be further configured as: the board body includes a mounting part for horizontally mounting the attitude sensor, and the attitude sensor is mounted on the mounting part.
- the present invention can be further configured as: the elastic support is a spring.
- the present invention can be further configured as: the springs are arranged in a plurality and are distributedly connected to the outer periphery of the follower connector.
- the third object of the present invention is to provide a robot with the advantage of being able to accurately detect the tilt posture of the balance part to improve the balance in a variety of usage scenarios.
- a robot includes a part to be balanced and a balance device.
- the balance device includes a motion mechanism and a main control board that controls the motion of the motion mechanism.
- the robot further includes the above-mentioned posture detection device.
- the present invention includes at least one of the following beneficial technical effects:
- the part to be balanced such as the rod body
- the posture detection device the part to be balanced, such as the rod body
- the motion mechanism is better controlled to compensate, which is more conducive to maintaining balance
- Fig. 1 is a schematic structural diagram of a first embodiment of an electric crutch of the present invention.
- Fig. 2 is a schematic diagram of the system structure of the first embodiment of the electric crutches of the present invention.
- a C-shaped grip 1 a rod body fixedly connected under the grip 1, a posture detection device connected to the bottom end of the rod body 2, and a posture detection device connected to the posture detection device Below the device, according to the posture detection data fed back by the posture detection device, it performs calculation and judgment, sends out control instructions, and converts it into a traveling balance device.
- the balance device includes a motion mechanism and a main control board 4 that controls the motion of the motion mechanism.
- the movement mechanism includes a chassis 31, a connecting rod 32, and casters 33 mounted on the connecting rod 32.
- the chassis 31 is rectangular, and the connecting rods 32 and the casters 33 are arranged in four groups and are respectively arranged on two long sides of the chassis 31. At the end of the side, each caster 33 is connected to a drive motor 34 to individually control its rotation.
- the two connecting rods 32 on the same long side are combined in a figure eight shape. This arrangement can reduce the center of gravity of the entire motion mechanism.
- the chassis 31 is more stable, increasing the stability of the motion mechanism.
- the shape of the chassis 31 can also be a triangle, a frame, or other shapes.
- the number of groups of the connecting rod 32 and the casters 33 can also be set to two, three, or more than four groups. number.
- the movement mechanism set in this way can drive the rotation of the casters 33 through the drive motors 34. According to the change of the rotation speed, it can stop, forward and retreat. When the rotation speeds of the casters 33 on both sides of the forward direction are different, it can move to the left or to the left. Turn right.
- the main control board 4 includes a battery, a single-chip microcomputer 42 and a driver 43.
- the battery is a lithium battery 41, which is used to supply power to the electrical components of the electric crutches.
- the single-chip 42 is used to receive the attitude detection data fed back by the attitude sensor 51.
- the detected data contains the angle value of the stick body 2 in the three directions of X, Y, Z, and then the microcontroller 42 calculates and judges, and compares it with the threshold value of the corresponding direction.
- a control command is sent to the driver 43, which is converted into a PWM signal for individual control of each driving motor 34, thereby controlling the rotation of each caster 33, realizing motion control and posture compensation, and balancing the electric crutches.
- the posture detection device of the intermediate connection structure includes a follower connector, an elastic support, and the aforementioned posture sensor 51.
- the follower connector is connected to the rod body 2 and maintains linkage with the rod body 2.
- the elastic support is connected between the follower connector and the chassis 31, while carrying the follower connector, it provides a movable space for the follower connector, so the follower connector can tilt in any direction in the movable space ,
- the attitude sensor 51 is installed on the follower connector.
- the follower connector is set as a rectangular plate 52 with the same shape and size as the chassis 31.
- the plate 52 includes a mounting portion 521 for horizontally mounting the attitude sensor 51, and the attitude sensor 51 is mounted on the mounting portion 521.
- the rod body 2 is fixedly connected to the geometric center position of the plate body 52 by the fixing structure 6, that is, the position where the two diagonal lines of the rectangle intersect.
- the fixing structure 6 is a connecting seat.
- the connecting seat includes a connecting plate 61 and a fixing sleeve 62 located in the center of the connecting plate 61. The lower end of the rod body 2 is inserted and fixed in the fixed sleeve 62.
- the connecting plate 61 is screwed or welded.
- the rod body 2 can also be tilted in any direction under the fixing and support of the plate body 52, and the posture change of the rod body 2 can be synchronized with the posture change of the plate body 52.
- the attitude sensor 51 detect the angle value of the attitude tilt in the three directions of X, Y, and Z, and feed it back to the single chip microcomputer 42, so as to help control the motion mechanism to compensate for the attitude change of the rod body 2, so that the electric crutches can be used in a variety of scenarios Improved balance.
- the elastic support is a spring 53
- the upper end of the spring 53 is fixedly connected to the plate 52
- the lower end of the spring 53 is fixedly connected to the chassis 31.
- the spring 53 has good bearing capacity and elastic deformation and restoring force. It can support the follower connector well and make it change its posture in the activity space.
- the springs 53 are arranged in multiple and distributedly connected to the outer periphery of the plate body 52.
- the springs 53 shown in Fig. 1 are arranged on the two long sides of the rectangle each with four, a total of eight, so that when the follower connector is tilted , It can increase the torque along the axial direction of the spring 53 and reduce the torque in the horizontal direction.
- the attitude sensor 51 can be one or a combination of a nine-axis inertial sensor, a three-axis acceleration sensor, a three-axis gyroscope, and a three-axis electronic compass, which has good selectivity and expandability, and is selected in this embodiment
- a nine-axis inertial sensor is used as the attitude sensor 51.
- the attitude sensor 51 may be installed on the rod body 2.
- a posture detection device includes: a follower connecting piece for connecting with the part to be balanced and maintaining linkage with the part to be balanced; an elastic support piece, connected between the following connecting piece and the motion mechanism, for carrying the follower connection
- the posture sensor 51 is installed on the follower connector or the part to be balanced, and is used to sense the posture change of the part to be balanced and feed it back to the main control board 4.
- the posture detection device can be applied to a variety of machines that include the part to be balanced and the balancing device.
- the part to be balanced can be in the follow-up connecting piece.
- the attitude sensor 51 Under the support of, itself and the synchronous drive follower connector tilt in any direction, so that the attitude sensor 51 can detect the forward, backward, left, and right tilt components, so as to more accurately detect the tilt posture change Therefore, it is more beneficial to control the motion mechanism to compensate for the posture change of the part to be balanced, and to improve the balance in a variety of usage scenarios.
- the attitude sensor 51 is one or a combination of a nine-axis inertial sensor, a three-axis acceleration sensor, a three-axis gyroscope, and a three-axis electronic compass.
- a fixing structure 6 for fixedly connecting the part to be balanced is provided on the follower connecting piece.
- the follower connecting piece is a plate body 52, and the geometric center of the plate body 52 is used to connect the part to be balanced.
- the board 52 includes a mounting part 521 for horizontally mounting the attitude sensor 51, and the attitude sensor 51 is mounted on the mounting part 521.
- the elastic support is a spring 53.
- the springs 53 are provided in multiple and distributedly connected to the outer periphery of the follower connecting piece.
- a robot includes a part to be balanced and a balance device.
- the balance device includes a motion mechanism and a main control board 4 that controls the motion of the motion mechanism.
- the robot further includes the attitude detection device described in the second embodiment.
- the portion to be balanced in the second and third embodiments described above may be brackets, trays, clamps, etc. for carrying objects, which are used to fix other objects that actually need to be balanced.
- the part to be balanced can also be directly objects that actually need to be balanced, such as support rods, cameras, balance car pedals, etc.
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims (15)
- 一种电动拐杖,包括握把(1)、杖体(2)和平衡装置,所述平衡装置包括运动机构以及控制所述运动机构运动的主控板(4),其特征在于, An electric crutches, comprising a grip (1), a rod body (2) and a balancing device, the balancing device comprising a movement mechanism and a main control board (4) that controls the movement of the movement mechanism, and is characterized in that:所述杖体(2)与运动机构之间连接有姿态检测装置,所述姿态检测装置包括:A posture detection device is connected between the rod body (2) and the movement mechanism, and the posture detection device includes:随动连接件,与所述杖体(2)连接并与杖体(2)保持联动;The follower connecting piece is connected with the rod body (2) and keeps linkage with the rod body (2);弹性支撑件,连接于随动连接件与运动机构之间,用于承载随动连接件并为随动连接件提供一活动空间;The elastic support member is connected between the follower connector and the movement mechanism, and is used to carry the follower connector and provide a movable space for the follower connector;姿态传感器(51),安装在随动连接件或杖体(2)上,用于感知杖体(2)的姿态变化并反馈给主控板(4)。The posture sensor (51) is installed on the follower connector or the rod body (2), and is used to sense the posture change of the rod body (2) and feed it back to the main control board (4).
- 根据权利要求1所述的电动拐杖,其特征在于:所述姿态传感器(51)为九轴惯性传感器、三轴加速度传感器、三轴陀螺仪、三轴电子罗盘中的一种或多种的组合。 The electric walking stick according to claim 1, characterized in that: the attitude sensor (51) is one or a combination of a nine-axis inertial sensor, a three-axis acceleration sensor, a three-axis gyroscope, and a three-axis electronic compass .
- 根据权利要求1所述的电动拐杖,其特征在于:所述杖体(2)与所述随动连接件通过固定结构(6)实现固定连接。 The electric crutches according to claim 1, characterized in that: the rod body (2) and the follower connecting member are fixedly connected by a fixed structure (6).
- 根据权利要求1或2或3所述的电动拐杖,其特征在于:所述随动连接件为板体(52),所述杖体(2)连接在所述板体(52)的几何中心处。 The electric crutches according to claim 1 or 2 or 3, characterized in that: the follower connecting piece is a plate body (52), and the rod body (2) is connected to the geometric center of the plate body (52) Place.
- 根据权利要求4所述的电动拐杖,其特征在于:所述板体(52)包括用于水平安装姿态传感器(51)的安装部(521),所述姿态传感器(51)安装在所述安装部(521)上。 The electric crutches according to claim 4, characterized in that: the board (52) includes a mounting portion (521) for horizontally mounting an attitude sensor (51), and the attitude sensor (51) is installed on the mounting part (521). Department (521).
- 根据权利要求4所述的电动拐杖,其特征在于:所述弹性支撑件为弹簧(53)。 The electric crutches according to claim 4, characterized in that the elastic support is a spring (53).
- 根据权利要求6所述的电动拐杖,其特征在于:所述弹簧(53)设置为多个且分布连接在所述随动连接件的外周边。 The electric crutches according to claim 6, characterized in that: the springs (53) are arranged in multiples and are distributedly connected to the outer periphery of the follower connecting piece.
- 一种姿态检测装置,其特征在于,包括: A posture detection device, characterized in that it comprises:随动连接件,用于与待平衡部连接并与待平衡部保持联动;Follow-up connector for connecting with the part to be balanced and maintaining linkage with the part to be balanced;弹性支撑件,连接于随动连接件与运动机构之间,用于承载随动连接件并为随动连接件提供一活动空间;The elastic support member is connected between the follower connector and the movement mechanism, and is used to carry the follower connector and provide a movable space for the follower connector;姿态传感器(51),安装在随动连接件或待平衡部上,用于感知待平衡部的姿态变化并反馈给主控板(4)。The posture sensor (51) is installed on the follower connector or the part to be balanced, and is used to sense the posture change of the part to be balanced and feed it back to the main control board (4).
- 根据权利要求8所述的姿态检测装置,其特征在于:所述姿态传感器(51)为九轴惯性传感器、三轴加速度传感器、三轴陀螺仪、三轴电子罗盘中的一种或多种的组合。 The attitude detection device according to claim 8, wherein the attitude sensor (51) is one or more of a nine-axis inertial sensor, a three-axis acceleration sensor, a three-axis gyroscope, and a three-axis electronic compass. combination.
- 根据权利要求8所述的姿态检测装置,其特征在于:所述随动连接件上设有用于固定连接待平衡部的固定结构(6)。The posture detection device according to claim 8, characterized in that: a fixing structure (6) for fixedly connecting the part to be balanced is provided on the follower connecting piece.
- 根据权利要求8或9或10所述的姿态检测装置,其特征在于:所述随动连接件为板体(52),所述板体(52)的几何中心处用于连接待平衡部。 The posture detection device according to claim 8 or 9 or 10, characterized in that: the follower connector is a plate (52), and the geometric center of the plate (52) is used to connect the part to be balanced.
- 根据权利要求11所述的姿态检测装置,其特征在于:所述板体(52)包括用于水平安装姿态传感器(51)的安装部(521),所述姿态传感器(51)安装在所述安装部(521)上。 The attitude detection device according to claim 11, characterized in that: the board (52) comprises a mounting portion (521) for horizontally mounting the attitude sensor (51), and the attitude sensor (51) is installed on the On the mounting part (521).
- 根据权利要求11所述的姿态检测装置,其特征在于:所述弹性支撑件为弹簧(53)。 The posture detection device according to claim 11, wherein the elastic support is a spring (53).
- 根据权利要求13所述的姿态检测装置,其特征在于:所述弹簧(53)设置为多个且分布连接在所述随动连接件的外周边。 The posture detection device according to claim 13, characterized in that: the springs (53) are arranged in multiples and are distributedly connected to the outer periphery of the follower connecting piece.
- 一种机器人,包括待平衡部和平衡装置,所述平衡装置包括运动机构以及控制所述运动机构运动的主控板(4),其特征在于,所述机器人还包括权利要求8至14任意一项所述的姿态检测装置。A robot comprising a part to be balanced and a balancing device, the balancing device comprising a movement mechanism and a main control board (4) that controls the movement of the movement mechanism, characterized in that the robot further comprises any one of claims 8 to 14 The posture detection device described in the item.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201911207179.7A CN110840717A (en) | 2019-11-30 | 2019-11-30 | Electric walking stick, posture detection device and robot |
CN201911207179.7 | 2019-11-30 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2021104091A1 true WO2021104091A1 (en) | 2021-06-03 |
Family
ID=69606820
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2020/129199 WO2021104091A1 (en) | 2019-11-30 | 2020-11-16 | Electric walking stick, posture detection device and robot |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN110840717A (en) |
WO (1) | WO2021104091A1 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110840717A (en) * | 2019-11-30 | 2020-02-28 | 中国科学院深圳先进技术研究院 | Electric walking stick, posture detection device and robot |
CN111685462A (en) * | 2020-08-06 | 2020-09-22 | 联想(北京)有限公司 | Intelligent walking stick and control method thereof |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20150183482A1 (en) * | 2012-09-18 | 2015-07-02 | Murata Manufacturing Co., Ltd. | Mobile body |
CN106214434A (en) * | 2016-08-27 | 2016-12-14 | 重庆足步科技有限公司 | The wheeled walk help platform of intelligence and control strategy method thereof |
CN206808818U (en) * | 2016-10-31 | 2017-12-29 | 郭润泽 | Intelligent crutch |
CN109276001A (en) * | 2018-11-18 | 2019-01-29 | 刘献伟 | It is a kind of automatically with the balance walking stick of amiable safe power-assisted |
CN109431018A (en) * | 2018-12-21 | 2019-03-08 | 杭州师范大学 | One kind being based on Embedded multi-function walking stick |
CN110840717A (en) * | 2019-11-30 | 2020-02-28 | 中国科学院深圳先进技术研究院 | Electric walking stick, posture detection device and robot |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3185908U (en) * | 2013-03-26 | 2013-09-12 | 泰治 志渡澤 | Cane to assist walking |
KR101711300B1 (en) * | 2015-10-07 | 2017-02-28 | 경남대학교 산학협력단 | Electric stick for walking assistance |
CN206548780U (en) * | 2016-10-14 | 2017-10-13 | 刘伟 | A kind of medical Orthopedic nursing crutch |
CN106774342A (en) * | 2017-01-20 | 2017-05-31 | 成都炬石科技有限公司 | A kind of tranquilizer and its algorithm and the wheelbarrow based on the device |
CN107693314B (en) * | 2017-08-02 | 2020-07-14 | 华中科技大学 | Walking stick type autonomous falling protection rehabilitation walking-aid robot |
-
2019
- 2019-11-30 CN CN201911207179.7A patent/CN110840717A/en active Pending
-
2020
- 2020-11-16 WO PCT/CN2020/129199 patent/WO2021104091A1/en active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20150183482A1 (en) * | 2012-09-18 | 2015-07-02 | Murata Manufacturing Co., Ltd. | Mobile body |
CN106214434A (en) * | 2016-08-27 | 2016-12-14 | 重庆足步科技有限公司 | The wheeled walk help platform of intelligence and control strategy method thereof |
CN206808818U (en) * | 2016-10-31 | 2017-12-29 | 郭润泽 | Intelligent crutch |
CN109276001A (en) * | 2018-11-18 | 2019-01-29 | 刘献伟 | It is a kind of automatically with the balance walking stick of amiable safe power-assisted |
CN109431018A (en) * | 2018-12-21 | 2019-03-08 | 杭州师范大学 | One kind being based on Embedded multi-function walking stick |
CN110840717A (en) * | 2019-11-30 | 2020-02-28 | 中国科学院深圳先进技术研究院 | Electric walking stick, posture detection device and robot |
Also Published As
Publication number | Publication date |
---|---|
CN110840717A (en) | 2020-02-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CA3000550C (en) | All-attitude human-machine interaction vehicle | |
CN206187202U (en) | Car is felt to man -machine interactive body | |
US9499228B2 (en) | Self-balancing vehicle frame | |
US8014923B2 (en) | Travel device | |
CN105329387B (en) | Electric balance car | |
JP5366285B2 (en) | Personal balance vehicles | |
WO2021104091A1 (en) | Electric walking stick, posture detection device and robot | |
JP2018135096A (en) | Control of personal transporter based on user position | |
CN105151193B (en) | The body-sensing vehicle and method of control running speed and direction are incuded based on human bady gravitational | |
KR102115844B1 (en) | Roller-skating device and electric balance vehicle | |
US10538286B2 (en) | Electric balancing swing car | |
CN105346643B (en) | Electric balance car | |
WO2015009198A1 (en) | Two-wheeled gyro-stabilized vehicle and methods for controlling such a vehicle | |
CN101920728A (en) | Small portable automatic gravity center control vehicle | |
CN105346651B (en) | Electric balance car | |
CN105346649A (en) | Electrodynamic balance bike | |
CN105416485B (en) | Electric balance car | |
CN105416484B (en) | electric balance car | |
KR20160103634A (en) | wheelchair with mountable power train system and controlled by passenger motion | |
WO2017125062A1 (en) | Balance car | |
CN106005153A (en) | Double-wheeled self-balance vehicle | |
CN103612695A (en) | Double-control type two-wheel self-balancing intelligent vehicle | |
US10568788B2 (en) | Mid-wheel drive wheelchair and seat unit | |
JPWO2016181532A1 (en) | Single-seat mobile device | |
CN109987184A (en) | Scooter |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 20894521 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 20894521 Country of ref document: EP Kind code of ref document: A1 |
|
32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 13.01.2023) |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 20894521 Country of ref document: EP Kind code of ref document: A1 |