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WO2018059733A1 - Véhicule doté d'au moins un capteur de force - Google Patents

Véhicule doté d'au moins un capteur de force Download PDF

Info

Publication number
WO2018059733A1
WO2018059733A1 PCT/EP2017/001133 EP2017001133W WO2018059733A1 WO 2018059733 A1 WO2018059733 A1 WO 2018059733A1 EP 2017001133 W EP2017001133 W EP 2017001133W WO 2018059733 A1 WO2018059733 A1 WO 2018059733A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
sensor
handle
control device
mobility assistance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2017/001133
Other languages
German (de)
English (en)
Inventor
Matthias Schellhase
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
Original Assignee
KUKA Roboter GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KUKA Roboter GmbH filed Critical KUKA Roboter GmbH
Publication of WO2018059733A1 publication Critical patent/WO2018059733A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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
    • A61H3/04—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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • 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
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5025—Activation means
    • A61H2201/5028—Contact activation, i.e. activated at contact with a surface of the user to be treated
    • 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
    • A61H2201/5061—Force sensors
    • 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
    • A61H2201/5069—Angle sensors
    • 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
    • A61H2201/5079—Velocity sensors

Definitions

  • the invention relates to a vehicle, comprising a chassis with a plurality of wheels, for the mobile movement of the
  • Vehicle are formed, at least one motor which is designed to drive at least one of the wheels and at least one handle, in particular such
  • Mobility assistant device can hold and / or support.
  • the vehicle may in particular be the mobility assistance device.
  • the vehicle may also be another particularly hand-guided vehicle, such as e.g. Industrial trucks, in particular pallet jack, "ant", forklifts, etc., or vehicles for transporting loads or autonomous vehicles having a mode of manual control or driving.
  • Auxiliary device comprising a landing gear with a plurality
  • the domestic auxiliary device has at least one with a domestic control device
  • Help device connected, which is arranged, driven by the control device to drive at least one of the wheels, and an input device connected to the control device.
  • the object of the invention is to provide a vehicle or a
  • Mobility assistance device to create, which can be handled intuitively in a secure manner.
  • a vehicle comprising:
  • At least one motor adapted to drive at least one of the wheels
  • At least one handle which is in particular designed such that a person at the
  • control device which is adapted to the at least one motor in response to the information from the signal of the at least one force sensor to control movements of the vehicle or the
  • the vehicle or the mobility assistance device in particular the control device is formed, during the operation of the vehicle or the
  • Mobility assistance device sequentially automatically repeated at intervals
  • the vehicle or the mobility assistance device can at least one arranged on the handle manual
  • control device may be formed as a driving control device which controls the at least one motor in response to the actuation of the at least one manual input means to Movements of the vehicle or the
  • Then To control mobility assistance device.
  • Input means may be configured, upon a manual actuation of the input means, the vehicle or the
  • Mobility assistance device by driving the
  • the vehicle or the mobility assistance device has a chassis with a plurality of wheels, in particular at least three wheels, which are used for the mobile movement of the vehicle
  • Such mobility assistance devices are also generally referred to as walkers and serve primarily as a walker for persons with reduced mobility.
  • mobility assistance apparatus can serve not only as a support during walking of a person, but also, for example, as an auxiliary device when getting up, sitting down or stooping the person.
  • a mobility assistance device has at least one handle on which the person can hold on with their hands.
  • the vehicle or the mobility assistance device may in particular have two handles, namely a handle for the left hand and a handle for the right hand of the person.
  • the vehicle or the mobility assistance device of the present invention comprises a drive device, comprising at least one driving control device which controls at least one motor for driving
  • Mobility assistance device is formed, so that the vehicle or the mobility assistance device
  • the vehicle or mobility assistance device can not only be moved by the person pushing the vehicle or the mobility assistance device in front of him, but the vehicle or the
  • Mobility assistance device comprises at least one
  • Mobility assistance device depending on the manual operation of the at least one input means automatically driven by the wheels can drive.
  • the vehicle or the mobility assistance device may generally have at least one brake.
  • the at least one brake may be configured to decelerate at least one of the wheels to move the locomotive
  • the brake may be an electric brake or an electrically controlled brake, which has, for example, an electrically controlled mechanical braking device.
  • the driving control device may be configured in response to the operation of the at least one
  • manual input means not only the at least one motor to control movements of the Mobility assistance device or the vehicle
  • Mobility assistance device or the vehicle
  • the at least one input means is for a person, who the vehicle or the
  • Mobility assistance device uses, by manual
  • the input means at this moment assigned operating mode of the vehicle or the
  • Mobility Assist device can start or stop.
  • the at least one input means is with the
  • Driving control device connected to the movements of the vehicle or the mobility assistance device in
  • Input means drives.
  • Mobility assistance device may have to start or to terminate several different modes in addition to a first input means, optionally a second input means, a third input means or an nth input means.
  • At least one input means is realized in that the at least one handle is coupled to at least one force sensor, then a movement command, for example a command for starting or stopping the vehicle or the
  • Mobility assistance device thereby be given by a person by the person touches the handle and presses, for example, this handle in the direction of travel (to start the vehicle or the
  • Mobility assistance device or pulls on the handle against the direction of travel (to stop the vehicle the mobility assistance device).
  • the respective movement command is thereby detected by the at least one force sensor by measuring the introduced by the hand in the handle external force.
  • the most accurate possible detection of such external forces is desirable.
  • the vehicle or the mobility assistance device has at least one force sensor coupled to the handle, which is designed as a function of a
  • a control device of the vehicle or the mobility assistance device is formed during the operation of the vehicle or the
  • Mobility assistance device sequentially automatically repeated at intervals
  • Zuppticianj ustierungen perform the at least one force sensor, a particularly accurate and reliable force measurement by the at least one force sensor
  • Mobility assistance device operated particularly precise and safe, in particular automatically driven to be moved.
  • the at least one force sensor does not necessarily have to be a pure force sensor which can only detect forces, but the force sensor can generally also be one
  • Combined force / torque sensor that either detects only moments and from it can also determine force values or can detect both forces and moments and optionally from forces and / or moments are determined can.
  • the present patent application generally has no limitations with respect to the combination of possible forces (Fx, Fy, Fz) and moments (Tx, Ty, Tz).
  • the control device which is designed to control the at least one motor in dependence on the information from the signal of the at least one force sensor, in order to control movements of the vehicle or of the mobility assistance device, can form the driving control device.
  • the control device which is formed during the operation of the vehicle or the
  • Mobility assistance device sequentially automatically repeated at intervals
  • the at least one force sensor may be formed as a separate from the driving control device control device. This separate control device can then be connected to the driving control device in terms of control technology. Alternatively, the control device may be formed as a common control device, which is designed both, the
  • At least one motor in response to the information from the signal of the at least one force sensor to control movements of the vehicle or the
  • Force sensor is understood in the context of the invention, in particular an adjustment of this measuring system to a ground state, which is known or assumed that no external forces on the vehicle or the
  • Mobility assistance device act. An external force or several external forces can be controlled by a manual
  • Mobility assistance device hold on and / or
  • Mobility assistance device from outside the vehicle or the mobility assistance device be introduced into this, in particular via the handle or the handles of the vehicle or the mobility assistance device.
  • Mobility assistance device is not being serviced does not move, stands in the plane and / or no other forces or moments are acting on the at least one force sensor of the vehicle or the mobility assistance device.
  • Mobility Assist device is touched or moved, should immediately, i. can also be automatically revised, if possible, can be repeated immediately, that is, it should be prevented that the vehicle or the mobility assistance device is operated with incorrect Sensorj ustierun.
  • Minimum time may be calibrated.
  • a standstill of the vehicle or the mobility assistance device can be ensured for example by measuring the odometry.
  • Hand recognition can be done, for example, with capacitive
  • Mobility assistance device hang so that they
  • Handles are detected to disable the zero point adjustment.
  • Whether the vehicle or the mobility assistance device is on an inclined plane can be automatically determined, for example, by inclination sensors.
  • a first zero point adjustment immediately after a turn on i. Starting the vehicle or the mobility assistance device are performed automatically before the vehicle or the
  • Mobility assistance device is used by a user.
  • the control device may be configured to determine the time period that has elapsed since a zero point adjustment last performed, to compare the specific time duration with a predetermined minimum time duration, and in the event that the specific time duration exceeds the predetermined time duration
  • the control device may be configured to supply the determined period of time with a predetermined maximum period of time
  • Mobility assistance device is brought into a park state and the need to carry out a
  • Zero point ust ist on a display means of the vehicle or the mobility assistance device is optically and / or acoustically displayed.
  • the maximum duration may be set to 30 minutes.
  • the controller may be configured to automatically start a new cycle
  • Zeroigej ust mich first to capture the current state of motion and the current hand guidance state of the vehicle or the mobility assistance device and zer Vietnamese ust mich of the at least one force sensor to conclude only if the state detection provides the result that the vehicle or the
  • the at least one handle may include a touch sensor configured to automatically detect a touch of the handle and generate a sensor value that includes information about whether the handle is touched, and the controller connected to the touch sensor may be configured to: due to a sensor value provided by the touch sensor containing the information that the handle is not touched, a zero point offset of the at least one
  • the vehicle or mobility assistance device may include a motion sensor configured to automatically detect a movement and / or an acceleration of the vehicle or the mobility assistance device and to generate a sensor value that contains information about whether the vehicle or the vehicle
  • Mobility assistance device is stationary, and connected to the motion sensor control device may be formed, due to a sensor provided by the motion sensor value, which contains the information that the vehicle or the mobility assistance device is stationary, a Nulljunkttechnik of at least one
  • the vehicle or the mobility assistance device may have a position sensor, which is formed, a spatial position of the vehicle or the
  • Mobility assistance device to automatically detect and generate a sensor value that contains information about whether the vehicle or the
  • the aligned level, and the control device connected to the position sensor can be formed, due to a sensor value supplied by the position sensor, containing the information that the vehicle or the mobility assistance device on a horizontal
  • the controller may be configured for the duration of a current cycle of zeroing
  • the control device may be designed, in the event of termination of a running cycle of the zero point offset, information which is impermissible for carrying out a zero point adjustment of the at least one force sensor and which led to aborting the current cycle of the zero point offset, to a display means of the vehicle or the vehicle
  • Mobility assistance device visually and / or acoustically display.
  • Fig. 1 is a schematic perspective view of an exemplary mobility assistance device, the is moved by a user, ie a person controlled,
  • Fig. 2 is a schematic representation of an exemplary
  • Fig. 1 shows as a preferred embodiment of a
  • Vehicle an exemplary mobility assistance device 1 comprising a chassis 2 with a plurality of wheels 5, which are designed for mobile movement of the mobility assistance device 1. It is understood that the features described in the figures also apply to all other hand-guided vehicles, such as e.g. Corridor vehicles, transport vehicles,
  • Mobility assistance device 1 for this purpose comprises at least one motor, not shown, which is designed to drive at least one of the wheels 5.
  • the chassis 2 mounted struts 3 is an exemplary
  • Chassis 2 connected.
  • the mobility assistance device 1 has at least one handle 23 which is so
  • the mobility assistance apparatus In the mobility assistance apparatus 1, generally at least one of the handle 23 or in the vicinity of the
  • the mobility assistance apparatus 1 has a control device 6, which is designed to control the at least one motor to control movements of the
  • Mobility assistance device 1 to control.
  • the mobility assistance device 1 comprises, as shown in FIG. 2 on an exemplary handle 23, at least one force sensor 22 coupled to the handle 23, which is designed as a function of a manual one
  • Handle 23 introduced force (Fx, Fy, Fz).
  • the control device 6 is formed, the
  • At least one motor in response to the information from the signal of the at least one force sensor 22 to control to control movements of the mobility assistance device 1,
  • the mobility assistance device 1, in particular its control device 6 is formed during the
  • Time constraints prevent the system from continuously zeroing in a loop.
  • the measured values can generally also be used
  • Force and torque values are used as a further condition. Whenever the preconditions are fulfilled and the system has already performed a zero point adjustment, the measured forces and moments can be qualitatively be assessed. This qualitative evaluation is done by means of offset and drift in relation to the last
  • control device 6 may be formed, one since a last performed Nulltician ust mich
  • the control device 6 can be designed to compare the specific time duration t b with a predefined maximum time duration t max , and in the event that the specific time duration t max
  • the control device 6 can be designed, after an automatic start of a new cycle
  • Mobility assistance device 1 to capture and a Zero Vietnamese ust mich of the at least one force sensor 22 nu then finally perform when the state detection provides the result that the
  • Mobility assistance device 1 stands still and is manually unaffected.
  • the at least one handle 23 can be a
  • Touch sensor 25 (FIG. 2) configured to automatically detect a grip of the handle 23 and to generate a sensor value containing information on whether the handle 23 is touched and the control device 6 connected to the touch sensor 22

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)
  • Handcart (AREA)

Abstract

L'invention concerne un véhicule ou un dispositif d'aide à la mobilité, comportant un châssis (2) équipé de plusieurs roues (5) conçues pour permettre au dispositif d'aide à la mobilité (1) de se déplacer en roulant, au moins un moteur conçu pour entraîner au moins une des roues (5), au moins une poignée (23) conçue pour permettre à une personne (24) de se tenir au dispositif d'aide à la mobilité (1) et/ou de s'appuyer dessus, au moins un capteur de force (22) couplé à la poignée (23) et conçu de manière à générer un signal en fonction d'un actionnement manuel de la poignée (23), ledit signal contenant une information concernant la force introduite dans la poignée (23) par l'actionnement manuel ainsi qu'un dispositif de commande (6) conçu de manière à commander le au moins un moteur en fonction des informations provenant du signal généré par le au moins un capteur de force (22), de sorte à commander des mouvements du dispositif d'aide à la mobilité (1), ledit dispositif d'aide à la mobilité (1) étant conçu pour effectuer de manière répétée automatiquement des réglages du point zéro, dudit au moins un capteur de force (22), successifs à certains intervalles temporels pendant le fonctionnement du dispositif d'aide à la mobilité (1).
PCT/EP2017/001133 2016-09-27 2017-09-22 Véhicule doté d'au moins un capteur de force Ceased WO2018059733A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016218611.6 2016-09-27
DE102016218611.6A DE102016218611A1 (de) 2016-09-27 2016-09-27 Mobilitätsassistenzvorrichtung mit wenigstens einem Kraftsensor

Publications (1)

Publication Number Publication Date
WO2018059733A1 true WO2018059733A1 (fr) 2018-04-05

Family

ID=60022040

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2017/001133 Ceased WO2018059733A1 (fr) 2016-09-27 2017-09-22 Véhicule doté d'au moins un capteur de force

Country Status (2)

Country Link
DE (1) DE102016218611A1 (fr)
WO (1) WO2018059733A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002086434A2 (fr) * 2001-04-21 2002-10-31 Robert Bosch Gmbh Dispositif et procede permettant le calibrage d'un detecteur
DE10318929B3 (de) * 2003-04-26 2004-08-05 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Mobile Gehhilfe-Vorrichtung
US20070131462A1 (en) * 2005-06-07 2007-06-14 Hemsley Clive G Motor Control Apparatus For Pushed Or Pulled Article
WO2012095302A1 (fr) * 2011-01-10 2012-07-19 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Système de transport multifonctionnel comprenant plusieurs unités de transport déplaçables
DE102012202614A1 (de) 2012-02-21 2013-08-22 Karlsruher Institut Für Technologie (Kit) Häusliche Hilfsvorrichtung
WO2015063765A1 (fr) * 2013-10-29 2015-05-07 Milbat - Giving Quality To Life Dispositif d'assistance pour déambulateur

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3013302B1 (fr) 2013-06-24 2020-01-08 Bemotec GmbH Unité de poignée pour un déambulateur roulant et déambulateur roulant

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002086434A2 (fr) * 2001-04-21 2002-10-31 Robert Bosch Gmbh Dispositif et procede permettant le calibrage d'un detecteur
DE10318929B3 (de) * 2003-04-26 2004-08-05 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Mobile Gehhilfe-Vorrichtung
US20070131462A1 (en) * 2005-06-07 2007-06-14 Hemsley Clive G Motor Control Apparatus For Pushed Or Pulled Article
WO2012095302A1 (fr) * 2011-01-10 2012-07-19 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Système de transport multifonctionnel comprenant plusieurs unités de transport déplaçables
DE102012202614A1 (de) 2012-02-21 2013-08-22 Karlsruher Institut Für Technologie (Kit) Häusliche Hilfsvorrichtung
WO2015063765A1 (fr) * 2013-10-29 2015-05-07 Milbat - Giving Quality To Life Dispositif d'assistance pour déambulateur

Also Published As

Publication number Publication date
DE102016218611A1 (de) 2018-03-29

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