WO2023272773A1 - 智能助行器的助力控制方法及装置、智能助行器、控制器 - Google Patents

智能助行器的助力控制方法及装置、智能助行器、控制器 Download PDF

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Publication number
WO2023272773A1
WO2023272773A1 PCT/CN2021/105452 CN2021105452W WO2023272773A1 WO 2023272773 A1 WO2023272773 A1 WO 2023272773A1 CN 2021105452 W CN2021105452 W CN 2021105452W WO 2023272773 A1 WO2023272773 A1 WO 2023272773A1
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Prior art keywords
compensation value
compensation
walker
intelligent
power
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Ceased
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PCT/CN2021/105452
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English (en)
French (fr)
Inventor
龚茂
陆剑峰
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.)
Zhejiang Yihengyue Medical Technology Co Ltd
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Zhejiang Yihengyue Medical Technology Co Ltd
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Filing date
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Application filed by Zhejiang Yihengyue Medical Technology Co Ltd filed Critical Zhejiang Yihengyue Medical Technology Co Ltd
Priority to EP25223784.7A priority Critical patent/EP4706616A3/en
Priority to AU2021454273A priority patent/AU2021454273B2/en
Priority to KR1020247003180A priority patent/KR20240026508A/ko
Priority to EP21947717.1A priority patent/EP4364713B1/en
Priority to US18/086,448 priority patent/US11793706B2/en
Publication of WO2023272773A1 publication Critical patent/WO2023272773A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Program control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A—HUMAN NECESSITIES
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    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/042—Front wheel drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/045—Rear wheel drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
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    • 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
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    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
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    • A61G2203/44—General characteristics of devices characterised by sensor means for weight
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    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
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    • 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
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    • 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
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    • 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
    • A61H2201/1628—Pelvis
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    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • A61H2201/5023—Interfaces to the user
    • A61H2201/5043—Displays
    • 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
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    • 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
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    • 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
    • A61H2201/5084—Acceleration 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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/62—Posture
    • A61H2230/625—Posture used as a control parameter for the apparatus
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25257—Microcontroller
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention provides a power assist control method and device for an intelligent walker, an intelligent walker, and a controller, so that it can be automatically judged according to the load of the intelligent walker whether the intelligent walker is a passenger or is placed on it. items, so as to automatically select the first assist compensation mode (wheelchair mode) or the second assist compensation mode (shopping cart mode), and automatically adjust the assist compensation threshold according to the difference in assist compensation modes, making the intelligent walker of the present invention more
  • the intelligence of the intelligent walker can realize the intention of the user who promotes the intelligent walker under any road conditions, and realizes smooth promotion.
  • the embodiment of the present application provides a power assist control method of an intelligent walker.
  • the intelligent walker includes a car body, the car body is provided with a cushion for riding or placing items, and the bottom of the wheel A front wheel and a rear wheel are provided, and the front wheel or the rear wheel is driven by a motor, and the method includes the following steps:
  • the weight of the load exceeds the set threshold, it enters the first power assist compensation mode.
  • the torque output of the motor is compensated according to the first power assist compensation threshold, wherein the first power assist The compensation threshold is proportional to at least one of the following parameters: the load weight of the intelligent walker, and the moving speed of the intelligent walker.
  • obtaining the load weight of the car body includes:
  • the load weight corresponding to the preset at least one parameter is obtained as the current load weight of the vehicle body.
  • the second power compensation mode When the weight of the load is lower than the set threshold, enter the second power compensation mode.
  • the torque output of the motor is compensated according to the second power compensation threshold, wherein the second The assist compensation threshold is obtained according to the set gear.
  • the determination of the first compensation threshold includes the following steps:
  • the fixed compensation value includes a speed compensation value, a weight compensation value and a slope compensation value
  • the first compensation threshold is obtained according to the fixed compensation value and the specific compensation value.
  • the step of determining the speed compensation value includes:
  • the moving speed look up the table to obtain the currently required power compensation coefficient, and according to the moving speed and the power compensation coefficient, obtain the speed compensation value, wherein the speed compensation value is related to the moving speed and the It is directly proportional to the power compensation coefficient mentioned above.
  • the step of determining the slope compensation value includes:
  • the gradient compensation value When going downhill, the gradient compensation value is negative, and the greater the gradient, the smaller the gradient compensation value.
  • the step of determining the slope compensation value also includes:
  • the step of determining the acceleration and deceleration compensation value includes:
  • the intelligent walker When the intelligent walker is in the acceleration phase, it is determined that the acceleration and deceleration compensation value is positive and proportional to the acceleration;
  • the acceleration and deceleration compensation value is a negative value and is proportional to the deceleration.
  • the front wheel or the rear wheel includes a left wheel and a right wheel, and the left wheel and the right wheel are controlled by different motors, and the steering compensation value includes a left wheel steering compensation value and a right wheel steering compensation value , the step of determining the steering compensation value includes:
  • the right wheel steering compensation value is increased and/or the left wheel steering compensation value is decreased.
  • the following steps are also included:
  • the right wheel steering compensation value is increased and/or the left wheel steering compensation value is decreased in a manner proportional to the steering angle of the smart walker.
  • the following steps are also included:
  • the embodiment of the present application provides a power assist control device for a smart walker.
  • the smart walker includes a car body, the car body is provided with a cushion for riding or placing items, and the bottom of the wheel is provided with There are front wheels and rear wheels, said front or rear wheels are driven by electric motors, the device includes:
  • a load weight acquisition module configured to acquire the load weight of the car body
  • an intelligent walking aid including:
  • the at least one processor When the one or more programs are executed by the at least one processor, the at least one processor is made to implement the steps of the assist control method for the intelligent walker as described in the first aspect of the embodiment of the present application.
  • the embodiment of the present application provides a controller, including:
  • the memory is used to store one or more programs
  • the at least one processor When the one or more programs are executed by the at least one processor, the at least one processor is made to implement the steps of the assist control method for the intelligent walker as described in the first aspect of the embodiment of the present application.
  • Fig. 1 is the structural representation of a kind of intelligent walking aid provided by the present invention
  • Fig. 2 is a flow chart of a power assist control method of an intelligent walker provided by the present invention
  • Fig. 3 is a structural schematic diagram of a power assist control device of an intelligent walker provided by the present invention.
  • plural means two or more.
  • And/or describes the association relationship of the associated human body, which means that there may be three kinds of relationships, for example, A and/or B, which can mean: A exists alone, A and B exist at the same time, and B exists alone.
  • the character “/” generally indicates that the relationship between the front and back of the human body is an "or" relationship.
  • the smart walker described in the embodiment of the present application can specifically be an electric wheelchair, a shopping cart, a trolley, etc.
  • the smart walker has front wheels and rear wheels, and the rear wheels or front wheels are driven by a motor, as shown in Figure 1
  • the smart walking aid is taken as an example of a multifunctional walking tool for illustration, wherein the multifunctional walking tool can be used as an electric wheelchair, and can also be used as a shopping rollator and a trolley to load items.
  • the intelligent walking aid 100 can realize the front control operation realized by the passenger, and the rear control operation operated by the pusher.
  • the car body is provided with a horizontal handrail 104 (in the folded state in the illustration) ), the front end of the armrest 104 is provided with an intelligent front control device 105, preferably, the intelligent front control device 105 is provided with a rocker that can swing 360° in a horizontal plane, and is also provided with a plurality of buttons and display screens, etc. It is used to operate the multi-functional mobility tool.
  • the rear side of the car body is also provided with a first horizontal handle 106 and a second horizontal handle 107 for hand holding, and the second horizontal handle 107 is provided with an intelligent rear control device 108.
  • the intelligent rear control device 108 consists of a liquid crystal screen, a constant Speed finger rest, physical sign sensing module, buttons, attitude sensing device, intelligent rear control bracket and intelligent rear control.
  • the buttons include a switch button, a direction switch button, and a power level switch button. , gear, remaining power and multi-function display.
  • the constant speed finger rest can control the vehicle to run at a constant speed at the set gear speed during the touch process.
  • the intelligent rear control is fixed on the front end of the second horizontal handle through the intelligent rear control bracket.
  • the intelligent front control device 105 is a Hall control system, through which the user can perform 360° over-control of the walker to realize forward, backward, left and right rotation, etc., and realize the function of a scooter.
  • the intelligent walking aid includes a normal mode and a constant speed assist compensation mode.
  • different speed gears can be set through the intelligent front control device 105 or the intelligent rear control device 106.
  • the intelligent walker enters the constant speed mode, and the vehicle body Drive at a constant speed to achieve the boost effect.
  • the principle of the above-mentioned constant speed boost compensation mode is to collect the current speed according to the set speed, and control the output torque of the rear wheel motor through feedback, so that the current speed is equal to the set speed.
  • this control method requires the user to continue walking at the speed corresponding to the set gear, and the user cannot change the moving speed unless the gear is constantly adjusted. In addition, the user cannot adjust according to the road conditions. Especially when the smart walker is used as a wheelchair, due to the heavy load, the implementer will be exhausted when facing different road conditions.
  • the automatic power assist compensation mode function when the user pushes the smart walker forward and the speed exceeds the set value, the automatic power assist compensation mode function is automatically unlocked. At this time, the control system compensates the power to the motor; when the speed is lower than the set value, the automatic power assist compensation is cancelled. mode function.
  • the load weight refers to the weight applied to the cushion 101 as shown in FIG.
  • the weight value which can be 20KG.
  • the load weight is used to intelligently judge that the current use of the intelligent walker is the first assist compensation mode (wheelchair mode) or the second assist compensation mode (shopping cart mode).
  • the load weight is less than 20K
  • no further load weight identification and judgment can be performed, and the user selects different gears according to the control panel to distinguish different usage levels
  • the load value of the usage level corresponds to different power compensation values, or the torque output of the motor is compensated according to the moving speed of the intelligent walker.
  • the torque output of the motor can be compensated according to the first assist compensation threshold proportional to the load weight or moving speed.
  • the load weight of the vehicle body mentioned above can be manually set by the user, and the preset load weight corresponding to the gear can be obtained by obtaining the manually set gear. In one embodiment, it can also be automatically identified according to the weight sensor provided on the seat cushion.
  • the power assist control method of the intelligent walker in the embodiment of the present application further includes the following steps:
  • the load weight corresponding to the preset at least one parameter is obtained as the current load weight of the vehicle body.
  • the above-mentioned three load weight identification methods can exist alone or in the smart walker at the same time, and the user can choose one of the weight identification methods to use.
  • the intelligent walker can be driven to output the torque set by the motor, accelerate from the preset initial speed to the preset intermediate speed, and record the acceleration time, and then collect the intelligent walker at the preset intermediate speed.
  • the motor power and current combined with the acceleration time, can obtain the preset corresponding load weight value through the software look-up table.
  • S302 Determine a specific compensation value, wherein the specific compensation value includes an acceleration and deceleration compensation value and/or a steering compensation value;
  • both the fixed compensation value and the specific compensation value can be positive, negative or zero.
  • it is a positive number it means that the drive motor exerts forward power.
  • it is a negative number it means that the drive motor Apply backward resistance, i.e. reverse braking force.
  • the fixed compensation value can be determined by the weighted sum of the speed compensation value, weight compensation value and slope compensation value, and the specific compensation value can include any one of the acceleration and deceleration compensation value or the steering compensation value, or can be It is determined by the weighted sum of the acceleration and deceleration compensation value and the steering compensation value.
  • the speed compensation value may be determined according to the current moving speed of the intelligent walker, and the faster the moving speed, the greater the speed compensation value.
  • the step of determining the speed compensation value includes:
  • speed compensation value moving speed multiplied by power compensation coefficient
  • the weight compensation value may be determined according to the current load weight of the smart walker, the greater the load, the greater the weight compensation value.
  • the step of determining the slope compensation value includes:
  • the detection of the uphill state or the downhill state is obtained by detecting the attitude of the vehicle body through the attitude sensing assembly installed on the vehicle body in FIG. 1 .
  • the attitude sensing assembly includes an acceleration sensor and an angle sensor. According to the four-element solution and Euler's formula, the roll and pitch angles in the horizontal and vertical directions of the wheelchair can be obtained, as well as the rotational angular velocity in the two directions.
  • the step of determining the slope compensation value also includes: include:
  • the set threshold angle is a positive number
  • the intelligent walking aid is switched from flat ground to Uphill state, and gradually increase the slope compensation value, to achieve gentle uphill.
  • the intelligent walker is switched from downhill to level ground state, and gradually increase the slope compensation value to a negative value to achieve a gentle end downhill.
  • the acceleration and deceleration compensation value it is used to judge the above-mentioned user intention, that is, the user's intention to change the vehicle body motion state, such as starting and stopping, acceleration and deceleration, etc.
  • determine the acceleration and deceleration compensation value Steps include:
  • the acceleration indicates that the intelligent walker is in the acceleration phase
  • the deceleration indicates that the intelligent walker is in the deceleration phase
  • the acceleration and deceleration compensation value is positive and proportional to the acceleration
  • the acceleration and deceleration compensation value is a negative value and is proportional to the deceleration.
  • the acceleration of the intelligent walker moving forward can be obtained through the acceleration sensor in the above embodiment.
  • the steering compensation value it is used to perform power compensation on the steering of the intelligent walker.
  • the left wheel and the right wheel in the rear wheels are controlled by different motors, and the steering compensation value includes the left wheel steering compensation value and Wheel steering compensation value, the step of determining the steering compensation value includes:
  • the right wheel steering compensation value is increased and/or the left wheel steering compensation value is decreased.
  • the steering state of the smart walker can be obtained through the acceleration sensor.
  • the differential speed between the left wheel and the right wheel is obtained, and the smart walker is intelligently obtained according to the differential speed. Steering state.
  • the right wheel steering compensation value is also decreased, and when the right wheel steering compensation value is increased, the left wheel steering compensation value is also decreased. That is, the larger the steering angle, the greater the power assist compensation threshold of the outer wheel, and the more the power assist compensation threshold of the inner wheel is reduced, so that the differential speed between the two wheel motors is helpful to realize steering.
  • the left wheel steering compensation value is increased in proportion to the steering angle of the smart walker.
  • the steering angle of the walker is proportional to the way to reduce the steering compensation value of the right wheel;
  • the right wheel steering compensation value is increased in a manner proportional to the steering angle of the smart walker, preferably, also according to the steering angle of the smart walker The angle is proportional to the way to reduce the left wheel steering compensation value.
  • the above-mentioned steering compensation is triggered when it is detected that the steering reaches a certain angle.
  • the following steps are also included:
  • the steering angle is intelligently detected through the differential speed of the left wheel and the right wheel.
  • the embodiment of the present application also provides a power assist control device 400 of the intelligent walker, which includes:
  • a load weight acquisition module 401 configured to acquire the load weight of the vehicle body
  • the first boost compensation mode entry module 402 is configured to enter the first boost compensation mode when the load weight exceeds a set threshold, and in the first boost compensation mode, compensate the motor according to the first boost compensation threshold torque output, wherein the first assist compensation threshold is proportional to at least one of the following parameters: the load weight of the smart walker, and the moving speed of the smart walker.
  • the load weight acquisition module includes:
  • a load setting unit configured to acquire the load weight of the car body corresponding to the manually set gear by acquiring the gear
  • the load weight automatic acquisition unit is used to automatically acquire the load weight of the car body, and the load weight automatic acquisition unit includes:
  • the first parameter obtaining subunit is used to obtain at least one of the following parameters under the condition of set speed:
  • the load weight acquisition subunit is configured to acquire the load weight corresponding to the preset at least one parameter as the current load weight of the vehicle body.
  • the device also includes:
  • the second assist compensation mode entry module is used to enter the second assist compensation mode when the load weight is lower than the set threshold, and in the second assist compensation mode, compensate the motor according to the second assist compensation threshold torque output, wherein the second assist compensation threshold is obtained according to the set gear.
  • a first compensation threshold determination module which includes:
  • a fixed compensation value determining unit configured to determine a fixed compensation value, wherein the fixed compensation value includes a speed compensation value, a weight compensation value and a slope compensation value;
  • a specific compensation value determining unit configured to determine a specific compensation value, wherein the specific compensation value includes acceleration and deceleration compensation values and/or steering compensation values;
  • a first compensation threshold determining unit configured to obtain the first compensation threshold according to the fixed compensation value and the specific compensation value.
  • the fixed compensation value determination unit includes:
  • the moving speed acquiring subunit is used to acquire the current moving speed of the intelligent walker
  • the speed compensation obtaining subunit is used to look up a table to obtain the currently required power compensation coefficient according to the moving speed, and obtain the speed compensation value according to the moving speed and the power compensation coefficient, wherein the speed compensation The value is proportional to the moving speed and the power compensation coefficient.
  • the fixed compensation value determination unit includes:
  • the first slope compensation subunit is used to determine that the slope compensation value is larger when the slope is greater when going uphill;
  • the second gradient compensation subunit is configured to set the gradient compensation value to a negative value when descending a slope, and the greater the gradient, the smaller the gradient compensation value.
  • the fixed compensation value determining unit further includes:
  • the third slope compensation subunit is used to determine the intelligent walking aid when the vertical angle of the vehicle body is greater than a first set threshold and the angular velocity in the vertical direction of the vehicle body is greater than a second set threshold
  • the controller is in the state of switching from flat to uphill, and gradually increases the slope compensation value
  • the fourth slope compensation subunit is used to determine that the intelligent The walker switches from downhill to flat ground, and gradually increases the slope compensation value to a negative value.
  • the specific compensation value determination unit includes:
  • the second acceleration acquisition subunit is used to determine that the acceleration and deceleration compensation value is positive and proportional to the acceleration when the intelligent walker is in the acceleration phase;
  • the third acceleration acquisition subunit is configured to determine that the acceleration and deceleration compensation value is a negative value and is proportional to the deceleration when the intelligent walker is in the deceleration phase.
  • the front wheel or the rear wheel includes a left wheel and a right wheel, and the left wheel and the right wheel are controlled by different motors, and the steering compensation value includes a left wheel steering compensation value and Right wheel steering compensation value, specific compensation value determination unit includes:
  • a first steering compensation unit configured to increase the left wheel steering compensation value and/or decrease the right wheel steering compensation value when the intelligent walker turns rightward;
  • the specific compensation value determination unit also includes:
  • the third steering compensation unit is configured to increase the left-wheel steering compensation value and/or reduce the right-wheel steering in a manner proportional to the steering angle of the intelligent walker when the intelligent walker turns rightward compensation value;
  • the fourth steering compensation unit is used to increase the right wheel steering compensation value and/or reduce the left wheel steering in a manner proportional to the steering angle of the intelligent walker when the intelligent walker turns left compensation value.
  • the specific compensation value determination unit also includes:
  • the moving speed acquisition subunit of the left and right wheels is used to obtain the moving speed of the left wheel and the moving speed of the right wheel;
  • the steering judgment triggering subunit is used to trigger the steering judgment of the intelligent walker when the difference between the moving speed of the left wheel and the moving speed of the right wheel exceeds a set differential threshold.
  • an intelligent walking aid including:
  • the memory is used to store one or more programs
  • the at least one processor When the one or more programs are executed by the at least one processor, the at least one processor is made to implement the steps of the assist control method for the intelligent walker as described in any one of the above embodiments.
  • the embodiment of the present application also provides a controller, including:
  • the memory is used to store one or more programs
  • the at least one processor When the one or more programs are executed by the at least one processor, the at least one processor is made to implement the steps of the assist control method for the intelligent walker as described in any one of the above embodiments.

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Abstract

一种智能助行器的助力控制方法及装置、智能助行器（100）、控制器。该智能助行器（100）包括车体，车体上设置有用于乘坐或放置物品的坐垫（101），车轮的底部设置有前轮和后轮，前轮或后轮由电机驱动，该方法包括如下步骤：获取车体的负载重量（S201）；当负载重量超过设定阈值时，进入第一助力补偿模式，在第一助力补偿模式中，根据第一助力补偿阈值，补偿电机的扭力输出，其中，第一助力补偿阈值与如下至少一项参数成正比：智能助行器负载重量、智能助行器（100）的移动速度(S202)。该智能助行器（100）在载重差别巨大的情况下仍能安全使用，防止在载物或空载情况下电机扭力输出过大拽倒使用者；或者载人情况下电机扭力输出过小，动力不足。

Description

智能助行器的助力控制方法及装置、智能助行器、控制器 技术领域
本申请实施例涉及智能助行器的技术领域，特别是涉及一种智能助行器的助力控制方法及装置、智能助行器、控制器。
背景技术
随着时代的进步，出现了大量针对老人代步的智能助行器，例如电动轮椅和购物助行车等。
轮椅一般分为两类，一类为需要护理人员推行的电动轮椅，另外一类为乘坐人可以操控的电动轮椅，手动轮椅使用者一般为手脚均失去了部分行动能力，电动轮椅使用者可以通过摇杆操控轮椅，电动轮椅使用者为手部正常，腿部失去部分行动能力的老人及残疾人士。
购物助行车一般具备装载货物及辅助行走功能，在欧美日韩等发达国家使用普遍，使用者为老人或腿部具备一定行动能力的人群，购物助行车需要用户推行行走。
轮椅和购物助行车的应用场景和控制方式差别都较大，目前还没有一种产品能兼具两种产品的功能和优点。
发明内容
基于此，本发明提供了一种智能助行器的助力控制方法及装置、智能助行器、控制器，使得可以自动根据智能助行器的负重判断该智能助行器是乘坐的人还是放置的物品，从而自动选择第一助力补偿模式(轮椅模式)或第二助力补偿模式(购物车模式)，并根据助力补偿模式的区别，自动调节助力补偿阈值，使得本发明的智能助行器更加的智能化，在任何的路况下都能够实现推行该智能助行器的用户的意图，实现平稳的推行。
第一方面，本申请实施例提供了一种智能助行器的助力控制方法，该智能助行器包括车体，所述车体上设置有用于乘坐或放置物品的坐垫，所述车轮的底部设置有前轮和后轮，所述前轮或后轮由电机驱动，该方法包括如下步骤：
获取所述车体的负载重量；
当所述负载重量超过设定阈值时，进入第一助力补偿模式，在所述第一助力补偿模式中，根据第一助力补偿阈值，补偿所述电机的扭力输出，其中，所述第一助力补偿阈值与如下至少一项参数成正比：所述智能助行器负载重量、所述智能助行器的移动速度。
可选的，获取所述车体的负载重量，包括：
通过获取人工设置的档位获取该档位所对应的预设负载重量；
和/或，
自动获取所述车体的负载重量，包括：
在设定速度条件下，获取以下至少一项参数：
所述智能助行器的加速时间、所述智能助行器的电机输出功率、所述电机的电流；
获取预设的该至少一项参数所对应的负载重量，作为所述车体当前的负载重量。
可选的，还包括如下步骤：
当所述负载重量低于设定阈值时，进入第二助力补偿模式，在所述第二助力补偿模式中，根据第二助力补偿阈值，补偿所述电机的扭力输出，其中，所述第二助力补偿阈值根据设定的档位得到。
可选的，所述第一补偿阈值的确定包括如下步骤：
确定固定补偿值，其中，所述固定补偿值包括速度补偿值、重量补偿值和坡度补偿值；
确定特定补偿值，其中，所述特定补偿值包括加减速补偿值和/或转向补偿值；
根据所述固定补偿值和所述特定补偿值，获得所述第一补偿阈值。
可选的，确定所述速度补偿值的步骤包括：
获取所述智能助行器当前的移动速度；
根据所述移动速度，查表获取当前所需的动力补偿系数，根据所述移动速度和所述动力补偿系数，获取所述速度补偿值，其中，所述速度补偿值与所述移动速度和所述动力补偿系数成正比。
可选的，确定所述坡度补偿值的步骤包括：
在上坡时，坡度越大，则所述坡度补偿值越大；
在下坡时，所述坡度补偿值为负值，坡度越大，则所述坡度补偿值越小。
可选的，确定所述坡度补偿值的步骤还包括：
当所述车体竖直方向角度大于第一设定阈值，且所述车体竖直方向的角速度大于第二设定阈值时，确定所述智能助行器为从平地切换到上坡的状态，并逐渐增大所述坡度补偿值；
当所述车体竖直方向角度小于负数的第三设定阈值，且所述车体竖直方向的角速度大于设定的第四阈值时，确定所述智能助行器为从下坡切换到平地状态，并逐渐增大为负值的所述坡度补偿值。
可选的，确定所述加减速补偿值的步骤包括：
获取所述智能助行器向前移动的加速度和减速度，所述加速度指示所述智能助行器处于加速阶段，所述减速度指示所述智能助行器处于减速阶段；
当所述智能助行器处于加速阶段时，确定所述加减速补偿值为正值，且与所述加速度成正比；
当所述智能助行器处于减速阶段时，确定所述加减速补偿值为负值，且与所述减速度成正比。
可选的，所述前轮或所述后轮包括左轮和右轮，且所述左轮和所述右轮由不同的电机控制，所述转向补偿值包括左轮转向补偿值和右轮转向补偿值，确定所述转向补偿值的步骤包括：
当所述智能助行器向右转向时，增大所述左轮转向补偿值和/或减少右轮转向补偿值；
当所述智能助行器向左转向时，增大所述右轮转向补偿值和/或减少左轮转向补偿值。可选的，还包括如下步骤：
当所述智能助行器向右转向时，按与所述智能助行器转向角度成正比的方式，增大所述左轮转向补偿值和/或减少右轮转向补偿值；
当所述智能助行器向左转向时，按与所述智能助行器转向角度成正比的方式，增大所述右轮转向补偿值和/或减少左轮转向补偿值。可选的，还包括如下步骤：
获取所述左轮的移动速度和所述右轮的移动速度；
当所述左轮的移动速度和所述右轮的移动速度之间的差速超过设定差速阈值时，触发所述智能助行器的转向判断。
第二方面，本申请实施例提供了一种智能助行器的助力控制装置，智能助行器包括车体，所述车体上设置有用于乘坐或放置物品的坐垫，所述车轮的底部设置有前轮和后轮，所述前轮或后轮由电机驱动，该装置包括：
负载重量获取模块，用于获取所述车体的负载重量；
第一助力补偿模式进入模块，用于当所述负载重量超过设定阈值时，进入第一助力补偿模式，在所述第一助力补偿模式中，根据第一助力补偿阈值，补偿所述电机的扭力输出，其中，所述第一助力补偿阈值与如下至少一项参数成正比：所述智能助行器负载重量、所述智能助行器的移动速度。
第三方面，本申请实施例提供了一种智能助行器，包括：
至少一个存储器和至少一个处理器；
所述存储器，用于存储一个或多个程序；
当所述一个或多个程序被所述至少一个处理器执行，使得所述至少一个处理器实现如本申请实施例第一方面所述的智能助行器的助力控制方法的步骤。
第四方面，本申请实施例提供了一种控制器，包括：
至少一个存储器和至少一个处理器；
所述存储器，用于存储一个或多个程序；
当所述一个或多个程序被所述至少一个处理器执行，使得所述至少一个处理器实现如本申请实施例第一方面所述的智能助行器的助力控制方法的步骤。
在本申请实施例中，可以自动根据智能助行器的负重判断该智能助行器是乘坐的人还是放置的物品，从而自动选择第一助力补偿模式(轮椅模式)或第二助力补偿模式(购物车模式)，并根据助力补偿模式的区别，自动调节助力补偿阈值，使得本发明的智能助行器更加的智能化；并进一步，在第一助力补偿模式中，对智能助行器实行坡度补偿、速度补偿、加速度补偿和转向补偿，使得在任何的路况下都能够实现推行该智能助行器的用户的意图，实现平稳的推行。
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
附图说明
图1为本发明提供的一种智能助行器的结构示意图；
图2为本发明提供的一种智能助行器的助力控制方法的流程图；
图3为本发明提供的一种智能助行器的助力控制装置的结构示意图；
附图标记：100-智能助行器；101-坐垫；102-从动轮；1031-第一后轮；1032-第二后轮；104-水平扶手；105-智能前控装置；106-第一水平把手；107-第二水平把手；108-智能后控装置。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合附图对本申请实施例方式作进一步地详细描述。
应当明确，所描述的实施例仅仅是本申请实施例一部分实施例，而不是全部的实施例。基于本申请实施例中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本申请实施例保护的范围。
在本申请实施例使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请实施例。在本申请实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和 /或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。在本申请的描述中，需要理解的是，术语“第一”、“第二”、“第三”等仅用于区别类似的人体，而不必用于描述特定的顺序或先后次序，也不能理解为指示或暗示相对重要性。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
此外，在本申请的描述中，除非另有说明，“多个”是指两个或两个以上。“和/或”，描述关联人体的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。字符“/”一般表示前后关联人体是一种“或”的关系。
本申请实施例所述的智能助行器具体可以是电动轮椅、购物助行车、手推车等，该智能助行器具有前轮和后轮，且后轮或前轮由电机驱动，如图1所示，以该智能助行器为多功能代步工具为例，进行说明，其中，该多功能代步工具可以用作电动轮椅，也可用作购物助行车和手推车以装载物品。
如图1所示，该智能助行器100包括车体，该车体具有供人乘坐或放置物品的坐垫101，车体前端具有前轮即不具有动力输出的从动轮102，车体后端具有第一后轮1031和第二后轮1032，其中，第一后轮1031和第二后轮1032分别由不同的电机驱动。在一些例子中，该第一后轮1031和第二后轮1032还可以是由同一个电机驱动。
优选的，该智能助行器100可以实现由乘坐人员实现的前控操作，以及由推行人员操作的后控操作，具体的，车体上设有水平的扶手104(在图示中处于折叠状态)，该扶手104的前端设置有智能前控装置105，优选的，该智能前控装置105上设置有可在水平面进行360°摇摆的摇杆，以及还设置有多个按键和显示屏等，用于对多功能代步工具进行操作。
车体后侧还设置有用于手扶的第一水平把手106和第二水平把手107，第二水平把手107上设置有智能后控装置108，优选的，智能后控装置108由液晶屏幕、恒速指托、体征感应模块、按键、姿态传感装置、智能后控支架和智能后控组成，其中按键包括一个开关机键、一个方向切换键、一个助力等级切换键，液晶屏幕上显示有速度、挡位、剩余电量以及多功能显示，恒速指托在触摸过程中能控制车辆以设定的挡位速度恒速运行，智能后控通过智能后控支架固定在第二水平把手的前端。
其中，智能前控装置105为霍尔控制系统，使用者可以通过霍尔控制系统对助行器进行360°超控，实现前进、后退、左右转动等，实现代步车功能。
在传统的例子中，该智能助行器包括普通模式和恒速助力补偿模式。其中，在恒速助力中，可以通过智能前控装置105或智能后控装置106设定不同的速度档位，当某一速度档位被选中时，智能助行器进入恒速模式，车体以恒定速度行驶，以达到助力效果。
在一些例子中，智能助行器可以是根据一些预先设置的判断模式后自动进入恒速助力补偿模式，也可以是通过手动操作进入恒速助力补偿模式，例如，通过触摸智能后控装置9上的恒速指托实现。
上述的恒速助力补偿模式，其原理在于，根据设定的速度，采集当前的速度，并通过反馈控制后轮电机输出的扭矩，使得当前的速度等于设定的速度。
但这一控制方法需要用户持续按照设定档位对应的速度行走，用户无法改变移动速度，除非不停调节档位。另外，用户也不能根据路况进行调节，特别是在智能助行器用做轮椅用途时，由于负载较重，在面对不同路况时，推行者便会出现疲于应付的情况。
针对这一技术问题，本申请实施例在传统的基础上，增加了智能助行器的自动助力补偿方法，该自动助力补偿方法可以是一种专用的自动助力补偿模式，由图1中的智能前控装置16或智能后控装置9实施。在其他的例子中，该自动助力补偿模式还可以适用于任何具有前轮和后轮的智能助行器，其中，可以是前轮为电动轮，或后轮为电动轮，在本申请实施例中，以后轮为电动轮举例说明。
在一些例子中，用户推动智能助行器向前移动速度超过设定值时，自动解锁自动助力补偿模式功能，此时控制系统向电机补偿动力；速度低于设定值时，取消自动助力补偿模式功能。
在一个具体的例子中，如图2所示，该自动助力补偿模式执行包括如下的能助行器的控制方法的步骤：
S201：获取所述车体的负载重量；
S202：当所述负载重量超过设定阈值时，进入第一助力补偿模式，在所述第一助力补偿模式中，根据第一助力补偿阈值，补偿所述电机的扭力输出，其中，所述第一助力补偿阈值与如下至少一项参数成正比：所述智能助行器负载重量、所述智能助行器的移动速度。
在其他的例子中，还包括如下步骤：
S203：当所述负载重量低于设定阈值时，进入第二助力补偿模式，在所述第二助力补偿模式中，根据第二助力补偿阈值，补偿所述电机的扭力输出，其中，所述第二助力补偿阈值根据设定的档位得到。
其中，该负载重量指的是施加于如图1中所示的坐垫101上的重量，其可以是乘坐的人，或放置的物品对坐垫101所产生的压力值，该设定阈值为预先设置的重量值，其可以是20KG。
该负载重量用于智能判断智能助行器当前的用途为第一助力补偿模式(轮椅模式)或第二助力补偿模式(购物车模式)。
若为负载重量较轻的购物车模式，例如，当负载重量小于20K时，则可以不再进行进一步的负载重量识别判断，用户根据控制面板选择不同档位来区别不同的使用等级，设定不同的使用等级负载值，对应不同的动力补偿值，或者根据智能助行器的移动速度对电机的扭力输出进行补偿。
若为负载重量较重的轮椅模式，例如，当负载重量大于20K时，则可以根据与负载重量或移动速度成正比第一助力补偿阈值对电机的扭力输出进行补偿。
本申请实施例的智能助行器的助力控制方法，可以自动根据智能助行器的负重判断该智能助行器是乘坐的人还是放置的物品，从而自动选择第一助力补偿模式(轮椅模式)或第二助力补偿模式(购物车模式)，并根据助力补偿模式的区别，自动调节助力补偿阈值，使得智能助行器更加的智能化，可以根据用户的行走速度进行自动调节。
上述的车体的负载重量，可以是通过用户手动设定，通过获取人工设置的档位获取该档位所对应的预设负载重量。在一个实施例中，还可以是根据设置于坐垫的重量传感器自动识别。
在另一个实施例中，还可以是智能识别负载重量，在获取所述车体的负载重量，本申请实施例的智能助行器的助力控制方法还包括如下步骤：
在设定速度条件下，获取以下至少一项参数：
所述智能助行器的加速时间、所述智能助行器的电机输出功率、所述电机的电流；
获取预设的该至少一项参数所对应的负载重量，作为所述车体当前的负载重量。
其中，上述的三种负载重量识别方法，可以单独存在，或同同时存在于智能助行器中，用户可以选择其中一种重量识别方法来进行使用。
优选的，可以驱动智能助行器以电机设定的扭力输出，从预设的初始速度加速至预设的中间速度，并记录该加速时间，以及再采集智能助行器在该预设的中间速度行驶时，电机功率和电流，并结合加速时间，通过软件查表的方式，获取预设的对应负载重量值。
在一个具体的例子中，第一补偿阈值由固定补偿值和特定补偿值两部分组成。如图3所示，第一补偿阈值的确定包括如下步骤：
S301：确定固定补偿值，其中，所述固定补偿值包括速度补偿值、重量补偿值和坡度补偿值；
S302：确定特定补偿值，其中，所述特定补偿值包括加减速补偿值和/或转向补偿值；
S303：根据所述固定补偿值和所述特定补偿值，获得所述第一补偿阈值。
其中，针对不同的运行工况，固定补偿值和特定补偿值均可以是正数、负数或零，当为正数时，即代表驱动电机施加向前的动力，当为负数时，则代表驱动电机施加向后的阻力，即反向制动力。
第一补偿阈值可以是由固定补偿值和特定补偿值的加权和来确定，在一个优选的例子中，第一补偿阈值＝固定补偿值+特定补偿值。
同样的，固定补偿值可以是由速度补偿值、重量补偿值和坡度补偿值之间的加权和确定，而特定补偿值可以是包括加减速补偿值或转向补偿值中的任一项，也可以是由加减速补偿值和转向补偿值之间的加权和确定。
针对速度补偿值，可以是根据智能助行器当前的移动速度确定，移动速度越快，则速度补偿值越大。
在一个优选的例子中，确定所述速度补偿值的步骤包括：
获取所述智能助行器当前的移动速度；
根据所述移动速度，查表获取当前所需的动力补偿系数，根据所述移动速度和所述动力补偿系数，获取所述速度补偿值，其中，所述速度补偿值与所述移动速度和所述动力补偿系数成正比。优选的，速度补偿值＝移动速度乘以动力补偿系数。
针对重量补偿值，可以是根据智能助行器当前的负载重量确定，负载越大，重量补偿值越大。
针对坡度补偿值，确定所述坡度补偿值的步骤包括：
在上坡时，坡度越大，则所述坡度补偿值越大；
在下坡时，坡度越大，所述坡度补偿值为负值，则所述坡度补偿值越小。
也即，上坡时角度越大正向补偿动力越大，使得智能助行器向前的动力增加，上坡更省力；下坡时角度越大反向补偿动力越大，使得智能助行器反向制动力增加，向前的速度降低，下坡更安全。
其中，上坡状态或下坡状态的检测是通过在图1的车体上还安装的姿态传感组件检测车体的姿态来得到的，优选的，姿态传感组件包括加速度传感器和角度传感器。根据四元素解算和欧拉公式，可以获取轮椅水平方向和竖直方向的角度roll和pitch，以及两个方向的旋转角速度。
为了能更平缓的从平地过渡到上坡，更平缓的从下坡过渡到平地，以及在遇到坑洼路面时，更加平稳，在一个优选的例子中，确定所述坡度补偿值的步骤还包括：
当所述车体竖直方向的角度绝对值小于或等于设定阈值(设定阈值角度为正数)，认为轮椅处于水平路况，避免把颠簸路况误判为上下坡。
当所述车体竖直方向角度大于第一设定阈值(正数)，且所述车体竖直方向的角速度大于第二设定阈值时，确定所述智能助行器为从平地切换到上坡的状态，并逐渐增大所述坡度补偿值，实现平缓的上坡。
当所述车体竖直方向角度小于负数的第三设定阈值，且所述车体竖直方向的角速度大于设定的第四阈值时，确定所述智能助行器为从下坡切换到平地状态，并逐渐增大为负值的所述坡度补偿值，实现平缓的结束下坡。
在推行传统的助行器时，不但推行速度越快，推行越费力，而且在推行速度加快的过程中，推行所需要的力度也随之加大，为了在智能助行器处于加速阶段时，加大动力补偿，在处于减速阶段时，启动制动力补偿，实现紧急刹车状态，快速降低速度。
针对加减速补偿值，其用于判断上述的用户意图，即用户对车体运动状态进行的改变，比如启停、加减速等意图，在一个优选的例子中，确定所述加减速补偿值的步骤包括：
获取所述智能助行器向前移动的加速度和减速度，所述加速度指示所述智能助行器处于加速阶段，所述减速度指示所述智能助行器处于减速阶段；当所述智能助行器处于加速阶段时，确定所述加减速补偿值为正值，且与所述加速度成正比；
当所述智能助行器处于减速阶段时，确定所述加减速补偿值为负值，且与所述减速度成正比。其中，智能助行器向前移动的加速度可以通过上述实施例中的加速度传感器来得到。
针对转向补偿值，其用于对智能助行器的转向进行动力补偿，在图1中，后轮中的左轮和右轮由不同的电机控制，所述转向补偿值包括左轮转向补偿值和右轮转向补偿值，确定所述转向补偿值的步骤包括：
当所述智能助行器向右转向时，增大所述左轮转向补偿值和/或减少右轮转向补偿值；
当所述智能助行器向左转向时，增大所述右轮转向补偿值和/或减少左轮转向补偿值。
其中，可以是通过的加速度传感器来得到智能助行器的转向状态，在一个优选的例子中，是通过获取左轮和右轮之间的差速，并根据差速来智能获取智能助行器的转向状态。
优选的，增大左轮转向补偿值时，还减小右轮转向补偿值，以及，增大右轮转向补偿值时，还减小左轮转向补偿值。即，转向角度越大，则外侧轮的助力补偿阈值越大，而减小内侧轮子的助力补偿阈值越多，使得两个轮子电机之间有助于形成差速，帮助实现转向。
在一个例子中，当所述智能助行器向右转向时，按与所述智能助行器转向角度成正比的方式，增大所述左轮转向补偿值，优选的，还按与所述智能助行器转向角度成正比的方式，减小右轮转向补偿值；
当所述智能助行器向左转向时，按与所述智能助行器转向角度成正比的方式，增大所述右轮转向补偿值，优选的，还按与所述智能助行器转向角度成正比的方式，减小左轮转向补 偿值。
上述的转向补偿是在检测到转向达到一定角度时才触发，在一个优选的例子中，还包括如下步骤：
获取所述左轮的移动速度和所述右轮的移动速度；
当所述左轮的移动速度和所述右轮的移动速度之间的差速超过设定差速阈值时，触发所述智能助行器的转向判断。
即，通过左轮和右轮的差速来智能检测转向角度。
如图4所示，与上述的智能助行器的助力控制方法相对应，本申请实施例还提供一种智能助行器的助力控制装置400，该装置包括：
负载重量获取模块401，用于获取所述车体的负载重量；
第一助力补偿模式进入模块402，用于当所述负载重量超过设定阈值时，进入第一助力补偿模式，在所述第一助力补偿模式中，根据第一助力补偿阈值，补偿所述电机的扭力输出，其中，所述第一助力补偿阈值与如下至少一项参数成正比：所述智能助行器负载重量、所述智能助行器的移动速度。
在一个可选的实施例中，负载重量获取模块包括：
负载设置单元，用于通过获取人工设置的档位获取该档位所对应的所述车体的负载重量；
和/或，
负载重量自动获取单元，用于自动获取所述车体的负载重量，该负载重量自动获取单元包括：
第一参数获取子单元，用于在设定速度条件下，获取以下至少一项参数：
所述智能助行器的加速时间、所述智能助行器的电机输出功率、所述电机的电流；
负载重量获取子单元，用于获取预设的该至少一项参数所对应的负载重量，作为所述车体当前的负载重量。
在一个可选的实施例中，该装置还包括：
第二助力补偿模式进入模块，用于当所述负载重量低于设定阈值时，进入第二助力补偿模式，在所述第二助力补偿模式中，根据第二助力补偿阈值，补偿所述电机的扭力输出，其中，所述第二助力补偿阈值根据设定的档位得到。
在一个可选的实施例中，还包括第一补偿阈值确定模块，该模块包括：
固定补偿值确定单元，用于确定固定补偿值，其中，所述固定补偿值包括速度补偿值、重量补偿值和坡度补偿值；
特定补偿值确定单元，用于确定特定补偿值，其中，所述特定补偿值包括加减速补偿值 和/或转向补偿值；
第一补偿阈值确定单元，用于根据所述固定补偿值和所述特定补偿值，获得所述第一补偿阈值。
在一个可选的实施例中，固定补偿值确定单元包括：
移动速度获取子单元，用于获取所述智能助行器当前的移动速度；
速度补偿获取子单元，用于根据所述移动速度，查表获取当前所需的动力补偿系数，根据所述移动速度和所述动力补偿系数，获取所述速度补偿值，其中，所述速度补偿值与所述移动速度和所述动力补偿系数成正比。
在一个可选的实施例中，固定补偿值确定单元包括：
第一坡度补偿子单元，用于在上坡时，坡度越大，确定所述坡度补偿值越大；
第二坡度补偿子单元，用于在下坡时，所述坡度补偿值为负值，坡度越大，则所述坡度补偿值越小。
在一个可选的实施例中，固定补偿值确定单元还包括：
第三坡度补偿子单元，用于当所述车体竖直方向角度大于第一设定阈值，且所述车体竖直方向的角速度大于第二设定阀值时，确定所述智能助行器为从平地切换到上坡的状态，并逐渐增大所述坡度补偿值；
第四坡度补偿子单元，用于当所述车体竖直方向角度小于负数的第三设定阈值，且所述车体竖直方向的角速度大于设定的第四阈值时，确定所述智能助行器为从下坡切换到平地状态，并逐渐增大为负值的所述坡度补偿值。
在一个可选的实施例中，特定补偿值确定单元包括：
第一加速度获取子单元，用于获取所述智能助行器向前移动的加速度和减速度，所述加速度指示所述智能助行器处于加速阶段，所述减速度指示所述智能助行器处于减速阶段；
第二加速度获取子单元，用于当所述智能助行器处于加速阶段时，确定所述加减速补偿值为正值，且与所述加速度成正比；
第三加速度获取子单元，用于当所述智能助行器处于减速阶段时，确定所述加减速补偿值为负值，且与所述减速度成正比。
在一个可选的实施例中，所述前轮或所述后轮包括左轮和右轮，且所述左轮和所述右轮由不同的电机控制，所述转向补偿值包括左轮转向补偿值和右轮转向补偿值，特定补偿值确定单元包括：
第一转向补偿单元，用于当所述智能助行器向右转向时，增大所述左轮转向补偿值和/或减少右轮转向补偿值；
第二转向补偿单元，用于当所述智能助行器向左转向时，增大所述右轮转向补偿值和/或减少左轮转向补偿值。
在一个可选的实施例中，特定补偿值确定单元还包括：
第三转向补偿单元，用于当所述智能助行器向右转向时，按与所述智能助行器转向角度成正比的方式，增大所述左轮转向补偿值和/或减少右轮转向补偿值；
第四转向补偿单元，用于当所述智能助行器向左转向时，按与所述智能助行器转向角度成正比的方式，增大所述右轮转向补偿值和/或减少左轮转向补偿值。
在一个可选的实施例中，特定补偿值确定单元还包括：
左右轮移动速度获取子单元，用于获取所述左轮的移动速度和所述右轮的移动速度；
转向判断触发子单元，用于当所述左轮的移动速度和所述右轮的移动速度之间的差速超过设定差速阈值时，触发所述智能助行器的转向判断。
与上述的智能助行器的助力控制方法相对应，本申请实施例还提供一种智能助行器，包括：
至少一个存储器和至少一个处理器；
所述存储器，用于存储一个或多个程序；
当所述一个或多个程序被所述至少一个处理器执行，使得所述至少一个处理器实现如上述任一项实施例所述的智能助行器的助力控制方法的步骤。
与上述的智能助行器的助力控制方法相对应，本申请实施例还提供一种控制器，包括：
至少一个存储器和至少一个处理器；
所述存储器，用于存储一个或多个程序；
当所述一个或多个程序被所述至少一个处理器执行，使得所述至少一个处理器实现如上述任一项实施例所述的智能助行器的助力控制方法的步骤。
在本申请实施例中，可以自动根据智能助行器的负重判断该智能助行器是乘坐的人还是放置的物品，从而自动选择第一助力补偿模式(轮椅模式)或第二助力补偿模式(购物车模式)，并根据助力补偿模式的区别，自动调节助力补偿阈值，使得本发明的智能助行器更加的智能化；并进一步，在第一助力补偿模式中，对智能助行器实行坡度补偿、速度补偿、加、减速度补偿和转向补偿，使得在任何的路况下都能够实现推行该智能助行器的用户的意图，实现平稳的推行。
应当理解的是，本申请实施例并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本申请实施例的范围仅由所附的权利要求来限制。
以上所述实施例仅表达了本申请实施例的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请实施例构思的前提下，还可以做出若干变形和改进，这些都属于本申请实施例的保护范围。

Claims (14)

  1. 一种智能助行器的助力控制方法，该智能助行器包括车体，所述车体上设置有用于乘坐或放置物品的坐垫，所述车轮的底部设置有前轮和后轮，所述前轮或后轮由电机驱动，其特征在于，该方法包括如下步骤：
    获取所述车体的负载重量；
    当所述负载重量超过设定阈值时，进入第一助力补偿模式，在所述第一助力补偿模式中，根据第一助力补偿阈值，补偿所述电机的扭力输出，其中，所述第一助力补偿阈值与如下至少一项参数成正比：所述智能助行器负载重量、所述智能助行器的移动速度。
  2. 根据权利要求1所述的一种智能助行器的助力控制方法，其特征在于，获取所述车体的负载重量，包括：
    通过获取人工设置的档位获取该档位所对应的预设负载重量；
    和/或，
    自动获取所述车体的负载重量，包括：
    在设定速度条件下，获取以下至少一项参数：
    所述智能助行器的加速时间、所述智能助行器的电机输出功率、所述电机的电流；
    获取预设的该至少一项参数所对应的负载重量，作为所述车体当前的负载重量。
  3. 根据权利要求1所述的一种智能助行器的助力控制方法，其特征在于，还包括如下步骤：
    当所述负载重量低于设定阈值时，进入第二助力补偿模式，在所述第二助力补偿模式中，根据第二助力补偿阈值，补偿所述电机的扭力输出，其中，所述第二助力补偿阈值根据设定的档位得到。
  4. 根据权利要求1所述的一种智能助行器的助力控制方法，其特征在于，所述第一补偿阈值的确定包括如下步骤：
    确定固定补偿值，其中，所述固定补偿值包括速度补偿值、重量补偿值和坡度补偿值；
    确定特定补偿值，其中，所述特定补偿值包括加减速补偿值和/或转向补偿值；
    根据所述固定补偿值和所述特定补偿值，获得所述第一补偿阈值。
  5. 根据权利要求4所述的一种智能助行器的助力控制方法，其特征在于，确定所述速度补偿值的步骤包括：
    获取所述智能助行器当前的移动速度；
    根据所述移动速度，查表获取当前所需的动力补偿系数，根据所述移动速度和所述动力 补偿系数，获取所述速度补偿值，其中，所述速度补偿值与所述移动速度和所述动力补偿系数成正比。
  6. 根据权利要求4所述的一种智能助行器的助力控制方法，其特征在于，确定所述坡度补偿值的步骤包括：
    在上坡时，坡度越大，则所述坡度补偿值越大；
    在下坡时，所述坡度补偿值为负值，坡度越大，则所述坡度补偿值越小。
  7. 根据权利要求6所述的一种智能助行器的助力控制方法，其特征在于，确定所述坡度补偿值的步骤还包括：
    当所述车体竖直方向角度大于第一设定阈值，且所述车体竖直方向的角速度大于第二设定阈值时，确定所述智能助行器为从平地切换到上坡的状态，并逐渐增大所述坡度补偿值；
    当所述车体竖直方向角度小于负数的第三设定阈值，且所述车体竖直方向的角速度大于设定的第四阈值时，确定所述智能助行器为从下坡切换到平地状态，并逐渐增大为负值的所述坡度补偿值。
  8. 根据权利要求4所述的一种智能助行器的助力控制方法，其特征在于，确定所述加减速补偿值的步骤包括：
    获取所述智能助行器向前移动的加速度和减速度，所述加速度指示所述智能助行器处于加速阶段，所述减速度指示所述智能助行器处于减速阶段；
    当所述智能助行器处于加速阶段时，确定所述加减速补偿值为正值，且与所述加速度成正比；
    当所述智能助行器处于减速阶段时，确定所述加减速补偿值为负值，且与所述减速度成正比。
  9. 根据权利要求4所述的一种智能助行器的助力控制方法，其特征在于，所述前轮或所述后轮包括左轮和右轮，且所述左轮和所述右轮由不同的电机控制，所述转向补偿值包括左轮转向补偿值和右轮转向补偿值，确定所述转向补偿值的步骤包括：
    当所述智能助行器向右转向时，增大所述左轮转向补偿值和/或减少右轮转向补偿值；
    当所述智能助行器向左转向时，增大所述右轮转向补偿值和/或减少左轮转向补偿值。
  10. 根据权利要求9所述的一种智能助行器的助力控制方法，其特征在于，还包括如下步骤：
    当所述智能助行器向右转向时，按与所述智能助行器转向角度成正比的方式，增大所述左轮转向补偿值和/或减少右轮转向补偿值；
    当所述智能助行器向左转向时，按与所述智能助行器转向角度成正比的方式，增大所述 右轮转向补偿值和/或减少左轮转向补偿值。
  11. 根据权利要求10所述的一种智能助行器的助力控制方法，其特征在于，还包括如下步骤：
    获取所述左轮的移动速度和所述右轮的移动速度；
    当所述左轮的移动速度和所述右轮的移动速度之间的差速超过设定差速阈值时，触发所述智能助行器的转向判断。
  12. 一种智能助行器的助力控制装置，该智能助行器包括车体，所述车体上设置有用于乘坐或放置物品的坐垫，所述车轮的底部设置有前轮和后轮，所述前轮或后轮由电机驱动，其特征在于，该装置包括：
    负载重量获取模块，用于获取所述车体的负载重量；
    第一助力补偿模式进入模块，用于当所述负载重量超过设定阈值时，进入第一助力补偿模式，在所述第一助力补偿模式中，根据第一助力补偿阈值，补偿所述电机的扭力输出，其中，所述第一助力补偿阈值与如下至少一项参数成正比：所述智能助行器负载重量、所述智能助行器的移动速度。
  13. 一种智能助行器，其特征在于，包括：
    至少一个存储器和至少一个处理器；
    所述存储器，用于存储一个或多个程序；
    当所述一个或多个程序被所述至少一个处理器执行，使得所述至少一个处理器实现如权利要求1至11任一项所述的智能助行器的助力控制方法的步骤。
  14. 一种控制器，其特征在于，包括：
    至少一个存储器和至少一个处理器；
    所述存储器，用于存储一个或多个程序；
    当所述一个或多个程序被所述至少一个处理器执行，使得所述至少一个处理器实现如权利要求1至11任一项所述的智能助行器的助力控制方法的步骤。
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US11793706B2 (en) 2023-10-24
CN113552822B (zh) 2022-07-08
AU2021454273B2 (en) 2025-09-18
US20230119433A1 (en) 2023-04-20
KR20240026508A (ko) 2024-02-28
EP4706616A2 (en) 2026-03-11
CN113552822A (zh) 2021-10-26
EP4364713A1 (en) 2024-05-08
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