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CN-121987428-A - Intelligent walking-aid vehicle for old people

CN121987428ACN 121987428 ACN121987428 ACN 121987428ACN-121987428-A

Abstract

The invention relates to the technical field of rollator, and discloses an intelligent rollator for the elderly, wherein a traveling wheel set is arranged at the bottom of a main support frame of the intelligent rollator for the elderly, an armrest is arranged at the top of the main support frame, and the middle upper part of the main support frame is connected with a seat support through a detachable connecting piece; the seat cushion is connected with the seat support through a damping hinge, and the electric push rod drives the rotary push rod to adjust the inclination angle. The equipment is also provided with a structural quality inspection sensing assembly, a man-machine interaction unit on the handrail and a main control module, wherein the main control module controls the angle of the seat cushion, judges structural safety through sensing data, locks the electric push rod and gives an early warning when abnormal, and the whole process guarantees the use safety. The invention can flexibly adjust the inclination angle of the seat cushion to improve the comfort, can monitor the structural safety in real time and trigger locking and early warning in time, is intelligent, convenient, safe and reliable, and is suitable for the use demands of the old.

Inventors

  • REN ZHAO

Assignees

  • 陕西国防工业职业技术学院

Dates

Publication Date
20260508
Application Date
20260209

Claims (10)

  1. 1. The utility model provides an old person is with intelligent rollator, its is provided with main support frame, seatpad and driving motor, its characterized in that includes: the bottom of the main support frame is provided with a walking wheel set, the inner side of the middle upper part of the main support frame is connected with the seat support through a detachable connecting piece, and the top of the main support frame is also provided with a handrail; The seat cushion is arranged on the inner side of the seat support, the rear end of the seat cushion is rotationally connected with the seat support through a damping hinge, an electric push rod is further arranged below the seat cushion, the output end of the electric push rod is connected with a rotary push rod, the rotary push rod is convex, two ends of the rotary push rod are respectively rotationally connected with the main support frame, the other end of the electric push rod is hinged with a lower support rod of the main support frame, and the electric push rod is used for driving the seat cushion to rotate around the damping hinge so as to adjust the inclination angle of the seat cushion; The structure quality inspection sensing assembly comprises a stress sensor arranged at a stress node of the main support frame, a first angle sensor arranged at a damping hinge rotating shaft, and a pressure sensor arranged on an electric push rod telescopic rod, and is used for collecting deformation stress of the frame structure, real-time inclination angle of a seat cushion and thrust data of the electric push rod in real time; the man-machine interaction unit is arranged on the armrest of the main support frame and is used for receiving a seat cushion angle adjusting instruction input by a user and displaying structural quality inspection data and equipment state information; the main control module is respectively and electrically connected with the electric putter, the structural quality inspection sensing assembly and the man-machine interaction unit, and is used for controlling the electric putter to stretch out and draw back in order to drive the rotation ejector pin to adjust the seatpad angle according to the instruction of the man-machine interaction unit, and simultaneously judges the structural safety of frame and adjustment mechanism through the real-time data of the structural quality inspection sensing assembly, when detecting stress overload, angle abnormality or thrust unbalance, triggers the electric putter locking and sends the safety precaution through the man-machine interaction unit.
  2. 2. The intelligent rollator for the elderly according to claim 1, wherein rotatable foot rests are symmetrically arranged on two sides above front wheels in a walking wheel set of the main support frame, and the foot rests are rotatably connected with the seat support through a rotating shaft; The driving motor is arranged at the rear side of the bottom of the main support frame and is fixedly connected with wheel shafts of two rear wheels in the walking wheel set through a transmission shaft, so as to provide power support for walking of the walker; one end of the armrest is hinged with the seat support, and when the electric push rod drives the seat cushion to rotate around the damping hinge to adjust the inclination angle, the armrest performs synchronous angle adjustment with the seat cushion; the end part of the handrail is fixedly provided with a control handle and a hand brake, and the control handle is electrically connected with the main control module and is used for receiving running and speed control operation instructions of a user and transmitting the instructions to the main control module; the hand brake is mechanically connected with the braking unit of the driving motor and is used for triggering emergency braking manually by a user, and the main control module is synchronized to control the electric push rod to lock the angle of the seat cushion.
  3. 3. The intelligent rollator of claim 2, wherein the control handle is electrically connected to a front wheel steering mechanism in the main support frame running gear set: when a user turns a control handle at the end part of the right handrail, the right control handle generates a left turning control signal and transmits the signal to the main control module, and after the main control module receives the signal, the front wheel steering mechanism is controlled to drive the front wheel to rotate leftwards, and the steering angle is positively correlated with the turning amplitude of the handle; when a user twists a control handle at the end part of the left handrail, the left control handle generates a right turning control signal and transmits the signal to the main control module, and after the main control module receives the signal, the front wheel steering mechanism is controlled to drive the front wheel to rotate rightwards, and the steering angle is positively correlated with the twisting amplitude of the handle; when a user simultaneously twists the control handles at the end parts of the left handrail and the right handrail in the same direction, the control handles at the two sides synchronously generate straight control signals, the straight control signals are transmitted to the main control module, and the main control module controls the front wheel steering mechanism to keep the front wheel in a straight posture and simultaneously controls the driving motor to output uniform power; The control handle is internally provided with a second angle sensor which is used for collecting handle screwing amplitude data in real time and transmitting the handle screwing amplitude data to the main control module.
  4. 4. The intelligent rollator of claim 1, wherein the structural quality control sensing assembly further comprises a validity review of the collected data after the data is collected: The main control module presets a re-detection stress threshold value, a re-detection angle threshold value and a re-detection thrust threshold value, each sensor acquires corresponding monitoring data again, and the main control module calculates deformation stress values, inclination angle values and thrust values after re-detection; The main control module compares each item of data after the recheck with the corresponding recheck threshold value and judges whether the structural quality inspection data reaches the effective standard or not; when the deformation stress value, the inclination angle value and the thrust value after the reinspection all meet the requirements of the corresponding reinspection threshold value, the acquired data are judged to be valid, and the main control module transmits the data to the human-computer interaction unit for display; And when any item of data does not meet the requirement of the corresponding re-detection threshold, judging that the acquired data is invalid, and controlling the structural quality inspection sensing component to restart the data acquisition flow by the main control module and marking the position of the abnormal sensor.
  5. 5. The intelligent rollator for the elderly according to claim 1, wherein the main control module controls the electric push rod to stretch and retract according to the command of the man-machine interaction unit, and when adjusting the rotation angle of the cushion around the damping hinge, the intelligent rollator comprises: The main control module presets a first angle deviation interval and a second angle deviation interval, and the first angle deviation interval is smaller than the second angle deviation interval; When the main control module receives an angle adjustment instruction of the man-machine interaction unit, calculating a target inclination angle of the seat cushion, and acquiring a current inclination angle acquired by a first angle sensor; Judging whether the seat cushion angle adjustment reaches an expected target or not by calculating the absolute value of the angle difference value; When the absolute value of the angle difference value is zero, judging that the angle adjustment reaches the expected value, and sending a command for stopping expansion to the electric push rod by the main control module; when the absolute value of the angle difference value is larger than zero, if the angle difference value is in a first angle deviation interval, the main control module controls the electric push rod to adjust the angle of the seat cushion at a first telescopic speed; if the angle difference value is in a second angle deviation interval, the main control module controls the electric push rod to adjust the angle of the seat cushion at a second telescopic speed; The first telescopic speed is smaller than the second telescopic speed, and the inclination angle of the adjusted seat cushion is required to be within a preset safety angle range.
  6. 6. The intelligent rollator for elderly people according to claim 5, wherein the electric putter drives the seat cushion to adjust to the target tilting angle, further comprising safety verification of the seat cushion adjustment state: the structure quality inspection sensing assembly synchronously collects inclination angle data after seat cushion adjustment, thrust data of the electric push rod and stress data of a stress node of the main support frame; The main control module compares all collected data with a preset safety data range and judges whether the seat cushion adjusting state is safe or not; When the inclination angle is in a preset safety angle range, the thrust data is in a preset safety thrust range and the stress data is in a preset safety stress range, judging that the seat cushion adjusting state is safe, controlling the electric push rod to lock the current telescopic position by the main control module, and prompting that the adjustment is completed through the man-machine interaction unit; when any item of data exceeds a corresponding preset safety range, the seat cushion adjusting state is judged to be unsafe, the main control module controls the electric push rod to reversely stretch and retract, adjusts the angle of the seat cushion to a safety position and triggers safety early warning.
  7. 7. The intelligent rollator of claim 6, wherein the main control module controls the electric putter to adjust the thrust force, comprising: The main control module calculates a thrust difference value between the current thrust and the target thrust according to the real-time thrust data of the electric push rod acquired by the pressure sensor; Presetting a first thrust deviation interval and a second thrust deviation interval, wherein the first thrust deviation interval is smaller than the second thrust deviation interval; judging whether the thrust of the electric push rod reaches an equilibrium state or not through the absolute value of the thrust difference value; when the absolute value of the thrust difference value is zero, the thrust is judged to reach balance, and the main control module maintains the current thrust output of the electric push rod; when the absolute value of the thrust difference value is greater than zero, if the thrust difference value is in a first thrust deviation interval, the main control module controls the electric push rod to adjust the thrust output to a first preset output amplitude; If the thrust difference value is in the second thrust deviation interval, the main control module controls the electric push rod to adjust the thrust output to a second preset output amplitude; The first preset output amplitude is smaller than the second preset output amplitude, and the adjusted thrust output is within a preset safe thrust range.
  8. 8. The intelligent rollator of claim 7, wherein the electric putter thrust adjustment is complete, further comprising a secondary verification of the safety of the main support frame structure, comprising: The structural quality inspection sensing assembly acquires deformation stress data of the stress node of the main support frame and thrust data of the electric push rod again; The main control module calculates the deviation rate of the stress data and a preset safety stress range and the deviation rate of the thrust data and a preset safety thrust range; when the two deviation rates do not exceed the preset deviation rate threshold, judging that the main support frame structure is safe, and recording current equipment state data by the main control module; when any deviation rate exceeds a preset deviation rate threshold, the main support frame structure is judged to have potential safety hazards, and the main control module triggers emergency early warning, controls the locking of the electric push rod and prohibits the adjustment of the seat cushion angle and the walking operation of the walking aid vehicle.
  9. 9. The intelligent rollator of claim 8, wherein the master control module, when calibrating the structural quality control sensing assembly, comprises: the main control module acquires real-time acquisition data and standard calibration data of the structural quality inspection sensing assembly, and calculates a data deviation value; presetting a first calibration deviation interval and a second calibration deviation interval, wherein the first calibration deviation interval is smaller than the second calibration deviation interval; judging whether the sensor calibration achieves the expected effect or not through the absolute value of the data deviation value; When the absolute value of the data deviation value is zero, judging that the sensor calibration is qualified, and maintaining the current acquisition parameters of the sensor by the main control module; when the absolute value of the data deviation value is larger than zero, if the data deviation value is in a first calibration deviation interval, the main control module performs first parameter calibration on the sensor and adjusts acquisition parameters; If the data deviation value is in a second calibration deviation interval, the main control module performs second parameter calibration on the sensor and resets the acquisition parameters; the parameter adjustment amplitude of the first parameter calibration is smaller than that of the second parameter calibration, and the calibrated sensor acquisition data is required to meet the preset precision requirement.
  10. 10. The intelligent rollator of claim 9, wherein the main control module performs seat cushion angle adjustment, structural safety verification and sensor calibration, and further comprises comprehensive verification of the overall process operation state of the rollator: the main control module integrates structure quality inspection data, electric push rod operation data, walking control data and man-machine interaction operation data; the main control module presets a standard misoperation rate threshold value and a standard delay time threshold value, integrates various data, and calculates the operation misoperation rate and the data acquisition delay time of the equipment; Comparing the misoperation rate with a standard misoperation rate threshold value, and comparing the data acquisition delay time with a standard delay time threshold value to judge whether the whole flow operation of the rollator is safe and effective; When the misoperation rate is smaller than or equal to a standard misoperation rate threshold value and the data acquisition delay time is smaller than or equal to a standard delay time threshold value, the whole process operation is judged to be safe and effective, and the main control module sends an operation normal instruction to the man-machine interaction unit; When any index is larger than the corresponding standard threshold, the main control module sends a recalibration instruction, and the whole flow operation of sensor calibration, seat cushion angle adjustment and structural safety verification is restarted.

Description

Intelligent walking-aid vehicle for old people Technical Field The invention relates to the technical field of rollator, in particular to an intelligent rollator for the elderly. Background The intelligent walking aid for the old is intelligent equipment for providing walking assistance and resting support for the old, can effectively improve the safety and convenience of the old in home and outdoor travel, relieves the dilemma of inconvenient actions of the old, and becomes an important auxiliary tool for daily nursing and travel of the old. The multifunctional chair has the basic functions of walking support, seat rest and the like, and part of products are provided with driving mechanisms, so that the use burden of the old is further reduced. The use safety and comfort of the intelligent rollator for the elderly are important factors affecting the application effect of the intelligent rollator. However, in the traditional walking-aid vehicle for the old people, the angle adjustment of the seat cushion is dependent on manual operation, the adjustment precision is low, the operation is complex, the physical conditions and the use demands of different old people are difficult to adapt, a real-time quality inspection mechanism for a frame structure and an adjustment mechanism is lacked, potential safety hazards such as structural deformation stress, abnormal angle of the seat cushion and the like cannot be monitored in time, the use risk is easy to be caused, the human-computer interaction experience is poor, the running state and safety data of equipment cannot be intuitively displayed, a real-time feedback control mechanism is lacked, the parameters of the equipment cannot be timely adjusted according to the monitoring data, and the safety and the suitability of the equipment are further affected. Therefore, it is necessary to design an intelligent rollator for the elderly to solve the problems of inconvenient adjustment of a seat cushion, safe structure, no real-time monitoring, poor man-machine interaction and lack of real-time feedback control in the traditional rollator for the elderly. Disclosure of Invention In view of the above, the invention provides an intelligent rollator for the elderly, which aims to solve the problems of inconvenient adjustment of a seat cushion, safe structure, no real-time monitoring, poor man-machine interaction and lack of real-time feedback control in the traditional rollator for the elderly. The invention provides an intelligent rollator for the elderly, which is provided with a main support frame, a seat cushion and a driving motor, and comprises the following components: the bottom of the main support frame is provided with a walking wheel set, the inner side of the middle upper part of the main support frame is connected with the seat support through a detachable connecting piece, and the top of the main support frame is also provided with a handrail; The seat cushion is arranged on the inner side of the seat support, the rear end of the seat cushion is rotationally connected with the seat support through a damping hinge, an electric push rod is further arranged below the seat cushion, the output end of the electric push rod is connected with a rotary push rod, the rotary push rod is convex, two ends of the rotary push rod are respectively rotationally connected with the main support frame, the other end of the electric push rod is hinged with a lower support rod of the main support frame, and the electric push rod is used for driving the seat cushion to rotate around the damping hinge so as to adjust the inclination angle of the seat cushion; The structure quality inspection sensing assembly comprises a stress sensor arranged at a stress node of the main support frame, a first angle sensor arranged at a damping hinge rotating shaft, and a pressure sensor arranged on an electric push rod telescopic rod, and is used for collecting deformation stress of the frame structure, real-time inclination angle of a seat cushion and thrust data of the electric push rod in real time; the man-machine interaction unit is arranged on the armrest of the main support frame and is used for receiving a seat cushion angle adjusting instruction input by a user and displaying structural quality inspection data and equipment state information; the main control module is respectively and electrically connected with the electric putter, the structural quality inspection sensing assembly and the man-machine interaction unit, and is used for controlling the electric putter to stretch out and draw back in order to drive the rotation ejector pin to adjust the seatpad angle according to the instruction of the man-machine interaction unit, and simultaneously judges the structural safety of frame and adjustment mechanism through the real-time data of the structural quality inspection sensing assembly, when detecting stress overload, angle abnormality or thrust unbalance, triggers the electric putter