SONG, KAI TAI,宋开泰,宋開泰,JIANG, SIN YI,江信毅,江信毅,HUANG, KO TUNG,黄科栋,黃科棟
申请号：
TW099115734
公开号：
TWI382833B
申请日:
2010.05.17
申请国别(地区):
TW
年份:
2013
代理人:
摘要：
The present invention discloses a walking assistive system comprising a motion module, a current detecting module and a central control module. Each motion module includes omni-directional wheels, motors, shaft coders, and controllers. The omni-directional wheels are connected with the motors and driven by the motors. The motors are connected with the shaft coders, and the rotation speed values are generated corresponds to the rotation speed of the motors by the shaft coder after. The controllers connected with the shaft coders and the motors receive the rotation speed values and control the motors. The current detecting modules connected with the motors detect the current of the motors and generate current values correspondingly. The central control module connected to the motion module and the current detecting module controls the motion modules according to the rotation speed values and the current values. When the walking assistive system isn’t applied a force by a user, the central control module controls the walking assistive system stand by When the walking assistive system is applied a force by the user, the central control module controls the motion module according to the force applied on the system.本發明係揭露一種行走輔助系統,其包含運動模組、電流感測模組及中央控制模組。其中,各運動模組包含全向輪、馬達、軸編碼器及控制器,馬達係連接全向輪並驅動全向輪進行全向移動,軸編碼器則連接馬達並擷取其轉速而對應產生轉速值,控制器則連接軸編碼器及馬達,並接收轉速值及控制馬達。電流感測模組係連接馬達並感測馬達之電流而對應產生電流值。中央控制模組則連接運動模組及電流感測模組,且根據所接收到之轉速值及電流值控制運動模組。其中,當使用者未對行走輔助系統施力時,中央控制模組即控制運動模組靜止,而當使用者對行走輔助系統施外力時,中央控制模組即根據外力控制運動模組運作。1‧‧‧行走輔助系統10‧‧‧運動模組100‧‧‧全向輪101‧‧‧馬達102‧‧‧軸編碼器103‧‧‧控制器11‧‧‧電流感測模組12‧‧‧中央控制模組13‧‧‧傾斜感測器14‧‧‧定位器15‧‧‧障礙物偵測器20‧‧‧轉速值21‧‧‧電流值22‧‧‧外力值23‧‧‧傾斜值24‧‧‧定位資訊25‧‧‧目標位置資訊26‧‧‧障礙物資訊
