MOBILE ASSISTIVE DEVICE AND RELATED BARRIER OVERCOMING METHOD

A barrier overcoming method for a mobile assistive device is disclosed. The barrier overcoming method includes sensing a surrounding environment of the mobile assistive device; determining whether a dangerous terrain exists in the surrounding environment of the mobile assistive device; determining whether the dangerous terrain belongs to a conquerable obstacle when the dangerous terrain exists in the surrounding environment around the mobile assistive device; and adjusting a status of the mobile assistive device to overcome the dangerous terrain when the dangerous terrain belongs to a conquerable obstacle.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a mobile assistive device and a related barrier overcoming method, and more particularly, to a mobile assistive device and a related barrier overcoming method capable of enlarging a utilization range by sensing a surrounding environment.

2. Description of the Prior Art

Conventional mobile assistive devices, such as an electric walker or electric wheelchair, may be utilized by people with low mobility. The mobile assistive device acts to avoid obstacles noticed by a user, but the utilization range of the mobile assistive device is restricted by the surrounding environment. Specifically, when the user is confronted with an object on the ground, they will operate the mobile assistive device to avoid the object by finding an alternative route, but this may require taking a detour around the object, or using a ramp when the obstacle is stairs. These alternative routes may present further problems to those with low mobility.

SUMMARY OF THE INVENTION

The present invention provides a mobile assistive device and a related barrier overcoming method to enlarge a utilization range by sensing a surrounding environment.

An embodiment of the present invention discloses a barrier overcoming method for a mobile assistive device, comprising: sensing a surrounding environment of the mobile assistive device; determining whether a dangerous terrain exists in the surrounding environment of the mobile assistive device; when it is determined that a dangerous terrain exists, determining whether the dangerous terrain belongs to a conquerable obstacle; and adjusting a status of the mobile assistive device to overcome the dangerous terrain when the dangerous terrain belongs to the conquerable obstacle.

Another embodiment of the present invention discloses a mobile assistive device comprising: a sensing unit, configured to sense a surrounding environment of the mobile assistive device; and a processing unit, coupled to the sensing unit and configured to determine whether a dangerous terrain exists in the surrounding environment of the mobile assistive device according to the surrounding environment sensed by the sensing unit, wherein when it is determined that a dangerous terrain exists, the processing unit determines whether the dangerous terrain belongs to a conquerable obstacle , and adjusts a status of the mobile assistive device to overcome the dangerous terrain when the dangerous terrain belongs to the conquerable obstacle.

DETAILED DESCRIPTION

FIGS. 1 and 2are schematic diagrams of a mobile assistive device10according to an embodiment of the present invention. The mobile assistive device10includes a car body100, a sensing unit102, a processing unit104and a motive unit106. A back side of the mobile assistive device10is shown inFIG. 2. The mobile assistive device10may be utilized for assisting people with low mobility, e.g. people who use an electric walker or an electric wheelchair. The sensing unit102may include distance sensing devices102_2(mounted on a front side of the car body100and therefore not shown inFIG. 2),102_4,102_6and102_8, respectively mounted on a front, back, left and right side of the mobile assistive device10to sense a surrounding environment of the mobile assistive device10. Notably, a number of the distance sensing device respectively mounted on the front, back, left and right side of the mobile assistive device10is not limited to one. The distance sensing devices102_2,102_4,102_6,102_8of the mobile assistive device10are configured to emit sensing signals towards the ground to precisely sense obstacles on the ground. The processing unit104may be a processing device or a processor with computing functions, and configured to determine whether a dangerous terrain exists in the surrounding environment of the mobile assistive device10according to a determination by the sensing unit102, wherein the dangerous terrain may be a raised obstacle, a drop, narrow space(s), or other obstacles on the ground that might present an unstable situation to the mobile assistive device10.

When the processing unit104of the mobile assistive device10determines that the dangerous terrain exists in the surrounding environment of the mobile assistive device10, the processing unit104may further determine whether the dangerous terrain belongs to a conquerable obstacle. The processing unit104of the mobile assistive device10may adjust a status of the mobile assistive device10to overcome the dangerous terrain when it is determined that the dangerous terrain belongs to a conquerable obstacle. In an embodiment, the mobile assistive device10may adjust a motor torque or a moving speed of the mobile assistive device10via the motive unit106. In contrast, when the processing unit104of the mobile assistive device10determines that the dangerous terrain does not belong to a conquerable obstacle, the mobile assistive device10may include a speaker device to deliver a warning, and may also prohibit rotation of the electric wheelchair or stop the electric wheelchair from moving.

In an embodiment, the dangerous terrain is located at a side of the raised obstacle. Refer toFIG. 2, which is a schematic diagram of the mobile assistive device10sensing the surrounding environment according to an embodiment of the present invention. The left side ofFIG. 2illustrates the schematic diagram of the mobile assistive device10being in a normal moving status wherein no dangerous terrain surrounds the mobile assistive device10. In this situation, a distance d_left and an angle θ exist between the distance sensing device102_6of the mobile assistive device10and the ground.

As shown on the right side ofFIG. 2, when the sensing unit102of the mobile assistive device10senses that a dangerous terrain exists on the left side of the mobile assistive device10and the dangerous terrain is a raised obstacle O_R, a distance d_left′ and the angle θ exist between the distance sensing device102_6of the mobile assistive device10and the ground. The processing unit104is configured to determine whether the dangerous terrain belongs to a conquerable obstacle according to an obstacle height H_1of the raised obstacle O_R, an obstacle overcoming height R_H of the mobile assistive device10and a gyration radius R_R of the mobile assistive device10.

Specifically, when the obstacle height H_1is smaller than the obstacle overcoming height R_H of the mobile assistive device10, the processing unit104may determine the raised obstacle O_R is a conquerable obstacle. In contrast, when the obstacle height H_1is larger than the obstacle overcoming height R_H of the mobile assistive device10, the mobile assistive device10cannot overcome the raised obstacle O_R, and when dleft′×cos θ≤the gyration radius R_R, the mobile assistive device10will deliver a warning or prevent rotation of the electric wheelchair.

Refer toFIG. 3, which is a schematic diagram of the mobile assistive device10sensing surrounding environment according to another embodiment of the present invention. When the sensing unit102of the mobile assistive device10senses a dangerous terrain exists on its side and the dangerous terrain is a drop O_F, the processing unit104is configured to determine whether the dangerous terrain (i.e. the drop) belongs to a conquerable obstacle or not according to a drop height H_2of the drop O_F, the obstacle overcoming height R_H of the mobile assistive device10and the gyration radius R_R of the mobile assistive device10.

Specifically, when the drop height H_2is smaller than the obstacle overcoming height R_H of the mobile assistive device10, the processing unit104may determine that the drop O_F is a conquerable obstacle, the mobile assistive device10may smoothly drive through the drop O_F. In contrast, when the drop height H_2is larger than the obstacle overcoming height R_H of the mobile assistive device10, the mobile assistive device10cannot overcome the drop O_F, and the mobile assistive device10delivers the warning or stops the electric wheelchair from moving.

The above illustrates examples of dangerous terrain sensed by the distance sensing device of the mobile assistive device10. Refer toFIG. 4, which is a schematic diagram of the mobile assistive device10sensing a dangerous terrain in front of the mobile assistive device10according to an embodiment of the present invention. The left side ofFIG. 4illustrates the mobile assistive device10being in a normal moving status without any dangerous terrain surrounding the mobile assistive device10. In this situation, a distance d_s and an angle θ exist between the distance sensing device102_2of the mobile assistive device10and the ground.

As shown on the right side ofFIG. 4, when the sensing unit102of the mobile assistive device10senses that a dangerous terrain exists in front of the mobile assistive device10and the dangerous terrain is a raised obstacle O_R, a distance d_s′ and the angle θ exist between the distance sensing device102_2of the mobile assistive device10and the ground. The processing unit104is configured to determine whether the dangerous terrain belongs to a conquerable obstacle according to the obstacle height H_1of the raised obstacle O_R, the obstacle overcoming height R_H of the mobile assistive device10and the gyration radius R_R of the mobile assistive device10.

Therefore, when the obstacle height H_1is smaller than the obstacle overcoming height R_H of the mobile assistive device10, the processing unit104may determine that the raised obstacle O_R is a conquerable obstacle. In contrast, when the obstacle height H_1is larger than the obstacle overcoming height R_H of the mobile assistive device10, the mobile assistive device10cannot overcome the raised obstacle O_R, and when d_s′×cos θ≤the gyration radius R_R, the mobile assistive device10will deliver a warning or stop the electric wheelchair from moving.

Refer toFIG. 5, which is a schematic diagram of the mobile assistive device10sensing surrounding environment according to another embodiment of the present invention. When the sensing unit102of the mobile assistive device10senses that a dangerous terrain is in front of the mobile assistive device10and the dangerous terrain is a drop O_F, the processing unit104is configured to determine whether the dangerous terrain (i.e. the drop) belongs to a conquerable obstacle according to the drop height H_2of the drop O_F, the obstacle overcoming height R_H of the mobile assistive device10and the gyration radius R_R of the mobile assistive device10.

When the drop height H_2is smaller than the obstacle overcoming height R_H of the mobile assistive device10, the processing unit104may determine that the drop O_F is a conquerable obstacle, and the mobile assistive device10may drive smoothly through the drop O_F. In contrast, when the drop height H_2is larger than the obstacle overcoming height R_H of the mobile assistive device10, the mobile assistive device10cannot conquer the drop O_F. In this situation, the mobile assistive device10delivers a warning, stops the device from moving or prohibits rotation over 90° to avoid dangers. Similarly, when the mobile assistive device10reverses, the above detection method may be utilized to sense the surrounding environment behind the device.

When the dangerous terrain sensed by the mobile assistive device10is a conquerable obstacle, the processing unit104of the mobile assistive device10may adjust the motor torque and the moving speed of the mobile assistive device10via the motive unit106to conquer the dangerous terrain surrounding the mobile assistive device10.

In detail, when the processing unit104of the mobile assistive device10determines that the dangerous terrain is conquerable, the processing unit104may determine the motor torque of the mobile assistive device10according to conservation of angular momentum and conservation of mechanical energy. Refer toFIG. 6, which is a schematic diagram of the mobile assistive device10sensing a surrounding environment according to an embodiment of the present invention. Assume that a weight of a wheel body of the mobile assistive device10is m, an initial velocity of the wheel body is v, a radius of the wheel body is r, a moment of inertia of the wheel body is I, the obstacle height is h and an instantaneous angular velocity when overcoming the barrier is ω′. Formulas (1) and (2) may be obtained according to the conservation of angular momentum and the conservation of mechanical energy, when the mobile assistive device10hits an impact point A of the raised obstacle O_R:

Further, a minimal velocity v of formula (3) for the mobile assistive device10to overcome the barrier may be deduced according to formulas (1) and (2):

Therefore, the mobile assistive device10may adjust the motor torque or speed of the mobile assistive device10according to the motor torque determined by the processing unit104corresponding to different dangerous terrains, in order to conquer the dangerous terrain. Testing the wheel velocity or motor torque in advance for different types of wheels of the mobile assistive device10, e.g. universal wheel, is required to conquer the obstacles smoothly.

Refer toFIG. 7, which is a schematic diagram of the mobile assistive device10sensing surrounding environment according to an embodiment of the present invention. When the mobile assistive device10enters a narrow space, it is difficult for a user to get out of the narrow space easily. Therefore, when the sensing unit102of the mobile assistive device10senses that the dangerous terrain is a narrow space, the mobile assistive device10is configured to determine whether the dangerous terrain is a conquerable obstacle according to the gyration radius R_R of the mobile assistive device10.

Specifically, the processing unit104may determine whether the obstacle is conquerable according to a nearest distance between an object and the mobile assistive device10. For example, in the embodiment ofFIG. 7, the mobile assistive device10may determine whether the obstacle is conquerable according to distances D1-D4between the object and the mobile assistive device10: if the distances D1-D4between the objects and the mobile assistive device10are all larger than the gyration radius R_R of the mobile assistive device10, the processing unit104may arbitrarily rotate to get out of the narrow space. In addition, a maximal distance among the distances D1-D4between the mobile assistive device10and the objects is determined, representing no wall or no obstacles. The mobile assistive device10may move in a direction with the maximal distance, or the mobile assistive device10may rotate clockwise or counterclockwise till at least two directions out of the front, back, left and right of the mobile assistive device10are larger than a default distance to get out of the narrow space. Alternatively, the mobile assistive device10may first rotate clockwise/counterclockwise 90° and then sense the surrounding height and obstacle to determine a best way to get out of the narrow space.

The barrier overcoming method of the mobile assistive device10may be summarized by a barrier overcoming method80, as shown inFIG. 8. The barrier overcoming method80includes the following steps:

Step804: Sense the surrounding environment of the mobile assistive device10.

Step806: Determine whether a dangerous terrain exists in the surrounding environment of the mobile assistive device10.

Step808: Determine whether the dangerous terrain belongs to a conquerable obstacle when a dangerous terrain exists in the surrounding environment of the mobile assistive device10.

Step810: Adjust the status of the mobile assistive device10to conquer the dangerous terrain when the dangerous terrain belongs to a conquerable obstacle.

Further details about the operation method of the barrier overcoming method80are provided by the embodiments of the mobile assistive device10above, and therefore not narrated here for brevity.

Notably, the embodiments of the present invention illustrated above may be properly modified by people skilled in the art, and not limited thereto. For example, an amount of the distance sensing device mounted on each side of the mobile assistive device, conditions of determining the minimal velocity of overcoming the barrier and ways to get out of the narrow space are not limited to the above embodiments, and may be modified according to adjustments of a user or a manufacturer. These modifications are applicable to the present invention.

In summary, a mobile assistive device and a barrier overcoming method according to an embodiment of the present invention sense obstacles in the surrounding environment to determine whether the obstacle is conquerable. A utilization range of the mobile assistive device is thereby enlarged.