KR20240071789A - Rollator providing smart walking assistance based on walking data of users and smart driving method of the rollator - Google Patents

Abstract

One embodiment includes collecting three-dimensional spatial data about the user while walking using a sensor included in a walking vehicle, and the processor extracting the user's motion information based on the three-dimensional spatial data about the user. Analyzing and generating real-time walking data of the user, and the processor compares the real-time walking data with reference walking data matched to the user's body data extracted through the three-dimensional spatial data, and the real-time walking data is A smart driving method for a walking vehicle can be provided, including the step of controlling the driving of the walking vehicle so that the difference with the reference walking data is less than a predetermined value.

Description

{Rollator providing smart walking assistance based on walking data of users and smart driving method of the rollator}

The present invention relates to a walking vehicle and a smart driving method for the walking vehicle that provides smart walking assistance based on the user's walking data.

The continued increase in the number of elderly people requires the distribution of elderly-friendly products, and this demand is increasing the need for development and evaluation of elderly-friendly products in terms of ergonomics and design. Because senior-friendly products have not yet attracted the attention of many companies due to lack of marketability, extensive product development and research have not been provided. This has resulted in the elderly being forced to make insufficient choices and use inappropriate products.

Analysis of product safety accidents shows that the accident rate for users over 60 years of age is much higher than that of users under 60 years of age. Looking at the detailed analysis results, the most common place was home at 57.2%, followed by public administration and service areas at 14.7%, and roads at 9.8%. And by accident type, falls, falls, and slips accounted for 55.3%, collisions and impacts accounted for 7.5%, accidents involving cuts or tears by objects accounted for 4.5%, and crushing and pinching accounted for 4.0%. Also, by accident area, 26.4% were in the head and face, 24% in the legs and feet, 18.1% in the arms and hands, and 14.7% in the neck, abdomen, back, and waist (Safety Status for the Elderly, Consumer Age). , 4-5, October 2007).

In particular, as can be seen when looking at the types of accidents involving the elderly, falls-related accidents account for more than half. The most representative senior-friendly product that can prevent falls is the walking car (rollator). Until recently, various products with various functions added to walking vehicles and improved convenience of use and durability have appeared. In relation to this, a rollator-trolley with an adjustable handle position according to the use of Korean Patent Publication No. 2017-0134394, Korea Research and development is being conducted steadily, including the walking state estimation method and device for walking aids in Registered Patent Publication No. 1908176, the Stroller rollator in US Patent Publication No. 9974708, and the Foldable rollator in US Patent Publication No. 9839571.

Meanwhile, as people's interest in healthcare grows and advances in remote medical service technology, demand for non-face-to-face rehabilitation treatment is increasing. Accordingly, there is a need to more actively research healthcare products that enable real-time, non-face-to-face rehabilitation treatment based on patient data.

Korean Patent Publication No. 2017-0134394 Korean Patent Publication No. 1908176 US Patent Publication No. 9974708 U.S. Patent Publication No. 9839571

The present invention can provide a walking vehicle capable of smart walking assistance and a smart driving method for the walking vehicle.

In addition, the present invention can provide a walking vehicle with improved stability and convenience by controlling the running speed of the walking vehicle at a walking speed appropriate for the user's walking level based on the user's walking data.

Additionally, the present invention can provide a walking vehicle and a smart driving method that enables non-face-to-face rehabilitation treatment by utilizing the user's walking data.

In addition, the present invention can provide a walking vehicle and a smart driving method capable of preventing safety accidents by controlling the walking vehicle to avoid obstacles using an obstacle detection sensor.

In one embodiment, a smart driving method of a walking vehicle controlled by a processor that generates walking data of the user includes collecting three-dimensional spatial data about the user while walking using a sensor included in the walking vehicle. , the processor generating real-time walking data of the user by analyzing the user's motion information extracted based on the three-dimensional spatial data for the user, and the processor converting the real-time walking data into the three-dimensional spatial data. Comparing the user's body data extracted through reference walking data matched with reference walking data, and controlling the driving of the walking vehicle so that the difference between the real-time walking data and the reference walking data is less than or equal to a predetermined value. It can provide a smart driving method.

In another aspect, in the step of controlling the driving of the walking vehicle, the processor compares first real-time walking data and first reference walking data, and the difference between the first real-time walking data and the first reference walking data is determined by a predetermined amount. The control parameters of the walking vehicle can be adjusted to be below the value of .

In another aspect, in the step of controlling the driving of the walking vehicle, the processor controls the driving of the walking vehicle after the difference between the first real-time walking data and the first reference walking data becomes less than a predetermined value. , Comparing the first real-time walking data, other second real-time walking data, and second reference walking data, and controlling the walking vehicle so that the difference between the second real-time walking data and the second reference walking data is less than a predetermined value. Parameters can be adjusted.

In another aspect, in the step of controlling the driving of the walking vehicle, the processor compares first real-time walking data and first reference walking data, and the difference between the first real-time walking data and the first reference walking data is determined by a predetermined amount. Control parameters of the walking vehicle are adjusted to be below the value of, and at the same time, the first real-time walking data and other second real-time walking data and second reference walking data are compared, and the second real-time walking data is compared with the second real-time walking data. The control parameters of the walking vehicle can be adjusted so that the difference between the reference walking data is less than a predetermined value.

In another aspect, in the step of generating real-time walking data of the user, the processor models a three-dimensional space including the shape of the user based on the three-dimensional spatial data for the user, and in the three-dimensional space The user's motion information may be extracted, and the motion information may be analyzed to generate real-time walking data of the user.

In another aspect, the smart driving method of the walking vehicle includes the steps of the processor transmitting the real-time walking data of the user to another external user terminal through a network and the real-time walking data from the other user terminal through the network. Receiving analysis data related to; It may further include.

One embodiment includes a main frame, a vertical frame provided on the main frame, a support provided on the vertical frame to support a part of the user's body, a wheel frame provided on the main frame and connecting a plurality of wheels, and rotation of the wheel. A power supply unit that provides power, a spatial data collection sensor that senses three-dimensional spatial data about a user located in an area facing the vertical frame, and a memory storing one or more programs including commands and executing the program to perform the above 3 Real-time walking data of the user is generated based on dimensional space data, compared with reference walking data matched to the user's body data, and the difference between the real-time walking data and the reference walking data is determined to be less than a predetermined value. It is possible to provide a walking vehicle capable of smart walking assistance, including a controller including a processor that controls control parameters.

In another aspect, the processor compares first real-time walking data and first reference walking data, and controls the walking vehicle so that the difference between the first real-time walking data and the first reference walking data is less than or equal to a predetermined value. Parameters can be adjusted.

In another aspect, the processor controls the driving of the walking vehicle, and after the difference between the first real-time walking data and the first reference walking data becomes less than a predetermined value, the processor provides first real-time walking data and Other second real-time walking data and second reference walking data may be compared, and control parameters of the walking vehicle may be adjusted so that the difference between the second real-time walking data and the second reference walking data is less than or equal to a predetermined value.

In another aspect, the processor compares first real-time walking data and first reference walking data, and controls the walking vehicle so that the difference between the first real-time walking data and the first reference walking data is less than or equal to a predetermined value. Adjust the parameters, and at the same time, compare the first real-time walking data, other second real-time walking data, and second reference walking data, and the difference between the second real-time walking data and the second reference walking data is less than or equal to a predetermined value. The control parameters of the walking vehicle can be adjusted so that .

In another aspect, the 3D spatial data sensed by the spatial data collection sensor may include image data and depth data for the user.

In another aspect, the processor models a three-dimensional space including the shape of the user based on the image data and the depth data for the user using an artificial neural network, and models at least a portion of the shape of the user. Detecting one key point, extracting motion information of the user in the three-dimensional space based on the at least one key point, and analyzing the motion information of the user to generate real-time walking data of the user. can do.

In another aspect, the processor transmits the user's real-time walking data to another external user terminal through a network, and receives analysis data related to the real-time walking data from the other user terminal through the network. .

In another aspect, the spatial data collection sensor may include a LiDAR sensor and an image sensor.

In another aspect, the walking vehicle may further include an obstacle detection sensor that detects an obstacle placed in front of the walking vehicle capable of smart walking assistance.

In another aspect, the walking vehicle may further include a direction control unit that controls the rotation angle of at least some of the plurality of wheels.

In another aspect, the processor may control the rotation angle of at least some of the plurality of wheels by operating the direction control unit according to an obstacle detection signal received from the obstacle detection sensor.

In another aspect, the walking vehicle may further include a display device that displays the real-time walking data.

The embodiment may provide a walking vehicle capable of assisting walking through autonomous driving of the walking vehicle and a method of providing smart walking assistance.

In addition, the present invention is based on the user's gait data generated using an artificial neural network (ANN) based on the user's 3D spatial data (image data, depth data) sensed using a spatial data collection sensor. By controlling the running speed of the walking vehicle at a walking speed appropriate for the user's walking level, a walking vehicle with improved stability and convenience can be provided.

In addition, a walking car and walking vehicle capable of smart walking assistance that analyzes the patient's walking data and allows for faster and more accurate non-face-to-face rehabilitation treatment while the doctor and patient communicate in real time based on the analysis results of the patient's walking data. can provide a smart driving method.

In addition, it is possible to provide a walking vehicle capable of smart walking assistance and a smart driving method of the walking vehicle that can increase the effect of the patient's rehabilitation treatment by controlling the driving of the walking vehicle according to the patient's walking data generated in real time.

In addition, the present invention can provide a walking vehicle and a smart driving method capable of preventing safety accidents by detecting obstacles on a walking path using an obstacle detection sensor such as an ultrasonic sensor and controlling the walking vehicle to avoid the obstacles.

Figure 1 briefly shows an exemplary configuration of a smart walking assistance service providing system according to an embodiment.
Figure 2 is a perspective view of a walking vehicle capable of smart walking assistance according to an embodiment.
Figure 3 is a block diagram of the controller.
Figure 4 is a flowchart of a smart driving method for a walking vehicle according to an embodiment.
Figure 5 is a flowchart of a smart driving method for a walking vehicle according to another embodiment.
Figure 6 is a flowchart of a smart driving method for a walking vehicle according to another embodiment.
Figure 7 is for explaining a processing sequence for a plurality of real-time walking data according to an embodiment.
Figure 8 is for explaining how the tilt of the support portion with respect to the second vertical frame changes.
Figure 9 shows the three-dimensional space modeled by the processor.
Figure 10 briefly shows a configuration in which walking data is displayed on a display device.
Figure 11 is to explain how a walking vehicle senses an obstacle according to smart driving.
Figure 12 is to explain how a walking vehicle senses an uphill road according to smart driving.

Since the present invention can be modified in various ways and can have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various forms. In the following embodiments, terms such as first and second are used not in a limiting sense but for the purpose of distinguishing one component from another component. Additionally, singular expressions include plural expressions unless the context clearly dictates otherwise. Additionally, terms such as include or have mean that the features or components described in the specification exist, and do not preclude the possibility of adding one or more other features or components. Additionally, in the drawings, the sizes of components may be exaggerated or reduced for convenience of explanation. For example, the size and thickness of each component shown in the drawings are shown arbitrarily for convenience of explanation, so the present invention is not necessarily limited to what is shown.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. When describing with reference to the drawings, identical or corresponding components will be assigned the same reference numerals and redundant description thereof will be omitted. .

- Smart walking assistance service provision system

Figure 1 briefly shows an example configuration of a smart walking assistance service providing system 1 according to an embodiment.

Referring to FIG. 1, a smart walking assistance service providing system 1 according to an embodiment includes a central server 10 that manages a smart walking assistance process, a plurality of user terminals 20 and 30, and a walking device capable of smart walking assistance. It may include tea (40). The central server 10, the plurality of user terminals 20 and 30, and the walking vehicle 40 may communicate with each other through a network.

In detail, the network refers to a connection structure that allows information exchange between nodes such as the central server 10, a plurality of user terminals 20, 30, and a walking vehicle 40 capable of smart supplementary assistance. Examples of networks include the 3rd Generation Partnership Project (3GPP) network, Long Term Evolution (LTE) network, World Interoperability for Microwave Access (WIMAX) network, Internet, Local Area Network (LAN), and Wireless Local Area Network (Wireless LAN). ), WAN (Wide Area Network), PAN (Personal Area Network), Bluetooth network, satellite broadcasting network, analog broadcasting network, DMB (Digital Multimedia Broadcasting) network, etc., but are not limited thereto.

The central server 10 may process and store the user's 3D spatial data collected by the walking vehicle 40. However, it is not limited to this, and the walking vehicle 40 may collect the user's 3D spatial data and directly process it to generate real-time walking data related to the user's walking.

Control data of the walking vehicle 40 based on the user's 3D spatial data and real-time walking data may be stored in the central server 10 and/or the walking vehicle 40. For example, control data of the walking vehicle 40, such as a driving speed appropriate for the user's walking level calculated based on real-time walking data, is stored in the central server 10 or stored in a memory included in the walking vehicle 40. It can be.

The user's real-time walking data generated by the walking vehicle 40 may be transmitted to a plurality of user terminals 20 and 30 through a network. The plurality of user terminals 20 and 30 may include a first user terminal 20 and a second user terminal 30. For example, the first user terminal 20 may be used by the guardian of the user of the walking vehicle 40. Additionally, the second user terminal 30 may be used by the user's doctor. In this case, the user's guardian or doctor in charge can receive the user's real-time walking data from the walking vehicle 40 through the first and second user terminals 20 and 30. Guardians and doctors can receive real-time walking data related to the user's walking habits and walking level in real time. Non-face-to-face rehabilitation treatment may be possible where the doctor in charge creates a rehabilitation treatment program based on the user's real-time gait data received remotely and provides it to the user remotely.

The plurality of user terminals 20 and 30 include a smart phone with a communication function, a portable terminal, a mobile terminal, a personal digital assistant (PDA), and a portable portable terminal (PMP). Multimedia Player terminal, Telematics terminal, Navigation terminal, Personal Computer, laptop computer, Slate PC, Tablet PC, ultrabook, wearable device ( It may include a variety of terminals such as wearable devices (e.g., watch-type terminals (Smartwatch), glass-type terminals (Smart Glass), HMD (Head Mounted Display), etc.), Wibro terminals, etc.

- Walking vehicle with smart walking assistance

Figure 2 is a perspective view of a walking vehicle 40 capable of smart walking assistance according to an embodiment.

Referring to FIG. 2, the walking vehicle 40 capable of smart walking assistance according to an embodiment includes a main frame 110, a vertical frame 120, a support portion 130, a handle portion 140, and a wheel frame 150. ), wheel 160, direction control unit 170, display device 190, and sensor 200.

The main frame 110 has a bar-type shape and is located close to the ground and can fix and support the vertical frame 120 and the wheel frame 150.

The vertical frame 120 has a cylindrical shape and is provided in the upper center area of the main frame 110. It is positioned perpendicular to the main frame 110 and can determine the height of the walking vehicle 40.

The vertical frame 120 may include a first vertical frame 121 connected to the main frame 110 and a second vertical frame 122 located at least partially surrounded by the first vertical frame 121. The overall height of the walking vehicle 40 can be adjusted by adjusting the distance of the second vertical frame 122 from the main frame 110 on the first vertical frame 121. A gas spring is built into the vertical frame 120 to adjust the height of the second vertical frame 122. However, the height adjustment method of the vertical frame 120 is not limited to the gas spring structure.

A support portion 130 may be provided on the upper side of the vertical frame 120. The support unit 130 is connected to the upper end of the second vertical frame 122, so that the distance between the support unit 130 and the ground can be adjusted according to the height adjustment of the vertical frame 120.

The support unit 130 may have a flat shape on which the user can rest his/her arm. It is not limited to this, and for example, the support portion 130 may be positioned parallel to the ground and have a box-type shape.

Additionally, the support portion 130 may be driven to be placed in an inclined form with the second vertical frame 122 as the center. For example, when the right shoulder connected to the user's right arm placed on the support unit 130 is located at a lower point than the left shoulder connected to the left arm, the right area of the support unit 130 is located at a higher point than the left area. The support unit 130 may be driven to be placed in an inclined form with the second vertical frame 122 as the center.

The handle unit 140 includes a first handle bar 141 that extends a predetermined distance forward from each side of the front area of the support unit 130 and has a curved shape extending upward from the support unit 130. 2 May include a handlebar 142. Cushions made of elastic material may be provided in at least some areas of each of the first handle bar 141 and the second handle bar 142.

The wheel frame 150 may be located close to the ground and connected to the main frame 110. The wheel frame 150 may include a first wheel frame 151 and a second wheel frame 152. Each of the first wheel frame 151 and the second wheel frame 152 may have a U-shape. For example, the first wheel frame 151 may have a U-shape that surrounds the front area of the main frame 110 and extends away from both sides of the rear area of the main frame 110. Additionally, the second wheel frame 152 may have a U-shape that surrounds the rear area of the main frame 110 and extends away from both sides of the front area of the main frame 110. The first wheel frame 151 and the second wheel frame 152 may be provided to cross each other on both sides of the main frame 110. The front and rear of the main frame 110 may be surrounded by the first wheel frame 151 and the second wheel frame 152, and accordingly, the first wheel frame 151 and the second wheel frame 152 It can be more firmly fixed and supported on the main frame 110.

A wheel 160 may be installed on the wheel frame 150.

A first wheel 161 and a second wheel 162 may be installed at both ends of a portion of the first wheel frame 151 extending away from both sides of the rear area of the main frame 110, respectively. In addition, a third wheel 163 and a fourth wheel 164 may be installed at both ends of the portion of the second wheel frame 152 extending away from both sides of the front area of the main frame 110, respectively. A tire made of an elastic material may be installed on the wheel 160.

A direction control unit 170 may be installed on one side of the second wheel frame 152. For example, the first direction control unit 171 and the second direction control unit 172 are formed at each end of the portion of the second wheel frame 152 extending away from both sides of the front area of the main frame 110. It can be.

The direction control unit 170 may change the moving direction of the walking vehicle 40 by rotating the third and fourth wheels 163 and 164 at a predetermined angle based on reception of the direction control command signal.

A power supply unit 180 may be installed on one side of the first wheel frame 151. For example, a first power supply unit 181 and a second power supply unit 182 are provided at each end of the portion extending away from both sides of the rear area of the main frame 110 of the first wheel frame 151. can be formed. In this case, the first power supply unit 181 and the second power supply unit 182 are each at both ends of a portion extending away from both sides of the rear area of the main frame 110 of the first wheel frame 151. It can be provided inside.

The power provider 180 may control the movement and speed of the walking vehicle 40 by providing rotational power to the first and second wheels 161 and 162 based on the drive command signal.

The display device 190 may be provided in the front area of the support unit 130. For example, the display device 190 may be formed to be inclined upward and extend from the front area of the support unit 130 .

The display device 190 may display the user's real-time walking data generated by the processor of the controller 230 of FIG. 3, which will be described later, and visually provide it to the user. The user can intuitively check his or her real-time walking data through the display device 190. Additionally, the display device 190 may be implemented to include a touch screen, and the user may input user input to the walking vehicle 40 through the touch screen.

The display device 190 may include various types of devices, such as an organic light emitting display (OLED) and a liquid crystal display (LCD).

The sensor 200 includes a 3D spatial data collection sensor 210 that senses 3D spatial data about the user located in the area facing the vertical frame 120, and a 3D spatial data collection sensor 210 that detects obstacles placed in front of the walking vehicle 40. It may include an obstacle detection sensor 220.

For example, the 3D spatial data collection sensor 210 may be provided at the lower part of the support unit 130. However, it is not limited to this, and the spatial data collection sensor 210 may be provided in the rear area of the vertical frame 120 or may be provided in the second wheel frame 152.

The 3D spatial data sensed by the 3D spatial data collection sensor 210 may include image data and depth data. The 3D spatial data collection sensor 210 may include a distance sensor and an image sensor.

The distance sensor included in the 3D spatial data collection sensor 210 outputs inspection waves of various waveforms such as ultrasonic waves, infrared waves, lasers, etc., and detects inspection waves reflected by the sensing target, thereby detecting the inspection wave from the observation point to the sensing target. You can obtain distance information about the distance and direction of . In one example, the distance sensor may include at least one of a time of flight sensor (ToF sensor), an ultrasonic sensor, a structured light sensor, an infrared sensor, and a LiDAR sensor.

The image sensor included in the 3D spatial data collection sensor 210 can acquire image information of the sensing object by detecting an optical signal output from a light source and reflected by the sensing object. In this specification, the image sensor may be referred to as a color camera. In one example, an image sensor may include a light source, a pixel array, and a light sensing circuit. The light source may include a plurality of light-emitting devices (eg, Vertical Cavity Surface Emitting Laser (VCSEL), LED, etc.) that output optical signals of a specific wavelength. The pixel array includes a plurality of pixels, and each pixel may include a plurality of light sensing elements (eg, photo diodes, etc.) and a color filter (eg, RGB filter).

In one example, the 3D spatial data collection sensor 210 may have a single camera structure including a single distance sensor and a single image sensor. In addition, since the distance sensor and image sensor can be integrated as a single module, there is no need to secure a separate test space for sensor installation, and there is an advantage in achieving a compact form factor. .

For example, the obstacle detection sensor 220 may include a first obstacle detection sensor 221 and a second obstacle detection sensor 222 provided in the front area of the first wheel frame 151 and spaced apart from each other. However, the present invention is not limited to this, and the first obstacle detection sensor 221 and the second obstacle detection sensor 222 may be provided in the front area of the vertical frame 120.

The obstacle detection sensor 220 may include an ultrasonic sensor that detects the presence of an obstacle by irradiating ultrasonic waves to the front of the walking vehicle 40. However, it is not limited to this, and the obstacle detection sensor 220 may include various types of obstacle detection devices.

Figure 3 is a block diagram of the controller 230.

Referring to Figures 2 and 3, the controller 230 may be built into the main frame 110. The controller 230 may include a processor 231, a memory 232, a main input unit 233, and a communication unit 234.

One or more programs including instructions may be stored in the memory 232. One or more programs may be executed by the processor 231.

The processor 231 may perform a preset operation based on the input signal input from the main input unit 233. The main input unit 233 may be installed on the main frame 110. Additionally, the main input unit 233 may be a button-type or dial-type input device, but is not limited thereto. The power on/off of the controller 230 can be controlled through the input unit 233.

The communication unit 234 may receive sensing information from the sensor 200 installed in the walking vehicle 40. The communication unit 234 can transmit and receive data by communicating with an external device. The communication unit 234 may communicate with the direction control unit 170, the power supply unit 180, and the display device 190.

The communication unit 234 may communicate with the sensor 200, an external device, the direction control unit 170, the power supply unit 180, and the display device 190 by wired and/or wirelessly.

The processor 231 may be electromagnetically connected to the communication unit 234. The processor 231 can communicate with the sensor 200, an external device, the direction control unit 170, the power supply unit 180, and the display device 190 through the communication unit 234.

The processor 231 may execute a program stored in the memory to generate the user's real-time walking data based on the user's 3D spatial data received from the sensor 200. The processor 231 may control the driving of the walking vehicle 40 based on real-time walking data. A method by which the processor 231 controls the driving of the walking vehicle 40 based on walking data will be described later with reference to FIGS. 4 to 7 .

- Smart driving method

Figure 4 is a flowchart of a smart driving method of a walking vehicle 40 according to an embodiment. Figure 5 is a flowchart of a smart driving method of a walking vehicle 40 according to another embodiment. Figure 6 is a flowchart of a smart driving method of a walking vehicle 40 according to another embodiment. Figure 7 is for explaining a processing sequence for a plurality of real-time walking data according to an embodiment. FIG. 8 is for explaining how the inclination of the support portion changes with respect to the second vertical frame 122. Figure 9 shows the three-dimensional space 50 modeled by the processor 231. FIG. 10 briefly shows a configuration in which walking data is displayed on the display device 190.

According to one embodiment, a smart driving method (S100) of a walking vehicle 40 controlled by a processor 231 that generates user's walking data is provided.

Referring to FIG. 4, a smart driving method for a walking vehicle (S100) according to an embodiment includes collecting three-dimensional spatial data about a walking user using a sensor 200 (S110), and three-dimensional spatial data about the user. It may include generating real-time walking data of the user based on spatial data (S120) and controlling the driving of the walking vehicle based on the real-time walking data (S130).

The processor 231 may sense the user's image data and depth data using a distance sensor and an image sensor in the step of collecting 3D spatial data (S110).

Next, the processor 231 may model a three-dimensional space including the user's shape based on three-dimensional spatial data about the user in step S120 of generating real-time walking data of the user. . Additionally, the processor 231 extracts the user's motion information in three-dimensional space and analyzes the motion information to generate the user's real-time walking data.

For example, the processor 231 may model a 3D space including the user's shape based on 3D spatial data about the user using an artificial neural network (ANN). Here, the artificial neural network (ANN) may include a Deep Neural Network (DNN), a Convolutional Neural Network (CNN), a Recurrent Neural Network (RNN), or a Generative Adversarial Network (GAN), and may be implemented inside the processor 231 or , Alternatively, it may be implemented as a separate processor outside the processor 231.

Additionally, the processor 231 may detect at least one key point of a portion of the user's shape in the modeled three-dimensional space. At least one feature point may be at least one point corresponding to the position of a joint of the lower body shape of the user.

For example, the processor 231 may model and shape the three-dimensional space 50 containing the lower part of the user's body, as shown in FIG. 9 . In this case, the processor 231 can detect a plurality of feature points (a1, a2, a3, a4, a5, and a6). For example, the plurality of feature points (a1, a2, a3, a4, a5, a6) are the first to third feature points (a1, a2, a3) corresponding to the knee, ankle, and toe of the user's left leg, respectively, and the user The fourth to sixth feature points (a1, a2, a3) corresponding to the knee, ankle, and toe of the right leg, respectively, can be detected.

Meanwhile, since the user is away from the walking vehicle 40, the spatial data collection sensor 210 may not be able to sense the user's 3D spatial data. Accordingly, at least one feature point for a portion of the user's shape may not be detected in the three-dimensional space modeled by the processor 231. In this case, the processor 231 may control the power supply unit 180 not to provide rotational power to the first and second wheels 161 and 162 to prevent the walking vehicle 40 from running. In this way, when the user is separated from the walking vehicle 40, the walking vehicle 40 may be controlled by the processor 231 to stop running.

The processor 231 may extract the user's motion information based on at least one feature point, analyze the motion information, and generate the user's real-time gait data. The processor 231 executes an artificial neural network using the user's 3D spatial data (depth data, image data) as input, thereby extracting the user's motion information by monitoring the trajectory of at least one feature point that changes in real time. For example, when the user continues walking by relying on the walking vehicle 40, a plurality of feature points (a1, a2, a3, a4, a5, a6) for a part of the user's shape detected by the processor 231 The location of can change in real time. The processor 231 can extract the user's motion information by monitoring the trajectories of a plurality of feature points (a1, a2, a3, a4, a5, a6) whose positions change in real time.

Additionally, the processor 231 may generate real-time walking data of the user by monitoring the user's motion information that changes in real time. For example, the user's real-time walking data generated by the processor 231 based on the user's motion information may be at least one of the user's walking speed, stride length, assurance, interpolation, speed per minute, left and right balance, joint angle, and walking level. Can contain one element.

Next, the processor 231 may perform a step (S130) of controlling the driving of the walking vehicle based on the generated real-time walking data.

In detail, the step of controlling the driving of the walking vehicle (S130) includes comparing real-time walking data with reference walking data (S131), and determining whether the difference between real-time walking data and reference walking data is less than a predetermined value (S132). ) and a step (S133) of controlling the driving of the walking vehicle 40 so that the difference between the real-time walking data and the reference walking data is less than or equal to a predetermined value.

Here, the reference gait data may be data matched to the user's body data. The user's body data may be data extracted by the processor 231 based on the user's 3D spatial data. The reference gait data matched to the user's body data may be pre-stored in the memory 232 or arbitrarily set by the user. In detail, the processor 231 may determine the length of the lower body from skeleton data generated by extracting at least one feature point of a portion of the user's shape. More specifically, the processor 231 may extract body data such as calf length, thigh length, and foot size based on at least one feature point.

Additionally, the memory 232 may store metadata including body data such as calf length, thigh length, and foot size, and reference gait data matching the body data. Alternatively, the memory 232 may store metadata including body data such as relative ratios of calf length, thigh length, and foot size, and reference gait data matching this.

Additionally, the memory 232 may store metadata including body data such as calf length, thigh length, foot size, or relative ratios thereof, and reference gait data set by the user that matches the body data.

In the step (S131) of comparing real-time gait data with reference gait data, the processor 231 provides reference gait data that matches the calculated real-time gait data and the user's body data based on metadata stored in the memory 232. can be compared. In detail, the processor 231 may calculate the difference between real-time walking data and reference walking data.

In the step S132 of determining whether the difference between the real-time walking data and the reference walking data is less than a predetermined value, the processor 231 determines that the difference between the calculated real-time walking data and the reference walking data is stored in the memory 232. It can be determined whether it is less than or equal to the value of .

Here, the 'predetermined value' may be preset in the memory 232 depending on the type of walking data, or may be set arbitrarily by the user.

For example, if the gait data is a stride length, the difference between the user's real-time stride length and the reference stride length matched to the user's leg length may be set to '10% of the reference stride length' and stored in the memory 232. However, it is not limited to this, and the difference between the real-time stride length and the reference stride length may be set to a specific value such as '5cm' and stored in the memory 232.

If the processor 231 determines that the difference between the real-time walking data and the reference walking data is less than or equal to a predetermined value, the processor 231 may perform a step (S110) of collecting 3D spatial data for the user again.

When the processor 231 determines that the difference between the real-time walking data and the reference walking data is not less than a predetermined value, the processor 231 sets the walking vehicle 40 so that the difference between the real-time walking data and the reference walking data is less than a set predetermined value. Drive can be controlled.

For example, when the real-time gait data and the reference gait data are each stride length, and the real-time stride length is smaller than the reference stride length, the processor 231 controls the power supply unit 180 to increase the driving speed of the walking vehicle 40. You can. Alternatively, when the real-time stride length is greater than the reference stride length, the processor 231 may control the power supply unit 180 to reduce the driving speed of the walking vehicle 40. It is not limited to this, and the processor 231 may also control the power supply unit 180 in the opposite direction.

Even when the real-time gait data and the reference gait data correspond to walking speed, interpolation, guarantee, or left and right balance, respectively, the processor 231 compares the real-time gait data and the reference gait data, and determines the difference between the real-time gait data and the reference gait data. The driving of the walking vehicle 40 can be controlled so that is below a predetermined value.

Referring to FIG. 5, the smart driving method of a walking vehicle (S200) according to another embodiment includes the step of controlling the driving of the walking vehicle 40 based on the first real-time walking data (S140) and the first real-time walking data It may be substantially the same as the smart driving method (S100) of FIG. 4, except that it includes a step (S150) of controlling the driving of the walking vehicle 40 based on second real-time walking data different from the second real-time walking data.

In describing FIG. 5, content that overlaps with FIG. 4 will be omitted.

The step (S140) of controlling the driving of the walking vehicle 40 based on the first real-time walking data of the smart driving method of the walking vehicle (S200) involves using the first real-time walking data (e.g., real-time stride length) of the user. Comparing body data (e.g., leg length) with first reference gait data (e.g., reference stride length matched to the user's leg length) (S141), first real-time gait data and the first reference A step of determining whether the difference between the walking data is less than a predetermined value (S142) and a step of controlling the driving of the walking vehicle 40 so that the difference between the first real-time walking data and the first reference walking data is less than a predetermined value (S143) ) may include.

The step (S150) of controlling the driving of the walking vehicle 40 based on the first real-time walking data and the second real-time walking data of the smart driving method of the walking vehicle (S200) includes walking based on the first real-time walking data. This may be performed after the car 40 is driven and the difference between the first real-time walking data and the first reference walking data becomes less than a predetermined value.

In the step S143 of controlling the driving of the walking vehicle 40 based on the first real-time walking data, a change in the second real-time walking data that is different from the first real-time walking data may occur. In detail, in the process of reducing the difference between the first real-time walking data and the first reference walking data to a predetermined value or less, the value of the second real-time walking data may be different from the value at the beginning of walking.

The step (S150) of controlling the driving of the walking vehicle 40 based on the second real-time walking data different from the first real-time walking data includes using the second real-time walking data (e.g., real-time walking speed) as a second reference walking data. A step of comparing data (for example, a reference walking speed) (S151), a step of determining whether the difference between the second real-time walking data and the second reference walking data is less than a predetermined value (S152), and the second real-time walking data and the second reference walking data. 2 It may include a step (S153) of controlling the driving of the walking vehicle 40 so that the difference between the standard walking data is less than a predetermined value.

Here, the second reference walking data (eg, reference walking speed) may be set as walking data at the beginning of walking (eg, walking speed at the beginning of walking).

For example, when the first real-time walking data and the first reference walking data are each stride length, and the second real-time walking data and the second reference walking data are each walking speed, the difference between the real-time stride length and the reference stride length is a predetermined value. After the difference between the real-time walking speed and the reference walking speed becomes less than or equal to a predetermined value, the processor 231 uses the power supply unit 180 to adjust the driving speed, which is one of the control parameters of the walking vehicle 40. ) can be controlled. In this case, the reference walking speed may be the walking speed at the beginning of walking before the process of reducing the difference between the first real-time walking data and the first reference walking data to a predetermined value or less occurs.

In this way, the processor 231 adjusts the difference between the real-time stride length and the reference stride length to less than a set predetermined value, and then adjusts the user's walking speed, which has changed in this process, to the difference between the real-time stride length and the reference stride length below the set predetermined value. It can be adjusted to the walking speed at the beginning of the previous walk. Here, adjusting the user's changed walking speed to the walking speed at the beginning of walking means ensuring that the difference between the changed walking speed and the walking speed at the beginning of walking is below a predetermined value.

For example, after the difference between the real-time stride length and the reference stride length becomes less than a predetermined value, if the real-time walking speed is slower than the reference walking speed, the processor 231 controls the power supply unit 180 to control the walking vehicle ( 40), the driving speed can be increased. Alternatively, when the real-time walking speed is faster than the reference walking speed, the processor 231 may control the power supply unit 180 to reduce the driving speed of the walking vehicle 40. It is not limited to this, and the processor 231 may also control the power supply unit 180 in the opposite direction.

For example, when the first real-time walking data and the first reference walking data are each walking speed, and the second real-time walking data and the second reference walking data are each left and right balance, the difference between the real-time walking speed and the reference walking speed is After becoming less than the set predetermined value, the processor 231 controls the walking car 40, which is one of the control parameters of the walking car 40, so that the difference between the real-time left and right balance and the reference left and right balance becomes less than the predetermined value. The tilt of the included support portion 130 can be controlled. For example, referring to FIG. 8, the tilt of the support portion 130 provided on the second vertical frame 122 may be controlled according to a control signal from the processor 231. A tilt changer (not shown) is provided between the second vertical frame 122 and the support portion 130, and the tilt changer is driven according to a tilt change control signal from the processor 231 to change the tilt of the support portion 130. can be controlled.

Referring to FIG. 6, the smart driving method of a walking vehicle (S300) according to another embodiment includes the step of controlling the driving of the walking vehicle (40) based on the first real-time walking data (S160) and the first real-time walking It may be substantially the same as the smart driving method (S200) of FIG. 5, except that the step (S170) of controlling the driving of the walking vehicle 40 based on the second real-time walking data different from the data is performed simultaneously. there is.

In describing FIG. 6, content that overlaps with FIGS. 4 and 5 will be omitted.

Controlling the driving of the walking vehicle 40 based on the first real-time walking data of the smart driving method of the walking vehicle (S200) (S160), and driving the walking vehicle 40 based on the second real-time walking data The controlling step (S170) may be performed simultaneously.

For example, when the first real-time walking data and the first reference walking data are each walking speed, and the second real-time walking data and the second reference walking data are each left and right balance, the difference between the real-time walking speed and the reference walking speed is The processor 231 adjusts the walking speed of the walking vehicle 40 and the support included in the walking vehicle 40 so that the difference between the real-time left and right balance and the reference left and right balance is below the set value. The tilt of the unit 130 can be controlled.

Referring to FIG. 7, the processing priorities of the types of real-time walking data and reference walking data administered in the smart driving method (S100, S200, and S300) of a walking vehicle according to various embodiments are set in advance and stored in the memory 232. Or, it can be set arbitrarily by the user in various ways. Here, the user may be a user of the walking vehicle 40, a guardian of a user of the walking vehicle 40 using the first user terminal 20, or a doctor in charge of a user using the second user terminal 30.

For example, referring to (a) of FIG. 7, processing priorities may be set in the following order: stride length, walking speed, left and right balance, interpolation, and guarantee. In this case, the driving of the walking vehicle 40 may be controlled according to the difference between the real-time walking speed and the reference walking speed, and then the driving of the walking vehicle 40 may be controlled according to the difference between the real-time walking speed and the reference walking speed.

For example, referring to (b) of FIG. 7, stride length and walking speed may be jointly set as first priority, and later priorities may be set in the order of left and right balance, interpolation, and assurance. In this case, after the driving of the walking car 40 is controlled according to the difference between the real-time stride length and the reference stride length and the difference between the real-time walking speed and the reference walking speed, the walking vehicle 40 is controlled according to the difference between the real-time left and right balance and the reference left and right balance. ) can be controlled.

For example, referring to (c) of FIG. 7, stride length, walking speed, and left and right balance may be set as joint first priority, and interpolation and guarantee may be set as lower priorities. In this case, after the driving of the walking vehicle 40 is controlled according to the difference between the real-time stride length and the reference stride length, the difference between the real-time walking speed and the reference walking speed, and the difference between the real-time left and right balance and the reference left and right balance, real-time interpolation and reference are performed. The driving of the walking vehicle 40 can be controlled according to the difference in interpolation. Meanwhile, the processor 231 calculates an appropriate walking speed suitable for the user's walking level based on the walking data, and the power supply unit 180 included in the walking vehicle 40 so that the walking vehicle 40 is driven at an appropriate walking speed. ) can be controlled.

For example, the processor 231 may determine the user's walking level by referring to real-time walking data such as the user's walking speed, stride length, and left/right balance generated based on the user's motion information. Criteria for determining the walking level may be programmed in advance and stored in the memory 232. The criteria for determining the programmed walking level can be updated through learning through the artificial neural network of the processor 231.

The processor 231 may calculate the user's walking recovery speed, recovery rate, etc. by comparing the reference walking data stored in the memory 232 with the user's past walking data and current real-time walking data.

According to the walking level determined by the processor 231, the processor 231 may calculate the user's walking speed appropriate for the walking level. The walking speed appropriate for the user's walking level calculated by the processor 231 may be stored in the memory 232. The processor 231 may control the power supply unit 180 included in the walking vehicle 40 so that the walking vehicle 40 is driven at a walking speed appropriate for the user's walking level.

The processor 231 may transmit the user's real-time walking data to another external user terminal through a network. For example, the processor 231 may transmit real-time gait data to the user terminal of the user's doctor. The user's doctor may transmit analysis data related to real-time gait data to the display device 190 of the walking vehicle 40 using the user's terminal. The display device 190 may display analysis data related to real-time gait data transmitted from the user terminal of the user's doctor. Here, the analysis data related to real-time walking data may be a rehabilitation treatment program. For example, as shown in FIG. 10, the user terminal of the doctor in charge and the display device 190 of the walking vehicle 40 are connected to each other, so that the image of the doctor in charge can be displayed on the display device 190 in real time. there is. Accordingly, real-time non-face-to-face rehabilitation treatment through video between the user and the doctor in charge, based on the user's real-time gait data, may be possible.

In the step of providing the generated real-time walking data to the user (S140), the processor 231 may transmit the user's real-time walking data to the display device 190 through the communication unit 234. The display device 190 may display the user's real-time walking data received from the processor 231 and visually provide the real-time walking data to the user. For example, as shown in FIG. 10, the user's walking speed, stride length, gait, speed per minute, left and right balance, joint angle, walking level, recovery rate, etc. may be displayed on the display device 190. Additionally, a three-dimensional space 50 containing the lower part of the user's body modeled by the processor 231 may be displayed on the display device 190. The three-dimensional space 50 may be displayed on the display device 190 as an image that changes in real time.

FIG. 11 is for explaining a method by which the walking vehicle 40 senses an obstacle 70 according to smart driving. FIG. 12 is for explaining a method by which a walking vehicle 40 senses an uphill road 80 according to smart driving.

Referring to FIGS. 2, 3, and 11, a user may encounter an obstacle 70 located on the walking path while walking while relying on the walking vehicle 40. In this case, ultrasonic waves (UW) are radiated forward from the obstacle detection sensor 220 of the walking vehicle 40, and the obstacle detection sensor 220 senses the ultrasonic waves (UW) reflected by the obstacle 70 to detect the obstacle ( 70) can be detected. The obstacle detection sensor 220 may transmit an obstacle 70 detection signal to the processor 231, and accordingly the processor 231 operates the direction control unit 170 to control the direction of the third and fourth wheels 163 and 164. By controlling the rotation angle, the walking vehicle 40 can avoid the obstacle 70.

Referring to FIGS. 2, 3, and 12, a user may encounter an uphill road 80 located on a walking path while walking while relying on the walking vehicle 40. In this case, ultrasonic waves (UW) are radiated forward from the obstacle detection sensor 220 of the walking vehicle 40, and the obstacle detection sensor 220 senses the ultrasonic waves (UW) reflected by the uphill road 80 to detect the uphill road ( 80) can be detected. The obstacle detection sensor 220 can transmit the uphill road 80 detection signal to the processor 231, and accordingly the processor 231 operates the power supply unit 180 to operate the first and second wheels 161 and 162. By increasing the rotational power provided to the user, it is possible to enable the user to pass the uphill road 80 more easily.

The embodiments according to the present invention described above can be implemented in the form of program instructions that can be executed through various computer components and recorded on a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, etc., singly or in combination. Program instructions recorded on the computer-readable recording medium may be specially designed and configured for the present invention, or may be known and usable by those skilled in the computer software field. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, and magneto-optical media such as floptical disks. medium), and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, etc. Examples of program instructions include not only machine language code such as that created by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like. A hardware device can be converted into one or more software modules to perform processing according to the invention and vice versa.

The specific implementations described in the present invention are examples and do not limit the scope of the present invention in any way. For the sake of brevity of the specification, descriptions of conventional electronic components, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connections or connection members of lines between components shown in the drawings exemplify functional connections and/or physical or circuit connections, and in actual devices, various functional connections or physical connections may be replaced or added. Can be represented as connections, or circuit connections. Additionally, if there is no specific mention such as “essential,” “important,” etc., it may not be a necessary component for the application of the present invention.

In addition, although the detailed description of the present invention has been described with reference to preferred embodiments of the present invention, those skilled in the art or have ordinary knowledge in the relevant technical field will understand the spirit of the present invention described in the patent claims to be described later. It will be understood that the present invention can be modified and changed in various ways without departing from the technical scope. Therefore, the technical scope of the present invention should not be limited to what is described in the detailed description of the specification, but should be defined by the scope of the patent claims.

Smart walking assistance service provision system (1)
Central server (10), user terminal (20, 30), walking vehicle (40)
Main frame (110), vertical frame (120), first vertical frame (121)
Second vertical frame 122, support portion 130, handle portion 140, first handle bar 141
Second handle bar (142), wheel frame (150), first wheel frame (151), second wheel frame (152)
Wheel 160, first and second wheels 161, 162, third and fourth wheels 163, 164
Direction control unit 170, first direction control unit 171, second direction control unit 172
Power provider (180), first power provider (181), second power provider (182)
Display device 190, sensor 200, spatial data collection sensor 210
Obstacle detection sensor 220, first obstacle detection sensor 221
Second obstacle detection sensor 222, controller 230, processor 231, memory 232
Main input unit (233), communication unit (234)

Claims (17)

In a smart driving method of a walking vehicle controlled by a processor that generates user's walking data,
collecting three-dimensional spatial data about the walking user using a sensor included in the walking vehicle;
generating real-time walking data of the user by the processor analyzing the user's motion information extracted based on 3D spatial data about the user;
and
The processor compares the real-time walking data with reference walking data matched to the user's body data extracted through the three-dimensional spatial data, and causes the difference between the real-time walking data and the reference walking data to be less than a predetermined value. Controlling the driving of the walking vehicle; A smart driving method for a walking vehicle, including. According to claim 1,
In the step of controlling the driving of the walking vehicle,
The processor compares first real-time walking data and first reference walking data, and adjusts control parameters of the walking vehicle so that the difference between the first real-time walking data and the first reference walking data is less than or equal to a predetermined value, Smart driving method for walking vehicles. According to clause 2,
In the step of controlling the driving of the walking vehicle,
After the processor controls the driving of the walking vehicle so that the difference between the first real-time walking data and the first reference walking data becomes less than a predetermined value, the second real-time walking data different from the first real-time walking data and the second real-time walking data are A smart driving method for a walking vehicle, which compares two reference walking data and adjusts control parameters of the walking vehicle so that the difference between the second real-time walking data and the second reference walking data is less than or equal to a predetermined value. According to claim 1,
In the step of controlling the driving of the walking vehicle,
The processor compares first real-time walking data and first reference walking data, and adjusts control parameters of the walking vehicle so that the difference between the first real-time walking data and the first reference walking data is less than or equal to a predetermined value, At the same time, the first real-time walking data, other second real-time walking data, and second reference walking data are compared, and the walking vehicle makes the difference between the second real-time walking data and the second reference walking data less than a predetermined value. A smart driving method for a walking vehicle that adjusts control parameters. According to claim 1,
In the step of generating the user's real-time walking data,
The processor models a three-dimensional space including the shape of the user based on the three-dimensional spatial data about the user, extracts motion information of the user in the three-dimensional space, and analyzes the motion information. A smart driving method for a walking vehicle that generates real-time walking data of the user. According to claim 1,
The processor transmitting the user's real-time walking data to another external user terminal through a network; and
Receiving analysis data related to the real-time walking data from the other user terminal through the network; A smart driving method for a walking vehicle, further comprising: main frame;
a vertical frame provided on the main frame;
a support provided on the vertical frame to support a part of the user's body;
A wheel frame provided on the main frame and connecting a plurality of wheels;
a power supply unit that provides rotational power to the wheel;
a spatial data collection sensor that senses three-dimensional spatial data about a user located in an area facing the vertical frame; and
A memory in which one or more programs including commands are stored and the program is executed to generate real-time gait data of the user based on the 3D spatial data, compared with reference gait data matched to the user's body data, and the real-time A controller including a processor that adjusts a predetermined control parameter so that the difference between the gait data and the reference gait data is less than or equal to a predetermined value; A walking vehicle capable of smart walking assistance, including a. According to clause 7,
The processor compares first real-time walking data and first reference walking data, and adjusts control parameters of the walking vehicle so that the difference between the first real-time walking data and the first reference walking data is less than or equal to a predetermined value. , a walking vehicle capable of smart walking assistance. According to clause 8,
After the processor controls the driving of the walking vehicle and the difference between the first real-time walking data and the first reference walking data becomes less than a predetermined value, the processor generates a second real-time walking data different from the first real-time walking data. A walk capable of smart walking assistance that compares walking data and second reference walking data, and adjusts control parameters of the walking vehicle so that the difference between the second real-time walking data and the second reference walking data is less than or equal to a predetermined value. car. According to clause 7,
The processor compares first real-time walking data and first reference walking data, and adjusts control parameters of the walking vehicle so that the difference between the first real-time walking data and the first reference walking data is less than or equal to a predetermined value, and At the same time, the first real-time walking data and other second real-time walking data are compared with the second reference walking data, and the difference between the second real-time walking data and the second reference walking data is less than or equal to a predetermined value. A walking vehicle capable of smart walking assistance that adjusts the vehicle's control parameters. According to clause 7,
The three-dimensional spatial data sensed by the spatial data collection sensor includes image data and depth data for the user. According to claim 11,
The processor models a three-dimensional space including the shape of the user based on the image data and the depth data for the user using an artificial neural network, and generates at least one feature point ( detect key points,
A walking vehicle capable of smart walking assistance, extracting motion information of the user in the three-dimensional space based on the at least one feature point, and analyzing the motion information of the user to generate real-time walking data of the user. According to clause 7,
The processor is capable of smart walking assistance, transmitting the real-time walking data of the user to another external user terminal through a network, and receiving analysis data related to the real-time walking data from the other user terminal through the network. Walking car. According to clause 7,
The spatial data collection sensor is a walking vehicle capable of smart walking assistance, including a lidar sensor and an image sensor. According to clause 7,
An obstacle detection sensor that detects an obstacle placed in front of the walking vehicle capable of smart walking assistance; A walking vehicle capable of smart walking assistance, further comprising: According to claim 15,
a direction control unit that controls the rotation angle of at least some of the plurality of wheels; It further includes,
A walking vehicle capable of smart walking assistance, wherein the processor controls the rotation angle of at least some of the plurality of wheels by operating the direction control unit according to an obstacle detection signal received from the obstacle detection sensor. According to clause 7,
A display device that displays the real-time walking data; A walking vehicle capable of smart walking assistance, further comprising: