Knee joint self-powered blind guiding system based on human body negative work recovery

Abstract

This application discloses a self-powered knee joint guidance system based on human body negative energy recovery, comprising: a knee brace body; a first transmission mechanism disposed on the knee brace body for converting the reciprocating motion of the lower limbs during walking into the reciprocating linear motion of a double-rotating screw; a motion conversion mechanism for converting the reciprocating linear motion of the double-rotating screw into rotational motion; a power generation mechanism for converting the mechanical energy generated by the rotational motion into electrical energy; a power management module for processing and storing the electrical energy generated by the power generation mechanism; and a guidance function module powered by the power management module for sensing environmental obstacles and providing warning information to the user. This application provides a wearable, self-powered, and intelligent guidance solution.

Description

Technical Field

[0001] This application relates to the field of self-powered guide systems, and in particular to a knee joint self-powered guide system based on human body negative energy recovery. Background Technology

[0002] Currently, over 45 million people worldwide suffer from visual impairment or blindness, posing a serious challenge to the safety of blind individuals when traveling. However, existing intelligent guide devices suffer from high costs, unstable wear, limited functionality, and insufficient battery life, making them unsuitable for daily needs. With the aging population and the increasing prevalence of visual health problems among younger people, the development of low-cost, highly reliable intelligent guide devices has become an urgent societal need.

[0003] The human gait cycle is divided into a standing phase and a swinging phase. During walking or running, the knee joint controls its own movement at the end of the swinging phase to slow down or control the body's descent and impact. This process involves the body performing negative work. Long-term negative work can damage the knee joint and increase the body's metabolic burden. Currently, there is a technological gap in utilizing knee joint negative work for real-time guidance and obstacle avoidance, and there is an urgent need to develop innovative guidance systems that combine self-powered and self-guiding functions. Summary of the Invention

[0004] In view of this, this application utilizes knee joint negative energy recovery to achieve self-powered operation, eliminating dependence on external power sources and improving system battery life and ease of use; through integrated knee brace design, it enhances wearing stability and comfort without affecting normal walking; employing a multi-sensor three-dimensional layout to achieve wide-range obstacle detection without blind spots, and combining graded early warning and emergency rescue functions, it comprehensively improves the safety of visually impaired individuals' travel; ultimately, it constructs a green and energy-saving system integrating energy recovery, self-powered generation, intelligent guidance, emergency communication, and wearable protection, meeting the daily safe travel needs of visually impaired individuals, and possessing both social and environmental benefits.

[0005] A self-powered knee joint guidance system based on human body negative energy recovery includes: The knee brace itself is worn on the human knee joint. The first transmission mechanism is installed on the knee brace body and is used to convert the reciprocating motion of the human lower limbs during walking into the reciprocating linear motion of the double-rotating screw. A motion conversion mechanism, connected to the first transmission mechanism, is used to convert the reciprocating linear motion of the dual-rotary screw into rotary motion; A power generation mechanism, connected to the motion conversion mechanism, is used to convert the mechanical energy generated by the rotational motion into electrical energy; The power management module is electrically connected to the power generation mechanism and is used to process and store the electrical energy generated by the power generation mechanism. The guide function module is installed on the knee brace body and powered by the power management module. It is used to sense environmental obstacles and provide warning information to the user.

[0006] In one possible technical solution, the first transmission mechanism includes a pulley, a rope, and a reset component. The rope is wound around the pulley, with one end connected to the first component and the other end provided with a reset force to tension the rope through the reset component.

[0007] In one possible technical solution, the motion conversion mechanism includes a double-rotor ball screw pair, which includes a threaded rod connected to the component, and a left-hand nut and a right-hand nut respectively engaged with the threads on the threaded rod in opposite directions; when the threaded rod performs reciprocating linear motion, it drives the left-hand nut and the right-hand nut to rotate in opposite directions respectively.

[0008] In one possible technical solution, the power generation mechanism includes a permanent magnet synchronous generator.

[0009] In one possible technical solution, the rotor of the permanent magnet synchronous generator is fixedly connected to one of the left-handed nut or the right-handed nut to rotate synchronously, and the stator of the permanent magnet synchronous generator is fixedly connected to another nut to rotate synchronously, or is fixed relative to the knee pad body; When the rotor is connected to one nut and the stator is connected to another nut, the relative rotational speed between the rotor and the stator is the sum of the rotational speeds of the two nuts.

[0010] In one possible technical solution, the guide function module includes a main controller, at least one ranging sensor electrically connected to the main controller, and an alarm device electrically connected to the main controller.

[0011] In one possible technical solution, the main controller is configured to have a first working mode and a second working mode, and the guide function module further includes a positioning module and a wireless communication module electrically connected to the main controller; In the first operating mode, the main controller controls the ranging sensor to perform environmental detection in a first cycle; In the second operating mode, when the ranging sensor detects an obstacle ahead, the main controller controls the ranging sensor to perform environmental detection in a second cycle shorter than the first cycle, and controls the alarm device to issue a warning.

[0012] In one possible technical solution, the main controller is further configured to have a third operating mode; When the system remains in the second operating mode for a duration exceeding a preset threshold, the main controller switches to the third operating mode, activating the positioning module and the wireless communication module to send a distress signal containing location information.

[0013] In one possible technical solution, the number of ranging sensors is multiple, and the multiple ranging sensors are distributed in a preset three-dimensional space on the knee brace body to cover a fan-shaped detection area at a preset angle in front of the user.

[0014] This application provides a train operation method based on initial delay classification and pattern deduction, which has the following technical advantages compared with the prior art: This system utilizes a pulley-rope and double-rotating ball screw structure to recover the negative work done during lower limb flexion and extension, driving the generator magnet and windings to rotate, thus converting mechanical energy into electrical energy and recovering energy from the human body. It innovatively proposes a scheme to amplify the stroke using a double-rotating ball screw, and innovatively integrates the generator structure and transmission rod structure into a single design, reducing the equipment size while maintaining the transmission ratio and achieving considerable transmission efficiency.

[0015] The 12-stage, 6-slot permanent magnet synchronous generator is optimized for low-speed operation, enabling it to achieve high energy conversion efficiency and ensure stable and efficient power output even at low speeds.

[0016] A smart obstacle avoidance and guidance system for the visually impaired is constructed based on a microcontroller powered by an energy recovery power supply system. It achieves intermittent detection of obstacles ahead. A distance sensor with a specific 3D layout is integrated into the knee pad, providing both protection and environmental awareness. By incorporating IoT technology, a high-precision positioning and emergency communication module transmits location data in real time. Upon a fall, it automatically contacts pre-set personnel, achieving protection, early warning, and emergency communication functions. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a knee joint self-powered guide system for the blind based on human body negative energy recovery provided in the embodiments of this application; Figure 2 This is a structural diagram of the motion conversion mechanism provided in the embodiments of this application; Figure 3 This is a connection diagram of the first transmission mechanism and the motion conversion mechanism provided in the embodiments of this application; Figure 4This is a schematic diagram of a human body negative work recovery motion principle provided in the embodiments of this application; Figure 5 This is a cross-sectional view of the ball screw and nut mating provided in the embodiments of this application; Figure 6 This is a structural diagram of another motion conversion mechanism provided in the embodiments of this application; Figure label: 1—Magnet, 2—Winding, 4—Left-hand nut, 5—Right-hand nut, 6—Double-direction screw, 7—Bearing, 8—Bearing housing, 9—Bracket. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] like Figure 1 As shown, a self-powered knee joint guidance system based on human body negative energy recovery includes: The knee brace itself is worn on the human knee joint. The first transmission mechanism is installed on the knee brace body and is used to convert the reciprocating motion of the human lower limbs during walking into the reciprocating linear motion of the double-rotating screw 6. A motion conversion mechanism, connected to the first transmission mechanism, is used to convert the reciprocating linear motion of the double-rotating screw 6 into rotary motion; A power generation mechanism, connected to the motion conversion mechanism, is used to convert the mechanical energy generated by the rotational motion into electrical energy; The power management module is electrically connected to the power generation mechanism and is used to process and store the electrical energy generated by the power generation mechanism. The guide function module is installed on the knee brace body and powered by the power management module. It is used to sense environmental obstacles and provide warning information to the user.

[0022] This embodiment addresses the core pain points of existing guide devices by constructing a complete technical system encompassing "human body negative energy recovery – power generation – energy storage – guidance." By recovering the negative energy generated during knee joint movement, it achieves "power generation while walking," eliminating the need for an external power source, completely resolving battery anxiety, and ensuring continuous and stable guidance functionality. All modules are integrated into the knee brace, resulting in a compact structure, easy wear, and a conformable fit to the knee joint contour, without affecting walking posture and improving long-term comfort. It forms a complete energy closed loop, is energy-efficient and environmentally friendly, adaptable to different walking scenarios, and provides stable power supply. Actively detecting obstacles and providing timely warnings significantly improves the safety and autonomy of visually impaired users compared to traditional passive guide devices, expanding their activity range and demonstrating high practicality.

[0023] As one possible design, the first transmission mechanism includes a pulley, a rope, and a reset component. The rope is wound around the pulley, with one end connected to the first component and the other end provided with a reset force to tension the rope through the reset component.

[0024] like Figure 3 As shown, the exemplary reset component is a reset spring, which is connected to the top end of the double-helical screw 6. The reset spring is used to provide a reciprocating force to the double-helical screw 6, so that the double-helical screw 6 moves upward along the vertical direction of the bracket 9.

[0025] The pulleys and ropes are fixedly connected to the lower limbs to enable the double-rotating screw 6 to move downward along the vertical direction of the bracket 9 when walking.

[0026] In this embodiment, the first transmission mechanism is a combination of pulleys, ropes, and a reset component, optimizing motion transmission. This structure is simple and reliable, employing mature, low-cost components to reduce mechanical wear and malfunctions, lower manufacturing costs, and facilitate mass production. The reset component ensures the rope remains taut, preventing slippage and ensuring stable motion transmission, providing reliable power for subsequent power generation. The flexible rope adapts to the complex movement trajectory of the knee joint, offering no additional resistance and improving wearing comfort. It boasts high transmission efficiency and low energy loss, effectively transmitting low-frequency, small-amplitude human movements, adapting to different walking speeds and road conditions, and ensuring a smooth energy recovery chain.

[0027] One possible design is that the motion conversion mechanism includes a double-spindle ball screw assembly, which includes a threaded rod connected to the component, and a left-hand nut and a right-hand nut respectively engaged with the threads on the threaded rod in opposite directions; when the threaded rod performs reciprocating linear motion, it drives the left-hand nut and the right-hand nut to rotate in opposite directions respectively.

[0028] like Figure 2As shown, the motion conversion mechanism includes a bracket 9 and a bearing seat 8 disposed on the bracket 9 of the knee brace body. The bearing seat 8 is used to fix the power generation mechanism. The power generation mechanism is connected to the bearing seat 8 through a bearing 7. The power generation mechanism includes a magnet 1, a winding 2, a left-hand nut 4, a right-hand nut 5, and a double-helical screw 6.

[0029] The dual-helix screw 6 is sequentially disposed inside the left-hand nut 4, the magnet 1, the winding 2, and the right-hand nut 5; The bottom end of the double-rotor screw 6 is connected through the motion conversion mechanism, and the reciprocating linear motion of the double-rotor screw 6 is converted into rotational motion.

[0030] In this embodiment, the motion conversion mechanism is a double-rotating ball screw pair, achieving efficient conversion from linear motion to rotary motion. Its rolling friction design ensures a conversion efficiency of over 90%, rapid response, reduced energy loss, and improved energy recovery efficiency. The double-rotating thread of the screw rod causes the left and right nuts to rotate in opposite directions, creating differential output and enabling speed superposition to solve the problem of low rotational speed and insufficient power generation in human knee joint movement. The motion is smooth and impact-free, without noticeable jamming or noise, without affecting the wearing experience, and the stable rotational speed ensures stable power output. The compact and lightweight structure facilitates integration into the knee brace, simplifying system design and reducing integration difficulty and the probability of failure.

[0031] One possible design is that the power generation mechanism includes a permanent magnet synchronous generator.

[0032] For example, driven by a ball screw, a magnet connected to two nuts rotates in the opposite direction to the coil, generating electromagnetic induction, and its output voltage... for: ; in These represent the number of coil turns, , where is the magnetic flux density For generator winding coefficients, This refers to the rotational speed of the nut.

[0033] Assuming it's a purely resistive circuit, the generator's output current... for: ; In the above formula, and These are the coil resistance and the system load resistance, respectively. The generator's output power... for: .

[0034] Table 1 contains the parameter table for this application.

[0035] Table 1

[0036] Conservative theoretical estimate: If lifting the foot takes 1 second and pulling the threaded rod linearly by 1 cm, then the nut will rotate 2.5 revolutions, and its rotational speed is... , ; The winding coefficient K for a 12-pole, 6-slot winding is 0.86.

[0037] Magnet parameters, remanence , 1.2607T; Effective area , ≈0.000009 ; Then magnetic flux , ; When both the demagnetizing coefficient and the leakage coefficient are taken as their usual values ​​of 0.7, the magnetic flux... , ; When an external 20Ω pure resistor is connected and the coil resistance is 10 ohms, substituting into the formula in Section 3.2, the generator's output power can be calculated as follows: : ; It is evident that although the power output is lower compared to other hand-cranked generators of the same size on the market, this product can still achieve self-powering.

[0038] In this embodiment, the power generation mechanism is a permanent magnet synchronous generator, adapted to the system's self-powering requirements. Its energy conversion efficiency reaches 85%-95%, with excellent low-speed power generation performance, perfectly suited to the low-frequency movement of the human knee joint. It maximizes the conversion of mechanical energy into electrical energy, ensuring sufficient power supply for the guide module. It requires no excitation components, has a simple structure, small size, and light weight, and can be easily integrated into the knee brace without increasing the burden on the wearer. It is also easy to connect to the ball screw assembly. The power output is stable, minimally affected by speed fluctuations, reducing the difficulty of power management and minimizing energy storage losses. With no easily worn parts, it has a long service life and low maintenance costs, making it suitable for long-term daily use by visually impaired users.

[0039] As one possible design, the rotor of the permanent magnet synchronous generator is fixedly connected to one of the left-handed or right-handed nuts to rotate synchronously, and the stator of the permanent magnet synchronous generator is fixedly connected to the other nut to rotate synchronously, or fixed relative to the knee brace body; When the rotor is connected to one nut and the stator is connected to another nut, the relative rotational speed between the rotor and the stator is the sum of the rotational speeds of the two nuts.

[0040] In this embodiment, as Figure 5 The image shown is a cross-sectional view of the double-helix screw 6 mating with a nut: As shown in the figure It is the contact force of the balls in the ball screw nut, which can be decomposed into axial force. tangential force and radial force The relationship between them can be described as follows: ; ; ; In the above formula It refers to the number of balls in the ball screw nut. It is the contact angle. It is the helix angle. It can be represented as: ; in It is the diameter of the ball screw. It is the lead. During motion, the tangential force... The torque generated when the nut is turned This can be expressed as: ; η is the efficiency of the ball screw. From the above formula, the torque on the nut can be derived as follows: ; It is evident that when a suitable lead is selected and the lead angle is increased, the transmission efficiency of the ball screw in reverse motion is also quite considerable.

[0041] In this embodiment, the connection between the generator and the ball screw pair fully utilizes the reverse differential characteristics to improve power generation efficiency. By connecting the rotor and stator to opposite nuts respectively, the rotational speeds are superimposed, and the relative speed is the sum of the speeds of the two nuts, significantly increasing the generator speed and power output, effectively solving the problem of insufficient rotational speed during knee joint movement. The generator is directly connected to the nuts or knee brace, eliminating the need for additional gear shifting or connecting components, achieving integrated design, simplifying the system structure, reducing size, weight, and manufacturing costs, and minimizing energy loss and malfunctions. Energy utilization is maximized, adapting to different scenarios such as slow walking and fast walking, ensuring a stable power supply under various road conditions, and further improving the system's range and adaptability.

[0042] As one possible design, the guide function module includes a main controller, at least one ranging sensor electrically connected to the main controller, and an alarm device electrically connected to the main controller.

[0043] In this embodiment, the guide function module consists of a main controller, a ranging sensor, and an alarm device, enabling accurate obstacle detection and timely warnings. The ranging sensor boasts high detection accuracy and fast response, capable of identifying obstacles of varying heights from 0.1 to 5 meters, reducing blind spots and adapting to complex travel environments. The main controller processes signals in real time, immediately controlling the alarm device to emit vibrations and sounds upon detecting an obstacle, promptly reminding the user to avoid it and improving travel safety. The control logic is simple and efficient, allowing flexible control of module sleep and activation, reducing power consumption, and extending battery life with its self-powered characteristics. The modular design with clear division of labor facilitates maintenance, repair, and upgrades, reducing operating costs and enhancing system scalability.

[0044] As one possible design, the guide function module includes a main controller, at least one ranging sensor electrically connected to the main controller, and an alarm device electrically connected to the main controller.

[0045] By actively detecting obstacles using distance sensors, this system overcomes the limitations of traditional guide canes that only detect obstacles upon contact, allowing users to anticipate obstacles, take control of their journeys, and reduce unexpected risks. The main controller, sensors, and alarm devices form a closed-loop control system with millisecond-level alert response, providing ample reaction time, especially suitable for scenarios with high walking speeds. The modular design is optimized with clear module interfaces, reducing mutual interference, improving operational reliability, and allowing for individual module replacement in case of failure, thus reducing maintenance costs. Alert methods and detection parameters can be adjusted according to the needs of visually impaired users, enhancing the user experience.

[0046] As one possible design, the main controller is configured to have a first operating mode and a second operating mode, and the guide function module further includes a positioning module and a wireless communication module electrically connected to the main controller; For example, an intermittent start-up operating mode achieves energy-saving optimization. The sensor employs an intelligent wake-up mechanism to dynamically adjust the operating mode based on the environmental risk level.

[0047] In this embodiment, the main controller is equipped with dual operating modes and positioning and wireless communication modules to achieve intelligent and energy-efficient guidance for the visually impaired. The first operating mode uses long-cycle detection to reduce power consumption, while the second operating mode switches to high-frequency detection after detecting an obstacle, balancing energy saving and detection accuracy, and significantly extending the system's battery life. High-frequency detection can accurately track obstacle changes, reduce missed and false alarms, and adapt to complex road conditions. The main controller can issue graded warnings based on obstacle distance, making it easier for users to distinguish the degree of danger and improving the user experience. The positioning and wireless communication modules reserve expansion space for emergency rescue and remote monitoring, enriching system functions, meeting the diverse needs of visually impaired users, and improving the system's practicality and scalability.

[0048] In the first operating mode, the main controller controls the ranging sensor to perform environmental detection in a first cycle; An exemplary first working mode is the obstacle warning mode: when an obstacle is detected ahead, the system measures the distance with a period of 50ms, starts the motor to vibrate as a warning, and the vibration intensity is negatively correlated with the distance to the obstacle (the closer the distance, the longer the vibration duration and the greater the intensity). It is generally divided into warning braking and emergency braking.

[0049] In the second operating mode, when the ranging sensor detects an obstacle ahead, the main controller controls the ranging sensor to perform environmental detection in a second cycle shorter than the first cycle, and controls the alarm device to issue a warning.

[0050] The second working mode is the safe cruise mode: when there are no obstacles, the system switches to a low-frequency inspection cycle of 2000ms.

[0051] As one possible design, the main controller is also configured to have a third operating mode; When the system remains in the second operating mode for a duration exceeding a preset threshold, the main controller switches to the third operating mode, activating the positioning module and the wireless communication module to send a distress signal containing location information.

[0052] The exemplary third working mode is a safety detection mode: it detects the user's status, and when the user is in an emergency braking state for a long time, it activates the GPS positioning and wireless communication module, sends real-time location information to the preset emergency contact and automatically connects the phone.

[0053] The system achieves a closed loop of walking to generate electricity, power generation for the blind, safety assurance, and then continuing to walk.

[0054] In this embodiment, the third working mode (emergency rescue mode) enhances the system's safety assurance. When the system remains in a dangerous mode for an extended period exceeding a preset threshold, the positioning and wireless communication modules are automatically activated, sending a distress signal containing location information. This eliminates the need for user intervention, addressing the pain point of visually impaired users being unable to actively seek help in dangerous environments, and improving rescue efficiency and survival probability. The positioning module achieves an accuracy of 1-5 meters, accurately providing the user's location for rapid location by rescuers, preventing rescue delays. The duration of the dangerous state is used to determine the danger level, preventing accidental triggering of distress signals and reducing unnecessary inconvenience and power consumption. This forms a closed loop of "regular guidance – danger warning – emergency rescue," comprehensively ensuring travel safety and enhancing the sense of security for both users and guardians.

[0055] One possible design is that there are multiple ranging sensors, which are arranged in a preset three-dimensional spatial distribution on the knee brace body to cover a fan-shaped detection area at a preset angle in front of the user.

[0056] This embodiment improves the comprehensiveness and reliability of obstacle detection by optimizing the three-dimensional spatial distribution of ranging sensors. Multiple sensors form a 120°-180° fan-shaped detection area, significantly expanding the detection range compared to a single sensor. This covers the left and right sides and different heights, effectively reducing blind spots and adapting to complex environments such as intersections and densely populated areas. The three-dimensional distribution can simultaneously detect obstacles at different heights and orientations, comprehensively acquiring spatial environmental information, adapting to various road surface scenarios, and overcoming the limitations of single-sensor detection. The multi-sensor redundancy design can eliminate false alarms and supplement missed alarms, reducing the impact of failures and improving system robustness. It adapts to different user walking postures, ensuring continuous and stable obstacle detection and providing reliable guidance protection for the visually impaired.

[0057] For example, this application discloses a working method of a knee joint self-powered guidance system based on the above-mentioned human body negative energy recovery, such as... Figure 4 As shown; 1) The pulley-rope structure converts the knee flexion motion into the reciprocating linear motion of the rope. When bending, the rope is taut under the action of the return spring; when straightening, the rope is pulled downwards, compressing the return spring at the same time.

[0058] 2) In the double-rotor ball screw structure, the threaded rod is pulled by the rope to perform linear reciprocating motion, which drives the left-hand and right-hand nuts to rotate counterclockwise and clockwise, respectively. This increases the relative speed of the generator. Because the ball screw is not self-locking and the transmission is based on rolling friction, the mechanical structure can efficiently increase the stroke ratio.

[0059] 3) The generator's rotor and windings are connected to left-hand and right-hand nuts respectively, and will rotate directly with the nuts. The generator's angular velocity is twice the angular velocity of the nuts.

[0060] The proposed solution was experimentally verified as follows: After the test subject wore the testing device, it was connected to an oscilloscope and a power meter in sequence for performance testing. The test subject simulated three gaits: fast walking, normal walking, and slow walking, and data such as the movement cycle of the human body at different speeds, the generator output voltage, and the power generation of the device were collected.

[0061] To quickly verify the feasibility of the solution, the prototype was fabricated using 3D rapid prototyping technology in this phase. After multiple adjustments and measurements with the resistance box, the maximum power output of the device was found to be 0.65 W when the external resistance was 10 Ω. This measured value deviates somewhat from the theoretical estimate, mainly due to the following reasons: The prototype was assembled by hand, and the precision of the 3D printing process was limited, making it difficult to meet the precision manufacturing requirements of micro generators. At the same time, the characteristics of the PLA material used led to a significant decrease in the winding coefficient, demagnetization coefficient, and leakage coefficient, which further reduced the power generation efficiency.

[0062] The device employs a smart wake-up energy-saving design for its microcontroller and is equipped with an energy storage circuit, enabling it to generate its own power with a power output of only 0.65 W. The current low power output is primarily due to the simplified prototype manufacturing process; however, with the adoption of precision machining, the power output is expected to increase to 1–2 W or even higher.

[0063] Verification of energy conservation and emission reduction benefits: This guide knee brace can generate up to 0.65W of power. With approximately 45 million visually impaired people worldwide, if 20,000 people wear it daily, it could generate 13kW of power during a one-hour commute. The battery capacity is 10.4 kg. This not only provides strong protection for the travel safety of these 20,000 blind people, but also significantly reduces carbon emissions by 10.4 kg, greatly reducing the equipment's dependence on batteries.

[0064] Compared to traditional guide devices for the visually impaired, the biggest advantage of this knee brace is that it completely solves the problem of power outages during use, allowing it to be worn and used at any time. This design provides reliable convenience for the visually impaired, achieving a win-win situation for both social and environmental benefits, and demonstrating the potential of green technology to improve people's lives.

[0065] The advantages of using a three-ultrasonic sensor array instead of a camera are: ultrasonic sensors are low-cost and fast-responding, with detection accuracy comparable to cameras at close ranges of 0.1-5m; ultrasonic waves produce no electromagnetic radiation or light pollution, making them more environmentally friendly than cameras. Therefore, they are superior in terms of cost and environmental adaptability, making them suitable for embedded guide vision systems.

[0066] Table 2 is a comparison table of energy consumption between this application and existing technologies.

[0067] Table 2

[0068] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0069] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A knee joint self-powered guidance system for the blind based on human body negative energy recovery, characterized in that, include: The knee brace itself is worn on the human knee joint. The first transmission mechanism is installed on the knee brace body and is used to convert the reciprocating motion of the human lower limbs during walking into the reciprocating linear motion of the double-rotating screw. A motion conversion mechanism, connected to the first transmission mechanism, is used to convert the reciprocating linear motion of the dual-rotary screw into rotary motion; A power generation mechanism, connected to the motion conversion mechanism, is used to convert the mechanical energy generated by the rotational motion into electrical energy; The power management module is electrically connected to the power generation mechanism and is used to process and store the electrical energy generated by the power generation mechanism. The guide function module is installed on the knee brace body and powered by the power management module. It is used to sense environmental obstacles and provide warning information to the user.

2. The system according to claim 1, characterized in that, The first transmission mechanism includes a pulley, a rope, and a reset component. The rope is wound around the pulley, with one end connected to the first component and the other end provided with a reset force to tension the rope through the reset component.

3. The system according to claim 2, characterized in that, The motion conversion mechanism includes a double-rotor ball screw pair, which includes a threaded rod connected to the component, and a left-hand nut and a right-hand nut that respectively engage with the threads on the threaded rod in opposite directions; when the threaded rod performs reciprocating linear motion, it drives the left-hand nut and the right-hand nut to rotate in opposite directions respectively.

4. The system according to claim 3, characterized in that, The power generation mechanism includes a permanent magnet synchronous generator.

5. The system according to claim 4, characterized in that, The rotor of the permanent magnet synchronous generator is fixedly connected to one of the left-handed nut or the right-handed nut to rotate synchronously, and the stator of the permanent magnet synchronous generator is fixedly connected to another nut to rotate synchronously, or is fixed relative to the knee pad body; When the rotor is connected to one nut and the stator is connected to another nut, the relative rotational speed between the rotor and the stator is the sum of the rotational speeds of the two nuts.

6. The system according to claim 1, characterized in that, The guide function module includes a main controller, at least one ranging sensor electrically connected to the main controller, and an alarm device electrically connected to the main controller.

7. The system according to claim 6, characterized in that, The main controller is configured to have a first working mode and a second working mode, and the guide function module further includes a positioning module and a wireless communication module electrically connected to the main controller; In the first operating mode, the main controller controls the ranging sensor to perform environmental detection in a first cycle; In the second operating mode, when the ranging sensor detects an obstacle ahead, the main controller controls the ranging sensor to perform environmental detection in a second cycle shorter than the first cycle, and controls the alarm device to issue a warning.

8. The system according to claim 6, characterized in that, The main controller is also configured to have a third operating mode; When the system remains in the second operating mode for a duration exceeding a preset threshold, the main controller switches to the third operating mode, activating the positioning module and the wireless communication module to send a distress signal containing location information.

9. The system according to claim 7, characterized in that, The number of ranging sensors is multiple, and the multiple ranging sensors are distributed in a preset three-dimensional space on the knee brace body to cover a fan-shaped detection area at a preset angle in front of the user.

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