A self-supporting cane based on capsule robot

Abstract

The present invention relates to a walking stick, and in particular to a self-supporting walking stick based on a capsule robot. The walking stick comprises a walking stick body and a handle, and also comprises a capsule robot, wherein the walking stick body is a cylindrical shell, and the capsule robot is installed inside the shell; the capsule robot enables the walking stick to automatically maintain an upright state after being released from the hand, so as to facilitate the user to temporarily release the hand to handle things. The STM32 microprocessor of the present invention is electrically connected with a heart rate and breathing monitoring module, a blood pressure and pulse blood oxygen volume monitoring module, a GPS+Beidou dual positioning module, a Bluetooth wireless module, a wireless access transmission module, a night signal light module, a voice prompt module, and a screen display module. It is convenient for users to travel at night, and lighting and warning light functions are provided intimately; the intelligent user's important vital signs indicator detection function ensures that abnormal data of the user is discovered in time, and warning messages are given in time; the GPS and Beidou dual positioning modules are more accurate and reliable, and record the user's outing path, so that relatives can find it conveniently.

Description

Technical Field

[0001] The invention relates to a walking stick, in particular to a self-supporting walking stick based on a capsule robot. Background Art

[0002] The aging situation in my country is becoming increasingly serious. It is predicted that the population will enter a super-aging state in 2030. Therefore, it is urgent to provide good services in the elderly care industry. my country has entered a period of serious aging expansion. The body functions of the elderly are gradually aging. Due to carelessness or bumps and falls in daily life, blood circulation is poor, leading to long-term bed rest, serious obstruction of body circulation, and functional weakness leading to death is a terrible thing that commonly occurs in the elderly population.

[0003] Traditional crutches cannot remain upright once they are out of the hand. When users need to temporarily take the crutches out of their hands for payment or other situations in daily life, they can only lean on other objects around them. However, the crutches can easily slide and fall to the ground. In many cases, there are no objects of suitable height around to lean on. Once the crutches fall to the ground, the elderly can only bend down slowly and carefully to pick them up. This is particularly dangerous. The elderly are already aging and their hands and feet are not flexible. Bending down and squatting will greatly compress the various units and tissues of the body, and the load on each unit of the body will increase instantly, which is fatal to the elderly. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a self-supporting cane based on a capsule robot, which overcomes the problem that traditional crutches cannot maintain an upright state once out of the hand, and can monitor some of the main vital signs data of the user's body, becoming a loyal and reliable "companion" for the user.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A self-supporting walking stick based on a capsule robot comprises a walking stick body and a handle, and also comprises a capsule robot. The walking stick body is a cylindrical shell, and the capsule robot is installed inside the shell. The capsule robot enables the walking stick to automatically keep an upright state after leaving the hand.

[0007] The capsule robot includes a capsule-shaped shell and a first brushless torque motor, a first flywheel, a second brushless torque motor, and a second flywheel installed in the shell; the first brushless torque motor is connected to the first flywheel through a gear set, and the axis of the first brushless torque motor is parallel to the axis of the first flywheel; the second brushless torque motor is connected to the second flywheel through a gear set, the axis of the second brushless torque motor is parallel to the axis of the second flywheel, and the axis of the second flywheel is perpendicular to the axis of the first flywheel.

[0008] It also includes an STM32 microprocessor, a heart rate and respiration monitoring module, a blood pressure and pulse blood oxygen monitoring module, a GPS+Beidou dual positioning module, a Bluetooth wireless module, a wireless access transmission module, a night signal light module, a voice prompt module and a screen display module; the STM32 microprocessor is electrically connected to the heart rate and respiration monitoring module, the blood pressure and pulse blood oxygen monitoring module, the GPS+Beidou dual positioning module, the Bluetooth wireless module, the wireless access transmission module, the night signal light module, the voice prompt module and the screen display module.

[0009] The GPS+Beidou dual positioning module, the Bluetooth wireless module and the wireless access transmission module are installed in the walking stick body.

[0010] The top of the handle is provided with a monitoring window, one end is provided with a white LED lighting lamp, and the other end is provided with a red LED tail light.

[0011] The upper part of the walking stick body is provided with a yellow LED notice light, a touch screen display and a voice prompt honeycomb window.

[0012] The bottom of the walking stick body is provided with a wear-resistant and non-slip rubber coating.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] The present invention is provided with a capsule robot, which relies on a high-speed brushless motor to drive a torque transmission device to operate, and efficiently transmits the torque generated by the motor to the inertial flywheel, and complies with the torque balance principle and the angular momentum conservation principle, so a phenomenon similar to a second-order inverted pendulum will be generated, and various movements of the robot are completed according to the inertial torque of the inertial flywheel. The capsule robot enables the cane to stand on its own after being released from the hand, which is convenient for the user to temporarily release the hand to handle things.

[0015] The STM32 microprocessor of the present invention is electrically connected with a heart rate and breathing monitoring module, a blood pressure and pulse blood oxygen monitoring module, a GPS+Beidou dual positioning module, a Bluetooth wireless module, a wireless access transmission module, a night signal light module, a voice prompt module, and a screen display module. It is convenient for users to travel at night, and provides lighting and warning light functions; the intelligent user's important vital signs index detection function ensures that abnormal data of users is discovered in time and warning messages are given in time; the GPS and Beidou dual positioning modules are more accurate and reliable, and record the user's outing path, which is convenient for relatives to find. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the three-dimensional installation and structure of the first brushless torque motor, the first flywheel, and the bracket of the capsule robot of the present invention;

[0017] Figure 2 This is a schematic diagram of the installation and structure of the first brushless torque motor, the first flywheel, and the bracket of the capsule robot of the present invention from another angle;

[0018] Figure 3 This is a schematic front view of the first brushless torque motor, the first flywheel, and the bracket installation and structure of the capsule robot of the present invention;

[0019] Figure 4 It is a three-dimensional installation and structural diagram of the first mouth-shaped sheet metal bracket, the main support sheet metal bracket, and the first motor auxiliary positioning sheet metal bracket of the capsule robot of the present invention;

[0020] Figure 5 It is a schematic diagram of the three-dimensional structure of the capsule robot of the present invention (excluding the shell).

[0021] Figure 6 This is a schematic diagram of the three-dimensional structure of the bottom shell of the capsule robot of the present invention;

[0022] Figure 7 It is a schematic diagram of the three-dimensional structure of the middle lower shell and the middle upper shell of the capsule robot of the present invention;

[0023] Figure 8 This is a schematic diagram of the three-dimensional structure of the battery pack and shell of the capsule robot of the present invention;

[0024] Fig. 9 This is a schematic diagram of the three-dimensional structure of the capsule robot shell of the present invention;

[0025] Fig.10 This is a motor driving circuit diagram of the capsule robot of the present invention;

[0026] Fig.11 This is a circuit diagram of the capsule robot gyroscope of the present invention;

[0027] Fig.12 This is a power circuit diagram of the capsule robot of the present invention;

[0028] Fig.13 This is the circuit diagram of the single chip microcomputer of the capsule robot of the present invention;

[0029] Fig.14 This is a neural network diagram of the capsule robot of the present invention;

[0030] Fig.15 This is a schematic diagram of the force on the capsule robot of the present invention;

[0031] Fig.16 It is a schematic diagram of the three-dimensional structure of the present invention;

[0032] Fig.17 for Fig.16 A-axis enlarged view

[0033] Fig.18 This is the electrical principle block diagram of the present invention;

[0034] Fig.19The STM32 microprocessor circuit diagram of the present invention

[0035] Fig. 20 The power supply circuit diagram of the present invention is

[0036] Fig.21 The LED lamp circuit diagram of the present invention is

[0037] Fig. 22 This is the circuit diagram of the positioning module of the present invention

[0038] Fig.23 The pulse monitoring module circuit diagram of the present invention is

[0039] Fig.24 This is the circuit diagram of the Bluetooth wireless module of the present invention

[0040] Fig.25 The wireless access transmission module circuit diagram of the present invention

[0041] Fig.26 The circuit diagram of the voice prompt module of the present invention is

[0042] Fig. 27 The circuit diagram of the touch screen display module of the present invention is

[0043] Fig.28 This is the circuit diagram of the monitoring window of the present invention.

[0044] In the figure: 1-first brushless torque motor 2-first flywheel 3-second brushless torque motor 4-second flywheel 5-battery pack 6-first mouth-shaped sheet metal bracket 7-second mouth-shaped sheet metal bracket 8-main support sheet metal bracket 9-first motor auxiliary positioning sheet metal bracket 10-second motor auxiliary positioning sheet metal bracket 11-first gear 12-second gear 13-third gear 14-fourth gear 15-fifth gear 16-sixth gear 17-left bottom shell 18-right bottom shell 19-left middle lower shell 20-right middle lower shell 21-left middle upper shell 22-right middle upper shell 23-top end cover 101-cane body 102-handle 103-monitoring window 104-red LED taillight 105-white LED lighting lamp 106-yellow LED notice lamp 107-honeycomb window 108-touch screen display 109-wear-resistant and non-slip rubber coating DETAILED DESCRIPTION

[0045] Example:

[0046] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings:

[0047] like Fig.16 , 17As shown, a self-supporting walking stick based on a capsule robot includes a walking stick body 101 and a handle 102, and also includes a capsule robot. The walking stick body 101 is a cylindrical shell, and the capsule robot is installed inside the shell; the capsule robot enables the walking stick to automatically remain upright after leaving the hand.

[0048] A monitoring window 103 is provided on the top of the handle 102, a white LED lighting lamp 105 is provided at one end of the handle 102, and a red LED tail light 104 is provided at the other end. A yellow LED warning light 106, a touch screen display 108 and a voice prompt honeycomb window 107 are provided on the upper part of the cane body 101. A wear-resistant and non-slip rubber coating 109 is provided at the bottom of the cane body 101.

[0049] The capsule robot includes a capsule-shaped shell and a bracket installed in the shell, a first brushless torque motor 1, a first flywheel 2, a second brushless torque motor 3, a second flywheel 4, a battery pack 5, a first gear 11, a second gear 12, a third gear 13, a fourth gear 14, a fifth gear 15, a sixth gear 16 and a control system. The bracket is a sheet metal bracket, including a first mouth-shaped sheet metal bracket 6, a second mouth-shaped sheet metal bracket 7, a main support sheet metal bracket 8, a first motor auxiliary positioning sheet metal bracket 9 and a second motor auxiliary positioning sheet metal bracket 10. The first brushless torque motor 1 and the second brushless torque motor 2 both use high-speed brushless high-torque motors.

[0050] like Figure 1-3 As shown, the first mouth-shaped sheet metal bracket 6 includes a first gear cavity and a first flywheel cavity. The first gear 11, the second gear 12, and the third gear 13 are sequentially installed in the first gear cavity from top to bottom, the first gear 11 is meshed with the second gear 12, the second gear 12 is meshed with the third gear 13, the first gear 11 is connected to the first brushless torque motor 1, and the third gear 13 is connected to the first flywheel 2. The first brushless torque motor 1 is fixed to the top of the flywheel cavity, and one end of the first motor auxiliary positioning sheet metal bracket 9 is connected to the first brushless torque motor 1, and the other end is connected to the first flywheel shaft.

[0051] like Figure 4 , Figure 5As shown, the main support sheet metal bracket 8 is fixedly connected to the first mouth-shaped sheet metal bracket 6, and the second mouth-shaped sheet metal bracket 7 is fixedly connected to the main support sheet metal bracket 8. The second mouth-shaped sheet metal bracket 7 includes a second gear cavity and a second flywheel cavity. The fourth gear 14, the fifth gear 15, and the sixth gear 16 are sequentially installed in the second gear cavity from top to bottom, the fourth gear 14 is meshed with the fifth gear 15, the fifth gear 15 is meshed with the sixth gear 16, the fourth gear 14 is connected to the second brushless torque motor 3, and the fifth gear 15 is connected to the second flywheel 4. The second brushless torque motor 3 is fixed to the top of the flywheel cavity, and one end of the second motor auxiliary positioning sheet metal bracket 10 is connected to the second brushless torque motor 3, and the other end is connected to the second flywheel shaft. The axes of the first brushless torque motor 1 and the first flywheel 2 are parallel to each other, the axes of the second brushless torque motor 3 and the second flywheel 4 are parallel to each other, and the axes of the first brushless torque motor 1 and the second brushless torque motor 3 are perpendicular to each other.

[0052] like Figure 6-Figure 9 As shown, the shell is made of hard plastic material, and the shell includes a bottom shell, a middle lower shell, a middle upper shell and a top end cover 23 which are connected in sequence from bottom to top. The bottom shell includes a left bottom shell 17 and a right bottom shell 18, and the left bottom shell 17 and the right bottom shell 18 are clamped together and fixed by bolts. The middle lower shell includes a left middle lower shell 19 and a right middle lower shell 20, and the left middle lower shell 19 and the right middle lower shell 20 are clamped together and fixed by bolts. The middle upper shell includes a left middle upper shell 21 and a right middle upper shell 22, and the left middle upper shell 21 and the right middle upper shell 22 are clamped together and fixed by bolts.

[0053] like Figure 10-13 As shown in FIG, the control system includes a gyroscope and a single-chip microcomputer, and the gyroscope and the single-chip microcomputer are electrically connected. Fig.10 As shown in the figure, the signal sent by the CPU is sent to the drive circuit to control the start and stop and rotation speed of the motor. Fig.11 As shown in Figure 1, the gyroscope is used to detect the acceleration, speed, angle and angular velocity of the capsule robot in all directions. Fig.12 As shown, the power supply circuit converts the voltage of the power supply into the operating voltage of the microprocessor STM32 and the motor. Fig.13 As shown, the control CPU adopts STM32F070F6 controller.

[0054] like Fig.14As shown in the figure, the control system is a comprehensive feedback regulation system with multiple inputs and single outputs, and is equipped with memory and learning capabilities. It optimizes the data in the operation process and memorizes it in the memory, gradually reducing the judgment and adjustment of comprehensive system analysis and error analysis. The neural network is divided into a BP neural network with three layers of networks, which is divided into an input layer, a single hidden layer and an output layer. Among them: ax, ay and az are the accelerations in the x, y and z directions respectively; Vx, Vy and Vz are the velocities in the x, y and z directions respectively; Cx, Cy and Cz are the angles in the x, y and z directions respectively; y01 and y02 are the current speed signals of the motor respectively; Wx, Wy and Wz are the angular velocities in the x, y and z directions respectively; y1 and y2 are the control signals of the motor respectively.

[0055] BP neural network has the following characteristics: hidden units extract more useful information from the input pattern, so that the network can complete more complex tasks; BP neural network has connectivity, changes in the link domain or changes in the connection weight will cause changes in connectivity; the activation function of each neuron is a differentiable sigmoid function The input layer and hidden layer have 14 neurons; the output layer has 2 neurons.

[0056] The forward propagation process of BP neural network is:

[0057] The hidden layer is:

[0058]

[0059] The output layer is:

[0060]

[0061]

[0062] The above is the structure of the BP neural network. The BP neural network also needs to train the network through input and output sample sets, that is, to correct and learn the weights and thresholds of the network so that the network can achieve the required input-output mapping relationship.

[0063] BP neural network learning is divided into two stages: the first stage is to input known learning samples, and calculate the output of each neuron from the first layer of the network backwards through the set network structure and the weights and thresholds of the previous iteration; the second stage is to modify the weights and thresholds, and calculate each weight and threshold from the last layer forward, and modify each weight and threshold accordingly. These two processes are repeated until convergence is reached.

[0064] The weight correction process is:

[0065] The error signal of the neuron is: e kj (n) = dkj (n)-y kj (n);

[0066] The sum of the error energy of a neuron is:

[0067] The weights w on the hidden layer and the output layer ij (n) The correction amount is:

[0068] Using the Delta learning rule, w ij The corrected value of (n) is:

[0069] The weights on the hidden layer and the output layer are: w ij (n+1)=w ij (n)+Δw ij (n);

[0070] The weights w on the hidden layer and the input layer mi (n) The correction amount is:

[0071] w mi The corrected value of (n) is:

[0072] The weights on the hidden layer and the output layer are: w mi (n+1)=w mi (n)+Δw mi (n);

[0073] Through the training samples, the above method is used to repeatedly alternate training until convergence is achieved and the training is completed.

[0074] like Fig.15 As shown, the two flywheels can be regarded as rigid bodies. If they rotate at an angular acceleration a, two forces of equal magnitude and opposite directions will be generated (respectively downward force F R The two flywheels rotating with angular acceleration generate two upward forces F1 and F2, and their resultant force is F. Then:

[0075]

[0076]

[0077] Similarly, the combined downward force generated by the two flywheels is or And F R =F). Forces F and F RThe points of action are points B and C, the distance to the mass center A of the capsule robot is L, and the capsule robot's own gravity G acts on the mass center A, and the distance from the fulcrum D is d. With the fulcrum D as the center, there is a moment balance, and the following formula can be obtained: F(d+L)=Gd·sinβ+F R (dL), then the capsule robot is in a static state (equilibrium state). Then:

[0078]

[0079]

[0080]

[0081] In this way, the two flywheels rotate at the above angular acceleration, and the capsule robot will be in a balanced state and remain stationary in a certain posture.

[0082] if That is, if the changes in the angular velocities of the two flywheels Δω1 and Δω2 are greater than the previous two values, the capsule robot in the horizontal state will stand up and flip over; the direction in which the capsule robot flips (clockwise and counterclockwise) is related to the direction in which the flywheels rotate.

[0083] like Fig.18 As shown, the present invention also includes an STM32 microprocessor, a heart rate and breathing monitoring module, a blood pressure and pulse blood oxygen monitoring module, a GPS+Beidou dual positioning module, a Bluetooth wireless module, a wireless access transmission module, a night signal light module, a voice prompt module and a screen display module; the STM32 microprocessor is electrically connected to the heart rate and breathing monitoring module, the blood pressure and pulse blood oxygen monitoring module, the GPS+Beidou dual positioning module, the Bluetooth wireless module, the wireless access transmission module, the night signal light module, the voice prompt module and the screen display module.

[0084] like Fig.19 Shown is the circuit diagram of the microprocessor STM32F103C8.

[0085] like Fig. 20 As shown, the power supply circuit converts the voltage of the power supply into the operating voltage of the microprocessor STM32, various modules and motors.

[0086] like Fig.21 As shown in the figure, the LED lamp and its driving circuit diagram are used as night signal lights to facilitate users to travel at night. When users travel at night, they can turn on the night use mode, at which time the LED lamp installed at the head of the smart cane handle will be turned on for lighting; the red LED lamp beads installed at the tail of the smart cane handle and the yellow LED lamp beads on the upper part of the cane body will be turned on at the same time to signal people around.

[0087] like Fig. 22 As shown in the figure, the positioning module link circuit diagram. For GPS+Beidou dual positioning, the positioning module is installed in the cylinder at the lower end of the walking stick. This module records the user's walking path when going out, so that relatives can find the target location through the mobile phone when looking for it, and can query the relevant activity path.

[0088] like Fig.23 As shown, the pulse monitoring module link circuit diagram. Used for heart rate, respiration, blood pressure, and pulse blood oxygen monitoring, the module is placed at the handle of the smart cane. Through contact sensing, the user's palm characterization data is calculated by the STM32 processor and the user's heart rate and blood pressure are transmitted to the screen display window. At the same time, if the system calculates that the vital sign data exceeds the normal standard range, it will be prompted through the voice prompt module. At the same time, this prompt including the current location will be transmitted to the user's mobile phone through the Bluetooth wireless module, and automatically sent to the reserved mobile phones of the relevant relatives and attending physicians. (When the user's mobile phone cannot receive the pairing signal, this information will be transmitted to the reserved mobile phones of the relevant relatives and attending physicians through the wireless access transmission module through the operator's signal tower.)

[0089] like Fig.24 As shown, the Bluetooth wireless module connection circuit diagram. The Bluetooth module is an interactive method for the smart cane to directly connect with the user's mobile phone, and transmits the relevant data of the cane to the mobile phone client through Bluetooth, making it convenient to grasp the relevant information of the user and the smart cane.

[0090] like Fig.25 The wireless access transmitter module is a backup emergency communication transmission method of the walking stick. When the Bluetooth method cannot communicate, important information can be notified to the communicator of relevant personnel in time.

[0091] like Fig.26 As shown, the voice prompt module is connected to the circuit diagram. The voice prompt module is used for voice health prompts, and also prompts the battery pack to be low on power, reminding to replenish power and replace the battery pack.

[0092] like Fig. 27 The touch screen display module is a human-computer interaction interface window of the smart cane, which is used to display: the user's heart rate and blood pressure, the working status of each light in the night mode, the remaining power percentage of the battery pack and the shutdown touch switch, the motor running status, and the cane's spatial angle value.

[0093] like Fig.28 As shown, the monitoring window link circuit is composed of an eight-segment digital tube and a driver chip TA6932.

[0094] The present invention mainly relies on the dual-motor second-order inverted pendulum core device of the capsule robot to realize the self-standing function, and on this basis, the start control code and infrared and light sensing recognition module are added. That is, when the infrared and light sensing recognition determine that the monitoring data flows through the system and determines that the user is in normal use, the self-standing function of the robot is suspended and the torque generator enters a silent dormant state; when its position monitoring sensor detects an abnormal and irregular jittering data flow, that is, it determines that the user is about to fall, and immediately transmits a start command to the torque generator, so that the user can feel like being pulled and reduce the pain of falling; when the infrared and light sensing recognition determine that the monitoring data flows through the system and determines that the user has let go of the smart cane, the automatic upright function of the "capsule" robot is activated, which can ensure that the cane is out of hand and remains in a self-standing state, and will not rotate, which is convenient for the user to use next time.

[0095] The present invention is convenient for users to travel at night, and provides lighting and warning light functions; the intelligent user's important vital signs indicator detection function ensures timely detection of abnormal data of the user and timely issuance of warning messages; the GPS and Beidou dual positioning modules are more accurate and reliable, and record the user's outing path, making it easier for relatives to find it.

[0096] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A self-supporting cane based on a capsule robot, comprising a cane body and a handle, characterized in that: It also includes a capsule robot, wherein the walking stick body is a cylindrical shell, and the capsule robot is installed inside the shell; the capsule robot enables the walking stick to automatically maintain an upright state after it is taken out of the hand; The capsule robot comprises a capsule-shaped shell and a first brushless torque motor, a first flywheel, a second brushless torque motor and a second flywheel installed in the shell; the first brushless torque motor is connected to the first flywheel through a gear set, and the axis of the first brushless torque motor is parallel to the axis of the first flywheel; the second brushless torque motor is connected to the second flywheel through a gear set, the axis of the second brushless torque motor is parallel to the axis of the second flywheel, and the axis of the second flywheel is perpendicular to the axis of the first flywheel; It also includes an STM32 microprocessor, a heart rate and breathing monitoring module, a blood pressure and pulse blood oxygen monitoring module, a GPS+Beidou dual positioning module, a Bluetooth wireless module, a wireless access transmission module, a night signal light module, a voice prompt module and a screen display module; the STM32 microprocessor is electrically connected to the heart rate and breathing monitoring module, the blood pressure and pulse blood oxygen monitoring module, the GPS+Beidou dual positioning module, the Bluetooth wireless module, the wireless access transmission module, the night signal light module, the voice prompt module and the screen display module; The GPS+Beidou dual positioning module, the Bluetooth wireless module and the wireless access transmission module are installed in the walking stick body.

2. The capsule robot-based self-supporting walking stick according to claim 1, characterized in that: The top of the handle is provided with a monitoring window, one end is provided with a white LED lighting lamp, and the other end is provided with a red LED tail light.

3. The capsule robot-based self-supporting walking stick according to claim 1, characterized in that: The upper part of the walking stick body is provided with a yellow LED notice light, a touch screen display and a voice prompt honeycomb window.

4. The capsule robot-based self-supporting walking stick according to claim 1, characterized in that: The bottom of the walking stick body is provided with a wear-resistant and non-slip rubber coating.

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