A scanning ultrasonic micro-terrain real-time monitoring anti-falling walking stick

Abstract

The application discloses a fall-preventing walking stick with real-time scanning ultrasonic micro-terrain monitoring, and relates to the technical field of walking sticks.The walking stick comprises a handle, a stick body and a support frame which are sequentially connected from top to bottom, the handle is internally provided with an audio playing module, the stick body is internally provided with a main control module, a gyroscope module and a horizontal ultrasonic distance measuring module;the gyroscope module is used for collecting an inclination angle, the horizontal ultrasonic distance measuring module is used for detecting the distance from the walking stick to an object in front of the walking stick, the main control module establishes a coordinate system according to the distance from the object, and a preliminary slope is solved in the coordinate system; the main control module also corrects the preliminary slope according to the inclination angle to obtain final slope data, and the main control module determines whether the slope data reaches a safety threshold value, and if so, controls the audio playing module to play a prompt audio.The application can realize real-time detection and early warning of the micro-terrain change of the road in front of the walking stick through ultrasonic distance measurement, a rudder, a gyroscope and the like, and improve the fall-preventing ability of the elderly.

Description

Technical Field

[0001] This application relates to the field of cane technology, and in particular to a fall-resistant cane for real-time scanning ultrasonic micro-topography monitoring. Background Technology

[0002] With the increasing aging trend of my country's population, by the end of 2022, the elderly population aged 65 and above had reached 209.78 million, accounting for 14.9% of the total population, indicating that China has entered a deeply aging society. In my country, falls have become the leading cause of death from injury among the elderly over 65 years old, and the older the age, the higher the mortality rate. Falls are often referred to as the "last fall" for the elderly. After a fall, fractures or even traumatic brain injury and hemorrhage are common, and most require long-term bed rest. On the one hand, the elderly recover slowly from wounds, making them prone to secondary injuries; on the other hand, falls can induce deep vein thrombosis in the lower limbs, muscle weakness, and even psychological problems such as anxiety and irritability. Falls among the elderly have a high incidence and high disability rate, not only causing inconvenience to the elderly themselves but also placing a heavy burden on their families and society.

[0003] According to data from the Chinese Center for Disease Control and Prevention, 82.29% of falls among the elderly occur primarily during the day, with peak hours between 8:00 AM and 11:00 AM. These falls are mainly related to leisure activities and housework, and are concentrated in homes and public areas. Furthermore, an analysis by the School of Public Health at Fudan University found that due to physical frailty, the effects of age-related diseases, and a reduced ability to recognize and avoid environmental hazards, the elderly are more susceptible to environmental influences. Among these, poorly designed staircases, inadequate lighting, and a lack of handrails in rooms are major external adverse factors. Decreased gait stability and impaired balance are the main physiological factors, while dizziness caused by cerebral arteriosclerosis and poor cerebral blood supply, leading to decreased balance, is the most significant factor affecting the elderly themselves. Therefore, improving gait stability and the ability to avoid environmental hazards is a crucial issue that urgently needs to be addressed to prevent falls among the elderly.

[0004] Canes are a relatively good way to solve these problems. Among existing canes, some primarily improve the hardware structure, such as CN202221188064.5, CN202311303164.7, CN201410567378.X, and CN202310932998.8. These patents improve stability through mechanically designed pop-out support legs or other technologies, but they lack intelligent environmental detection and early warning functions, and cannot predict hazards in unknown environments. Other canes have made targeted improvements, such as CN202310761271.8 and CN202310972261.9. These patents integrate multiple physical sensors to improve the elderly's ability to avoid falls; however, they still lack slope detection capabilities and cannot measure the impact of changes in road slope or small steps and other micro-topographical features. Summary of the Invention

[0005] This application provides a fall-proof cane for real-time monitoring of scanning ultrasonic micro-topography, which solves the problem that canes in the prior art do not have slope detection and early warning functions.

[0006] This application provides a fall-proof cane for real-time scanning ultrasonic micro-topography monitoring, including a handle, a cane body, and a support frame connected sequentially from top to bottom. An audio playback module is installed inside the handle, a main control module, a gyroscope module, and a horizontal ultrasonic ranging module are installed inside the cane body, and a vertical ultrasonic ranging module is installed on the support frame. The audio playback module, gyroscope module, horizontal ultrasonic ranging module, and vertical ultrasonic ranging module are all connected to the main control module.

[0007] The gyroscope module is used to collect the tilt angle of the cane in real time. The horizontal ultrasonic ranging module is used to detect the distance to objects in front, and the vertical ultrasonic ranging module is used to detect the distance to the ground. When the ground distance detected by the vertical ultrasonic ranging module is less than the preset value, the main control module activates the horizontal ultrasonic ranging module to detect the distance to the object. The main control module establishes a solution coordinate system based on the object distance and calculates the preliminary slope in the solution coordinate system. The main control module also corrects the preliminary slope based on the tilt angle to obtain the final slope data. The main control module determines whether the slope data reaches the safety threshold. If it does, it controls the audio playback module to play a reminder audio.

[0008] In one possible implementation, the process of calculating the initial slope in the solution coordinate system is as follows:

[0009] The angle between the ultrasonic wave emitted by the horizontal ultrasonic ranging module and the horizontal line is θ1. Based on the first transit time τ1, the distance between the emission point and the reflection point is:

[0010]

[0011] Where c0 is the speed at which ultrasound travels in air;

[0012] After calculating the object distance h2, a first right triangle ΔABD is constructed with the object distance as the hypotenuse and the horizontal line as one leg. The length of the object distance is adjusted along its propagation path to intersect the horizon. A second right triangle ΔAEC is constructed with the adjusted line segment as the hypotenuse and the distance between the horizontal ultrasonic ranging module and the ground as one leg. The hypotenuse length of the second right triangle ΔAEC is expressed as:

[0013]

[0014] Where h1 is the distance between the vertical ultrasonic ranging module and the horizontal ultrasonic ranging module;

[0015] The length difference between the line segment and the object after length adjustment is Δh = h3 - h2. Based on the geometric relationship of the second right triangle ΔAEC, calculate the length L2 of the horizontal leg in the second right triangle ΔAEC:

[0016]

[0017] The second right triangle ΔAEC is similar to the first right triangle ΔABD. Based on the geometric relationship, the slope length L1 between the position of the vertical ultrasonic ranging module and the position of the ultrasonic wave emitted by the horizontal ultrasonic ranging module reflected on the ground is calculated:

[0018]

[0019] The initial slope value is obtained from the three side lengths within the triangle ΔBCE formed by the reflection point, the lower endpoint of the length-adjusted line segment, and the vertical ultrasonic ranging module:

[0020]

[0021] In one possible implementation, after calculating the initial slope, the main control module further determines whether it is an uphill or downhill slope based on the lengths of the hypotenuses of the first and second right triangles. When the length of the hypotenuse of the first right triangle is less than that of the second right triangle, it is determined to be an uphill slope; when the length of the hypotenuse of the first right triangle is greater than that of the second right triangle, it is determined to be a downhill slope. The audio playback module is then controlled to play the corresponding reminder audio.

[0022] In one possible implementation, a servo module is also installed inside the cane. The servo module is connected to the horizontal ultrasonic ranging module to adjust the detection direction of the horizontal ultrasonic ranging module under the control of the main control module. When the detection direction changes, the horizontal ultrasonic ranging module and the main control module perform object distance detection, preliminary slope calculation and correction again.

[0023] In one possible implementation, methods for correcting the initial slope include:

[0024] The height of the horizontal ultrasonic ranging module above the ground is:

[0025]

[0026] Where h1 is the distance between the horizontal ultrasonic ranging module and the vertical ultrasonic ranging module, γ is the tilt angle of the cane, τ2 is the transit time of the vertical ultrasonic ranging module, and c0 is the speed of ultrasonic wave propagation in the air.

[0027] The difference in the length of the hypotenuse between the first and second right triangles is:

[0028]

[0029] Where θ1 is the angle between the ultrasonic wave emitted by the horizontal ultrasonic ranging module and the horizontal line, and the length of the right-angled leg of the second right triangle in the horizontal direction is:

[0030]

[0031] Let L2″ be the distance between the point of contact between the cane and the ground and the bottom endpoint of the hypotenuse of the second right triangle.

[0032] L2″=EC-CF=L2′-h′tanγ

[0033] The correction formula for the distance L1 between the reflection point of the ultrasonic wave emitted by the horizontal ultrasonic ranging module and the contact point between the cane and the ground is:

[0034]

[0035] The corrected slope is:

[0036]

[0037] In one possible implementation, an LED lighting module is also installed on the handle. When the main control module determines that the slope data has reached a safe threshold, it controls the LED lighting module to light up.

[0038] In one possible implementation, a photosensitive module is also provided on the handle. The photosensitive module is used to detect the intensity data of ambient light. When the intensity data is lower than the intensity threshold, the main control module also controls the LED lighting module to light up.

[0039] In one possible implementation, the handle is also equipped with a temperature and humidity detection module and an LCD display module. The temperature and humidity detection module is used to detect real-time temperature and humidity data in the environment, and the LCD display module is used to display the real-time temperature and humidity data.

[0040] In one possible implementation, a button control module is also provided on the handle, and an audio file is stored in the main control module. The button control module is used to switch the LCD display module to display real-time temperature and humidity data or audio file information. When the user selects an audio file, the main control module controls the audio playback module to play the selected audio file.

[0041] In one possible implementation, a bio-information detection module is also installed on the handle, and a Bluetooth communication module and a GPS / BeiDou module are also installed inside the cane. The bio-information detection module is used to collect the user's real-time bio-information, and the GPS / BeiDou module is used to collect real-time location. When the main control module determines that there is an anomaly in the real-time bio-information, it sends an alarm message to the communication device through the Bluetooth communication module.

[0042] The anti-fall walking stick for real-time scanning ultrasonic micro-topography monitoring in this application has the following advantages:

[0043] 1. Through ultrasonic ranging modules, servo motors, gyroscopes, etc., real-time detection and early warning of micro-terrain changes on the road ahead can be achieved, improving the elderly's ability to prevent falls.

[0044] 2. By integrating multiple information measurement modules, it can realize temperature and humidity measurement, GPS and Beidou positioning, biological information detection, audio playback and lighting functions. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0046] Figure 1 This is a schematic diagram of the structure of a fall-proof cane for real-time monitoring of scanning ultrasonic micro-topography provided in an embodiment of this application;

[0047] Figure 2 A schematic diagram of the functional modules of a fall-proof cane for real-time monitoring of scanning ultrasonic micro-topography provided in this application embodiment;

[0048] Figure 3 A schematic diagram illustrating the slope calculation of the anti-fall cane provided in this application embodiment, without considering the tilt angle;

[0049] Figure 4 A schematic diagram illustrating the slope correction of the anti-fall cane provided in this application embodiment, taking into account the tilt angle.

[0050] Explanation of reference numerals: 100, Bioinformatics Detection Module; 110, LCD Display Module; 120, Temperature and Humidity Detection Module; 130, LED Lighting Module; 140, Button Control Module; 150, Audio Playback Module; 200, Main Control Module; 210, Bluetooth Communication Module; 220, GPS / BeiDou Module; 230, Gyroscope Module; 240, Servo Module; 250, Horizontal Ultrasonic Ranging Module; 300, Vertical Ultrasonic Ranging Module. Detailed Implementation

[0051] 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.

[0052] Figure 1-4 This is a schematic diagram illustrating the structure and function of a fall-resistant cane for real-time scanning ultrasonic micro-topography monitoring, provided in an embodiment of this application. The cane includes a handle, a cane body, and a support frame connected sequentially from top to bottom. An audio playback module 150 is installed inside the handle. A main control module 200, a gyroscope module 230, and a horizontal ultrasonic ranging module 250 are installed inside the cane body. A vertical ultrasonic ranging module 300 is installed on the support frame. The audio playback module 150, gyroscope module 230, horizontal ultrasonic ranging module 250, and vertical ultrasonic ranging module 300 are all connected to the main control module 200.

[0053] The gyroscope module 230 is used to collect the tilt angle of the cane in real time. The horizontal ultrasonic ranging module 250 is used to detect the distance to the object in front. The vertical ultrasonic ranging module 300 is used to detect the distance to the ground. When the ground distance detected by the vertical ultrasonic ranging module 300 is less than the preset value, the main control module 200 starts the horizontal ultrasonic ranging module 250 to detect the distance to the object. The main control module 200 establishes a solution coordinate system based on the distance to the object and calculates the preliminary slope in the solution coordinate system. The main control module 200 also corrects the preliminary slope based on the tilt angle to obtain the final slope data. The main control module 200 determines whether the slope data reaches the safety threshold. If it does, it controls the audio playback module 150 to play a reminder audio.

[0054] For example, the handle adopts a T-shaped structure for easy gripping, and the vertical cross-section of the handle is narrower at the top and wider at the bottom, which better conforms to the user's grip posture and meets comfort requirements. The support frame includes three curved support legs with an angle of 120° between adjacent support legs to ensure the stability of the cane.

[0055] In addition to the aforementioned audio playback module 150, main control module 200, gyroscope module 230, horizontal ultrasonic ranging module 250, and vertical ultrasonic ranging module 300, the cane in this application also incorporates a power module. This power module can use rechargeable or dry cell batteries to power the handle, cane, and various electronic components on the support frame. Specifically, besides the battery, the power module also includes two AMS1117 power chips. These two power chips convert the battery output voltage to 3.3V and 5V respectively to power electrical components with different voltage requirements.

[0056] In this application, the main control module 200 uses an STM32F030C8T6 microcontroller, which is pre-programmed with slope calculation and correction related programs. The gyroscope module 230 is an MPU6050, and the horizontal ultrasonic ranging module 250 and the vertical ultrasonic ranging module 300 are both HC-SR04. The main control module 200 drives the gyroscope module 230 via the IIC bus protocol to detect the tilt angle of the cane.

[0057] The horizontal ultrasonic ranging module 250 primarily detects the distance between the front of the cane and objects such as slopes, while the vertical ultrasonic ranging module 300 detects the height of the cane above the ground during walking. A fixed distance h1 exists between the vertical ultrasonic ranging module 300 and the horizontal ultrasonic ranging module 250. Both ultrasonic ranging modules generate 40kHz ultrasonic pulses during operation. At this time, the echo pin is at a high level. After emitting eight ultrasonic pulses consecutively, if a diffuse reflection echo is received, the echo pin goes low. The length of this pulse is the transit time. The transit time of the horizontal ultrasonic ranging module 250 is called the first transit time τ1, and the transit time of the vertical ultrasonic ranging module 300 is called the second transit time τ2.

[0058] Considering that the height of the cane above the ground changes dynamically during walking, it will affect the actual measurement accuracy. This application uses a vertical ultrasonic ranging module 300 to detect the distance between the cane and the ground when the user is walking dynamically. Under the condition that the walking speed v << c0 / 10, where c0 is the speed of ultrasonic wave propagation in air, it can be assumed that there is no relative motion between the cane and the ground during transmission and reception. If the ground distance determined according to the second transit time τ2 is less than a very small preset value, it indicates that the cane is on the ground at this time, and the horizontal ultrasonic ranging module 250 can be activated.

[0059] In the embodiments of this application, when calculating the preliminary slope in the solution coordinate system, the solution coordinate system has two right triangles. The first right triangle is a right triangle with the object distance as the hypotenuse and the horizontal line as the right-angle side. The second right triangle is a right triangle with the length of the object distance adjusted to the same horizontal height as the vertical ultrasonic ranging module 300 as the hypotenuse and the distance between the horizontal ultrasonic ranging module 250 and the ground as the right-angle side. The first right triangle and the second right triangle are similar triangles. The preliminary slope is calculated based on the side lengths and angles of the first right triangle and the second right triangle.

[0060] Specifically, without considering the tilt angle and height of the cane, the angle between the ultrasonic wave emitted by the horizontal ultrasonic ranging module 250 and the horizontal line is θ1. Therefore, based on the first transit time τ1, the distance between the emission point and the reflection point can be obtained as follows:

[0061]

[0062] After calculating the object distance h2, the triangle constructed with this object distance as the hypotenuse is the first right triangle, such as... Figure 3 As shown in ΔABD. Adjusting the length of the object distance along its propagation path, for example, by lengthening or shortening it, to intersect the horizon, creates a right triangle with this line segment as its hypotenuse; this is the second right triangle. Figure 3 In triangle AEC, the length of the hypotenuse of the second right triangle is expressed as:

[0063]

[0064] Therefore, the difference in length between the adjusted line segment and the object is Δh = h3 - h2. Based on the geometric relationship of ΔACE, the length L2 of side EC can be calculated:

[0065]

[0066] Since ΔACE and ΔABD are similar triangles, and ∠AEC=θ1, the slope length L1 between the positions of the vertical ultrasonic ranging module 300 and the ultrasonic waves emitted by the horizontal ultrasonic ranging module 250 reflecting off the ground can be calculated based on geometric relationships.

[0067]

[0068] The initial slope value is obtained from the three side lengths in ΔBCE:

[0069]

[0070] Considering the user's walking habits, the cane will tilt when it comes into contact with a slope, requiring initial slope correction based on the tilt angle. After the tilt angle γ is detected by the gyroscope module 230, it is then... Figure 4 It can be seen that the length of AC is:

[0071]

[0072] The length of BE is:

[0073]

[0074] Since ∠AEC=θ1, the length of EC can be calculated using formula (8):

[0075]

[0076] Let the length of EF be L2″:

[0077] L2″=EC-CF=L2′-h′tanγ(9)

[0078] In ΔBEF, the formula for correcting the distance L1 between BF is:

[0079]

[0080] The corrected slope is obtained from the three side lengths in ΔBEF, and the slope value is:

[0081]

[0082] In one possible embodiment, after calculating the initial slope, the main control module 200 further determines whether it is an uphill or downhill slope based on the lengths of the hypotenuses of the first and second right triangles, and controls the audio playback module 150 to play the corresponding reminder audio.

[0083] For example, to determine whether it is an uphill or downhill slope, it is only necessary to judge the sign of the Δh value. When the value is positive, it means that the adjusted length of the hypotenuse is greater than the distance to the object, and it is an uphill slope. When the value is negative, it means that the adjusted length of the hypotenuse is less than the distance to the object, and it is a downhill slope. After determining whether it is an uphill or downhill slope, the audio playback module 150 can play a reminder audio such as "Uphill / Downhill ahead, please be careful".

[0084] Furthermore, a servo module 240 is also installed inside the cane. The servo module 240 is connected to the horizontal ultrasonic ranging module 250 to adjust the detection direction of the horizontal ultrasonic ranging module 250 under the control of the main control module 200. When the detection direction changes, the horizontal ultrasonic ranging module 250 and the main control module 200 perform object distance detection, preliminary slope calculation and correction again.

[0085] Specifically, the servo module 240 is model MG90S. The main control module 200 generates a PWM (Pulse Width Modulation) control signal with a period of 20ms and a width of 0.5~2.5ms, and drives the servo module 240 through the IIC bus protocol, causing the servo module 240 to rotate 10° each time. This keeps the angle between the detection direction of the horizontal ultrasonic ranging module 250 and the horizon between 0° and 90°. After the horizontal ultrasonic ranging module 250 completes one cycle, that is, the object distance detection between 0° and 90°, and the main control module 200 has also completed the corresponding slope length calculation and slope correction, multiple slope length and slope values ​​will be obtained. These slope length and slope values ​​can be summarized to calculate the average slope. This average slope is compared with a safety threshold. If the average slope reaches the safety threshold, the audio playback module 150 is controlled to play a reminder audio. If it does not reach the safety threshold, the main control module 200 will continuously monitor it.

[0086] In one possible embodiment, an LED (light-emitting diode) lighting module 130 is also provided on the handle. When the main control module 200 determines that the slope data has reached a safe threshold, it controls the LED lighting module 130 to light up.

[0087] For example, the LED lighting module 130 is preferably located on the front side of the handle and facing the ground, so that the light it produces when lit can illuminate the ground within a certain range in front of the cane, thereby achieving a lighting effect.

[0088] Furthermore, a photosensitive module is also installed on the handle. This module detects the intensity of ambient light, and when the intensity is below a threshold, the main control module 200 controls the LED lighting module 130 to illuminate. Specifically, the photosensitive module can be a 4-wire photoresistor sensor, specifically a 5516 model, and can be positioned on the handle near the LED lighting module 130.

[0089] In one possible embodiment, the handle is also provided with a temperature and humidity detection module 120 and an LCD (liquid crystal display) display module 110. The temperature and humidity detection module 120 is used to detect real-time temperature and humidity data in the environment, and the LCD display module 110 is used to display real-time temperature and humidity data.

[0090] For example, the LCD display module 110 is a 0.96-inch screen, which is mounted on the top surface of the handle and positioned in front of the user's grip, allowing the user to view information while holding the handle. The temperature and humidity detection module 120 is a DHT11 model, which can be positioned on the handle in a location not in contact with the user's hand. The main control module 200 drives the temperature and humidity detection module 120 via the IIC bus protocol to measure the ambient temperature and humidity data.

[0091] Furthermore, a button control module 140 is also provided on the handle, and an audio file is stored in the main control module 200. The button control module 140 is used to switch the LCD display module 110 to display real-time temperature and humidity data or audio file information. When the user selects an audio file, the main control module 200 controls the audio playback module 150 to play the selected audio file.

[0092] Specifically, the button control module 140 includes two buttons: a selection button and a switching button. The switching button is used to switch between displaying temperature and humidity or audio file functions, and can also switch between different audio file information after the user selects the audio file function. The selection button is used to select between temperature and humidity or audio file functions, and can also select an audio file after selecting the audio file function. The main control module 200 in this application has a storage unit, which can store audio files such as songs, operas, crosstalk, and skits. The user can play the content through the audio playback module 150 while walking. It should be understood that since slope warning is more important, if a reminder audio needs to be played during the playback of an audio file, the playback process of the audio file needs to be paused, and the playback of the audio file will resume after the reminder audio finishes playing.

[0093] Furthermore, a bio-information detection module 100 is also installed on the handle, and a Bluetooth communication module 210 and a GPS (Global Positioning System) Beidou module 220 are also installed inside the cane. The bio-information detection module 100 is used to collect the user's real-time bio-information, and the GPS Beidou module 220 is used to collect real-time location. When the main control module 200 determines that there is an abnormality in the real-time bio-information, it sends an alarm message to the communication device through the Bluetooth communication module 210.

[0094] The GPS / BeiDou module 220 is model ATK-S1216F8-BD, the Bluetooth communication module 210 is model HC-08, and the bio-information detection module 100 is model MAX30102. The bio-information detection module 100 integrates functions such as heart rate, blood pressure, and blood oxygenation. The main control module 200 drives the bio-information detection module 100 via the IIC bus protocol, and the collected bio-information can be displayed in real-time on the LCD display module 110. The main control module 200 will monitor abnormalities in the bio-information in real time. If any information falls outside the set normal threshold range, it indicates that the user may be in an emergency. In this case, the real-time location can be obtained, and an alarm message can be sent via the Bluetooth communication module 210 to a pre-reserved communication device used by the user's family, achieving the purpose of proactive alarm.

[0095] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0096] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A fall-proof walking stick with real-time monitoring of the microrelief by scanning ultrasound, characterized in that, The walking stick comprises a handle, a stick body and a support frame connected in sequence from top to bottom, the handle is internally provided with an audio playing module (150), the stick body is internally provided with a main control module (200), a gyroscope module (230) and a horizontal ultrasonic ranging module (250), the support frame is provided with a vertical ultrasonic ranging module (300), the audio playing module (150), the gyroscope module (230), the horizontal ultrasonic ranging module (250) and the vertical ultrasonic ranging module (300) are connected with the main control module (200); The gyroscope module (230) is used for collecting the inclination angle of the walking stick in real time, the horizontal ultrasonic ranging module (250) is used for detecting the distance from the front object, the vertical ultrasonic ranging module (300) is used for detecting the distance from the ground, when the distance from the ground detected by the vertical ultrasonic ranging module (300) is less than a preset value, the main control module (200) starts the horizontal ultrasonic ranging module (250) to detect the object distance, the main control module (200) establishes a calculation coordinate system according to the object distance, and a preliminary slope is calculated in the calculation coordinate system, the main control module (200) also corrects the preliminary slope according to the inclination angle to obtain the final slope data, and the main control module (200) determines whether the slope data reaches a safety threshold value, and if so, controls the audio playing module (150) to play a prompt audio.

2. The anti-fall walking stick with real-time monitoring of micro-topography by scanning ultrasound according to claim 1, characterized in that, The process of calculating the preliminary slope in the calculation coordinate system is as follows: The angle between the ultrasonic wave emitted by the horizontal ultrasonic ranging module (250) and the horizontal line is θ1, and the distance between the emitting point and the reflecting point is obtained according to the first transit time τ1: Wherein, c0 is the propagation speed of ultrasonic wave in air; After the object distance h2 is calculated, a first right triangle ΔABD is established with the object distance as the hypotenuse and the horizontal line as one of the right angles, the length of the object distance is adjusted along the propagation path of the object distance to intersect with the ground level, a second right triangle ΔAEC is established with the length-adjusted line segment as the hypotenuse and the distance between the horizontal ultrasonic ranging module (250) and the vertical ultrasonic ranging module (300) as one of the right angles, and the length of the hypotenuse of the second right triangle ΔAEC is represented as: Wherein, h1 is the distance between the vertical ultrasonic ranging module (300) and the horizontal ultrasonic ranging module (250); The length difference between the length-adjusted line segment and the object distance is Δh = h3-h2, and the length L2 of the horizontal right angle side in the second right triangle ΔAEC is calculated according to the geometric relationship of the second right triangle ΔAEC: The second right triangle ΔAEC and the first right triangle ΔABD are similar triangles, and the slope length L1 between the vertical ultrasonic ranging module (300) and the position on the ground reflecting the ultrasonic wave emitted by the horizontal ultrasonic ranging module (250) is calculated according to the geometric relationship: The preliminary slope value obtained according to the three sides of the triangle ABCE formed by the reflection point, the lower end point of the length-adjusted line segment and the vertical ultrasonic ranging module (300) is:

3. The fall-preventing walking stick with real-time monitoring of microrelief by scanning ultrasound according to claim 2, characterized in that, After the preliminary slope is obtained, the main control module (200) further determines whether it is uphill or downhill according to the length of the hypotenuse of the first right triangle and the second right triangle, and controls the audio playing module (150) to play corresponding reminder audio when the length of the hypotenuse of the first right triangle is less than the length of the hypotenuse of the second right triangle, and when the length of the hypotenuse of the first right triangle is greater than the length of the hypotenuse of the second right triangle.

4. The fall-preventing walking stick with real-time monitoring of microrelief by scanning ultrasound according to claim 2, characterized in that, The inside of the cane body is further provided with a rudder module (240) connected with the horizontal ultrasonic ranging module (250) to adjust the detection direction of the horizontal ultrasonic ranging module (250) under the control of the main control module (200), and the horizontal ultrasonic ranging module (250) and the main control module (200) detect the distance of the object again, calculate and correct the preliminary slope after the detection direction is changed.

5. The fall prevention walking stick with real-time scanning ultrasound micro-topography monitoring according to claim 4, characterized in that, The method for correcting the preliminary slope includes: The height of the horizontal ultrasonic ranging module (250) from the ground is: Wherein, h1 is the distance between the horizontal ultrasonic ranging module (250) and the vertical ultrasonic ranging module (300), γ is the inclination angle of the cane, τ2 is the transit time of the vertical ultrasonic ranging module (300), and c0 is the propagation speed of ultrasonic waves in air; The difference between the length of the hypotenuse of the first right triangle and the length of the hypotenuse of the second right triangle is: Wherein, θ1 is the angle between the ultrasonic wave emitted by the horizontal ultrasonic ranging module (250) and the horizontal line, and the length of the right angle side of the second right triangle in the horizontal direction is: At this time, the distance between the contact point of the cane and the ground and the bottom end point of the hypotenuse of the second right triangle is L2″: L2″=L2′-h′tanγ The distance L1 between the reflection point of the ultrasonic wave emitted by the horizontal ultrasonic ranging module (250) on the ground and the contact point of the cane and the ground is corrected by the formula: The corrected slope is:

6. The anti-fall walking stick with real-time monitoring of micro-topography by scanning ultrasound according to claim 1, characterized in that, The handle is further provided with an LED lighting module (130), and the main control module (200) controls the LED lighting module (130) to light up when the slope data reaches the safety threshold.

7. The fall prevention walking stick with real-time scanning ultrasound micro-topography monitoring according to claim 6, characterized in that, The handle is further provided with a light-sensitive module for detecting intensity data of ambient light, and the main control module (200) also controls the LED lighting module (130) to light up when the intensity data is lower than the intensity threshold.

8. The anti-fall walking stick with real-time monitoring of micro-topography by scanning ultrasound according to claim 1, characterized in that, The handle is further provided with a temperature and humidity detection module (120) and an LCD display screen module (110), the temperature and humidity detection module (120) is used for detecting real-time temperature and humidity data in the environment, and the LCD display screen module (110) is used for displaying the real-time temperature and humidity data.

9. The fall prevention walking stick with real-time scanning ultrasound micro-topography monitoring according to claim 8, characterized in that, The handle is further provided with a key control module (140), the host control module (200) further stores an audio file, and the key control module (140) is used for switching the LCD display screen module (110) to display the real-time temperature and humidity data or the information of the audio file; when a user selects an audio file, the host control module (200) controls the audio playing module (150) to play the selected audio file.

10. The fall prevention walking stick with real-time scanning ultrasonic micro-topography monitoring according to claim 8, characterized in that, The handle is further provided with a biological information detection module (100), the inside of the stick body is further provided with a Bluetooth communication module (210) and a GPS Beidou module (220), the biological information detection module (100) is used for collecting real-time biological information of a user, and the GPS Beidou module (220) is used for collecting a real-time position; when the host control module (200) determines that the real-time biological information is abnormal, alarm information is sent to a communication device through the Bluetooth communication module (210).

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