Walking stick

Abstract

The invention provides a walking stick which comprises a walking stick body, a control device and a movable base, the walking stick body is provided with the control device, the control device is in circuit connection with a driving motor arranged on the movable base, the movable base is provided with a plurality of driving wheels, the driving wheels are connected with the driving motor in a matched mode, and the driving wheels are evenly provided with contact supporting feet. The contact supporting leg is in sliding connection with the driving wheel, and an elastic reset piece is arranged on the contact supporting leg. The driving wheel is of a pentagonal structure, and a contact supporting foot is correspondingly arranged on each corner of the driving wheel. The walking stick has the advantage that the walking stick can synchronously move and steer along with a user. The technical problem that in the prior art, a walking stick needs to be held by hand to follow and move is solved, the motor is used for driving the bottom rotating wheel to move, the ultrasonic ranging module, the infrared obstacle avoidance device and the microcontroller module are used for achieving the automatic following function of the walking stick, the walking stick can follow a patient to move, and walking assistance is conveniently conducted on the patient.

Description

Technical Field

[0001] The present invention relates to the field of medical auxiliary equipment, and more particularly to a crutch. Background Art

[0002] A crutch is a simple device to assist walking, usually a wooden or metal stick. It is also an important medical rehabilitation aid, divided into hand cane, elbow cane and axillary cane. The cane is mainly used for mild needs.

[0003] In current clinical practice, crutches are also used in rehabilitation training for patients with myasthenia or sarcopenia, with the main purpose of improving the patient's own balance and preventing falls. Existing crutches require the user to lift their hands to achieve the function of following use, which is relatively difficult for patients with myasthenia or sarcopenia and is not conducive to the crutches providing auxiliary support to the patient. Summary of the invention

[0004] The invention overcomes the deficiencies in the prior art and provides a crutch.

[0005] The purpose of the present invention is achieved through the following technical solutions.

[0006] The crutch comprises: a crutch body, a control device and a mobile base. The crutch body is provided with a control device, which is connected to a driving motor circuit arranged on the mobile base. The mobile base is provided with a plurality of driving wheels, which are cooperatively connected to the driving motor. The driving wheels are evenly provided with contact feet, which are slidably connected to the driving wheels, and the contact feet are provided with elastic reset members.

[0007] The contact support foot comprises a sliding rod body and an anti-skid suction cup. The sliding rod body is slidably arranged on the driving wheel. An elastic reset piece is arranged on the sliding rod body. The anti-skid suction cup is arranged on the free end of the sliding rod body.

[0008] The cross-sectional structure of the driving wheel is a pentagon, and a contact foot is correspondingly arranged on each corner of the driving wheel.

[0009] The control device comprises a control button and a microcontroller module. The control button is connected to the microcontroller module circuit, and the microcontroller module is connected to the drive motor circuit.

[0010] The crutch body is provided with an infrared obstacle avoidance device and a tracking module, which are connected to the microcontroller module circuit. The infrared obstacle avoidance device is provided with a transmitting tube and a receiving tube, which are arranged in a signal amplifying circuit.

[0011] An ultrasonic distance measuring module is arranged on the crutch body, and the ultrasonic distance measuring module is connected with the microcontroller module circuit.

[0012] The crutch body is provided with an indicator light circuit and a sound alarm circuit, and the indicator light circuit and the sound alarm circuit are connected with the microcontroller module circuit.

[0013] The working steps of the tracking module include:

[0014] S1. Initialize the device;

[0015] S2, judging whether the infrared obstacle avoidance device detects black lines on the left and right sides of the crutch body. If it is judged that the condition is met, the microcontroller module sends a signal to drive the motor to move forward, and enters S5 at the same time; if it is judged that the condition is not met, enter S3;

[0016] S3, judging whether the infrared obstacle avoidance device detects a black line on the right side of the crutch body. If it is judged that the condition is met, the microcontroller module sends a signal to drive the motor to move to the right side of the crutch, and enters S5 at the same time; if it is judged that the condition is not met, enter S4;

[0017] S4, judging whether the infrared obstacle avoidance device detects a black line on the left side of the crutch body. If it is judged that the condition is met, the microcontroller module sends a signal to drive the motor to move to the left side of the crutch, and enters S5 at the same time; if it is judged that the condition is not met, directly enter S5;

[0018] S5, judging whether to exit the tracking process, if the judgment is yes, entering S1; if the judgment is no, ending the tracking process, the ultrasonic ranging module senses the surrounding environment according to the ultrasonic signal, and controls the crutch body to avoid obstacles.

[0019] There are four driving wheels symmetrically arranged on the left and right sides of the mobile base, and each driving wheel is individually arranged in cooperation with a corresponding driving motor.

[0020] The crutch body is a telescopic and adjustable structure, and a light-sensitive induction lamp and a hook are arranged on the crutch body.

[0021] The beneficial effects of the present invention are as follows: the present invention provides a crutch that can move and turn synchronously with the user. It overcomes the technical problem in the prior art that the crutch needs to be lifted by the hand to move with the crutch, and uses a motor to drive the bottom wheel to move, and uses an ultrasonic ranging module, an infrared obstacle avoidance device and a microcontroller module to realize the automatic following function of the crutch, so that it can move with the patient, and facilitates the patient to walk.

[0022] Furthermore, the present invention also improves the problem that the driving wheel is inconvenient to move and unstable due to different roads. The present device is provided with multiple support structures on the driving wheel, and the suction cups of the support structures can be used to firmly connect the support wheels to the ground. At the same time, the reset sliding structure also satisfies the function of walking on rough roads, and enables the support wheels to go up and down stairs.

[0023] In summary, the crutch provided in this scheme is suitable for patients with myasthenia or sarcopenia and is suitable for popularization and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of the present invention;

[0025] Figure 2 It is a schematic diagram of the structure of the driving wheel;

[0026] Figure 3 This is the working principle diagram of the contact foot;

[0027] Figure 4 It is the circuit connection diagram of the microcontroller module;

[0028] Figure 5 It is the circuit connection diagram of the drive motor;

[0029] Figure 6 It is a circuit connection diagram of the infrared obstacle avoidance device;

[0030] Figure 7 This is the circuit connection diagram of the tracking module;

[0031] Figure 8 This is the circuit connection diagram of the ultrasonic ranging module;

[0032] Fig. 9 It is a circuit connection diagram of the control button;

[0033] Fig.10 It is the circuit diagram of the indicator light;

[0034] Fig.11 It is the sound alarm circuit diagram;

[0035] Fig.12 This is the working principle diagram of the infrared obstacle avoidance device;

[0036] In the figure: 1. crutch body; 2. moving base; 3. driving wheel; 4. contact support foot; 401. sliding rod body; 402. anti-slip suction cup; 403. elastic reset member; 5. hook. DETAILED DESCRIPTION

[0037] The technical solution of the present invention is further described below through specific embodiments.

[0038] Example

[0039] The crutch comprises: a crutch body 1, a control device and a mobile base 2. The crutch body 1 is provided with a control device, which is connected to a driving motor circuit arranged on the mobile base 2. The mobile base 2 is provided with a plurality of driving wheels 3, which are cooperatively connected with the driving motor, and the driving wheels 3 are evenly provided with contact legs 4, which are slidably connected with the driving wheels 3, and the contact legs 4 are provided with elastic reset members 403.

[0040] The contact support foot 4 includes a sliding rod body 401 and an anti-skid suction cup 402 . The sliding rod body 401 is slidably arranged on the driving wheel 3 . An elastic reset member 403 is arranged on the sliding rod body 401 . The anti-skid suction cup 402 is arranged on the free end of the sliding rod body 401 .

[0041] The cross-sectional structure of the driving wheel 3 is a pentagon, and a contact foot 4 is correspondingly provided on each corner of the driving wheel 3 .

[0042] The control device comprises a control button and a microcontroller module. The control button is connected to the microcontroller module circuit, and the microcontroller module is connected to the drive motor circuit.

[0043] The crutch body 1 is provided with an infrared obstacle avoidance device and a tracking module, which are connected to the microcontroller module circuit. The infrared obstacle avoidance device is provided with a transmitting tube and a receiving tube, which are arranged in a signal amplifying circuit.

[0044] The crutch body 1 is provided with an ultrasonic distance measuring module, which is connected to the microcontroller module circuit.

[0045] The crutch body 1 is provided with an indicator light circuit and a sound alarm circuit, and the indicator light circuit and the sound alarm circuit are connected to the microcontroller module circuit.

[0046] There are four driving wheels 3 symmetrically arranged on the left and right sides of the mobile base 2 , and each driving wheel 3 is individually arranged in cooperation with a corresponding driving motor.

[0047] The crutch body 1 is a telescopic and adjustable structure, and a light-sensitive sensor lamp and a hook 5 are provided on the crutch body 1.

[0048] The working principle of the present invention is as follows.

[0049] like Figure 1 As shown, the device uses the crutch body 1 as support and realizes manual control by the user through the control button. At the same time, it also realizes the automatic following function through the combined action of the infrared obstacle avoidance device and the ultrasonic distance measurement module by the microcontroller module.

[0050] like Figure 2As shown, the crutch body 1 is moved by the driving wheel 3 provided on the mobile base 2. In order to solve the problem of adapting to the road surface, the present solution uses a reset sliding connection structure to make the contact leg 4 slide and move on the driving wheel 3, so as to realize the function of adaptive road surface. The contact leg 4 changes position continuously with the movement of the driving wheel 3, so as to realize the function of going up and down stairs, slopes and potholes.

[0051] Further, if Figure 3 As shown, in the contact support 4, the sliding rod body 401 is used to connect with the driving wheel 3 to support the force, and the sliding rod body 401 realizes the function of automatic rebound through the elastic reset member 403. The anti-skid suction cup 402 is used to firmly contact the ground, increase the grip and anti-skid performance. Among them, the light-sensitive sensor light and the hook 5 are used to automatically turn on the light for lighting in a dark environment and facilitate hanging.

[0052] like Figure 4 and Figure 5 As shown, in this embodiment, the microcontroller module is used to control the single chip microcomputer to control each drive motor. The number of drive motors is 4, and two are controlled by one single chip microcomputer in a group.

[0053] Furthermore, in order to achieve the speed stabilization function, in actual application, the optimal operating speed of the crutch needs to be calculated based on the crutch weight, road slope and adhesion coefficient. The speed change range is set for the motor in advance in the program. After the drive motor starts working, the speed sensor starts to detect the speed of the drive motor and feeds back the detected speed information to the main control board. When the crutch is traveling on a flat road, the drive motor runs at a pre-set speed. When the crutch is in a downhill state, the crutch will accelerate under the action of gravity. At this time, the speed sensor detects the acceleration signal, and the main control board makes a deceleration adjustment to the speed of the drive motor according to the signal fed back by the speed sensor; when the crutch goes uphill, the speed of the drive motor slows down due to overcoming the gravity, and the main control board issues a command to speed up the drive motor. The entire crutch always moves forward at the set initial moving speed, thereby achieving a stable operating speed. The above content can be achieved through automatic following devices in the prior art.

[0054] like Figure 6 and Figure 7 As shown, in this embodiment, the infrared obstacle avoidance device transmits the signal of the infrared transmitting tube through the amplifying circuit, and receives the signal through the infrared receiving tube, and cooperates with the tracking module to realize the tracking function. In this embodiment, the tracking module is powered by VCC 5v, and the information is transmitted by connecting the circuit with the microcontroller module.

[0055] like Fig.11 As shown, the working steps of the tracking module specifically include:

[0056] S1. Initialize the device;

[0057] S2, judging whether the infrared obstacle avoidance device detects black lines on the left and right sides of the crutch body 1. If it is judged that the condition is met, the microcontroller module sends a signal to drive the motor to move forward, and enters S5 at the same time; if it is judged that the condition is not met, enter S3;

[0058] S3, judging whether the infrared obstacle avoidance device detects a black line on the right side of the crutch body 1. When it is judged that the condition is met, the microcontroller module sends a signal to drive the motor to move to the right side of the crutch, and enters S5 at the same time; when it is judged that the condition is not met, enter S4;

[0059] S4, judging whether the infrared obstacle avoidance device detects a black line on the left side of the crutch body 1. When it is judged that the condition is met, the microcontroller module sends a signal to drive the motor to move to the left side of the crutch, and enters S5 at the same time; when it is judged that the condition is not met, directly enter S5;

[0060] S5, judging whether to exit the tracking process, if the judgment is yes, entering S1; if the judgment is no, ending the tracking process, the ultrasonic ranging module senses the surrounding environment according to the ultrasonic signal, and controls the crutch body 1 to avoid obstacles.

[0061] The device uses a tracking module and an infrared obstacle avoidance device to detect the position of the user, so that it can achieve the tracking function. Preferably, the model of the tracking module is TCRT5000.

[0062] Preferably, in this embodiment, there are two infrared obstacle avoidance devices, which are arranged at the front side of the crutch body 1. There are two ultrasonic distance measurement modules, which are arranged at the left and right sides of the crutch body 1.

[0063] like Figure 8As shown, the device uses an ultrasonic distance measurement module to detect the distance of the user. In this embodiment, the single chip microcomputer of the ultrasonic distance measurement module detects the frame header of the data returned by the two ultrasonic receiving modules. When the frame header of the distance data appears, the high eight-bit data storage byte and the low eight-bit data storage byte are read, and the distance values ​​of the two receiving modules are parsed according to the serial communication protocol to determine whether the distance values ​​of the two receiving modules are between 4cm and 400cm. If the data is invalid, the left and right motors stop rotating; if the distance value is not between 4cm and 400cm, the data is valid. When the distance values ​​L1 and L2 are both valid values, calculate the distance difference △L between the left and right sensors, and determine whether △L is in the "distance dead zone". When △L is in the "distance dead zone", the crutch stops moving forward; when △L is not in the "distance dead zone", determine the value of △L. If △L>0, then control the left motor to move backward and the right motor to move forward, and finally the crutch turns right. If △L<0, then control the left motor to move forward and the right motor to move backward, and finally the crutch turns left.

[0064] like Fig. 9 As shown, in this embodiment, the cane is manually controlled by using control buttons, and the buttons S1, S2 and S3 in the figure correspond to the acceleration button, deceleration button, stop\continue button, respectively. Preferably, the normal moving speed of the cane is 1m / s, the acceleration speed is 1.2m / s, and the deceleration speed is 0.5m / s. The control button is preferably set on the handle of the cane.

[0065] like Fig.10 and Fig.11 As shown, in order to further improve the practicality of the device as a whole, the device is provided with an indicator light circuit and a sound alarm circuit. The indicator light circuit uses a light-emitting diode to be powered by a VCC 5V voltage. The light-emitting diode is connected to a microcontroller module. When the microcontroller module is powered, the light-emitting diode emits light to reflect that the working device is working. The sound alarm circuit uses a buzzer to generate a buzzer. The circuit is powered by a VCC 5v power supply and driven by a microcontroller module. An NPN transistor is provided on it to act as a switch.

[0066] The embodiments of the present invention are described in detail above, but the contents described are only preferred embodiments of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A walking stick, characterized in that include: A crutch body, a control device and a mobile base. The crutch body is provided with a control device, which is connected to a driving motor circuit arranged on the mobile base. The mobile base is provided with a plurality of driving wheels, which are cooperatively connected to the driving motor. Contact feet are evenly arranged on the driving wheels, which are slidably connected to the driving wheels, and elastic reset parts are arranged on the contact feet.

2. The crutch according to claim 1, characterized in that: The contact support foot comprises a sliding rod body and an anti-skid suction cup. The sliding rod body is slidably arranged on the driving wheel. An elastic reset piece is arranged on the sliding rod body. The anti-skid suction cup is arranged on the free end of the sliding rod body.

3. The crutch according to claim 2, characterized in that: The cross-sectional structure of the driving wheel is a pentagon, and a contact foot is correspondingly arranged on each corner of the driving wheel.

4. The crutch according to claim 1, characterized in that: The control device comprises a control button and a microcontroller module. The control button is connected to the microcontroller module circuit, and the microcontroller module is connected to the drive motor circuit.

5. The crutch according to claim 4, characterized in that: The crutch body is provided with an infrared obstacle avoidance device and a tracking module, which are connected to the microcontroller module circuit. The infrared obstacle avoidance device is provided with a transmitting tube and a receiving tube, which are arranged in a signal amplifying circuit.

6. The crutch according to claim 5, characterized in that: An ultrasonic distance measuring module is arranged on the crutch body, and the ultrasonic distance measuring module is connected with the microcontroller module circuit.

7. The crutch according to claim 5, characterized in that: The crutch body is provided with an indicator light circuit and a sound alarm circuit, and the indicator light circuit and the sound alarm circuit are connected with the microcontroller module circuit.

8. The crutch according to claim 6, characterized in that: The working steps of the tracking module include: S1, initialization; S2, judging whether the infrared obstacle avoidance device detects black lines on the left and right sides of the crutch body. If it is judged that the condition is met, the microcontroller module sends a signal to drive the motor to move forward, and enters S5 at the same time; if it is judged that the condition is not met, enter S3; S3, judging whether the infrared obstacle avoidance device detects a black line on the right side of the crutch body. If it is judged that the condition is met, the microcontroller module sends a signal to drive the motor to move to the right side of the crutch, and enters S5 at the same time; if it is judged that the condition is not met, enter S4; S4, judging whether the infrared obstacle avoidance device detects a black line on the left side of the crutch body. If it is judged that the condition is met, the microcontroller module sends a signal to drive the motor to move to the left side of the crutch, and enters S5 at the same time; if it is judged that the condition is not met, directly enter S5; S5, judging whether to exit the tracking process, if the judgment is yes, entering S1; if the judgment is no, ending the tracking process, the ultrasonic ranging module senses the surrounding environment according to the ultrasonic signal, and controls the crutch body to avoid obstacles.

9. The crutch according to claim 1, characterized in that: There are four driving wheels symmetrically arranged on the left and right sides of the mobile base, and each driving wheel is individually arranged in cooperation with a corresponding driving motor.

10. The crutch according to claim 1, characterized in that: The crutch body is a telescopic and adjustable structure, and a light-sensitive induction lamp and a hook are arranged on the crutch body.

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