Electric telescopic walking stick and method for visually assisting in going upstairs and downstairs

Abstract

The invention discloses an electric telescopic walking stick and a method for visually assisting in going upstairs and downstairs, and aims to provide the electric telescopic walking stick and the method for visually assisting in going upstairs and downstairs. The walking stick body comprises a walking stick upper shell, a walking stick handle supporting ring connected with the walking stick upper shell and a walking stick lower shell located below the walking stick handle supporting ring, a controller is further arranged in the walking stick upper shell, an electric telescopic rod is arranged on the controller, a visual sensor electrically connected with the controller is arranged on the outer wall of the walking stick upper shell, and the visual sensor is electrically connected with the controller. A pressure sensor is further arranged in the top end supporting pad, the pressure sensor is connected with the controller through a data line, a battery is further arranged in the walking stick handle supporting ring, and the battery is connected with the controller, the visual sensor and the pressure sensor through power lines.

Description

Technical Field

[0001] The present invention relates to the field of electric walking stick devices, and particularly to a video electric telescopic walking stick and a method for visually assisting going up and down stairs. Background Art

[0002] With the advent of an aging society, in old buildings without installed elevators, the problem of the elderly going up and down stairs has become increasingly prominent. Although there have emerged some assisting machines for going up and down stairs in the market, such as installing electric tracks along the stair handrails, installing various auxiliary instruments along the stair handrails, using caterpillar stair-climbing machines, using large-wheel stair-climbing machines, using machines with electric rotating mechanical rods to carry heavy objects, using foot-operated electric elevators to climb stairs, and wearable machines or joint skeletons, etc. However, these devices have various usage limitations and inconveniences. For example, the devices installed along the stair handrails require installation construction and involve communication with neighbors and space occupation; some mechanical stair-climbing machines damage the stair floor, resulting in many communities starting to prohibit the use of such machines; foot-operated electric elevators are inconvenient to carry when going out, and exoskeletons need to be worn every time when going downstairs and going out, and the carrying is not convenient enough.

[0003] Currently, Chinese Patent with the publication number CN108032348A discloses an electric telescopic walking stick, which includes a support part, an electric telescopic part and a control part. When in use, the safety strap of the support part is sleeved on the user's thigh. Once the user makes a leg movement, it drives the hanging rod to rotate, and the gyroscope transmits the angle change signal to the control chip. Once the obstacle detection support foot touches an obstacle and triggers the micro switch, the micro switch transmits the trigger signal to the control chip. When both the angle change signal and the trigger signal exist, the control chip determines that the user is crossing an obstacle, and then sends a signal to the motor to control the telescopic rod to retract and avoid the obstacle.

[0004] Although this kind of electric telescopic walking stick can control the telescopic of the walking stick by judging the user's leg movement and the obstacle in front of the user, facilitating the user to directly carry the walking stick over the obstacle when crossing the obstacle, it does not involve the method of using the cooperation of the walking stick and leg lifting to go up and down stairs and slopes. Summary of the Invention

[0005] An object of the present invention is to provide an electric telescopic walking stick, which has the advantage of being able to assist in telescoping to help the elderly go up and down stairs.

[0006] The above technical object of the present invention is achieved through the following technical solutions:

[0007] An electric telescopic walking stick, comprising a top cushion and a walking stick body. A gripping device is also connected below the walking stick body. The walking stick body includes an upper housing of the walking stick, a walking stick handle support ring connected to the upper housing of the walking stick, and a lower housing of the walking stick located below the walking stick handle support ring. A controller is further provided inside the upper housing of the walking stick. An electric telescopic rod is provided on the controller. A visual sensor electrically connected to the controller is provided on the outer wall of the upper housing of the walking stick. A pressure sensor is also provided inside the top cushion. The pressure sensor is connected to the controller through a data line. A battery is further provided inside the walking stick handle support ring. The battery is connected to the controller, the visual sensor, and the pressure sensor respectively through a power line.

[0008] Through the above technical solution: The horizontal rod of the top cushion of the walking stick is used to support the armpit of a person and bear the weight of the person's body. There is a pressure sensor inside this cushion. When a pressure change is sensed, the signal is transmitted back to the controller, and the up and down telescoping of the walking stick is controlled by the change in the pressure signal. When going up the stairs or uphill, when pressure is sensed, the cushion rises, and when no pressure is sensed, the cushion descends. When going down the stairs, when pressure is sensed, the cushion descends, and when no pressure is sensed, the cushion rises. The up and down movement of the cushion is fully automatic and non-manual, simplifying the use for the elderly. The horizontal rod of the cushion is made of hollow silica gel material, which is anti-slip and increases the comfort. The length of the horizontal rod of the top cushion is 15 cm - 20 cm. The material of the vertical rod of the cushion is the same as that of the main body, which is magnesium alloy, with a diameter of 3.5 cm.

[0009] Further setting: A walking stick handle is also provided inside the walking stick handle support ring. A power switch button connected to the battery is also provided on the walking stick handle.

[0010] Through the above technical solution: The lower housing of the walking stick is divided into an inner shell and an outer shell. The material is the same as that of the main body. The diameter of the outer shell is 3 cm, and the diameter of the inner shell is 2.5 cm. An adjustment gear is provided, and the height is adjustable. The adjustment gear can also be used as a shock absorber, considering the need to have the functions of going up and down stairs and going up and down slopes at the same time. Because the terrain is inclined when going up and down mountains and slopes, which is different from the flat steps of traditional stairs. For the convenience of going up and down mountains and inclined slopes.

[0011] Further setting: The gripping device includes a cross bar rotatably connected to the lower housing of the walking stick, a spring welding plate located below the cross bar, a spring telescopic rod with two ends respectively hinged to the cross bar and the spring welding plate, and a double-hinged connecting rod with two ends respectively hinged to the spring telescopic rod and a connecting rod.

[0012] Through the above technical solution: The gripping device adopts a split structure, which is divided into two parts: a front gripping pad and a rear gripping pad. The distance between the front gripping pad and the rear gripping pad is less than 5 cm. The purpose of using two separate gripping pads at the front and rear is to form a triangular stable structure with the other non-suspended leg to prevent falling. A number of movable joints are provided, and the joint structure is conducive to keeping the crutch vertical through the inclination of the gripping pad. There are two springs at the joint responsible for buffering and controlling the folding and resetting of the joint. The bottom of the gripping pad is made of rubber material to increase friction and shock absorption. When going up and down stairs, it is horizontal, and when going up and down slopes, the pad is inclined. The flexible rubber gripping pad has a thickness of 3 cm and a diameter of 3 cm.

[0013] Further setting: The lower housing of the crutch is a telescopic rod, which includes an outer rod and an inner rod that matches the outer rod. A height adjustment bolt is also provided at the edge of the inner rod, and a height adjustment hole that matches the height adjustment bolt is provided at the edge of the outer rod.

[0014] Through the above technical solution: The height of the lower housing of the crutch can be confirmed according to the actual height of users of different heights, and can be effectively adjusted during the process of going up and down stairs.

[0015] Further setting: A charging port connected to the battery is also provided on the lower housing of the crutch.

[0016] Through the above technical solution: The crutch is equipped with a power indicator light and a charging interface. The power indicator light can display the power status of the crutch in real time, which is convenient for the elderly to charge in time.

[0017] Further setting: A shock-absorbing ring is also provided on the inner wall of the height adjustment hole.

[0018] Through the above technical solution: The vibration during the adjustment process is effectively reduced.

[0019] Further setting: Scale lines are also provided on the surface of the inner rod.

[0020] Another object of the present invention is to provide a visual-assisted method for going up and down stairs with an electric telescopic crutch, which has the advantages that it can calculate and judge whether to go up or down stairs through the action of a visual sensor, so as to cooperate with the electric telescopic crutch to facilitate the elderly to go up and down stairs better.

[0021] A visual-assisted method for going up and down stairs with an electric telescopic crutch includes the following steps:

[0022] S1. Perform image capture through a visual sensor, and detect the image edge through the Canny algorithm to obtain an edge image E. Taking the lower left as the origin, the positive x-axis direction is horizontally to the right from the origin, and the positive y-axis direction is vertically upward to obtain E(x, y);

[0023] S2. Set parameter thresholds. Let σ be the error of density and α be the discrimination number, with σ < α. The σ and α parameters are used to clearly distinguish the judgments of low density and medium density. Respectively set T L , T M , T H . The value of T L is the low-density threshold, T M is the medium-density threshold, and T H is the high-density threshold;

[0024] S3. When going upstairs: Divide the image into N horizontal bands in the vertical direction (y-axis), and calculate the average density of the horizontal bands. Let the height of each horizontal band be h. Assuming the height of the image is H, then h = H / N. For the i-th horizontal band (i = 0, 1,..., N - 1), calculate the edge density D i using the following formula:

[0025]

[0026] where the parameter w is the width of the image, which needs to be tested at different widths of w; obtain the calculation formula for the high-low cycle:

[0027]

[0028] where L is low density, M is medium density, H is high density, and C i is the obtained high-low cycle sequence;

[0029] When going downstairs:

[0030] The processing method in the previous steps is the same as when going upstairs;

[0031]

[0032] C i is the obtained high-low cycle sequence;

[0033] S4. Judge going up or down the stairs: If makes (C i , C i+1 , C i+2 , C i+3 ) = (L, M, L, H), then it is going up the stairs. Otherwise, if makes (C i , C i+1 ) = (L, H), then it is going down the stairs.

[0034] S5. Compare with the scale line;

[0035] S6. Give the telescopic action or distance conclusion.

[0036] Through the above technical solution: The Canny video edge detection algorithm is adopted, and the algorithm is modified and optimized. The main process and calculation steps for going up and down stairs are as follows: The traditional Canny algorithm gives E(x,y) - determines N, calculates the average density of the horizontal band - determines the parameter threshold - obtains the high and low sequences - determines whether going up or down stairs - compares with the scale - gives the telescopic action or distance conclusion.

[0037] In summary, the present invention has the following beneficial effects: A method for assisting the elderly to go up and down stairs and slopes in cooperation with an electric telescopic walking stick and leg movement. The main principle of the method is based on human motion engineering. By using the electric extension function of the walking stick, the gravity on the bent leg that takes the first step when going up stairs or slopes is removed, or by using the electric shortening function of the walking stick, the gravity on the bent leg that takes the second step when going down stairs or slopes is removed, preventing damage to the bent knee caused by gravity and saving the work done to overcome gravity when going up and down stairs and slopes. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention will be further described below in conjunction with the accompanying drawings.

[0039] Figure 1 It is a schematic diagram of the overall structure of an electric telescopic walking stick;

[0040] Figure 2 It is a schematic diagram of the state of using the electric telescopic walking stick to go upstairs;

[0041] Figure 3 It is a schematic diagram of the state of using the electric telescopic walking stick to go downstairs;

[0042] Figure 4 It is a flowchart of the method for visually assisting the electric telescopic walking stick to go up and down stairs;

[0043] Figure 5 The schematic diagram of the principle of the electric telescopic rod under the assistance of the visual algorithm.

[0044] In the figure, 1, pressure sensor; 2, top cushion; 3, power cord; 3A, data line; 4, electric telescopic rod; 5, walking stick body; 5A, upper housing of the walking stick; 6, controller; 6A, visual sensor; 7, power switch button; 8, walking stick handle; 9, battery; 10, support ring of the walking stick handle; 11, charging port; 12, lower housing of the walking stick; 121, retractable rod; 122, outer rod; 123, inner rod; 13, height adjustment bolt; 131, height adjustment hole; 132, shock absorption ring; 14, scale line; 15, anti-slip device; 151, cross bar; 152, spring welding plate; 153, spring telescopic rod; 154, double articulated connecting rod. DETAILED DESCRIPTION OF THE INVENTION

[0045] The following further describes the specific embodiments of the present invention in conjunction with the accompanying drawings. The technical solution adopted by the present invention is: an electric telescopic walking stick, as Figure 1 shown, which includes a top cushion 2 and a walking stick body 5. A gripping device 15 is also connected below the walking stick body 5. The gripping device 15 includes a cross bar 151 rotatably connected to the lower housing 12 of the walking stick, a spring welding plate 152 located below the cross bar 151, a spring telescopic rod with two ends respectively hinged to the cross bar 151 and the spring welding plate 152; 153 and a double-hinged connecting rod 154 with two ends respectively hinged to the spring telescopic rod 153 and the connecting rod. The walking stick body 5 includes an upper housing 5A of the walking stick, a walking stick handle support ring 10 connected to the upper housing 5A of the walking stick, and a lower housing 12 of the walking stick located below the walking stick handle support ring 10. A controller 6 is also provided inside the upper housing 5A of the walking stick. An electric telescopic rod 4 is provided on the controller 6, and a vision sensor 6A electrically connected to the controller 6 is provided on the outer wall of the upper housing 5A of the walking stick. A pressure sensor 1 is also provided inside the top cushion 2. At the same time, the pressure sensor 1 is connected to the controller 6 through a data line 3A. A battery 9 is also provided inside the walking stick handle support ring 10, and the battery 9 is connected to the controller 6, the vision sensor 6A, and the pressure sensor 1 through a power line 3 respectively. A charging port 11 connected to the battery 9 is also provided on the lower housing 12 of the walking stick.

[0046] A walking stick handle 8 is also provided inside the walking stick handle support ring 10, and a power switch button 7 connected to the battery 9 is also provided on the walking stick handle 8. The lower housing 12 of the walking stick is a telescopic rod 121. The telescopic rod 121 includes an outer rod 122 and an inner rod 123 matching the outer rod 122. A scale line 14 is also provided on the surface of the inner rod 123. At the same time, a height adjustment bolt 13 is also provided on the edge of the inner rod 123, and a height adjustment hole 131 matching the height adjustment bolt 13 is provided on the edge of the outer rod 122. A shock-absorbing ring 132 is also provided on the inner wall of the height adjustment hole 131.

[0047] Its main working principle is as follows:

[0048] Upstairs or uphill mode

[0049] According to the ergonomic principle, when going upstairs or uphill, the first leg to step out first steps on the upper step or the high place of the slope. When the other leg located at the lower step or the low place of the slope is lifted off the ground, the first leg to step out bears the entire weight of the body in a knee-bent state. When the first leg to step out drives the whole body weight to stand up straight with force, it needs to overcome the work done by the whole body gravity. This is the reason for the wear of the knee joint after climbing stairs for a long time.

[0050] When the video algorithm determines that it is the up - stairs or uphill mode, the walking stick is initially set with the telescopic rod retracted to the shortest length. The electric walking stick is placed under the armpit on the side of the person's rear - stepping leg. Through the up - and - down telescoping of the electric walking stick, the armpit contact point is used as the force - bearing point to support the body's lifting, sharing the pressure on the first - stepping leg in the knee - bent state, reducing the wear on the knee, assisting in overcoming the work done against the body's gravity, and making going up the stairs easier.

[0051] As Figure 2 shown, taking a stair - climbing cycle as an example:

[0052] When using this walking stick to climb stairs, the video algorithm determines that it is climbing stairs. The walking stick is initially set with the telescopic rod retracted to the shortest length. One leg steps out first and steps on the upper - level step. When this first - stepped leg is about to push hard forward on the ground, at this time, the person's weight is also pressing on the top pad 2 of the walking stick. The pressure sensor 1 detects the pressure from the body under the armpit and sends a signal to the central processor, triggering the telescopic rod of the walking stick to extend upward and lift the person, relieving the force on this leg.

[0053] After the body is lifted by the electric walking stick, at this time, the rear leg also follows the body and is lifted. When the sole of the rear leg is level with the upper - level step, the rear leg can easily move horizontally and step on the upper - level step. At this time, both legs are stepping on the upper - level step, and the body's weight can be borne by the two legs. The person's armpit can unload the force from the top pad 2 of the walking stick, and the machine detects the disappearance of the pressure from the armpit and sends a signal to trigger the telescopic rod of the walking stick to retract and return to the initial setting.

[0054] Thus, one cycle is completed, and it repeats continuously to help the elderly climb the stairs easily.

[0055] When going up the stairs or uphill, it is necessary to cooperate well with the walking stick. Avoid the person's first - stepped leg exerting force on the ground in advance due to impatience. Be sure to wait until the walking stick has fully extended. At this time, the front leg is already straight, and the rear leg is exactly level with the upper - level step or the high point of the slope. Then move the rear leg.

[0056] Down - stairs or downhill mode

[0057] According to the principles of ergonomics, when going down the stairs or downhill, when the first - stepped leg is lifted off the ground and has not reached the lower - level step or the low point of the slope and is still hanging, and the rear - stepped leg is still stepping on the upper - level step or the high point of the slope, the rear - stepped leg needs to change from being straight to knee - bent. The rear - stepped leg bears the entire body weight in the knee - bent state. When this rear - stepped leg drives the whole body weight to push hard and bend the knee, it has to do work against the whole body's gravity. This is the reason for the wear of the knee joint after long - term going down the stairs or downhill.

[0058] When the video algorithm determines that it is a down - stairs or downhill mode, the walking stick is initially set with the telescopic rod extended to the maximum length. The electric walking stick is placed under the armpit on the side of the leg that takes the first step of a person. By the up - and - down telescoping of the electric walking stick, the armpit contact point is used as the force - bearing point to support the body's descent, sharing the pressure on the knee of the leg that takes the second step in the bent - knee state, reducing the wear on the knee, assisting in overcoming the work done against the body's gravity, and making going down the stairs easier.

[0059] As Figure 3 shown, taking a down - stairs cycle as an example:

[0060] When using this walking stick to go downstairs, the video algorithm determines that it is going downstairs, and the walking stick is initially set with the telescopic rod extended to the maximum length. One leg takes the first step. When the first - stepped leg is lifted off the ground and has not reached the next step or the lower part of the slope, that is, when the first - stepped leg is still suspended and has not reached the next step or the lower part of the slope, the second - stepped leg steps on the upper - level step or the higher part of the slope. When the second - stepped leg is about to bend its knee to bear all the body's pressure, at this time, the person's weight is also pressing on the top cushion 2 of the walking stick. The pressure sensor 1 detects the pressure from the body under the armpit and will send a signal to the central processor, triggering the telescopic rod of the walking stick to shrink downward. At this time, although the second - stepped leg bends its knee, because the walking stick drags the person's armpit downward and supports the body pressure brought by the suspended front leg, the force on the second leg can be unloaded.

[0061] When the first - stepped leg reaches the next step or the lower part of the slope, this leg stands upright to bear the person's body weight, and the second leg can easily move down one step or move to the lower part of the slope. At this time, both legs are stepping on the upper - level step, and at this time, the body's weight can be borne by both legs, and the person's armpit can unload the force from the top cushion 2 of the walking stick. The machine detects the disappearance of the pressure from under the armpit and sends a signal to trigger the telescopic rod of the walking stick to extend upward to restore the initial setting.

[0062] Thus, one cycle is completed, and this process repeats continuously to help the elderly go down the stairs easily.

[0063] When going down the stairs or downhill, it is necessary to cooperate well with the walking stick to avoid the person being impatient and the front leg landing prematurely by itself. After the front leg takes a step, the front leg should not be in a hurry to land. It must be suspended and wait until the walking stick has retracted. At this time, the front leg has just landed on the next step or the lower part of the slope and is standing upright. Then move the rear leg.

[0064] Because the captured video image is planar, in order to distinguish the upper and lower positions in the figure, when going up the stairs, the stair edge is identified and marked in three layers: near - low, near - middle, and far - high. When going down the stairs, the stair edge is identified and marked in three layers: near - high, near - middle, and far - low. When going up and down slopes, the joint angle of the anti - slip pad is identified. When going up and down stairs, the height of the stair steps is compared according to the scale. When going up and down slopes, the vertical height and distance between the front and rear feet are compared according to the scale.

[0065] When going up the stairs, the order from bottom to top in the video picture is, in sequence, the ground, the intersection line of the ground and the vertical plane, the vertical plane, the intersection line (edge) of the vertical plane and the ground of the upper layer, cycling in sequence. When using the Canny algorithm to identify going up the stairs, first perform edge detection, and then perform vertical direction density analysis. The edge density of the ground is relatively sparse (low density), the intersection line of the ground and the vertical plane is relatively dense (medium to high density), the edge density of the vertical plane is relatively sparse (low density), and the density of the intersection line (edge) of the vertical plane and the ground of the upper layer is relatively dense (highest density). The density order is: low, medium, low, high. Those with this image feature are going up the stairs.

[0066] When going down the stairs, the order from bottom to top in the video picture is, in sequence, the ground, the intersection line (edge) of the ground and the vertical plane, cycling in sequence. When using the Canny algorithm to identify going up the stairs, first perform edge detection, and then perform vertical direction density analysis. The edge density of the ground is relatively sparse (low density), and the intersection line (edge) of the ground and the vertical plane is relatively dense (high density). The density order is: low, high. Those with this image feature are going down the stairs.

[0067] As Figure 4 and Figure 5 shown, and its main algorithm steps are as follows:

[0068] S1. Use the traditional Canny algorithm to perform edge detection on the image. Perform edge detection on the input image Q to obtain the edge image E, where E(x,y) = 1 represents an edge pixel and E(x,y) = 0 represents a non-edge pixel.

[0069] S2. Parameter threshold setting method: σ is the error of density (allowing a certain error), α is the discrimination number, and it must satisfy σ < α. The σ and α parameters are used to clearly distinguish the judgment of low density and medium density. Through multiple experiments, the appropriate ranges of σ and α can be found. For example, let 5 < σ, α < 10. Their values cannot be too large or too small, as long as they have discrimination. Determine T L 、T M 、T H values. The average density of the ground and the vertical plane can be used as the value of T through multiple calculations. L value.

[0070] S3. Obtain the high-low sequence: For the edge image obtained when going up the stairs, with the lower left corner as the origin, the positive x-axis direction is horizontally to the right from the origin, and the positive y-axis direction is vertically upward. Divide the image into N horizontal bands in the vertical direction (y-axis), and N > 4. Calculate the edge density of each horizontal band. If the edge density cycles from bottom to top as low, medium, low, high, then it is going up the stairs.

[0071] Let the height of each horizontal band be h. Assume the height of the image is H, then h = H / N.

[0072] For the i-th horizontal band (i = 0, 1,..., N - 1), the edge density D i is calculated using the following formula:

[0073]

[0074] where the parameter w is the width of the image, and it needs to be tested at different widths w.

[0075] Derive the calculation formula for the high-low cycle of density:

[0076]

[0077] where L is low density, M is medium density, H is high density, and C i is the obtained high-low cycle sequence.

[0078] Algorithm when going down the stairs: The processing method in the previous steps is the same as when going up the stairs. The second half of S3 directly enters the formula for calculating the high-low cycle of density.

[0079]

[0080] C i is the obtained high-low cycle sequence.

[0081] S4. Determine whether to go up or down the stairs: If makes (C i , C i+1 , C i+2 , C i+3 ) = (L, M, L, H), then it is going up the stairs. Otherwise, if makes (C i , C i+1 ) = (L, H), then it is going down the stairs.

[0082] S5. Compare with the scale line;

[0083] S6. Give the telescopic action or distance conclusion.

[0084] The above are the preferred embodiments of the present invention, and it is not intended to limit the present invention in any form. Any simple modifications, equivalent changes, and decorations made to the above embodiments based on the technical essence of the present invention are all within the scope of the technical solutions of the invention.

Claims

1. An electric telescopic walking stick, comprising a top cushion (2) and a walking stick body (5), and a gripping device (15) is further connected below the walking stick body (5), characterized in that: The walking stick body (5) includes a walking stick upper housing (5A), a walking stick handle support ring (10) connected to the walking stick upper housing (5A), and a walking stick lower housing (12) located below the walking stick handle support ring (10). A controller (6) is further provided inside the walking stick upper housing (5A). An electric telescopic rod (4) is provided on the controller (6). A visual sensor (6A) electrically connected to the controller (6) is provided on the outer wall of the walking stick upper housing (5A). A pressure sensor (1) is further provided inside the top cushion (2). The pressure sensor (1) is connected to the controller (6) through a data line (3A). A battery (9) is further provided inside the walking stick handle support ring (10). The battery (9) is connected to the controller (6), the visual sensor (6A), and the pressure sensor (1) respectively through a power line (3).

2. The electric telescopic walking stick according to claim 1, wherein: A walking stick handle (8) is further provided inside the walking stick handle support ring (10). A power switch button (7) connected to the battery (9) is further provided on the walking stick handle (8).

3. The electric telescopic walking stick according to claim 2, wherein: The gripping device (15) includes a cross bar (151) rotatably connected to the walking stick lower housing (12), a spring welding plate (152) located below the cross bar (151), a spring telescopic rod (153) with two ends respectively hinged to the cross bar (151) and the spring welding plate (152), and a double-hinged connecting rod (154) with two ends respectively hinged to the spring telescopic rod (153) and a connecting rod.

4. The electric telescopic walking stick according to claim 3, characterized in that: The walking stick lower housing (12) is a telescopic rod (121). The telescopic rod (121) includes an outer rod (122) and an inner rod (123) matching the outer rod (122). A height adjustment bolt (13) is further provided on the edge of the inner rod (123). A height adjustment hole (131) matching the height adjustment bolt (13) is provided on the edge of the outer rod (122).

5. The electric telescopic walking stick according to claim 4, characterized in that: A charging port (11) connected to the battery (9) is further provided on the walking stick lower housing (12).

6. The electric telescopic walking stick according to claim 5, characterized in that: A shock-absorbing ring (132) is further provided on the inner wall of the height adjustment hole (131).

7. An electric telescopic walking stick according to claim 6, characterized in that: Scale lines (14) are further provided on the surface of the inner rod (123).

8. A visual assistance method for going upstairs and downstairs with the electric telescopic walking stick as described in claims 1-7, characterized in that: It includes the following steps: S1. Perform image capture through the visual sensor, and detect the image edge through the Canny algorithm to obtain an edge image E. Taking the lower left as the origin, the positive x-axis direction is horizontally to the right from the origin, and the positive y-axis direction is vertically upward to obtain E(x, y); S2. Set parameter thresholds. σ is the error of density, α is the discrimination number, and σ < α. The σ and α parameters are used to clearly distinguish the judgments of low density and medium density. Respectively set T L 、T M 、T H values. T L is the low-density threshold, T M is the medium-density threshold, T H is the high-density threshold; S3. When going upstairs: Divide the image into N horizontal bands in the vertical direction (y-axis), and calculate the average density of the horizontal bands. Let the height of each horizontal band be h. Assuming the height of the image is H, then h = H / N. For the i-th horizontal band (i = 0, 1,..., N - 1), the edge density D i is calculated using the following formula: Among them, the parameter w is the width of the image, which needs to be tested at different widths of w; the calculation formula for the density high and low cycle is obtained: where L is low density, M is medium density, H is high density, and C i is the obtained high-low cycle sequence; When going downstairs: The processing method in the previous steps is the same as when going upstairs; C i is the obtained high-low cycle sequence; S4. Determine going up or down stairs: If such that (C i , C i+1 , C i+2 , C i+3 ) = (L, M, L, H), then it is going up stairs. Otherwise, if such that (C i , C i+1 ) = (L, H), then it is going down stairs. S5. Compare with the scale lines; S6. Give a telescopic action or distance conclusion.

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