Self-adaptive intelligent walking aid and use method

Abstract

The self-adaptive intelligent walking aid comprises a main supporting rod, the main supporting rod comprises a telescopic mechanism, one end of the main supporting rod is connected with a handle, the other end of the main supporting rod is connected with a chassis through an angle adjusting mechanism, and the handle is provided with a detection module; the detection module comprises a first camera mounted on the chassis and a second camera mounted near the handle; a driving system, a communication assembly, an information processing module, a sensor array and a safe adsorption module are arranged at the bottom of the chassis; the detection module and the communication module are connected with the information processing module. Through the detection module and the walking aid, the position of a user is actively searched, a path is planned, the length of the supporting rod is changed through motor driving, the height of the user is adaptively matched, and the walking aid actively returns to the hand of the user; the OpenMV detection module is arranged at the chassis, so that the road obstacle condition can be analyzed, the user can be accurately fed back, and the travel safety of the user can be improved; the triangular wheel structure walking aid can rotate in a variable direction and climb stairs autonomously, and the travel burden of a user is relieved.

Description

Technical Field

[0001] The present invention relates to a walking aid, and particularly to an adaptive intelligent walking aid and a using method thereof. Background Art

[0002] In the field of walking assistance devices, visually impaired people and the elderly face many challenges in daily travel. Visually impaired people lack reliable guidance when traveling, and the elderly are at high risk of getting lost or falling when traveling. Facing these problems, traditional walking aid devices and methods cannot identify road conditions such as water accumulation, mud, and dampness on the road surface for users, nor can they provide reasonable travel routes for visually impaired people. Although existing walking aid devices using the ultrasonic ranging principle can avoid obstacles to a certain extent and reduce the risk of user injury, when facing reflective materials with sound absorption characteristics, the recognition function of these devices significantly decreases. In addition, the "point measurement" method of ultrasonic ranging also causes false alarm problems. For example, when there is an empty space directly below, the probe may wrongly receive the reflected echo of a certain point. These problems together make it difficult for existing walking aid devices to provide accurate and reliable navigation in complex and changeable actual environments. Therefore, to ensure the safety of the elderly and visually impaired people, they are forced to reduce their social activities outside the home, which has a serious impact on their quality of life and social participation. Summary of the Invention

[0003] Object of the Invention: The object of the present invention is to provide an adaptive intelligent walking aid and a using method thereof, which can automatically plan a path, automatically analyze the situation of road surface obstacles, and improve travel safety.

[0004] Technical Solution: The present invention includes a main support rod. The main support rod includes a telescopic mechanism. One end of the main support rod is connected with a handle, and the other end is connected with a chassis through an angle adjustment mechanism. A detection module is provided on the handle. The detection module includes a first camera installed on the chassis and a second camera installed near the handle. A driving system, a communication component, an information processing module, a sensor array, and a safety adsorption module are provided at the bottom of the chassis. The detection module and the communication module are both connected to the information processing module.

[0005] The telescopic mechanism includes an inner sleeve, a lead screw, and an outer sleeve. The inner sleeve is internally provided with an internal thread and is threadedly connected with the lead screw through the internal thread. The inner sleeve and the lead screw are externally provided with the outer sleeve. A limiting protrusion is provided on the outer surface of the inner sleeve, and a limiting groove is provided on the inner wall of the outer sleeve. The limiting protrusion cooperates with the limiting groove.

[0006] The bottom of the lead screw extending out of the outer sleeve is connected with a lead screw motor, so that the inner sleeve is driven by the lead screw to lift along the axial direction, realizing the height adjustment of the main support rod.

[0007] The adaptive adjustment process of the telescopic mechanism includes the following steps:

[0008] Step 1: The detection module uses the first camera installed on the chassis to find the specific position of the user, locate and autonomously drive the walker to move in front of the user;

[0009] Step 2: When the walker reaches the user, the detection module uses the second camera under the handle to further locate the position of the user's hand;

[0010] Step 3. Combined with the data from the detection module, the lead screw motor drives the telescopic mechanism to perform adaptive length adjustment. The lead screw motor drives the lead screw to rotate, driving the inner sleeve to move upward. When the handle position of the walker reaches the same horizontal height as the user's hand, the handle returns to the user's hand correctly. At this point, the adaptive adjustment is completed.

[0011] The handle is also provided with a display screen module, an intelligent lighting system, a speaker, an ultrasonic module, a heart rate and blood oxygen detection module and a plurality of buttons.

[0012] The display screen module is connected to the GPS positioning module and the voice interaction module. The user can set the destination through voice commands and the display screen will display navigation information.

[0013] The safety adsorption module includes a suction cup and a vacuum pump. When a smooth and hard road surface is detected and the user falls, the suction cup pops out and the vacuum pump works to generate negative pressure to adsorb the ground, thereby enhancing stability, providing reverse support, and reducing fall injuries.

[0014] The driving system includes triangular wheels and acceleration sensors. The triangular wheels include multiple universal wheels and a driving motor, so that the walker can flexibly adapt to various terrains, change directions, climb stairs, and improve stability and controllability.

[0015] A method for using an adaptive intelligent walking aid comprises the following steps:

[0016] Step 1: The user wakes up the walker through the voice module, the first camera on the chassis identifies the user's position through the template matching algorithm, the motor drives the triangular wheels to move autonomously in front of the user, and the ultrasonic module avoids obstacles while driving;

[0017] Step 2: When the walker is in operation, the second camera at the handle recognizes the human hand through the shape recognition algorithm. Combined with the data from the detection module, the system drives the length adaptive telescopic mechanism to perform adaptive length adjustment, so that the handle of the walker reaches the same level as the user's hand, and the handrail returns to the user's hand correctly;

[0018] Step 3: The chassis of the walker operates to provide traction for the user to walk, and the camera can identify the road conditions and broadcast the identification content through the speaker;

[0019] Step 4: The user locates and navigates to the destination through the GPS module connected to the display screen, and the speaker reminds the road conditions in real time;

[0020] Step 5: When the detection module detects an obstacle, the voice module reminds the user. Meanwhile, the system controls the motor of the triangular wheels to start operating. At this time, the walking aid relies on the triangular wheels to travel until it crosses the obstacle.

[0021] Step 6: When the user falls, the walking aid sends a fall text message reminder and longitude and latitude positioning to the guardian through the communication module.

[0022] Step 7: The heart rate and blood oxygen measurement module of the walking aid measures in real time. When the data exceeds the abnormal standard, it reminds the user of safety and sends a text message to the guardian.

[0023] Step 8: When the user walks outdoors at night, the intelligent lighting module of the walking aid is turned on to remind other vehicles and pedestrians to pay attention.

[0024] A control method for an adaptive intelligent walking aid includes the following steps:

[0025] Step 1: Initialize the libraries and functions required for image processing, and perform grayscale and binarization processing on the captured image.

[0026] Step 2: Use machine learning algorithms to train the system, and adopt the NCC normalized cross-correlation template matching algorithm to carefully compare the preprocessed image with the preset dangerous scene template. Based on the result of the template matching, the system determines whether there is a potential risk in the image and immediately outputs the recognition conclusion.

[0027] Step 3: The system converts the analysis result into a clear audio signal, conveys it to the user in a voice manner, and provides safety suggestions.

[0028] Beneficial effects: Through the detection module, the walking aid actively searches for the user's position, plans the path and changes the length of the support rod through motor drive, adaptively matches the user's height, and actively returns to the user's hand; the OpenMV detection module is arranged at the chassis, which is beneficial to analyzing the road surface obstacle situation, accurately feedback to the user, and improving the user's travel safety; the walking aid with a triangular wheel structure can rotate in different directions and climb stairs autonomously, reducing the user's travel burden; the walking aid judges the speed difference between the human and the machine according to the inclination angle of the support rod and adaptively adjusts the speed; multiple groups of air extraction type suction cups are arranged at the chassis to provide ground adsorption force for the walking aid, prevent the walking aid from tipping over, and at the same time provide a reverse support force for the user to avoid falling. Description of the Drawings

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 It is a schematic diagram of the handle structure of the present invention Figure 1 ;

[0031] Figure 3 Schematic diagram of the handle structure of the present invention Figure 2 ;

[0032] Figure 4 Schematic diagram of the angle adjustment plate structure of the present invention;

[0033] Figure 5 Schematic diagram of the chassis structure of the present invention;

[0034] Figure 6 Schematic diagram of the triangular wheel structure of the present invention;

[0035] Figure 7 Schematic diagram of the telescopic mechanism of the present invention;

[0036] Figure 8 A-A sectional view of the telescopic mechanism of the present invention. Detailed implementation manners

[0037] The present invention will be further described below with reference to the accompanying drawings.

[0038] Embodiment 1

[0039] As Figures 1 to 8 shown, the adaptive intelligent walking aid of the present invention includes a main support rod. One end of the main support rod is connected with a handle, and the other end is connected with a chassis 7 through an angle adjustment mechanism 4. The main support rod can adaptively adjust its length and angle. The main support rod includes a telescopic mechanism 3. The telescopic mechanism 3 includes an inner sleeve 31, a lead screw 32 and an outer sleeve 33. As Figure 7 and Figure 8 shown, the top of the inner sleeve 31 is connected with a handle. An internal thread 311 is provided inside the inner sleeve 31. The inner sleeve 31 is threadedly connected with the lead screw 32 through the internal thread 311. An outer sleeve 33 is provided outside the inner sleeve 31 and the lead screw 32. The bottom of the lead screw 32 extending out of the outer sleeve 33 is connected with a lead screw motor 332. A limit protrusion 312 is provided outside the inner sleeve 31, and a limit groove 331 is provided on the inner wall of the outer sleeve 33. The limit protrusion 312 cooperates with the limit groove 331 to enable the inner sleeve 31 to move up and down along the axial direction under the drive of the lead screw 32, so as to realize the height adjustment of the main support rod.

[0040] As Figure 1 、 Figure 2 and Figure 3As shown in the figure, the handle is provided with a detection module, a display screen module 2, an intelligent lighting system 14, a third button 13 for controlling the display screen, a second button 12 for controlling the intelligent lamp switch, a first button 1 for controlling the angle adjustment of the angle adjustment mechanism 4, and a speaker 10. The detection module includes a first camera 8 installed on the chassis. The first camera 8 uses an OpenMV camera, a second camera 9 installed near the handle, an ultrasonic module 6, and a heart rate and blood oxygen detection module 11 to capture the environmental image in real time, measure the distance and the user's health information, providing data support for the intelligent decision-making of the walking aid.

[0041] Through the training of the machine learning algorithm system by the first camera 8 and the second camera 9, through algorithm matching, the preprocessed image is carefully compared with the preset dangerous scene template to identify road surface water accumulation, special road conditions, traffic signs, etc. Through the analysis of the information processing module, the walking aid can autonomously adjust the moving direction and speed to ensure the safety of the user. The handle is connected to the main support rod, providing a comfortable holding experience for the user. The intelligent lighting system 14 includes a projection module, an intelligent sensing module, a processing module, and a control module, which can automatically adjust the brightness according to the ambient light and provide functions such as automatic anti-glare and area light control. When walking at night, the intelligent lighting system 14 can also display dynamic steering marks and light carpets to guide the route and remind other vehicles and pedestrians.

[0042] The display screen module 2 is connected to a GPS positioning module and a voice interaction module. The user can set the destination through voice commands, and the display screen will display navigation information. The speaker 10 reminds the road conditions in real time to achieve accurate navigation. The heart rate and blood oxygen measurement module 11 can monitor the user's health status in real time. Once abnormal data is found, the walking aid will immediately remind the user and send a text message reminder and latitude and longitude positioning to the guardian through the communication module to ensure the safety of the user. The communication module also supports the user fall detection function. Once the OpenMV camera recognizes that the user has fallen, it will automatically trigger an emergency communication process and send a help message to the guardian.

[0043] As Figure 4 As shown in the figure, the angle adjustment mechanism 4 includes a motor 41 and a limit plate 42. The angle of the support rod is adjusted through the angle adjustment mechanism 4, and the angle information is fed back to the motor 41 in real time. The motor 41 drives the angle to rotate. The limit plate 42 plays a role in stabilizing the support rod to prevent the structure of the support rod from shaking or detaching during angle adjustment. The speed of the walking aid is negatively correlated with the tilt angle. When tilted, the speed is automatically adjusted to adapt to the walking speed to achieve precise control. The angle adjustment mechanism 4 allows the user to switch the support mode by pressing the first button 1. In the locked mode, after the driving motor 41 adjusts to the appropriate support angle, the angle does not change, which is convenient for support and reliance. In the free mode, the support rod changes the tilt angle through the motor 41, and the walking aid judges the difference between the human and machine speeds according to the tilt angle of the support rod and adaptively adjusts the speed size to facilitate towing the user to travel.

[0044] like Figure 5 As shown, a driving system, a communication component, an information processing module, a sensor array and a safety adsorption module are provided at the bottom of the chassis 7; the detection module and the communication module are both connected to the information processing module; the information processing module is used to receive, save and send signals from the detection module and the communication module, and the information processing module is also used to control the driving system; the safety adsorption module is used to smooth the ground and adsorb the ground when the walker is tilted.

[0045] The safety adsorption module includes a suction cup 71 and a vacuum pump 72. When a smooth and hard road surface is detected and the user falls, the suction cup 71 pops out and the vacuum pump 72 works to generate negative pressure to adsorb the ground, thereby enhancing stability, providing reverse support, and reducing fall injuries.

[0046] like Figure 6 As shown, the driving system includes a triangular wheel 5 and an acceleration sensor. The triangular wheel 5 includes three universal wheels 52 and a drive motor 51, which enable the walker to flexibly adapt to various terrains, change directions, climb stairs, and improve stability and controllability. On a smooth road, the universal wheel 52 rotates to move forward; when encountering steps or stairs, the triangular wheel 5 rotates and moves.

[0047] The adaptive adjustment process of the telescopic mechanism 3 includes the following steps:

[0048] Step 1: The detection module uses the first camera 8 installed on the chassis to find the specific position of the user, locate and autonomously drive the walker to move in front of the user.

[0049] Step 2: When the walker reaches the user, the detection module uses the second camera 9 under the handle to further locate the position of the user's hand.

[0050] Step 3: Combined with the data from the detection module, the screw motor 332 drives the telescopic mechanism 3 to perform adaptive length adjustment. The screw motor 332 drives the screw 32 to rotate, driving the inner sleeve 31 to move upward. When the handle position of the walker reaches the same horizontal height as the user's hand, the handle is correctly returned to the user's hand, and the adaptive adjustment is completed.

[0051] The method of using the adaptive intelligent walking aid and the method of using the method of the present invention comprises the following steps:

[0052] Step 1: The user wakes up the walker through the voice module. The OpenMV camera on the chassis identifies the user's position through the template matching algorithm. The motor drives the triangular wheels to move autonomously in front of the user, and the ultrasonic module avoids obstacles while driving.

[0053] Step 2: During the operation of the walking aid, the second camera at the handle recognizes the human hand through a shape recognition algorithm. Combining the data from the detection module, the system drives the length adaptive telescopic mechanism to perform adaptive length adjustment, so that the handle position of the walking aid reaches the same horizontal height as the user's hand, and the armrest is correctly positioned in the user's hand.

[0054] Step 3: The chassis of the walking aid provides traction for the user to walk. The OpenMV camera can identify water accumulation, special road conditions, traffic signs, and the remaining time of the traffic light countdown, and broadcast the recognition content through the speaker.

[0055] Step 4: The user locates and navigates to the destination through the GPS module connected to the display screen, and the speaker reminds the road conditions in real time.

[0056] Step 5: When the detection module detects obstacles such as steps and stairs, the voice module reminds the user to pay attention to safety. At the same time, the system controls the motor of the triangular wheel to start operating. At this time, the walking aid travels on the triangular wheel until it crosses the obstacle.

[0057] Step 6: When the user falls, the walking aid sends a fall text message reminder and longitude and latitude positioning to the guardian through the communication module.

[0058] Step 7: The heart rate and blood oxygen measurement module of the walking aid measures in real time. When the data exceeds the abnormal standard, it reminds the user of safety and sends a text message to the guardian to attract attention.

[0059] Step 8: When the user walks outdoors at night, the intelligent lighting module of the walking aid is turned on to illuminate in advance, display dynamic steering signs and light carpets to guide the route, and remind other vehicles and pedestrians to pay attention.

[0060] The control method of the present invention includes the following steps:

[0061] Step 1: Initialize the libraries and functions required for image processing, and then perform grayscale and binarization processing on the captured image, aiming to weaken noise and accurately extract key safety features such as traffic warning signs, steps, and water accumulation.

[0062] Step 2: Use machine learning algorithms to train the system, and adopt the NCC normalized cross-correlation template matching algorithm to carefully compare the preprocessed image with the preset dangerous scene template. Based on the result of template matching, the system judges whether there are potential risks in the image and immediately outputs the recognition conclusion.

[0063] Step 3: The system converts the analysis result into a clear audio signal, conveys it to the user in a voice manner, and provides targeted safety suggestions.

Claims

1. An adaptive intelligent walking aid, characterized in that, It includes a main support rod which comprises a telescopic mechanism. One end of the main support rod is connected with a handle, and the other end is connected with a chassis through an angle adjustment mechanism. A detection module is provided on the handle, and the detection module includes a first camera installed on the chassis and a second camera installed near the handle; a driving system, a communication component, an information processing module, a sensor array and a safety adsorption module are provided at the bottom of the chassis; the detection module and the communication module are both connected with the information processing module.

2. The adaptive intelligent walking aid according to claim 1, wherein The telescopic mechanism includes an inner sleeve, a lead screw and an outer sleeve. The inner sleeve is internally provided with an internal thread and is threadedly connected with the lead screw through the internal thread. The inner sleeve and the lead screw are externally provided with the outer sleeve. A limiting protrusion is provided on the outer side of the inner sleeve, and a limiting groove is provided on the inner wall of the outer sleeve. The limiting protrusion is matched with the limiting groove.

3. The adaptive intelligent walking aid according to claim 2, wherein, The bottom of the lead screw extending out of the outer sleeve is connected with a lead screw motor.

4. The adaptive intelligent walking aid according to claim 3, wherein The adaptive adjustment process of the telescopic mechanism includes the following steps: Step 1: The detection module uses the first camera installed on the chassis to find the specific position of the user, locates and autonomously drives the walking aid to move in front of the user; Step 2: After the walking aid reaches in front of the user, the detection module uses the second camera below the handle to further locate the position of the human hand; Step 3: Combining the data of the detection module, the lead screw motor drives the telescopic mechanism to perform adaptive length adjustment. The lead screw motor drives the lead screw to rotate, driving the inner sleeve to move upward. When the handle position of the walking aid reaches the same horizontal height as the user's hand, the handle correctly returns to the user's hand. Thus, the adaptive adjustment is completed.

5. The adaptive intelligent walking aid according to claim 1, wherein A display screen module, an intelligent lighting system, a speaker, an ultrasonic module, a heart rate and blood oxygen detection module and a plurality of buttons are also provided on the handle.

6. The adaptive intelligent walking aid according to claim 5, wherein The display screen module is connected with a GPS positioning module and a voice interaction module.

7. The adaptive intelligent walking aid according to claim 1, characterized in that The safety adsorption module includes a suction cup and a vacuum pump.

8. The adaptive intelligent walking aid according to claim 1, characterized in that, The driving system includes a triangular wheel and an acceleration sensor. The triangular wheel includes a plurality of universal wheels and a driving motor.

9. A method for using the adaptive intelligent walking aid according to any one of claims 1 to 8, characterized in that It includes the following steps: Step 1: The user wakes up the walking aid through the voice module. The first camera at the chassis identifies the user's position through a template matching algorithm, and the motor drives the triangular wheel to autonomously run in front of the user. The ultrasonic module avoids obstacles during driving; Step 2: During the operation of the walking aid, the second camera at the handle identifies the human hand through a shape recognition algorithm. Combining the data of the detection module, the system drives the length adaptive telescopic mechanism to perform adaptive length adjustment, so that the handle position of the walking aid reaches the same horizontal height as the user's hand, and the handrail correctly returns to the user's hand; Step 3: The chassis operation of the walking aid provides traction for the user to walk. The camera can identify the road conditions and broadcast the recognition content through the speaker; Step 4: The user locates and navigates to the destination through the GPS module connected to the display screen, and the speaker reminds the road conditions in real time; Step 5: When the detection module detects an obstacle, the voice module reminds the user. At the same time, the system controls the motor of the triangular wheel to start operating. At this time, the walking aid relies on the triangular wheel to drive until it crosses the obstacle; Step 6: When the user falls, the walking aid sends a fall text message reminder and longitude and latitude positioning to the guardian through the communication module; Step 7: The heart rate and blood oxygen measurement module of the walking aid measures in real time. When the data exceeds the abnormal standard, it reminds the user of safety and sends a text message to the guardian. Step 8: When the user walks outside at night, the intelligent lighting module of the walking aid is turned on to remind other vehicles and pedestrians to pay attention.

10. A control method for an adaptive intelligent walking aid according to any one of claims 1 to 8, characterized in that, It includes the following steps: Step 1: Initialize the libraries and functions required for image processing, and perform grayscale and binary processing on the captured images. Step 2: Use machine learning algorithms to train the system, and adopt the NCC normalized cross-correlation template matching algorithm to carefully compare the preprocessed image with the preset dangerous scene template. Based on the result of the template matching, the system determines whether there is a potential risk in the image and immediately outputs the recognition conclusion. Step 3: The system converts the analysis result into a clear audio signal, conveys it to the user by voice, and provides safety suggestions.

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