Multifunctional combined system for accompanying visually impaired person to run

Abstract

The invention discloses a multifunctional combined system for accompanying visually impaired people to run, and belongs to the field of fitness sports equipment for visually impaired people. The system comprises a running accompanying handle, a visual impaired handle, a master control and communication module, a motion navigation module, a data storage module and a health monitoring module. The accompanying running handle comprises an accompanying running handle upper cover, an accompanying running handle lower cover, a battery, an accompanying running vibration module, a gyroscope, a main control and communication development board, an OLED display screen, keys and a switch. The visual impairment handle comprises a visual impairment handle upper cover, a visual impairment handle lower cover, a left side vibration motor, a right side vibration motor, a heart rate sensor, a battery, a master control and communication development board, an SD card, a switch, a GPS sensor, a braille indicator, a key and a switch. According to the invention, the communication burden of visual impairment and accompanying running during high-intensity exercise can be reduced, the accuracy of navigation signal transmission is improved, and meanwhile, the exercise safety of the visual impairment runner can be improved through the communication between the visual impairment handle heart rate sensor and the accompanying running handle vibration module.

Description

Technical Field

[0001] This invention relates to a multifunctional combination system for accompanying visually impaired individuals during running, belonging to the field of fitness equipment for visually impaired groups. Background Technology

[0002] In road running practice, visually impaired people in China mainly rely on verbal cues and "running ropes" to navigate straightaways, turns, and obstacle avoidance. This method carries risks of inadequate communication and delayed reactions. Many visually impaired individuals have experienced falls during running, requiring significant time and rehabilitation, which also reduces their motivation to run. Especially in noisy, crowded, inclement weather, or long-distance pacing scenarios, existing methods suffer from drawbacks such as easily interfered instructions, increased reaction time delays, and difficulty in accurately conveying turning angles. Furthermore, the vocal cords and physical exertion of both the runner and the person receiving assistance increase significantly, thereby reducing the safety margin.

[0003] Furthermore, road running activities lack individualized, real-time perception and tracking of physiological indicators such as heart rate. It is difficult for the running accompaniment staff to know the physical condition of visually impaired individuals, making it difficult for them to adjust the intensity of exercise and running route in a timely manner, which affects the quality of training and risk management. Summary of the Invention

[0004] The purpose of this invention is to provide a multifunctional combination system for accompanying visually impaired individuals during running. The system integrates functions such as wirelessly transmitting motion status signals for navigation, transmitting the visually impaired person's heart rate to the running handle for health monitoring, and using historical data to calculate the user's personalized heart rate zone. This reduces the need for verbal communication, thereby lowering the risk of relying on verbal communication in noisy environments, avoiding signal delays in verbal communication, reducing the communication burden on visually impaired individuals and their running partners during high-intensity exercise, and improving the accuracy of navigation signal transmission. Furthermore, the running handle and visually impaired handle, through optimized spatial layout to accommodate the running vibration module, gyroscope, main control and communication development board, OLED display, buttons, switches, and other devices, also possess advantages such as moderate size, convenient operation, easy assembly and disassembly, non-slip properties, lightweight, high strength, and good impact resistance.

[0005] The objective of this invention is achieved through the following technical solution.

[0006] The present invention discloses a multifunctional combination system for accompanying visually impaired people in running, including a running handle, a visually impaired handle, a main control and communication module, a motion navigation module, and a data storage module.

[0007] The running companion handle includes a top cover, a bottom cover, a battery, a vibration module, a gyroscope, a main control and communication development board, an OLED display, buttons, and switches.

[0008] The visually impaired handle includes a top cover, a bottom cover, a left vibration motor, a right vibration motor, a heart rate sensor, a battery, a main control and communication development board, an SD card, a switch, a GPS sensor, Braille indicators, buttons, and switches.

[0009] The main control and communication module is implemented based on the main control and communication development board. It is used to control the motion navigation module, health monitoring module, and data storage module, and to facilitate communication and information transmission between the three modules. It is also used for communication between the gyroscope and the left and right vibration motors, and for communication between the heart rate sensor and the running vibration module.

[0010] Furthermore, the main control and communication modules are implemented based on the ESP32 main control and communication development board.

[0011] The motion navigation module includes a motion status collection submodule, a navigation wireless communication submodule, and a motion status transmission submodule.

[0012] The motion state collection submodule includes a gyroscope and a running ESP32, both housed within the running handle. The gyroscope acquires real-time three-axis direction and acceleration data; the running ESP32 performs Kalman filtering on the data and determines the motion state based on thresholds, which include at least forward, stopped, left turn, and right turn; to avoid false triggering caused by slight swaying of running posture, turning is only confirmed when both direction and acceleration exceed the threshold; the forward state is determined by the y-axis value exceeding a calibrated threshold.

[0013] The navigation wireless communication submodule includes a running companion ESP32 and a visually impaired ESP32. The running companion ESP32 sends the motion status and motion amplitude information to the visually impaired ESP32 via low-power Bluetooth at preset time intervals to achieve the requirements of low latency and low power consumption.

[0014] The motion status communication submodule includes a visually impaired ESP32, a left vibration motor, and a right vibration motor. The visually impaired ESP32 drives the left and right vibration motors to output differentiated vibrations based on the received motion status or amplitude: forward movement is indicated by long vibrations from both the left and right motors, with each vibration lasting no more than 5 seconds; stopping is indicated by short, high-frequency vibrations from both the left and right motors; left or right turns are indicated by long vibrations of varying intensities from the corresponding left or right vibration motor.

[0015] The data storage module consists of a GPS device, a heart rate sensor, an SD card, and buttons. The heart rate sensor is located on the visually impaired handpiece, while the SD card and GPS are located on the running handpiece. The SD card records the heart rate and pace for each run; after exercise, the ESP32 reads the data and uses least-squares fitting to calculate the heart rate inflection point or threshold, automatically updating the high-risk alarm. The buttons clear the data for easy user switching.

[0016] As a preferred option, a health monitoring module is also included, which comprises a health collection submodule, a health communication submodule, and a health transmission submodule.

[0017] The health data collection submodule includes a visually impaired ESP32 and a heart rate sensor, both housed within the visually impaired handpiece. The heart rate sensor is based on photoplethysmography, sampling the green light reflection intensity at preset time intervals to form a waveform; the visually impaired ESP32 performs median filtering on the waveform and counts peaks within a time window to obtain the real-time heart rate.

[0018] The health communication submodule includes a running companion ESP32 and a visually impaired ESP32. The visually impaired ESP32 sends heart rate data to the running companion ESP32 via Bluetooth Low Energy at preset time intervals. To avoid mutual interference, the motion navigation module and the health monitoring module share this pair of ESP32s and adopt a multi-threaded real-time operating system to suppress link latency.

[0019] The health communication submodule includes the ESP32 running companion, an OLED display, and a running companion vibration motor, all housed within the running companion handle. When the local heart rate exceeds a threshold and remains above a preset time, the running companion vibration motor outputs high-frequency short vibrations to prompt adjustments to pace or route; the OLED display shows the heart rate in real time and uses large fonts to accommodate running swaying and visibility conditions.

[0020] The running guide handle has a slender, columnar structure with a 60°~70° arc transition along its length for comfortable grip. Compared to handles for the visually impaired, this arc is higher, allowing the running guide to easily rotate the handle to convey changes in movement. The handle has rounded closed ends and tapered ends, with a linear taper starting 16~18mm inward from the largest end. The side wall taper angle is 38°~42°, conforming to ergonomic design for comfortable grip and stable placement of the lower part of the handle in the running guide's hand. The handle is preferably made of polycarbonate, which combines lightweight, high strength, and good impact resistance, thus reducing weight and improving comfort while ensuring overall handle sturdiness. The outer surface of the handle has a row of elliptical shallow grooves along its axis. Based on simulation adjustments, the groove depth is 0.25mm~0.35mm, with intervals of 3.5mm~5mm, which helps to hold the thumb and forefinger in place, providing an anti-slip function.

[0021] To further improve the anti-slip effect, as a preferred option, the elliptical shallow groove structure has a groove depth of 0.3mm and a spacing of 4mm.

[0022] The upper cover and lower cover of the running handle are fixedly connected by screws, which facilitates the disassembly and assembly of the upper and lower covers of the running handle during maintenance.

[0023] To improve weight balance and sturdiness, both covers are 2mm thick.

[0024] The top of the pacing handle cover has a protrusion for threading a rope, and also a rope hole for threading a rope, making it convenient for blind runners. Preferably, the rope hole is 3mm in diameter.

[0025] The running handle cover has two screw holes at the top and middle, and one screw hole on the lower left side. The handle secures the upper and lower running handle covers when the screws are tightened, or the internal structure can be adjusted by loosening the screws. Preferably, both screw holes are 3mm in diameter.

[0026] The top of the lower cover of the running handpiece has a data operation port, which exposes the button for clearing visually impaired data on the handpiece for easy operation during running. Preferably, the diameter of the data operation port is 5mm.

[0027] The upper part of the bottom cover of the running handle has a display port for placing an OLED display screen.

[0028] There is a switch opening at the bottom of the handle cover, making the switch exposed.

[0029] The vibration motor is installed at the bottom of the running companion's handle, which enhances the vibration felt on the bottom of the runner's palm when gripping the handle, making it easier to attract the runner's attention. The vibration motor is used to trigger a high-frequency, short-vibration alarm when the visually impaired person's heart rate exceeds a predetermined threshold.

[0030] The gyroscope is mounted on the upper part of the running handle. This placement helps the runner sense changes in acceleration and direction. Furthermore, because the gyroscope is relatively small compared to the battery, main control and communication development board, and running vibration motor, embedding it in the narrow upper part of the handle allows for better utilization of space, leaving more room for the battery, main control and communication development board, and running vibration motor. The gyroscope is used to sense changes in acceleration and orientation when the runner changes their movement state. These movement states include turning, moving forward, and stopping.

[0031] The main control and communication development board is placed in the lower middle part of the handle. The lower middle part of the handle accommodates the relatively large volume of the main control and communication development board compared to other components, and the main control and communication development board is located in a relatively central position to facilitate its central role and connect to various other components.

[0032] An OLED display is mounted on the upper part of the lower cover of the pacing handle so that the pacing runner's line of sight is directly on the OLED display when using the pacing handle. It displays the GPS operating status and the visually impaired person's real-time heart rate.

[0033] The buttons are mounted on the top of the running handle cover and exposed through the control port. The top of the running handle cover is located in a part of the body that the hand will least likely touch during running, so it is not easily pressed accidentally, thus avoiding data deletion.

[0034] The switch is located at the bottom of the lower cover of the running handle and is exposed through the switch port for easy user operation.

[0035] The visually impaired handle has a slender, columnar structure with a 70°~80° arc transition along its length to facilitate hand grip. Unlike the running handle, the visually impaired handle has a higher arc, allowing for a more stable fit in the palm and reducing rotational slippage. The running handle has rounded closed ends and tapered ends at both ends, forming a linear tapered contraction starting 16~18mm inward from the largest end of the handle. The side wall tapering angle is 38°~42°, conforming to an ergonomic structure, making the running hand comfortable to hold, and ensuring that the lower part of the handle is stably locked in the running hand.

[0036] The visually impaired handle is preferably made of polycarbonate material, which combines lightweight, high strength, and good impact resistance, thereby reducing weight and improving user comfort while ensuring the overall sturdiness of the handle. The outer surface of the visually impaired handle has a row of elliptical shallow grooves along the axial direction. According to adjustment simulations, the groove depth is 0.25mm~0.35mm, and the interval is 3.5mm~5mm. The groove depth helps to hold the thumb and forefinger in place, providing an anti-slip function.

[0037] The top of the visually impaired handle cover has a protrusion for threading a rope, and the top of the accompanying handle cover also has a rope hole for threading a rope. The rope hole allows the visually impaired person to easily adjust the rope length to the most comfortable position for pulling. Preferably, the rope hole has a diameter of 3mm.

[0038] The visually impaired handle cover has two screw holes at the top and middle, and one screw hole on the lower left side. When the screws are tightened, the upper and lower covers of the visually impaired handle are securely fastened, or the internal structure can be adjusted by unscrewing the screws. Preferably, both screw holes are 3mm in diameter.

[0039] A heart rate sensor is located on the left side of the center of the handle cover for visually impaired users, exposing the contact surface between the heart rate sensor and the fingertips of the visually impaired runner on the outside of the handle. Preferably, the diameter of the heart rate sensor is 8mm.

[0040] The upper left, upper right, middle right, and lower left sides of the visually impaired handle cover are respectively provided with screw holes for placing screws to fix the upper and lower covers of the visually impaired handle. Preferably, the screw hole diameter is 3mm.

[0041] The bottom of the handle cover for the visually impaired has a switch opening, exposing the switch.

[0042] The outer casing has Braille engraved near the vibration motor. The Braille is set according to the running status instructions, including left turn and right turn. Visually impaired people have more sensitive touch than sighted people, and can adapt to different movement status signals more quickly through Braille.

[0043] The left vibration motor is positioned on the upper part of the visually impaired handle near the top cover. The right vibration motor is positioned in the middle near the bottom cover. These motors vibrate to alert the visually impaired runner when the handle detects changes in motion. Due to the small diameter of the handle, the left and right motors are placed at different heights to avoid the risk of difficulty distinguishing left from right signals if they are at the same height. Testing showed that when running with a visually impaired person, the index finger on the left side of the handle should be close to the top cover, and the palm on the right side should be close to the bottom cover, serving as the basis for the motor placement. When the runner rotates the handle, the acceleration and direction data recorded by the gyroscope are transmitted to the handle, triggering the corresponding motor. The vibration amplitude is linearly related to the turning amplitude, allowing the visually impaired person to distinguish between sharp turns and slight turns to avoid obstacles. Visually impaired individuals have more sensitive tactile perception than sighted individuals, and they respond to different vibration amplitudes and Braille information by changing their motion accordingly.

[0044] The heart rate sensor is placed on the left side near the top cover of the handle for visually impaired individuals, which is the most convenient position for the thumb to rest when the visually impaired person is running.

[0045] The main control and communication development board is placed in the lower middle part of the handle. The lower middle part of the handle accommodates the relatively large volume of the main control and communication development board compared to other components, and the main control and communication development board is located in a relatively central position to facilitate its central role and connect to various other components.

[0046] The SD card is placed close to the visually impaired handle. The SD card stores the pace and heart rate of each run by the visually impaired runner, which the program then uses to calculate the runner's heart rate threshold.

[0047] The upper left, upper right, middle right, and lower left sides of the visually impaired handle cover are respectively provided with screw holes for placing screws to fix the upper and lower covers of the visually impaired handle. Preferably, the screw hole diameter is 3mm.

[0048] The bottom of the handle cover for the visually impaired has a switch opening, exposing the switch.

[0049] The GPS sensor is placed between the main control and communication development board and the outer shell at the bottom of the handle to prevent it from being sandwiched in the middle and interfered with by other metal materials. Additionally, not mounting the GPS sensor on the top of the handle avoids exacerbating GPS signal instability due to greater upper-part shaking. The GPS sensor is used to periodically measure the visually impaired runner's position during running, calculate their pace and heart rate data, and further calculate their heart rate threshold.

[0050] Preferably, while maintaining the overall consistency of the handle structure, the starting position of the linear taper segment is... With average cone angle Based on the user's hand width Grouped by height Adaptive fine-tuning: in: The starting position of the linear taper segment is the distance measured inward from the end fillet / closed end along the handle axis; The average sidewall cone angle of the linear taper segment; The horizontal dimension of the user's hand; This serves as a reference value for palm width, used to establish relative deviation. (Grade) is a height classification index, which is a dimensionless integer or half-integer and reflects differences in body shape; For the amplitude limiting operator, the variable Constraints Within the interval; This is the starting position reference value; This is the reference value for the cone angle; relative deviation of palm width The linear sensitivity coefficient; relative deviation of palm width The linear sensitivity coefficient; Divide into height groups The linear sensitivity coefficient; (° / level) represents the height classification. The linear sensitivity coefficient; respectively The lower and upper limits of; They are respectively The lower and upper limits.

[0051] Based on the above formula, the starting point of the linear taper is determined by adjusting the baseline value, palm width, height, and amplitude. With cone angle The system linearly adapts to individual palm width and body type classifications; as palm width or height classifications increase... and The corresponding reduction allows for earlier and slower cone retraction, improving palm fit and anti-rotational stability, while also... To ensure the geometry falls within a safe ergonomic range, the above formula, without altering the overall handle shape, quantifies and provides ergonomic taper parameters for different users, facilitating manufacturing and grip. This parametric design ensures a balanced experience between grip stability and comfort for users of different genders and heights.

[0052] As a preferred option, when the visually impaired person is running, a solid rope is threaded through small holes in the top cover of the running accompaniment handle and the visually impaired person's handle. This allows the visually impaired runner to feel the pull of the accompaniment runner, enhancing their sense of security while running. It also makes it easier for the accompaniment runner to immediately pull the visually impaired person back in case they trip or run in the wrong direction. The elastic rope is divided into different types according to different running scenarios: daily running type, speed running or competition type, and middle-aged and elderly friendly type.

[0053] ① The everyday running version features an outer polyester woven sheath and an inner medium-hardness TPU (thermoplastic polyurethane) round core with a stretch rate of 20-30%. Performance characteristics: Provides moderate elastic cushioning, effectively absorbing the micro-pulling force caused by differences in stride frequency, maintaining a flexible connection. Safety design: The buffer zone is equipped with limiting webbing, with a maximum stretch not exceeding 15cm; both ends are secured with high-strength stitching, with a tensile strength ≥300N. Suitable for: Daily training, rehabilitation runs, and campus jogging for ordinary blind runners and volunteer running buddies.

[0054] ② For speed running or competition, the outer layer of the mid-section structure is a high-density nylon braided layer, with an embedded low-elasticity TPU core strip (Shore A95 hardness) and an elongation of 10-15%. Performance characteristics: rapid elastic feedback and extremely low delay, effectively absorbing shock without affecting directional control and speed command transmission. Safety design: The main body and buffer zone are integrally molded using high-frequency hot pressing to prevent breakage during high-intensity running. Suitable for: Professional or semi-professional accompaniment teams participating in blind marathons and speed races.

[0055] ③ The middle-section structure design, friendly to middle-aged and elderly users, uses a medical-grade silicone rubber elastic core, wrapped with a flexible nylon outer layer, with an elongation of 30-40% and a soft touch. Performance characteristics: The elastic zone provides significant cushioning, effectively reducing upper limb impact and the risk of falls. Safety design: An internal breakage protection rope core (aramid fiber) ensures secondary support before breakage. Suitable for: Middle-aged and elderly blind runners, rehabilitation trainees, and beginners.

[0056] As a preferred embodiment, this invention discloses a multifunctional combination system for accompanying visually impaired runners, further integrating a dynamic tension adjustment system into the physical rope. The dynamic tension adjustment system uses sensors to perceive the relative distance, speed, and motion state between the guide runner and the visually impaired runner in real time, and automatically adjusts the rope tension via an electric winding mechanism, achieving intelligent switching from a rigid connection to an elastic connection. The dynamic tension adjustment system integrates a miniature distance sensor, a motion sensor, a microprocessor, and a winding mechanism with a servo motor within the rope or handle. Three main application scenarios: When running smoothly: The dynamic tension adjustment system provides gentle elasticity, reducing strain and absorbing stride differences to enhance comfort and a natural feel. Especially when there is a significant height difference or stride frequency difference between the chaperone and the visually impaired runner, the elastic cord helps reduce resistance for both.

[0057] When going uphill, downhill, or turning: the dynamic tension adjustment system automatically tightens the rope, switching to semi-rigid mode, providing clearer direction and center of gravity guidance.

[0058] When one party suddenly accelerates or is about to trip: the dynamic tension adjustment system instantly locks the rope, turning it into a rigid connection, providing emergency braking to prevent injury from a fall.

[0059] Preferably, phase change material microcapsules are incorporated into flexible polymer accompaniment handles and visually impaired handles, forming the final gripping outer layer of the accompaniment handles and visually impaired handles. This gripping outer layer is used to actively absorb and release heat, preventing the handles from overheating during summer runs and avoiding a cold touch in winter, thus providing a long-lasting, stable temperature-sensitive comfort and safe grip in any season.

[0060] As a preferred option, in scenarios such as marathons and other more professional long-distance running events, the present invention discloses a multi-functional combination system for accompanying visually impaired runners. The heart rate sensor of the visually impaired handle is installed in the middle of the handle, forming a symmetrical structure, which facilitates the runner and the visually impaired person to switch hands at aid stations, or to switch hands when one hand becomes tired from pulling.

[0061] The heart rate sensor in the visually impaired handpiece is replaced with an ECG strap, worn snugly under the chest and around the ribcage. This chest strap ECG strap directly measures cardiac electrical activity based on electrocardiogram (ECG) signals, maintaining high accuracy and low latency during long-distance running, unaffected by arm swings, sweat, or ambient light. In contrast, heart rate sensors are susceptible to noise during strenuous exercise like marathons, exhibiting heart rate drift and latency, making them unsuitable for monitoring the demands of professional events. Furthermore, the ECG strap provides pacing runners with additional health monitoring indicators beyond exercise load; for example, heart rate variability can more accurately detect fatigue, stress levels, and recovery status than heart rate alone. The ECG strap connects to the ESP32 in the pacing handpiece, displaying various visually impaired indicators on the handpiece's OLED screen.

[0062] A supply compartment is placed at the bottom of the visually impaired handle to hold salt tablets and small energy gels, eliminating the need to reach into a pocket for supplies after releasing the handle.

[0063] Beneficial effects: 1. This invention discloses a multifunctional combination system for accompanying visually impaired individuals during running, mainly composed of a running companion handle and a visually impaired handle. The main control and communication development board achieves navigation by wirelessly transmitting the running companion's motion status signals, transmits the visually impaired person's heart rate to the running companion handle for health monitoring, and uses historical data to calculate the user's personalized heart rate zone, thus improving the convenience, safety, and effectiveness of running for the visually impaired. Wireless navigation signal transmission between the running companion handle and the visually impaired handle reduces the need for verbal communication, thereby reducing the risk of relying on verbal communication in noisy environments, avoiding signal delays in verbal communication, reducing the communication burden on the visually impaired person and the running companion during high-intensity exercise, and improving the accuracy of navigation signal transmission. A heart rate sensor allows the running companion to understand the visually impaired person's physical condition in real time, thereby adjusting pace and route to improve running comfort and training effectiveness. An SD card stores the pace and heart rate data of each run for the visually impaired person, calculates their heart rate zone, and updates the running companion handle with appropriate alarm thresholds.

[0064] 2. This invention discloses a multifunctional combination system for accompanying visually impaired runners. The GPS sensor is placed between the main control and communication development board and the outer shell at the lower part of the handle, avoiding interference from other metal materials that could affect the antenna. Furthermore, not mounting the GPS sensor on the upper part of the handle prevents significant upper-part shaking from exacerbating GPS signal instability. The GPS sensor is used to periodically measure the visually impaired runner's position during running, calculate their pace and heart rate data, and further calculate their heart rate threshold.

[0065] 3. This invention discloses a multifunctional combination system for accompanying visually impaired runners, integrating a dynamic tension adjustment system within a solid rope. The dynamic tension adjustment system uses sensors to perceive the relative distance, speed, and movement status between the guide runner and the visually impaired runner in real time, and automatically adjusts the rope tension via an electric winding mechanism, achieving intelligent switching from a rigid connection to an elastic connection. The dynamic tension adjustment system integrates a miniature distance sensor, a motion sensor, a microprocessor, and a winding mechanism with a servo motor within the rope or handle.

[0066] 4. This invention discloses a multifunctional combination system for accompanying visually impaired individuals during running. Both ends of the running handle and the visually impaired handle are rounded closed ends and slightly tapered ends, respectively, conforming to ergonomic design, ensuring comfortable grip for the running companion, and allowing the lower part of the handle to be stably held in the running companion's hand. Based on the running function for visually impaired individuals and the required main components and circuit boards, the spatial layout of the running handle and the visually impaired handle, accommodating the running vibration module, gyroscope, main control and communication development board, OLED display, buttons, switches, and other devices, is optimized. This results in the running handle, the visually impaired handle, and the combined device having advantages such as moderate size, convenient operation, easy assembly and disassembly, anti-slip properties, lightweight, high strength, and good impact resistance.

[0067] 5. This invention discloses a multifunctional combination system for accompanying visually impaired individuals during running. The running handle has a slender, columnar structure with a 60°~70° arc transition along its length on the outer wall to facilitate hand grip. The handle is preferably made of polycarbonate material, which combines lightweight, high strength, and good impact resistance, thereby reducing weight and improving user comfort while ensuring the overall robustness of the handle. The outer surface of the running handle has a row of elliptical shallow grooves along its axial direction. According to adjustment simulations, the groove depth is 0.25mm~0.35mm, and the interval is 3.5mm~5mm. The groove depth helps to hold the thumb and forefinger in place, providing an anti-slip function.

[0068] 6. This invention discloses a multifunctional combination system for accompanying visually impaired runners. When the visually impaired person is completely blind, a solid rope is inserted through small holes in the top cover of the running handle and the visually impaired handle, allowing the completely blind runner to feel the pull of the accompanying person, enhancing their sense of security while running. It also facilitates immediate pull-back by the accompanying person should the completely blind runner trip or run in the wrong direction. The elastic rope is divided into different types according to different running scenarios: daily running type, speed running or competition type, and middle-aged and elderly friendly type.

[0069] 7. This invention discloses a multifunctional combination system for running with visually impaired individuals. Phase change material microcapsules are mixed into a flexible polymer running handle and a visually impaired handle, forming the final gripping outer layer of both. This gripping outer layer actively absorbs and releases heat, preventing the handle from overheating during summer runs and avoiding a cold touch in winter, thus providing a durable, stable temperature-sensitive comfort and a safe grip in any season.

[0070] 8. The present invention discloses a multi-functional combination system for accompanying visually impaired runners. In the context of professional long-distance running events such as marathons, the heart rate sensor of the visually impaired handle is installed in the middle of the handle to form a symmetrical structure, which facilitates the runner and the visually impaired person to switch hands at aid stations or switch hands when one hand becomes tired. Attached Figure Description

[0071] Figure 1 This is a schematic diagram of the accompanying running handle and the outer shell of the visually impaired handle disclosed in this invention. Figure 2 This is a schematic diagram of the running handle disclosed in this invention; Figure 3 This is a schematic diagram of the visually impaired handle disclosed in this invention; Figure 4 This is a schematic diagram of the internal assembly device of a handle for running with a visually impaired person, as disclosed in this invention. The components are as follows: 1—Handle top cover, 2—Handle bottom cover, 3—Handle battery, 4—Handle vibration module, 5—Handle gyroscope, 6—Handle main control and communication development board, 7—OLED display, 8—Handle button, 9—Handle switch, 10—Handle battery, 11—Handle main control and communication development board, 12—Left vibration motor, 13—Right vibration motor, 14—Handle heart rate sensor, 15—Handle SD memory card, 16—Handle GPS sensor, 17—Braille indicator, 18—Handle button, 19—Handle switch. Detailed Implementation

[0072] To better illustrate the purpose and advantages of the present invention, the invention will be further described below in conjunction with the accompanying drawings and examples.

[0073] Example 1: like Figure 1 , 2 As shown in Figures 3 and 4, this embodiment discloses a multi-functional combination system for accompanying visually impaired individuals during running, including a running handle, a visually impaired handle, a main control and communication module, a motion navigation module, a data storage module, and a health monitoring module.

[0074] The running companion handle includes a top cover 1, a bottom cover 2, a battery 3, a vibration module 4, a gyroscope 5, a main control and communication development board 6, an OLED display 7, buttons 8, and a switch 9.

[0075] The visually impaired handle includes a top cover, a bottom cover, a battery 10, a main control and communication development board 11, a left vibration motor 12, a right vibration motor 13, a heart rate sensor 14, an SD memory card 15, a GPS sensor 16, Braille indicators 17, buttons 18, and a switch 19.

[0076] The main control and communication module is implemented based on the ESP32 main control and communication development board. It is used to control the motion navigation module, health monitoring module, and data storage module, and to communicate and transmit information between the three modules. It is also used for communication between the gyroscope 5 of the running hand and the left vibration motor 12 and the right vibration motor 13, and for communication between the heart rate sensor 14 of the visually impaired hand and the running vibration module.

[0077] Based on the integration of ESP32, visually impaired handheld battery 10, visually impaired handheld main control and communication development board 11, left vibration motor 12, right vibration motor 13, visually impaired handheld heart rate sensor 14, SD memory card 15, GPS sensor 16, Braille indicator 17, motion navigation module, and data storage module, a multi-functional running companion combination is realized.

[0078] The motion navigation module includes a motion status collection submodule, a navigation wireless communication submodule, and a motion status transmission submodule.

[0079] The motion state collection submodule includes a gyroscope and a running ESP32, both housed within the running handle. The running handle's gyroscope 5 acquires three-axis direction and acceleration data in real time; the running ESP32 performs Kalman filtering on the data and determines the motion state based on thresholds. The motion state includes at least forward, stop, left turn, and right turn; to avoid false triggering caused by slight swaying of running posture, turning is only confirmed when both direction and acceleration exceed the threshold; the forward state is determined by the y-axis value exceeding the tested and calibrated threshold.

[0080] The navigation wireless communication submodule includes a running companion ESP32 and a visually impaired ESP32. The running companion ESP32 sends the motion status and motion amplitude information to the visually impaired ESP32 via low-power Bluetooth at preset time intervals to achieve the requirements of low latency and low power consumption.

[0081] The motion status communication submodule includes a visually impaired ESP32, a left vibration motor 12, and a right vibration motor 13. The visually impaired ESP32 drives the left vibration motor 12 and the right vibration motor 13 to output differentiated vibrations based on the received motion status / amplitude: forward movement is achieved by long vibrations from the left vibration motor 12 and the right vibration motor 13, with each vibration lasting no more than 5 seconds; stopping is achieved by short, high-frequency vibrations from the left vibration motor 12 and the right vibration motor 13; and turning left or right is achieved by the corresponding left vibration motor 12 or right vibration motor 13 outputting long vibrations of different intensities according to the amplitude.

[0082] The health monitoring module includes a health collection submodule, a health communication submodule, and a health communication submodule.

[0083] The health collection submodule includes a visually impaired ESP32 and a visually impaired handle heart rate sensor 14, both housed within the visually impaired handle. The visually impaired handle heart rate sensor 14 is based on photoplethysmography, sampling the green light reflection intensity at a preset time period to form a waveform; the visually impaired ESP32 performs median filtering on the waveform and counts peaks within a time window to obtain the real-time heart rate.

[0084] The health communication submodule includes a running companion ESP32 and a visually impaired ESP32. The visually impaired ESP32 sends heart rate data to the running companion ESP32 via Bluetooth Low Energy at preset time intervals. To avoid mutual interference, the motion navigation module and the health monitoring module share this pair of ESP32s and adopt a multi-threaded real-time operating system to suppress link latency.

[0085] The health communication submodule includes the ESP32 running companion, an OLED display, and a running companion vibration motor, all housed within the running companion handle. When the local heart rate exceeds a threshold and remains above a preset time, the running companion vibration motor outputs high-frequency short vibrations to prompt adjustments to pace or route; the OLED display shows the heart rate in real time and uses large fonts to accommodate running swaying and visibility conditions.

[0086] The data storage module consists of a GPS, a heart rate sensor 14 on the visually impaired handle, an SD memory card 15, and buttons 18 on the visually impaired handle. The heart rate sensor is placed on the visually impaired handle, while the SD card and GPS are placed on the running handle. The SD memory card 15 records the heart rate and pace for each run; after exercise, the ESP32 reads the data and uses least-squares fitting to calculate the heart rate inflection point or threshold, automatically updating the high-risk alarm. The button clears the data for easy user switching; compared to manually setting thresholds via a mobile app, this invention has lower learning or pre-set costs and achieves automatic recording and updating with more accurate thresholds. The heart rate inflection point is the key node where the relationship between heart rate and exercise state transitions from linear to non-linear, typically 85% of the maximum human heart rate. This invention calculates a personalized heart rate inflection point through fitting and infers personalized alarm thresholds for visually impaired runners from this.

[0087] (1) The heart rate inflection point was obtained by using the least squares method combined with total squared error fitting. Heart rate-activity data are divided into left segment With the right segment (Each data segment has at least 2 data points), fit straight lines to the two data segments respectively. , The slope With intercept The calculation formula is: , (in the formula) Represents the left or right segment of the data set. The number of data points within the set. These are motion state parameters. (corresponding heart rate value) Calculate different split points Corresponding total squared error : Select to make Minimum split point The corresponding heart rate inflection point The coordinates are: (2) Use the D-MAX method (maximum vertical distance method) to fit and find the heart rate inflection point. By data start and end points , Construct a straight line, the equation of which is: The parameters are calculated as follows: , , Calculate each data point perpendicular distance to the line Select the point with the largest distance Corresponding This is the heart rate inflection point (HRDP).

[0088] (3) Heart rate inflection points calculated by the two methods Using two methods to find the heart rate inflection point can complement each other in terms of bias, because the main bias of DMAX comes from the endpoints and curvature, while the bias of MIN-SSE comes from model shape assumptions and outliers. The two sources of bias are relatively independent, and the overall bias tends to be smaller after averaging.

[0089] (4) Calculate the appropriate personalized alarm threshold Lactate threshold (LT): There is a stable error between HRDP and lactate threshold, and the calculation formula is as follows: , Maximum heart rate (MAXHR): The lactate threshold is approximately 85% of the maximum heart rate, and the maximum heart rate can be estimated based on this. Set warning thresholds: dynamically adjust according to the exercise plan, such as setting the warning threshold for "aerobic running" to 80%LT and the warning threshold for "anaerobic training" to 90%LT. When the threshold is exceeded, the mother handle vibration alarm is triggered.

[0090] like Figure 1As shown, the running handpiece and the visually impaired handpiece shell are composed of an upper handle cover and a lower handle cover.

[0091] like Figure 2 As shown, the main components of the running companion handle include the running companion handle battery 3, the running companion vibration module 4, the running companion handle gyroscope 5, the running companion handle main control and communication development board 6, the OLED display screen 7, the running companion handle buttons 8, and the running companion handle switch 9.

[0092] The running buddy's handle has a slender, columnar structure with a 60-70° arc transition along its length for comfortable grip. Both ends of the handle are rounded closed ends and slightly tapered ends, conforming to ergonomic design for comfortable handling and ensuring the lower part of the handle is stably secured in the runner's hand. The handle begins a linear taper approximately 16-18mm inward from its widest point, with a taper angle of 38°-42° on the sidewalls. The handle is preferably made of polycarbonate, which combines lightweight, high strength, and good impact resistance, thus reducing weight and improving comfort while maintaining overall handle sturdiness. The outer surface of the handle features a row of elliptical shallow grooves along its axial direction. Based on simulation adjustments, the groove depth is 0.3mm, and the spacing is 4mm.

[0093] The upper cover and lower cover of the running handle are fixedly connected by screws, which facilitates the disassembly and assembly of the upper and lower covers of the running handle during maintenance.

[0094] To improve weight balance and sturdiness, both covers are 2mm thick.

[0095] The top of the pacing handle cover has a protrusion for threading a cable, and also a cable hole for blind runners. Preferably, the cable hole is 3mm in diameter.

[0096] The running handle cover has two screw holes at the top and middle, and one screw hole on the lower left side. Tightening the screws secures the top and bottom covers, or loosening them allows for adjustment of the internal structure. Both screw holes are 3mm in diameter.

[0097] The top of the lower cover of the running handpiece has a data operation port, which exposes button 8 on the running handpiece to clear data for visually impaired individuals, facilitating operation during running. The data operation port has a diameter of 5mm.

[0098] The upper part of the lower cover of the running handle has a display port for placing the OLED display 7.

[0099] There is a switch 9 hole cut out at the bottom of the lower cover of the running handle, so that the running handle switch 9 is exposed.

[0100] The vibration motor is installed at the bottom of the running companion's handle, which enhances the vibration felt on the bottom of the runner's palm when gripping the handle, making it easier to attract the runner's attention. The vibration motor is used to trigger a high-frequency, short-vibration alarm when the visually impaired person's heart rate exceeds a predetermined threshold.

[0101] The gyroscope 5 of the running companion handle is installed at the upper part of the handle. Because the gyroscope 5 is located at the top of the handle, it helps the runner sense changes in acceleration and direction. Furthermore, since the gyroscope 5 is relatively small compared to the running companion handle battery 3, the main control and communication development board 6, and the vibration motor, embedding it in the narrow upper part of the handle helps utilize the space, leaving more room for the running companion handle battery 3, the main control and communication development board 6, and the vibration motor. The gyroscope 5 is used to sense changes in acceleration and orientation when the runner changes their motion state. These motion states include turning, moving forward, and stopping.

[0102] The main control and communication development board 6 of the running hand is placed in the lower middle part of the hand. The lower middle part of the hand accommodates the relatively large volume of the main control and communication development board 6 compared to other components, and the main control and communication development board 6 is located in a relatively central position to facilitate its central role and connect to various other components.

[0103] The OLED display 7 is mounted on the upper part of the lower cover of the pacing handle so that the pacing runner's line of sight is directly visible to the OLED display 7 when using the pacing handle. It displays the GPS operating status and the visually impaired person's real-time heart rate.

[0104] The 8th button on the running handle is installed on the top of the running handle cover and is exposed through the operation port. The top of the running handle cover is located in a part of the hand that is least likely to be touched during running, so it will not be easily pressed accidentally, thus avoiding data deletion.

[0105] The running hand switch 9 is installed at the bottom of the running hand cover, with the running hand switch 9 port exposed for easy user operation.

[0106] The ESP32 is selected as the main control and communication development board for the running hand controller.

[0107] like Figure 3 As shown, the visually impaired handle includes a visually impaired handle battery 10, a visually impaired handle main control and communication development board 11, a left vibration motor 12, a right vibration motor 13, a visually impaired handle heart rate sensor 14, an SD memory card 15, a GPS sensor 16, a Braille indicator 17, a visually impaired handle button 18, and a visually impaired handle switch 19.

[0108] The visually impaired handle has a slender, columnar structure with a curved transition along its length for comfortable grip. Both ends of the handle are rounded closed ends and slightly tapered ends, conforming to ergonomic design for comfortable handling by the companion runner and ensuring the lower part of the handle is stably secured in the companion runner's hand. The handle begins a linear taper tapering approximately 16-18mm inward from its widest point, with a taper angle of 38°-42° on the sidewalls. The handle is preferably made of polycarbonate, which combines lightweight, high strength, and good impact resistance, thus reducing weight and improving user comfort while maintaining overall handle sturdiness. The outer surface of the handle features a row of elliptical shallow grooves along its axial direction. Based on simulation adjustments, the groove depth is 0.3mm with a 4mm interval, providing a non-slip grip for the thumb and forefinger.

[0109] The top of the visually impaired handle cover has a protrusion for threading the rope, and the top of the accompanying handle cover also has a rope hole for threading the rope. The rope hole allows the visually impaired person to easily adjust the rope length to the most comfortable position for pulling. The rope hole is 3mm in diameter.

[0110] The handle cover for the visually impaired has two screw holes at the top and middle, and one screw hole on the lower left side. The handle secures the top and bottom covers when the screws are tightened, or the internal structure can be adjusted by loosening the screws. Both screw holes are 3mm in diameter.

[0111] A heart rate sensor is located on the left side of the center of the top cover of the visually impaired handle, exposing the contact surface between the heart rate sensor 14 and the visually impaired runner's fingers to the outside of the handle. The diameter of the heart rate sensor is 8mm.

[0112] The upper left, upper right, middle right, and lower left sides of the visually impaired handle cover are each provided with screw holes for securing the upper and lower covers of the visually impaired handle. The screw holes are 3mm in diameter.

[0113] A switch 19 is cut out at the bottom of the top cover of the visually impaired handle, making the switch 19 exposed.

[0114] The outer casing has Braille engraved near the vibration motor. The Braille is set according to the running status instructions, including left turn and right turn. Visually impaired people have more sensitive touch than sighted people, and can adapt to different movement status signals more quickly through Braille.

[0115] The left vibration motor 12 is positioned on the upper part of the visually impaired handle near the top cover. The right vibration motor 13 is positioned in the middle near the bottom cover. The left and right vibration motors 12 and 13 are used to vibrate and alert the visually impaired runner when the handle receives changes in motion. Due to the small diameter of the handle, the left and right vibration motors are placed at different heights to avoid the risk of difficulty in distinguishing left and right signals when they are at the same height. Testing showed that when running with a visually impaired person, the index finger on the left side of the handle should be close to the top cover, and the palm on the right side should be close to the bottom cover, serving as the basis for the vibration motor placement. When the running partner rotates the handle, the acceleration and direction data recorded by the gyroscope 5 of the running partner's handle are transmitted into the visually impaired handle, and the corresponding vibration motor in the handle begins to vibrate. The vibration amplitude is linearly related to the turning amplitude, allowing the visually impaired person to distinguish between sharp turns and slight turns to avoid obstacles. Visually impaired individuals have more sensitive tactile perception than sighted individuals, and they can adjust their motion state accordingly based on different vibration amplitudes and Braille information.

[0116] The heart rate sensor 14 of the visually impaired handle is placed on the left side near the top cover of the visually impaired handle, which is the most convenient position for the thumb of the visually impaired person to fit when running.

[0117] The main control and communication development board 11 of the visually impaired handle is placed in the lower middle part of the handle. The lower middle part of the handle accommodates the relatively large volume of the main control and communication development board 11 compared to other components. The main control and communication development board 11 is located in a relatively central position, which facilitates its central role and allows it to connect to various other components.

[0118] The SD memory card 15 is placed in the visually impaired handle near its designated position. The SD memory card 15 is used to store the pace and heart rate of each run by the visually impaired runner, which is then used by the program to calculate the visually impaired runner's heart rate threshold.

[0119] The GPS sensor 16 is placed between the main control and communication development board 11 and the outer shell of the visually impaired handheld controller at the lower part of the handle, preventing it from being sandwiched in the middle and subject to interference from other metal materials. Additionally, not mounting the GPS sensor 16 on the upper part of the handle avoids the problem of GPS signal instability caused by greater upper-part shaking. The GPS sensor 16 is used to periodically measure the visually impaired runner's position during running, calculate the runner's pace and heart rate data, and further calculate the visually impaired runner's heart rate threshold.

[0120] While maintaining the overall structural integrity of the handle, the starting position of the linear taper segment... With average cone angle Based on the user's hand width Grouped by height Adaptive fine-tuning: in: The starting position of the linear taper segment is the distance measured inward from the end fillet / closed end along the handle axis; The average sidewall cone angle of the linear taper segment; The horizontal dimension of the user's hand; This serves as a reference value for palm width, used to establish relative deviation. (Grade) is a height classification index, which is a dimensionless integer or half-integer and reflects differences in body shape; For the amplitude limiting operator, the variable Constraints Within the interval; This is the starting position reference value; This is the reference value for the cone angle; relative deviation of palm width The linear sensitivity coefficient; relative deviation of palm width The linear sensitivity coefficient; Divide into height groups The linear sensitivity coefficient; (° / level) represents the height classification. The linear sensitivity coefficient; They are respectively The lower and upper limits; They are respectively The lower and upper limits.

[0121] The above formula, through the structure of "benchmark value - palm width correction - height correction + amplitude limit", sets the starting point of the linear taper. With cone angle The system linearly adapts to individual palm width and body type classifications. As palm width or height classifications increase... and The corresponding reduction allows for earlier and slower cone retraction, improving palm fit and anti-rotational stability, while also... This ensures the geometry falls within a safe ergonomic range. Therefore, using the above formula, without altering the overall design concept of the handle, it automatically provides manufacturable, grippable, and ergonomically designed taper parameters for different users. This parametric design ensures a consistent experience between grip stability and comfort for users of different genders and heights.

[0122] like Figure 4 As shown, the running handrail and the visually impaired handrail are composed of tightly arranged modules.

[0123] When a visually impaired person runs alongside a totally blind person, a physical rope is threaded through small holes in the top cover of both the accompaniment and visually impaired handles. This allows the totally blind runner to feel the pull of the accompaniment, enhancing their sense of security while running. It also makes it easier for the accompaniment runner to immediately pull the visually impaired person back in case they trip or run in the wrong direction. Elastic ropes are available in different types depending on the running scenario: everyday running type, speed running or competition type, and type friendly to middle-aged and elderly people.

[0124] ① The everyday running version features an outer polyester woven sheath and an inner medium-hardness TPU (thermoplastic polyurethane) round core with a stretch rate of 20-30%. Performance characteristics: Provides moderate elastic cushioning, effectively absorbing the micro-pulling force caused by differences in stride frequency, maintaining a flexible connection. Safety design: The buffer zone is equipped with limiting webbing, with a maximum stretch not exceeding 15cm; both ends are secured with high-strength stitching, with a tensile strength ≥300N. Suitable for: Daily training, rehabilitation runs, and campus jogging for ordinary blind runners and volunteer running buddies.

[0125] ② For speed running or competition, the outer layer of the mid-section structure is a high-density nylon braided layer, with an embedded low-elasticity TPU core strip (Shore A95 hardness) and an elongation of 10-15%. Performance characteristics: rapid elastic feedback and extremely low delay, effectively absorbing shock without affecting directional control and speed command transmission. Safety design: The main body and buffer zone are integrally molded using high-frequency hot pressing to prevent breakage during high-intensity running. Suitable for: Professional or semi-professional accompaniment teams participating in blind marathons and speed races.

[0126] ③ The middle-section structure design, friendly to middle-aged and elderly users, uses a medical-grade silicone rubber elastic core, wrapped with a flexible nylon outer layer, with an elongation of 30-40% and a soft touch. Performance characteristics: The elastic zone provides significant cushioning, effectively reducing upper limb impact and the risk of falls. Safety design: An internal breakage protection rope core (aramid fiber) ensures secondary support before breakage. Suitable for: Middle-aged and elderly blind runners, rehabilitation trainees, and beginners.

[0127] This embodiment discloses a multifunctional combination system for accompanying visually impaired runners, further integrating a dynamic tension adjustment system into the physical rope. The dynamic tension adjustment system uses sensors to perceive the relative distance, speed, and motion state between the guide runner and the visually impaired runner in real time, and automatically adjusts the rope tension via an electric winding mechanism, achieving intelligent switching from a rigid connection to an elastic connection. The dynamic tension adjustment system integrates a miniature distance sensor, a motion sensor, a microprocessor, and a winding mechanism with a servo motor within the rope or handle. Three main application scenarios: When running smoothly: The dynamic tension adjustment system provides gentle elasticity, reducing strain and absorbing stride differences to enhance comfort and a natural feel. Especially when there is a significant height difference or stride frequency difference between the chaperone and the visually impaired runner, the elastic cord helps reduce resistance for both.

[0128] When going uphill, downhill, or turning: the dynamic tension adjustment system automatically tightens the rope, switching to semi-rigid mode, providing clearer direction and center of gravity guidance.

[0129] When one party suddenly accelerates or is about to trip: the dynamic tension adjustment system instantly locks the rope, turning it into a rigid connection, providing emergency braking to prevent injury from a fall.

[0130] Phase change material microcapsules are incorporated into flexible polymer accompaniment handles and visually impaired handles, forming the final gripping outer layer of the accompaniment handles and visually impaired handles. This gripping outer layer is designed to actively absorb and release heat, preventing the handles from overheating during summer runs and avoiding a cold touch in winter, thus providing a long-lasting, stable temperature-sensitive comfort and a safe grip in any season.

[0131] In the context of more professional long-distance running events such as marathons, the present invention discloses a combination device for accompanying visually impaired runners. The heart rate sensor 14 of the visually impaired handle is installed in the middle of the visually impaired handle to form a symmetrical structure, which makes it convenient for the accompanying runner and the visually impaired person to switch hands at aid stations or to switch hands when one hand is tired from pulling.

[0132] The heart rate sensor 14 in the visually impaired handrail is replaced with an ECG strap, worn snugly under the chest and around the ribcage. The chest strap ECG strap directly measures cardiac electrical activity based on ECG signals, maintaining high accuracy and low latency during long-distance running, unaffected by arm swings, sweat, or ambient light. In contrast, the heart rate sensor 14 in the visually impaired handrail is susceptible to noise during strenuous exercise such as marathons, exhibiting heart rate drift and latency, making it unsuitable for monitoring the needs of professional events. Furthermore, the ECG strap provides the pacing runner with more health monitoring indicators beyond exercise load; for example, heart rate variability can more accurately detect fatigue, stress levels, and recovery status than heart rate alone. The ECG strap connects to the ESP32 in the pacing handrail, displaying various visually impaired indicators on the OLED screen of the pacing handrail.

[0133] A supply compartment is placed at the bottom of the visually impaired handle to hold salt tablets and small energy gels, eliminating the need to reach into a pocket for supplies after releasing the handle.

[0134] The operating method of the multifunctional combination system for accompanying visually impaired people running, as disclosed in this embodiment, is as follows: The accompanying runner first flips the accompanying handle switch 9, which is the Bluetooth server. After waiting three seconds for the heart rate and GPS to appear on the OLED screen, the visually impaired handle switch 19 is then turned on.

[0135] When preparing to start running, the accompaniment runner stands to the right of the visually impaired runner, holding the handle with their left hand; the visually impaired runner stands to the left, holding the handle with their right hand, ensuring their thumb is aligned with the green light on the heart rate sensor 14. Both the accompaniment runner and the visually impaired runner wait in place for approximately 10 seconds to allow their heart rates to stabilize before starting to run together.

[0136] The motion navigation module includes a motion status collection submodule, a navigation wireless communication submodule, and a motion status transmission submodule.

[0137] The motion state collection submodule includes a running handle gyroscope 5 and a running ESP32, both housed within the running handle. The running handle gyroscope 5 acquires three-axis direction and acceleration data in real time; the running ESP32 performs Kalman filtering on the data and determines the motion state based on thresholds. The motion state includes at least forward, stopped, left turn, and right turn; to avoid false triggering caused by slight swaying of running posture, turning is only confirmed when both direction and acceleration exceed the threshold; the forward state is determined by the y-axis value exceeding the tested and calibrated threshold.

[0138] The navigation wireless communication submodule includes a running companion ESP32 and a visually impaired ESP32. The former sends the motion status and motion amplitude information to the latter via Bluetooth Low Energy at 10ms intervals to achieve the requirements of low latency and low power consumption.

[0139] The motion status communication submodule includes a visually impaired ESP32, a left-side vibration motor 12, and a right-side vibration motor 13. The visually impaired ESP32 drives the two motors to output differentiated vibrations based on the received motion status / amplitude: forward movement is characterized by long left and right vibrations with a single vibration not exceeding 5 seconds; stopping is characterized by short left and right high-frequency vibrations; and turning left or right is characterized by long vibrations of different intensities output by the corresponding side motors according to the amplitude.

[0140] The health monitoring module includes a health collection submodule, a health communication submodule, and a health communication submodule.

[0141] The health collection submodule includes a visually impaired ESP32 and a heart rate sensor 14, both housed within the visually impaired handpiece. The heart rate sensor 14 is based on photoplethysmography, sampling the intensity of green light reflection at 10ms intervals to form a waveform; the visually impaired ESP32 performs median filtering on the waveform and counts peaks within a time window to obtain the real-time heart rate.

[0142] The health communication submodule includes a running companion ESP32 and a visually impaired ESP32. The visually impaired ESP32 sends heart rate data to the running companion ESP32 via Bluetooth Low Energy at 1-second intervals. To avoid mutual interference, the motion navigation module and the health monitoring module share this pair of ESP32s and employ a multi-threaded real-time operating system to suppress link latency.

[0143] The health communication submodule includes the ESP32 running companion, the OLED display 7, and the running companion vibration motor, all housed within the running companion handle. When the local heart rate exceeds the threshold and remains there for 5 seconds, the running companion vibration motor outputs high-frequency short vibrations to prompt adjustments to pace / route; the OLED display 7 displays the heart rate in real time and uses large fonts to accommodate running swaying and visibility conditions.

[0144] The data storage module consists of a GPS, a heart rate sensor 14 on the visually impaired handle, an SD card 15, and a running handle button 8. The heart rate sensor 14 is located inside the visually impaired handle, while the SD card 15 and GPS are located inside the running handle. The SD card 15 records the heart rate and pace for each run; after exercise, the ESP32 reads the data and uses least-squares fitting to calculate the heart rate inflection point / threshold, automatically updating the high-risk alarm. The running handle button 8 can clear the data for easy user switching; compared to manually setting thresholds via a mobile app, this invention has lower learning / pre-set costs and achieves automatic recording and updating with more accurate thresholds.

[0145] The above detailed description further illustrates the purpose, technical solution, and beneficial effects of the invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A multi-functional combined system for running with a visually impaired person, characterized in that: The accompanying running handle, the visual impairment handle, the main control and communication module, the motion navigation module, the data storage module, and the health monitoring module are included. The accompanying running handle includes an accompanying running handle upper cover, an accompanying running handle lower cover, a battery, an accompanying running vibration module, a gyroscope, a main control and communication development board, an OLED display screen, a key, and a switch. The visual impairment handle includes a visual impairment handle upper cover, a visual impairment handle lower cover, a left side vibration motor, a right side vibration motor, a heart rate sensor, a battery, a main control and communication development board, an SD card, a switch, a GPS sensor, a Braille indicator, a key, and a switch. The main control and communication module is realized based on the main control and communication development board, is used for controlling the motion navigation module, the health monitoring module, and the data storage module, is used for communication and information transmission among the three modules, is used for communication between the gyroscope and the left side vibration motor and the right side vibration motor, and is used for communication between the heart rate sensor and the accompanying running vibration module.

2. The multi-functional combination system for running with a visually impaired runner of claim 1, wherein: The main control and communication module is realized based on the main control and communication development board ESP32. The motion navigation module includes a motion state collection submodule, a navigation wireless communication submodule, and a motion state transmission submodule. The motion state collection submodule includes a gyroscope and an accompanying running ESP32, and is arranged in the accompanying running handle. The gyroscope acquires real-time three-axis direction and acceleration data. The accompanying running ESP32 performs Kalman filtering on the data and determines the motion state according to a threshold value. The motion state at least includes forward movement, stop, left turn, and right turn. In order to avoid false triggering caused by a slight swing in a running posture, turning is confirmed only when the direction and acceleration both exceed the threshold value. The forward movement state is determined by the value of the y-axis direction exceeding a threshold value determined through testing. The navigation wireless communication submodule includes an accompanying running ESP32 and a visual impairment ESP32. The accompanying running ESP32 sends the motion state and its motion amplitude information to the visual impairment ESP32 at a preset time period through low-power Bluetooth. The motion state transmission submodule includes the visual impairment ESP32, the left side vibration motor, and the right side vibration motor. The visual impairment ESP32 drives the left side vibration motor and the right side vibration motor to output different vibrations according to the received motion state or amplitude: the forward movement is long vibration of the left side vibration motor and the right side vibration motor, and the single vibration does not exceed 5 seconds; the stop is high-frequency short vibration of the left side vibration motor and the right side vibration motor; the left turn or the right turn is output by the corresponding left side vibration motor or right side vibration motor according to the amplitude. The data storage module is composed of a GPS, a heart rate sensor, an SD card, and a key 8. The heart rate sensor is arranged in the visual impairment handle, and the SD card and the GPS are arranged in the accompanying running handle. The SD card records the heart rate and the pace of each running. After the running is completed, the ESP32 reads and calculates the heart rate turning point or threshold value by using the least square fitting, and automatically updates the high alarm. The key is used to clear the data for replacement of the user.

3. The multi-functional combination system for running with a visually impaired runner of claim 2, wherein: The health monitoring module includes a health collection submodule, a health communication submodule, and a health transmission submodule. The health collection sub-module includes a visual impairment ESP32 and a heart rate sensor, both of which are arranged in the visual impairment handle; the heart rate sensor is based on the photoplethysmography method to sample the green light reflection intensity to form a waveform at a preset time period; the visual impairment ESP32 performs median filtering on the waveform and counts the wave peaks in a time window to obtain a real-time heart rate; The health communication sub-module includes a running companion ESP32 and a visual impairment ESP32; the visual impairment ESP32 sends heart rate data to the running companion ESP32 at a preset time period through low-power Bluetooth; the motion navigation module and the health monitoring module share the pair of ESP32s and adopt a multi-thread real-time operating system to suppress link delay; The health communication sub-module includes a running companion ESP32, an OLED display screen, and a running companion vibration motor, all of which are arranged in the running companion handle; when the local heart rate exceeds a threshold value and lasts for a preset time, the running companion vibration motor outputs high-frequency short vibrations to prompt adjustment of the pace or route; the OLED display screen is used to display the heart rate in real time and adopts large fonts to adapt to running shaking and visual distance conditions.

4. The multi-functional combination system for running with a visually impaired runner of claim 2, wherein: The running companion handle has an elongated columnar structure, and the outer wall has a 60°-70° arc transition along the length direction; the two ends of the running companion handle are a rounded closed end and a contracted end portion, respectively, and a linear taper contraction is formed at a position 16-18 mm inward from the largest end of the handle, and the side wall contraction taper angle is 38°-42°; an array of elliptical shallow groove structures is arranged on the outer surface of the running companion handle along the axial direction, the groove depth is 0.25-0.35 mm, and the interval is 3.5-5 mm, which can hold the thumb and index finger by the groove depth; The visual impairment handle has an elongated columnar structure, and the outer wall has a 70°-80° arc transition along the length direction; the two ends of the running companion handle are a rounded closed end and a contracted end portion, respectively, and a linear taper contraction is formed at a position 16-18 mm inward from the largest end of the handle, and the side wall contraction taper angle is 38°-42°; an array of elliptical shallow groove structures is arranged on the outer surface of the visual impairment handle along the axial direction, the groove depth is 0.25-0.35 mm, and the interval is 3.5-5 mm, which can hold the thumb and index finger by the groove depth.

5. The multifunctional combined system for running with visual impairment persons according to claim 4, characterized in that: The running companion handle upper cover and the running companion handle lower cover are fixedly connected through screws, which facilitates disassembly and assembly of the running companion handle upper cover and the running companion handle lower cover during maintenance; The running companion handle upper cover top is provided with a protrusion for a rope hole position, and the running companion handle upper cover top is also provided with a rope hole for threading a rope; The running companion handle upper cover is provided with two screw holes at the upper part and the middle part, respectively, and one screw hole at the lower left side; the handle is firm when the screw is screwed on, the running companion upper cover and the running companion lower cover, or the internal structure is adjusted by unscrewing the screw; The running companion handle lower cover top is provided with a data operation port for exposing the key for clearing the visual impairment data outside the handle; The running companion handle lower cover upper part is provided with a display screen port for placing the OLED display screen; The running companion handle lower cover bottom is provided with a switch port to expose the switch outside. The accompanying running vibration motor is installed at the lower part of the accompanying running handle, so that the palm bottom of the hand holding the handle is enhanced in vibration feeling; the accompanying running vibration motor is used for high-frequency short vibration alarm when the visual impairment heart rate exceeds the predetermined threshold value; The gyroscope is installed at the upper part of the accompanying running handle, and the gyroscope is embedded in the upper part of the handle space which is relatively narrow, which helps to utilize the handle space, leave the relatively spacious position for the battery, the main control and communication development board, and the accompanying running vibration motor; the gyroscope is used for sensing the acceleration and orientation change when the accompanying running changes the motion state; the accompanying running motion state includes turning, advancing, and stopping; The main control and communication development board is placed in the middle and lower part of the handle, and the main control and communication development board is located at a relatively central position to facilitate its central role, and is connected to each other part; The OLED display screen is installed on the upper part of the lower cover of the accompanying running handle, so that the line of sight of the accompanying runner using the accompanying running handle directly reaches the OLED display screen; the GPS operation state and the real-time heart rate of the visual impairment are displayed thereon; The key is installed on the top of the upper cover of the accompanying running handle, and is exposed outside through the operation port; The switch is installed at the bottom of the lower cover of the accompanying running handle, and is exposed outside through the switch port, which is convenient for the user to operate; The upper cover of the visual impairment handle is provided with a protrusion for a rope hole position at the top, and the upper cover of the visual impairment handle is further provided with a rope hole for threading a rope, which is used for conveniently adjusting the length of the rope by the visual impairment to the most comfortable state of pulling; The upper cover of the visual impairment handle is provided with two screw holes at the upper part and the middle part, and one screw hole is arranged at the left side of the lower part; the upper cover of the visual impairment handle and the lower cover of the visual impairment handle are fastened when the screws are screwed, or the internal structure is adjusted by unscrewing the screws; The upper cover of the visual impairment handle is provided with a heart rate hole at the left side of the middle part, so that the contact surface of the heart rate sensor and the fingers of the visual impairment runner is exposed outside the visual impairment handle; The upper cover of the visual impairment handle is provided with screw holes at the left side of the upper part, the right side of the upper part, the right side of the middle part, and the left side of the lower part, which are used for placing screws to fix the upper cover of the visual impairment handle and the lower cover of the visual impairment handle; The bottom of the upper cover of the visual impairment handle is excavated with a switch port, so that the switch is exposed outside; The left side vibration motor is placed at the upper part of the visual impairment handle close to the upper cover of the visual impairment handle; the right side vibration motor is placed at the middle part close to the lower cover of the visual impairment handle; the left side vibration motor and the right side vibration motor are used for sending vibration to remind the visual impairment runner when the visual impairment handle receives the change of the motion state; the left side vibration motor and the right side vibration motor are placed at different heights; when the visual impairment runner runs, the index finger held on the left side of the handle is close to the upper part of the upper cover of the visual impairment handle, and the palm held on the right side of the handle is close to the lower part of the lower cover of the visual impairment handle, which serves as the basis for the layout of the vibration motor; when the accompanying runner turns the handle, the acceleration and direction data recorded by the gyroscope are transmitted to the visual impairment handle, and the corresponding vibration motor in the visual impairment handle starts to vibrate, and the vibration amplitude is in a linear function relationship with the turning amplitude, so as to make the visual impairment runner distinguish the sharp turn and the slight turn to avoid obstacles; the visual impairment runner changes the motion state by the different vibration amplitudes and braille information; The heart rate sensor is placed at the left side close to the upper cover of the visual impairment handle, which is the most convenient position for the thumb of the visual impairment runner to adhere to when running; The main control and communication development board is placed in the middle and lower part of the handle, and the main control and communication development board is located at a relatively central position to facilitate its central role, and is connected to each other part; The SD card is placed in the visual impairment handle close to the position placed in the visual impairment handle; the SD card is used to store the pace and heart rate of the visual impairment runner for each run, and is used to calculate the heart rate threshold of the visual impairment runner; The upper left side, the upper right side, the middle right side and the lower left side of the upper cover of the visual impairment handle are respectively provided with screw holes for placing screws to fix the upper cover of the visual impairment handle and the lower cover of the visual impairment handle; A switch hole is dug in the bottom of the upper cover of the visual impairment handle, so that the switch is exposed outside; The GPS sensor is placed between the main control and communication development board and the shell at the lower part of the handle; the GPS sensor is used to measure the position of the visual impairment runner in the running process at regular time, calculate the pace and heart rate data of the visual impairment runner, and further calculate the heart rate threshold of the visual impairment runner.

6. The multi-functional combination system for running with a visually impaired runner of claim 5, wherein: The shell is engraved with Braille near the vibration motor, and the Braille is set according to the accompanying running state instructions, including left transmission and right turning; the touch of the visually impaired person is more sensitive than that of the healthy person, and different motion state signals are more quickly adapted through Braille; The starting position of the linear tapering segment With average taper angle According to the lateral size of the user's hand With height bracket Adaptive fine-tuning: Among them: the start of the linear taper segment, measured along the handle axis from the end fillet / closed end inward; an average side wall taper angle for the linear taper segment; to the transverse dimension of the user's hand; The palm width reference value is used to form a relative deviation; (Grade) is a height classification index, which is a dimensionless integer or half-integer and reflects differences in body shape; For the clipping operator, the variable is constrained to the interval start is the start position reference value; is the cone angle reference value; For the relative deviation of the palm width to the linear sensitivity coefficient of Linear sensitivity coefficient for the relative deviation pair of palm widths; For height decile Linear sensitivity factor; (° / bin) is the linear sensitivity coefficient for height bin p. the lower and upper limits, respectively of the range the lower and upper limits, respectively of the range According to the above formula, the starting point of linear taper is corrected by reference value, palm width, height, and amplitude limiting and taper angle Linear self-adaptation is performed according to individual palm width and body type grading; when palm width or height grading increases, and the corresponding decreases, while the geometry is ensured to fall within the safe man-machine interval.

7. The multi-functional combination system for running with a visually impaired runner of claim 5, wherein: The accompanying running handle is preferably made of polycarbonate material; The visual impairment handle is preferably made of polycarbonate material; The depth of the elliptical shallow groove structure is 0.3mm, and the interval is 4mm; The thickness of the upper cover of the accompanying running handle and the lower cover of the accompanying running handle is 2mm; The rope hole is 3mm in diameter; The data operation port is 5mm in diameter; The heart rate hole is 8mm in diameter.

8. The multi-functional combination system for running with a visually impaired runner of claim 5, wherein: When the visually impaired person is a blind runner, the solid rope body is inserted through the small hole of the accompanying running handle upper cover and the visual impairment handle upper cover, so that the blind runner feels the pulling force of the accompanying runner, enhances the safety during running, and also facilitates the accompanying runner to pull the visually impaired person back in case the blind runner trips or runs to the wrong direction; the elastic rope is divided into different types according to different accompanying running scenes: daily running type, speed running or competition type, and middle-aged and old friendly type; ①The daily running type uses a middle section structure with a outer layer of polyester woven sheath and a inner embedded TPU circular tube core with a stretching rate of 20~30%; a limiting woven belt is arranged in the buffer zone, and the maximum stretching is not more than 15cm; the two ends are fixed by high-strength sewing with a tensile strength of ≥300N; ②The speed running or competition type uses a middle section structure with an outer layer of high-density nylon woven layer and an inner embedded low-elasticity TPU core strip with a stretching rate of 10~15%; the main body and the buffer zone are integrally formed by high-frequency hot pressing; ③The middle-aged and old friendly type uses a middle section structure with a medical-grade silicone elastic core and a flexible nylon protective layer with a stretching rate of 30~40%; a built-in breakage protection rope core is arranged to ensure two-stage support before breakage.

9. The multi-functional combination system for running with a visually impaired runner of claim 5, wherein: A dynamic tension adjustment system is integrated in the solid rope body; the dynamic tension adjustment system senses the relative distance, speed and motion state between the leading runner and the visually impaired runner in real time through a sensor, and automatically adjusts the tension of the rope through an electric winding mechanism to realize intelligent switching from rigid connection to elastic connection; the dynamic tension adjustment system integrates a micro distance measuring sensor, a motion sensor, a microprocessor and a winding mechanism with a servo motor in the rope body or the handle; the three main application scenes are stable running, uphill or turning, and sudden acceleration or about to trip of one side; When running smoothly: the dynamic tension adjustment system provides soft elasticity, reduces pulling force, and absorbs stride differences; when accompanying running and the visually impaired have a height difference or a large difference in step frequency, the elastic rope is used to reduce resistance to the progress of both parties; When going uphill or downhill or turning: the dynamic tension adjustment system automatically tightens the rope, becoming semi-rigid, and transmitting clearer direction and center of gravity guidance; When one side suddenly accelerates or is about to stumble: the dynamic tension adjustment system instantly locks the rope, becoming a rigid connection, and emergency braking to prevent injury from falling.

10. The multi-functional combination system for running with a visually impaired runner of claim 9, wherein: Install the heart rate sensor in the middle of the visually impaired handle to form a symmetrical structure, making it easy to change hands at the supply station or because one side is tired of pulling; Replace the heart rate sensor in the visually impaired handle with an electrocardiogram belt, which is worn tightly around the chest below the chest; the chest belt type electrocardiogram belt directly measures the electrical activity of the heart based on electrocardiogram signals ECG; the electrocardiogram belt can provide more health monitoring indicators for the accompanying runner in addition to exercise load; the electrocardiogram belt is connected to the ESP32 in the accompanying runner's handle, and the various indicators of the visually impaired are displayed on the OLED screen of the accompanying runner's handle. Mix phase change material microcapsules into the flexible polymer of the accompanying runner's handle and the visually impaired handle, and form the final gripping outer layer of the accompanying runner's handle and the visually impaired handle; this gripping outer layer is used to actively absorb and release heat, preventing the handle from overheating in summer and avoiding the cold touch in winter, thereby providing a stable and comfortable temperature sensation and safe grip in any season; A supply bin is provided at the bottom of the visually impaired handle to store salt pills and energy gel.

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