CN103932873B - Intelligent walking stick and inclination alarm control method and device - Google Patents
Intelligent walking stick and inclination alarm control method and device Download PDFInfo
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- CN103932873B CN103932873B CN201410159274.5A CN201410159274A CN103932873B CN 103932873 B CN103932873 B CN 103932873B CN 201410159274 A CN201410159274 A CN 201410159274A CN 103932873 B CN103932873 B CN 103932873B
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Abstract
The invention discloses a kind of intelligent walking stick and inclination alarm control method and device. The alarm control method that this intelligent walking stick tilts comprises: read the inclination data that obliquity sensor collects; Judge according to inclination data whether intelligent walking stick tilts; And in the time that intelligent walking stick tilts, output alarm signal. By the present invention, can avoid using mercoid switch to occur the problem of leakage, and the data signal certainty of measurement of transmission is high, warning error rate is low.
Description
Technical field
The present invention relates to intelligent walking stick technical field, particularly, particularly intelligent walking stick and the report that tilts thereofAlert control method and device.
Background technology
Old man, physical disabilities etc. use the special population of walking stick out of doors time, usually there will be some burst feelingsCondition and falling down, if these emergency case can not be paid close attention in time, usually can miss the best rescue time.
In order to solve this class problem, available technology adopting mercoid switch control walking stick inclination alarm signal defeatedGo out, wherein, mercoid switch is the one of contactor, and its structure comprises the then small and exquisite container of electrode,In this container, storing a droplet mercury, because the relation of gravity, mercury bead can flow to electricity lower in containerStream, if while touching two electrodes simultaneously, just switch can, by closing of circuit, send alarm signal.
But mercury is harmful, and environment is existed and polluted, when use, usually there will be the feelings of leakageCondition, for the above-mentioned problems in the prior art, not yet proposes effective solution at present.
Summary of the invention
Main purpose of the present invention is to provide a kind of intelligent walking stick and inclination alarm control method and device,To solve intelligent walking stick in prior art, the problem that mercoid switch there will be leakage is set.
According to one aspect of the present invention, the alarm control method that provides a kind of intelligent walking stick to tilt, the partyMethod comprises: read the inclination data that obliquity sensor collects; Judge that according to inclination data intelligent walking stick isNo inclination; And in the time that intelligent walking stick tilts, output alarm signal.
Further, reading the inclination data that obliquity sensor collects comprises: read obliquity sensor collectionTo single inclination data or read multiple inclination data that obliquity sensor collects; Wherein, when readingWhen single inclination data that obliquity sensor collects, judge the intelligent walking stick bag that whether tilts according to inclination dataDraw together: judge according to single inclination data whether intelligent walking stick tilts; When reading many that obliquity sensor collectsWhen individual inclination data, judge according to inclination data whether intelligent walking stick tilts to comprise: according to multiple inclination dataWeighted average judge whether intelligent walking stick tilts.
Further, judge according to inclination data whether intelligent walking stick tilts to comprise: whether judge inclination dataWithin the scope of the first default inclination angle, wherein, in the time that inclination data is not within the scope of the first default inclination angle, determineIntelligent walking stick tilts.
Further, judge according to inclination data whether intelligent walking stick tilts to comprise: just calculating inclination dataState distribution probability density function; Whether the value that judgement calculates is preset within the scope of inclination angle second, wherein,In the time that the value calculating is not within the scope of the second default inclination angle, determine that intelligent walking stick tilts.
Further, normpdf is:
Wherein, a, b are constant, and φ (x) is normpdf.
Further, in the time reading multiple inclination data that obliquity sensor collects, according to multiple inclination angles numberAccording to weighted average judge whether intelligent walking stick tilts before, the method also comprises: to multiple inclination dataCarry out filtering processing, wherein, after processing according to filtering, the weighted average of data judges whether intelligent walking stick inclinesTiltedly.
Further, multiple inclination data being carried out to filtering processing comprises: multiple inclination data are carried out to intermediate valueAverage filter processing; Multiple inclination data are being carried out after median-value filter processing, then carrying out limit filtrationProcess.
According to one aspect of the present invention, the alarm control unit that provides a kind of intelligent walking stick to tilt, this dressPut and comprise: read module, the inclination data collecting for reading obliquity sensor; Judge module, forJudge according to inclination data whether intelligent walking stick tilts; And output module, in the time that intelligent walking stick tilts,Output alarm signal.
Further, read module is for reading the single inclination data that obliquity sensor collects or readingMultiple inclination data that obliquity sensor collects; Wherein, incline when reading single that obliquity sensor collectsWhen angular data, judge module is for judging according to single inclination data whether intelligent walking stick tilts; Incline when readingWhen multiple inclination data that angle transducer collects, judge module is for flat according to the weighting of multiple inclination dataAverage judges whether intelligent walking stick tilts.
Further, judge module comprises: first judges submodule, for judging that whether inclination data isWithin the scope of one default inclination angle; First determines submodule, in the time that inclination data is not within the scope of the first default inclination angle,Determine that intelligent walking stick tilts.
Further, judge module comprises: calculating sub module, and general for calculating the normal distribution of inclination dataRate density function; Second judges submodule, for judging that whether the value calculating is at the second default inclination angle modelIn enclosing; Second determines submodule, in the time that the value calculating is not within the scope of the second default inclination angle, reallyDetermine intelligent walking stick.
Further, normpdf is:
Wherein, a, b are constant, and φ (x) is normpdf.
Further, in the time reading multiple inclination data that obliquity sensor collects, this device also comprises:Filtration module, for judging according to the weighted average of multiple inclination data whether intelligent walking stick tilts itBefore, multiple inclination data are carried out to filtering processing, wherein, the weighted average of data after processing according to filteringJudge whether intelligent walking stick tilts.
Further, filtration module comprises: the first filtering submodule, and for multiple inclination data are carried outThe processing of value average filter; The second filtering submodule, for carrying out median-value filter to multiple inclination dataAfter processing, then carry out limit filtration processing.
According to one aspect of the present invention, a kind of intelligent walking stick is provided, this intelligent walking stick comprises intelligent walking stickBody and being arranged on intelligent walking stick body: obliquity sensor, the processing being connected with obliquity sensorUnit and alarm unit, wherein, this processing unit is used for carrying out any one intelligent hand provided by the inventionThe alarm control method that cane tilts.
Further, alarm unit comprises communication module, in the time that intelligent walking stick tilts, sends alarm signalNumber to remote mobile terminal.
By the present invention, the alarm control method that provides a kind of intelligent walking stick to tilt, the intelligence of employing the methodCan obliquity sensor be set walking stick, first this control method reads the inclination data that obliquity sensor collects,Then judge according to inclination data whether intelligent walking stick tilts, thereby in the time that intelligent walking stick tilts, output alarmSignal, avoids using mercoid switch to occur the problem of leakage, and the data signal certainty of measurement of transmission is high, reportAlert error rate is low.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to better understand technology of the present inventionMeans, and can being implemented according to the content of description, and for allow above and other objects of the present invention,Feature and advantage can become apparent, below especially exemplified by the specific embodiment of the present invention.
Brief description of the drawings
By reading below detailed description of the preferred embodiment, various other advantage and benefit for abilityIt is cheer and bright that territory those of ordinary skill will become. Accompanying drawing is only for the object of preferred embodiment is shown, and alsoDo not think limitation of the present invention. And in whole accompanying drawing, represent identical by identical reference symbolParts. In the accompanying drawings:
Fig. 1 is according to the flow chart of the alarm control method of the intelligent walking stick inclination of first embodiment of the invention;
Fig. 2 is according to the flow chart of the alarm control method of the intelligent walking stick inclination of second embodiment of the invention;
Fig. 3 is according to the flow chart of the alarm control method of the intelligent walking stick inclination of third embodiment of the invention;
Fig. 4 is according to the block diagram of the alarm control unit of the intelligent walking stick inclination of fourth embodiment of the invention;
Fig. 5 is according to the theory diagram of the intelligent walking stick of fifth embodiment of the invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention will be further described. It is pointed out thatIn the situation of not conflicting, the feature in embodiment and embodiment in the application can combine mutually.
Fig. 1 is according to the flow chart of the alarm control method of the intelligent walking stick inclination of first embodiment of the invention,In this embodiment, intelligent walking stick arranges obliquity sensor, and in the time that user uses walking stick walking, obliquity sensor is realTime gather the inclination data of walking stick, as shown in Figure 1, this control method comprises that following step S102 is to stepRapid S106.
Step S102: read the inclination data that obliquity sensor collects.
Wherein, can read each data that obliquity sensor collects, also can read interval predetermined timeGet inclination data one time.
Step S104: judge according to inclination data whether intelligent walking stick tilts.
Wherein, can, by the inclination data reading and the normal inclination angle scope comparison of presetting, for example, preset and inclineAngular region is set to-45 degree～45 degree, in the time that the inclination data reading is within the scope of this, determines intelligenceWalking stick does not tilt.
The Mathematical Modeling that judgement is tilted also can be set, inclination data be inputed to Mathematical Modeling, to judge walking stickWhether tilt.
Step S106: in the time that intelligent walking stick tilts, output alarm signal.
In the time that definite intelligent walking stick tilts, user may fall down, and now walking stick itself can produce alarm signalNumber, for example, produce audible alarm, give a hand in time with near the people showing; Or also can send warningSignal is to walking stick user's fixing guardian, the locating information of portability intelligent walking stick in this alarm signal,Thereby guardian can succour in time.
The alarm control method that adopts intelligent walking stick that this embodiment provides to tilt, has installed and has inclined in intelligent walking stickAngle transducer, is fallen down and identifies walking stick end user by the identification at angle of inclination, and plays to report to the police and carryThe function of showing, and warning message also can be issued guardian by GPRS note form. With existing skillIn art, use mercoid switch to report to the police and compare, avoid mercury leakage problem, improved the peace that walking stick usesQuan Xing, due to the data signal that is of acquisition and processing, certainty of measurement is high simultaneously.
Fig. 2 is according to the flow chart of the alarm control method of the intelligent walking stick inclination of second embodiment of the invention,In this embodiment, intelligent walking stick arranges obliquity sensor, and in the time that user uses walking stick walking, obliquity sensor is realTime gather the inclination data of walking stick, as shown in Figure 2, this control method comprises that following step S202 is to stepRapid S210.
Step S202: read the inclination data that obliquity sensor collects.
In this embodiment, can be every predetermined time, for example 10s, reads that obliquity sensor collectsAn inclination data.
Step S204: judge whether this inclination data is preset within the scope of inclination angle first, wherein, when inclination angle numberAccording in the time that first presets within the scope of inclination angle, execution step S206, otherwise carry out to step S208, this is first years oldDefault inclination angle scope can be according to the stability setting of intelligent walking stick self, for example, and the good intelligent hand of stabilityThe inclination angle scope that cane setting is larger, the less inclination angle scope of intelligent walking stick setting of less stable.
Step S206: determine that intelligent walking stick is normal, return to step S202, read next of obliquity sensorIndividual inclination data.
Step S208: determine that intelligent walking stick tilts, the inclination representative at this place is used the user of walking stick to fall down.
Step S210: send alarm signal to predetermined remote mobile terminal.
When definite walking stick tilts, after user falls down, alarm signal is sent to predetermined terminal, this terminal canHeld by the guardian who is scheduled to.
Preferably, in order to improve the accuracy of warning, in the time judging whether intelligent walking stick tilts, according to one sectionMultiple inclination data in time judge, also, read obliquity sensor collection in step S202The multiple inclination data that arrive, then judge according to the weighted average of multiple inclination data whether intelligent walking stick inclinesTiltedly.
Further preferably, before judging according to multiple inclination data whether intelligent walking stick tilts, to readingTo these inclination data carry out filtering processing, with by the noise data filtering in gatherer process, further carryHigh accuracy of reporting to the police. Wherein, multiple inclination data are carried out when filtering is processed adopting twice filtering, headFirst multiple inclination data are carried out to median-value filter processing, and then carry out limit filtration processing. ConcreteFiltering can adopt filtering method of the prior art, repeats no more herein.
Fig. 3 is according to the flow chart of the alarm control method of the intelligent walking stick inclination of third embodiment of the invention,In this embodiment, intelligent walking stick arranges obliquity sensor, and in the time that user uses walking stick walking, obliquity sensor is realTime gather the inclination data of walking stick, as shown in Figure 3, this control method comprises that following step S302 is to stepRapid S316.
Step S302: read n the inclination data that obliquity sensor collects, this n inclination data canTo be the data that default set time leaning angle sensor collects.
Step S304: n inclination data carried out to median-value filter processing.
Step S306: median-value filter inclination data after treatment is carried out to limit filtration processing.
Step S308: the weighted average that calculates limit filtration inclination data after treatment.
Step S310: the normpdf that calculates the weighted average of inclination data.
Step S312: whether the value that judgement calculates is preset within the scope of inclination angle second, works as inclination dataWithin the scope of the second default inclination angle time, execution step S314, otherwise carry out to step S316. Wherein,Two default inclination angle scopes are according to normpdf relative set.
Step S314: determine that intelligent walking stick is normal, return to step S302.
, can adopt the method for moving time-window herein, for example, taking the above-mentioned default set time as time window, withPreset Time is spaced apart moving step length, in the time once judging that step S302 is returned in end, and first mobile oneStep-length, then reads in a new time window n that obliquity sensor a collects inclination data.
Step S316: send alarm signal to predetermined remote mobile terminal.
Adopt the control method of this embodiment, by median-value filter is added to limit filtration, both are incorporated intoRow filtering, can filter out the interfering datas such as shake, low-angle, valid data substitution normal state is divided simultaneouslyThe early warning Mathematical Modeling formula that cloth probability density function is set up carries out computational analysis judgement, finally judges that user isNoly really fall down, can greatly reduce like this false alarm, and can be by warning message by GPRS note shapeFormula is sent.
Preferably, normpdf is:
The feature test of many times such as wherein, a, b are constant, stability that can intelligent walking stick obtain, and φ (x) isNormpdf.
It is more than the description that the alarm control method of intelligent walking stick inclination provided by the present invention is carried out. BelowThe alarm control unit that intelligent walking stick provided by the invention is tilted is described, it should be noted that, shouldDevice can be used for carrying out the alarm control method that above-mentioned any one intelligent walking stick tilts.
Fig. 4 is according to the block diagram of the alarm control unit of the intelligent walking stick inclination of fourth embodiment of the invention, shouldIn embodiment, intelligent walking stick arranges obliquity sensor, and in the time that user uses walking stick walking, obliquity sensor is real-timeThe inclination data that gathers walking stick, is also provided with single-chip microcomputer as central processing unit, to the inclination data collectingProcess, also, can in single-chip microcomputer, carry out alarm control unit as described below. As shown in Figure 4,This device comprises read module 410, judge module 430 and output module 450.
Wherein, the inclination data that read module 410 collects for reading obliquity sensor, wherein, readableGet each data that obliquity sensor collects, also can read one time inclination angle number interval predetermined timeAccording to.
Judge module 430, for judging according to inclination data whether intelligent walking stick tilts, wherein, can will readThe inclination data arriving and the normal inclination angle scope comparison of presetting, for example, default inclination angle scope is set to-45Degree～45 degree, in the time that the inclination data reading is within the scope of this, determine that intelligent walking stick does not tilt. AlsoThe Mathematical Modeling that judgement is tilted can be set, inclination data be inputed to Mathematical Modeling, whether to judge walking stickTilt.
Output module 450 is in the time that intelligent walking stick tilts, output alarm signal. When definite intelligent walking stick inclinesTiltedly time, user may fall down, and now walking stick itself can produce alarm signal, for example, produces soundReport to the police, give a hand in time with near the people showing; Or also can send alarm signal to walking stick user'sFixing guardian, the locating information of portability intelligent walking stick in this alarm signal, thus guardian can be timelySuccour on ground.
The alarm control unit that adopts intelligent walking stick that this embodiment provides to tilt, has installed and has inclined in intelligent walking stickAngle transducer, is fallen down and identifies walking stick end user by the identification at angle of inclination, and plays to report to the police and carryThe function of showing, and warning message also can be issued guardian by GPRS note form. With existing skillIn art, use mercoid switch to report to the police and compare, avoid mercury leakage problem, improved the peace that walking stick usesQuan Xing, due to the data signal that is of acquisition and processing, certainty of measurement is high simultaneously.
Wherein, read module 410 can read the single inclination data that obliquity sensor collects, and also can readMultiple inclination data that obliquity sensor collects, wherein, adopt when read module 410 reads obliquity sensorWhile collecting the single inclination data arriving, judge module 430 is in the time judging whether intelligent walking stick tilts, according to singleInclination data judges, processing procedure is simple, control device fast response time; When read module 410While reading multiple inclination data that obliquity sensor collects, whether judge module 430 is judging intelligent walking stickWhen inclination, judge according to the weighted average of multiple inclination data, warning precision is high.
Preferably, judge module 430 comprises the first judgement submodule and first definite submodule, wherein, theOne judges submodule is used for judging whether inclination data is preset within the scope of inclination angle first, this first default inclination angleScope can be according to the stability setting of intelligent walking stick self, and for example, the good intelligent walking stick setting of stabilityLarge inclination angle scope, the less inclination angle scope of intelligent walking stick setting of less stable. When inclination data does not existWithin the scope of the first default inclination angle time, first definite submodule determines that intelligent walking stick tilts.
Adopt the preferred embodiment, inclination angle scope is directly set and judges, judgment mode is simple, controls dressPut fast response time.
Preferably, judge module 430 comprises that calculating sub module, second judges submodule and second definite submodulePiece, wherein, calculating sub module is calculated the normpdf of inclination data, and second judges submodulePiece judges that the value that calculates is whether within the scope of the second default inclination angle, when the value calculating not pre-secondIf within the scope of inclination angle time, second definite submodule determines that intelligent walking stick tilts, wherein, and the second default inclination angle modelEnclose according to normpdf relative set.
Adopt the preferred embodiment, set up Mathematical Modeling by normpdf, by inclination angle numberJudge according to this Mathematical Modeling of substitution, improve the degree of accuracy of reporting to the police.
Further preferably, normpdf is:
The feature test of many times such as wherein, a, b are constant, stability that can intelligent walking stick obtain, and φ (x) isNormpdf.
In each embodiment of above-mentioned control device, when the multiple inclination data that read obliquity sensor and collectTime, this device also comprises filtration module, judges that intelligent walking stick is by this filtration module at judge module 430Before no inclination, multiple inclination data are carried out to filtering processing, with by the noise data filtering in gatherer process,Further improve the accuracy of reporting to the police. Wherein, the weighting that judge module 430 is processed rear data according to filtering is flatAverage judges whether intelligent walking stick tilts.
Further preferably, filtration module comprises the first filtering submodule and the second filtering submodule. FirstFiltering submodule carries out median-value filter processing to multiple inclination data, in multiple inclination data are carried outAfter value average filter is processed, the second filtering submodule carries out limit filtration processing again.
Fig. 5 is according to the theory diagram of the intelligent walking stick of fifth embodiment of the invention, as shown in Figure 5, and this intelligenceCan comprise intelligent walking stick body (not shown) and be arranged on the inclination angle biography on intelligent walking stick body by walking stickSensor 510, the processing unit 530 being connected with obliquity sensor and alarm unit 550, wherein, shouldThe controlling alarm side that processing unit tilts for carrying out any one intelligent walking stick that the embodiment of the present invention providesMethod, detailed process is above described in detail, no longer repeats herein.
Preferably, alarm unit 550 comprises communication module, and this communication module can be in the time that intelligent walking stick tilts,Alarm signal is sent to remote mobile terminal by form by GPRS note.
From the description of above each embodiment, can find out, the embodiment of the present invention has realized following technique effect:Obliquity sensor is set on intelligent walking stick, judges intelligence by reading the inclination data that obliquity sensor collectsCan whether tilt by walking stick, and in the time that intelligent walking stick tilts, output alarm signal, avoids using mercoid switch to go outThe problem of existing leakage, and the data signal certainty of measurement of transmission is high, and warning error rate is low.
The above, be only preferably detailed description of the invention of the present invention, but not office of protection scope of the present inventionBe limited to this, any people who is familiar with this technology in the disclosed technical scope of the present invention, the change that can expect easilyChange or replace, within all should being encompassed in protection scope of the present invention. Therefore, protection scope of the present invention shouldProtection domain with claim is as the criterion.
Claims (8)
1. the alarm control method that intelligent walking stick tilts, is characterized in that, comprising:
Read the inclination data that obliquity sensor collects;
Judge according to described inclination data whether described intelligent walking stick tilts; And
In the time that described intelligent walking stick tilts, output alarm signal;
Judge according to described inclination data whether described intelligent walking stick tilts to comprise: the normpdf that calculates described inclination data; Whether the value that judgement calculates is being preset within the scope of inclination angle, and wherein, described default inclination angle scope, according to normpdf relative set, in the time that the described value calculating is not within the scope of described default inclination angle, determines that described intelligent walking stick tilts.
2. the alarm control method that intelligent walking stick according to claim 1 tilts, is characterized in that,
Reading the inclination data that obliquity sensor collects comprises: read the single inclination data that described obliquity sensor collects or read multiple inclination data that described obliquity sensor collects;
Wherein, in the time reading the single inclination data that described obliquity sensor collects, judge according to described inclination data whether described intelligent walking stick tilts to comprise: judge according to described single inclination data whether described intelligent walking stick tilts;
In the time reading multiple inclination data that described obliquity sensor collects, judge according to described inclination data whether described intelligent walking stick tilts to comprise: judge according to the weighted average of described multiple inclination data whether described intelligent walking stick tilts.
3. the alarm control method that intelligent walking stick according to claim 1 tilts, is characterized in that, described normpdf is:
Wherein, a, b are constant,For described normpdf.
4. the alarm control method that intelligent walking stick according to claim 2 tilts, it is characterized in that, in the time reading multiple inclination data that described obliquity sensor collects, before judging according to the weighted average of described multiple inclination data whether described intelligent walking stick tilts, described method also comprises:
Described multiple inclination data are carried out to filtering processing, and wherein, after processing according to filtering, the weighted average of data judges whether described intelligent walking stick tilts.
5. the alarm control method that intelligent walking stick according to claim 4 tilts, is characterized in that, described multiple inclination data is carried out to filtering processing and comprise:
Described multiple inclination data are carried out to median-value filter processing;
Described multiple inclination data are being carried out after median-value filter processing, then carrying out limit filtration processing.
6. the alarm control unit that intelligent walking stick tilts, is characterized in that, comprising:
Read module, the inclination data collecting for reading obliquity sensor;
Judge module, for judging according to described inclination data whether described intelligent walking stick tilts; Judge according to described inclination data whether described intelligent walking stick tilts to comprise: the normpdf that calculates described inclination data; Whether the value that judgement calculates is being preset within the scope of inclination angle, and wherein, described default inclination angle scope, according to normpdf relative set, in the time that the described value calculating is not within the scope of described default inclination angle, determines that described intelligent walking stick tilts; And
Output module, in the time that described intelligent walking stick tilts, output alarm signal.
7. an intelligent walking stick, is characterized in that, comprises intelligent walking stick body and is arranged on intelligent walking stick body:
Obliquity sensor, the processing unit and the alarm unit that are connected with described obliquity sensor, wherein, the alarm control method that described processing unit tilts for the intelligent walking stick executing claims described in 1 to 5 any one.
8. intelligent walking stick according to claim 7, is characterized in that, described alarm unit comprises communication module, in the time that described intelligent walking stick tilts, sends described alarm signal to remote mobile terminal.
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| CN201410159274.5A CN103932873B (en) | 2014-04-21 | 2014-04-21 | Intelligent walking stick and inclination alarm control method and device |
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| CN201410159274.5A CN103932873B (en) | 2014-04-21 | 2014-04-21 | Intelligent walking stick and inclination alarm control method and device |
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| CN103932873B true CN103932873B (en) | 2016-05-25 |
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| CN110531118A (en) * | 2019-08-01 | 2019-12-03 | 广州晒帝智能科技有限公司 | A kind of multiple stage filtering method and device and equipment based on gyroscope acceleration |
| CN112294608A (en) * | 2020-10-29 | 2021-02-02 | 青岛市市北区蓝天心理研究所 | Orthopedic anti-falling rehabilitation training crutch |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200994488Y (en) * | 2007-02-08 | 2007-12-26 | 马驰 | Electronic sticks with automatic alarming function |
| CN201356766Y (en) * | 2009-03-11 | 2009-12-09 | 安凯 | Guide-stick for the blind |
| CN103536006A (en) * | 2013-10-31 | 2014-01-29 | 董月梅 | Tumbling alarm walking stick for old man/woman |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0686794A (en) * | 1992-08-12 | 1994-03-29 | Ota Kk | Walking stick for physically handicapped person |
| KR100936398B1 (en) * | 2008-08-05 | 2010-01-14 | 이규민 | Assistive devices for safe walking |
| ES2356959B1 (en) * | 2009-10-02 | 2012-06-19 | Universidad De Sevilla | SYSTEM OF MEASUREMENT OF LOADS IN ANTIBRAZE BASTS. |
| EP2827824B1 (en) * | 2012-03-23 | 2019-07-31 | 3D Systems, Inc. | Crutch |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200994488Y (en) * | 2007-02-08 | 2007-12-26 | 马驰 | Electronic sticks with automatic alarming function |
| CN201356766Y (en) * | 2009-03-11 | 2009-12-09 | 安凯 | Guide-stick for the blind |
| CN103536006A (en) * | 2013-10-31 | 2014-01-29 | 董月梅 | Tumbling alarm walking stick for old man/woman |
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