CN106805392B - Walking stick walking aid - Google Patents
Walking stick walking aid Download PDFInfo
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- CN106805392B CN106805392B CN201510847663.1A CN201510847663A CN106805392B CN 106805392 B CN106805392 B CN 106805392B CN 201510847663 A CN201510847663 A CN 201510847663A CN 106805392 B CN106805392 B CN 106805392B
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- 241001166076 Diapheromera femorata Species 0.000 title abstract description 11
- 230000033001 locomotion Effects 0.000 claims abstract description 56
- 230000001133 acceleration Effects 0.000 claims description 43
- 230000005484 gravity Effects 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 8
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 238000010295 mobile communication Methods 0.000 claims description 3
- 241000253999 Phasmatodea Species 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims 2
- 230000000630 rising effect Effects 0.000 claims 2
- 238000012549 training Methods 0.000 abstract description 14
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 238000004891 communication Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 208000018982 Leg injury Diseases 0.000 description 2
- 206010061225 Limb injury Diseases 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
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- 238000013459 approach Methods 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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- 210000001364 upper extremity Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45B—WALKING STICKS; UMBRELLAS; LADIES' OR LIKE FANS
- A45B3/00—Sticks combined with other objects
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
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- General Physics & Mathematics (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a walking stick walking aid embedded with a monitoring system, which comprises a handle, a stick body and a plurality of support legs supported on the ground, and further comprises: a first sensor located in the handle or shaft for detecting a state of the crutch to provide a first motion parameter; at least one second sensor in at least one of the plurality of legs for detecting a state of the crutch to provide a second motion parameter; a central controller configured to determine a motion state of the user based on at least one of the first and second motion parameters. According to the scheme of the invention, the rehabilitation level data of the user can be acquired more timely and accurately, so that a more targeted and more timely training plan can be provided.
Description
Technical Field
The invention relates to a crutch, in particular to a crutch walking aid with a walking aid monitoring function.
Background
The crutch can enable users with inflexible legs and feet, even users without walking ability, such as the old, patients and the like to take care of themselves, keep certain mobility, and also can assist the old or the patients to enhance the mobility so as to achieve the aim of rehabilitation.
At present, for patients or old people needing rehabilitation training, a rehabilitation doctor or a rehabilitation engineering worker usually performs pathological and physiological examination on the patients, determines the type of walking stick to be selected under the guidance of the rehabilitation doctor or the rehabilitation engineering worker, and determines an auxiliary training scheme. And the patient can do partial pre-use training of the walking aid crutch with the help of the rehabilitation teacher. Meanwhile, the rehabilitation doctors also need to follow up regularly to know the recovery condition of the patients as accurately as possible, so that the training scheme is further improved to achieve the best effect.
However, in reality, the user using the crutch cannot intuitively know the training state and the possible danger; meanwhile, a rehabilitation doctor cannot always stay together with a patient, so that the use condition and the rehabilitation level of the patient on the crutch cannot be known in real time, and meanwhile, the suggestion can not be provided for the patient in real time, so that the rehabilitation quality and progress are influenced.
Disclosure of Invention
The invention provides a walking stick walking aid, which not only can provide a conventional auxiliary supporting function for a user, but also can monitor the use condition of the user in real time and provide warning in due time. And furthermore, the training plan can be updated according to the rehabilitation condition of the user and applied to the training of the user.
According to the present invention, there is provided a walking aid for walking sticks, comprising a handle, a stick body and a plurality of legs supported on the ground, the walking aid further comprising: a first sensor located in the handle or shaft for detecting a state of the crutch to provide a first motion parameter; at least one second sensor in at least one of the plurality of legs for detecting a state of the crutch to provide a second motion parameter; a central controller configured to determine a motion state of the user based on at least one of the first and second motion parameters.
Preferably, wherein said central controller determines said state of motion according to a predetermined criterion; the central controller is further configured to receive a training program from a remote server via the user terminal and adjust the criteria in accordance with the training program.
Preferably, the central controller determines road characteristics of the user walking according to the first motion parameter and the second motion parameter, and determines whether the motion state of the user is normal or not based on the road characteristics, the first motion parameter and the second motion parameter.
Preferably, the user terminal is a mobile terminal, and the central controller communicates with the mobile terminal in a wireless or wired manner.
Drawings
FIG. 1 shows a schematic view of a walking stick walker in accordance with one example of the present invention;
FIG. 2 shows a schematic view of a walker monitoring system in a walking walker in accordance with one example of the present invention;
fig. 3 shows a pressure pattern diagram according to an example of the invention.
Detailed Description
Fig. 1 shows a crutch 100 according to an embodiment of the invention, which comprises a handle 101 for hand holding, four legs 102-1, 102-2, 102-3, 102-4 supported on the ground, and a crutch body 103 connecting the handle 101 and the legs 102.
In addition, a walking aid monitoring system is also installed in cane 100. As shown in fig. 2, according to an example of the present invention, one or more sensors, such as a pressure sensor, an acceleration sensor, a gyroscope, etc., are incorporated in the handle 101, and hereinafter, for convenience, are collectively referred to as a first sensor 201. The first sensor 201 may detect the movement of the crutch and provide a first kinematically measured parameter, such as using a gyroscope to determine the direction of gravity, or using an electronic compass to determine which direction the crutch is moving in, south, north and east, or using a multi-axis acceleration sensor to measure multi-dimensional acceleration information. One or more sensors, such as pressure sensors, acceleration sensors, etc., are mounted in each of the four legs 102-1, 102-2, 102-3, 102-4, respectively, and for convenience, are referred to herein below collectively as the second sensor 202. The second sensor 202 is adapted to detect a change in force of the crutch's foot due to a fall, tilt, movement, impact, and provide a second kinematically measured parameter. It should be noted that although a four-leg crutch is used, it is obvious that the present invention is not limited to four legs, and the sensors may be installed in all or at least some of the legs as required, as long as the measurement of the kinetic parameters of the user is achieved.
In addition, the crutch 100 further comprises a central controller 203, which may be located in any part of the handle, stick or leg of the crutch, wherein the central controller 203 is in communication with the first sensor 201 and the plurality of second sensors 203. The central controller 203 may analyze the real-time measurement data provided by the first and second sensors to determine the user's state of motion, which may include leaning, falling, being too fast, being too slow, walking steps, etc. In addition, the crutch 100 may further include an alarm 204, such as a speaker, and the central controller 203 may report the exercise information to the user through the alarm 204, or may output an audio prompt to the user when it is determined that the user has an abnormal exercise condition, such as a tendency to fall.
Further, the central controller has a storage device (not shown in the figure) therein for storing system application data, user information, recording data from the first and second sensors, and the like. The application data includes, for example, parameter settings for external communication, address information, and the user information may include user account information, training plans customized for the user, and the like. As a preferred approach, the controller 203 formulates the determination criteria for the user's exercise status based on the training program. For example, in the early stage of leg injury rehabilitation, the user is advised to walk at a slow speed according to the training plan, and therefore a slow threshold criterion is set. However, after a period of time, after it is determined that the predetermined effect is achieved based on the recorded sensor history data, the user is allowed and instructed to speed up the walking to achieve a better training step, and therefore a fast threshold criterion should be set. Thus, during the slow period, if the user's speed is too fast to be above the slow threshold, the central controller will issue a warning to prompt the user to make an adjustment via the alarm 204. Also if during the fast walking exercise period, the user's pace is too low, below the fast threshold criteria, a warning is also issued, prompting the user that the pace should be increased.
According to an aspect of the present invention, the central controller 203 may communicate with an external user terminal 205, which may be an external device such as a user's own mobile phone, a family's mobile phone, a home computer, etc., and upload the stored motion history data to the user terminal, which in turn may communicate with other external devices such as a remote server 206 belonging to a medical service company, and upload the user motion history data to the remote server. In one embodiment of the present invention, the central controller 203 may integrate a SIM card of a mobile operator, so as to communicate with the above-mentioned external devices through a mobile communication network, such as a 3G, 4G network. Due to the wide area nature of mobile communication networks, the central controller 203 may upload user motion history data to the user terminal in real time or directly to the remote server 206. The central controller may also integrate a bluetooth module or a wireless module to communicate with external devices such as a user terminal, a router, etc. through a bluetooth or WiFi network. Thus, the central controller 203 may temporarily store the user's motion history data in a local storage device, and upload the motion history data to the remote server 206 through an external device such as a home router, a user's cell phone, or a computer when the user is connectable to the device through a bluetooth or WiFi network. In another embodiment, central controller 203 may also communicate with external devices via wired means, such as the USB standard. The built-in battery of the monitoring system in the walking stick can be charged by utilizing the USB port on the walking stick.
After analyzing the uploaded exercise history data of the user, the rehabilitation teachers of the medical service company adjust the original rehabilitation plan, send the updated rehabilitation plan to the communication terminal 205 of the user, and the communication terminal 205 updates the rehabilitation plan prestored in the memory of the crutch by using the rehabilitation plan. For example, during the leg injury rehabilitation described above, if the rehabilitee finds that the user is better than expected from the uploaded historical data, and the user's rehabilitation plan needs to be modified if the user's walking speed needs to be increased. Upon receiving the modified rehabilitation program, central controller 203 may update the criteria used to determine the user's motion state, such as raising the fast threshold criteria previously described to enhance training, etc.
[ example 1]
In this example, a gyroscope, known in the art, is mounted in the crutch's handle for providing a gravity direction reference G1; and four pressure sensors are installed in the four legs for detecting the pressures F1, F2, F3, F4 acting on the four legs. As shown in fig. 3, according to the balance algorithm, under normal use of the crutch, the pressures detected on the four legs are substantially uniformly distributed, i.e., F1, F2, F3, and F4 are substantially equal, so that the central controller 203 can establish a sensor data pattern map based on the sensor data, as shown in fig. 3A, with the centroid Q of the map substantially centered and coincident with the gravity direction G1, or within a predetermined deviation range, as a reference map.
When the user has a sign of falling, the use of the crutch is inevitably abnormal. The pressures F1, F2, F3, F4 detected on the four legs are therefore significantly different. Taking fig. 3B as an example, when the extending range of the crutch is too large, the force of the user leaning on the crutch is necessarily more concentrated on the two rear legs 102-2, 102-4, so that the forces F1, F2 detected on the two front legs 102-1, 102-2 are smaller than the pressures F3, F4 of the two rear legs. Therefore, the centroid Q of the pattern diagram synthesized by the central controller 203 inevitably shifts to the two rear legs, i.e. as shown by Q ', and the shift angle of the crutch from the original gravity direction G can be calculated according to the shift Q-Q'. Obviously, when the offset angle exceeds a certain limit, a fall is inevitably caused. Therefore, in this example, an angle threshold and a pressure difference threshold are set, and when the offset angle exceeds the angle threshold and the front-to-back pressure difference (i.e., F3-F1, F4-F2) is greater than the pressure difference threshold, it is known that the tilt has occurred, and the central controller 203 triggers the alarm 204 to output an alarm sound to prompt the user to use the crutch correctly, to prevent a fall, etc. The purpose of setting the pressure difference threshold is to avoid false positives. For example, when walking on an uphill road section or a downhill road section, the offset angle is inevitably larger than that of a flat road, and therefore, the error judgment may be caused by simply using the offset angle; however, since the pressures on the four legs are substantially uniform, the use of the threshold pressure difference is effective to avoid such misjudgment. With the sensor pressure data F1, F2, F3, F4 monitored in real time, the central controller can also determine the user's direction of fall. For example, when F1, F3 are greater than F2, F4, the centroid Q shifts to the left, at which point the user has the potential to fall to the left; and when F1, F3 are smaller than F2, F4, the centroid Q shifts to the right, where there is a possibility that the user will fall to the right.
Meanwhile, the controller 203 collects and stores the sensor pressure data recorded during the walking process of the user as historical data, and then provides the historical data to the remote server 206 periodically or according to external instructions, so that a doctor or a rehabilitee can monitor the degree of rehabilitation of the user. For example, if a physician finds that the user is frequently likely to fall to one side, there may be a problem with the functioning of the user, and thus advice for further medical attention may be provided to the user. If the physician finds that the user is using the crutch well in the near future, it is deemed necessary to advise the user to increase the intensity or intensity of the activity, etc., so the updated rehabilitation program is sent down to the memory of the central controller 203 through the remote server. Upon receipt of the updated rehabilitation plan, the central controller prompts the user to change the intensity of the activity, e.g. increase the walking distance, while changing e.g. the basis for determining the state of motion of the user, e.g. increase the above-mentioned angle threshold, pressure difference threshold, thereby avoiding false alarms.
[ example 2]
In this example, the first sensor or the second sensor may also include both a pressure sensor and an acceleration sensor or a separate acceleration sensor. The development of the prior art makes it possible to realize accurate motion detection using an acceleration sensor, detect changes in force due to falling, tilting, movement, position, impact, and vibration, and realize a step-counting function. The number of steps of the user in a unit or a period of time is very advantageous for determining the health condition of the user. The acceleration sensor is used for calculating the step number, the cost is lower than that of a GPS generally used in the electronic equipment, and the influence of the GPS precision is avoided. Of course, the invention is not limited to the acceleration sensor, and the GPS can be adopted to realize the functions of positioning, distance calculation and the like. For example, a positioning device such as a GPS receiver, a beidou positioning system receiver, etc. may be separately provided in the crutch, which may be located at any position of the crutch. The central controller 203 can upload the position information provided by the positioning device to an external device, such as a mobile phone of a family or a nurse in real time, so that the family or the nurse can conveniently track and know the position of the user in time. Of course, the central controller 203 may also transmit the location information of the user in response to an external instruction.
As one example, a three-axis acceleration sensor may be provided in a crutch to detect changes in acceleration in three directions of the crutch during walking. The three-axis acceleration sensor can be placed in the handle or in any one of the legs. According to the using characteristics of the crutch, the lifting and falling processes of the crutch can relatively and accurately reflect the pace characteristics of the user. Generally, in the horizontal walking exercise of the user, the vertical acceleration and the forward acceleration will show periodic changes. For example, in a crutch lifting motion, the center of gravity is upward, the vertical acceleration tends to increase in a positive direction, then the center of gravity moves downward to touch the ground, and the acceleration is opposite. The horizontal acceleration decreases when the crutch is raised to a high point and increases when it is dropped. It follows that in a walking movement, the vertical and forward acceleration is wave forward with respect to time, and a peak occurs at a certain point in time. In which the acceleration in the vertical direction changes the most. Therefore, the number of steps taken by the user can be calculated in real time by detecting and calculating the peak value and comparing the peak value with the set acceleration threshold value, and the walking distance and the walking speed of the user can be estimated according to the time measured by the system. The acceleration threshold may be set as an experimental value, and the threshold is set to determine whether the exercise is effective, and only the effective exercise is counted. The detection of the peak value can be realized by judging the measured acceleration direction and comparing with the recorded last acceleration direction, for example, if the direction of the secondary recording is opposite, the step is counted just after the peak value state is passed, otherwise, the next value is continuously measured, and the step number of the user can be obtained by accumulating the steps of the peak value.
According to this embodiment, the rehabilitation practitioner may preset a standard pace or number of steps for training for the user in a pre-stored training program. And when the central controller determines that the actual pace is too slow to be smaller than the standard pace, an alarm signal is sent to the user to prompt the user to accelerate the walking speed. And when the actual pace of the user is too fast to be beneficial to rehabilitation, an alarm signal for slowing down the pace is also sent to the user. And when the number of steps of the user in a certain time period is less than the preset number of steps, sending an alarm signal for strengthening the movement to the user. Likewise, these athletic data may be uploaded to the remote server 206, whereupon the rehabilitee may make adjustments to the training program and send back to the central controller of the user's crutches. In addition, the central controller 203 can also play the walking steps of the user to the user through the alarm 203, so that the user can know the self movement situation at any time.
Furthermore, the falling state of the user can be judged by judging the change of the wave curve of the acceleration, and the alarm can be provided for the user according to the falling state.
Further, using an acceleration sensor disposed in the handle, changes in acceleration closely related to the user's hand may be measured, for example, by determining the degree of change in the direction of the measured acceleration, central controller 203 may determine the stability of the user's grip on the crutch, for example, when the direction changes too frequently above a certain threshold, then the crutch is determined to be unstable. In addition, if the acceleration sensor in the handle measures a large change in acceleration, and the acceleration sensor in the leg measures a small change in acceleration, then a large shake of the crutch itself is indicated. And if the difference between the acceleration data sensed by the acceleration sensors in the handle and the leg is not great, the walking stick is relatively stable. When a crutch is detected to be unstable, central controller 203 issues a reminder to the user through alarm 204.
In another embodiment of the invention, the first sensor and the second sensor in the crutch are utilized to judge the road condition, thereby providing a better reference for determining the motion state of the user. As described above, the up-and-down movement direction of the crutch or the movement speed of the user or the crutch can be determined by using the acceleration sensor in the handle or the leg, the falling and lifting directions and rhythms of the crutch can be determined by using the pressure sensor in the leg, and the gravity direction can be determined by using the gyro sensor in the handle. By integrating the sensing data, the road surface which is currently walking can be judged to be an uphill slope or a downhill slope. Thus, central controller 203 may adjust the various threshold criteria employed in the motion state determination in real-time. For example, if it is determined by analyzing data provided by the acceleration sensor in the handle that the upward movement direction of the crutch is greater than the downward movement direction by a stroke or time and/or the movement speed of the user is slowed, the pressure sensors in the legs as described above detect that the crutch makes a large deviation angle with the direction of gravity, and the two legs of the crutch on the rear side in the movement direction are subjected to a large and uniform force, it can be determined that the crutch is on an upward slope at this time. Thus, central controller 203 may adjust the angle threshold in real time, increasing the threshold to avoid false alarms. Also, when going downhill, the walking stick can be allowed to fall in a direction that deviates greatly from the direction of gravity. In addition, under the condition of downhill slope, if the walking stick moves too fast or the walking speed is too fast, an alarm is triggered; if the moving direction is unstable, the frequent change can trigger an alarm and the like.
Therefore, according to the scheme of the invention, a rehabilitee does not need to go to the door to guide the user to train, so that the cost is saved; meanwhile, by using the crutch embedded with the intelligent system, a rehabilitee can more timely and accurately acquire the rehabilitation level data of the user, so that a more targeted and more timely training plan can be provided.
The invention has been described above with reference to specific embodiments. It should be noted that the above discussed embodiments are only intended to better illustrate the present invention. It will be understood that various combinations, omissions and modifications of the above described aspects may be made by those skilled in the art without departing from the scope of the invention as defined in the appended claims.
Claims (9)
1. A walking aid for walking sticks, comprising a handle, a stick body and a plurality of legs supported on the ground, said walking aid further comprising:
a first sensor located in the handle or the stick body for detecting a state of the crutch to provide a first motion parameter, the first motion parameter including gravity direction information;
at least one second sensor in at least one of the plurality of legs for sensing a state of the crutch to provide a second motion parameter, the at least one second sensor comprising a plurality of pressure sensors for sensing pressure experienced on the leg;
a central controller configured to: determining the motion state of the user according to a predetermined standard based on the second motion parameter and the first motion parameter, comprising:
creating a sensor data pattern map based on the pressure data of the plurality of pressure sensors and determining a centroid of the pattern map;
determining the deviation degree of the stick body from the gravity direction according to the deviation of the mass center,
wherein the central controller determines that the user's motion state is abnormal when the degree of deviation is greater than a deviation threshold and the pressure difference between the plurality of pressure sensors is greater than a pressure difference threshold.
2. The walking walker of claim 1, the central controller further configured to:
receiving a training program from a remote server;
adjusting the predetermined criteria according to the received training program.
3. The walking crutch walker of claim 1, wherein
And the central controller determines road characteristics of the walking of the user according to the first motion parameters and the second motion parameters, and further determines whether the motion state of the user is normal or not based on the road characteristics and the first motion parameters and the second motion parameters.
4. The walking walker aid of one of claims 1-3 wherein said central controller communicates with external devices via wired or wireless transmission, wherein wireless transmission includes a mobile communication network, Bluetooth or WiFi network.
5. The walking walker aid of claim 4 further comprising an alarm wherein if the user's motion state is determined to be abnormal, the central controller issues an alarm via the alarm or sends a message to the user terminal or remote server indicating the abnormal motion state.
6. A walking aid according to claim 3,
the first sensor comprises an acceleration sensor configured to detect a vertical movement direction of the crutch as a first motion parameter,
the second sensor includes at least one pressure sensor configured to detect a falling and rising direction of a crutch as the second motion parameter, wherein the central controller determines whether the road is an uphill or a downhill based on a moving up and down direction, a falling and rising direction, and a gravity direction of the crutch.
7. The walking walker aid of claim 5 wherein the first and second sensors are multi-axis acceleration sensors and the central controller determines that the user's motion state is abnormal when the change in acceleration measured by the acceleration sensor as the first sensor is greater than the acceleration measured by the acceleration sensor as the second sensor.
8. The walking crutch walker of claim 1 or 2, wherein the second sensor comprises a multi-axis acceleration sensor, wherein the central controller determines the number of lifts/drops of the crutch as the number of steps of the user or for calculating the pace of the user based on the acceleration vector signal provided by the second sensor.
9. The walking crutch walker of claim 4, further comprising a positioning device, wherein the central controller transmits location information provided by the positioning device to an external device, the positioning device comprising a GPS receiver or a Beidou positioning system receiver.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510847663.1A CN106805392B (en) | 2015-11-27 | 2015-11-27 | Walking stick walking aid |
| TW105138860A TWI677337B (en) | 2015-11-27 | 2016-11-25 | Walking stick |
| PCT/CN2016/107261 WO2017088817A1 (en) | 2015-11-27 | 2016-11-25 | Crutch walker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510847663.1A CN106805392B (en) | 2015-11-27 | 2015-11-27 | Walking stick walking aid |
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| CN106805392A CN106805392A (en) | 2017-06-09 |
| CN106805392B true CN106805392B (en) | 2020-11-17 |
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| CN201510847663.1A Active CN106805392B (en) | 2015-11-27 | 2015-11-27 | Walking stick walking aid |
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| CN (1) | CN106805392B (en) |
| TW (1) | TWI677337B (en) |
| WO (1) | WO2017088817A1 (en) |
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| CN107692428A (en) * | 2017-11-20 | 2018-02-16 | 郑宏来 | A kind of medical recovery crutch |
| JP7089740B2 (en) * | 2018-05-01 | 2022-06-23 | 株式会社テクノソリューション | Stock usage detection device and stock usage analysis method and device using it |
| TWI691328B (en) * | 2018-07-25 | 2020-04-21 | 南臺學校財團法人南臺科技大學 | Smart aid system for visually impaired |
| TWI714118B (en) * | 2019-06-06 | 2020-12-21 | 朝陽科技大學 | Crutch device with pressure sensing mechanism |
| CN110179638A (en) * | 2019-06-24 | 2019-08-30 | 福建师范大学福清分校 | A kind of intelligence row monitoring crutch and system based on Internet |
| CN112473097B (en) * | 2019-09-11 | 2022-04-01 | Tcl科技集团股份有限公司 | Mountain climbing assisting method, server, system and storage medium |
| TWI735114B (en) * | 2019-12-23 | 2021-08-01 | 長庚學校財團法人長庚科技大學 | Sensing multifunctional crutches |
| CN111685462A (en) * | 2020-08-06 | 2020-09-22 | 联想(北京)有限公司 | Intelligent walking stick and control method thereof |
| CN112076071A (en) * | 2020-09-01 | 2020-12-15 | 孙松 | Walking stick capable of positioning and navigating for blind person |
| CN112880673B (en) * | 2021-01-21 | 2024-05-10 | 上海傅利叶智能科技有限公司 | Navigation method and navigation device based on intelligent walking stick and intelligent walking stick |
| CN115054037A (en) * | 2022-06-02 | 2022-09-16 | 华东师范大学 | Intelligent walking stick capable of intelligently judging whether user falls down |
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- 2016-11-25 WO PCT/CN2016/107261 patent/WO2017088817A1/en active Application Filing
- 2016-11-25 TW TW105138860A patent/TWI677337B/en active
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2017088817A1 (en) | 2017-06-01 |
| TWI677337B (en) | 2019-11-21 |
| TW201717881A (en) | 2017-06-01 |
| CN106805392A (en) | 2017-06-09 |
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