CN112656650A

CN112656650A - Intelligent walking aid

Info

Publication number: CN112656650A
Application number: CN202011460605.0A
Authority: CN
Inventors: 沈键; 杜文豪; 马傲群; 季德仪; 李晓诺; 邓江南
Original assignee: Shanghai Maritime University
Current assignee: Shanghai Maritime University
Priority date: 2020-12-11
Filing date: 2020-12-11
Publication date: 2021-04-16

Abstract

The invention relates to the technical field of walking aids, in particular to an intelligent walking aid, which comprises a handrail handle, wherein a handrail rod is arranged in the handrail handle, an upper cross beam is fixed on the front surface end of the grab rail, a front foot rod is fixed on the lower surface of the upper cross beam, a rear foot rod is fixed on the lower surface of the rear end of the handrail rod, a connecting rod is fixed on the front surface of the rear foot rod, one end of the connecting rod is provided with a right-angle connecting piece, the lower end of the rear foot rod is provided with an ultrasonic sensor, the invention can be remotely controlled by remote sensing or a mobile phone, takes an ultrasonic sensor as an auxiliary obstacle avoidance, and has a structure capable of being quickly disassembled and assembled, the motor can be self-locked, and the direction-adjustable illuminating lamp is arranged right in front of the walking aid, so that the alarm function can be automatically triggered when a user meets an emergency.

Description

Intelligent walking aid

Technical Field

The invention relates to the technical field of walking aids, in particular to an intelligent walking aid.

Background

The invention provides a walking aid for old people, which comprises two support frames, a walking aid frame and a walking aid frame, wherein the two support frames are respectively positioned at the left side and the right side of the walking aid frame; the supporting frames comprise handrail rods and upper cross beams, the upper cross beams are positioned in front of the walking aid, and two ends of the upper cross beams are respectively connected with the tops of the front parts of the two supporting frames; the lower cross beam is positioned in front of the walking aid and below the upper cross beam, and two ends of the lower cross beam are respectively connected with the front lower parts of the two support frames; the handrail beam is used for mounting a handrail and is connected with the upper beam; the bottom of the supporting frame is provided with a plurality of pulleys.

However, for many patients after lower limb surgery, the recovery of the postoperative walking function is from slow walking by means of support to fast walking without support, so the whole recovery process needs the assistance of a walking aid, while the existing walking aids mainly comprise two wheels, four wheels and no wheels, the patients need to purchase walking aids with different functions for many times, the economic burden of the patients is increased, meanwhile, the time is needed to adapt to the new walking aid, the regular exercise is not facilitated, most of the currently sold wheeled walking aids on the market do not have braking and decelerating devices, or the braking devices are of foot braking structures, the walking aids without decelerating and braking devices are easy to cause danger under different ground environments (such as downhill), the safety is not high, the walking aids with braking devices are also foot brakes, for patients after lower limb surgery or for the disabled with muscle exercise, the adjustment of the braking devices through the action of feet is very inconvenient, and the assistance of families is needed, the existing walking aid mainly depends on manual pushing or lifting, and needs a user to divide a part of force from supporting force, so that the movement of the walking aid is driven, difficulty is caused to the user with partial inconvenient actions, the general performance of the walking aid is reduced, and the existing walking aid needs the user to carry the walking aid around because the user has inconvenient actions, so that the use pressure is increased, the occupied space is large, and the walking aid is not favorable for carrying in a narrow space. Accordingly, those skilled in the art have provided intelligent walking aids to address the problems set forth in the background above.

Disclosure of Invention

The present invention is directed to an intelligent walking aid to solve the above problems.

In order to achieve the purpose, the invention provides the following technical scheme: the intelligent walking aid comprises a handrail handle, a handrail rod is arranged inside the handrail handle, an upper cross beam is fixed on the front surface end of the handrail rod, the lower surface of the upper cross beam is fixed with a front foot rod, the lower surface of the rear end of the handrail rod is fixed with a rear foot rod, a connecting rod is fixed on the front surface of the rear foot rod, one end of the connecting rod is provided with a right-angle connecting piece, the lower end of the rear foot bar is provided with an ultrasonic sensor, the lower ends of the front foot bar and the rear foot bar are both fixed with a motor frame, a direct current motor is arranged on the motor frame, a Mecanum wheel is arranged at one end of the direct current motor, a lower cross beam is arranged at the position of one end of the front foot rod, which is positioned below the upper cross beam, an illuminating lamp bracket is fixed on the upper surface of the lower cross beam, the illuminating lamp support is provided with an illuminating lamp, and the upper end of the front foot rod is provided with a controller.

As a further scheme of the invention: the lower extreme of controller is installed the warning light, the upper end of controller is installed bee calling organ, and the second button is lamp switch and start button.

As a still further scheme of the invention: the upper cross beam, the grab rails, the front foot rods, the rear foot rods, the connecting rods and the lower cross beam are all provided with right-angle connecting pieces, the grab rails, the connecting rods, the front foot rods and the rear foot rods are provided with two groups, and the grab rails, the connecting rods, the front foot rods and the rear foot rods are correspondingly arranged at the left end position and the right end position of the lower cross beam and the upper cross beam.

As a still further scheme of the invention: the direct current motor is fixed at the lower ends of the front foot rod and the rear foot rod through the motor frame.

As a still further scheme of the invention: the illuminating lamp is arranged on the upper surface of the lower cross beam through an illuminating lamp support, and the lower end positions of the front foot rod and the rear foot rod are respectively provided with an ultrasonic sensor.

As a still further scheme of the invention: the ultrasonic sensor, the alarm lamp and the buzzer form an alarm module, the second key is formed by connecting an output end electrode of a lamp switch with an input end of an illuminating lamp, and an output end of the starting button is connected with a controller electrode in the controller.

Compared with the prior art, the invention has the beneficial effects that: compared with the prior art, the invention has the advantages that the invention can be remotely sensed or remotely controlled by a mobile phone, the ultrasonic sensor is used as an auxiliary obstacle avoidance, the motor is controlled to move to an idle position, a user is liberated from carrying the walking aid at any time, the energy for looking after the walking aid is released, the joints of all beam rods of the mechanical structure of the walking aid are fixedly connected by using right-angle connecting pieces and additionally bolts and nuts, the beam rods are provided with grooves, the bolts, the nuts and the right-angle connecting pieces are convenient to install and fix, the structure can be quickly disassembled and assembled, the height and the width of the walking aid are changed at any time according to the self condition of the user, the use is more flexible, the stability during walking is enhanced by controlling the constant rotating speed of the motor, the motor can be self-locked, meanwhile, the left rotating wheel and the right rotating wheel of the Mecanum wheel are symmetrically arranged in a hand line, the wheeled walking aid is changed into, play more comprehensive supplementary walking effect, control motor speed guarantees that the stable rotational speed drive of motor helps the walking of ware, lets the user can put all strength on supporting, and the light of adjustable direction is installed in the ware dead ahead of helping the walking, and collocation ultrasonic sensor and alarm module can automatic triggering alarm function when the user meets emergency, for example the place ahead obstacle that appears suddenly makes this work have better security performance.

Drawings

FIG. 1 is a schematic structural diagram of an intelligent walking aid;

FIG. 2 is a schematic diagram of a front plan view of the intelligent walking aid;

FIG. 3 is a schematic side plan view of the intelligent walking aid;

FIG. 4 is a schematic view of the bottom plan structure of the intelligent walking aid;

FIG. 5 is a schematic top plan view of the intelligent walking aid.

In the figure: 1. an armrest handle; 2. a grab rail; 3. a front foot bar; 4. a right angle connector; 5. a connecting rod; 6. a rear foot bar; 7. an ultrasonic sensor; 8. a Mecanum wheel; 9. a motor frame; 10. a direct current motor; 11. a lower cross beam; 12. an illumination lamp bracket; 13. an illuminating lamp; 14. a controller; 15. an upper cross beam; 16. an alarm light; 17. a buzzer; 18. the second button is a lamp switch; 19. a power-on button.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 5, in the embodiment of the present invention, the intelligent walking aid includes a handrail handle 1, a handrail rod 2 is disposed inside the handrail handle 1, an upper beam 15 is fixed on a front surface end of the handrail rod 2, a front foot rod 3 is fixed on a lower surface of the upper beam 15, a rear foot rod 6 is fixed on a lower surface of a rear end of the handrail rod 2, a connecting rod 5 is fixed on a front surface of the rear foot rod 6, a right-angle connector 4 is disposed at one end of the connecting rod 5, an ultrasonic sensor 7 is mounted at a lower end of the rear foot rod 6, motor frames 9 are fixed on lower ends of the front foot rod 3 and the rear foot rod 6, a dc motor 10 is mounted on the motor frames 9, a mecanum wheel 8 is mounted at one end of the dc motor 10, a lower beam 11 is mounted at a position below the upper beam 15 at one end of the front foot rod 3, a lighting lamp support 12 is fixed on an upper surface of the lower, a controller 14 is installed at the upper end of the front foot bar 3, an upper cross beam 15, a grab bar 2, the front foot bar 3, a rear foot bar 6, right-angle connecting pieces 4 are arranged on the connecting rod 5 and a lower cross beam 11, two groups of the grab bar 2, the connecting rod 5, the front foot bar 3 and the rear foot bar 6 are arranged, two groups of the grab bars 2, the connecting rod 5, the front foot bar 3 and the rear foot bar 6 are correspondingly installed at the left and right end positions of the lower cross beam 11 and the upper cross beam 15, a direct current motor 10 is fixed at the lower end positions of the front foot bar 3 and the rear foot bar 6 through a motor frame 9, an illuminating lamp 13 is installed at the upper surface position of the lower cross beam 11 through an illuminating lamp bracket 12, ultrasonic sensors 7 are installed at the lower end positions of the front foot bar 3 and the rear foot bar 6, the direct current motor 10 realizes constant speed regulation through a PWM speed regulation pair, a corner signal is fed back to a control module by the angle sensor on the, Backward, turning and side-shifting movement, the controller 14 can make the direct current motor 10 self-lock through fuzzy PID control, the Mecanum wheels 8 are in the installation mode of placing by hand line, four Mecanum wheels 8 can not rotate simultaneously, the hand of the patient holds the handle 1, the body is supported through the grab bar 2, the starting device can be connected with the controller 14 through remote sensing or mobile phone, the remote control walking aid performs forward, backward, turning and side-shifting movement, the controller 14 drives the walking part to be driven by the direct current motor 10 with an angle sensor under normal conditions, the constant speed regulation of the direct current motor 10 is realized through PWM speed regulation, the angle sensor feeds back the rotation angle signal of the direct current motor 10 to the control module, the feedback control of the direct current motor 10 is realized, the walking aid performs forward, backward, turning and side-shifting movement through remote sensing or mobile phone, the ultrasonic sensor 7 is used for assisting obstacle avoidance, the walking aid is not required to be around at any moment until the position of the user is reached; and can use the walking aid as the strong point when using and not need to lift up the walking aid and put down in order to reach the purpose that removes, the walking aid can be through the auto-lock of fuzzy PID control direct current motor 10 for the walking aid drive wheel produces the auto-lock effect, utilizes mecanum wheel 8 to be the mounting means that the hand line was placed, lets four mecanum wheels 8 can't rotate simultaneously and lets the antiskid effect of walking aid increase, adjustable light 13 changes the illumination direction.

In fig. 1: the lower extreme of controller 14 is installed alarm lamp 16, buzzer 17 is installed to the upper end of controller 14, the second button is lamp switch 18 and start button 19, ultrasonic sensor 7, alarm lamp 16 forms alarm module with buzzer 17, the second button is the input of lamp switch 18's output terminal electrode connection light 13, start button 19's output is connected with the inside controller electrode of controller 14, the walking aid cooperatees ultrasonic sensor 7 and alarm module, alarm module contains buzzer 17 and alarm lamp 16, can automatic trigger alarm function when the user meets emergency, for example the unexpected obstacle buzzer 17 and the alarm lamp 16 warning in the place ahead.

The working principle of the invention is as follows: the hand of a patient holds the handrail handle 1, the body is supported by the handrail rod 2, the starting button 19 is pressed to start the device, the device can be connected with the controller 14 through remote sensing or a mobile phone, the remote control walking aid performs forward, backward, turning and side-shifting motions, the controller 14 drives a walking part to be driven by the direct current motor 10 with the angle sensor under the general condition, the constant speed regulation of the direct current motor 10 is realized through PWM (pulse-width modulation) speed regulation, the angle sensor feeds back a corner signal of the direct current motor 10 to the control module to realize the feedback control of the direct current motor 10, the remote sensing or the mobile phone can perform forward, backward, turning and side-shifting motions, the ultrasonic sensor 7 is used for assisting in obstacle avoidance until the position of the user is reached, and the walking aid does not need to be required to; and can use the walking aid to lift up the walking aid and put down in order to reach the purpose that removes when not needing to walk as the strong point during the use, the walking aid can be through the auto-lock of fuzzy PID control direct current motor 10 for the walking aid drive wheel produces the auto-lock effect, utilize mecanum wheel 8 to be the mounting means that the hand line was placed, let four mecanum wheels 8 can't rotate simultaneously and let walking aid antiskid effect increase, the walking aid cooperatees ultrasonic sensor 7 and alarm module, alarm module contains bee calling organ 17 and warning light 16, can automatic trigger alarm function when the user meets emergency, obstacle bee calling organ 17 and the warning light 16 that appear suddenly in the place ahead report to the police, adjustable light 13 changes the direction of illumination.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The intelligent walking aid comprises a handrail handle (1) and is characterized in that a handrail rod (2) is arranged inside the handrail handle (1), an upper cross beam (15) is fixed on the front surface end of the handrail rod (2), a front foot rod (3) is fixed on the lower surface of the upper cross beam (15), a rear foot rod (6) is fixed on the lower surface of the rear end of the handrail rod (2), a connecting rod (5) is fixed on the front surface of the rear foot rod (6), a right-angle connecting piece (4) is arranged at one end of the connecting rod (5), an ultrasonic sensor (7) is installed at the lower end of the rear foot rod (6), motor frames (9) are fixed on the lower ends of the front foot rod (3) and the rear foot rod (6), a direct current motor (10) is installed on the motor frames (9), a Mecanum wheel (8) is installed at one end of the direct current motor (10), the one end of preceding foot pole (3) is located the below position department of entablature (15) and installs bottom end rail (11), the last fixed surface of bottom end rail (11) has light support (12), install light (13) on light support (12), controller (14) are installed to the upper end of preceding foot pole (3).

2. The intelligent walking aid according to claim 1, wherein the lower end of the controller (14) is provided with an alarm lamp (16), the upper end of the controller (14) is provided with a buzzer (17), and the second button is a lamp switch (18) and a power-on button (19).

3. The intelligent walking aid according to claim 1, wherein the upper cross beam (15), the grab bar (2), the front foot bar (3), the rear foot bar (6), the connecting rod (5) and the lower cross beam (11) are all provided with right-angle connectors (4), the grab bar (2), the connecting rod (5), the front foot bar (3) and the rear foot bar (6) are provided with two groups, and the two groups of grab bar (2), the connecting rod (5), the front foot bar (3) and the rear foot bar (6) are correspondingly arranged at the left and right end positions of the lower cross beam (11) and the upper cross beam (15).

4. The intelligent walking aid according to claim 1, wherein the dc motor (10) is fixed at the lower end positions of the front leg bar (3) and the rear leg bar (6) by a motor frame (9).

5. The intelligent walking aid according to claim 1, wherein the illuminating lamp (13) is mounted on the upper surface of the lower beam (11) through an illuminating lamp bracket (12), and the ultrasonic sensors (7) are mounted on the lower ends of the front foot rod (3) and the rear foot rod (6).

6. The intelligent walking aid of claim 1, wherein the controller (14) allows the dc motor (10) to be self-locking by fuzzy PID control, and the mecanum wheels (8) are mounted in a hand-line arrangement, and four mecanum wheels (8) cannot rotate simultaneously.

7. The intelligent walking aid according to claim 2, wherein the ultrasonic sensor (7), the alarm lamp (16) and the buzzer (17) form an alarm module, the second button is an output electrode of a lamp switch (18) connected with an input end of the illuminating lamp (13), and an output end of the power-on button (19) is connected with a controller electrode inside the controller (14).