TW201902443A - Walking Assisted Wearable Device and Walking assisted Method - Google Patents

Abstract

The present invention provides a walking assisted wearable device for providing user feedback traffic information, the device comprising: a wearable element, for wear; a plurality of distance sensors, setting on a plurality of locations on the wearable element; a processor, coupled to these distance sensors, for comparing distance information based on different heights, horizontal angles, vertical angles, and directions, with at least one stored information, for getting an environmental information; a storage module, coupled to the processor, for providing the stored information; a wireless module, coupled to the processor, for provide wireless access to at least one monitor device; and a feedback module, coupled to the processor, for providing a feedback information, according to the environmental information. A walking assisted method is also provided.

Description

Walking assisted wearable device and walking assist method

The present invention relates to a wearable device, and more particularly to a wearable device having a walking assist function and a method therefor.

In view of the increase in the population of the silver-haired people and the entry into an aging society, the dependency ratio has increased. As young people may not be able to live with the silver-haired elders, the population of the silver-haired people living alone will also increase. The muscle strength and balance of the silver hair group can be worse than that of the younger, and the vision may be more degraded. When walking up and down the stairs or encountering obstacles during walking, it is easy to be injured due to emptying or tripping. A similar situation can also occur in other people with poor eyesight or less mobility. To this end, an auxiliary tool is needed to reduce the occurrence of such accidents.

However, the common aids, such as wheelchairs, canes, prostheses, etc., only provide physical help, and can not solve the above problems. Although there are some wearable devices on the market, it seems to monitor the user's sleep heartbeat, etc. However, such devices can only detect the user's own health status, and can not understand the changes in the surrounding environment to remind whether there is danger, it does not help Improve the incidence of falls in silver-haired or poor-sighted people. In the long run, it may cause the silver-haired or poor-sighted people to go out because of fear of danger, which may affect the development of physical and mental health.

Accordingly, the present invention provides a walking assisted wearable device that improves the above problems and brings a number of beneficial effects.

One object of the present invention is to provide a walking assisted wearable device that can be worn by a silver-haired family or other people with reduced mobility, so as to obtain a reminder of instant road condition feedback information and improve safety during walking.

Another object of the present invention is to provide a walking assisting method that utilizes a walking assisted wearable device to enhance the safety of a user while walking, prevent falls, and provide feedback information such as a safe path guidance.

In one aspect of the present invention, a walking assisted wearable device is provided for providing feedback information about a front road condition of a user, the device comprising: a wearing device for wearing; and a plurality of first front distance sensors; Provided at the first height of the wearing device; a plurality of second front distance sensors disposed at the second height of the wearing device and located under the first front distance sensors; a plurality of slope distance senses a detector disposed at the third height of the wearing device and located under the second front distance sensors and having a downward tilt angle; at least one side distance sensor disposed on the wearing device At least one side of the sensor; at least one rear distance sensor disposed behind the wearing device; a processor coupled to the distance sensors to provide different heights and levels provided by the distance sensors Angle, vertical angle and azimuth distance sensing information, for at least one stored information, to obtain an environmental information; a storage module coupled to the processor to provide the stored information; a wireless module The processor is coupled to provide the wireless connection to the at least one monitoring terminal; and a feedback module coupled to the processor to provide a feedback information according to the environmental information; thereby, the sense of distance of the different heights can be utilized Measuring information and the distance sensing information of the different vertical angles, determining whether there is a convex or concave obstacle in front; and using the distance sensing information of the different horizontal angles to determine the horizontal width of the obstacle.

The method further includes a pressure sensor coupled to the processor to provide pressure sensing information from the user's sole to determine whether to activate the distance sensors by the pressure sensing information.

The feedback information provides information on the upper floor or the lower floor according to whether the obstacle is a protrusion or a depression.

The feedback information is guided by a safe path provided by the horizontal width of the obstacle.

The processor supports an independent IP (Internet Protocol) address and supports the Internet over Things (IoT) protocol.

In another object of the present invention, a walking assistance method is provided for providing feedback information about a forward road condition, the method comprising: providing a wearing device; and providing a plurality of first front distance sensors disposed on the Wearing a first height of the wearing device; a plurality of second front distance sensors disposed at the second height of the wearing device and located under the first front distance sensors; a plurality of bevel distance sensors, And disposed at the third height of the wearing device and located under the second front distance sensors, and having a downward tilt angle; at least one side distance sensor disposed on at least one side of the wearing device At least one rear distance sensor disposed behind the wearing device; using the distance sensors to provide distance sensing information from different heights, horizontal angles, vertical angles, and azimuths; using a storage module Providing at least one storage information; using a processor to compare information and the stored information to obtain an environmental information; using a wireless module to provide wireless connection to a monitoring module; and using a feedback module to provide a feedback information according to the environmental information; thereby, the distance sensing information of the different heights and the distance sensing information of the different vertical angles can be used to determine whether there is a convexity in front An obstacle that is up or down; and using the distance sensing information of the different horizontal angles to determine the horizontal width of the obstacle.

The method further includes using a pressure sensor to provide pressure sensing information from the sole of the user, and determining whether to activate the distance sensors according to the pressure sensing information.

Among them, it also includes whether the comparison meets the characteristics of the upstairs; whether the comparison meets the characteristics of the downstairs; and if the characteristics of the upper floor and the characteristics of the downstairs are not met, the number of steps is calculated and the gait is confirmed.

The feedback information is guided by a safe path provided by the horizontal width of the obstacle.

The method further includes wirelessly connecting to at least one monitoring end according to an agreement of an Internet over Things (IoT) by using an independent IP (Internet Protocol) address.

The invention is provided by the personal walking and walking wearable device. In different embodiments, the obtained sensing information is based on the position of the user's own body, and the specific scheme is set by using an array type and a multi-angle and multi-directional sensor. It can accurately and effectively detect road ahead, including whether there are upstairs, downstairs, walls, ditches or other obstacles. It provides feedback to users in stages, especially for those who are in favor of silver or other people with limited mobility. To prevent the occurrence of falls or other accidental injuries.

In order to fully understand the objects, features and advantages of the present invention, the present invention will be described in detail by the accompanying drawings.

In one embodiment of the present invention, as shown in FIG. 1, a walking assisted wearable device 100 is provided that can support Internet over Things (IoT). The wearable device 100 includes a wearing harness 102 for wear. More specifically, the wearing device 102 can be a knee brace for being worn near the knee of the human body, but is not limited thereto, and can be other wearable parts for being worn on other parts of the human body, or other creatures and articles. . The wearing device 102 is provided with a plurality of distance sensors. In the embodiment, it includes a first front distance sensor 104A disposed at a first height of the wearing device 102; a second front distance sensor 104B is disposed at the second height of the wearing device 102 and is located below the first front distance sensor 104A (the first height and the second height are the height d); a bevel distance sensor 104C is disposed on the wearing device The third height of 102 is located below the second front distance sensor 104B and has a downward tilt angle a2; a rear distance sensor 104D disposed behind the wearing device 102; and one side distance sensing The device 104E is disposed on one side of the wearing device 102 (the outer side of the leg is preferably not limited to the left leg, the right leg, or both). In a preferred embodiment, the distance sensors may be ultrasonic sensors, but are not limited thereto, and may be infrared, laser or other distance sensors, or may be mixed with different types of distance sensing. Device. In various embodiments, the distance sensors 104A-E may be fixedly disposed on the wearing device 102, or may be detachable, and may be repeatedly combined by using, for example, a devil felt, a cassette, or the like. And removed. The number and setting position of each distance sensor can also be increased, decreased, and adjusted according to requirements, and each distance sensor can be connected to a base with a rotating shaft, elastic or other manner as needed, and then placed on the wearing device 102 to facilitate Adjust the main measurement angle of the distance sensor.

In the preferred embodiment, the first front distance sensor 104A is not limited to one, and may be plural, as shown in the dotted line diagram of the dotted line frame in FIG. 1, the first front distance sensor 104A may be three. One (or more), arranged in an array at the first height of the wearing device 102, thereby obtaining distance sensing signals from different horizontal angles a1 (such as the direction indicated by the horizontal angle a1) to detect the front The width of the left and right obstacles, and increase the width of the left and right detection. The processor 106 can suggest whether the user adjusts the direction of advancement according to different obstacle widths. For example, if the obstacle width is less than 60 cm, it is recommended that the user advance to about 45 degrees to the left or right front to avoid; if the obstacle width is about 60 to 120 cm, the user may be advised to first left or right. Move one step and then forward; if the obstacle is about 120 to 170 cm wide, it is recommended that the user turn left or right because it is not easy to dodge. If the width of the obstacle is continuously detected to be too wide, it can be judged that the wall (also or the ditch, the obstacle is convex or concave), and different suggestions are given, thereby providing the user with a safe path guiding function, and Improving the uncertainty of the ultrasonic distance sensor signal, in a preferred embodiment, the fuzzy logic can be used to control the algorithm to improve the accuracy of the judgment, and the trigonometric function algorithm is used to estimate the width of the front obstacle to formulate a decision tree. And provide different suggestions for users according to the situation. Similarly, the second front distance sensor 104B and the bevel distance sensor 104C are also not limited to one, and may be implemented by a plurality of constituent arrays to obtain a better left and right detection width range.

In some embodiments, the ultrasonic sensor used preferably has a measurement distance of 5 cm to 3 meters and a preferred measurement angle of about 45 degrees. In the preferred embodiment, the downward inclination angle a2 of the bevel distance sensor 104C is about 60 degrees, so that when the knee is bent to about 30 degrees due to normal walking, the main measurement direction of the bevel distance sensor 104C can be The ground is approximately perpendicular to the angle, making the measurement distance close for better measurement results. The height difference between the first and second front distance sensors 104A and 104B is a height d, which may be 16 cm in the preferred embodiment, but is not limited thereto. And using the bevel distance sensor 104C, in combination with other distance sensors, can provide distance sensing information from different vertical angles (such as the schematic direction of the vertical angle a3). Furthermore, the distance sensing information from different directions can be obtained by using the distance sensor of different orientations such as front, side, and rear.

In addition, in the preferred embodiment, in order to achieve the energy-saving function, the wearable device 100 further includes a pressure sensor 105 disposed on the sole of the user, such as the insole, to detect the user's sole. The pressure sensing information is transmitted back to the wearable device 100 by the connector 105-1, so that the processor 106 determines whether to activate the distance sensors 104A-E by using the pressure sensing information. The pressure sensor 105 can be a small piezoelectric pressure sensor, and a plurality of pressure values can be set to capture different positions of the soles of the foot, and the fuzzy weights are filtered through the fuzzy attribution function to bring in the fuzzy rules. Analyze. In a preferred embodiment, a three-axis accelerometer can also be used, and the pressure sensor 105 can be made of a rubber material to enhance sensitivity and durability. The connector 105-1 can be wired, with signal lines, The electrode contacts are attached to the underwear, and the wireless design can also be used to wirelessly transmit information. By means of the pressure sensor 105, a switching device for gait analysis can be achieved. When it is determined that the user is in a stationary state, the processor 106 can stop the activation of the distance sensors 104A-E or the wireless module 110. Energy-saving effect, for wearable devices, the importance of extending the use time is self-evident. In addition, pressure sensing information can be used to judge the correct detection angle forward, which can reduce false positives and improve correctness. The pressure sensing information can also be used to determine the gait and the number of steps of the user, and can be combined with the rear distance sensor 104D and the side distance sensor 104E to comprehensively judge the accuracy of the gait and the step number judgment.

From another perspective, as shown in FIG. 2, a walking assist wearing device 100 is provided, which includes a wearing device 102 for wearing; a plurality of distance sensors 104A-E are disposed on the wearing device 102. The plurality of locations are as described above; a processor 106 is coupled to the distance sensors 104A-E to sense information and at least one stored information to obtain an environmental information; a storage module 108 And coupled to the processor 106 to provide the storage information; a wireless module 110 coupled to the processor 106 to provide wireless connection to the at least one monitoring terminal 200; and a feedback module 112 coupled to the processor 106 To provide a feedback based on the environmental information. In a preferred embodiment, a pressure sensor 105 is further included, and the processor 106 is coupled to the user's sole to provide pressure sensing information from the user's sole. The pressure sensing information determines whether the distance sensors are activated to achieve energy saving effects. Among them, the storage information, environmental information and feedback information will be described in detail below.

In a preferred embodiment, as shown in FIG. 2, the sensed values obtained by the sensors 104A-E can be analyzed by an algorithm and transmitted by a wired connection of a Universal Asynchronous Receiver/Transmitter (UART). To the processor 106. The processor 106 can include a low-power wireless Bluetooth chip supporting IPv6, and has an independent IP (Internet Protocol) address to further connect and transmit data to the monitoring terminal 200 by wireless transmission. The monitoring terminal 200 can be a personal computer. , devices such as laptops, servers, workstations, or smart phones.

Among them, the wireless module 110 can support Internet over Things (IoT). In a preferred embodiment, the communication architecture used includes: (1) Physical Layer (Link Layer): Bluetooth Low Energy (BLE)/Internet Protocol Support Profile (ISPS) protocol for networking between devices Function; (2) Adaptation Layer: BLE6LoWPAN protocol to make the Bluetooth transmission function combined with IPv6 has better efficiency; (3) Network Layer: IPv6 protocol to meet the needs of various sensing layer devices Independent IP operation; (4) Transport Layer: UDP protocol to reduce the amount of data; (5) Application Layer: CoAP protocol, lightweight HTTP, UDP transmission Reduced to about 1/10 times that of HTTP, enabling devices that require long-term transmission to extend their life.

In a preferred embodiment, the wearable device 100 may further include a global positioning system (GPS) coupled to the processor 106 or may utilize a GPS in the smart phone device to achieve a positioning function.

In another aspect of the present invention, as shown in FIG. 3, an information comparison method is provided, including: obtaining personal information (step 302); setting a threshold value (threshold value) (step 304); capturing distance sensing information. (step 306); comparing the upstairs feature (step 308); if step 308 is met, proceeding to step 310 to start the upstairs mode until step 312 ends the upstairs mode and returns to step 306; if not in step 308 If the upstairs feature is used, the downstairs feature is compared (step 314); if step 314 is met, then step 316 is performed to start the downstairs mode until step 318 ends the downstairs mode, and returns to step 306; if not in step 314 The downstairs feature calculates the number of steps (step 320) and confirms the gait (step 322) and returns to step 306.

In another aspect of the present invention, as shown in FIG. 4, a walking assistance method is provided, including: providing a wearing device 102 (the setting is described in the device section, and will not be described again) (step 402); Ultrasonic distance sensors 104A~E provide from different heights (such as height d), horizontal angles (such as the direction indicated by horizontal angle a1), vertical angles (such as the direction indicated by vertical angle a3), and orientation (such as front and rear). And a plurality of distance sensing information of the side (step 404); providing at least one stored information by using a storage module 108 (step 406); using a processor 106 to compare the information with the storage The information is obtained to obtain an environmental information (step 408); the wireless module 110 is used to provide wireless connection to the at least one monitoring terminal 200 (step 410); and a feedback module 112 is used to provide a feedback information according to the environmental information. (Step 412). Among them, the environmental information is to judge the information of the road ahead, for example, the stairs are upstairs, the stairs to the lower floor, the walls, the ditch, and may further include the height, the depth, the width and the current distance from the user.

Further details are as follows. Since the height and the wearing position of different users are different, a generally accepted preset value can be preset at the factory, but for a better user experience, the processor 106 can first provide a system by software and hardware. And a user interface, it is recommended that the user perform an initialization action, that is, obtain personal information in step 302. The user interface can be a physical button or a touch screen built into the wearable device 100, and can also be provided by using a wireless or wired connection such as Bluetooth or Wifi to connect to a computer or a smart phone. After the wearer device 100 is worn, the user can perform different movements such as walking for several times according to the system instruction, collect the initial distance sensing information, average and record. In the preferred embodiment, the user can perform different actions such as turning the foot, squatting, jumping, moving the center of gravity, and so on, and recording the distance sensing information as various personalized information to increase the The accuracy of the system judgment. Then, the system can comprehensively determine the critical value according to the personal information, that is, step 304. The setting content can include threshold values (threshold values) of multiple information such as gait, single and double foot movement, stair height, stair depth, and stair width. The user can also adjust, translate or increase or decrease the value according to the actual experience of the individual. In addition, in the preferred embodiment, when the distance sensing information obtained by the first front distance sensor 104A and the second front distance sensor 104B is set to be 21 cm (or other value) or more, the comparison is In line with the characteristics of the upper floor, it is judged to be in the upstairs mode, enter the stairway mode (such as issuing a stairway road condition notice to remind the user to go up the stairs); when the gap is less than 21 cm (or other value), it is judged to be a general obstacle; When the difference is 1 meter (or other value) or more, it is judged as a platform to remind users not to cross. The threshold value of the bevel distance sensor 104C may also be set to determine whether the downstairs feature is met, and it is determined that the downstairs road condition is encountered, and the downstairs mode is entered (for example, a downstairs road condition notification is issued to remind the user that the stairs are being lowered). The threshold value of the rear distance sensor 104D may also be set to determine the number of walking steps, and the threshold value of the side distance sensor 104E may be set to determine the gait according to the center of gravity movement or the like. Among them, the height difference of stair steps of different specifications may be different. For example, if the step height difference of the barrier-free stairs is small, it may be differently set. Mixed identification exercises can also be performed during the training phase to confirm compliance with accuracy requirements. The trained values can be stored in the storage module 108 as storage information. In order to reduce the hardware requirements, the information can be transmitted to the cloud for calculation and then returned, and the user data can be stored and backed up in the cloud.

In a preferred embodiment, the processor 106 can distinguish the three detection points according to the distance between the user and the obstacle according to the user's stride (a stride is about two steps): when the user and the user When the obstacle distance is about three steps, it is set as the first detection point, when the distance is about two steps, it is set as the second detection point, and when the distance is about one step, it is the third detection point. Thereby, the processor 106 can give different calculation processing and suggestions when the user is at the timing of different detection points. For example, give different walking suggestions at different detection points and update suggestions immediately. And as the user gets closer to the obstacle, the calculated obstacle width will be more precise and updated.

In step 408, further, when each distance sensor 104A~E obtains each distance sensing information, the distance sensing information may be compared with the stored information to determine whether the critical value is exceeded. In order to determine the user's current road conditions, and can calculate the user's steps, gait and other information to obtain environmental information. In step 412, a feedback module 112, such as a speaker, a motor, or other device, can be used to provide a human voice or text-to-speech voice, or a vibration mode can be used to provide feedback information to the user to achieve a reminder function. In some embodiments, the function of the feedback module can be achieved by using an external device such as a smart phone, and providing feedback information using the display, vibration, and sound effects of the smart phone.

By means of the present invention, an easy, low cost solution is provided for use by a silver-haired family, a poor eyesight or other persons with reduced mobility, and can be used to provide feedback to the user about the road ahead. For example, using distance sensing information of different heights and distance sensing information of different vertical angles, judging whether there are any convex or concave obstacles in front, and using different horizontal angles to sense information, judging the horizontal width of the obstacle, For example, in the knee-wearing device, the actual knee position is used to detect the change of the road ahead, so that the actual road ahead is more accurate and can be more accurately matched to the user's position, and reminded to know whether the road ahead is Up and down stairs, or encounter obstacles, etc., can provide safe walking advice on the spot. The road condition information can be transmitted to the monitoring terminal at the same time, so that the family or medical passport personnel can immediately know and provide assistance or assistance. Furthermore, the support for the Internet of Things protocol of the present invention increases the convenience and flexibility of use.

The invention has been described above in terms of the preferred embodiments, and it should be understood by those skilled in the art that the present invention is not intended to limit the scope of the invention. It should be noted that variations and permutations equivalent to those of the embodiments are intended to be included within the scope of the present invention.

100‧‧‧Wearing device

102‧‧‧ wearing a harness

104A‧‧‧First front distance sensor

104B‧‧‧Second front distance sensor

104C‧‧‧Bevel Distance Sensor

104D‧‧‧ rear distance sensor

104E‧‧‧ lateral distance sensor

105‧‧‧pressure sensor

105-1‧‧‧Connecting parts

106‧‧‧ Processor

108‧‧‧Storage module

110‧‧‧Wireless Module

112‧‧‧ Feedback Module

200‧‧‧Monitor

A1‧‧‧ horizontal angle

A2‧‧‧ downward tilt angle

A3‧‧‧Vertical angle

D‧‧‧ Height

302, 304, 306, 308, 310, 312, 314, 316, 318, 320, 322‧ ‧ steps

402, 404, 406, 408, 410, 412‧ ‧ steps

1 is a schematic diagram of a pedestrian-assisted wearable device according to an embodiment of the present invention; FIG. 2 is a schematic diagram of a walk-assisted wearable device and a monitoring terminal according to an embodiment of the present invention; FIG. 3 is a schematic diagram of an information comparison method according to an embodiment of the present invention; It is a schematic diagram of a walking assistance method according to an embodiment of the present invention.

Claims (10)

A walking assisted wearable device for providing feedback information about a front road condition of a user, the device comprising: a wearing device for being worn; a plurality of first front distance sensors disposed on the wearing device a plurality of second front distance sensors disposed at the second height of the wearing device and located under the first front distance sensors; a plurality of bevel distance sensors disposed on the wearing The third height is located below the second front distance sensors and has a downward tilt angle; at least one side distance sensor is disposed on at least one side of the wearing device; at least one rear a distance sensor disposed behind the wearing device; a processor coupling the distance sensors to utilize distances from different heights, horizontal angles, vertical angles, and azimuths provided by the distance sensors Sensing information, for at least one stored information, to obtain an environmental information; a storage module coupled to the processor to provide the stored information; a wireless module coupled to the processor Providing a wireless connection to the at least one monitoring terminal; and a feedback module coupled to the processor to provide a feedback information according to the environmental information; thereby, the distance sensing information of the different heights and the different vertical angles can be utilized The distance sensing information determines whether there is a convex or concave obstacle in front; and the distance sensing information of the different horizontal angles is used to determine the horizontal width of the obstacle. The device of claim 1, further comprising a pressure sensor coupled to the processor to provide pressure sensing information from the user's sole to determine whether to activate the distance by the pressure sensing information Sensor. The device of claim 1, wherein the feedback information provides information on the upper floor or the lower floor according to the obstacle being a protrusion or a depression. The device of claim 1, wherein the feedback information is guided by a secure path provided by a horizontal width of the obstacle. The device of claim 1, wherein the processor supports an independent IP (Internet Protocol) address and supports an Internet over Things (IoT) protocol. A walking assistance method for providing feedback information about a front road condition by a user, the method comprising: providing a wearing device, and providing a plurality of first front distance sensors disposed at a first height of the wearing device; a plurality of second front distance sensors disposed at the second height of the wearing device and located under the first front distance sensors; a plurality of bevel distance sensors disposed on the wearing device Three heights, and located under the second front distance sensors, and having a downward tilt angle; at least one side distance sensor disposed on at least one side of the wearing device; at least one rear distance sensing Providing the distance sensing information from different heights, horizontal angles, vertical angles and azimuths by using the distance sensors; providing at least one stored information by using a storage module; a processor that compares the information and the stored information to obtain an environmental information; and provides a wireless connection to at least one monitoring terminal by using a wireless module; a feedback module is configured to provide a feedback information according to the environmental information; thereby, the distance sensing information of the different heights and the distance sensing information of the different vertical angles can be used to determine whether there is a convex or concave obstacle in front And using the distance sensing information of the different horizontal angles to determine the horizontal width of the obstacle. The method of claim 6, further comprising using a pressure sensor to provide pressure sensing information from the sole of the user, and determining whether to activate the distance sensors according to the pressure sensing information. The method of claim 6, further comprising: comparing whether the comparison conforms to the upstairs feature; whether the comparison conforms to the downstairs feature; and if the upstairs feature and the downstairs feature are not met, calculating the number of steps and confirming the gait . The method of claim 6, wherein the feedback information is guided by a secure path provided by the horizontal width of the obstacle. The method of claim 6, further comprising wirelessly connecting to at least one monitoring terminal according to an agreement of an Internet over Things (IoT) using a separate IP (Internet Protocol) address.