TW202119961A - Walking assist device - Google Patents

Abstract

The present invention discloses a walking assist device comprising a sensing module, a step module, a control module, and an output module. The sensing module generates a sensing signal when a user is walking. The step module calculates a stepping distance. The control module connecting to the sensing module and the sensing module determines a step state according to the sensing signal, and generates a controlling signal by the stepping distance and the step state. The output module which is disposed in a shoe and connects to the control module outputs a stepping line by the controlling signal.

Description

Walking guide device

The present invention is a walking guide device, especially a walking guide device that helps users perform gait reconstruction and stride training.

Many diseases, such as stroke, Parkinson's disease, cerebral palsy, etc., can cause the problem of "striding disorder", which greatly reduces the ability and quality of life. Gait rehabilitation training is an important process for people with walking disabilities to regain their independent walking ability. At present, gait training in clinical practice mostly relies on the therapist's supervision and subjective assessment of the patient's ability to give corresponding external reminders to induce the correct gait. However, when the therapist is not nearby, the patient may be in In the absence of reminders, walking in a bad posture and forming a wrong stepping habit is not conducive to gait rehabilitation in the future.

A common visual reminder of stepping obstacles is to install a laser light emitter on the crutches used by the patient to emit a laser light to the ground to remind the patient to step forward. However, when there is only one laser beam, the patient will only take the first step, and the patient’s other foot will not be able to cross the correct distance, making the patient unable to move forward; in addition, there will be gait freezing or striding Patients with obstacles do not necessarily need to use crutches. Therefore, when gait freezing or stepping obstacles occur, if the crutches with guiding devices are not around, the patient will not be able to smoothly get out of the freezing and make correct striding movements.

Moreover, assistive devices attached outside the body, such as walking aids, crutches, wheelchairs, etc., are likely to cause confusion and improper step instructions due to changes in the user's behavior when operating the assistive devices. In addition, walking aids are used to support and assist people with walking disabilities to maintain their balance during walking. For people with walking disabilities, there is actually a big difference between the use and non-use of walking aids. For those who need to use crutches, using crutches in order to obtain the guiding function may cause difficulty in walking.

Therefore, there is an urgent need in the art for a walking guide device that can assist a person with straddling disabilities to walk stably without using external equipment, so that the user can restore the ability of daily walking.

The present invention provides a walking guide device, which includes: a sensing module that senses the travel of a user to generate a sensing signal; a step distance module that calculates a step distance of the user; and a control module , Connected to the sensing module and the step distance module, the control module determines a step state according to the sensing signal, and generates a control signal according to the step state and the step distance; and a The output module is arranged on a shoe body and is connected with the control module.

Wherein, the output module further includes a signal receiving unit and at least one light emitting unit. The signal receiving unit receives the step distance of the step distance module and the step state of the control module to drive the at least one light-emitting unit to output a step prompt.

Furthermore, the control module determines that the stepping state is a stance phase based on a pressure change in a front sole sensing area, a medial sole sensing area, an outer sole sensing area, and a rear sole sensing area Or a swing period. .

Furthermore, the control module includes at least one control mode, and the at least one control mode further includes a straight line control mode, a left turn control mode, a right turn control mode, and a voice control mode. It transmits wirelessly to the output module and outputs the corresponding step prompt through the at least one light-emitting unit.

The above brief description of the present invention aims to provide a basic description of several aspects and technical features of the present invention. The brief description of the invention is not a detailed description of the invention. Therefore, its purpose is not to specifically enumerate the key or important elements of the invention, nor to define the scope of the invention. It merely presents several concepts of the invention in a concise manner.

In order to understand the technical features and practical effects of the present invention, and implement it in accordance with the content of the specification, the preferred embodiment shown in the figure is further described in detail as follows:

Please refer to FIG. 1, which is a schematic diagram of a preferred embodiment of the walking guide device of the present invention. The walking guide device 100 helps the user to output a step prompt when traveling. The walking guide device 100 of the present invention includes a sensing module 200, a control module 300, a step distance module 400, and an output module 500.

Please also refer to FIG. 2, which is a schematic diagram of the first embodiment of the sensing module of the walking guide device of the present invention. The sensing module 200 can also be subdivided into a forefoot sensing area 210, an inner sole sensing area 220, an outer sole sensing area 230, and a rear sole sensing area 240; the sensing module 200 also includes a plurality of sensing units (211, 212, 221, 222, 231, 232, 241), each sensing unit (211, 212, 221, 222, 231, 232, 241) is used to sense the sole of the user's foot on the bottom of the shoe body One of the pressures generated in different areas.

In this embodiment, the plurality of sensing units (211, 212, 221, 222, 231, 232, 241) are pressure sensors. The plurality of sensing units are arranged in the insole to form a pressure pad, and the pressure pad is placed inside the shoe body.

In other embodiments of the sensing module 200 of the present invention, the sensing module 200 may be a gyroscope, an accelerometer, or the like. The gyroscope and accelerometer are not necessarily placed on the insole.

The step distance module 400 includes a step distance calculation unit 410 and a step distance output signal unit 420. The step distance calculation unit 410 is used to calculate a step distance of a user's single foot, and the step distance output signal unit 420 The step distance signal is transmitted to the output module 500 or the control module 300 to achieve the distance for directly or indirectly controlling the step prompt.

In this embodiment, the step distance is calculated by using a gyroscope, an accelerometer, or a magnetometer to measure the acceleration or turning situation of the user during travel. With slight changes in body speed, a step distance that is more in line with the user's own step length, stride frequency, and pace is calculated. Among them, the selection of the accelerometer can be a space accelerator, a uniaxial accelerator, a biaxial accelerator or a triaxial accelerator. The calculation method of the stride distance will be explained later.

The control module 300 is connected to the sensing module 200 and includes a state determination unit 310 and a state signal output unit 320. The state determination unit 310 senses the user's foot and sole on the bottom of the shoe body according to the sensing module 200 The generated pressure change or/and foot acceleration change is determined by a predetermined algorithm to determine a stepping state of the user, and the state output signal unit 320 is used to signal the stepping state (or according to the A control signal determined by the stepping state) is sent to the output module 500. In addition, the control module 300 located on the left and right feet transmits or/and receives related data through wireless communication. The implementation of the stride state will be described later.

Please also refer to FIG. 4, which is a schematic diagram of a complete striding state (gait cycle) when the human body is traveling. As shown in FIG. 4, in this embodiment, the stride state of the gait cycle when the user is traveling is divided into two phases, the stance phase 23 (Stance phase) and the swing phase 25 (Swing phase). Among them, the stance phase 23 also includes Heel Strike 21, Mid Stance 22, and Toe off/push off 24. Among them, the period of the mid-stance 22 starts from the flat 22a of the foot to the end of the heel 22b.

The output module 500 includes a signal receiving unit 510, a light emitting unit 520, and an adjusting unit 530. In one embodiment, the output module 500 is connected to the control module 300 and the step distance module 400, and the signal receiving unit 510 is based on the step distance signal transmitted by the step distance module 400 and the control module 300 at the same time. To drive the light-emitting unit 520 of the output module 500 to output a step prompt that matches the user's step distance to the front of the shoe body, thereby helping the user to confirm the position of the step according to the step prompt to continue March. In another embodiment, the control module 300 receives the step distance signal of the step distance module 400, and determines a control signal to the output module 500 according to the step distance signal and the step status signal, The output module 500 generates the step prompt according to the control signal.

The step prompt generated by the light-emitting unit 520 has many implementation modes. The first embodiment is shown in FIG. 3, which is a schematic diagram of three implementation modes of the step prompt of the walking guide device of the present invention. The step prompt generated by the light-emitting unit 520 can be a light with a multi-grid array such as 3x3, 4x4, and 3x4. Or image. In this embodiment, the light or image of the MxN multi-grid array can form short, medium or long distance straight 11, left turn 12, right turn 13 and other stepping prompts to guide the user to go straight and left. Turn or turn right. Among them, the schematic diagram of the straight stepping prompt 11 in FIG. 3 is the long-distance straight stepping prompt 11.

In another embodiment, the light-emitting unit 520 can generate three stepping prompts: a long-distance walking straight, a short-distance straight walking, and a turn. Please refer to FIG. 7. FIG. 7 is a schematic diagram of an embodiment of the placement position of the light-emitting unit 520 of the walking guide device of the present invention. The position and number of the light-emitting unit 520 in FIG. 7 are only for illustration and not for limiting the present invention. invention. In the embodiment in FIG. 7, the three light-emitting units 520 included in the output module 500 are respectively arranged on the inner side of the foot (first light-emitting unit 520a) and the inner and front side of the foot (second light-emitting unit 520b) at the front end of the shoe body. And just in front of the foot (the third light-emitting unit 520c). Among them, the first light-emitting unit 520a and the third light-emitting unit 520c are used to output the short-distance and long-distance linear light or images (ie stepping prompt 10), and the second light-emitting unit 520b is used to display the turning guidance The stride reminder 10, through the respective output of the three light-emitting units (520a, 520b, 520c), can generate a short-distance straight step reminder 11 (through the first light-emitting unit 520a), a long-distance straight step reminder 11 ( The third light-emitting unit 520c), the step prompt 12 for turning left (the second light-emitting unit 520b on the left foot), and the step prompt 13 for turning right (the second light-emitting unit 520b on the right foot) to prevent the user from turning , Stepping prompts the oblique light or image to be deviated. In one embodiment, for example, the user of a stroke patient only needs a step prompt for one foot, or the step prompt distance (one far and one near) of the two feet is different. The three light-emitting units 520 included in the output module 500 can also be adjusted to meet user needs.

In addition, the adjustment unit 530 can change the brightness or color of the light or image output by the light-emitting unit according to the brightness of the environment, and can also change the frequency of the light-emitting unit 520 output according to user requirements. In a possible implementation mode, the present invention can further meet the needs of diseases or users by turning off the light-emitting unit by the adjusting unit 530, and only output a step prompt of a single foot for step guidance.

In this embodiment, the light-emitting unit 520 may be a light-emitting diode (LED), a laser emitter, an image emitter, a light-emitting diode (LED) group, or a laser emitter group, but it should not be used. The list is limited. More specifically, please refer to FIG. 8 at the same time, which is a schematic diagram of a preferred embodiment of the light-emitting unit 520 of the walking guide device of the present invention. The light-emitting unit 520 is spherical and is installed in a housing 521 so that the light-emitting unit 520 can rotate 360 degrees in the housing 521 and output a step prompt (which can be an image or light), thereby providing a wide range of step prompt. In other possible implementations, a circular hole (not shown) may be provided around the housing 521 to provide the light emitting unit 520 with a wider range of output angles.

The walking guide device of the present invention further includes a power supply unit (not shown) disposed on the shoe body, and respectively connected to the sensing module 200, the control module 300, the step distance module 400, and the output module 500. The power supply unit (not shown) is connected to the sensing module 200, the control module 300, the step distance module 400, and the output module 500. The supply unit includes, but is not limited to, a secondary battery or a primary battery. Any achievable power supply method at this stage can also be transferred to the power supply unit of the present invention.

In the present invention, any known means can realize the arrangement of the control module 300, the step distance module 400, the output module 500 and the power supply unit (not shown) on the shoe body. In the embodiment of the present invention, the air cushion at the bottom of the shoe body is provided with an accommodating space for installing or removing the step module, the control module, the output module, and the power supply unit.

The following will describe in detail the algorithm for determining the stepping state of the user when the control module 300 senses the user's travel according to the sensing module 200.

In this embodiment, the state judging unit 310 included in the control module 300 senses the user's travel according to the sensing module 200, and uses an internal algorithm to determine the stride state of the user, and based on the stride state. The signal of the step state transmits a control signal to the output module 500 through the state output signal unit 320, thereby driving the light-emitting unit 520 of the projection module to output a step prompt in front of the shoe body at a more correct time point to complete the travel route The guide.

Please refer to FIGS. 2, 3, and 4 at the same time. In this embodiment, the judgment method of the state judgment unit 310 is as follows: Take the left foot as an example, the current sole sensing area 210 and the rear sole sensing area 240 , The inner sole sensing area 220 and the outer sole sensing area 230 (sensing units 211, 212, 221, 222, 231, 232, 241 in FIG. 2) both measure part of the pressure, and the state determining unit 310 will determine the The stride state 20 is in the stance phase 23; when no significant pressure is measured in the plurality of sensing areas, the state judgment unit 310 judges that the stride state 20 is in the swing phase 25. Furthermore, when only the back foot sensing area 240 (such as the sensing unit 241 in FIG. 2) detects significant pressure, the state determining unit 310 will determine that the step state 20 is a heel strike (Heel Strike) 21 ; Current foot sole sensing area 210, rear sole sensing area 240, inner sole sensing area 220, and outer sole sensing area 230 (sensing units 211, 212, 221, 222, 231, 232, 241 in Figure 2) There are a plurality of sensing areas in which a significant pressure is measured, and the state determination unit 310 will determine that the stride state 20 is Mid Stance 22; the rear foot sensing area 240 (sensing unit 241 in FIG. 2) When there is no significant pressure and the pressure measured by the forefoot sensing area 210 decreases to no significant pressure, it is a toe off 24. Regarding "obvious or not", it can be compared with at least one critical value. When the value is greater than at least one critical value, it is obvious; otherwise, it is not obvious or not obvious.

Taking the left foot as an example, further speaking, the current sole of the foot sensing area 210 (sensing units 211 and 212 in FIG. 2) measures significant pressure and the outer sole of the foot sensing area 230 (sensing unit 231 in FIG. 2) 232) When the measured pressure increase is similar to the pressure increase measured by the inner sole sensing area 220 (sensing units 221 and 222 in FIG. 2), the state judgment unit 310 will judge that the stride state 20 is Mid Stance 22 in line 11; when there are a plurality of sensing areas, the forefoot sensing area 210 (sensing units 211 and 212 in FIG. 2) measures the user's obvious pressure and the outer foot sensing area 230 (sensing units 231, 232 in FIG. 2) measured pressure increase is greater than the inner sole of the foot sensing area 220 (sensing units 221, 222 in FIG. 2) measured pressure increase, then the state judgment unit 310 It will be judged that the stride state 20 is a mid stance 22 of a left turn 12; in the same way, taking the right foot as an example, the state judgment unit 310 judges that the stride state 20 is a mid stance 22, According to the slightly different pressures sensed by the plurality of sensing areas, it is further divided into two traveling directions: straight and right-turn. When there are a plurality of sensing areas, the forefoot sensing area 210 (sensing units 211, 212 in FIG. 2) detects the user's obvious pressure and the outer foot sensing area 230 (sensing units 231, 232 in FIG. 2) ) The measured pressure increase is greater than the pressure increase measured by the inner sole sensing area 220 (sensing units 221, 222 in FIG. 2), then the state determining unit 310 will determine that the step state 20 is a right turn 13 Mid Stance 22.

Please refer to FIGS. 5a, 5b, and 5c at the same time as shown in FIG. 4. FIGS. 5a, 5b, and 5c are schematic diagrams of preferred embodiments of the walking guide device of the present invention (go straight, turn left, and turn right). First, Figure 5a shows the way the walking guide device 100 of the present invention guides the user to walk straight. When the user is traveling, when the right foot is in the mid-stance 22 of the stepping state 20, it will be displayed through the light-emitting unit 520 on the right foot. The straight stepping prompt 11 guides the left foot to step forward; and when the left foot is in the mid-stance 22 in the stepping state 20, the straight stepping prompt 11 is displayed through the light-emitting unit 520 on the left foot to guide the right foot to step forward. This allows the user to walk straight ahead along the step prompt.

When the user is about to turn left, the left foot in the mid-stance 22 can first play the left turn step prompt 12 to guide the right foot to step forward to the left, and after the right foot is completed, it will enter the mid-stance 22 of the right foot. At this time, the right foot Then hit the straight step prompt 11 to guide the left foot to step forward, so that the user can turn to the left along the step prompt.

Conversely, when the user is about to turn right, the right foot in the mid-stance 22 can first play the right turn stepping prompt 13 to guide the left foot to step forward to the right, and after the left foot is completed, it will enter the mid-stance 22 of the left foot. At this time, the left foot then plays the straight stepping prompt 11 to guide the right foot to step forward, so that the user can turn right along the stepping prompt. In the above-mentioned embodiment, the above-mentioned left-right inconsistent stride prompt is used to guide the handicapped person, which can help the handicapped person to maintain a better balance when walking.

In the above-mentioned embodiment, the straight stepping prompt 11 and the left (or right) turn stepping prompt 12 (or 13) can be played when one foot is on the ground (standing period), so as to avoid stepping caused by shaking the foot. The deviation of the prompt.

In addition, in the above-mentioned embodiment, the walking guide device 100 can also guide the user's turning radius by setting the light-emitting unit 520 to display the distance of the stride prompt. When the step prompt 11 is used, the turning radius of the user is larger during the turning process; on the contrary, when the light-emitting unit 520 will output a short straight step prompt 11, the turning turning radius of the user is smaller.

Wherein, the state judgment unit 310 and the algorithm can be implemented by a programmable logic device, a logic circuit, a processor, and firmware or software.

In addition, when the user's two feet are in Mid Stance 23 for a long time, and the pressure values measured by at least one of the front sensing area 210 and the rear sensing area 240 of at least one of the left and right feet are significantly jittered ( If the amount of jitter is greater than a jitter threshold), the state judging unit 310 will determine that the user has a stepping intention and that the user is in a Gaiting freeze state. The state output signal unit 320 will signal the stepping state 20 Send to the output module 500 with a small amount of jitter (no step intention) to drive the output module 500 to output a step prompt 10 in front of the shoe body, thereby guiding the use in a gaiting freeze The person stepped forward with a large amount of shaking (with the intention of stepping) to remind the patient of Parkinson's where to step. In addition, when the state determination unit 310 determines that the user’s feet are in the mid stance 23 and the pressures measured by the front sensing area 210 and the rear sensing area 240 of the left and right feet are not significantly jittery (jitter) If the amount is less than a jitter threshold), the state determining unit 310 determines that the user is in a standing state, and disables the output module 500 to reduce power consumption.

Hereinafter, the step distance calculation unit 410 of the step distance module 400 will be described in more detail in determining the step distance traveled by the user.

Please refer to Figure 4 again, the stride distance can be when the human body moves from Swing phase 25, that is, the toe off the ground 24 (Toe off), and enters the next heel strike (Heel Strike) 21 with one foot. The time interval (referred to as "the time interval of the swing period (or dangling period)" in the present invention). This series of actions is the time interval of one foot movement. The time interval of the swing period can be known from the output signal of the corresponding sensing unit of the sensing module 200. The step distance calculation unit 410 can calculate the step distance of the user in a single step according to the time interval of the swing period. There are many implementations of the step distance measurement method of the step distance calculation unit 410:

The first embodiment: Use the two-axis accelerometer to obtain the change of the acceleration component in the X and Y axis directions at the time interval of the swing period, and use the X and Y axis acceleration components to calculate (synthesize) the acceleration curve in the XY plane , And then integrate the acceleration curve to calculate the forward speed, and perform another integration to calculate the stride distance.

The second embodiment: using a three-axis accelerometer to obtain the changes in the acceleration components in the X, Y, and Z axis directions at the time interval of the swing period, because the Z axis of the accelerometer is not always maintained on the Z axis, and the accelerometer is used Calculate the included angle (tilt angle) between the accelerometer’s Z-axis and the gravitational acceleration g (the fixed value is 9.8) to compensate the X-axis acceleration signal and the Y-axis acceleration signal, and use the compensated The acceleration components in the X and Y axis directions are obtained (synthesized) and the acceleration curve in the XY plane is integrated once to calculate the forward speed, and then integrated again to calculate the step distance. In this embodiment, the sensing module 200 of the present invention uses the Z-axis acceleration as the basis for detecting the user's stepping state. In other words, only one three-axis accelerometer can be used in this embodiment. Among them, the Z-axis acceleration data is used as the basis for judging the user's stride state, and the XY-axis acceleration data is used to calculate the user's stride distance.

The third embodiment: an infrared emitting element is arranged on the first shoe body, namely the inner side of one shoe, and an infrared receiving element is arranged on the front and back of the second shoe body, that is the inner side of the other shoe, and two infrared receiving elements are arranged on the front and rear of the second shoe body. The relative distance D of the element is calculated by dividing the distance D by the time difference between the two infrared receiving elements receiving infrared rays to calculate the forward speed, and then multiplying the forward speed by the swing period time to estimate the stride distance.

In the following, a more detailed description will be given for adjusting the distance of the step prompt 10 of the output module 500 by using a variety of feedback control methods.

One: Use the step distance to adjust successfully or not: by comparing the step distance calculated by the step distance module 400 with the distance of the step prompt 10 of the output module 500 (for example: step distance and step prompt Whether the distance of 10 is greater than the distance of the step prompt 10) to adjust the distance of the next step prompt 10 of the output module 500 in feedback;

Second: if the control module 300 determines that the user has gait variation characteristics, adjust (i.g. reduce) the distance of the next step prompt 10 of the output module 500 according to the variation characteristics. These variation characteristics include at least one of the following: pressure variability in the stance period between each step (left and right foot), variability in the distance between the center of gravity of one foot, and the stance period or swing period or stance period between each step (left and right foot). The variability of the ratio to the swing phase, the change of the pressure ratio of the left and right feet, the ratio change of the left and right foot stance phase or the swing phase. For example, when the user's step distance is still greater than the distance of the step prompt 10, the above-mentioned gait variation feature may still appear. The above-mentioned gait variation characteristics can be regarded as the user's poor gait and unstable center of gravity. Therefore, the distance of the next step prompt 10 should be adjusted (reduced) by feedback to prevent the user from falling. Wherein, if the sensing module 200 uses a plurality of sensing units, the control module 300 can obtain all the above-mentioned gait variation characteristics according to the previous stepping state and the current stepping state; When the test module 200 is an accelerometer, the control module 300 can obtain the above-mentioned standing period or swinging period or standing period between each step (left and right foot) according to the previous stepping state and the current stepping state. The gait variation characteristics of the ratio variability to the swing phase, and the ratio variability of the same foot stance phase to the swing phase. In another preferred embodiment, if the sensing module 200 uses a plurality of sensing units, the pressure variability in the stance phase and the variability in the center of gravity of the single foot are based on the inner sensing area 220 and the outer sensing area. The pressure change of the measurement area 230 is calculated.

In this embodiment, the output mode of the step prompt 10 can also correspond to the foot output step prompt 10 (that is, after the left foot outputs the step prompt 10, swing from the right foot to the position of the step prompt 10; change the right foot to output the step prompt 10 When step reminder 10, swing from the left foot to the position of step reminder 10).

In a possible implementation mode, the present invention may also include a memory unit (not shown) connected to the output module 500, when the user completes a complete left and right foot crossing through the walking guide device of the present invention After the step period, the memory unit can store the time interval of each state of the user's step state and the user's habitual step distance, so as to record and analyze the relevant parameters of the output module 500 to adjust the output module 500 to better match the user's step Prompt 10 (such as stepping prompt 10 distance or angle, etc.).

Please refer to FIG. 6, which is another schematic diagram of the preferred embodiment of the walking guide device of the present invention. In this embodiment, the walking guide device 100 of the present invention can also be wirelessly connected to a control device 110. The control device 110 includes three control methods: straight, left turn and right turn, and the user can decide by himself according to the needs of use. Progress direction. For example, when the user selects the right turn control method, the control device 110 wirelessly transmits the signal of the right turn to the output module 500, and outputs the step prompt 10 for the right turn 13 through the light-emitting unit 520, thereby guiding the user Go right. The wireless connection between the control device 110 and the output module 500 may be a Bluetooth connection, a wireless network connection, an infrared connection, or the like. In another embodiment, the control module 300 of the present invention also includes a voice control function, which separates the user's voice input (for example: straight, left, right, freeze) and other voice controls to control and change the output The output of the module 500.

Furthermore, the walking guide device 100 of the present invention can also be connected to an external mobile device (not shown), and the mobile device can receive the pressure change of the user and the step state 20 measured by the walking guide device 100. , The stride distance 30 and the stride prompt 10, and output the information on the display of the mobile device. The user can adjust and correct his stride record through the mobile device clearly; the mobile device can also It includes a detection mechanism that detects whether the user has successfully stepped according to the stepping prompt 10, and if so, the mobile device sends out a reward signal (such as a sweet ringtone) to encourage the user to perform correct stepping exercises; if not, The mobile device sends out a reminder signal (for example: a warning sound or vibration) to remind the user of unsuccessful stepping.

In summary, the walking guidance device of the present invention cooperates with the sensing module, the step distance module, the control module, and the output module, so that the training of the user with the step prompt is similar to normal walking, and further Judge the user's stepping state and the user's habitual stepping distance, and then adjust and output a stepping prompt that matches the user's step distance, which can help people with stepping disabilities recover their ability to walk in daily life, and can also be applied to athlete training When, increase the stride distance.

However, the above are only the preferred embodiments of the present invention, and should not be used to limit the scope of implementation of the present invention, that is, simple changes and modifications made in accordance with the scope of the patent application and the description of the present invention still belong to the present invention. Covered in the scope.

10: Step reminder 11: Prompt to go straight and stride 12: Tips for turning left and stepping 13: Tips for turning right and stepping 20: stepping state 21: Heel touches the ground 22a: The feet are placed flat 22: Mid-Standing 22b: heel off the ground 23: Standing period 24: Toes off the ground 25: swing period 30: step distance 100: Walking guide device 110: control device 200: Sensing module 210: Forefoot sensing area 211: Forefoot sensing unit 212: Forefoot sensing unit 220: inner sole sensing area 221: inner sole sensor unit 222: inner sole sensor unit 230: Outer foot sensing area 231: Outer sole sensor unit 232: Outer sole sensor unit 240: rear foot sensing area 241: Rear foot sensor unit 300: control module 310: State Judgment Unit 320: Status output signal unit 400: step distance module 410: step distance calculation unit 420: step output signal unit 500: output module 510: signal receiving unit 520: light-emitting unit 520a: the first light-emitting unit 520b: second light-emitting unit 520c: third light-emitting unit 521: Shell 530: adjustment unit

Figure 1 is a schematic diagram of a preferred embodiment of the walking guide device of the present invention 2 is a schematic diagram of the first embodiment of the sensing module of the walking guide device of the present invention Fig. 3 is a schematic diagram of three implementation modes of step prompting of the walking guide device of the present invention Figure 4 is a schematic diagram of the complete stepping state when the human body is traveling Figure 5a is a schematic diagram of a preferred embodiment of the walking guide device of the present invention in the use mode (straight walking) Figure 5b is a schematic diagram of a preferred embodiment of the walking guide device of the present invention (left turn) Figure 5c is a schematic diagram of a preferred embodiment of the walking guide device of the present invention (right turn) Figure 6 is another schematic diagram of the preferred embodiment of the walking guide device of the present invention Figure 7 is a schematic diagram of the position of the light-emitting unit of the walking guide device of the present invention FIG. 8 is a schematic diagram of a preferred embodiment of the light emitting unit of the walking guide device of the present invention.

100: Walking guide device

200: Sensing module

300: control module

310: State Judgment Unit

320: Status output signal unit

400: step distance module

410: step distance calculation unit

420: step output signal unit

500: output module

510: signal receiving unit

520: light-emitting unit

530: adjustment unit

Claims (15)

A walking guide device, including: A sensing module, which senses the travel of a user to generate a sensing signal; The step distance module calculates a forward speed, obtains a swing period time interval according to the sensing signal, and obtains a step distance according to the forward speed and the swing period time interval; A control module is connected to the sensing module and the step distance module. The control module determines a step state based on the sensing signal, and generates a step based on the step state and the step distance Control signal; and An output module connected to the control module; Wherein, the output module further includes a signal receiving unit and at least one light emitting unit; The signal receiving unit receives the step distance of the step distance module and the step state of the control module to drive the at least one light-emitting unit to output a step prompt. The walking guide device according to claim 1, wherein the control module is based on a pressure change of a forefoot sensing area, an inner sole sensing area, an outer sole sensing area, and a rear sole sensing area It is judged that the striding state is a standing period or a swing period. The walking guide device according to claim 2, wherein the stance phase further includes a heel touching the ground, a mid stance phase, or a toe off the ground. The walking guide device according to claim 3, wherein the step distance module calculates the swing period time interval according to the time interval of the user moving from the toe off the ground to the next movement of the heel to the ground. The walking guide device according to any one of claims 1 to 4, wherein the step module is provided with an infrared emitting element on the inner side of a first shoe body, and is arranged in a second shoe body at a distance from front to back. There is an infrared receiving element. The walking guiding device according to claim 5, wherein the step distance module uses the distance divided by the time difference between the two infrared receiving elements receiving the infrared rays emitted by the infrared emitting element to calculate the forward speed, and then using the forward The speed is multiplied by the time interval of the swing period to estimate the step distance. The walking guide device according to claim 1, wherein the step prompt generated according to the setting of different positions of the at least one light-emitting unit further includes a long-distance walking straight, a short-distance straight walking, a left turn, a right turn, or the like combination. The walking guide device according to claim 1, wherein the walking guide device uses the at least one light-emitting unit to output the distance of the step prompt to guide the user's turning radius. A walking guide device, including: A sensing module, which senses the travel of a user to generate a sensing signal; The step distance module calculates a step distance of the user; A control module is connected to the sensing module and the step distance module. The control module determines a step state based on the sensing signal, and generates a step based on the step state and the step distance. Control signal; and An output module, arranged on a shoe body, connected with the control module, and the output module outputs a step prompt according to the control signal; Wherein, the sensing module includes a three-axis accelerometer, the sensing signal includes an X-axis acceleration signal, a Y-axis acceleration signal, and a Z-axis acceleration signal, and the control module determines the Z-axis acceleration signal according to the Z-axis acceleration signal. In the step state, the step distance module determines the step distance according to the X-axis acceleration signal and the Y-axis acceleration signal; Wherein, the step distance module compensates the X-axis acceleration signal and the Y-axis acceleration signal according to the Z-axis acceleration signal. A walking guide device, including: A sensing module, which senses the travel of a user to generate a sensing signal; The step distance module calculates a step distance of the user; A control module is connected to the sensing module and the step distance module. The control module determines a step state based on the sensing signal, and generates a step based on the step state and the step distance Control signal; and An output module, arranged on a shoe body, connected with the control module, and the output module outputs a step prompt according to the control signal; Wherein, the control module determines the step variation characteristic according to the sensing signal, and adjusts the step prompt distance of the output module according to the feedback of the gait variation characteristic. The walking guide device according to claim 10, wherein the gait variation characteristics include pressure variability in the stance period between each step, variability in the distance of the center of gravity of one foot, and ratio variability in the stance or swing period between each step , Changes in the pressure ratio of the left and right feet or changes in the ratio of the left and right feet in the stance or swing phase. A walking guide device, including: A sensing module, which senses the travel of a user to generate a sensing signal; The step distance module calculates a step distance of the user; A control module is connected to the sensing module and the step distance module. The control module determines a step state based on the sensing signal, and generates a step based on the step state and the step distance. Control signal; and An output module, arranged on a shoe body, connected with the control module, and the output module outputs a step prompt according to the control signal; Wherein, the control module adjusts the next step prompt distance of the output module according to the step distance output by the step distance module and the distance feedback of the previous step prompt of the output module. A walking guide device, including: A sensing module, which senses the travel of a user to generate a sensing signal; The step distance module calculates a step distance of the user; A control module is connected to the sensing module and the step distance module. The control module determines a step state based on the sensing signal, and generates a step based on the step state and the step distance. Control signal; and An output module, arranged on a shoe body, connected with the control module, and the output module outputs a step prompt according to the control signal; Wherein, the control module compares a jitter amount of the sensing signal with a jitter threshold value, and determines a gaiting freeze state or a standing state according to the comparison result. A walking guide device, including: A sensing module, which senses the travel of a user to generate a sensing signal; The step distance module calculates a step distance of the user; A control module is connected to the sensing module and the step distance module. The control module determines a step state based on the sensing signal, and generates a step based on the step state and the step distance. Control signal; and An output module, arranged on a shoe body, connected with the control module, and the output module outputs a step prompt according to the control signal; Wherein, the walking guide device determines whether the step prompt is a straight step prompt or a turn step prompt according to the pressure increase of the inner sensing area and the outer sensing area. A walking guide device, including: A sensing module, which senses the travel of a user to generate a sensing signal; The step distance module calculates a step distance of the user; A control module is connected to the sensing module and the step distance module. The control module determines a step state based on the sensing signal, and generates a step based on the step state and the step distance. Control signal; and An output module, arranged on a shoe body, connected with the control module, and the output module outputs a step prompt according to the control signal; Among them, the step prompt includes: a straight step prompt and a turn step prompt; Wherein, the walking guide device uses inconsistent left and right stride prompts to guide the user to turn.

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