WO2019144869A1 - Walking assist system - Google Patents

Walking assist system Download PDF

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Publication number
WO2019144869A1
WO2019144869A1 PCT/CN2019/072712 CN2019072712W WO2019144869A1 WO 2019144869 A1 WO2019144869 A1 WO 2019144869A1 CN 2019072712 W CN2019072712 W CN 2019072712W WO 2019144869 A1 WO2019144869 A1 WO 2019144869A1
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WO
WIPO (PCT)
Prior art keywords
visual
user
pointing device
assistance system
light source
Prior art date
Application number
PCT/CN2019/072712
Other languages
French (fr)
Chinese (zh)
Inventor
禤彦勳
Original Assignee
盖亚尔控股有限公司
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Publication date
Application filed by 盖亚尔控股有限公司 filed Critical 盖亚尔控股有限公司
Publication of WO2019144869A1 publication Critical patent/WO2019144869A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1112—Global tracking of patients, e.g. by using GPS
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1116—Determining posture transitions
    • A61B5/1117—Fall detection
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6802—Sensor mounted on worn items
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/74—Details of notification to user or communication with user or patient ; user input means
    • A61B5/7465—Arrangements for interactive communication between patient and care services, e.g. by using a telephone network
    • A61B5/747—Arrangements for interactive communication between patient and care services, e.g. by using a telephone network in case of emergency, i.e. alerting emergency services
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0157—Constructive details portable

Definitions

  • the present invention relates to assisted medical rehabilitation techniques and, in particular, to a walking assist system that is preferably adapted for use in patients such as Parkinson's disease.
  • Parkinson's disease is a long-term degenerative disorder that primarily affects the central nervous system of the motor system.
  • Patients with Parkinson's disease usually have varying degrees of dyskinesia symptoms.
  • patients with Parkinson's disease often have a medical condition called "Freezing of Gait (FoG)", which is manifested in the fact that walking becomes hesitant and may even stop completely.
  • FluG Freezing of Gait
  • Approximately 26% of patients with mild Parkinson's disease and 80% of patients with severe Parkinson's disease are affected by a "frozen gait”, which is a common cause of falls in patients. This can happen when you are turning, starting to walk, reaching a destination in a narrow space such as a doorway or toilet, and when you are nervous about hearing a knock on the door or opening the elevator door. It may also occur in the unpredictable absence of any external triggers. These bad behaviors make patients less confident and unwilling to go outdoors. Some patients may have to use a wheelchair, although their legs can move, reducing their quality of life.
  • the patient's ability to act is related to cognitive function, especially executive function and attention. It has been suggested that cognitive function in PD patients with "frozen gait” is generally impaired compared to PD patients who do not have "frozen gait”.
  • the Cognitive Attention Clues strategy has been shown to improve in overcoming FoG by providing hints that can be in the form of auditory, visual, tactile, and the like. It helps the patient's motor learning to show significant improvement in balance, fall risk, freeze, speed and stride, even in terms of reduced rhythm (steps traveled in one minute).
  • a walking assistance system comprising: a first pointing device and a second pointing device, wherein the first pointing device comprises a light source for projecting a visual indication light sign on a ground front of the user walking, and the second indication The device includes a source of vibration that provides a vibration indication to the user's foot.
  • the walking assistance system further includes a third pointing device, wherein the third pointing device includes a sound source that provides an audible prompt to the user.
  • the first pointing device comprises a visual pointing device
  • the second pointing device comprises a haptic pointing device
  • the third pointing device comprises an audible indicating device
  • the visual pointing device comprises the light source
  • the haptic indicating device includes the vibration source and the audible indicating device includes the sound source.
  • the walking assistance system further includes an insole providing a support for a user's foot, the insole being coupled to the visual indicating device by a post.
  • the visual indication device is coupled to the haptic indication device and the audible indication device, respectively.
  • the visual indication device further includes a clamp and the tactile indication device disposed on the insole, wherein the clamp clamps the visual indication device to the user and the insole to the user's foot Touch.
  • the visual indication device further includes a light sensor that senses ambient light intensity and adjusts the light source output power light intensity automatic adjustment circuit based on the light sensor perception result.
  • the visual indication device further includes a tilt sensor that detects an inclination of the beam output of the light source to the ground.
  • the visual indication device further includes a processor, wherein the processor turns off the light source when the tilt sensor detects that the tilt angle is greater than a predetermined angle.
  • the visual indication device further includes a motion sensor that detects a user's motion posture.
  • the visual indication device further includes a GPS module that detects the geographic location of the user.
  • the visual indication device further includes a communication module including a Bluetooth module for short-range communication with other devices, and a SIM card module for long-distance communication with the background server.
  • a communication module including a Bluetooth module for short-range communication with other devices, and a SIM card module for long-distance communication with the background server.
  • the tactile indication device is in the form of an insole comprising a plurality of force sensors distributed on the tactile indication device in a predetermined distribution pattern.
  • the vibration source of the haptic indicating device includes an active vibration mode of timed vibration, and a passive vibration mode when a user's heel strike is found, the visual indication indicating device including a fall when a user is detected to fall
  • the fall alarm module for the alarm.
  • the walking assistance system further includes a smart mobile device connected to the visual indication device and/or the tactile indication device via Bluetooth, the smart mobile device collecting from the visual indication device and the tactile indication device All data and send data to the backend server via the internet.
  • the walking assistance system of the present invention provides a visual indication and a vibration indication for a user, such as a Parkinson's disease patient, by walking through a visual indication device and a trigger indication device, respectively, which can prompt the user to overcome, for example, freezing the gait and improving his movement.
  • FIGS. 1A and 1B are schematic diagrams showing the appearance of different directions of a visual pointing device of a walking assist system according to an embodiment of the present invention.
  • FIG. 2 is a schematic exploded view of a rotary joint of a visual pointing device of a walking assist system according to an embodiment of the present invention.
  • FIG. 3 is a system configuration diagram of a visual pointing device of a walking assistance system according to an embodiment of the present invention.
  • FIG. 4 is a flow chart of light source control in accordance with an embodiment of the present invention.
  • Figure 5 is a perspective view of a tactile indication device of the walking assistance system of the embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a user wearing a walking assist system of an embodiment of the present invention.
  • FIG. 7 is a communication architecture diagram of a walking assistance system according to an embodiment of the present invention.
  • Figure 8 is a flow chart of a fall detection in accordance with an embodiment of the present invention.
  • FIG. 9 is a schematic view of a walking assist system for a footwear product according to another embodiment of the present invention.
  • FIG. 10 is a structural diagram of a visual indication device, a tactile indication device, and an audible indication device system of a walking assistance system according to another embodiment of the present invention.
  • Fig. 11 is a view showing the structure of a walking assistance main body of a walking assist system according to another embodiment of the present invention.
  • Figure 12a is a system configuration diagram of a walking assist system according to another embodiment of the present invention.
  • Figure 12b is a block diagram of another system of the walking assist system of another embodiment of the present invention.
  • Figure 13a shows a flow chart of a walking assistance system in accordance with another embodiment of the present invention.
  • Figure 13b shows a flow chart of another system of walking assistance in accordance with another embodiment of the present invention.
  • circuitry may be shown in block diagrams in order to avoid the following unnecessary detail mixing embodiments.
  • well-known circuits, procedures, algorithms, structures, and techniques may be shown without unnecessary detail to avoid obscuring the embodiments.
  • the embodiments may be described as a process, which is depicted as a flowchart, a flowchart, a data flow diagram, a structural diagram, or a block diagram. Although a flowchart may describe the operations as a sequential process, many of the operations can be performed in parallel or concurrently. In addition, the order of operations can be rearranged. The process terminates when its operation is complete, but may have additional steps not included in the diagram. Processes may correspond to methods, functions, programs, subroutines, subroutines, and the like. When corresponding to a function, the termination of the procedure corresponds to the function returning to the calling function or the main function.
  • FIG. 1A-3 illustrate a first pointing device (e.g., visual pointing device 10) in accordance with a preferred embodiment of the present invention.
  • the visual indication device 10 can be worn by a user, such as a Parkinson's disease patient, to provide a visual indication thereof.
  • the visual indicating device 10 can have a variety of wearing styles.
  • the visual indicating device 10 has a housing 11 that forms an accommodation space for receiving the components of the visual indicating device 10.
  • the housing 11 can be horizontally rotated on the base 15 by a rotary joint 70.
  • the swivel joint includes a cup 71 mounted on a base 15 for retaining the ball 72.
  • the ball 72 has a hole for the rod 74 to be inserted.
  • a cover 73 is mounted on the cup 71 to secure the ball 72 to the ball 72.
  • the light source 12 is disposed on the bracket 75, and the light source 12 is fixed in position to the bracket 75 by screws 76.
  • the bracket 75 is mounted on the rod 74.
  • the cup body 71, the ball 72, the cover 73 and the rod 74 provide three degrees of freedom (DOF), while the bracket 75 provides one degree of freedom such that the light source 12 has a total of four degrees of freedom.
  • a clamp 14 can be placed on the base 15 to clamp the visual indicating device 10 to the user's apparel, such as pants or belts.
  • the clamp 14 can be detached from the base 15.
  • the visual indicating device 10 can also provide a headband, for example, on the base 15 to wear the visual indicating device 10 to the user's head.
  • the visual indicating device 10 can also provide a clip or strap to hold or tie it to the crutches held by the user.
  • the power supply circuit of the visual indicating device 10, for example, including a lithium battery, and a charge and discharge circuit, may be disposed in the housing 11 or may be disposed on the base 15.
  • the visual indication device 10 may include a light source 12, a light sensor 13, a processor 16, a light intensity automatic adjustment circuit 16a, a tilt sensor 17a, a motion sensor 17b, a GPS module 18, and a communication module 19.
  • Light source 12 is used to project a visual indication beam onto the ground to form a visual indicator light sign on the ground. According to medical research, if a person with Parkinson's disease walks in front of an obstacle or a hint, it will stimulate the patient's brain to produce a desire to cross it, thus improving the patient's "freezing gait.”
  • the visual indicator light sign projected by the light source 12 can function in this manner.
  • the shape of the visual indicating light sign is not limited, and may be, for example, light (for example, a straight light perpendicular to the forward direction of the user, or a semi-arc light), a light spot, a halo (a ring, a square ring, etc.). shape).
  • the visual indication light sign is projected in front of the user of the visual indication device. The user can step on the light sign or step over the light sign. The distance between the user's foot and the light sign is adjustable. The light sign thus assists the user in starting to walk and maintaining the stride.
  • the visual intensity of the light beam emitted by the light source 12 can be adjusted by the light intensity automatic adjustment circuit 16a depending on the surrounding light intensity.
  • the light sensor 13 can detect the light intensity of the surrounding environment. For example, when in an outdoor sunny environment, based on the ambient light signal detected by the light sensor 13, the processor 16 can issue a control signal to control the light intensity automatic adjustment circuit 16a to raise the light source 12.
  • the emitted light indicates the light intensity of the beam to provide a visual indicator of sufficient brightness in a bright light environment so that the user can see the visual indication light sign in this environment.
  • the processor 16 can issue a control signal to control the light intensity automatic adjustment circuit 16a to reduce the light intensity of the visual indicating beam emitted by the light source 12, thereby reducing the indoor low light environment.
  • Visually indicating the brightness of the light sign to protect the user's eyes.
  • Such automatic adjustment of the light intensity also ensures that the power of the visual indicating device 10, such as the energy storage in the lithium battery, is properly used.
  • the switching interval of the light source 12 can also be adjusted. For example, the light source 12 can be turned on for 5 seconds and then turned off for 5 seconds, or the light source 12 can be turned on for 10 seconds and then turned off for 5 seconds. Referring to the following, these adjustments can be made, for example, by an APP on a smart mobile device, and there can be multiple modes to reset the "on" or "off” time interval.
  • a tilt sensor 17a is also provided in the visual indicating device 10 for detecting the inclination of the beam output port of the light source 12 to the ground.
  • the visual indication beam is projected to the front of the user, that is, the visual indication beam is at an angle to the vertical direction of the human body.
  • the angle between the visual indication beam and the vertical direction of the human body is 0 degrees, that is, the visual indication beam is perpendicular to the ground.
  • the position of the ground indicating that the light sign is projected is getting farther and farther away from the user, but usually the distance between the position of the visual indicating light sign and the user should be kept within an appropriate range, which may prompt " The user who freezes the gait is on the other hand, and on the other hand, it is not too far away to cause the user to give up because of the disappointment that it is impossible to reach, or the risk of falling due to forcible steps.
  • the angle between the visual indication beam and the vertical direction of the human body is 90 degrees or even greater than 90 degrees, the visual indication beam is parallel to the ground or even to the sky, so that not only the visual cue effect is lost, but also the emitted light beam is Pedestrians cause interference.
  • the light source should also be turned off.
  • the light source by detecting the inclination of the beam output port of the light source 12 to the ground by the tilt sensor 17a, the light source can be turned on in a suitable range of tilt angles, for example, greater than 0 degrees, less than 45 degrees, and the light source is turned off in other tilt ranges. It can act as a reminder and protect the safety of users and others.
  • the longitudinal axis of the clamp can be in the same plane as the direction of beam projection by rotation of the rotary joint; see Figure 2, the longitudinal axis of the clamp can also be perpendicular to the direction of beam projection. It should be understood that Figures 1 and 2 are merely an example, and the jig can be rotated to an arbitrary angle with respect to the direction in which the beam is projected.
  • the visual indication device 10 can also include a motion sensor 17b.
  • the motion sensor 17b may preferably be an IMU (Inertial Measurement Unit) sensor of 9 axes (multiple axes including, but not limited to, 9 axes).
  • the motion sensor can detect the motion posture of the user. For example, it can include: a 3-axis accelerometer detects the acceleration when the user walks, a 3-axis gyroscope detects the step angle when the user walks, and a 3-axis inclinometer detects the body inclination when the user walks.
  • Motion sensor 17b may transmit the detected data to processor 16 of visual pointing device 10 for gait analysis, including heel strike detection, step size quantization, left and right foot recognition, and the like.
  • the visual indication device 10 may also include a GPS module 18 to detect the geographic location in which the user is located.
  • the visual indication device 10 can also include a communication module 19 to communicate with other devices.
  • the communication module may include a Bluetooth module to perform short-range communication with other devices, and the communication module may further include a SIM card module to perform long-distance with a network such as GSM/GPRS/3G/4G, for example, the background server. Communicate or provide an Internet connection so that data can be uploaded to or downloaded from a backend server.
  • Fig. 4 shows a light source control flow of an embodiment of the present invention.
  • the light source control flow begins with a state check of the tilt sensor of the visual pointing device (S401). Based on a preset, it is checked whether the inclination of the beam output port of the light source to the ground is greater than a specific angle (for example, 45 degrees) (S402). If so, the light source is turned off (S403), and the flow returns to step S401. If not, data is received from the motion sensor and/or the force sensor (see later) (S404), and the regularity of the user's gait is checked based on the data (S405). According to whether the gait irregularity is determined (S406), the flow is processed differently.
  • S401 state check of the tilt sensor of the visual pointing device
  • the flow continues to determine whether the light source is turned on (S407), if turned on, the light source is turned off (S408), and then the flow returns to step S401; if not, the flow directly returns to step S401.
  • the gait is irregular
  • data is received from the photosensor (S409), then the ambient light intensity is checked (S410), and the power to the light source is adjusted by the light intensity automatic adjustment circuit according to the ambient light intensity (S411) Then, if the light source is not turned on, the light source is turned on (S412), and the flow returns to step S401.
  • FIG. 5 illustrates a second pointing device (eg, haptic pointing device 20) in accordance with a preferred embodiment of the present invention.
  • a second pointing device eg, haptic pointing device 20
  • it may be in the form of a pair of insoles.
  • the base 24 of the insole fits the user's foot size and provides support for the user's foot.
  • a power supply circuit of the tactile indicating device 20 may be provided at the base 24, typically including a lithium battery and a charge and discharge circuit.
  • the charging socket 23 is located at the heel portion of the insole.
  • the tactile indication device 20 further includes a processor 21, a vibration source 22, and a force sensor 25. There may be a plurality of force sensors 25, and FIG. 3 is exemplarily shown as three.
  • a plurality of force sensors 25 may be distributed on the insole in a certain pattern, and the pressure of different parts of the foot is measured during the movement, so that the pressure distribution can be provided. Detection of contours. It should be understood that FIG. 3 is only an exemplary predetermined distribution mode, and the number of force sensors 25 and their distribution positions may be preset by a user, for example, it may be an array of force sensors covering the entire insole area for accurate measurement. Pressure on different parts of the foot.
  • the force sensor 25 can transmit the data to the processor 21 so that the processor 21 maps and analyzes the force distribution at different stages of the gait.
  • the processor 21 can analyze the data from the force sensor 25 to control the output of the vibration source 22.
  • the tactile indication device 20 can also include a communication module to communicate with other devices.
  • the communication module can include a Bluetooth module to communicate with other devices, such as visual pointing device 10, in short range.
  • the vibration source 22 comprises a vibration motor.
  • the vibration motor can provide tactile cues to the user. There are two modes of prompting. One is a passive reminder that the motor vibrates when a heel strike is found. The other is the active prompt, that is, the vibration motor actively vibrates once every other time. It can be alternately vibrated by two insoles to create a walking beat. The user can walk around the left and right feet according to the vibration prompt, and maintain the Popper gait cycle and speed.
  • the tactile indication device 20 can also include a motion sensor to detect motion of the user's foot and communicate data to the processor 21 for gait analysis.
  • the visual indicating device 10 is mounted on the waistband 51 of the user 50 by the clamp 14, and the tactile indicating device 20 is mounted in the shoe of the user 50.
  • the light source 12 of the visual indicating device 10 When the light source 12 of the visual indicating device 10 is turned on, it projects a visual indication light sign 60 to the front ground of the user 50's walking direction to provide a visual indication to the user.
  • the tactile indication device 20 generates vibrations at regular intervals or when a heel strike is detected to provide the user with a tactile indication.
  • the user 50 follows the visual and tactile cues described above during walking, thereby reducing the occurrence of "frozen gait" and improving the performance of his gait.
  • Figure 7 illustrates communication between devices of a walking assistance system in accordance with a preferred embodiment of the present invention.
  • the walking assistance system can also include the smart mobile device 30.
  • the smart mobile device 30 can be, for example, an intelligent computing device such as a smartphone or tablet loaded with an Android system or an Apple iOS system.
  • the visual indication device 10 and the tactile indication device 20 can then transmit data to the smart mobile device 30 via Bluetooth.
  • the data may be first transmitted by the tactile instructing device 20 to the visual pointing device 10, and the data is transmitted by the visual pointing device 10 to the smart mobile device 30. .
  • the user's input on the smart mobile device 30 can be processed and communicated to the visual indication device 10 and the tactile indication device 20 via Bluetooth, or first to the visual indication device 10, and then transmitted to the tactile indication device 20 by the visual indication device 10.
  • the smart mobile device 30 collects all data from the visual indication device 10 and the tactile indication device 20 and then transmits it to the background server 40 over the Internet.
  • the smart mobile device 30 can also request past data from the background server 40 for data visualization.
  • Data visualization for example, includes displaying the battery status of each device so that the user knows when charging is needed. Users can also read history, real-time data and performance reports. The performance report shows the user if there is a frozen gait, whether there is an improvement in gait and advice.
  • the smart mobile device 30 can also customize settings and networking capabilities.
  • the user can set the laser intensity range, the vibration mode of the vibration source 22, and the vibration interval.
  • the smart mobile device 30 can also be a smart kit or smart watch, and the data of the gait analysis can be combined with the data of the smart mobile device to obtain more valuable information about the patient's condition, for example, continuous monitoring to determine the patient's condition. Is it improved or not?
  • the visual pointing device in the walking assistance system can recognize the user's walking posture with high precision, while also performing the fall detection function (for example, by a fall alarm module in the processor).
  • the fall detection can be achieved, for example, by the detection of the force sensor and the IMU sensor described above.
  • the processor determines that it is a fall condition.
  • the fall alarm and the current location of the user are transmitted to a pre-registered telephone number such as a family member or a friend.
  • the fall detection process of the embodiment of the present invention includes: the visual indication device receives data from the motion sensor (S801), and then performs pattern recognition (S802) to confirm whether it is a fall detection mode (S803), and if not, the flow returns. Go to step S801. If so, the data is received from the force sensor (S804), and the abnormal force distribution is checked (S805), and it is determined whether or not there is an abnormal force distribution (S806). If not checked, the flow returns to step S801.
  • the paired smart mobile device uploads the fall warning signal and the GPS location information to the background cloud server (S811) via, for example, a GSM/GRPS network, and the cloud server can drop the warning signal through, for example, the GSM/GRPS network.
  • the GPS location information is passed to the pre-registration number device (S812). For example, if the user's family member or friend has previously registered their mobile phone number in the cloud server, the cloud server correspondingly transmits the fall warning signal and the GPS location information to the device such as the mobile phone carrying the pre-registration number.
  • the fall warning is turned on on the pre-registered number device (S813), and GPS location information can be provided for the pre-registered number device user to know the walking assistance system user in time (eg, Parkinson's disease patient) The current location of ).
  • the walking assistance system may also not include the smart mobile device 30.
  • the tactile indication device 20 transmits data to the visual indication device 10
  • the visual indication device 10 combines its own data with the data from the tactile indication device 20, and transmits all data to the background server 40 via the Internet. The data is then stored in the database of the background server 40.
  • a walking assist system for a footwear product according to another embodiment of the present invention.
  • a walking assist system is used for an article of footwear (eg, shoe 200).
  • the shoe 200 includes an upper 202 and a sole 204 secured to the upper 202 with a first indicating device (eg, visual indicating device 110) disposed on a side surface of the upper 202.
  • a first indicating device eg, visual indicating device 110
  • FIG. 10 is a structural diagram of a first pointing device, a second pointing device, and a third pointing device of the walking assistance system of FIG. 9.
  • the walking assistance system includes a walking assisting body 100.
  • the walking assistance body 100 includes a first pointing device (eg, the visual pointing device 110), a second pointing device (eg, the haptic pointing device 120), and a third pointing device (eg, the audible indicating device 140).
  • the visual indication device 110 is coupled to the audible indication device 140.
  • the visual indication device 110 includes a light source 112.
  • the audible indicating device 140 includes a sound source 145. Sound source 145 includes a speaker 148.
  • the walking assisting body 100 is coupled to the insole 162 by a post 164.
  • the base of the insole 162 fits the user's foot size and provides support for the user's foot.
  • the position of the visual indicating device 110 is the side of the upper 202.
  • the haptic indicating device 120 can include a vibration source 122. In another embodiment, the haptic indicating device 120 can include a vibration source 122 and a force sensor 125. In one embodiment, the insole 162 can include a vibration source 122 and a force sensor 125. In another embodiment, the insole 162 can include a force sensor 125 and the vibration source 122 is disposed at the visual indicating device 110. Referring to Figure 10, visual pointing device 110 is coupled to haptic indicating device 120. The vibration source 122 of the tactile indication device 120 is disposed at the visual indication device 110. The vibration source 122 includes a vibration motor 128. The force sensor 125 may be plural, and FIG. 10 is exemplarily shown as five.
  • the plurality of force sensors 125 may be distributed on the insole 162 in a certain pattern, and the pressure of different parts of the foot is measured during the movement, thereby providing pressure. Detection of distributed contours. It is to be understood that FIG. 10 is merely an exemplary predetermined distribution mode, and the number of force sensors 125 and their distribution positions may be preset by a user, for example, it may be an array of force sensors covering the entire insole 162 area in order to accurately Measure the pressure on different parts of the foot.
  • the force sensor 125 can transmit data to the processor 116 of the visual indication device 110 (or other processor disposed within the insole 162) such that the processor 116 maps and analyzes the force distribution at different stages of the gait.
  • Processor 116 can analyze the data from force sensor 125 to control the output of vibration source 122.
  • the data of the sensor 125 can be transmitted to other devices via the communication module 119 of the visual pointing device 110 (or other communication module disposed within the insole 162).
  • the communication module 119 can include a Bluetooth module to communicate with other devices in short range.
  • the communication module 119 can include a WIFI module to communicate with other devices in short range.
  • Fig. 11 is a view showing the structure of a walking assistance main body of a walking assist system according to another embodiment of the present invention.
  • the walking assist body 100 has a housing 170.
  • the mount 172 is disposed on the housing 170.
  • the light source 112 of the visual indicating device 110 is disposed at one end of the tubular connector 174, and the other end of the tubular connector 174 is secured within the fixed seat 172.
  • light source 112 includes a laser emitter 126.
  • light source 112 can include a light emitting diode or a light bulb.
  • the tubular connector 174 is made of a deformable material (such as plastic or soft metal).
  • Light source 112 can also be rotated about axis 190 (see Figure 10).
  • Light source 112 also has a light source focus adjuster 129 that adjusts the focus of light source 112 by light source focus adjuster 129.
  • the housing 170 is further provided with one or more operation buttons, and may include a main switch 176, a light source switch 177a, a light source mode selection button 177b, a light source adjustment button 177c, a vibration source switch 178a, a vibration source mode selection button 178b, and a vibration source adjustment.
  • the above mentioned buttons are connected to the operating circuit.
  • the operational circuit can include a control circuit and/or an adjustment circuit.
  • the power supply circuit of the walking assisting body 100 for example, including the lithium battery 300, and the charging and discharging circuit, may be disposed in the housing 170, and the power supply circuit of the walking assisting body may supply power to the force sensor 25 in the insole 162.
  • Figure 12a is a system configuration diagram of a walking assist system according to another embodiment of the present invention.
  • the visual indication device 110 can include a light source 112, a light sensor 113, a processor 116, a light intensity auto-adjustment circuit 116a, a tilt sensor 117a, a motion sensor 117b, a GPS module 118, and a communication module 119.
  • the processor 116 is coupled to the vibration source 122 of the haptic indicating device 120 and the sound source 145 of the audible indicating device 140, respectively.
  • Light source 112 is used to project a visual indication beam onto the ground to form a visual indicator light sign on the ground.
  • the visual indicator light sign projected by the light source 112 can function as such.
  • the visual indicator light sign is projected in front of the user of the visual pointing device 110.
  • the user can step on the light sign or step over the light sign.
  • the distance between the user's foot and the light sign is adjustable. The light sign thus assists the user in starting to walk and maintaining the stride.
  • the visual intensity of the light beam emitted by the light source 112 can be adjusted by the light intensity auto-adjustment circuit 116a, depending on the ambient light intensity.
  • the light sensor 113 can detect the light intensity of the surrounding environment. For example, when in an outdoor sunny environment, based on the ambient light signal detected by the light sensor 113, the processor 116 can issue a control signal to control the light intensity automatic adjustment circuit 116a to increase the light source 112.
  • the emitted light indicates the light intensity of the beam to provide a visual indicator of sufficient brightness in a bright light environment so that the user can see the visual indication light sign in this environment.
  • the processor 116 can issue a control signal to control the light intensity automatic adjustment circuit 116a to reduce the light intensity of the visual indicating beam emitted by the light source 112, thereby reducing the indoor low light environment.
  • Visually indicating the brightness of the light sign to protect the user's eyes.
  • Such automatic adjustment of the light intensity also ensures that the power of the visual indicating device 110, such as the energy storage in the lithium battery, is properly used.
  • the switching interval of the light source 112 can also be adjusted. For example, the light source 112 can be turned on for 5 seconds and then turned off for 5 seconds, or the light source 12 can be turned on for 10 seconds and then turned off for 5 seconds.
  • the light source switch 177a is set to be on, first setting the light source mode selection button 177b to mode one (mode one is adjusting the time interval for turning on the light source 112), followed by setting the light source 112 by the light source adjustment button 177c. Interval.
  • the time interval for turning off the light source 112 is set by the light source adjustment button 177c.
  • the light intensity auto-adjustment circuit 116a can also automatically adjust the switching interval of the light source 112.
  • the intensity of the light source 112 can also be manually adjusted by the light source switch 177a, the light source mode select button 177b, and the light source adjustment button 177c.
  • the light source mode selection button 177b is set to mode three (mode three is to adjust the intensity of the light source 112), and the intensity of the light source 112 is adjusted by the light source adjustment button 177c.
  • the processor 116 can issue a control signal through the temperature sensor 117e.
  • the light intensity automatic adjustment circuit 116a is controlled to automatically turn off the light source 112.
  • a tilt sensor 117a is further disposed in the visual indicating device 110 for detecting the inclination of the beam output port of the light source 112 to the ground.
  • the visual indication beam is projected to the front of the user, that is, the visual indication beam is at an angle to the vertical direction of the human body.
  • the angle between the visual indication beam and the vertical direction of the human body is 0 degrees, that is, the visual indication beam is perpendicular to the ground.
  • the position of the ground indicating that the light sign is projected is getting farther and farther away from the user, but usually the distance between the position of the visual indicating light sign and the user should be kept within an appropriate range, which may prompt " The user who freezes the gait is on the other hand, and on the other hand, it is not too far away to cause the user to give up because of the disappointment that it is impossible to reach, or the risk of falling due to forcible steps.
  • the angle between the visual indication beam and the vertical direction of the human body is 90 degrees or even greater than 90 degrees, the visual indication beam is parallel to the ground or even to the sky, so that not only the visual cue effect is lost, but also the emitted light beam is Pedestrians cause interference.
  • the light source should also be turned off.
  • the light source by detecting the inclination of the beam output port of the light source 112 to the ground by the tilt sensor 117a, the light source can be turned on in a suitable range of tilt angles, for example, greater than 0 degrees, less than 45 degrees, and the light source is turned off in other tilt ranges. It can act as a reminder and protect the safety of users and others.
  • the visual indication device 110 can also include a motion sensor 117b.
  • the motion sensor 117b may preferably be an IMU (Inertial Measurement Unit) sensor of 9 axes (multiple axes including, but not limited to, 9 axes).
  • the motion sensor can detect the motion posture of the user. For example, it can include: a 3-axis accelerometer detects the acceleration when the user walks, a 3-axis gyroscope detects the step angle when the user walks, and a 3-axis inclinometer detects the body inclination when the user walks.
  • Motion sensor 117b may transmit the detected data to processor 116 of visual pointing device 110 for gait analysis, including heel strike detection, step size quantization, left and right foot recognition, and the like.
  • the vibration source 122 includes a vibration motor 128.
  • the vibration motor 128 can provide tactile cues to the user (user's foot). There are two modes of prompting. One is a passive reminder that the motor vibrates when a heel strike is found. The other is the active prompt, that is, the vibration motor actively vibrates once every other time. It is possible to alternately vibrate by two vibration sources 122 (corresponding to the left and right feet of the user) to generate a walking beat. The user can walk around the left and right feet according to the vibration prompt, and maintain the Popper gait cycle and speed. In addition, the switching interval of the vibration source 122 can also be adjusted.
  • the vibration source 122 can be turned off for 10 seconds and then turned off for 10 seconds, or the vibration source 122 can be turned on for 15 seconds and then turned off for 5 seconds.
  • These adjustments can be made, for example, by an APP on the smart mobile device, there can be multiple modes to reset the "on" or “off” time interval, or by the vibration source switch 178a, the vibration source mode selection button 178b, and the vibration source. Adjust button 178c to adjust manually.
  • the vibration source switch 178a is set to be on, first setting the vibration source mode selection button 178b to mode one (mode one is adjusting the time interval for turning on the vibration source 122), followed by setting the vibration source adjustment button 178c. The time interval at which the vibration source 122 is turned on.
  • the vibration source mode selection button 178b is set to mode two (the mode is to adjust the time interval at which the vibration source 122 is turned off), and the time interval at which the vibration source 122 is turned off is set by the vibration source adjustment button 178c.
  • the intensity of the vibration source 122 can also be manually adjusted by the vibration source switch 178a, the vibration source mode selection button 178b, and the vibration source adjustment button 178c.
  • the vibration source mode selection button 178b is set to mode three (mode three is to adjust the intensity of the vibration source 122), and the intensity of the vibration source 122 is adjusted by the vibration source adjustment button 178c.
  • the vibration intensity indicated by the vibrations emitted by the vibration source 122 can be adjusted by the vibration source automatic adjustment circuit 116b (see Fig. 12b). For example, when the user wears thicker socks on both feet in winter, the user's feet are less sensitive to vibration. Using the temperature sensor 117e, the processor 116 can issue a control signal to control the vibration source automatic adjustment circuit 116b to increase the vibration intensity emitted by the vibration source 122. In one example, the vibration source automatic adjustment circuit 116b can also automatically adjust the switching interval of the vibration source 122.
  • the user is in a moving car
  • the user's body is shaking in the moving car due to the uneven road surface, or the car is accelerating or decelerating on the road, thereby reducing the sensitivity of the user's feet to vibration.
  • the processor 116 can issue a control signal to control the vibration source automatic adjustment circuit 116b to increase the vibration intensity emitted by the vibration source 122.
  • Sound source 145 includes a speaker 148.
  • Sound source 145 can provide an audible prompt to the user.
  • the audible prompts may include human-sounding sounds, animal-sounding sounds, or other sounds.
  • the speaker plays a song with a strong beat or some monotonous sound, rhythmically stimulating the user's hearing, thereby giving the user a walking rhythm.
  • the switching interval of the speakers can also be adjusted. For example, the speaker can be turned off for 10 seconds and then turned off for 10 seconds, or the speaker can be turned on for 15 seconds and then turned off for 5 seconds.
  • the sound source switch 179a is set to be on, first setting the sound source mode selection button 179b to mode one (mode one is adjusting the time interval for turning on the sound source 145), followed by setting the sound source adjustment button 179c. The time interval at which the sound source 145 is turned on. Following the setting of the sound source mode selection button 179b to mode two (mode 2 is to adjust the time interval for turning off the sound source 145), the time interval for turning off the sound source 145 is set by the sound source adjustment button 179c.
  • the intensity of the sound source 145 can also be manually adjusted by the sound source switch 179a, the sound source mode selection button 179b, and the sound source adjustment button 179c.
  • the sound source mode selection button 179b is set to mode three (mode three is to adjust the intensity of the sound source 145), and the intensity of the sound source 145 is adjusted by the sound source adjustment button 179c.
  • the sound source 145 can be connected to a peripheral earphone or speaker via Bluetooth or other wireless means (eg, infrared) to hear an audible prompt.
  • the housing 170 can also include a headphone jack for connection to a wired earphone plug to hear an audible prompt.
  • the intensity of the sound indicated by the sound emitted by the speaker 148 can be adjusted by the sound source auto-adjustment circuit 116c (see Figure 12b). For example, when the user is in a noisy environment, the sensitivity of the user's hearing is reduced. Using the acoustic sensor 117d, the processor 116 can issue a control signal that controls the sound source auto-adjustment circuit 116c to increase the intensity of the sound emitted by the speaker 148. In one example, the sound source auto-adjustment circuit 116c can also automatically adjust the switching interval of the sound source 145.
  • the visual indication device 110 can also include a GPS module 118 to detect the geographic location in which the user is located.
  • the visual indication device 110 can also include a communication module 119 to communicate with other devices.
  • the communication module may include a Bluetooth module and/or a WIFI module to communicate with other devices, and the communication module may further include a SIM card module to communicate with, for example, a background server via a network such as GSM/GPRS/3G/4G. Long-distance communication or an Internet connection allows data to be uploaded to or downloaded from a back-end server.
  • Figure 13a shows a flow chart of a walking assistance system in accordance with another embodiment of the present invention.
  • the flow begins with a status check of the tilt sensor of the visual pointing device (S1301). Based on a preset, it checks whether the inclination of the beam output port of the light source to the ground is greater than a specific angle (for example, 45 degrees) (S1302). If so, the light source is turned off (S1303), and the flow returns to step S131. If not, data is received from the motion sensor and/or the force sensor (S1304), and the regularity of the user's gait is checked based on the data (S1305). According to whether the gait irregularity is determined (S1306), the process performs different processing.
  • a specific angle for example, 45 degrees
  • the flow continues to determine if all of the cue functions have been turned on (S1307), and the cue functions include visual cue (light source 112), tactile cue (vibration source 122), and audible cue (sound source 145). If yes, the prompt function is turned off (S1308). If not, the flow directly returns to step S1305. On the other hand, when it is determined that the gait is irregular, the walking assistance system checks the prompt function state (S1309), and turns on the selected prompt function (S1310). The walking assistance system checks parameters indicating the interval time and intensity of the function switch (S1311).
  • the switch interval between the light source 112 is manually adjusted by the light source switch 177a, the light source mode selection button 117b, the light source adjustment button 177c, and the operation circuit, and The intensity of the light source 112 is manually adjusted (S1312), and the flow returns to step S1301.
  • the prompted prompt function is a tactile cue
  • the switching interval between the vibration source 122 is manually adjusted by the vibration source switch 178a, the vibration source mode selection button 178b, the vibration source adjustment button 178c, and the operating circuit, and the vibration source 122 is manually adjusted.
  • the intensity (S1313), the flow returns to step S1301.
  • the switching interval between the sound source 145 is manually adjusted by the sound source switch 179a, the sound source mode selection button 179b, the sound source adjustment button 179c, and the operation circuit, and the sound source 145 is manually adjusted.
  • the intensity (S1314), the flow returns to step S1301.
  • the prompted prompt function is a visual cue, a tactile cue, and an audible cue, (S1312), (S1313), and (S1314) can be performed in synchronization.
  • the prompted cue function is two of a visual cue, a tactile cue, and an audible cue, (S1312) and (S1313), (S1312), and (S1314) or (S1313) and (S1314) may be synchronized. Conducted.
  • Figure 13b shows a flow chart of another system of walking assistance in accordance with another embodiment of the present invention.
  • Figure 13b includes S1301 through S1310 of Figure 13a. Then, if the prompted feature is a visual cue,
  • the flow continues to receive data from the light sensor 113 (S1315), then checks the ambient light intensity (S1316), and automatically adjusts the intensity of the light source by the light intensity automatic adjustment circuit 116a according to the ambient light intensity (S1317), and the flow returns to step S1301. .
  • the flow continues to receive data from the vibration sensor 117c and/or the temperature sensor 117e (S1318), and then checks the ambient vibration intensity and/or the ambient temperature (S1319), and according to the ambient vibration intensity, The intensity of the vibration source is automatically adjusted by the vibration source automatic adjustment circuit 116b (S1320), and the flow returns to step S1301.
  • the flow continues to receive data from the sound sensor 117d (S1321), then checks the ambient sound intensity (S1322), and automatically adjusts the sound by the sound source automatic adjustment circuit 116c according to the ambient sound intensity.
  • the intensity of the source (S1323), and the flow returns to step S1301.
  • the user may also set the switching interval of the light source 112, the switching interval of the vibration source 122, and the switching interval of the sound source 145, and the intensity of the light source 112, the vibration source 122, respectively, in terms of personal physical condition or preference.
  • the intensity and intensity of the sound source 145 may also set the switching interval of the light source 112, the switching interval of the vibration source 122, and the switching interval of the sound source 145, and the intensity of the light source 112, the vibration source 122, respectively, in terms of personal physical condition or preference.
  • the intensity and intensity of the sound source 145 may also set the switching interval of the light source 112, the switching interval of the vibration source 122, and the switching interval of the sound source 145, and the
  • the flow receives data S from the motion sensor 117b and/or the force sensor 125 (1324). Based on the data from the sensor 117b and/or the force sensor 125, the pedaling time (the length of time the user's foot on the ground) and the lifting time (the length of the user's foot in the swinging motion) can be obtained. Subsequently, the parameter of the switch interval time is checked (S1325), the user's walking speed and the appropriate time for the user to follow the next step when moving the previous step are calculated, so the parameter of the closing time is automatically set.
  • the dynamics of the pressure from the foot to the ground as well as the linear acceleration, angular acceleration and position dynamics can tell the user when they need to take the next step. Then calculate the on time based on the off time. Subsequently, based on the parameters, the switching intervals of the light source, the vibration source, and the sound source are adjusted by the light intensity automatic adjustment circuit 116a, the vibration source automatic adjustment circuit 116b, and the sound source automatic adjustment circuit 116c, and the flow returns to step S1301.
  • the walking assistance system includes a walking assisting subject.
  • the walking assist body has a housing.
  • the housing may include a visual indication device, a tactile indication device, and an audible indication device (including all or part of the features described in Figures 8-13).
  • a clamp is also provided on the housing to clamp the visual indicating device to a user's apparel, such as a trouser or a belt.
  • the walking aid body can also be clamped to other walking aids, such as a walking stick or walking frame.
  • the walking assistance system can also include a smart mobile device 30.
  • the smart mobile device 30 can be, for example, an intelligent computing device such as a smartphone or tablet loaded with an Android system or an Apple IOS system.
  • the visual indication device 110, the tactile indication device 120, and/or the audible indication device 140 can then transmit data to the smart mobile device 30 via Bluetooth.
  • the user's input on the smart mobile device 30 can be processed and communicated to the visual indication device 110, the tactile indication device 120, and/or the audible indication device 140 via Bluetooth.
  • the smart mobile device 30 collects all data from the visual pointing device 110 and from the force sensor 125 and then transmits it to the backend server 40 over the Internet.
  • the smart mobile device 30 can also request past data from the background server 40 for data visualization.
  • Data visualization includes displaying the battery status of each device so that the user knows when charging is needed. Users can also read history, real-time data and performance reports. The performance report shows the user if there is a frozen gait, whether there is an improvement in gait and advice.
  • the smart mobile device 30 can also customize settings and networking capabilities. The user can set the laser intensity range, the vibration mode of the vibration source 122, and the vibration interval.
  • the smart mobile device 30 can also be a smart kit or smart watch, and the data of the gait analysis can be combined with the data of the smart mobile device to obtain more valuable information about the patient's condition, for example, continuous monitoring to determine the patient's condition. Is it improved or not?
  • the visual pointing device in the walking assistance system can recognize the user's walking posture with high precision, while also performing the fall detection function (for example, by a fall alarm module in the processor).
  • Fall detection can be achieved, for example, by detection of a force sensor and/or an IMU sensor as described above.
  • the processor determines that it is a fall condition.
  • the fall alarm and the current location of the user are transmitted to a pre-registered telephone number such as a family member or a friend.

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Abstract

A walking assist system, comprising a first indication device, a second indication device, and a third indication device, wherein the first indication device comprises a light source used for projecting a visual indication light sign on the ground in front of a walking user, and the second indication device comprises a vibration source used for providing a vibration indicator for the feet of the user. The present invention can improve the movement of the user.

Description

步行辅助***Walking aid system 技术领域Technical field
本发明涉及辅助医疗康复技术，尤其的，涉及一种较佳地适用于如帕金森病患者的步行辅助***。The present invention relates to assisted medical rehabilitation techniques and, in particular, to a walking assist system that is preferably adapted for use in patients such as Parkinson's disease.
背景技术Background technique
帕金森病(PD)是主要影响运动***的中枢神经***的长期退行性病症。帕金森病患者通常具有不同程度的运动障碍症状。例如，帕金森病患者常有医学上称为“冻结步态(Freezing of Gait,FoG)”的情况，其具体表现为行走变得犹豫不决，甚至可能完全停止。大约26％的轻微帕金森病患者和80％的严重帕金森病患者受到“冻结步态”的影响，这是患者发生跌倒的常见原因。这可能发生在转弯，开始行走，到达门口或厕所等狭窄空间的目的地，以及在听见敲门或电梯门打开等紧张的情况下。它也可能出现在无法预料的没有任何外部触发的情况下。这些不良于行的情况使得患者不太自信，不愿意去户外。一些患者可能不得不使用轮椅，尽管他们的腿可以移动，从而降低了他们的生活质量。Parkinson's disease (PD) is a long-term degenerative disorder that primarily affects the central nervous system of the motor system. Patients with Parkinson's disease usually have varying degrees of dyskinesia symptoms. For example, patients with Parkinson's disease often have a medical condition called "Freezing of Gait (FoG)", which is manifested in the fact that walking becomes hesitant and may even stop completely. Approximately 26% of patients with mild Parkinson's disease and 80% of patients with severe Parkinson's disease are affected by a "frozen gait", which is a common cause of falls in patients. This can happen when you are turning, starting to walk, reaching a destination in a narrow space such as a doorway or toilet, and when you are nervous about hearing a knock on the door or opening the elevator door. It may also occur in the unpredictable absence of any external triggers. These bad behaviors make patients less confident and unwilling to go outdoors. Some patients may have to use a wheelchair, although their legs can move, reducing their quality of life.
患者的行动能力与其认知功能，特别是执行功能和注意力有关。有人认为，与不具有“冻结步态”的PD患者相比，具有“冻结步态”的PD患者的认知功能通常受损。认知注意线索策略通过提供可以是听觉，视觉，触觉等形式的提示，已经显示出在克服FoG方面的改善。它有助于患者的运动学***衡，跌倒风险，冻结，速度和步幅，甚至在节奏减少(一分钟内行进的步数)等方面显示出显著的改善。The patient's ability to act is related to cognitive function, especially executive function and attention. It has been suggested that cognitive function in PD patients with "frozen gait" is generally impaired compared to PD patients who do not have "frozen gait". The Cognitive Attention Clues strategy has been shown to improve in overcoming FoG by providing hints that can be in the form of auditory, visual, tactile, and the like. It helps the patient's motor learning to show significant improvement in balance, fall risk, freeze, speed and stride, even in terms of reduced rhythm (steps traveled in one minute).
发明内容Summary of the invention
一种步行辅助***，其特征在于,包括第一指示设备和第二指示设备,其中所述第一指示设备包括用于在用户行走前方地面投射视觉指示光标志的光源，以及所述第二指示设备包括为所述用户的足部提供振动指示的振动源。在一种实施例中，所述步行辅助***还包括第三指示设备,其中所述第三指示设备包括为所述用户提供声音提示的声源。A walking assistance system, comprising: a first pointing device and a second pointing device, wherein the first pointing device comprises a light source for projecting a visual indication light sign on a ground front of the user walking, and the second indication The device includes a source of vibration that provides a vibration indication to the user's foot. In one embodiment, the walking assistance system further includes a third pointing device, wherein the third pointing device includes a sound source that provides an audible prompt to the user.
在一种实施例中，所述第一指示设备包括视觉指示设备，所述第二指示設備包括触觉指示设备以及所述第三指示設備包括听觉指示设备，其中所述视觉指示设备包括所述光源,所述触觉指示设备包括所述振动源以及所述听觉指示设备包括所述声源。In one embodiment, the first pointing device comprises a visual pointing device, the second pointing device comprises a haptic pointing device and the third pointing device comprises an audible indicating device, wherein the visual pointing device comprises the light source The haptic indicating device includes the vibration source and the audible indicating device includes the sound source.
在一种实施例中，所述步行辅助***还包括提供支撑用户足部的鞋垫,所述鞋垫通过支柱与所述视觉指示设备相连。In one embodiment, the walking assistance system further includes an insole providing a support for a user's foot, the insole being coupled to the visual indicating device by a post.
在一种实施例中，所述视觉指示设备分别与所述触觉指示设备和所述听觉指示设备连接。In one embodiment, the visual indication device is coupled to the haptic indication device and the audible indication device, respectively.
在一种实施例中，所述视觉指示设备还包括夹具和所述触觉指示设备设置在鞋垫,其中所述夹具将视觉指示设备夹持到所述用户身上和所述鞋垫与所述用户的足部触觉。In one embodiment, the visual indication device further includes a clamp and the tactile indication device disposed on the insole, wherein the clamp clamps the visual indication device to the user and the insole to the user's foot Touch.
在一种实施例中，所述视觉指示设备还包括感知环境光强度的光传感器以及根据所述光传感器感知结果调节光源输出功率光强度自动调节电路。In one embodiment, the visual indication device further includes a light sensor that senses ambient light intensity and adjusts the light source output power light intensity automatic adjustment circuit based on the light sensor perception result.
在一种实施例中，所述视觉指示设备还包括检测所述光源的光束输出口与地面的倾角的倾斜传感器。In one embodiment, the visual indication device further includes a tilt sensor that detects an inclination of the beam output of the light source to the ground.
在一种实施例中，所述视觉指示设备还包括处理器,其中当所述倾斜传感器检测到所述倾角大于预定角度时,所述处理器关闭所述光源。In one embodiment, the visual indication device further includes a processor, wherein the processor turns off the light source when the tilt sensor detects that the tilt angle is greater than a predetermined angle.
在一种实施例中，所述视觉指示设备还包括检测用户运动姿态的运动传感器。In one embodiment, the visual indication device further includes a motion sensor that detects a user's motion posture.
在一种实施例中，所述视觉指示设备还包括检测用户所处地理位置的GPS模块。In one embodiment, the visual indication device further includes a GPS module that detects the geographic location of the user.
在一种实施例中，所述视觉指示设备还包括通信模块，所述通信模块包括与其他设备进行短距通信的蓝牙模块，以及与后台服务器进行长距通信的SIM卡模块。In one embodiment, the visual indication device further includes a communication module including a Bluetooth module for short-range communication with other devices, and a SIM card module for long-distance communication with the background server.
在一种实施例中，所述触觉指示设备外形为鞋垫形式，所述触觉指示设备包括按预定分布模式分布 在所述触觉指示设备上的多个力传感器。In one embodiment, the tactile indication device is in the form of an insole comprising a plurality of force sensors distributed on the tactile indication device in a predetermined distribution pattern.
在一种实施例中，所述触觉指示设备的振动源包括定时振动的主动振动模式，以及当发现用户脚跟撞击时的被动振动模式，所述视觉指示指示设备包括当检测到用户跌倒时发出跌倒警报的跌倒警报模块。In one embodiment, the vibration source of the haptic indicating device includes an active vibration mode of timed vibration, and a passive vibration mode when a user's heel strike is found, the visual indication indicating device including a fall when a user is detected to fall The fall alarm module for the alarm.
在一种实施例中，所述步行辅助***，还包括与所述视觉指示设备和/或触觉指示设备通过蓝牙连接的智能移动设备，所述智能移动设备收集来自视觉指示设备和触觉指示设备的所有数据，并通过互联网将数据发送到后台服务器。In one embodiment, the walking assistance system further includes a smart mobile device connected to the visual indication device and/or the tactile indication device via Bluetooth, the smart mobile device collecting from the visual indication device and the tactile indication device All data and send data to the backend server via the internet.
本发明的步行辅助***，通过视觉指示设备和触发指示设备，分别为用户，例如帕金森病患者行走时提供视觉指示和振动指示，能够促使用户克服例如冻结步态，改善其运动情况。The walking assistance system of the present invention provides a visual indication and a vibration indication for a user, such as a Parkinson's disease patient, by walking through a visual indication device and a trigger indication device, respectively, which can prompt the user to overcome, for example, freezing the gait and improving his movement.
附图说明DRAWINGS
在下文中，基于各个示例性实施方式的示意图更详细地阐述本发明。Hereinafter, the present invention will be explained in more detail based on the schematic diagrams of the respective exemplary embodiments.
图1A和1B是本发明实施例的步行辅助***的视觉指示设备的不同方向的外观示意图。1A and 1B are schematic diagrams showing the appearance of different directions of a visual pointing device of a walking assist system according to an embodiment of the present invention.
图2是本发明实施例的步行辅助***的视觉指示设备的旋转接头分解示意图。2 is a schematic exploded view of a rotary joint of a visual pointing device of a walking assist system according to an embodiment of the present invention.
图3是本发明实施例的步行辅助***的视觉指示设备的***结构图。3 is a system configuration diagram of a visual pointing device of a walking assistance system according to an embodiment of the present invention.
图4是本发明实施例的光源控制流程图。4 is a flow chart of light source control in accordance with an embodiment of the present invention.
图5是本发明实施例的步行辅助***的触觉指示设备的透视图。Figure 5 is a perspective view of a tactile indication device of the walking assistance system of the embodiment of the present invention.
图6是用户佩戴本发明实施例的步行辅助***的示意图。6 is a schematic diagram of a user wearing a walking assist system of an embodiment of the present invention.
图7是本发明实施例的步行辅助***的通信架构图。7 is a communication architecture diagram of a walking assistance system according to an embodiment of the present invention.
图8是本发明实施例的跌倒检测流程图。Figure 8 is a flow chart of a fall detection in accordance with an embodiment of the present invention.
图9是本发明另一个实施例的步行辅助***用于鞋类产品示意图。9 is a schematic view of a walking assist system for a footwear product according to another embodiment of the present invention.
图10是本发明另一个实施例的步行辅助***的视觉指示设备、触觉指示设备和听觉指示设备***结构图。10 is a structural diagram of a visual indication device, a tactile indication device, and an audible indication device system of a walking assistance system according to another embodiment of the present invention.
图11是本发明另一个实施例的步行辅助***的步行辅助主体结构图。Fig. 11 is a view showing the structure of a walking assistance main body of a walking assist system according to another embodiment of the present invention.
图12a是本发明另一个实施例的步行辅助***的***结构图。Figure 12a is a system configuration diagram of a walking assist system according to another embodiment of the present invention.
图12b是本发明另一个实施例的步行辅助***的另一***结构图。Figure 12b is a block diagram of another system of the walking assist system of another embodiment of the present invention.
图13a显示了本发明另一个实施例的步行辅助***流程图。Figure 13a shows a flow chart of a walking assistance system in accordance with another embodiment of the present invention.
图13b显示了本发明另一个实施例的步行辅助另一个***流程图。Figure 13b shows a flow chart of another system of walking assistance in accordance with another embodiment of the present invention.
具体实施方式Detailed ways
以下说明仅提供优选的示例性实施例并且并不意指限制本发明的范围，实用性或配置。实际上，优选的示例性实施例的以下说明将为本领域技术人员提供实施本发明的优选示例性实施例的有利描述。应理解，在不脱离如在所附权利要求书中阐述的本发明的精神和范围的情况下，可以对元件的功能和布置进行各种改变。The following description is only to provide a preferred exemplary embodiment and is not intended to limit the scope, utility or configuration of the invention. In fact, the following description of the preferred exemplary embodiments will provide those skilled in the art the It will be appreciated that various changes can be made in the function and arrangement of the elements of the present invention without departing from the spirit and scope of the invention.
在以下描述中给出特定细节以提供对实施例的透彻理解。然而，本领域的技术人员应理解，可以在没有这些具体细节的情况下实践所述实施例。例如，可以在框图中示出电路以免以下不必要的细节混合实施例。在其它情况下，可以在没有不必要的细节的情况下示出熟知的电路，过程，算法，结构以及技术以避免混淆实施例。Specific details are given in the following description to provide a thorough understanding of the embodiments. However, it will be understood by those skilled in the art that the embodiments may be practiced without the specific details. For example, circuitry may be shown in block diagrams in order to avoid the following unnecessary detail mixing embodiments. In other instances, well-known circuits, procedures, algorithms, structures, and techniques may be shown without unnecessary detail to avoid obscuring the embodiments.
同样，应注意，实施例可以描述为过程，过程描绘为流程图，流程图表，数据流图，结构图或框图。尽管流程图可以将操作描述为顺序过程，但是许多操作可以并行或同时执行。另外，可以重新布置操作的次序。过程在其操作完成时终止，但是可以具有不包含在图中的额外步骤。过程可以对应于方法，函数，程序，子例程，子程序等。对应于函数时，过程的终止对应于函数返回到调用函数或主函数。Also, it should be noted that the embodiments may be described as a process, which is depicted as a flowchart, a flowchart, a data flow diagram, a structural diagram, or a block diagram. Although a flowchart may describe the operations as a sequential process, many of the operations can be performed in parallel or concurrently. In addition, the order of operations can be rearranged. The process terminates when its operation is complete, but may have additional steps not included in the diagram. Processes may correspond to methods, functions, programs, subroutines, subroutines, and the like. When corresponding to a function, the termination of the procedure corresponds to the function returning to the calling function or the main function.
下文结合附图对本发明实施例的步行辅助***做详细说明。The walking assistance system of the embodiment of the present invention will be described in detail below with reference to the accompanying drawings.
参见图1A-3。图1A-3示出了根据本发明的优选实施例的第一指示设备(例如，视觉指示设备10)。视觉指示设备10可以供用户，例如帕金森病患者佩戴在身上以为其提供视觉指示。视觉指示设备10可以有多种佩戴方式。参见图1A-2，视觉指示设备10具有壳体11，其形成用于容纳视觉指示设备10的组成部件的容纳空间。壳体11可以通过旋转接头70在底座15上水平旋转。参见图2，旋转接头包括安装在底座15上的杯体71，杯体71用于保持球体72。球体72上具有可供杆74***的孔。盖73安装在杯体71上以将球体72固定于球体72上。光源12设置在支架75上，由螺钉76将光源12固定就位在支架75。支架75被安装在杆74上。杯体71、球体72、盖73和杆74提供了3个自由度(DOF)，而支架75提供了1个自由度，从而光源12共有4个自由度。See Figure 1A-3. 1A-3 illustrate a first pointing device (e.g., visual pointing device 10) in accordance with a preferred embodiment of the present invention. The visual indication device 10 can be worn by a user, such as a Parkinson's disease patient, to provide a visual indication thereof. The visual indicating device 10 can have a variety of wearing styles. Referring to FIG. 1A-2, the visual indicating device 10 has a housing 11 that forms an accommodation space for receiving the components of the visual indicating device 10. The housing 11 can be horizontally rotated on the base 15 by a rotary joint 70. Referring to Figure 2, the swivel joint includes a cup 71 mounted on a base 15 for retaining the ball 72. The ball 72 has a hole for the rod 74 to be inserted. A cover 73 is mounted on the cup 71 to secure the ball 72 to the ball 72. The light source 12 is disposed on the bracket 75, and the light source 12 is fixed in position to the bracket 75 by screws 76. The bracket 75 is mounted on the rod 74. The cup body 71, the ball 72, the cover 73 and the rod 74 provide three degrees of freedom (DOF), while the bracket 75 provides one degree of freedom such that the light source 12 has a total of four degrees of freedom.
可以在底座15上设置夹具14，以将视觉指示设备10夹持到用户的服饰，例如裤子或者腰带上。夹具14可以从底座15上拆卸下来。视觉指示设备10还可以例如在底座15上设置头带，以将视觉指示设备10佩戴于用户头部。视觉指示设备10也可以提供夹扣或绑带，以将其夹持或者绑在用户手持的拐杖上。视觉指示设备10的电源电路，例如包括锂电池，以及充放电电路，可以设置在壳体11内，也可以设置在底座15上。A clamp 14 can be placed on the base 15 to clamp the visual indicating device 10 to the user's apparel, such as pants or belts. The clamp 14 can be detached from the base 15. The visual indicating device 10 can also provide a headband, for example, on the base 15 to wear the visual indicating device 10 to the user's head. The visual indicating device 10 can also provide a clip or strap to hold or tie it to the crutches held by the user. The power supply circuit of the visual indicating device 10, for example, including a lithium battery, and a charge and discharge circuit, may be disposed in the housing 11 or may be disposed on the base 15.
视觉指示设备10可以包括：光源12，光传感器13，处理器16、光强度自动调节电路16a，倾斜传感器17a、运动传感器17b、GPS模块18、通信模块19。The visual indication device 10 may include a light source 12, a light sensor 13, a processor 16, a light intensity automatic adjustment circuit 16a, a tilt sensor 17a, a motion sensor 17b, a GPS module 18, and a communication module 19.
光源12用于向地面投射视觉指示光束，以便在地面形成视觉指示光标志。据医学研究发现，若在帕金森病患者行走前方出现障碍物或提示，会刺激患者大脑产生想要跨过它的意愿，从而能够改善患者的“冻结步态”。光源12投射出的视觉指示光标志可以起到这样的作用。视觉指示光标志的形状并不受限，其例如可以是光线(例如垂直于用户前行方向的横直光线，或者是半圆弧光线)，光点，光环(圆环、方形环等等各种形状)。该视觉指示光标志被投射于视觉指示设备用户的前方。用户可以踩至该光标志或迈步越过该光标志。用户的脚和光标志之间的距离是可调的。该光标志因而可以辅助用户开始行走并保持步幅。 Light source 12 is used to project a visual indication beam onto the ground to form a visual indicator light sign on the ground. According to medical research, if a person with Parkinson's disease walks in front of an obstacle or a hint, it will stimulate the patient's brain to produce a desire to cross it, thus improving the patient's "freezing gait." The visual indicator light sign projected by the light source 12 can function in this manner. The shape of the visual indicating light sign is not limited, and may be, for example, light (for example, a straight light perpendicular to the forward direction of the user, or a semi-arc light), a light spot, a halo (a ring, a square ring, etc.). shape). The visual indication light sign is projected in front of the user of the visual indication device. The user can step on the light sign or step over the light sign. The distance between the user's foot and the light sign is adjustable. The light sign thus assists the user in starting to walk and maintaining the stride.
光源12发出的视觉指示光束的光强度可以通过光强度自动调节电路16a来调节，其取决于周围的光强度。光传感器13可以检测周边环境的光强度，例如，当在室外阳光充足环境下，基于光传感器13检测的环境强光信号，处理器16可以发出控制信号，控制光强度自动调节电路16a提高光源12发出的视觉指示光束的光强度，以在强光环境下提供足够亮度的视觉指示光标志，以便用户能够在此环境下看清视觉指示光标志。当在室内环境下，基于光传感器13检测的环境弱光信号，处理器16可以发出控制信号，控制光强度自动调节电路16a降低光源12发出的视觉指示光束的光强度，降低室内弱光环境下视觉指示光标志的亮度，从而保护用户的眼睛。这样的光强度自动调节也能确保视觉指示设备10的电源，如锂电池中的储能被合理使用。此外，光源12的开关间隔时间也可以进行调整，例如，光源12可以打开5秒后再关闭5秒，或者，光源12可以打开10秒后再关闭5秒。参见后文，这些调整可以通过例如智能移动设备上的APP进行调整，可以有多种模式来重置“开”或“关”的时间间隔。The visual intensity of the light beam emitted by the light source 12 can be adjusted by the light intensity automatic adjustment circuit 16a depending on the surrounding light intensity. The light sensor 13 can detect the light intensity of the surrounding environment. For example, when in an outdoor sunny environment, based on the ambient light signal detected by the light sensor 13, the processor 16 can issue a control signal to control the light intensity automatic adjustment circuit 16a to raise the light source 12. The emitted light indicates the light intensity of the beam to provide a visual indicator of sufficient brightness in a bright light environment so that the user can see the visual indication light sign in this environment. When in an indoor environment, based on the ambient weak light signal detected by the light sensor 13, the processor 16 can issue a control signal to control the light intensity automatic adjustment circuit 16a to reduce the light intensity of the visual indicating beam emitted by the light source 12, thereby reducing the indoor low light environment. Visually indicating the brightness of the light sign to protect the user's eyes. Such automatic adjustment of the light intensity also ensures that the power of the visual indicating device 10, such as the energy storage in the lithium battery, is properly used. In addition, the switching interval of the light source 12 can also be adjusted. For example, the light source 12 can be turned on for 5 seconds and then turned off for 5 seconds, or the light source 12 can be turned on for 10 seconds and then turned off for 5 seconds. Referring to the following, these adjustments can be made, for example, by an APP on a smart mobile device, and there can be multiple modes to reset the "on" or "off" time interval.
视觉指示设备10中还设置有倾斜传感器17a，用于检测光源12的光束输出口与地面的倾角。一般的，要求视觉指示光束向用户前方投射，即视觉指示光束与人体垂直方向呈一定角度，当视觉指示光束与人体垂直方向夹角为0度，即视觉指示光束投射方向垂直于地面时，此时投射出的视觉指示光标志就在用户脚下，基本起不到促使用户起步的效果，此时可以关闭光源12。随着上述夹角角度的增大，视觉指示光标志投射到的地面位置与用户越来越远，但通常视觉指示光标志的所在位置与用户的距离应保持在适当范围，一方面可以促使“冻结步态”的用户迈步，另一方面又不会距离过远而导致用户因根本不可能到达的失望而放弃，或者因强行迈大步而导致的跌倒风险。另一方面，当视觉指示光束与人体垂直方向夹角为90度或甚至大于90度，则视觉指示光束与地面平行甚至向天空投射，这样不仅失去视觉 提示效果，所发出的光束还会对其他行人造成干扰。这种情况下也应当关闭光源。总之，通过倾斜传感器17a检测光源12的光束输出口与地面的倾角，可以在合适的倾角范围，例如大于0度，小于45度的范围，开启光源，而在其他倾角范围，关闭光源。其可以合理起到提示作用，也可以保障用户及其他人的安全。此外，参见图1，通过旋转接头的旋转，夹具的纵向轴线可以与光束投射方向在同一平面；参见图2，夹具的纵向轴线也可以与光束投射方向垂直。需要理解的是，图1和图2仅仅为一示例，夹具可以旋转至与光束投射方向呈任意角度。A tilt sensor 17a is also provided in the visual indicating device 10 for detecting the inclination of the beam output port of the light source 12 to the ground. Generally, the visual indication beam is projected to the front of the user, that is, the visual indication beam is at an angle to the vertical direction of the human body. When the angle between the visual indication beam and the vertical direction of the human body is 0 degrees, that is, the visual indication beam is perpendicular to the ground, the When the visual indication light sign is projected under the user's foot, the effect of prompting the user to start is basically not achieved, and the light source 12 can be turned off at this time. As the angle of the above angle increases, the position of the ground indicating that the light sign is projected is getting farther and farther away from the user, but usually the distance between the position of the visual indicating light sign and the user should be kept within an appropriate range, which may prompt " The user who freezes the gait is on the other hand, and on the other hand, it is not too far away to cause the user to give up because of the disappointment that it is impossible to reach, or the risk of falling due to forcible steps. On the other hand, when the angle between the visual indication beam and the vertical direction of the human body is 90 degrees or even greater than 90 degrees, the visual indication beam is parallel to the ground or even to the sky, so that not only the visual cue effect is lost, but also the emitted light beam is Pedestrians cause interference. In this case, the light source should also be turned off. In summary, by detecting the inclination of the beam output port of the light source 12 to the ground by the tilt sensor 17a, the light source can be turned on in a suitable range of tilt angles, for example, greater than 0 degrees, less than 45 degrees, and the light source is turned off in other tilt ranges. It can act as a reminder and protect the safety of users and others. Furthermore, referring to Figure 1, the longitudinal axis of the clamp can be in the same plane as the direction of beam projection by rotation of the rotary joint; see Figure 2, the longitudinal axis of the clamp can also be perpendicular to the direction of beam projection. It should be understood that Figures 1 and 2 are merely an example, and the jig can be rotated to an arbitrary angle with respect to the direction in which the beam is projected.
视觉指示设备10还可以包括运动传感器17b。运动传感器17b优选可以是9轴(多轴，包括但不限于9轴)的IMU(Inertial Measurement Unit，惯性测量单元)传感器。运动传感器可以检测用户的运动姿态，例如其可以包括：3轴加速度计检测用户行走时的加速度，3轴陀螺仪检测用户行走时的迈步角度，3轴倾角仪检测用户行走时的身体倾角。运动传感器17b可以将检测到的数据传输到视觉指示设备10的处理器16进行步态分析，包括脚跟着地检测、步长量化、左右脚识别等等。The visual indication device 10 can also include a motion sensor 17b. The motion sensor 17b may preferably be an IMU (Inertial Measurement Unit) sensor of 9 axes (multiple axes including, but not limited to, 9 axes). The motion sensor can detect the motion posture of the user. For example, it can include: a 3-axis accelerometer detects the acceleration when the user walks, a 3-axis gyroscope detects the step angle when the user walks, and a 3-axis inclinometer detects the body inclination when the user walks. Motion sensor 17b may transmit the detected data to processor 16 of visual pointing device 10 for gait analysis, including heel strike detection, step size quantization, left and right foot recognition, and the like.
视觉指示设备10还可以包括GPS模块18以检测用户所处的地理位置。视觉指示设备10也可以包括通信模块19来与其他设备进行通信。在一种实施例中，通信模块可以包括蓝牙模块，以与其他设备进行短距通信，通信模块还可以包括SIM卡模块，以与例如后台服务器通过GSM/GPRS/3G/4G等网络进行长距通信或提供互联网连接，从而可以将数据上传至后台服务器或从后台服务器下载数据。The visual indication device 10 may also include a GPS module 18 to detect the geographic location in which the user is located. The visual indication device 10 can also include a communication module 19 to communicate with other devices. In an embodiment, the communication module may include a Bluetooth module to perform short-range communication with other devices, and the communication module may further include a SIM card module to perform long-distance with a network such as GSM/GPRS/3G/4G, for example, the background server. Communicate or provide an Internet connection so that data can be uploaded to or downloaded from a backend server.
参见图4。图4显示了本发明实施例的光源控制流程。光源控制流程开始于视觉指示设备的倾斜传感器的状态检查(S401)。基于预先设置，其检查光源的光束输出口与地面的倾角是否大于特定角度(例如，45度)(S402)。如是，则关闭光源(S403)，流程返回至步骤S401。如否，则从运动传感器和/或力传感器(参见后文)接收数据(S404)，进而根据这些数据检查用户步态的规则性(S405)。根据步态不规则是否确定(S406)，流程进行不同处理。如果步态确定为规则，则流程继续确定光源是否开启(S407)，若开启，则关闭光源(S408)，随后流程返回至步骤S401；若未开启，流程直接返回至步骤S401。另一方面，当确定为步态不规则，则从光传感器接收数据(S409)，随后检查环境光强度(S410)，并根据环境光强度，通过光强度自动调节电路调节到光源的功率(S411)，随后如果光源未开启，则开启光源(S412)，流程之后返回至步骤S401。See Figure 4. Fig. 4 shows a light source control flow of an embodiment of the present invention. The light source control flow begins with a state check of the tilt sensor of the visual pointing device (S401). Based on a preset, it is checked whether the inclination of the beam output port of the light source to the ground is greater than a specific angle (for example, 45 degrees) (S402). If so, the light source is turned off (S403), and the flow returns to step S401. If not, data is received from the motion sensor and/or the force sensor (see later) (S404), and the regularity of the user's gait is checked based on the data (S405). According to whether the gait irregularity is determined (S406), the flow is processed differently. If the gait is determined to be a rule, the flow continues to determine whether the light source is turned on (S407), if turned on, the light source is turned off (S408), and then the flow returns to step S401; if not, the flow directly returns to step S401. On the other hand, when it is determined that the gait is irregular, data is received from the photosensor (S409), then the ambient light intensity is checked (S410), and the power to the light source is adjusted by the light intensity automatic adjustment circuit according to the ambient light intensity (S411) Then, if the light source is not turned on, the light source is turned on (S412), and the flow returns to step S401.
图5示出了根据本发明优选实施例的第二指示设备(例如，触觉指示设备20)。在图5的示例中，其可以是一对鞋垫的形式。鞋垫的基部24适合使用者的脚部尺寸并为用户脚部提供支撑。可以在基部24设置触觉指示设备20的电源电路，通常包括锂电池和充放电电路。充电插座23位于鞋垫的脚后跟部分。触觉指示设备20还包括处理器21、振动源22和力传感器25。力传感器25可以为多个，图3示例性的示出为3个，多个力传感器25可以按一定模式分布在鞋垫上，在运动过程中测量脚部不同部位的压力，从而可以提供压力分布轮廓的检测。需要理解的是，图3仅是一种示例的预定分布模式，力传感器25的数量及其分布位置可以由用户预先设置，例如，其可以是覆盖整个鞋垫区域的力传感器阵列，以便精确地测量脚部不同部位的压力。力传感器25可以将数据传输到处理器21，以便处理器21在步态的不同阶段映射和分析力分布。处理器21可以分析来自力传感器25的数据，控制振动源22的输出。与视觉指示设备10类似，触觉指示设备20也可以包括通信模块来与其他设备进行通信。在一种实施例中，通信模块可以包括蓝牙模块，以与其他设备，例如视觉指示设备10进行短距通信。FIG. 5 illustrates a second pointing device (eg, haptic pointing device 20) in accordance with a preferred embodiment of the present invention. In the example of Figure 5, it may be in the form of a pair of insoles. The base 24 of the insole fits the user's foot size and provides support for the user's foot. A power supply circuit of the tactile indicating device 20 may be provided at the base 24, typically including a lithium battery and a charge and discharge circuit. The charging socket 23 is located at the heel portion of the insole. The tactile indication device 20 further includes a processor 21, a vibration source 22, and a force sensor 25. There may be a plurality of force sensors 25, and FIG. 3 is exemplarily shown as three. A plurality of force sensors 25 may be distributed on the insole in a certain pattern, and the pressure of different parts of the foot is measured during the movement, so that the pressure distribution can be provided. Detection of contours. It should be understood that FIG. 3 is only an exemplary predetermined distribution mode, and the number of force sensors 25 and their distribution positions may be preset by a user, for example, it may be an array of force sensors covering the entire insole area for accurate measurement. Pressure on different parts of the foot. The force sensor 25 can transmit the data to the processor 21 so that the processor 21 maps and analyzes the force distribution at different stages of the gait. The processor 21 can analyze the data from the force sensor 25 to control the output of the vibration source 22. Similar to the visual indication device 10, the tactile indication device 20 can also include a communication module to communicate with other devices. In one embodiment, the communication module can include a Bluetooth module to communicate with other devices, such as visual pointing device 10, in short range.
优选地，振动源22包括振动电机。振动电机可以给用户提供触觉提示。可以有两种提示模式。一种是被动提示，即当发现脚跟撞击时，电机振动。另一种是主动提示，即振动电机每隔一段时间主动振动一次。可以由两个鞋垫交替振动，生成一个步行节拍。用户可以按照振动提示左右脚行走，保持波普尔(Popper)步态周期和速度。Preferably, the vibration source 22 comprises a vibration motor. The vibration motor can provide tactile cues to the user. There are two modes of prompting. One is a passive reminder that the motor vibrates when a heel strike is found. The other is the active prompt, that is, the vibration motor actively vibrates once every other time. It can be alternately vibrated by two insoles to create a walking beat. The user can walk around the left and right feet according to the vibration prompt, and maintain the Popper gait cycle and speed.
此外，类似于视觉指示设备10，触觉指示设备20也可以包括运动传感器来检测用户脚部的运动， 并将数据传递给处理器21进行步态分析。Further, similar to the visual indication device 10, the tactile indication device 20 can also include a motion sensor to detect motion of the user's foot and communicate data to the processor 21 for gait analysis.
如图6所示，视觉指示设备10藉由夹具14安装在用户50的腰带51上，而触觉指示设备20安装在用户50的鞋内。当视觉指示设备10的光源12开启，其投射视觉指示光标志60到用户50的行走方向的前方地面以提供给用户视觉指示。触觉指示设备20以规律的间隔或当检测到脚跟撞击时产生振动以提供给用户50触觉指示。用户50在步行中遵循上述视觉和触觉提示，从而减少“冻结步态”的发生并改善其步态的表现。As shown in FIG. 6, the visual indicating device 10 is mounted on the waistband 51 of the user 50 by the clamp 14, and the tactile indicating device 20 is mounted in the shoe of the user 50. When the light source 12 of the visual indicating device 10 is turned on, it projects a visual indication light sign 60 to the front ground of the user 50's walking direction to provide a visual indication to the user. The tactile indication device 20 generates vibrations at regular intervals or when a heel strike is detected to provide the user with a tactile indication. The user 50 follows the visual and tactile cues described above during walking, thereby reducing the occurrence of "frozen gait" and improving the performance of his gait.
参见图7。图7图示了本发明优选实施例的步行辅助***的各设备之间的通信。除上述视觉指示设备10和触觉指示设备20外，步行辅助***还可以包括智能移动设备30。智能移动设备30例如可以是装载有安卓***，或苹果iOS***的智能手机或平板电脑等智能计算装置。则视觉指示设备10和触觉指示设备20可以通过蓝牙向智能移动设备30发送数据。或者，考虑到通常来说视觉指示设备10的佩戴位置更靠近智能移动设备，可以先由触觉指示设备20将数据传递给视觉指示设备10，再由视觉指示设备10将数据传递给智能移动设备30。用户在智能移动设备30上的输入可以被处理并通过蓝牙传递给视觉指示设备10和触觉指示设备20，或者，先传至视觉指示设备10，再由视觉指示设备10传至触觉指示设备20。智能移动设备30收集来自视觉指示设备10和触觉指示设备20的所有数据，然后通过互联网发送到后台服务器40。智能移动设备30也可以从后台服务器40请求过去的数据用于数据可视化。数据可视化例如包括：显示每个设备的电池状况，以便用户知道何时需要充电。用户也可以读取历史记录，实时数据和性能报告。性能报告向用户显示是否有冻结步态发生，是否有步态上的改进以及提供建议。除数据可视化外，智能移动设备30还可以自定义设置和联网功能。用户可以设置激光强度范围，振动源22的振动模式和振动间隔。智能移动设备30还可以是智能药盒或者智能手表，步态分析的数据可以和智能移动设备的数据结合，以得到关于患者的病况的更有价值的信息，例如，持续监视以确定患者的病况是得到改善还是没有进展。See Figure 7. Figure 7 illustrates communication between devices of a walking assistance system in accordance with a preferred embodiment of the present invention. In addition to the visual pointing device 10 and the tactile pointing device 20 described above, the walking assistance system can also include the smart mobile device 30. The smart mobile device 30 can be, for example, an intelligent computing device such as a smartphone or tablet loaded with an Android system or an Apple iOS system. The visual indication device 10 and the tactile indication device 20 can then transmit data to the smart mobile device 30 via Bluetooth. Alternatively, considering that the wearing position of the visual pointing device 10 is generally closer to the smart mobile device, the data may be first transmitted by the tactile instructing device 20 to the visual pointing device 10, and the data is transmitted by the visual pointing device 10 to the smart mobile device 30. . The user's input on the smart mobile device 30 can be processed and communicated to the visual indication device 10 and the tactile indication device 20 via Bluetooth, or first to the visual indication device 10, and then transmitted to the tactile indication device 20 by the visual indication device 10. The smart mobile device 30 collects all data from the visual indication device 10 and the tactile indication device 20 and then transmits it to the background server 40 over the Internet. The smart mobile device 30 can also request past data from the background server 40 for data visualization. Data visualization, for example, includes displaying the battery status of each device so that the user knows when charging is needed. Users can also read history, real-time data and performance reports. The performance report shows the user if there is a frozen gait, whether there is an improvement in gait and advice. In addition to data visualization, the smart mobile device 30 can also customize settings and networking capabilities. The user can set the laser intensity range, the vibration mode of the vibration source 22, and the vibration interval. The smart mobile device 30 can also be a smart kit or smart watch, and the data of the gait analysis can be combined with the data of the smart mobile device to obtain more valuable information about the patient's condition, for example, continuous monitoring to determine the patient's condition. Is it improved or not?
通过结合运动传感器和力传感器的数据，步行辅助***中的例如视觉指示设备可以高精度地识别用户的步行姿势，其同时也可以执行跌倒检测功能(例如通过处理器中的跌倒警报模块)。跌倒检测例如可以通过前文所述的力传感器和IMU传感器的检测来实现。当检测到步态周期中的运动剧烈变化，力传感器检测到的压力分布轮廓异常，则处理器判断为可能是跌倒情况。当判断为用户跌倒时，跌倒警报和用户的当前位置被发送到预先注册的例如家人或朋友的电话号码。By combining the data of the motion sensor and the force sensor, for example, the visual pointing device in the walking assistance system can recognize the user's walking posture with high precision, while also performing the fall detection function (for example, by a fall alarm module in the processor). The fall detection can be achieved, for example, by the detection of the force sensor and the IMU sensor described above. When the motion in the gait cycle is detected to change drastically, the pressure distribution profile detected by the force sensor is abnormal, and the processor determines that it is a fall condition. When it is determined that the user has fallen, the fall alarm and the current location of the user are transmitted to a pre-registered telephone number such as a family member or a friend.
参见图8，本发明实施例的跌倒检测流程包括：视觉指示设备从运动传感器接收数据(S801)，而后进行模式识别(S802)，确认是否为跌倒检测模式(S803)，如否，则流程返回至步骤S801。如是，则从力传感器接收数据(S804)，据此检查异常的力分布(S805)，确定是否存在异常力分布(S806)。如果没有检查到，则流程返回至步骤S801。如果检查到异常力分布，则判定为检测到跌倒发生，随后检查蓝牙的连通性(S808)，判断视觉指示设备是否已经通过蓝牙与配对的智能移动设备连接(S809)，如果没有检查到视觉指示设备通过蓝牙与配对的智能移动设备配对连接，则视觉指示设备激活自身的SIM卡模块(S810a)，如果检查到视觉指示设备已经通过蓝牙与配对的智能移动设备配对连接，则上传GPS位置信息到配对设备(S810b)。随后配对的智能移动设备，或者视觉指示设备自身，通过例如GSM/GRPS网络将跌倒警告信号和GPS位置信息上传至后台的云服务器(S811)，云服务器可以通过例如GSM/GRPS网络将跌倒警告信号和GPS位置信息传递给预注册号码设备(S812)。例如，如果用户的家人或者朋友已经预先将其手机号码注册在云服务器，此时云服务器则相应将跌倒警告信号和GPS位置信息传递到携带有该预注册号码的手机等设备。最后，一旦收到跌倒警告信号，则在预注册号码设备上开启跌倒警告(S813)，同时可以提供GPS位置信息，以供预注册号码设备用户及时了解步行辅助***用户(例如，帕金森病患者)的当前位置。Referring to FIG. 8, the fall detection process of the embodiment of the present invention includes: the visual indication device receives data from the motion sensor (S801), and then performs pattern recognition (S802) to confirm whether it is a fall detection mode (S803), and if not, the flow returns. Go to step S801. If so, the data is received from the force sensor (S804), and the abnormal force distribution is checked (S805), and it is determined whether or not there is an abnormal force distribution (S806). If not checked, the flow returns to step S801. If an abnormal force distribution is detected, it is determined that a fall is detected, and then connectivity of the Bluetooth is checked (S808), and it is determined whether the visual indication device has been connected to the paired smart mobile device via Bluetooth (S809), if no visual indication is detected. The device is paired with the paired smart mobile device via Bluetooth, and the visual indication device activates its own SIM card module (S810a). If it is checked that the visual indication device has been paired with the paired smart mobile device via Bluetooth, the GPS location information is uploaded to Paired device (S810b). The paired smart mobile device, or the visual indication device itself, uploads the fall warning signal and the GPS location information to the background cloud server (S811) via, for example, a GSM/GRPS network, and the cloud server can drop the warning signal through, for example, the GSM/GRPS network. And the GPS location information is passed to the pre-registration number device (S812). For example, if the user's family member or friend has previously registered their mobile phone number in the cloud server, the cloud server correspondingly transmits the fall warning signal and the GPS location information to the device such as the mobile phone carrying the pre-registration number. Finally, once the fall warning signal is received, the fall warning is turned on on the pre-registered number device (S813), and GPS location information can be provided for the pre-registered number device user to know the walking assistance system user in time (eg, Parkinson's disease patient) The current location of ).
需要理解的是，步行辅助***也可以不包括智能移动设备30。此时，可以设置为：触觉指示设备20将数据发送到视觉指示设备10，视觉指示设备10将其自身的数据与来自触觉指示设备20的数据组合，再通过因特网将所有数据传送到后台服务器40，数据随后被存储在后台服务器40的数据库中。It is to be understood that the walking assistance system may also not include the smart mobile device 30. At this time, it may be set that the tactile indication device 20 transmits data to the visual indication device 10, the visual indication device 10 combines its own data with the data from the tactile indication device 20, and transmits all data to the background server 40 via the Internet. The data is then stored in the database of the background server 40.
参见图9。图9是本发明另一个实施例的步行辅助***用于鞋类产品示意图。在一个实施例中，步行辅助***用于鞋类产品(例如鞋200)。鞋200包括鞋帮202和固定到鞋帮202的鞋底204,鞋帮202的侧表面上设置第一指示设备(例如，视觉指示设备110)。See Figure 9. 9 is a schematic view of a walking assist system for a footwear product according to another embodiment of the present invention. In one embodiment, a walking assist system is used for an article of footwear (eg, shoe 200). The shoe 200 includes an upper 202 and a sole 204 secured to the upper 202 with a first indicating device (eg, visual indicating device 110) disposed on a side surface of the upper 202.
参见图10。图10是图9的步行辅助***的第一指示设备、第二指示設備和第三指示設備***结构图。步行辅助***包括步行辅助主体100。See Figure 10. 10 is a structural diagram of a first pointing device, a second pointing device, and a third pointing device of the walking assistance system of FIG. 9. The walking assistance system includes a walking assisting body 100.
步行辅助主体100包括第一指示设备(例如，视觉指示设备110)、第二指示設備(例如，触觉指示设备120)和第三指示設備(例如，听觉指示设备140)。视觉指示设备110与听觉指示设备140相连。视觉指示设备110包括光源112。听觉指示设备140包括声源145。声源145包括扬声器148。The walking assistance body 100 includes a first pointing device (eg, the visual pointing device 110), a second pointing device (eg, the haptic pointing device 120), and a third pointing device (eg, the audible indicating device 140). The visual indication device 110 is coupled to the audible indication device 140. The visual indication device 110 includes a light source 112. The audible indicating device 140 includes a sound source 145. Sound source 145 includes a speaker 148.
步行辅助主体100通过支柱164与鞋垫162相连。鞋垫162的基部适合用户的足部尺寸并为用户足部提供支撑。当鞋垫162放在鞋200内(放在鞋底204上)之时，视觉指示设备110的位置便是鞋帮202的侧面。The walking assisting body 100 is coupled to the insole 162 by a post 164. The base of the insole 162 fits the user's foot size and provides support for the user's foot. When the insole 162 is placed within the shoe 200 (on the sole 204), the position of the visual indicating device 110 is the side of the upper 202.
在一个实施例中，触觉指示设备120可以包括振动源122。在另一个实施例中，触觉指示设备120可以包括振动源122和力传感器125。在一个实施例中，鞋垫162可以包括振动源122和力传感器125。在另一实施例中，鞋垫162可以包括力传感器125，而振动源122设置在视觉指示设备110。参见图10，视觉指示设备110与触觉指示设备120相连。触觉指示设备120的振动源122设置在视觉指示设备110。振动源122包括振动电机128。力传感器125可以为多个，图10示例性的示出为5个，多个力传感器125可以按一定模式分布在鞋垫162上，在运动过程中测量脚部不同部位的压力，从而可以提供压力分布轮廓的检测。需要理解的是，图10仅是一种示例的预定分布模式，力传感器125的数量及其分布位置可以由用户预先设置，例如，其可以是覆盖整个鞋垫162区域的力传感器阵列，以便精确地测量脚部不同部位的压力。In one embodiment, the haptic indicating device 120 can include a vibration source 122. In another embodiment, the haptic indicating device 120 can include a vibration source 122 and a force sensor 125. In one embodiment, the insole 162 can include a vibration source 122 and a force sensor 125. In another embodiment, the insole 162 can include a force sensor 125 and the vibration source 122 is disposed at the visual indicating device 110. Referring to Figure 10, visual pointing device 110 is coupled to haptic indicating device 120. The vibration source 122 of the tactile indication device 120 is disposed at the visual indication device 110. The vibration source 122 includes a vibration motor 128. The force sensor 125 may be plural, and FIG. 10 is exemplarily shown as five. The plurality of force sensors 125 may be distributed on the insole 162 in a certain pattern, and the pressure of different parts of the foot is measured during the movement, thereby providing pressure. Detection of distributed contours. It is to be understood that FIG. 10 is merely an exemplary predetermined distribution mode, and the number of force sensors 125 and their distribution positions may be preset by a user, for example, it may be an array of force sensors covering the entire insole 162 area in order to accurately Measure the pressure on different parts of the foot.
力传感器125可以将数据传输到视觉指示设备110的处理器116(或者其他处理器设置在鞋垫162内),以便处理器116在步态的不同阶段映射和分析力分布。处理器116可以分析来自力传感器125的数据，控制振动源122的输出。传感器125的数据可以通过视觉指示设备110的通信模块119(或者其他通信模块设置在鞋垫162内)，传送到其他设备。在一种实施例中，通信模块119可以包括蓝牙模块，以与其他设备进行短距通信。在另一实施例中，通信模块119可以包括WIFI模块，以与其他设备进行短距通信。The force sensor 125 can transmit data to the processor 116 of the visual indication device 110 (or other processor disposed within the insole 162) such that the processor 116 maps and analyzes the force distribution at different stages of the gait. Processor 116 can analyze the data from force sensor 125 to control the output of vibration source 122. The data of the sensor 125 can be transmitted to other devices via the communication module 119 of the visual pointing device 110 (or other communication module disposed within the insole 162). In one embodiment, the communication module 119 can include a Bluetooth module to communicate with other devices in short range. In another embodiment, the communication module 119 can include a WIFI module to communicate with other devices in short range.
参见图11。图11是本发明另一个实施例的步行辅助***的步行辅助主体结构图。在一个实施例中，步行辅助主体100具有壳体170。固定座172设置在壳体170上。视觉指示设备110的光源112设置在管状连接器174的一端，而管状连接器174的另一端固定在固定座172之内。仅举例来说，光源112包括激光发射器126。在其他例子中，光源112可以包括发光二极管或者泡灯。管状连接器174是由可变形的物料制成(例如塑胶或者软金属)。通过扭曲管状连接器174，从而调教光束投射的角度和/或者方向。光源112还可以围绕轴190(参见图10)旋转。光源112还具有光源焦点调节器129，通过光源焦点调节器129来调节光源112的焦点。See Figure 11. Fig. 11 is a view showing the structure of a walking assistance main body of a walking assist system according to another embodiment of the present invention. In one embodiment, the walking assist body 100 has a housing 170. The mount 172 is disposed on the housing 170. The light source 112 of the visual indicating device 110 is disposed at one end of the tubular connector 174, and the other end of the tubular connector 174 is secured within the fixed seat 172. For example only, light source 112 includes a laser emitter 126. In other examples, light source 112 can include a light emitting diode or a light bulb. The tubular connector 174 is made of a deformable material (such as plastic or soft metal). By twisting the tubular connector 174, the angle and/or direction of the beam projection is adjusted. Light source 112 can also be rotated about axis 190 (see Figure 10). Light source 112 also has a light source focus adjuster 129 that adjusts the focus of light source 112 by light source focus adjuster 129.
壳体170上还设有一个或者多个操作按钮，可以包括主开关176、光源开关177a、光源模式选择按钮177b、光源调节按钮177c、振动源开关178a、振动源模式选择按钮178b、振动源调节按钮178c、声源开关179a、声源模式选择按钮179b和声源调节按钮179c。以上提及的按钮与操作电路连接。所述操作电路可以包括控制电路和/或者调节电路。The housing 170 is further provided with one or more operation buttons, and may include a main switch 176, a light source switch 177a, a light source mode selection button 177b, a light source adjustment button 177c, a vibration source switch 178a, a vibration source mode selection button 178b, and a vibration source adjustment. A button 178c, a sound source switch 179a, a sound source mode selection button 179b, and a sound source adjustment button 179c. The above mentioned buttons are connected to the operating circuit. The operational circuit can include a control circuit and/or an adjustment circuit.
步行辅助主体100的电源电路，例如包括锂电池300，以及充放电电路，可以设置在壳体170内，步行辅助主体的电源电路可以提供电源给鞋垫162内的力传感器25。The power supply circuit of the walking assisting body 100, for example, including the lithium battery 300, and the charging and discharging circuit, may be disposed in the housing 170, and the power supply circuit of the walking assisting body may supply power to the force sensor 25 in the insole 162.
参见图12a。图12a是本发明另一个实施例的步行辅助***的***结构图。在一个实施例中，视觉指示设备110可以包括：光源112，光传感器113，处理器116、光强度自动调节电路116a、倾斜传感器117a、运动传感器117b、GPS模块118、通信模块119。处理器116分别与触觉指示设备120的振动源122和听觉指示设备140的声源145连接。See Figure 12a. Figure 12a is a system configuration diagram of a walking assist system according to another embodiment of the present invention. In one embodiment, the visual indication device 110 can include a light source 112, a light sensor 113, a processor 116, a light intensity auto-adjustment circuit 116a, a tilt sensor 117a, a motion sensor 117b, a GPS module 118, and a communication module 119. The processor 116 is coupled to the vibration source 122 of the haptic indicating device 120 and the sound source 145 of the audible indicating device 140, respectively.
光源112用于向地面投射视觉指示光束，以便在地面形成视觉指示光标志。光源112投射出的视觉指示光标志可以起到这样的作用。该视觉指示光标志被投射于视觉指示设备110用户的前方。用户可以踩至该光标志或迈步越过该光标志。用户的脚和光标志之间的距离是可调的。该光标志因而可以辅助用户开始行走并保持步幅。 Light source 112 is used to project a visual indication beam onto the ground to form a visual indicator light sign on the ground. The visual indicator light sign projected by the light source 112 can function as such. The visual indicator light sign is projected in front of the user of the visual pointing device 110. The user can step on the light sign or step over the light sign. The distance between the user's foot and the light sign is adjustable. The light sign thus assists the user in starting to walk and maintaining the stride.
光源112发出的视觉指示光束的光强度可以通过光强度自动调节电路116a来调节，其取决于周围的光强度。光传感器113可以检测周边环境的光强度，例如，当在室外阳光充足环境下，基于光传感器113检测的环境强光信号，处理器116可以发出控制信号，控制光强度自动调节电路116a提高光源112发出的视觉指示光束的光强度，以在强光环境下提供足够亮度的视觉指示光标志，以便用户能够在此环境下看清视觉指示光标志。当在室内环境下，基于光传感器113检测的环境弱光信号，处理器116可以发出控制信号，控制光强度自动调节电路116a降低光源112发出的视觉指示光束的光强度，降低室内弱光环境下视觉指示光标志的亮度，从而保护用户的眼睛。这样的光强度自动调节也能确保视觉指示设备110的电源，如锂电池中的储能被合理使用。此外，光源112的开关间隔时间也可以进行调整，例如，光源112可以打开5秒后再关闭5秒，或者，光源12可以打开10秒后再关闭5秒。这些调整可以通过例如智能移动设备上的APP进行调整，可以有多种模式来重置“开”或“关”的时间间隔，也可以通过光源开关177a、光源模式选择按钮177b和光源调节按钮177c来手动调整。在一个例子中，光源开关177a设定为开启，首先将光源模式选择按钮177b设定为模式一(模式一是调整开启光源112的时间间隔)，跟着通过光源调节按钮177c来设定开启光源112的时间间隔。跟着将光源模式选择按钮177b设定为模式二(模式二是调整关掉光源的时间间隔)，跟着通过光源调节按钮177c来设定关掉光源112的时间间隔。在另一个例子中，光强度自动调节电路116a也可以自动调整光源112的开关间隔时间。The visual intensity of the light beam emitted by the light source 112 can be adjusted by the light intensity auto-adjustment circuit 116a, depending on the ambient light intensity. The light sensor 113 can detect the light intensity of the surrounding environment. For example, when in an outdoor sunny environment, based on the ambient light signal detected by the light sensor 113, the processor 116 can issue a control signal to control the light intensity automatic adjustment circuit 116a to increase the light source 112. The emitted light indicates the light intensity of the beam to provide a visual indicator of sufficient brightness in a bright light environment so that the user can see the visual indication light sign in this environment. When in an indoor environment, based on the ambient weak light signal detected by the light sensor 113, the processor 116 can issue a control signal to control the light intensity automatic adjustment circuit 116a to reduce the light intensity of the visual indicating beam emitted by the light source 112, thereby reducing the indoor low light environment. Visually indicating the brightness of the light sign to protect the user's eyes. Such automatic adjustment of the light intensity also ensures that the power of the visual indicating device 110, such as the energy storage in the lithium battery, is properly used. In addition, the switching interval of the light source 112 can also be adjusted. For example, the light source 112 can be turned on for 5 seconds and then turned off for 5 seconds, or the light source 12 can be turned on for 10 seconds and then turned off for 5 seconds. These adjustments can be adjusted, for example, by an APP on the smart mobile device, there can be multiple modes to reset the "on" or "off" time interval, or through the light source switch 177a, the light source mode selection button 177b, and the light source adjustment button 177c. To adjust manually. In one example, the light source switch 177a is set to be on, first setting the light source mode selection button 177b to mode one (mode one is adjusting the time interval for turning on the light source 112), followed by setting the light source 112 by the light source adjustment button 177c. Interval. Following the setting of the light source mode selection button 177b to mode two (mode two is to adjust the time interval for turning off the light source), the time interval for turning off the light source 112 is set by the light source adjustment button 177c. In another example, the light intensity auto-adjustment circuit 116a can also automatically adjust the switching interval of the light source 112.
在一个例子中，光源112的强度也可以通过光源开关177a、光源模式选择按钮177b和光源调节按钮177c来手动调节。首先将光源模式选择按钮177b设定为模式三(模式三是调节光源112的强度)，跟着通过光源调节按钮177c来调节光源112的强度。在另一个例子中，当光源112(激光发射器126)的温度高过预先设定的温度例如40度、50度、60度或者70度，通过温度传感器117e，处理器116可以发出控制信号，控制光强度自动调节电路116a来自动关闭光源112。In one example, the intensity of the light source 112 can also be manually adjusted by the light source switch 177a, the light source mode select button 177b, and the light source adjustment button 177c. First, the light source mode selection button 177b is set to mode three (mode three is to adjust the intensity of the light source 112), and the intensity of the light source 112 is adjusted by the light source adjustment button 177c. In another example, when the temperature of the light source 112 (laser emitter 126) is above a predetermined temperature, such as 40 degrees, 50 degrees, 60 degrees, or 70 degrees, the processor 116 can issue a control signal through the temperature sensor 117e. The light intensity automatic adjustment circuit 116a is controlled to automatically turn off the light source 112.
视觉指示设备110中还设置有倾斜传感器117a，用于检测光源112的光束输出口与地面的倾角。一般的，要求视觉指示光束向用户前方投射，即视觉指示光束与人体垂直方向呈一定角度，当视觉指示光束与人体垂直方向夹角为0度，即视觉指示光束投射方向垂直于地面时，此时投射出的视觉指示光标志就在用户脚下，基本起不到促使用户起步的效果，此时可以关闭光源112。随着上述夹角角度的增大，视觉指示光标志投射到的地面位置与用户越来越远，但通常视觉指示光标志的所在位置与用户的距离应保持在适当范围，一方面可以促使“冻结步态”的用户迈步，另一方面又不会距离过远而导致用户因根本不可能到达的失望而放弃，或者因强行迈大步而导致的跌倒风险。另一方面，当视觉指示光束与人体垂直方向夹角为90度或甚至大于90度，则视觉指示光束与地面平行甚至向天空投射，这样不仅失去视觉提示效果，所发出的光束还会对其他行人造成干扰。这种情况下也应当关闭光源。总之，通过倾斜传 感器117a检测光源112的光束输出口与地面的倾角，可以在合适的倾角范围，例如大于0度，小于45度的范围，开启光源，而在其他倾角范围，关闭光源。其可以合理起到提示作用，也可以保障用户及其他人的安全。A tilt sensor 117a is further disposed in the visual indicating device 110 for detecting the inclination of the beam output port of the light source 112 to the ground. Generally, the visual indication beam is projected to the front of the user, that is, the visual indication beam is at an angle to the vertical direction of the human body. When the angle between the visual indication beam and the vertical direction of the human body is 0 degrees, that is, the visual indication beam is perpendicular to the ground, the When the visual indication light sign projected is under the user's foot, the effect of prompting the user to start is basically not achieved, and the light source 112 can be turned off at this time. As the angle of the above angle increases, the position of the ground indicating that the light sign is projected is getting farther and farther away from the user, but usually the distance between the position of the visual indicating light sign and the user should be kept within an appropriate range, which may prompt " The user who freezes the gait is on the other hand, and on the other hand, it is not too far away to cause the user to give up because of the disappointment that it is impossible to reach, or the risk of falling due to forcible steps. On the other hand, when the angle between the visual indication beam and the vertical direction of the human body is 90 degrees or even greater than 90 degrees, the visual indication beam is parallel to the ground or even to the sky, so that not only the visual cue effect is lost, but also the emitted light beam is Pedestrians cause interference. In this case, the light source should also be turned off. In summary, by detecting the inclination of the beam output port of the light source 112 to the ground by the tilt sensor 117a, the light source can be turned on in a suitable range of tilt angles, for example, greater than 0 degrees, less than 45 degrees, and the light source is turned off in other tilt ranges. It can act as a reminder and protect the safety of users and others.
视觉指示设备110还可以包括运动传感器117b。运动传感器117b优选可以是9轴(多轴，包括但不限于9轴)的IMU(Inertial Measurement Unit，惯性测量单元)传感器。运动传感器可以检测用户的运动姿态，例如其可以包括：3轴加速度计检测用户行走时的加速度，3轴陀螺仪检测用户行走时的迈步角度，3轴倾角仪检测用户行走时的身体倾角。运动传感器117b可以将检测到的数据传输到视觉指示设备110的处理器116进行步态分析，包括脚跟着地检测、步长量化、左右脚识别等等。The visual indication device 110 can also include a motion sensor 117b. The motion sensor 117b may preferably be an IMU (Inertial Measurement Unit) sensor of 9 axes (multiple axes including, but not limited to, 9 axes). The motion sensor can detect the motion posture of the user. For example, it can include: a 3-axis accelerometer detects the acceleration when the user walks, a 3-axis gyroscope detects the step angle when the user walks, and a 3-axis inclinometer detects the body inclination when the user walks. Motion sensor 117b may transmit the detected data to processor 116 of visual pointing device 110 for gait analysis, including heel strike detection, step size quantization, left and right foot recognition, and the like.
振动源122包括振动电机128。振动电机128可以给用户(用户足部)提供触觉提示。可以有两种提示模式。一种是被动提示，即当发现脚跟撞击时，电机振动。另一种是主动提示，即振动电机每隔一段时间主动振动一次。可以由两个振动源122(对应用户的左右足部)交替振动，生成一个步行节拍。用户可以按照振动提示左右脚行走，保持波普尔(Popper)步态周期和速度。此外，振动源122的开关间隔时间也可以进行调整。例如，振动源122可以打开10秒后再关闭10秒，或者，振动源122可以打开15秒后再关闭5秒。这些调整可以通过例如智能移动设备上的APP进行调整，可以有多种模式来重置“开”或“关”的时间间隔，也可以通过振动源开关178a、振动源模式选择按钮178b和振动源调节按钮178c来手动调整。在一个例子中，振动源开关178a设定为开启，首先将振动源模式选择按钮178b设定为模式一(模式一是调整开启振动源122的时间间隔)，跟着通过振动源调节按钮178c来设定开启振动源122的时间间隔。跟着将振动源模式选择按钮178b设定为模式二(模式二是调整关掉振动源122的时间间隔)，跟着通过振动源调节按钮178c来设定关掉振动源122的时间间隔。The vibration source 122 includes a vibration motor 128. The vibration motor 128 can provide tactile cues to the user (user's foot). There are two modes of prompting. One is a passive reminder that the motor vibrates when a heel strike is found. The other is the active prompt, that is, the vibration motor actively vibrates once every other time. It is possible to alternately vibrate by two vibration sources 122 (corresponding to the left and right feet of the user) to generate a walking beat. The user can walk around the left and right feet according to the vibration prompt, and maintain the Popper gait cycle and speed. In addition, the switching interval of the vibration source 122 can also be adjusted. For example, the vibration source 122 can be turned off for 10 seconds and then turned off for 10 seconds, or the vibration source 122 can be turned on for 15 seconds and then turned off for 5 seconds. These adjustments can be made, for example, by an APP on the smart mobile device, there can be multiple modes to reset the "on" or "off" time interval, or by the vibration source switch 178a, the vibration source mode selection button 178b, and the vibration source. Adjust button 178c to adjust manually. In one example, the vibration source switch 178a is set to be on, first setting the vibration source mode selection button 178b to mode one (mode one is adjusting the time interval for turning on the vibration source 122), followed by setting the vibration source adjustment button 178c. The time interval at which the vibration source 122 is turned on. Next, the vibration source mode selection button 178b is set to mode two (the mode is to adjust the time interval at which the vibration source 122 is turned off), and the time interval at which the vibration source 122 is turned off is set by the vibration source adjustment button 178c.
在一个例子中，振动源122的强度也可以通过振动源开关178a、振动源模式选择按钮178b和振动源调节按钮178c来手动调节。首先将振动源模式选择按钮178b设定为模式三(模式三是调节振动源122的强度)，跟着通过振动源调节按钮178c来调节振动源122的强度。In one example, the intensity of the vibration source 122 can also be manually adjusted by the vibration source switch 178a, the vibration source mode selection button 178b, and the vibration source adjustment button 178c. First, the vibration source mode selection button 178b is set to mode three (mode three is to adjust the intensity of the vibration source 122), and the intensity of the vibration source 122 is adjusted by the vibration source adjustment button 178c.
在一个变体中，振动源122发出的振动指示的振动强度可以通过振动源自动调节电路116b来调节(参见图12b)。例如，当冬天的时候用户双足会穿上较厚的袜子，用户双脚对振动的敏感程度降低。利用温度传感器117e，处理器116可以发出控制信号，控制振动源自动调节电路116b提高振动源122发出的振动强度。在一个例子中，振动源自动调节电路116b也可以自动调整振动源122的开关间隔时间。在另一个例子中，用户置身在行驶的汽车中，由于不平路面，用户身体在行驶的汽车中摇晃，又或者汽车在路上加速或者减速，从而降低用户双脚对振动的敏感程度。通过振动传感器117c，处理器116可以发出控制信号，控制振动源自动调节电路116b提高振动源122发出的振动强度。In one variation, the vibration intensity indicated by the vibrations emitted by the vibration source 122 can be adjusted by the vibration source automatic adjustment circuit 116b (see Fig. 12b). For example, when the user wears thicker socks on both feet in winter, the user's feet are less sensitive to vibration. Using the temperature sensor 117e, the processor 116 can issue a control signal to control the vibration source automatic adjustment circuit 116b to increase the vibration intensity emitted by the vibration source 122. In one example, the vibration source automatic adjustment circuit 116b can also automatically adjust the switching interval of the vibration source 122. In another example, the user is in a moving car, the user's body is shaking in the moving car due to the uneven road surface, or the car is accelerating or decelerating on the road, thereby reducing the sensitivity of the user's feet to vibration. Through the vibration sensor 117c, the processor 116 can issue a control signal to control the vibration source automatic adjustment circuit 116b to increase the vibration intensity emitted by the vibration source 122.
声源145包括扬声器148。声源145可以给用户提供声音提示。声音提示可以包括人类发出的声音、动物发出的声音或者其他声音，例如，扬声器播放一首有强烈节拍的歌曲或者一些单调的声音，有节奏地刺激用户的听觉，從而使用戶得到步行節奏。此外，扬声器的开关间隔时间也可以进行调整。例如，扬声器可以打开10秒后再关闭10秒，或者，扬声器可以打开15秒后再关闭5秒。这些调整可以通过例如智能移动设备上的APP进行调整，可以有多种模式来重置“开”或“关”的时间间隔，也可以通过声源开关179a、声源模式选择按钮179b和声源调节按钮179c来手动调整。在一个例子中，声源开关179a设定为开启，首先将声源模式选择按钮179b设定为模式一(模式一是调整开启声源145的时间间隔)，跟着通过声源调节按钮179c来设定开启声源145的时间间隔。跟着将声源模式选择按钮179b设定为模式二(模式二是调整关掉声源145的时间间隔)，跟着通过声源调节按钮179c来设定关掉声源145的时间间隔。Sound source 145 includes a speaker 148. Sound source 145 can provide an audible prompt to the user. The audible prompts may include human-sounding sounds, animal-sounding sounds, or other sounds. For example, the speaker plays a song with a strong beat or some monotonous sound, rhythmically stimulating the user's hearing, thereby giving the user a walking rhythm. In addition, the switching interval of the speakers can also be adjusted. For example, the speaker can be turned off for 10 seconds and then turned off for 10 seconds, or the speaker can be turned on for 15 seconds and then turned off for 5 seconds. These adjustments can be adjusted, for example, by an APP on a smart mobile device, there can be multiple modes to reset the "on" or "off" time interval, or through the sound source switch 179a, the sound source mode selection button 179b, and the sound source. Adjust button 179c to adjust manually. In one example, the sound source switch 179a is set to be on, first setting the sound source mode selection button 179b to mode one (mode one is adjusting the time interval for turning on the sound source 145), followed by setting the sound source adjustment button 179c. The time interval at which the sound source 145 is turned on. Following the setting of the sound source mode selection button 179b to mode two (mode 2 is to adjust the time interval for turning off the sound source 145), the time interval for turning off the sound source 145 is set by the sound source adjustment button 179c.
在一个例子中，声源145的强度也可以通过声源开关179a、声源模式选择按钮179b和声源调节按 钮179c来手动调节。首先将声源模式选择按钮179b设定为模式三(模式三是调节声源145的强度)，跟着通过声源调节按钮179c来调节声源145的强度。In one example, the intensity of the sound source 145 can also be manually adjusted by the sound source switch 179a, the sound source mode selection button 179b, and the sound source adjustment button 179c. First, the sound source mode selection button 179b is set to mode three (mode three is to adjust the intensity of the sound source 145), and the intensity of the sound source 145 is adjusted by the sound source adjustment button 179c.
在另一个例子中，声源145可以通过蓝牙或者其他无线方式(例如红外线)与周边的耳机或者扬声器连接，从而听到声音提示。壳体170还可以包括耳机接口，用来与有线耳机插头连接，从而听到声音提示。In another example, the sound source 145 can be connected to a peripheral earphone or speaker via Bluetooth or other wireless means (eg, infrared) to hear an audible prompt. The housing 170 can also include a headphone jack for connection to a wired earphone plug to hear an audible prompt.
在一个变体中，扬声器148发出的声音指示的声音强度可以通过声源自动调节电路116c来调节(参见图12b)。例如，当用户在很吵的环境下，用户的听觉的敏感度便会降低。利用声音传感器117d，处理器116可以发出控制信号，控制声源自动调节电路116c提高扬声器148发出的声音强度。在一个例子中，声源自动调节电路116c也可以自动调整声源145的开关间隔时间。In one variation, the intensity of the sound indicated by the sound emitted by the speaker 148 can be adjusted by the sound source auto-adjustment circuit 116c (see Figure 12b). For example, when the user is in a noisy environment, the sensitivity of the user's hearing is reduced. Using the acoustic sensor 117d, the processor 116 can issue a control signal that controls the sound source auto-adjustment circuit 116c to increase the intensity of the sound emitted by the speaker 148. In one example, the sound source auto-adjustment circuit 116c can also automatically adjust the switching interval of the sound source 145.
视觉指示设备110还可以包括GPS模块118以检测用户所处的地理位置。视觉指示设备110也可以包括通信模块119来与其他设备进行通信。在一种实施例中，通信模块可以包括蓝牙模块和/或者WIFI模块，以与其他设备进行通信，通信模块还可以包括SIM卡模块，以与例如后台服务器通过GSM/GPRS/3G/4G等网络进行长距通信或提供互联网连接，从而可以将数据上传至后台服务器或从后台服务器下载数据。The visual indication device 110 can also include a GPS module 118 to detect the geographic location in which the user is located. The visual indication device 110 can also include a communication module 119 to communicate with other devices. In an embodiment, the communication module may include a Bluetooth module and/or a WIFI module to communicate with other devices, and the communication module may further include a SIM card module to communicate with, for example, a background server via a network such as GSM/GPRS/3G/4G. Long-distance communication or an Internet connection allows data to be uploaded to or downloaded from a back-end server.
参见图13a。图13a显示了本发明另一个实施例的步行辅助***流程图。流程开始于视觉指示设备的倾斜传感器的状态检查(S1301)。基于预先设置，其检查光源的光束输出口与地面的倾角是否大于特定角度(例如，45度)(S1302)。如是，则关闭光源(S1303)，流程返回至步骤S131。如否，则从运动传感器和/或力传感器接收数据(S1304)，进而根据这些数据检查用户步态的规则性(S1305)。根据步态不规则是否确定(S1306)，流程进行不同处理。如果步态确定为规则，则流程继续确定是否所有提示功能已开启(S1307)，提示功能包括视觉提示(光源112)、触觉提示(振动源122)和声音提示(声源145)。如是，则关闭提示功能(S1308)。如否，流程直接返回至步骤S1305。另一方面，当确定为步态不规则，则步行辅助***检查提示功能状态(S1309)，并且开启已选择提示功能(S1310)。步行辅助***检查提示功能开关间隔时间以及强度的参数(S1311)。基于参数(是通过程式运算到预定的数值)，如果已选择提示功能是视觉提示，通过光源开关177a、光源模式选择按钮117b、光源调节按钮177c与操作电路来手动调整光源112的开关间隔时间以及来手动调节光源112的强度(S1312)，流程之后返回至步骤S1301。同样地，如果已选择提示功能是触觉提示，通过振动源开关178a、振动源模式选择按钮178b、振动源调节按钮178c与操作电路来手动调整振动源122的开关间隔时间以及来手动调节振动源122的强度(S1313)，流程之后返回至步骤S1301。同样地，如果已选择提示功能是声音提示，通过声源开关179a、声源模式选择按钮179b、声源调节按钮179c与操作电路来手动调整声源145的开关间隔时间以及来手动调节声源145的强度(S1314)，流程之后返回至步骤S1301。在一个例子中，如果已选择提示功能是视觉提示、触觉提示和声音提示，(S1312)、(S1313)以及(S1314)是可以同步地进行。在另一个例子中，如果已选择提示功能是视觉提示、触觉提示和声音提示其中之两个，(S1312)和(S1313)、(S1312)和(S1314)或者(S1313)和(S1314)可以同步地进行。See Figure 13a. Figure 13a shows a flow chart of a walking assistance system in accordance with another embodiment of the present invention. The flow begins with a status check of the tilt sensor of the visual pointing device (S1301). Based on a preset, it checks whether the inclination of the beam output port of the light source to the ground is greater than a specific angle (for example, 45 degrees) (S1302). If so, the light source is turned off (S1303), and the flow returns to step S131. If not, data is received from the motion sensor and/or the force sensor (S1304), and the regularity of the user's gait is checked based on the data (S1305). According to whether the gait irregularity is determined (S1306), the process performs different processing. If the gait is determined to be a rule, the flow continues to determine if all of the cue functions have been turned on (S1307), and the cue functions include visual cue (light source 112), tactile cue (vibration source 122), and audible cue (sound source 145). If yes, the prompt function is turned off (S1308). If not, the flow directly returns to step S1305. On the other hand, when it is determined that the gait is irregular, the walking assistance system checks the prompt function state (S1309), and turns on the selected prompt function (S1310). The walking assistance system checks parameters indicating the interval time and intensity of the function switch (S1311). Based on the parameters (which are calculated by the program to a predetermined value), if the prompt function is selected as a visual cue, the switch interval between the light source 112 is manually adjusted by the light source switch 177a, the light source mode selection button 117b, the light source adjustment button 177c, and the operation circuit, and The intensity of the light source 112 is manually adjusted (S1312), and the flow returns to step S1301. Similarly, if the prompted prompt function is a tactile cue, the switching interval between the vibration source 122 is manually adjusted by the vibration source switch 178a, the vibration source mode selection button 178b, the vibration source adjustment button 178c, and the operating circuit, and the vibration source 122 is manually adjusted. The intensity (S1313), the flow returns to step S1301. Similarly, if the prompt function has been selected as an audible prompt, the switching interval between the sound source 145 is manually adjusted by the sound source switch 179a, the sound source mode selection button 179b, the sound source adjustment button 179c, and the operation circuit, and the sound source 145 is manually adjusted. The intensity (S1314), the flow returns to step S1301. In one example, if the prompted prompt function is a visual cue, a tactile cue, and an audible cue, (S1312), (S1313), and (S1314) can be performed in synchronization. In another example, if the prompted cue function is two of a visual cue, a tactile cue, and an audible cue, (S1312) and (S1313), (S1312), and (S1314) or (S1313) and (S1314) may be synchronized. Conducted.
参见图13b。图13b显示了本发明另一个实施例的步行辅助另一个***流程图。图13b包括图13a的S1301至S1310。跟着，如果已选择提示功能是视觉提示，See Figure 13b. Figure 13b shows a flow chart of another system of walking assistance in accordance with another embodiment of the present invention. Figure 13b includes S1301 through S1310 of Figure 13a. Then, if the prompted feature is a visual cue,
流程继续从光传感器113接收数据(S1315)，随后检查环境光强度(S1316)，并根据环境光强度，通过光强度自动调节电路116a来自动调节光源的强度(S1317)，流程之后返回至步骤S1301。The flow continues to receive data from the light sensor 113 (S1315), then checks the ambient light intensity (S1316), and automatically adjusts the intensity of the light source by the light intensity automatic adjustment circuit 116a according to the ambient light intensity (S1317), and the flow returns to step S1301. .
同样地，如果已选择提示功能是触觉提示，流程继续从振动传感器117c和/或温度传感器117e接收数据(S1318)，随后检查环境振动强度和/或环境温度(S1319)，并根据环境振动强度，通过振动源自动调节电路116b来自动调节振动源的强度(S1320)，流程之后返回至步骤S1301。Likewise, if the prompted cue function is a tactile cue, the flow continues to receive data from the vibration sensor 117c and/or the temperature sensor 117e (S1318), and then checks the ambient vibration intensity and/or the ambient temperature (S1319), and according to the ambient vibration intensity, The intensity of the vibration source is automatically adjusted by the vibration source automatic adjustment circuit 116b (S1320), and the flow returns to step S1301.
同样地，如果已选择提示功能是声音提示，流程继续从声音传感器117d接收数据(S1321)，随后检查环境声音强度(S1322)，并根据环境声音强度，通过声源自动调节电路116c来自动调节声源的强度(S1323)，流程之后返回至步骤S1301。在一个例子中，用户也可以其于个人身体状况或者偏爱，分别设定光源112的开关间隔时间、振动源122的开关间隔时间和声源145的开关间隔时间以及光源112的强度、振动源122的强度和声源145的强度。Similarly, if the prompted prompt function is an audible prompt, the flow continues to receive data from the sound sensor 117d (S1321), then checks the ambient sound intensity (S1322), and automatically adjusts the sound by the sound source automatic adjustment circuit 116c according to the ambient sound intensity. The intensity of the source (S1323), and the flow returns to step S1301. In one example, the user may also set the switching interval of the light source 112, the switching interval of the vibration source 122, and the switching interval of the sound source 145, and the intensity of the light source 112, the vibration source 122, respectively, in terms of personal physical condition or preference. The intensity and intensity of the sound source 145.
当S1315至S1317、S1318至S1320、S1321至S1323其中之一个、两个或者全部进行之同时，流程从运动传感器117b和/或者力传感器125接收数据S(1324)。基于来自传感器117b和/或力传感器125的数据，可以获得踩踏时间(用户的足部在地面上的时间长度)和提升时间(用户的足部在摆动运动中的长度)。随后，检查开关间隔时间的参数(S1325)，计算用户的步行速度以及用户在进行上一步移动时跟随下一步的适当时间，因此将自动设置关闭时间的参数。例如，当一只脚踩在地板上时，从脚到地面的压力动态以及线性加速度，角加速度和位置的动态可以告诉用户何时需要采取下一步撞击地面。然后根据关闭时间计算开启时间。随后，基于参数，通过光强度自动调节电路116a、振动源自动调节电路116b以及声源自动调节电路116c来调整光源、振动源以及声源的开关间隔时间，流程之后返回至步骤S1301。While one, two or all of S1315 to S1317, S1318 to S1320, S1321 to S1323 are being performed, the flow receives data S from the motion sensor 117b and/or the force sensor 125 (1324). Based on the data from the sensor 117b and/or the force sensor 125, the pedaling time (the length of time the user's foot on the ground) and the lifting time (the length of the user's foot in the swinging motion) can be obtained. Subsequently, the parameter of the switch interval time is checked (S1325), the user's walking speed and the appropriate time for the user to follow the next step when moving the previous step are calculated, so the parameter of the closing time is automatically set. For example, when one foot is stepping on the floor, the dynamics of the pressure from the foot to the ground as well as the linear acceleration, angular acceleration and position dynamics can tell the user when they need to take the next step. Then calculate the on time based on the off time. Subsequently, based on the parameters, the switching intervals of the light source, the vibration source, and the sound source are adjusted by the light intensity automatic adjustment circuit 116a, the vibration source automatic adjustment circuit 116b, and the sound source automatic adjustment circuit 116c, and the flow returns to step S1301.
在一个变体中，步行辅助***包括步行辅助主体。步行辅助主体具有壳体。壳体可以包括视觉指示设备、触觉指示设备以及听觉指示设备(包括图8至13所描述的全部或部分特征)。壳体上还设置夹具，以将所述视觉指示设备夹持到用户的服饰，例如裤子或者者腰带上。所述步行辅助主体也可以夹持到其他步行辅助器，例如拐杖或者行走框架。In one variation, the walking assistance system includes a walking assisting subject. The walking assist body has a housing. The housing may include a visual indication device, a tactile indication device, and an audible indication device (including all or part of the features described in Figures 8-13). A clamp is also provided on the housing to clamp the visual indicating device to a user's apparel, such as a trouser or a belt. The walking aid body can also be clamped to other walking aids, such as a walking stick or walking frame.
与图7类似，在一些例子中，步行辅助***还可以包括智能移动设备30。智能移动设备30例如可以是装载有安卓***，或苹果IOS***的智能手机或平板电脑等智能计算装置。则视觉指示设备110、触觉指示设备120和/或者听觉指示设备140可以通过蓝牙向智能移动设备30发送数据。用户在智能移动设备30上的输入可以被处理并通过蓝牙传递给视觉指示设备110、触觉指示设备120和/或者听觉指示设备140。智能移动设备30收集来自视觉指示设备110和来自力传感器125所有数据，然后通过互联网发送到后台服务器40。智能移动设备30也可以从后台服务器40请求过去的数据用于数据可视化。数据可视化例如包括：显示每个设备的电池状况，以便用户知道何时需要充电。用户也可以读取历史记录，实时数据和性能报告。性能报告向用户显示是否有冻结步态发生，是否有步态上的改进以及提供建议。除数据可视化外，智能移动设备30还可以自定义设置和联网功能。用户可以设置激光强度范围，振动源122的振动模式和振动间隔。智能移动设备30还可以是智能药盒或者智能手表，步态分析的数据可以和智能移动设备的数据结合，以得到关于患者的病况的更有价值的信息，例如，持续监视以确定患者的病况是得到改善还是没有进展。Similar to FIG. 7, in some examples, the walking assistance system can also include a smart mobile device 30. The smart mobile device 30 can be, for example, an intelligent computing device such as a smartphone or tablet loaded with an Android system or an Apple IOS system. The visual indication device 110, the tactile indication device 120, and/or the audible indication device 140 can then transmit data to the smart mobile device 30 via Bluetooth. The user's input on the smart mobile device 30 can be processed and communicated to the visual indication device 110, the tactile indication device 120, and/or the audible indication device 140 via Bluetooth. The smart mobile device 30 collects all data from the visual pointing device 110 and from the force sensor 125 and then transmits it to the backend server 40 over the Internet. The smart mobile device 30 can also request past data from the background server 40 for data visualization. Data visualization, for example, includes displaying the battery status of each device so that the user knows when charging is needed. Users can also read history, real-time data and performance reports. The performance report shows the user if there is a frozen gait, whether there is an improvement in gait and advice. In addition to data visualization, the smart mobile device 30 can also customize settings and networking capabilities. The user can set the laser intensity range, the vibration mode of the vibration source 122, and the vibration interval. The smart mobile device 30 can also be a smart kit or smart watch, and the data of the gait analysis can be combined with the data of the smart mobile device to obtain more valuable information about the patient's condition, for example, continuous monitoring to determine the patient's condition. Is it improved or not?
通过结合运动传感器和力传感器的数据，步行辅助***中的例如视觉指示设备可以高精度地识别用户的步行姿势，其同时也可以执行跌倒检测功能(例如通过处理器中的跌倒警报模块)。跌倒检测例如可以通过前文所述的力传感器和/或者IMU传感器的检测来实现。当检测到步态周期中的运动剧烈变化，力传感器检测到的压力分布轮廓异常，则处理器判断为可能是跌倒情况。当判断为用户跌倒时，跌倒警报和用户的当前位置被发送到预先注册的例如家人或朋友的电话号码。By combining the data of the motion sensor and the force sensor, for example, the visual pointing device in the walking assistance system can recognize the user's walking posture with high precision, while also performing the fall detection function (for example, by a fall alarm module in the processor). Fall detection can be achieved, for example, by detection of a force sensor and/or an IMU sensor as described above. When the motion in the gait cycle is detected to change drastically, the pressure distribution profile detected by the force sensor is abnormal, and the processor determines that it is a fall condition. When it is determined that the user has fallen, the fall alarm and the current location of the user are transmitted to a pre-registered telephone number such as a family member or a friend.
同样地，在一些例子中，图8所描述的流程可以应用于本发明另一个实施例的步行辅助***中。Likewise, in some examples, the process depicted in Figure 8 can be applied to a walking assistance system in accordance with another embodiment of the present invention.
虽然本专利申请结合附图详细描述多个实施方式，但应指出的是，在不脱离本发明的精神和保护范围内，各种可能的其它改变或修改都应包含在本发明内。While the present invention has been described in detail with reference to the embodiments of the invention, it is to be understood that various changes and modifications may be included in the present invention without departing from the spirit and scope of the invention.

Claims (15)

  1. 一种步行辅助***，其特征在于,包括第一指示设备和第二指示设备,其中所述第一指示设备包括用于在用户行走前方地面投射视觉指示光标志的光源，以及所述第二指示设备包括为所述用户的足部提供振动指示的振动源。A walking assistance system, comprising: a first pointing device and a second pointing device, wherein the first pointing device comprises a light source for projecting a visual indication light sign on a ground front of the user walking, and the second indication The device includes a source of vibration that provides a vibration indication to the user's foot.
  2. 根据权利要求1的步行辅助***，其特征在于,还包括第三指示设备,其中所述第三指示设备包括为所述用户提供声音提示的声源。The walking assistance system of claim 1 further comprising a third pointing device, wherein said third pointing device includes a sound source that provides an audible prompt to said user.
  3. 根据权利要求2的步行辅助***，其特征在于,所述第一指示设备包括视觉指示设备，所述第二指示設備包括触觉指示设备以及所述第三指示設備包括听觉指示设备，其中所述视觉指示设备包括所述光源,所述触觉指示设备包括所述振动源以及所述听觉指示设备包括所述声源。A walking assistance system according to claim 2, wherein said first pointing device comprises a visual pointing device, said second pointing device comprises a tactile pointing device and said third pointing device comprises an audible indicating device, wherein said visual The pointing device includes the light source, the haptic indicating device includes the vibration source, and the audible indicating device includes the sound source.
  4. 根据权利要求3的步行辅助***，其特征在于,还包括提供支撑用户足部的鞋垫,所述鞋垫通过支柱与所述视觉指示设备相连。The walking assist system of claim 3, further comprising providing an insole that supports the user's foot, the insole being coupled to the visual indicating device by a post.
  5. 根据权利要求4的步行辅助***，其特征在于,所述视觉指示设备分别与所述触觉指示设备和所述听觉指示设备连接。A walking assistance system according to claim 4, wherein said visual indication device is coupled to said tactile indication device and said audible indication device, respectively.
  6. 根据权利要求5的步行辅助***，其特征在于,所述鞋垫包括多个力传感器,其中所述多个力传感器按预定分布模式分布在所述鞋垫上。The walking assistance system of claim 5 wherein said insole includes a plurality of force sensors, wherein said plurality of force sensors are distributed over said insole in a predetermined pattern of distribution.
  7. 根据权利要求1的步行辅助***，其特征在于，所述第一指示设备包括视觉指示设备以及所述第二指示設備包括触觉指示设备，其中所述视觉指示设备包括所述光源以及所述触觉指示设备包括所述振动源。The walking assistance system of claim 1 wherein said first pointing device comprises a visual pointing device and said second pointing device comprises a tactile pointing device, wherein said visual pointing device comprises said light source and said tactile indication The device includes the source of vibration.
  8. 根据权利要求7步行辅助***，其特征在于，所述视觉指示设备还包括夹具和所述触觉指示设备设置在鞋垫,其中所述夹具将视觉指示设备夹持到所述用户身上。A walking assistance system according to claim 7, wherein said visual indication device further comprises a clamp and said tactile indication device are disposed on the insole, wherein said clamp clamps the visual indication device to said user.
  9. 根据权利要求3或7的步行辅助***，其特征在于,所述视觉指示设备还包括感知环境光强度的光传感器以及根据所述光传感器感知结果调节光源输出功率的光强度自动调节电路。A walking assistance system according to claim 3 or 7, wherein said visual indication device further comprises a light sensor that senses ambient light intensity and a light intensity automatic adjustment circuit that adjusts the output power of the light source based on the perceived result of said light sensor.
  10. 根据权利要求3或7的步行辅助***，其特征在于，所述视觉指示设备还包括检测所述光源的光束输出口与地面的倾角的倾斜传感器。A walking assistance system according to claim 3 or 7, wherein said visual indication device further comprises a tilt sensor that detects an inclination of the beam output port of said light source to the ground.
  11. 根据权利要求10的步行辅助***，其特征在于，所述视觉指示设备还包括处理器,其中当所述倾斜传感器检测到所述倾角大于预定角度时,所述处理器关闭所述光源。A walking assistance system according to claim 10, wherein said visual pointing device further comprises a processor, wherein said processor turns off said light source when said tilt sensor detects said tilt angle to be greater than a predetermined angle.
  12. 根据权利要求3或7的步行辅助***，其特征在于，所述视觉指示设备还包括检测用户运动姿态的运动传感器。A walking assistance system according to claim 3 or 7, wherein said visual indication device further comprises a motion sensor that detects a user's motion posture.
  13. 根据权利要求3或7的步行辅助***，其特征在于，所述视觉指示设备还包括检测所述用户所处地理位置的GPS模块。A walking assistance system according to claim 3 or 7, wherein said visual indication device further comprises a GPS module that detects the geographic location of said user.
  14. 根据权利要求3或7的步行辅助***，其特征在于，所述视觉指示设备还包括通信模块，所述通信模块包括与其他设备进行短距通信的蓝牙模块，以及与后台服务器进行长距通信的SIM卡模块。The walking assistance system according to claim 3 or 7, wherein said visual indication device further comprises a communication module, said communication module comprising a Bluetooth module for short-range communication with other devices, and long-distance communication with the background server SIM card module.
  15. 根据权利要求7的步行辅助***，其特征在于，所述触觉指示设备外形为鞋垫形式，所述触觉指示设备包括按预定分布模式分布在所述触觉指示设备上的多个力传感器。A walking assistance system according to claim 7, wherein said tactile indication device is in the form of an insole, said tactile indication device comprising a plurality of force sensors distributed on said tactile indication device in a predetermined distribution pattern.
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