CN108236562A - A kind of the elderly's walk helper and its control method - Google Patents

Abstract

The invention discloses a kind of the elderly's walk helper and its control methods, the driving moved by using automatically controlled motion to walk helper, enable walk helper that old man is pushed to walk, so as to mitigate the walking burden of old man, simultaneously, pass through detection of the control mechanism to the pressure being applied to it, main control module can not only be made flexibly to control the direction of motion of walk helper, and walk helper can be made to carry out self-locking in time, enable the timely stop motion of walk helper, so as to ensure the safety of old man.

Description

A walker for the elderly and its control method

technical field

The invention relates to the technical field of walking aids, in particular to a walking aid for the elderly and a control method thereof.

Background technique

As a device that assists the human body in supporting body weight, maintaining balance and walking, a walker is widely used in assisting the limb rehabilitation training of the elderly and seriously ill patients. Existing walkers are basically realized with the foot structure of "crutch chair", but the movement mode of the existing walkers is too cumbersome, it needs to be lifted and lowered continuously, and it is easy to lose weight during the lifting process. center of gravity possibility.

In order to solve this problem, a walker with wheels instead of feet has appeared on the market. The feet of this form of walker are composed of universal wheels, but without any self-locking structure, it is easy to cause the wheels to run The loss of balance makes the elderly prone to the problem of accidentally pushing out the walker and falling when using it, which cannot meet the safety requirements.

Contents of the invention

In order to solve the above problems, the purpose of the present invention is to provide a walker for the elderly and its control method, which can move or lock itself according to the pressure of the old man holding the handrail, so that the walker can stop moving in an emergency, Thereby improving the use safety of the walking aid.

The technical scheme that the present invention solves its problem adopts is:

A walker for the elderly, including mechanical parts for constituting the main body of the walker and electric control parts for movement control; the mechanical parts include a main body bracket and an armrest for assisting human body support; The main control module for overall management, the kinematic mechanism used to drive the main body of the walker to move, and the control mechanism used to control the kinematic mechanism to move in any direction. The main control module is hidden inside the main bracket, and the kinematic mechanism is set on the main bracket. The control mechanism is set on the bottom of the armrest; the control mechanism detects the pressure applied to it, so that the main control module controls the movement mechanism to self-lock or drives the main body of the walker to move in any direction.

Further, the main body bracket includes a supporting foot for connecting the armrest with the movement mechanism and a first connecting crossbar for forming a C-shaped structure with the armrest.

Further, the control mechanism includes a first control component for detecting pressure, the first control component is exposed on the armrest, and the first control component is connected with the main control module.

Further, the control mechanism includes a second control component for detecting key signals, the second control component is arranged on the first connecting crossbar, and the second control component is connected with the main control module.

Further, the motion mechanism includes a front universal wheel, a rear active left wheel, a rear active right wheel, a left wheel self-locking motor and a right wheel self-locking motor, and the rear active left wheel and the rear active right wheel are connected with the left wheel self-locking motor and the right wheel respectively. The rotating shaft of the wheel self-locking motor is connected, and the left wheel self-locking motor and the right wheel self-locking motor are respectively connected with the main control module; the front universal wheel, the rear active left wheel and the rear active right wheel are respectively connected with the supporting tripod; According to the pressure detected by the control mechanism, the main control module adjusts the rotation speeds of the rear active left wheel and the rear active right wheel respectively, so as to realize the forward and turning operations of the main body of the walker.

Further, the main body bracket also includes a height adjustment mechanism for adjusting the height of the armrest. The height adjustment mechanism includes an inner rod for connecting the kinematic mechanism and stretchable along the inside of the support tripod and for limiting the relative movement of the inner rod An elastic limiting part for supporting the movement of the tripod, and the inner rod is clamped and connected with the supporting tripod through the elastic limiting part.

Further, the elastic limiting part includes a steel ball, a spring connected to the steel ball, and a fixed plate for supporting the steel ball and the spring along the section of the inner rod, the fixed plate includes a fixed upper plate and a fixed lower plate, and the fixed upper plate and the fixed lower plate Constitute a channel for the steel ball to move; the inner rod is provided with a round hole at the position corresponding to the steel ball for clamping connection with the steel ball; the supporting leg is provided with at least one through hole with the same diameter as the round hole along the vertical direction .

Further, the electronic control part also includes a front ultrasonic module for detecting obstacles, a second connecting cross bar is arranged below the first connecting cross bar, and the front ultrasonic module is arranged on the second connecting bar toward the front of the walker main body. on crossbars and/or supporting legs.

Further, the electronic control part also includes a rear ultrasonic module for detecting the user, and the rear ultrasonic module is arranged on the second connecting crossbar toward the user.

A control method applied to a walking aid for the elderly, comprising the following steps:

S1, system initialization;

S2. The main control module obtains the detection data of the rear ultrasonic module, and judges whether the user is far away from the main body of the walker. If so, the left wheel self-locking motor and the right wheel self-locking motor perform self-locking; otherwise, execute step S3;

S3. The main control module obtains the detection data of the front ultrasonic module, and judges whether there is an obstacle ahead, if so, the left wheel self-locking motor and the right wheel self-locking motor perform self-locking; otherwise, execute step S4;

S4. The main control module obtains the pressure data detected by the first control part, and judges whether the pressure data exceeds the rated value, if so, the left wheel self-locking motor and the right wheel self-locking motor perform self-locking; otherwise, execute step S5;

S5. The main control module judges whether the data signal indicates forward movement according to the data signal detected by the first control part and/or the second control part. If so, the left-wheel self-locking motor and the right-wheel self-locking motor rotate at the same speed synchronously; otherwise , the main control module performs differential speed control on the left wheel self-locking motor and the right wheel self-locking motor;

S6. The main body of the walker moves.

The beneficial effect of the present invention is: a walking aid for the elderly and its control method, the main body support can support the human body, the movement mechanism is arranged at the bottom of the main support, combined with the supporting function of the handrail, the elderly can stably push the present invention walking with walking aids; since the control mechanism is set on the handrail, the old man can control the control mechanism as long as he holds the handrail tightly, which greatly facilitates the convenience of the old man's control of the walking aid; when the old man holds the handrail , the control mechanism will detect the pressure of the grip, and the main control module can control the self-locking or movement of the movement mechanism according to the different pressure values; for example, when the pressures acting on the two handrails are different, the main control module The module can control the moving mechanism to turn toward the side with higher pressure, and when the pressure acting on the two handrails is the same, the moving mechanism will go straight forward; When there is a tendency to fall forward, the elderly will subconsciously increase the pressure on the handrail. If the pressure at this time is greater than the rated value, the main control module can control the movement mechanism to perform self-locking operation. Therefore, the control mechanism can make the main control module control the motion mechanism to self-lock or drive the walker body to move in any direction by detecting the pressure applied thereto. Therefore, the elderly walker and its control method of the present invention can move or self-lock according to the pressure of the old man holding the handrail, so that the walker can stop moving in an emergency, thereby improving the safety of the walker sex.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing and example.

Fig. 1 is the schematic diagram of walking aid for the elderly of the present invention;

Fig. 2 is a schematic diagram of the height adjustment mechanism;

Fig. 3 is a flow chart of the control method of the elderly walker of the present invention.

Detailed ways

Referring to Fig. 1-Fig. 2, a walking aid for the elderly according to the present invention includes mechanical parts for forming the main body of the walking aid and electric control parts for moving control; the mechanical parts include a main body bracket 1 and an auxiliary Armrest 2 supported by the human body; the electronic control components include a main control module for overall management, a motion mechanism for driving the main body of the walker to move, and a control mechanism for controlling the motion mechanism to move in any direction. The main control module is hidden. Inside the main body support 1, the movement mechanism is arranged at the bottom of the main body support 1, and the control mechanism is arranged on the armrest 2; the control mechanism detects the pressure applied thereon, so that the main control module controls the movement mechanism to perform self-locking or drive the auxiliary The main body of the actuator can move in any direction. Specifically, the main body support 1 can support the human body, and the movement mechanism is arranged at the bottom of the main body support 1, combined with the supporting function of the handrail 2, the old man can stably push the walking aid of the present invention to walk; since the control mechanism is arranged on the handrail 2, so the old man can control the control mechanism as long as he holds the handrail 2 tightly, which greatly facilitates the convenience of the old man's manipulation of the walker; when the old man holds the handrail 2, the control mechanism will exert pressure According to different pressure values, the main control module can perform self-locking or motion control on the movement mechanism; for example, when the pressures acting on the two handrails 2 are different, the main control module can control the movement mechanism to move toward the pressure The big side makes a turning movement, and when the pressure acting on the two handrails 2 is the same, the movement mechanism moves straight forward; Subconsciously increase the pressure of grasping the handrail 2, if the pressure at this time is greater than the rated value, the main control module can control the motion mechanism to perform self-locking operation. Therefore, the control mechanism can make the main control module control the motion mechanism to self-lock or drive the walker body to move in any direction by detecting the pressure applied thereto. Therefore, the walker for the elderly of the present invention can move or lock itself according to the pressure of the old man holding the handrail 2, so that the walker can stop moving in an emergency, thereby improving the safety of the walker.

Wherein, referring to FIG. 1 , the main frame 1 includes a supporting foot frame 11 for connecting the armrest 2 and the movement mechanism and a first connecting cross bar 12 for forming a C-shaped structure with the armrest 2 . Specifically, since the first connecting crossbar 12 and the armrest 2 form a C-shaped structure, the main body of the walker has a C-shaped structure with a space for accommodating the human body, and the armrests 2 are located at both sides, so when the elderly use the When using the walking aid, the handrails 2 on both sides can be held by both hands, and the walking aid can be followed for walking.

Among them, the control mechanism has multiple ways of implementation. Referring to FIG. 1, as a first way of realization, the control mechanism includes a first control component 31 for detecting pressure, and the first control component 31 is exposed on the armrest 2. The first The control part 31 is connected with the main control module. Specifically, the first control part 31 is a two-hand controller, which needs to be controlled by both hands, and the first control part 31 has a pressure detection function, and controls the movement mechanism to perform corresponding movements by detecting the pressure applied thereto. For example, the first control part 31 is composed of pressure sensors respectively arranged on the armrests 2 on both sides. When the old man needs to walk forward, he can apply the same pressure to the armrests 2 on both sides. At this time, the movement mechanism will control The main body of the walker walks forward; if the old man needs to turn left or right, he can increase the pressure on the left or right handrail 2. movement mode, so that the main body of the walker turns left or right.

In addition, referring to FIG. 1 , the second implementation of the control mechanism includes a second control component 32 for detecting key signals, the second control component 32 is arranged on the first connecting crossbar 12 , and the second control component 32 and The main control module is connected. Specifically, the second control part 32 is a single-handed button controller, and the direction of the buttons is set toward the elderly. The second control part 32 is provided with 5 independent buttons, which correspond to moving forward, moving backward, moving backward, respectively. Five functions of left turn, right turn and speed control. Therefore, the elderly can set the motion mode of the main body of the walker by operating the second control part 32 . In addition, the control mechanism can also be composed of a combination of the first control part 31 and the second control part 32, so as to realize flexible control of the walking aid.

Wherein, with reference to Fig. 1, motion mechanism comprises front end universal wheel 41, rear end active left wheel 42, rear end active right wheel 43, left wheel self-locking motor 44 and right wheel self-locking motor 45, rear end active left wheel 42 and rear end active Right wheel 43 is connected with the rotating shaft of left wheel self-locking motor 44 and right wheel self-locking motor 45 respectively, and left wheel self-locking motor 44 and right wheel self-locking motor 45 are connected with master control module respectively; The active left wheel 42 and the rear active right wheel 43 are respectively connected to the support stand 11; the main control module adjusts the rotating speeds of the rear active left wheel 42 and the rear active right wheel 43 respectively according to the pressure detected by the control mechanism, thereby realizing Forward and turning operations of the main body of the walker. Specifically, the main control module controls the left wheel self-locking motor 44 and the right wheel self-locking motor 44 respectively according to the pressure value acting on the armrests 2 on both sides detected by the first control part 31, or according to the key signal detected by the second control part 32. The self-locking motor 45 performs rotational speed control, thereby realizing various motion operations of the main body of the walker. For example, when the pressure acting on the left armrest 2 is greater than the pressure acting on the right armrest 2, or the left button in the second control part 32 is pressed, the main control module will self-lock the left wheel self-locking motor 44 and the right wheel Motor 45 carries out differential speed control, and now, the rotating speed of left-wheel self-locking motor 44 can slow down, and the rotating speed of right-wheel self-locking motor 45 can accelerate, so, the rotating speed of rear end active left wheel 42 can be slower than rear end active right wheel 43 speed, so as to realize the left turning operation of the walker. Similarly, when the pressure acting on the left handrail 2 is less than the pressure acting on the right handrail 2, or the right button in the second control part 32 is pressed, the walker will turn right. And when the pressure applied to the armrests 2 on both sides is basically the same, the walker will move forward; when no pressure is applied to the armrests 2 on both sides, the walker will stop moving. In addition, the old man can also set the moving speed of the walker by pressing the speed control button in the second control part 32, so that the moving speed of the walker can match the moving speed of the old man; When the moving speed of the walker is not high, since the old man holds both hands on the handrails 2 on both sides, the old man will have a tendency to be driven forward by the walker. In this case, the old man will subconsciously increase Hold the pressure of the handrails 2 on both sides tightly, and when the pressure is greater than the preset rated value, the main control module will control the left wheel self-locking motor 44 and the right wheel self-locking motor 45 to perform self-locking, so that the walker cannot continue Move forward, so that the problem of falling of the elderly can be effectively prevented.

Wherein, referring to Fig. 1-Fig. 2, the main body bracket 1 also includes a height adjustment mechanism 5 for adjusting the height of the armrest 2. The telescopic inner rod 51 and the elastic limiting component for restricting the movement of the inner rod 51 relative to the supporting leg 11 , the inner rod 51 is locked and connected with the supporting leg 11 through the elastic limiting component. Specifically, for the different heights of different old people, the height adjustment mechanism 5 can be adjusted, and the elastic limit parts in the inner rod 51 can be used to engage with different positions of the supporting legs 11, so that the walker can have Different heights can meet the needs of different elderly people.

Wherein, with reference to Fig. 1-Fig. 2, elastic limit member comprises steel ball 52, the spring 53 that is connected with steel ball 52 and is arranged along the cross section of inner rod 51 and is used for supporting the fixed plate 54 of steel ball 52 and spring 53, and fixed plate 54 comprises The fixed upper plate and the fixed lower plate form a passage for the steel ball 52 to move; the inner rod 51 is provided with a round hole at the position corresponding to the steel ball 52 for clamping and connecting with the steel ball 52; the support tripod 11 is provided with at least one through hole corresponding to the diameter of the circular hole along the vertical direction. Specifically, under the pushing action of the spring 53 , the steel ball 52 can protrude out of the support stand 11 through the round hole and the through hole in sequence, so as to fix the position of the inner rod 51 in the support stand 11 . When it is necessary to adjust the height of the walker, it is only necessary to pull up or press down the supporting stand 11, so that the force of the supporting stand 11 on the steel ball 52 is greater than the force of the spring 53 acting on the steel ball 52, and the steel ball 52 can be adjusted. Inward retraction, at this time, the steel ball 52 no longer restricts the relative position of the inner rod 51 and the supporting stand 11 until the steel ball 52 can protrude from the through hole on the other supporting stand 11 .

Further, referring to FIG. 1 , the electronic control part also includes a front ultrasonic module 61 for detecting obstacles, a second connecting cross bar 13 is arranged below the first connecting cross bar 12, and the front ultrasonic module 61 faces the walking aid. The front of the main body is arranged on the second connecting cross bar 13 and/or the supporting leg 11 . Specifically, the front ultrasonic module 61 provides the function of automatic obstacle avoidance for the walking aid. When the front ultrasonic module 61 detects that there is an obstacle ahead, the main control module can control the left wheel self-locking motor 44 and the right wheel self-locking motor 45 to rotate at different speeds, thereby realizing the steering of the walker to achieve automatic obstacle avoidance function.

Further, referring to FIG. 1 , the electronic control part further includes a rear ultrasonic module 62 for detecting the user, and the rear ultrasonic module 62 is arranged on the second connecting crossbar 13 toward the user. Specifically, the rear ultrasonic module 62 can detect whether the old man can keep up with the moving speed of the walker by detecting the old man. For example, the detection distance of the rear ultrasonic module 62 is less than 70cm. When the rear ultrasonic module 62 cannot detect the existence of objects, it means that the old man is not in the space formed by the main body of the walker that can accommodate the human body, or the old man lags behind. For the main body of the walker, at this time, the main control module will judge that the old man is in a state that cannot keep up with the moving speed of the walker, and the old man will have a problem of falling. At this time, the main control module will control the left wheel self-locking motor 44 and The right wheel self-locking motor 45 performs self-locking, so that the walker can automatically stop moving, thereby preventing the elderly from falling down.

Referring to Fig. 3, a control method applied to a walker for the elderly, comprising the following steps:

S1, system initialization;

S2. The main control module obtains the detection data of the rear ultrasonic module 62, and judges whether the user is far away from the main body of the walker. If so, the left wheel self-locking motor 44 and the right wheel self-locking motor 45 perform self-locking; otherwise, execute step S3;

S3, the main control module acquires the detection data of the front ultrasonic module 61, and judges whether there is an obstacle ahead, if so, the left wheel self-locking motor 44 and the right wheel self-locking motor 45 perform self-locking; otherwise, execute step S4;

S4, the main control module obtains the pressure data detected by the first control part 31, and judges whether the pressure data exceeds the rated value, if so, the left wheel self-locking motor 44 and the right wheel self-locking motor 45 perform self-locking; otherwise, execute step S5 ;

S5, the main control module judges whether the data signal indicates advancing according to the data signal detected by the first control part 31 and/or the second control part 32, if so, the left wheel self-locking motor 44 and the right wheel self-locking motor 45 perform synchronously Otherwise, the main control module carries out differential speed control to the left wheel self-locking motor 44 and the right wheel self-locking motor 45;

S6. The main body of the walker moves.

Specifically, according to the above-mentioned control method applied to the walker for the elderly, the walker for the elderly of the present invention has the following functions:

a. Automatic obstacle avoidance function

Through the front ultrasonic module 61 arranged on the second connecting cross bar 13 and/or the supporting stand 11, the main control module can judge whether there is an obstacle ahead, if there is an obstacle ahead, the main control module will respectively control the left wheel to automatically The locking motor 44 and the right wheel self-locking motor 45 carry out self-locking to avoid the old man from bumping into obstacles, so as to achieve the effect of automatic obstacle avoidance; Ultrasonic module 61 is installed to detect the obstacles ahead, and the main control module can control the rotation speeds of the left wheel self-locking motor 44 and the right wheel self-locking motor 45, so that the walker can automatically adjust the direction of motion, thereby achieving the goal of automatic obstacle avoidance walking. Purpose;

b. Motion self-locking function

The left-wheel self-locking motor 44 and the right-wheel self-locking motor 45 can perform self-locking according to the driving action of the main control module, and the walker can only be locked under the driving action of the left-wheel self-locking motor 44 and the right-wheel self-locking motor 45. Therefore, when the pressure acting on the first control part 31 is greater than the rated value, or when the front ultrasonic module 61 cannot detect the elderly, the main control module will immediately control the left wheel self-locking motor 44 and the right wheel self-locking motor 45 Stop the movement, so that the walker can perform self-locking movement, so as to ensure the safety of the elderly;

c. Differential motion function

Since the front universal wheel 41 is a driven wheel, and the rear driving left wheel 42 and the rear driving right wheel 43 are both driving wheels, it is necessary to control the rear driving left wheel 42 and the rear driving right wheel 43 when the walker turns. The differential speed between can be realized. The main control module independently controls the rear active left wheel 42 and the rear active right wheel 43, and realizes the turning operation of the walker according to the differential speed between the rear active left wheel 42 and the rear active right wheel 43. For example, when the rotating speed of the rear-end active left wheel 42 is faster than the rotating speed of the rear-end active right wheel 43, the walker turns right; Make a left turn.

In addition, the walking aid for the elderly of the present invention also has the functions of height adjustment, speed adjustment and speed protection. Since different old people have different heights, in order to adapt to the heights of different old people, the walking aid for the elderly of the present invention realizes the height adjustment function of the walking aid through the interaction of the inner rod 51, the supporting leg 11 and the elastic limiting parts. In addition, because the walking speed of each old person is different, in order to adapt to the walking speed of different old people, the second control part 32 arranged on the first connecting crossbar 12 can realize the adjustment of the moving speed of the walker; By pressing the speed control button in the second control part 32, the moving speed of the walker can be adjusted in high, middle and low speeds. In addition, through the pressure sensor constituting the first control part 31 and the rear ultrasonic module 62 arranged on the second connecting cross bar 13, the pressure acting on the pressure sensor and the distance between the old man and the rear ultrasonic module 62 can be , Real-time and accurate judgment of whether the old man can keep up with the moving speed of the walker. If the old man cannot keep up with the moving speed of the walker, the walker will automatically stop, so as to realize the protection of the moving speed of the old man and avoid the appearance of the old man fall problem.

The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above-mentioned implementation, and those skilled in the art can also make various equivalent deformations or replacements without violating the spirit of the present invention. Equivalent modifications or replacements are all within the scope defined by the claims of the present application.

Claims (10)

1. a kind of the elderly's walk helper, it is characterised in that：Including being used to form the mechanical part of walk helper main body and for carrying out The electric-controlled parts of mobile control；The mechanical part includes main body rack (1) and for assisting the handrail of body support (2)；Institute It states electric-controlled parts and includes the main control module for overall management, for walk helper main body to be driven to carry out mobile motion and use In the control mechanism that the motion is controlled to carry out any direction movement, the main control module, which is hidden, is set to the main body branch The inside of frame (1), the motion are set to the bottom of the main body rack (1), and the control mechanism is set to described help On hand (2)；The control mechanism is by detecting the pressure being applied thereto so that master control module controls motion carries out certainly The movement locked or walk helper main body is driven to carry out any direction.

2. a kind of the elderly's walk helper according to claim 1, it is characterised in that：The main body rack (1) is including being used for It connects the support foot rest (11) of the handrail (2) and motion and connects for forming the first of c-type structure with the handrail (2) Connect cross bar (12).

3. a kind of the elderly's walk helper according to claim 2, it is characterised in that：The control mechanism includes detecting The first control units part (31) of pressure, the first control units part (31) is exposed to be set on the handrail (2), and described first Control unit (31) is connected with the main control module.

4. a kind of the elderly's walk helper according to claim 2, it is characterised in that：The control mechanism includes detecting The second control unit (32) of push button signalling, second control unit (32) be set to it is described first connection cross bar (12) it On, second control unit (32) is connected with the main control module.

5. a kind of the elderly's walk helper according to claim 2, it is characterised in that：It is universal that the motion includes front end (41), rear end active revolver (42), rear end active right wheel (43), revolver self-locking motor (44) and right wheel self-locking motor (45) are taken turns, The rear end active revolver (42) and rear end active right wheel (43) are electric with the revolver self-locking motor (44) and right wheel self-locking respectively The shaft of machine (45) is connected, the revolver self-locking motor (44) and right wheel self-locking motor (45) respectively with the main control module phase Connection；The front end universal wheel (41), rear end active revolver (42) and rear end active right wheel (43) respectively with the support foot rest (11) it is connected；It is actively left to adjust the rear end respectively for pressure of the main control module according to detected by the control mechanism Take turns the rotating speed of (42) and rear end active right wheel (43), advance and cornering operation so as to fulfill walk helper main body.

6. a kind of the elderly's walk helper according to claim 2, it is characterised in that：The main body rack (1) further includes use In the height regulating mechanism (5) that the height to the handrail (2) is adjusted, the height regulating mechanism (5) is including the company of being used for Flexible interior bar (51) and described for limiting can simultaneously be carried out along the inside of the support foot rest (11) by connecing the motion Interior bar (51) carries out mobile elastic spacing component relative to the support foot rest (11), and the interior bar (51) passes through the elasticity Limiting component carries out screens with the support foot rest (11) and connect.

7. a kind of the elderly's walk helper according to claim 6, it is characterised in that：The elastic spacing component includes steel ball (52), the spring (53) that is connect with the steel ball (52) and it is used to support the steel ball along the section setting of the interior bar (51) (52) and the fixed plate of spring (53) (54), the fixed plate (54) include fixed upper plate and fixed lower plate, the fixed upper plate The channel moved for the steel ball (52) is formed with fixed lower plate；The interior bar (51) is in corresponding with the steel ball (52) Position is provided with the circular hole for being connect with the steel ball (52) screens；The support foot rest (11) has been placed in the vertical direction The consistent through-hole of at least one diameter corresponding with the circular hole.

8. a kind of the elderly's walk helper according to claim 2, it is characterised in that：The electric-controlled parts further include to examine The preposition ultrasonic wave module (61) of barrier is surveyed, the second connection cross bar is provided with below the first connection cross bar (12) (13), the preposition ultrasonic wave module (61) towards be set in front of walk helper main body the second connection cross bar (13) and/ Or on support foot rest (11).

9. a kind of the elderly's walk helper according to claim 8, it is characterised in that：The electric-controlled parts further include to examine The postposition ultrasonic wave module (62) of user is surveyed, the postposition ultrasonic wave module (62) is set to described second towards user and connects It connects on cross bar (13).

10. a kind of control method of any the elderly's walk helpers of application claim 1-9, it is characterised in that：Including with Lower step：

S1, system initialization；

Whether S2, main control module obtain the detection data of postposition ultrasonic wave module (62), and judge user far from walk helper master Body, if so, revolver self-locking motor (44) and right wheel self-locking motor (45) carry out self-locking；Otherwise, step S3 is performed；

S3, main control module obtain the detection data of preposition ultrasonic wave module (61), and judge whether front has barrier, if so, Revolver self-locking motor (44) and right wheel self-locking motor (45) carry out self-locking；Otherwise, step S4 is performed；

S4, the pressure data that is detected by the first control units part (31) of main control module acquisition, and judge pressure data whether be more than Rated value, if so, revolver self-locking motor (44) and right wheel self-locking motor (45) carry out self-locking；Otherwise, step S5 is performed；

The data-signal that S5, main control module are detected according to the first control units part (31) and/or the second control unit (32) judges The data-signal indicates whether to advance, and is turned at the same speed if so, revolver self-locking motor (44) is synchronous with right wheel self-locking motor (45) It is dynamic；Otherwise, main control module carries out differential control to revolver self-locking motor (44) and right wheel self-locking motor (45)；

S6, walk helper main body are moved.