CN104027225B - A kind of road conditions recognition methods - Google Patents
A kind of road conditions recognition methods Download PDFInfo
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- CN104027225B CN104027225B CN201410314217.XA CN201410314217A CN104027225B CN 104027225 B CN104027225 B CN 104027225B CN 201410314217 A CN201410314217 A CN 201410314217A CN 104027225 B CN104027225 B CN 104027225B
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Abstract
The invention discloses a kind of road conditions recognition methods of lower limb rehabilitation accessory, the road conditions recognition methods is to organize heel installation foot to organize tiptoe installation tiptoe sensor module with sensor module, in foot in foot, in shank tissue install gyro module, each sensor information is handled using control module, the information extracted according to sensor, through comprehensive analysis, effective identification to road conditions different in human body lower limbs motion process is realized.According to different road conditions, lower limb rehabilitation accessory being controlled using drive module and makes corresponding movement, reached lower limb rehabilitation accessory really with its wearer and act in agreement, it is made easily to complete to go upstairs, climb the daily routines such as slope, leaping over obstacles.
Description
Technical field
The present invention relates to human body lower limbs rehabilitation accessory technology, specially a kind of road conditions recognition methods, can to level land/on
Slope/descending/goes upstairs/goes downstairs/and six kinds of barrier different road conditions are identified, and then are controlled accordingly to rehabilitation accessory
System, while alleviating burden of patients, keeps patient safer in the process of walking.
Background technique
Currently, lower limb rehabilitation accessory plays vital role in residual weak crowd, lower limb rehabilitation accessory mainly divides
For two classes, one kind is the rehabilitation accessory of the wearer for lower limb incompleteness, and one kind is the wearer's that lower limb perfects
Rehabilitation accessory.The lower limb rehabilitation accessory of wearer for mutilation, typical such as artificial limb, enters the artificial limb in market at present
Type, from " passive type " artificial limb of beginning, such as simple mechanical device, link mechanism (mostly four-bar mechanism), air pressure or
Hydraulic device and Computerized intelligent control device, " active " artificial limb for increasing power device finally invented are false
Limb technology constantly by it is rudimentary to it is advanced, from simple to complex develop, gradually can satisfy the demand of amputee, especially " actively
Formula " artificial limb, can for wearer in stair activity, climb in the motion processes such as slope having of providing that " passive type " artificial limb can not provide
Imitate power.But the emphasis of these technologies is all in the mechanism design and control to artificial limb knee-joint, it is intended to mitigate disabled person's walking
Feeling of fatigue in the process, however the detection technique and its recognition methods to the extraneous traffic information such as stair, slope but rarely have and refer to.
The rehabilitation accessory of the sound wearer of same limbs, typical such as ectoskeleton, the problem of also relating to road conditions recognition methods.
Summary of the invention
In view of the deficiencies of the prior art, the present invention proposes: a kind of road conditions recognition methods.This method is mainly used for lower limb rehabilitation
Accessory can identify six kinds of road conditions common in walking process, control signal be provided for driving lower limb rehabilitation accessory, to help
Disabled person, which solves the problems, such as to go upstairs, climbs the road conditions such as slope encounters.
The present invention solves the problems, such as the technical solution of the road conditions identification are as follows: designs a kind of road conditions recognition methods.The road conditions are known
The hardware configuration that other method uses includes heel sensor module, tiptoe sensor module, gyro module, control module, drive
Dynamic model block, lower limb rehabilitation accessory knee joint, shank tissue and foot's tissue；The heel sensor module, tiptoe sensor die
Block is respectively arranged in the heel and tiptoe of foot's tissue, and gyro module is installed on the front of shank tissue, is located at lower limb health
Multiple accessory knee joint and foot's tissue are intermediate；The control module is mounted between lower limb rehabilitation accessory knee joint and shank tissue
Drive module below position, the top of gyro module；The drive module be mounted on lower limb rehabilitation accessory knee joint with
Upper position between shank tissue.The heel sensor module, tiptoe sensor module, gyro module respectively with control
The electrical connection of molding block；Described drive module one end is electrically connected with control module, and the other end is electrically connected with lower limb rehabilitation accessory knee joint
It connects.
The road conditions recognition methods specifically:
1) selection of angular velocity signal particular point
The collected signal of gyro module is input to the control module, after control module is handled, is obtained small
The angular velocity signal of swing during leg histokinesis；Gyro module detects to obtain the signal of a gait cycle, really
Three particular points of angular velocity signal differentiate as heel sensor module and tiptoe sensor module in a fixed gait cycle
The foundation of road conditions, three particular points are successively are as follows: first starting point of periodic signal, periodic signal waveform are to second waveform transition
Minimum point, periodic signal second wave crest peak point；
2) six kinds of specific identification process of road conditions of
(1) signal detected when gyro module judges whether tiptoe sensor module detects foreign matter in starting point
Or it blocks；If tiptoe sensor module has detected foreign matter or blocked, may be barrier ,/upward slope/goes upstairs three kinds of road conditions
(abbreviation mode 1), control module regulation drive module control lower limb rehabilitation accessory raise leg；If tiptoe sensor module is not examined
It measures foreign matter or blocks, then may be level land ,/descending/goes downstairs (abbreviation mode 2) three kinds of road conditions；As a result, starting point can be
Current road conditions are divided into 2 two major classes of mode 1 and mode；
(2) when gyro module detects that signal reaches minimum point, three kinds of road conditions of mode 1 are judged, if
Heel sensor module detects that foot organizes rear there are foreign matter or blocks, then road conditions are barrier；If heel sensor die
Block does not detect that foot organizes rear there are foreign matter or blocks, then to go upstairs/go up a slope two kinds of road conditions (abbreviation mode 3)；Together
When, three kinds of road conditions of mode 2 are judged, if heel sensor module does not detect foreign matter or blocks, road conditions are level land；
If the detection of heel sensor module has foreign matter or blocks, for/two kinds of road conditions of descending (abbreviation mode 4) of going downstairs；As a result, in pole
Road conditions are further divided into 4 four kinds of barrier, level land, mode 3 and mode road conditions by small value point；
(3) when the signal that gyro module measures reaches peak point, using tiptoe sensor module to two kinds of mode 3
Road conditions distinguish, if tiptoe sensor module detects foreign matter or blocks, road conditions are to go upstairs；If tiptoe sensor module
It does not detect foreign matter or blocks, then road conditions are to go up a slope；Meanwhile using tiptoe sensor module to two kinds of road conditions of mode 4 into
Row is distinguished, if tiptoe sensor module detects foreign matter or blocks, road conditions are to go downstairs；If tiptoe sensor module is not examined
It measures foreign matter or blocks, then road conditions are descending；Can further road conditions be burnt sth to the ground/be gone up a slope in peak point as a result ,/descending/
It goes upstairs/goes downstairs/six kinds of road conditions of barrier.
Compared with prior art, the recognition methods of this road conditions targetedly carries out six kinds of road conditions present in actual life
Subdivision, overcomes the defect that the prior art lacks timely road conditions recognition methods.Using the road conditions recognition methods, lower limb health can be made
Multiple accessory timely and accurately identifies level land/upward slope/descending/upstairs/downstairs/six kinds of road conditions of barrier, makes lower limb rehabilitation accessory pair
The judgement of road conditions is consistent with the judgement of lower limb rehabilitation accessory wearer, cooperates control module and drive module, keeps lower limb rehabilitation auxiliary
Tool is really reached with its wearer to act in agreement, it is made easily to complete to go upstairs, climb the daily routines such as slope, leaping over obstacles,
Its quality of life is improved, so that it is better blended into society, is normally lived.
Detailed description of the invention
Fig. 1 is hardware components peace of the road conditions recognition methods of the present invention for a kind of embodiment of lower limb incompleteness wearer
Fill schematic diagram；
Fig. 2 is a kind of hardware components peace for embodiment that road conditions recognition methods of the present invention perfects wearer for lower limb
Fill schematic diagram；
Fig. 3 is a kind of trend of one gait cycle signal of gyro module of embodiment of road conditions recognition methods of the present invention
Figure；
Fig. 4 is a kind of road conditions identification process figure of embodiment of road conditions recognition methods of the present invention.
Specific implementation method
Below with reference to embodiment and its attached drawing, the present invention is further described, but the present invention is not limited to the present embodiment.
Road conditions recognition methods of the present invention, it is characterised in that the hardware configuration that the road conditions recognition methods uses includes heel sensing
It is device module 1, tiptoe sensor module 2, gyro module 3, control module 4, drive module 5, lower limb rehabilitation accessory knee joint, small
Leg tissue and foot's tissue；The heel sensor module 1, tiptoe sensor module 2 are respectively arranged in the heel of foot's tissue
With tiptoe, gyro module 3 is installed on the front of shank tissue, is located in lower limb rehabilitation accessory knee joint and foot's tissue
Between；The control module 4 is mounted on the position of 4 lower section of drive module between lower limb rehabilitation accessory knee joint and shank tissue,
The top of gyro module 3；The drive module 4 is mounted on the upper bit between lower limb rehabilitation accessory knee joint and shank tissue
It sets；The heel sensor module 1, tiptoe sensor module 2, gyro module 3 are connect with control module electricity 4 respectively；Institute
It states 4 one end of drive module to be electrically connected with control module 5, the other end is electrically connected with lower limb rehabilitation accessory knee joint.
Embodiment 1
The lower limb accessory of wearer for lower limb incompleteness (referring to Fig. 1).
Hardware configuration used includes heel sensor module 1, tiptoe sensor module 2, gyro module 3, control module
4, drive module 5, artificial limb knee-joint 61, lower limb accessory shank 71 and lower limb accessory prosthetic foot 81；The heel sensor module 1,
Tiptoe sensor module 2 is respectively arranged in the heel and tiptoe of lower limb accessory prosthetic foot 81, and gyro module 3 is installed on lower limb accessory
The front of shank 71 is located among artificial limb knee-joint 61 and lower limb accessory prosthetic foot 81；The control module 4 is mounted on artificial limb knee
The position of 5 lower section of drive module between joint 61 and lower limb accessory shank 71, the top of gyro module 3；The driving mould
Block 3 is mounted on the upper position between artificial limb knee-joint 61 and lower limb accessory shank 71；The heel sensor module 1, tiptoe
Sensor module 2, gyro module 3 are electrically connected with control module 4 respectively；4 electricity of described 5 one end of drive module and control module
Connection, the other end are electrically connected with artificial limb knee-joint 61.
Embodiment 2
Lower limb accessory (referring to fig. 2) for the wearer that lower limb perfects.
Hardware configuration used includes heel sensor module 1, tiptoe sensor module 2, gyro module 3, control module
4, drive module 5, knee joint accessory 62, wearer's shank 72, user's foot 82 and bandage 9；The heel sensor module
1, tiptoe sensor module 2 is respectively arranged in the heel and tiptoe of user's foot 82；The knee joint accessory 62, which is installed on, to be worn
The knee joint position of wearer；The gyro module 3, control module 4 and drive module 5 are fixed on wearer's shank with bandage 9
72 front is located among knee joint accessory 62 and user's foot 82；The heel sensor module 1, tiptoe sensor
Module 2, gyro module 3 are electrically connected with control module 4 respectively；Described 5 one end of drive module is electrically connected with control module 4,
The other end is electrically connected with knee joint accessory 62.
The road conditions recognition methods specifically:
1) selection of angular velocity signal particular point
The collected signal of gyro module 3 is input to the control module 4, after the processing of control module 4, is obtained
The angular velocity signal of swing during shank histokinesis.The detection of gyro module 3 obtains the signal of a gait cycle
(referring to Fig. 3) determines that three particular points of angular velocity signal in a gait cycle are passed as heel sensor module 1 and tiptoe
Sensor module 2 differentiate road conditions foundation, three particular points are successively are as follows: the starting point of periodic signal 1., first waveform of periodic signal
To second waveform transition minimum point 2., the peak point of second wave crest of periodic signal 3..
2) six kinds of specific identification process of road conditions (referring to fig. 4) of
(1) when the signal that gyro module 3 detects particular point 1. when, judge whether tiptoe sensor module 2 detects
To foreign matter or block.If tiptoe sensor module 2 has detected foreign matter or blocked, may be barrier ,/upward slope/goes upstairs three
Kind road conditions (abbreviation mode 1), control module 4 regulate and control the control lower limb accessory of drive module 5 and raise leg；If tiptoe sensor module 2
It does not detect foreign matter or blocks, then may be level land ,/descending/goes downstairs (abbreviation mode 2) three kinds of road conditions.As a result, special
1. point can be divided into current road conditions 2 two major classes of mode 1 and mode.
(2) when gyro module 3 detects 2. signal reaches particular point, three kinds of road conditions of mode 1 are judged, if
Heel sensor module 2 detects that foot organizes rear there are foreign matter or blocks, then road conditions are barrier；If heel sensor die
Block 2 does not detect that foot organizes rear there are foreign matter or blocks, then to go upstairs/go up a slope two kinds of road conditions (abbreviation mode 3).Together
When, if heel sensor module 1 does not detect foreign matter or blocks, road conditions, which are flat, is judged to three kinds of road conditions of mode 2
Ground；If the detection of heel sensor module 1 has foreign matter or blocks, for/two kinds of road conditions of descending (abbreviation mode 4) of going downstairs.As a result,
Road conditions are further 2. divided into 4 four kinds of barrier, level land, mode 3 and mode road conditions in particular point.
(3) when 3. the signal that gyro module 3 measures reaches particular point, using tiptoe sensor module 2 to mode 3
Two kinds of road conditions distinguish, if tiptoe sensor module 2 detects foreign matter or blocks, road conditions are to go upstairs；If tiptoe senses
Device module 2 does not detect foreign matter or blocks that then road conditions are to go up a slope.Meanwhile using tiptoe sensor module 1 to the two of mode 4
Kind road conditions distinguish, if tiptoe sensor module 1 detects foreign matter or blocks, road conditions are to go downstairs；If tiptoe sensor
Module 1 does not detect foreign matter or blocks that then road conditions are descending.3. further road conditions can be divided into particular point as a result, flat
Ground/upward slope/descending/is gone upstairs/goes downstairs/six kinds of road conditions of barrier.
Thus just using the three particular points cooperation heel sensor module 1 and tiptoe sensor module 2 of gyro module 3
Have identified level land/upward slope/go up a slope/going upstairs/go downstairs/six kinds of road conditions of barrier.
Road conditions recognition methods of the present invention is on the basis of having common lower limb accessory, and in foot's tissue, (lower limb is residual
Lack person be lower limb accessory prosthetic foot 81, lower limb able-bodied be user's foot 82) heel installation foot with sensor module 1,
Foot organize tiptoe installation tiptoe sensor module 2, shank tissue (lower limb incompleteness is lower limb accessory shank 71, under
Limb limbs sound are wearer's shank 72) on gyro module 3 is installed, handle each sensor information, root using control module 4
According to the information that sensor extracts, through comprehensive analysis, effective identification to road conditions different in human body lower limbs motion process is realized.According to
Different road conditions are controlled lower limb accessory using drive module 5 and make corresponding movement, reach lower limb accessory really with its wearer
At acting in agreement, it is made easily to complete to go upstairs, climb the daily routines such as slope, leaping over obstacles.
The present invention does not address place and is suitable for the prior art.
Claims (1)
1. a kind of road conditions recognition methods is used for lower limb walking movement, it is characterised in that the identification accessory of the road conditions recognition methods is hard
Part structure is: heel sensor module, tiptoe sensor module, gyro module, control module, drive module, artificial limb knee close
Section, lower limb accessory shank and lower limb accessory prosthetic foot；
The road conditions recognition methods the following steps are included:
1) selection of angular velocity signal particular point
The collected signal of gyro module is input to the control module, after control module is handled, it is auxiliary to obtain lower limb
Has the angular velocity signal of swing in shank motion process；Gyro module detects to obtain the signal of a gait cycle, really
Three particular points of angular velocity signal differentiate as heel sensor module and tiptoe sensor module in a fixed gait cycle
The foundation of road conditions, three particular points are successively are as follows: first starting point of periodic signal, periodic signal waveform are to second waveform transition
Minimum point, periodic signal second wave crest peak point；
2) six kinds of specific identification process of road conditions of
(1) signal detected when gyro module judges whether tiptoe sensor module detects foreign matter or screening in starting point
Gear；If tiptoe sensor module has detected foreign matter or blocked, being barrier ,/upward slope/goes upstairs three kinds of road conditions, is denoted as mode
1, control module regulates and controls drive module and controls lower limb accessory calf-raise leg；If tiptoe sensor module do not detect foreign matter or
It blocks, being then level land ,/descending/goes downstairs three kinds of road conditions, is denoted as mode 2；
(2) when gyro module detects that signal reaches minimum point, three kinds of road conditions of mode 1 are judged: if heel
Sensor module detects lower limb accessory prosthetic foot rear there are foreign matter or blocks that then road conditions are barrier；If heel sensor die
Block does not detect lower limb accessory prosthetic foot rear there are foreign matter or blocks, then is two kinds of road conditions of going upstairs/go up a slope, is denoted as mode 3；
Meanwhile if heel sensor module does not detect foreign matter or blocks, road conditions, which are flat, is judged to three kinds of road conditions of mode 2
Ground；If the detection of heel sensor module has foreign matter or blocks, for/two kinds of road conditions of descending of going downstairs, it is denoted as mode 4；
(3) when the signal that gyro module measures reaches peak point, using tiptoe sensor module to two kinds of road conditions of mode 3
Distinguish: if tiptoe sensor module detects foreign matter or blocks, road conditions are to go upstairs；If tiptoe sensor module does not have
It detects foreign matter or blocks, then road conditions are to go up a slope；Meanwhile area is carried out using two kind road conditions of the tiptoe sensor module to mode 4
Point: if tiptoe sensor module detects foreign matter or blocks, road conditions are to go downstairs；If tiptoe sensor module does not detect
Foreign matter blocks, then road conditions are descending.
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