CN111251276A - Power assisting method and device based on gesture, server and storage medium - Google Patents
Power assisting method and device based on gesture, server and storage medium Download PDFInfo
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- CN111251276A CN111251276A CN202010065636.XA CN202010065636A CN111251276A CN 111251276 A CN111251276 A CN 111251276A CN 202010065636 A CN202010065636 A CN 202010065636A CN 111251276 A CN111251276 A CN 111251276A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
The embodiment of the invention discloses a power assisting method, a device, a server and a storage medium based on gestures, wherein the method comprises the following steps: acquiring attitude information of a user through a preset sensor; inputting the posture information into a preset motion mechanism model to obtain the motion posture of the user; generating a pulse signal according to the motion attitude and the attitude information and sending the pulse signal to the clutch; and controlling the working state of the clutch according to the pulse signal and controlling the speed output by the power assisting device through the clutch so as to adjust the body posture of the user. According to the invention, the speed of the output end of the power assisting device is controlled by generating the corresponding pulse signal through the attitude information, so that the technical problems that the speed of each output end cannot be independently changed, the flexibility is low, and the speed of the output end of the power assisting device cannot be intelligently changed according to the requirements of users in real time are solved, the speed of the output end of the device can be adjusted in real time according to the requirements of the users and the attitude information, and the technical effects of adjusting and assisting the attitude of the users are stronger in adaptability.
Description
Technical Field
The embodiment of the invention relates to a technology for speed change by using a clutch, in particular to a power assisting method and device based on a posture, a server and a storage medium.
Background
In order to avoid the problem that the old people or the children may get injured or over-tired muscles during exercise when they need to do some activities requiring a certain physical strength, such as buying vegetables, climbing mountains, etc., due to physical objective reasons, the old people and the children may wear a device for assisting the joints of the four limbs during exercise on the body, thereby reducing the possibility of muscle fatigue and excessive energy consumption.
At present, the device for assisting the human body generally adopts a single motor to control a single driving path, or realizes the assistance to the human body through the positive and negative rotation of the motor. The overall volume and mass of the power assisting device are large, and the speed of each output end cannot be independently changed through a single motor for multi-path output, namely the technical problems that the flexibility is low, and the speed of the output end of the power assisting device cannot be intelligently changed according to the requirements of users in real time exist.
Disclosure of Invention
The invention provides a power assisting method and device based on gestures, a server and a storage medium, which are high in flexibility and capable of intelligently changing the speed of an output end of a power assisting device according to the requirements of a user in real time.
In a first aspect, an embodiment of the present invention provides a method for assisting power based on a posture, including:
acquiring attitude information of a user through a preset sensor;
inputting the posture information into a preset motion mechanism model to obtain the motion posture of the user;
generating a pulse signal according to the motion attitude and the attitude information, and sending the pulse signal to the clutch;
and controlling the working state of the clutch according to the pulse signal, and controlling the speed output by the motor through the clutch so as to adjust the body posture of the user.
Optionally, acquiring the posture information of the user through a preset sensor includes:
acquiring attitude angle information and moving speed information of a user through a preset angle sensor;
acquiring gesture stress information of a user through a preset tension sensor;
and acquiring torque information of the output end of the motor through a preset torque sensor.
Optionally, the inputting the posture information into the preset motion mechanism model to obtain the motion posture of the user includes:
inputting the attitude information into a neural network of a preset motion mechanism model;
fitting calculation is carried out in the neural network according to the attitude information so as to obtain the attitude fitting degree of the user;
and confirming the motion posture of the user according to the posture fitting degree.
Optionally, generating a pulse signal according to the motion attitude and the attitude information, and sending the pulse signal to the clutch includes:
if the motion posture is static, no pulse signal is generated;
if the motion attitude is motion, generating a pulse width parameter according to the attitude information;
and generating a pulse signal according to the pulse width parameter and sending the pulse signal to the clutch.
Optionally, controlling the working state of the clutch according to the pulse signal, and controlling the speed of the motor output through the clutch to adjust the body posture of the user includes:
judging whether the working state of the clutch is on or not according to the pulse signal;
if the pulse signal is at a high level, the working state of the clutch is on, and the motor adjusts the body posture of the user through the speed output by the clutch.
In a second aspect, an embodiment of the present invention provides a posture-based power assist apparatus, including:
the information acquisition module is used for acquiring the attitude information of the user through a preset sensor;
the gesture confirming module is used for inputting gesture information into a preset motion mechanism model to obtain the motion gesture of the user;
the pulse generating module is used for generating a pulse signal according to the motion attitude and the attitude information and sending the pulse signal to the clutch;
and the variable speed adjusting module is used for controlling the working state of the clutch according to the pulse signal and controlling the speed output by the motor through the clutch so as to adjust the body posture of the user.
Optionally, the information obtaining module includes:
the information acquisition unit is used for acquiring the attitude angle information and the moving speed information of the user through a preset angle sensor; acquiring gesture stress information of a user through a preset tension sensor; and acquiring torque information of the output end of the motor through a preset torque sensor.
Optionally, the gesture confirmation module includes:
the gesture confirming unit is used for inputting gesture information into a neural network of a preset motion mechanism model; fitting calculation is carried out in the neural network according to the attitude information so as to obtain the attitude fitting degree of the user; and confirming the motion posture of the user according to the posture fitting degree.
Optionally, the pulse generating module includes:
the pulse generating unit is used for not generating a pulse signal if the motion posture is static; if the motion attitude is motion, generating a pulse width parameter according to the attitude information; and generating a pulse signal according to the pulse width parameter and sending the pulse signal to the clutch.
Optionally, the variable speed adjustment module comprises:
the judging unit is used for judging whether the working state of the clutch is on or not according to the pulse signal;
and the adjusting unit is used for enabling the working state of the clutch to be on if the pulse signal is at a high level, and enabling the motor to adjust the body posture of the user through the speed output by the clutch.
In a third aspect, an embodiment of the present invention further provides a server, including:
one or more processors;
a storage device for storing one or more programs,
when executed by one or more processors, cause the one or more processors to implement the gesture-based power assist method of any of the above embodiments.
In a fourth aspect, embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the gesture-based power assist method in any of the above embodiments.
According to the invention, the speed of the output end of the power assisting device is controlled by generating the corresponding pulse signal according to the posture information of the user, so that the technical problems that the speed of each output end cannot be independently changed, the flexibility is low, and the speed of the output end of the power assisting device cannot be intelligently changed according to the requirements of the user in real time are solved, the speed of the output end of the power assisting device can be adjusted in real time according to the requirements and the posture information of the user, and the technical effects of adjusting the posture of the user and assisting the user with stronger adaptability are achieved.
Drawings
FIG. 1 is a flow chart of a method for gesture-based power assist according to an embodiment of the present invention;
FIG. 2 is a flowchart of a second method for gesture-based power assist according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a posture-based power assist apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a server according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. A process may be terminated when its operations are completed, but may have additional steps not included in the figure. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.
Furthermore, the terms "first," "second," and the like may be used herein to describe various orientations, actions, steps, elements, or the like, but the orientations, actions, steps, or elements are not limited by these terms. These terms are only used to distinguish one direction, action, step or element from another direction, action, step or element. For example, a first information acquisition module may be referred to as a second information acquisition module, and similarly, a second information acquisition module may be referred to as a first information acquisition module, without departing from the scope of the present application. Both the first information acquisition module and the second information acquisition module are information acquisition modules, but they are not the same information acquisition module. The terms "first", "second", etc. are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Example one
Fig. 1 is a flowchart of a power assistance method based on gestures according to an embodiment of the present invention, which is applicable to a situation where a user performs exercise, and also applicable to any situation where the user needs to perform assistance or needs to perform single input (or a single motor) and multiple outputs (or multiple outputs or output devices), and the method can be executed by a controller or a control chip, and specifically includes the following steps:
step S110, acquiring gesture information of a user through a preset sensor;
specifically, in this embodiment, the preset sensors may include an angle sensor, a tension sensor and a torque sensor, and the angle sensor may be fixed to the limbs of the user through elastic bands, and is configured to measure the user posture angle information of the placement portion, and send the collected user posture angle information to the controller; the tension sensor can be arranged at a part of a user, such as the lower and upper legs, which wants to keep the posture by external force, one side of the tension sensor can be connected with the wire wheel through a rope, and the other side of the tension sensor can be connected with the part to be lifted through the rope, so that the tension sensor is used for measuring the rope tension needed by lifting the lifting part in real time; the torque sensor can be arranged at the output end of the motor spindle and used for measuring the torque of the output end of the motor, so that overload protection is carried out on the motor through the determination of the torque. The posture information may refer to posture angle information, posture stress information, and torque information of the user, which are acquired through an angle sensor, a tension sensor, and a torque sensor in the present embodiment.
Step S120, inputting the posture information into a preset motion mechanism model to obtain the motion posture of the user;
specifically, after the posture information of the user is acquired through the preset sensor, the preset sensor sends the posture information to the controller, and the controller inputs the posture information into the preset motion mechanism model to perform fitting calculation of the posture of the user, so that the motion posture of the user is obtained. In this embodiment, the preset motion mechanism model may be a preset neural network, and after training through a large amount of data, the finally obtained function for fitting and calculating the motion posture of the user may be: the rope speed, joint moment ═ f (attitude angle information of the user), and the joint moment can be converted into the tension of the rope by a simple force X moment arm. When the joint torque of the user is a positive value, namely the human body actively does work, the user enters an assistance stage to carry out lifting assistance at the moment, namely the user carries out lifting assistance on the part needing to be lifted by using the rope.
Step S130, generating a pulse signal according to the motion attitude and the attitude information, and sending the pulse signal to the clutch;
specifically, after the controller acquires the motion posture of the user, the controller may generate a pulse signal according to the motion posture and posture information of the user. The pulse signal is a discrete signal with various shapes, and compared with a common analog signal (such as a sine wave), the pulse signal has the characteristics that the waveforms are discontinuous on a time axis (the waveforms have obvious intervals), but have certain periodicity. The most common pulse signal is a rectangular wave (i.e., a square wave). The pulse signal may be used to represent information or may be used as a carrier wave, such as pulse code modulation, pulse width modulation, etc. in pulse modulation. In the present embodiment, when the motion posture of the user is stationary, the controller does not generate the pulse signal; when the motion gesture of the user is motion, the controller may generate a pulse width parameter for adjusting a duty ratio of the pulse signal according to the previously acquired gesture information of the user, and then generate a corresponding pulse signal according to the pulse width parameter.
And step S140, controlling the working state of the clutch according to the pulse signal, and controlling the speed output by the motor through the clutch to adjust the body posture of the user.
Specifically, in this embodiment, the clutch is connected to the motor and the controller, the motor is connected to the controller, the pulse signal received by the clutch and sent by the controller can be divided into two types, i.e., 0 and 1, when the pulse signal received by the clutch is 1, the operating state of the clutch is in the closed state, i.e., the on state, and when the pulse signal received by the clutch is 0, the operating state of the clutch is in the open state, i.e., the off state. In this embodiment, the pulse signal may be a sine wave or a square wave, and the waveform of the pulse signal is not further limited herein. When the controller sends a pulse signal to the clutch, if the pulse signal is 0, the clutch is in a disconnected state, and the clutch does not work; if the pulse signal is 1, the clutch is in a closed working state, and at the moment, the output end of the motor adjusts the speed of the output end according to the pulse signal received by the clutch (namely the rotating speed of the motor is unchanged, the motor is subjected to pulse width modulation through the clutch in a changing way, namely the speed of the output end is controlled by the received pulse signal, so that the output speed of the whole power assisting device is changed), so that a user can perform posture adjustment and posture power assisting corresponding to different speeds according to the motion posture and posture information of the user in real time, and the situations of muscle damage and excessive energy consumption are reduced.
The first embodiment of the invention has the advantages that the speed of the output end of the power assisting device is controlled by generating the corresponding pulse signal according to the posture information of the user, the technical problems that the speed of each output end cannot be independently changed, the flexibility is low, and the speed of the output end of the power assisting device cannot be intelligently changed according to the requirements of the user in real time are solved, the speed of the output end of the power assisting device can be adjusted in real time according to the requirements and the posture information of the user, and the technical effects of adjusting the posture of the user and assisting the user with stronger adaptability are achieved.
Example two
The second embodiment of the invention is further optimized on the basis of the first embodiment. Fig. 2 is a flowchart of a posture-based power assist method according to a second embodiment of the present invention, and as shown in fig. 2, the posture-based power assist method according to the present embodiment includes:
step S210, acquiring attitude angle information and moving speed information of a user through a preset angle sensor; acquiring gesture stress information of a user through a preset tension sensor; acquiring torque information of the output end of the motor through a preset torque sensor;
specifically, the angle sensor can be fixed at the limbs of the user through elastic bands and used for measuring the posture angle information of the user at the placement part and sending the collected posture angle information of the user to the controller; the tension sensor can be arranged at a part of a user, such as the lower and upper legs, which wants to keep the posture by external force, one side of the tension sensor can be connected with the wire wheel through a rope, and the other side of the tension sensor can be connected with the part to be lifted through the rope, so that the tension sensor is used for measuring the rope tension needed by lifting the lifting part in real time; the torque sensor can be arranged at the output end of the motor spindle and used for measuring the torque of the output end of the motor. The posture information may refer to posture angle information, posture stress information, and torque information of the user, which are acquired through an angle sensor, a tension sensor, and a torque sensor in the present embodiment.
S220, inputting the posture information into a neural network of a preset motion mechanism model; fitting calculation is carried out in the neural network according to the attitude information so as to obtain the attitude fitting degree of the user;
specifically, after the controller acquires the attitude information sent by each preset sensor, the controller inputs the attitude information into a neural network of a preset motion mechanism model to perform attitude fitting calculation, so that the motion attitude of the user is confirmed according to the calculated attitude fitting degree.
Step S230, confirming the motion posture of the user according to the posture fitting degree; if the motion posture is static, no pulse signal is generated; if the motion attitude is motion, generating a pulse width parameter according to the attitude information;
specifically, the controller inputs the attitude information into a neural network of a preset motion mechanism model to obtain the attitude fitting degree, and then confirms the motion attitude of the user according to the attitude fitting degree. In this embodiment, the controller sends the analog signal to the motor, and generates a corresponding pulse signal according to the motion posture and the posture information of the user, and sends the pulse signal to the clutch. When the user is in a stationary state (i.e., the exercise posture is stationary), the controller does not need to generate a pulse signal, and the stationary state herein may refer to a situation where no movement occurs in the limbs or the upper and lower bodies of the user, such as no squat up or down, no arm swing, no foot lift or movement, etc.; when the user starts to move (that is, the movement posture is movement), the controller may generate a pulse width parameter for pulse width modulation according to the posture information of the user sent by the preset sensor, where the movement may refer to a posture that the user is walking or running, or a posture that the user stretches his limbs, swings his arms, or squats up and down, and the like. In this embodiment, the pulse width parameter may be a duty ratio of the pulse signal. The duty ratio is a variable parameter for displaying the relationship between the output rotation speed of the motor connected to the clutch (i.e. the output of the booster) and the rotation speed of the motor (in this embodiment, the rotation speed of the motor is constant), for example, the duty ratio is 1, which means that the output rotation speed of the booster is the same as the rotation speed of the motor, and the duty ratio is 0.5, which means that the output rotation speed of the booster is half of the rotation speed of the motor. For example, the duty cycle is 0.5 in a very short period, that is, the clutch is in a closed state for half of the period of time, and the clutch is in an open state for the other half of the period of time, that is, the duty cycle may macroscopically represent the relationship between the output speed of the output end of the booster and the rotation speed of the motor.
Step S240, generating a pulse signal according to the pulse width parameter and sending the pulse signal to the clutch;
specifically, the controller may generate a pulse signal that has been subjected to pulse width modulation (i.e., a pulse width parameter, which may be a duty ratio in the present embodiment) according to the pulse width parameter obtained in step S230, and send the pulse signal to the clutch.
Step S250, judging whether the working state of the clutch is on or not according to the pulse signal; if the pulse signal is at a high level, the working state of the clutch is on, and the motor adjusts the body posture of the user through the speed output by the clutch.
Specifically, in this embodiment, the clutch is connected to the motor and the controller, the motor is connected to the controller, the pulse signal is divided into two types, i.e., a low level and a 1 level (i.e., a high level), after the clutch receives the pulse signal sent by the controller, if the pulse signal is 0, the clutch is in a disconnected state, and at this time, the clutch does not work; if the pulse signal is 1, the clutch is in a closed working state, at the moment, the motor adjusts the speed of the output end according to the pulse signal received by the clutch through the output end connected with the clutch, namely the rotating speed of the motor is unchanged, the motor is subjected to pulse width modulation through the clutch, namely the speed of the output end is controlled by the received pulse signal, so that the change of the output speed of the whole power assisting device is realized, and a user can perform posture adjustment and posture power assisting corresponding to different speeds according to the motion posture and posture information of the user in real time.
The second embodiment of the invention has the advantages that the corresponding pulse signal is generated according to the posture information of the user, and the working state of the clutch is judged according to the pulse signal, so that the speed of the output end of the power assisting device is effectively controlled, the technical problems that the speed of each output end cannot be independently changed, the flexibility is low, and the speed of the output end of the power assisting device cannot be intelligently changed according to the requirements of the user are solved, the speed of the output end of the power assisting device can be adjusted in real time according to the requirements of the user and the posture information, and the technical effects of adjusting the posture of the user and assisting the power of the user are stronger in adaptability.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a power assisting device based on posture according to a third embodiment of the present invention. As shown in fig. 3, the posture-based power assist device 300 of the present embodiment includes:
the information acquisition module 310 is configured to acquire gesture information of a user through a preset sensor;
the gesture confirmation module 320 is used for inputting gesture information into a preset motion mechanism model to obtain a motion gesture of the user;
the pulse generating module 330 is configured to generate a pulse signal according to the motion attitude and the attitude information, and send the pulse signal to the clutch;
and the variable speed adjusting module 340 is used for controlling the working state of the clutch according to the pulse signal and controlling the speed output by the motor through the clutch so as to adjust the body posture of the user.
In this embodiment, the information obtaining module 310 includes:
the information acquisition unit is used for acquiring the attitude angle information and the moving speed information of the user through a preset angle sensor; acquiring gesture stress information of a user through a preset tension sensor; and acquiring torque information of the output end of the motor through a preset torque sensor.
In this embodiment, the gesture confirmation module 320 includes:
the gesture confirming unit is used for inputting gesture information into a neural network of a preset motion mechanism model; fitting calculation is carried out in the neural network according to the attitude information so as to obtain the attitude fitting degree of the user; and confirming the motion posture of the user according to the posture fitting degree.
In this embodiment, the pulse generating module 330 includes:
the pulse generating unit is used for not generating a pulse signal if the motion posture is static; if the motion attitude is motion, generating a pulse width parameter according to the attitude information; and generating a pulse signal according to the pulse width parameter and sending the pulse signal to the clutch.
In the present embodiment, the shift adjusting module 340 includes:
the judging unit is used for judging whether the working state of the clutch is on or not according to the pulse signal;
and the adjusting unit is used for enabling the working state of the clutch to be on if the pulse signal is at a high level, and enabling the motor to adjust the body posture of the user through the speed output by the clutch.
The power assisting device based on the posture provided by the embodiment of the invention can execute the power assisting method based on the posture provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the executing method.
Example four
Fig. 4 is a schematic structural diagram of a server according to a fourth embodiment of the present invention, as shown in fig. 4, the server includes a processor 410, a memory 420, an input device 430, and an output device 440; the number of the processors 410 in the server may be one or more, and one processor 410 is taken as an example in fig. 4; the processor 410, the memory 420, the input device 430 and the output device 440 in the server may be connected by a bus or other means, and the bus connection is exemplified in fig. 4.
The memory 410, as a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the attitude based power assist device in embodiments of the present invention (e.g., an information acquisition module, an attitude determination module, a pulse generation module, and a shift adjustment module in the attitude based power assist device). The processor 410 executes various functional applications of the server and data processing by executing software programs, instructions, and modules stored in the memory 420, that is, implements the gesture-based power assist method described above, that is:
acquiring attitude information of a user through a preset sensor;
inputting the posture information into a preset motion mechanism model to obtain the motion posture of the user;
generating a pulse signal according to the motion attitude and the attitude information, and sending the pulse signal to the clutch;
and controlling the working state of the clutch according to the pulse signal, and controlling the speed output by the motor through the clutch so as to adjust the body posture of the user.
The memory 420 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 420 may further include memory located remotely from processor 410, which may be connected to a server over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 430 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the server. The output device 440 may include a display device such as a display screen.
EXAMPLE five
Embodiments of the present invention also provide a storage medium containing computer-executable instructions which, when executed by a computer processor, perform a method for gesture-based power assistance, the method comprising:
acquiring attitude information of a user through a preset sensor;
inputting the posture information into a preset motion mechanism model to obtain the motion posture of the user;
generating a pulse signal according to the motion attitude and the attitude information, and sending the pulse signal to the clutch;
and controlling the working state of the clutch according to the pulse signal, and controlling the speed output by the motor through the clutch so as to adjust the body posture of the user.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the above method operations, and may also perform related operations in the gesture-based power assistance method provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods of the embodiments of the present invention.
It should be noted that, in the embodiment of the power assist device based on the posture, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (12)
1. An attitude based power assist method, comprising:
acquiring attitude information of a user through a preset sensor;
inputting the posture information into a preset motion mechanism model to obtain the motion posture of the user;
generating a pulse signal according to the motion attitude and the attitude information, and sending the pulse signal to a clutch;
and controlling the working state of the clutch according to the pulse signal, and controlling the speed output by the motor through the clutch so as to adjust the body posture of the user.
2. The gesture-based power assistance method according to claim 1, wherein the obtaining of the gesture information of the user through the preset sensor comprises:
acquiring attitude angle information and moving speed information of a user through a preset angle sensor;
acquiring gesture stress information of a user through a preset tension sensor;
and acquiring the torque information of the output end of the motor through a preset torque sensor.
3. A gesture-based power assistance method according to claim 1 wherein said inputting the gesture information into a preset kinematics model to obtain the user's motion gesture comprises:
inputting the attitude information into a neural network of the preset motion mechanism model;
fitting calculation is carried out in the neural network according to the attitude information so as to obtain the attitude fitting degree of the user;
and confirming the motion posture of the user according to the posture fitting degree.
4. An attitude based power assist method as claimed in claim 1, wherein said generating a pulse signal from the motion attitude and the attitude information and sending it to the clutch comprises:
if the motion posture is static, no pulse signal is generated;
if the motion attitude is motion, generating a pulse width parameter according to the attitude information;
and generating a pulse signal according to the pulse width parameter and sending the pulse signal to the clutch.
5. An attitude based power assist device according to claim 1, wherein said controlling an operating state of a clutch according to the pulse signal and controlling a speed of the motor output through the clutch to adjust the body attitude of the user comprises:
judging whether the working state of the clutch is on or not according to the pulse signal;
if the pulse signal is at a high level, the working state of the clutch is on, and the motor adjusts the body posture of the user through the speed output by the clutch.
6. An attitude based power assist device, comprising:
the information acquisition module is used for acquiring the attitude information of the user through a preset sensor;
the gesture confirmation module is used for inputting the gesture information into a preset motion mechanism model to obtain the motion gesture of the user;
the pulse generating module is used for generating a pulse signal according to the motion attitude and the attitude information and sending the pulse signal to the clutch;
and the variable speed adjusting module is used for controlling the working state of the clutch according to the pulse signal and controlling the speed output by the motor through the clutch so as to adjust the body posture of the user.
7. The gesture-based power assist device of claim 6, wherein the information acquisition module comprises:
the information acquisition unit is used for acquiring the attitude angle information and the moving speed information of the user through a preset angle sensor; acquiring gesture stress information of a user through a preset tension sensor; and acquiring the torque information of the output end of the motor through a preset torque sensor.
8. The attitude based power assist device of claim 6, wherein the attitude determination module includes:
the gesture confirming unit is used for inputting the gesture information into a neural network of the preset motion mechanism model; fitting calculation is carried out in the neural network according to the attitude information so as to obtain the attitude fitting degree of the user; and confirming the motion posture of the user according to the posture fitting degree.
9. The gesture-based power assist device of claim 6, wherein the pulse generation module comprises:
a pulse generating unit for not generating a pulse signal if the motion attitude is stationary; if the motion attitude is motion, generating a pulse width parameter according to the attitude information; and generating a pulse signal according to the pulse width parameter and sending the pulse signal to the clutch.
10. An attitude based power assist device according to claim 6, wherein the shift adjustment module includes:
the judging unit is used for judging whether the working state of the clutch is on or not according to the pulse signal;
and the adjusting unit is used for adjusting the body posture of the user by the motor through the speed output by the clutch if the pulse signal is at a high level and the working state of the clutch is on.
11. A server, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the gesture-based power assistance method of any one of claims 1-5.
12. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the gesture-based power assistance method according to any one of claims 1-5.
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