CN111297529B - Sit-stand auxiliary training method, sit-stand auxiliary training equipment, control terminal and readable storage medium - Google Patents
Sit-stand auxiliary training method, sit-stand auxiliary training equipment, control terminal and readable storage medium Download PDFInfo
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- CN111297529B CN111297529B CN202010068272.0A CN202010068272A CN111297529B CN 111297529 B CN111297529 B CN 111297529B CN 202010068272 A CN202010068272 A CN 202010068272A CN 111297529 B CN111297529 B CN 111297529B
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Abstract
The invention discloses a sitting-standing assistant training method, equipment, a control terminal and a readable storage medium, wherein the method comprises the following steps: acquiring the current change state of the sitting-station auxiliary training equipment, and determining the change state of a wearer according to the current change state; and controlling the sitting-station auxiliary training equipment according to the changed state to provide the supporting force. Therefore, in the auxiliary training process, the current change state of the sitting auxiliary training equipment is obtained, and the change state is determined to provide corresponding auxiliary force, so that the auxiliary force provided by the sitting auxiliary training equipment is matched with the change state, and the purpose of effectively performing auxiliary training on a wearer is achieved.
Description
Technical Field
The invention relates to the technical field of physical therapy instruments, in particular to a sitting-standing auxiliary training method, equipment, a control terminal and a readable storage medium.
Background
For the auxiliary training of the sitting and standing stage of the stroke patient, the training from sitting to standing is carried out from the early stage of sitting and standing, and then the training from standing to sitting is carried out.
In the sitting-standing assistant training, since the wearer has weak exercise ability during the sitting-standing period and the wearer cannot support the burden of the body, the wearer may adopt an incorrect manner, for example, the wearer may lean to the healthy side to support the body, but the physical function is not recovered ideally.
Disclosure of Invention
The invention mainly aims to provide a sitting and standing auxiliary training method, equipment, a control terminal and a readable storage medium, and aims to solve the technical problem that the body function of a wearer cannot be recovered ideally in the sitting and standing auxiliary training process in the prior art.
In order to achieve the above object, the present invention provides a sitting and standing auxiliary training method applied to a sitting and standing auxiliary training apparatus for a wearer, wherein the sitting and standing auxiliary training apparatus includes a plurality of support portions, the method including:
acquiring the current change state of the sitting auxiliary training equipment, and determining the change state of the wearer according to the current change state;
controlling the sitting auxiliary training equipment to provide supporting force according to the change state.
Further, the change state comprises a standing state and a sitting state;
the step of obtaining the current change state of the sitting auxiliary training equipment and determining the change state of the wearer according to the current change state comprises the following steps:
acquiring the current included angle among the plurality of supporting parts;
determining that the wearer is in the upright state if the included angle increases over time;
determining that the wearer is in the sitting state if the included angle decreases over time.
Further, the standing state comprises a starting stage of standing, an intermediate stage of standing and a finishing stage of standing;
said step of determining that said wearer is in said upright position if said included angle increases over time, comprising:
if the included angle gradually increases from a preset minimum value to a first preset value along with the time, determining that the wearer is in the starting stage of the standing state;
if the included angle is increased from the first preset value to a second preset value along with the lapse of time, determining that the wearer is in the middle stage of the standing state;
and if the included angle is increased from the second preset value to a preset maximum value along with the time, determining that the wearer is in the finishing stage of the standing state.
Further, the sitting state comprises a starting stage of the sitting state, an intermediate stage of the sitting state and a finishing stage of the sitting state;
determining that the wearer is in the seated position if the included angle decreases over time, comprising:
if the included angle gradually decreases from a preset maximum value to a third preset value along with the time, determining that the wearer is in the beginning stage of the sitting state;
if the included angle is reduced from the third preset value to a fourth preset value along with the time, determining that the wearer is in the middle stage of the sitting state;
and if the included angle is reduced from the fourth preset value to a preset minimum value along with the time, determining that the wearer is in the finishing stage of the sitting state.
Further, the change state comprises a standing state and a sitting state, the standing state comprises a starting stage of the standing state, an intermediate stage of the standing state and a finishing stage of the standing state, and the sitting state comprises a starting stage of the sitting state, an intermediate stage of the sitting state and a finishing stage of the sitting state;
the step of controlling the sitting auxiliary training equipment to provide the supporting force according to the change state comprises the following steps:
controlling the sitting auxiliary training equipment to provide a first support force if the wearer is in an initial stage of the standing state, wherein the first support force is increasing with time;
if the wearer is in an intermediate stage of the standing state, controlling the sitting auxiliary training equipment to provide a second supporting force, wherein the second supporting force is increased on the basis of the first supporting force according to a first preset increasing function;
if the wearer is in the finished stage of the standing state, controlling the sitting auxiliary training equipment to provide a third supporting force, wherein the third supporting force is equal to a first fixed preset value;
if the wearer is in the beginning stage of the sitting state, controlling the sitting auxiliary training equipment to provide a fourth supporting force, wherein the fourth supporting force is the third supporting force;
if the wearer is in the middle stage of the sitting state, controlling the sitting auxiliary training equipment to provide a fifth supporting force, wherein the fifth supporting force is increased on the basis of the fourth supporting force according to a second preset increasing function;
controlling the sitting auxiliary training device to provide a sixth support force if the wearer is in the completion phase of the sitting state, wherein the sixth support force is attenuated on the basis of the fifth support force.
Further, the step of obtaining a current changing state of the sitting auxiliary training device and determining a changing state of the wearer according to the current changing state comprises:
when an instruction for starting training is obtained, whether the sitting-station auxiliary training equipment is assembled on the wearer is detected;
and if the sitting-station auxiliary training equipment is not assembled on the wearer, sending prompt information.
Further, the plurality of support portions are provided with detection pressure sensors;
the detecting whether the sitting-station auxiliary training equipment is assembled in the step comprises the following steps:
acquiring a detection pressure value fed back by the detection pressure sensor;
if the detected pressure values are all larger than or equal to a preset detected pressure threshold value, determining that the auxiliary training equipment of the wearer is assembled on the wearer;
if the detected pressure value is smaller than the preset detected pressure threshold value, it is determined that the auxiliary training equipment of the wearer is not assembled on the wearer.
The invention also provides a sitting-standing auxiliary training device, which comprises:
a plurality of support portions applied to a sitting and standing assistance training apparatus of a wearer;
a control terminal, the control terminal comprising: a memory, a processor and a sitting-standing auxiliary training program stored on the memory and executable on the processor, the sitting-standing auxiliary training program when executed by the processor implementing the steps of the sitting-standing auxiliary training method as described above.
The present invention also provides a control terminal, including: a memory, a processor and a sitting-standing auxiliary training program stored on the memory and executable on the processor, the sitting-standing auxiliary training program when executed by the processor implementing the steps of the sitting-standing auxiliary training method as described above.
The invention also provides a readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the sit-assist training method as described above.
According to the sitting-station auxiliary training method provided by the embodiment of the invention, the current change state of the sitting-station auxiliary training equipment is obtained, and the change state of a wearer is determined according to the current change state; and controlling the sitting auxiliary training equipment to provide the supporting force according to the change state. Therefore, in the auxiliary training process, the current change state of the sitting auxiliary training equipment is obtained, and the change state is determined to provide corresponding auxiliary force, so that the auxiliary force provided by the sitting auxiliary training equipment is matched with the change state, and the purpose of effectively performing auxiliary training on a wearer is achieved.
Drawings
Fig. 1 is a schematic structural diagram of a control terminal for hardware operation according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a first embodiment of the sit-up assistant training apparatus of the present invention;
fig. 3 is a schematic flow chart of a first embodiment of the sit-up assistant training method of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a control terminal of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the control terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the control terminal may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that adjusts brightness of the display screen according to brightness of ambient light, and a proximity sensor that turns off the display screen and/or backlight when the control terminal moves to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally, three axes), can detect the magnitude and direction of gravity when the vehicle is stationary, and can be used for applications of recognizing and controlling the attitude of a terminal (such as horizontal and vertical screen switching, related games, magnetometer attitude calibration), vibration recognition related functions (such as pedometer and tapping), and the like; of course, the control terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are not described herein again.
Those skilled in the art will appreciate that the control terminal configuration shown in fig. 1 is not intended to be limiting of the control terminal and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, memory 1005, which is one type of computer storage medium, may include an operating network communication module, a user interface module, and a sit-assist training program.
In the control terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to invoke a sitting-station training aid program stored in the memory 1005 and perform the following operations:
further, the current change state of the sitting auxiliary training equipment is obtained, and the change state of the wearer is determined according to the current change state;
controlling the sitting auxiliary training equipment to provide supporting force according to the change state.
Further, acquiring the current included angle among the plurality of support parts;
determining that the wearer is in the upright state if the included angle increases over time;
determining that the wearer is in the sitting state if the included angle decreases over time.
Further, if the included angle gradually increases from a preset minimum value to a first preset value along with the time, determining that the wearer is in the starting stage of the standing state;
if the included angle is increased from the first preset value to a second preset value along with the lapse of time, determining that the wearer is in the middle stage of the standing state;
and if the included angle is increased from the second preset value to a preset maximum value along with the time, determining that the wearer is in the finishing stage of the standing state.
Further, if the included angle gradually decreases from a preset maximum value to a third preset value with the lapse of time, determining that the wearer is in the beginning stage of the sitting state;
if the included angle is reduced from the third preset value to a fourth preset value along with the time, determining that the wearer is in the middle stage of the sitting state;
and if the included angle is reduced from the fourth preset value to a preset minimum value along with the time, determining that the wearer is in the finishing stage of the sitting state.
Further, if the wearer is in a starting phase of the standing up state, controlling the sitting auxiliary training equipment to provide a first support force, wherein the first support force is increasing with time;
if the wearer is in an intermediate stage of the standing state, controlling the sitting auxiliary training equipment to provide a second supporting force, wherein the second supporting force is increased on the basis of the first supporting force according to a first preset increasing function;
if the wearer is in the finished stage of the standing state, controlling the sitting auxiliary training equipment to provide a third supporting force, wherein the third supporting force is equal to a first fixed preset value;
if the wearer is in the beginning stage of the sitting state, controlling the sitting auxiliary training equipment to provide a fourth supporting force, wherein the fourth supporting force is the third supporting force;
if the wearer is in the middle stage of the sitting state, controlling the sitting auxiliary training equipment to provide a fifth supporting force, wherein the fifth supporting force is increased on the basis of the fourth supporting force according to a second preset increasing function;
controlling the sitting auxiliary training device to provide a sixth support force if the wearer is in the completion phase of the sitting state, wherein the sixth support force is attenuated on the basis of the fifth support force.
Further, the processor 1001 may invoke a sitting-station training aid program stored in the memory 1005, and also perform the following operations:
when an instruction for starting training is obtained, whether the sitting-station auxiliary training equipment is assembled on the wearer is detected;
and if the sitting-station auxiliary training equipment is not assembled on the wearer, sending prompt information.
Further, a detection pressure value fed back by the detection pressure sensor is obtained;
if the detected pressure values are all larger than or equal to a preset detected pressure threshold value, determining that the auxiliary training equipment of the wearer is assembled on the wearer;
if the detected pressure value is smaller than the preset detected pressure threshold value, it is determined that the auxiliary training equipment of the wearer is not assembled on the wearer.
The invention provides a sitting and standing auxiliary training device.
Referring to fig. 1 and 2, fig. 2 is a schematic structural view of a sitting-stand auxiliary training device provided in the present invention;
in this embodiment, the sitting-stand training aid apparatus comprises: the device comprises a plurality of supporting parts, wherein the supporting parts are applied to sitting and standing auxiliary training equipment of a wearer and are provided with detection pressure sensors for acquiring detection pressure values fed back by the detection pressure sensors, optionally, the device comprises a first supporting part 10, a second supporting part 20 and a control terminal, the first supporting part 10 is provided with a first detection pressure sensor 11, and the first supporting part 10 is used for clamping thighs on the affected side of the wearer; a second support 20 rotatably coupled to the first support 20, the second support 20 being provided with a second pressure sensor 21, the second support 20 being configured to hold a lower leg of the affected side of the wearer;
the control terminal includes: a memory 1005, a processor 1001 and a sitting and standing assistant training program stored on the memory 1005 and capable of running on the processor 1001, wherein the sitting and standing assistant training program realizes the steps of the sitting and standing assistant training method when being executed by the processor.
Further, the first detection pressure sensor 11 and the second detection pressure sensor 21 are each used to determine whether the sitting auxiliary training apparatus is fitted to the wearer.
Referring to fig. 3, the present invention provides various embodiments of the method of the present invention based on the above-mentioned hardware structure of the control terminal.
The invention provides a sitting and standing auxiliary training method, which is applied to a control terminal, and in a first embodiment of the sitting and standing auxiliary training method, referring to fig. 2, the method comprises the following steps:
step S10, acquiring the current change state of the sitting auxiliary training equipment, and determining the change state of the wearer according to the current change state;
the control terminal obtains the current change state of the sitting auxiliary training equipment and determines the change state of the wearer according to the current change state. Wherein, the sit-stand auxiliary training device comprises a plurality of supporting parts, optionally the device can comprise a first supporting part and a second supporting part, the first supporting part is rotatably connected with the second supporting part, the first supporting part is used for clamping the thigh of the affected side of the wearer, and the second supporting part is used for clamping the shank of the affected side of the wearer. The current change state may refer to a change in an included angle between the first support portion and the second support portion of the auxiliary exercise device, and the change state of the wearer may be determined according to the change in the included angle.
And step S20, controlling the sitting auxiliary training equipment to provide the supporting force according to the change state.
The control terminal controls the sitting auxiliary training equipment according to the change state to provide supporting force. The variable state includes the stand-up state and sits down the state, when sitting down the state training, need the person of wearing patient's both legs to close up and stand well, then the health slightly leans forward, if person's health does not lean forward, sit and stand the mode suggestion person of wearing that auxiliary training equipment can pass through pronunciation, in the in-process of sitting down, the holding power crescent, avoid leading to the patient to sit down fast because the holding power is not enough, sit and stand auxiliary training equipment detects automatically, obtain the person of wearing and sit well after, will stop to exert supplementary, wait that the person of wearing health leans forward and the posture that the foot was adducted just prepares to begin to stand, if person's posture is not right, then can not realize the supplementary of stand-up, the posture is prepared in place, sit and stand auxiliary training equipment can carry out voice prompt. The supporting force can be reduced gradually in the standing training process, and the wearer is prevented from being supported quickly to reach the standing state. In this way, if the wearer makes a posture error during the sitting and standing training process, the effect of regulating the action is achieved by prompting through voice.
In the embodiment of the invention, the current change state of the sitting-station auxiliary training equipment is obtained, and the change state of a wearer is determined according to the current change state; and controlling the sitting auxiliary training equipment to provide the supporting force according to the change state. Therefore, in the auxiliary training process, the current change state of the sitting auxiliary training equipment is obtained, and the change state is determined to provide corresponding auxiliary force, so that the auxiliary force provided by the sitting auxiliary training equipment is matched with the change state, and the purpose of effectively performing auxiliary training on a wearer is achieved.
Further, in the above-mentioned first embodiment step S10, the step of obtaining the current change state of the sitting auxiliary training device and determining the change state of the wearer according to the current change state includes:
step S11, acquiring included angles among a plurality of current supporting parts;
step S12, if the included angle increases with the lapse of time, determining that the wearer is in a standing state;
in step S13, if the angle decreases with time, it is determined that the wearer is in a seated position.
In this embodiment, the control terminal obtains the current included angles between the plurality of support portions, and if the included angles increase with the passage of time, it is determined that the wearer is in the standing state, and if the included angles decrease with the passage of time, it is determined that the wearer is in the sitting state. Wherein, the standing state means that the included angle between the plurality of supporting parts is from 90 degrees to 180 degrees, and the sitting state means that the included angle between the plurality of supporting parts is from 180 degrees to 90 degrees. In the present embodiment, the predicted movement may be detected by the inclination angle of the first support portion and/or the second support portion, or may be detected by information such as myoelectric signals, and the predicted movement may be realized by electroencephalogram information, so that the purpose of enhancing the protection of the wearer may be achieved.
In some embodiments, it may be determined that the wearer is in the standing state and the sitting state by the current angle between the first supporting portion and the second supporting portion and the inclination angle of the second supporting portion.
Optionally, step S12 may specifically include:
step S121, if the included angle gradually increases from a preset minimum value to a first preset value along with the time, determining that the wearer is in a starting stage of a standing state;
step S122, if the included angle is increased from the first preset value to the second preset value along with the time, determining that the wearer is in the middle stage of the standing state;
step S123, if the included angle increases from the second preset value to the preset maximum value with the time, it is determined that the wearer is in the standing state.
If the included angle is gradually increased from the preset minimum value to the first preset value along with the lapse of time, determining that the wearer is in the initial stage of the standing state, if the included angle is increased from the first preset value to the second preset value along with the lapse of time, determining that the wearer is in the intermediate stage of the standing state, and if the included angle is increased from the second preset value to the preset maximum value along with the lapse of time, determining that the wearer is in the completion stage of the standing state. Wherein, the standing state includes the initial stage of standing state, the intermediate stage of standing state and the completion stage of standing state, it indicates the contained angle between the first supporting part and the second supporting part that the person of wearing of preset when sitting down to predetermine the minimums, and predetermine the minimums and can be 90, first preset value indicates the preset value of the person of wearing from sitting to the initial stage of standing state, and first preset value can be 170, the second preset value indicates the preset value of the intermediate stage of the person of wearing of standing state, and the second preset value can be 175, it indicates the maximum of the completion stage of the person of wearing of standing state to predetermine the maximum, and predetermine the maximum and can 180.
Optionally, step S13 may specifically include:
step S131, if the included angle gradually decreases from the preset maximum value to a third preset value along with the time, determining that the wearer is in the beginning stage of the sitting state;
step S132, if the included angle is reduced from the third preset value to the fourth preset value along with the time, determining that the wearer is in the middle stage of the sitting state;
step S133, if the included angle decreases from the fourth preset value to the preset minimum value with the passage of time, it is determined that the wearer is in the complete stage of the sitting state.
If the included angle is gradually reduced from the preset maximum value to the second preset value along with the time, the beginning stage that the wearer is in the sitting state is determined, if the included angle is reduced from the second preset value to the first preset value along with the time, the middle stage that the wearer is in the sitting state is determined, and if the included angle is reduced from the first preset value to the preset minimum value along with the time, the finishing stage that the wearer is in the sitting state is determined. Wherein, the sitting state includes the beginning stage of sitting state, the intermediate stage of sitting state and the completion stage of sitting state, preset the maximum and be the contained angle that the person of wearing is in a plurality of supporting parts when standing, should preset the maximum and can be 180, the third default is the default that the person of wearing is in the intermediate stage of sitting state, and this third default can be 80, the fourth default is the default that the person of wearing is in the completion stage of sitting state, and should preset the fourth default and can be 85, it is the good state that the person of wearing is in to preset the minimum, and the contained angle between this first supporting part and the second supporting part can be 90.
Further, in the above-mentioned first embodiment step S20, the step of controlling the sitting auxiliary training equipment to provide the supporting force according to the changing state includes:
step S21, if the wearer is in the initial stage of the standing state, controlling the sitting auxiliary training equipment to provide a first supporting force, wherein the first supporting force is increased along with the time;
step S22, if the wearer is in the middle stage of the standing up state, controlling the sitting-stand auxiliary training device to provide a second supporting force, wherein the second supporting force is increased based on the first supporting force according to a first preset increasing function;
step S23, if the wearer is in the standing-up completion stage, controlling the sitting-stand auxiliary training device to provide a third supporting force, wherein the third supporting force is equal to the first fixed preset value;
step S24, if the wearer is in the beginning stage of the sitting state, controlling the sitting auxiliary training device to provide a fourth supporting force, wherein the fourth supporting force is a third supporting force;
step S25, if the wearer is in the middle stage of the sitting state, controlling the sitting auxiliary training device to provide a fifth supporting force, wherein the fifth supporting force is increased according to a second preset increasing function on the basis of the fourth supporting force;
in step S25, if the wearer is in the complete stage of the sitting state, the sitting auxiliary training device is controlled to provide a sixth supporting force, wherein the sixth supporting force is attenuated on the basis of the fifth supporting force.
In this embodiment, if the wearer is in the beginning stage of the standing up state, the sitting-stand auxiliary training device is controlled to provide a first supporting force, wherein the first supporting force is increased with time, i.e. the first supporting force can be expressed as m1＝mq*t，m1Is the first supporting force, mqIs the coefficient increases with time, t is time;
if the wearer is in an intermediate stage of the standing up state, the sitting-stand auxiliary training device is controlled to provide a second supporting force, wherein the second supporting force is increased on the basis of the first supporting force according to a first preset increasing function, i.e. the second supporting force can be expressed as m2＝m1+n1*sin(a*k1)*k2，m2Is the second holding force, m1Is a first supporting force, n1Is a preset limit value of increase of the supporting force, a is the angle of the wearer, k1、k2May be a coefficient. E.g. k1May be 0.45, k2May be 1.5.
If the wearer is in the completion stage of the standing state, the sitting-station auxiliary training equipment is controlled to provide third supporting force, wherein the third supporting force is equal to a first fixed preset value, the first fixed preset value can be preset according to the rehabilitation condition of the wearer, if the rehabilitation condition of the wearer is better recovered, the first fixed preset value can be set to be smaller, and if the rehabilitation condition of the wearer is worse, the first fixed preset value can be set to be larger.
If the wearer is in the beginning stage of the sitting state, the sitting-station auxiliary training device is controlled to provide a fourth supporting force, wherein the fourth supporting force may be equal to the third supporting force, it should be noted that the fourth supporting force may provide a supporting force according to the actual situation, that is, the fourth supporting force may not be equal to the third supporting force.
If the wearer is in the middle stage of the sitting state, the sitting auxiliary training equipment is controlled to provide the fifth supporting force, wherein the fifth supporting force is increased on the basis of the fourth supporting force according to a second preset increasing function, namely the fifth supporting force m5 is m4+n1*sin(a*k1)，m5Is the fifth supporting force, m4Is the fourth supporting force, n1A predetermined limit value of increase of the supporting force, a is the angle of the wearer, k1May be 0.45.
If the wearer is in the complete phase of the sitting position, controlling the sitting auxiliary training device to provide a sixth supporting force, wherein the sixth supporting force is attenuated on the basis of the fifth supporting force, i.e. m6＝m5-n2*t,m6Is the sixth holding force, m5Is a fifth supporting force, n2Is the decay factor over time, t being time.
Further, the step S10 of the first embodiment described above, before the step of obtaining the current use status of the sitting auxiliary training device and determining the posture of the wearer according to the current use status, includes:
step S101, when an instruction for starting training is obtained, whether the auxiliary training equipment for sitting and standing is assembled on a wearer is detected;
and step S102, if the sitting auxiliary training equipment is not assembled on the wearer, sending prompt information.
When the control terminal obtains the instruction for starting training, whether the sitting-station auxiliary training equipment is assembled on the wearer is detected, if the sitting-station auxiliary training equipment is not assembled on the wearer, prompt information is sent, and if the sitting-station auxiliary training equipment is assembled on the wearer, no operation is performed. Wherein the prompt message may be a voice prompt.
Optionally, step S101 may specifically include:
step A, acquiring a detection pressure value fed back by a detection pressure sensor;
step B, if the detected pressure values are all larger than or equal to a preset detected pressure threshold value, determining that the auxiliary training equipment of the wearer is assembled on the wearer;
and step C, if the detection pressure value is smaller than a preset detection pressure threshold value, determining that the auxiliary training equipment of the wearer is not assembled on the wearer.
In this embodiment, the detection pressure value fed back by the detection pressure sensor is obtained, if the detection pressure values are both greater than or equal to the preset detection pressure threshold value, it is determined that the auxiliary training device of the wearer is assembled to the wearer, and if the detection pressure value is smaller than the preset detection pressure threshold value, it is determined that the auxiliary training device of the wearer is not assembled to the wearer. Optionally, the device may include a first supporting portion and a second supporting portion, the first supporting portion is provided with a first detection pressure sensor, the second supporting portion is provided with a second detection pressure sensor, the control terminal obtains a first detection pressure value fed back by the first detection pressure sensor and a second detection pressure value fed back by the second detection pressure sensor, if the first detection pressure value and the second detection pressure value are both greater than a preset detection pressure threshold value, the sitting station auxiliary training device is assembled to the wearer, and if the first detection pressure value is smaller than the preset detection pressure threshold value, or the second detection pressure value is smaller than the preset detection pressure threshold value, it is determined that the sitting station auxiliary training device is not assembled to the wearer.
Furthermore, an embodiment of the present invention further provides a readable storage medium (i.e., a computer readable memory), on which a sitting-standing assistant training program is stored, where the sitting-standing assistant training program, when executed by a processor, implements the following operations:
acquiring the current change state of the sitting auxiliary training equipment, and determining the change state of the wearer according to the current change state;
controlling the sitting auxiliary training equipment to provide supporting force according to the change state.
Further, acquiring the current included angle among the plurality of support parts;
determining that the wearer is in the upright state if the included angle increases over time;
determining that the wearer is in the sitting state if the included angle decreases over time.
Further, if the included angle gradually increases from a preset minimum value to a first preset value along with the time, determining that the wearer is in the starting stage of the standing state;
if the included angle is increased from the first preset value to a second preset value along with the lapse of time, determining that the wearer is in the middle stage of the standing state;
and if the included angle is increased from the second preset value to a preset maximum value along with the time, determining that the wearer is in the finishing stage of the standing state.
Further, if the included angle gradually decreases from a preset maximum value to a third preset value with the lapse of time, determining that the wearer is in the beginning stage of the sitting state;
if the included angle is reduced from the third preset value to a fourth preset value along with the lapse of time, determining that the wearer is in the middle stage of the sitting state;
and if the included angle is reduced from the fourth preset value to a preset minimum value along with the time, determining that the wearer is in the finishing stage of the sitting state.
Further, if the wearer is in a starting phase of the standing up state, controlling the sitting auxiliary training equipment to provide a first support force, wherein the first support force is increasing with time;
if the wearer is in an intermediate stage of the standing state, controlling the sitting station auxiliary training equipment to provide a second supporting force, wherein the second supporting force is increased on the basis of the first supporting force according to a first preset increasing function;
if the wearer is in the finishing stage of the standing state, controlling the sitting station auxiliary training equipment to provide a third supporting force, wherein the third supporting force is equal to a first fixed preset value;
if the wearer is in the beginning stage of the sitting state, controlling the sitting auxiliary training equipment to provide a fourth supporting force, wherein the fourth supporting force is the third supporting force;
if the wearer is in the middle stage of the sitting state, controlling the sitting auxiliary training equipment to provide a fifth supporting force, wherein the fifth supporting force is increased on the basis of the fourth supporting force according to a second preset increasing function;
controlling the sitting auxiliary training device to provide a sixth support force if the wearer is in the completion phase of the sitting state, wherein the sixth support force is attenuated on the basis of the fifth support force.
Further, the sitting-station assistant training program when executed by the processor further realizes the following operations: when an instruction for starting training is obtained, whether the sitting-station auxiliary training equipment is assembled on the wearer is detected;
and if the sitting-station auxiliary training equipment is not assembled on the wearer, sending prompt information.
Further, a detection pressure value fed back by the detection pressure sensor is obtained;
if the detected pressure values are all larger than or equal to a preset detected pressure threshold value, determining that the auxiliary training equipment of the wearer is assembled on the wearer;
if the detected pressure value is smaller than the preset detected pressure threshold value, it is determined that the auxiliary training equipment of the wearer is not assembled on the wearer.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a control terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. A sit-stand training aid apparatus, the apparatus comprising:
a plurality of support portions applied to a sitting and standing assistance training apparatus of a wearer;
a control terminal, the control terminal comprising: a memory, a processor, and a sitting-standing auxiliary training program stored on the memory and executable on the processor, the sitting-standing auxiliary training program when executed by the processor implementing the steps of:
acquiring the current change state of the sitting auxiliary training equipment, and determining the change state of the wearer according to the current change state;
controlling the sitting auxiliary training equipment to provide supporting force according to the change state;
the change state comprises a standing state and a sitting state, the standing state comprises a starting stage of the standing state, an intermediate stage of the standing state and a finishing stage of the standing state, and the sitting state comprises a starting stage of the sitting state, an intermediate stage of the sitting state and a finishing stage of the sitting state;
the step of controlling the sitting auxiliary training equipment to provide the supporting force according to the change state comprises the following steps:
controlling the sitting auxiliary training equipment to provide a first support force if the wearer is in an initial stage of the standing state, wherein the first support force is increasing with time;
if the wearer is in an intermediate stage of the standing state, controlling the sitting auxiliary training equipment to provide a second supporting force, wherein the second supporting force is increased on the basis of the first supporting force according to a first preset increasing function;
if the wearer is in the finished stage of the standing state, controlling the sitting auxiliary training equipment to provide a third supporting force, wherein the third supporting force is equal to a first fixed preset value;
if the wearer is in the beginning stage of the sitting state, controlling the sitting auxiliary training equipment to provide a fourth supporting force, wherein the fourth supporting force is the third supporting force;
if the wearer is in the middle stage of the sitting state, controlling the sitting auxiliary training equipment to provide a fifth supporting force, wherein the fifth supporting force is increased on the basis of the fourth supporting force according to a second preset increasing function;
controlling the sitting auxiliary training device to provide a sixth support force if the wearer is in the completion phase of the sitting state, wherein the sixth support force is attenuated on the basis of the fifth support force;
wherein the step of obtaining a current change state of the sitting auxiliary training device and determining the change state of the wearer according to the current change state comprises:
acquiring the current included angle among the plurality of supporting parts;
determining that the wearer is in the upright state if the included angle increases over time;
determining that the wearer is in the sitting state if the included angle decreases over time;
said step of determining that said wearer is in said upright position if said included angle increases over time, comprising:
if the included angle gradually increases from a preset minimum value to a first preset value along with the time, determining that the wearer is in the starting stage of the standing state;
if the included angle is increased from the first preset value to a second preset value along with the lapse of time, determining that the wearer is in the middle stage of the standing state;
if the included angle is increased from the second preset value to a preset maximum value along with the lapse of time, determining that the wearer is in the finishing stage of the standing state;
determining that the wearer is in the seated position if the included angle decreases over time, comprising:
if the included angle gradually decreases from a preset maximum value to a third preset value along with the time, determining that the wearer is in the beginning stage of the sitting state;
if the included angle is reduced from the third preset value to a fourth preset value along with the time, determining that the wearer is in the middle stage of the sitting state;
and if the included angle is reduced from the fourth preset value to a preset minimum value along with the time, determining that the wearer is in the finishing stage of the sitting state.
2. A sitting position assistance training device as claimed in claim 1 wherein the step of obtaining a current changing state of the sitting position assistance training device and determining the changing state of the wearer from the current changing state is preceded by:
when an instruction for starting training is obtained, whether the sitting-station auxiliary training equipment is assembled on the wearer is detected;
and if the sitting-station auxiliary training equipment is not assembled on the wearer, sending prompt information.
3. The sit-up auxiliary training apparatus according to claim 2, wherein the plurality of support portions are provided with a detection pressure sensor;
the step of detecting whether the sitting position assistance training device is fitted to the wearer comprises:
acquiring a detection pressure value fed back by the detection pressure sensor;
if the detected pressure values are all larger than or equal to a preset detected pressure threshold value, determining that the auxiliary training equipment of the wearer is assembled on the wearer;
if the detected pressure value is smaller than the preset detected pressure threshold value, it is determined that the auxiliary training equipment of the wearer is not assembled on the wearer.
4. A control terminal, characterized in that the control terminal comprises: a memory, a processor, and a sitting-standing auxiliary training program stored on the memory and executable on the processor, the sitting-standing auxiliary training program when executed by the processor implementing the steps of:
acquiring the current change state of the sitting auxiliary training equipment, and determining the change state of a wearer according to the current change state;
controlling the sitting auxiliary training equipment to provide supporting force according to the change state;
the change state comprises a standing state and a sitting state, the standing state comprises a starting stage of the standing state, an intermediate stage of the standing state and a finishing stage of the standing state, and the sitting state comprises a starting stage of the sitting state, an intermediate stage of the sitting state and a finishing stage of the sitting state;
the step of controlling the sitting auxiliary training equipment to provide the supporting force according to the change state comprises the following steps:
controlling the sitting auxiliary training equipment to provide a first support force if the wearer is in an initial stage of the standing state, wherein the first support force is increasing with time;
if the wearer is in an intermediate stage of the standing state, controlling the sitting auxiliary training equipment to provide a second supporting force, wherein the second supporting force is increased on the basis of the first supporting force according to a first preset increasing function;
if the wearer is in the finished stage of the standing state, controlling the sitting auxiliary training equipment to provide a third supporting force, wherein the third supporting force is equal to a first fixed preset value;
if the wearer is in the beginning stage of the sitting state, controlling the sitting auxiliary training equipment to provide a fourth supporting force, wherein the fourth supporting force is the third supporting force;
if the wearer is in the middle stage of the sitting state, controlling the sitting auxiliary training equipment to provide a fifth supporting force, wherein the fifth supporting force is increased on the basis of the fourth supporting force according to a second preset increasing function;
controlling the sitting auxiliary training device to provide a sixth support force if the wearer is in the completion phase of the sitting state, wherein the sixth support force is attenuated on the basis of the fifth support force;
wherein the step of obtaining a current change state of the sitting auxiliary training device and determining the change state of the wearer according to the current change state comprises:
acquiring the included angles among the plurality of current supporting parts;
determining that the wearer is in the upright state if the included angle increases over time;
determining that the wearer is in the sitting state if the included angle decreases over time;
said step of determining that said wearer is in said upright position if said included angle increases over time, comprising:
if the included angle gradually increases from a preset minimum value to a first preset value along with the time, determining that the wearer is in the starting stage of the standing state;
if the included angle is increased from the first preset value to a second preset value along with the lapse of time, determining that the wearer is in the middle stage of the standing state;
if the included angle is increased from the second preset value to a preset maximum value along with the lapse of time, determining that the wearer is in the finishing stage of the standing state;
determining that the wearer is in the seated position if the included angle decreases over time, comprising:
if the included angle gradually decreases from a preset maximum value to a third preset value along with the time, determining that the wearer is in the beginning stage of the sitting state;
if the included angle is reduced from the third preset value to a fourth preset value along with the time, determining that the wearer is in the middle stage of the sitting state;
and if the included angle is reduced from the fourth preset value to a preset minimum value along with the time, determining that the wearer is in the finishing stage of the sitting state.
5. The control terminal of claim 4, wherein said step of obtaining a current changing state of said sitting auxiliary training device and determining a changing state of said wearer from said current changing state is preceded by the steps of:
when an instruction for starting training is obtained, whether the sitting-station auxiliary training equipment is assembled on the wearer is detected;
and if the sitting-station auxiliary training equipment is not assembled on the wearer, sending prompt information.
6. The control terminal according to claim 5, wherein the plurality of support portions are provided with detection pressure sensors;
the step of detecting whether the sitting position assistance training device is fitted to the wearer comprises:
acquiring a detection pressure value fed back by the detection pressure sensor;
if the detected pressure values are all larger than or equal to a preset detected pressure threshold value, determining that the auxiliary training equipment of the wearer is assembled on the wearer;
if the detected pressure value is smaller than the preset detected pressure threshold value, it is determined that the auxiliary training equipment of the wearer is not assembled on the wearer.
7. A readable storage medium, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring the current change state of the sitting auxiliary training equipment, and determining the change state of a wearer according to the current change state;
controlling the sitting auxiliary training equipment to provide supporting force according to the change state;
the change state comprises a standing state and a sitting state, the standing state comprises a starting stage of the standing state, an intermediate stage of the standing state and a finishing stage of the standing state, and the sitting state comprises a starting stage of the sitting state, an intermediate stage of the sitting state and a finishing stage of the sitting state;
the step of controlling the sitting auxiliary training equipment to provide the supporting force according to the change state comprises the following steps:
controlling the sitting auxiliary training equipment to provide a first support force if the wearer is in an initial stage of the standing state, wherein the first support force is increasing with time;
if the wearer is in an intermediate stage of the standing state, controlling the sitting auxiliary training equipment to provide a second supporting force, wherein the second supporting force is increased on the basis of the first supporting force according to a first preset increasing function;
if the wearer is in the finished stage of the standing state, controlling the sitting auxiliary training equipment to provide a third supporting force, wherein the third supporting force is equal to a first fixed preset value;
if the wearer is in the beginning stage of the sitting state, controlling the sitting auxiliary training equipment to provide a fourth supporting force, wherein the fourth supporting force is the third supporting force;
if the wearer is in the middle stage of the sitting state, controlling the sitting auxiliary training equipment to provide a fifth supporting force, wherein the fifth supporting force is increased on the basis of the fourth supporting force according to a second preset increasing function;
controlling the sitting auxiliary training device to provide a sixth support force if the wearer is in the completion phase of the sitting state, wherein the sixth support force is attenuated on the basis of the fifth support force;
wherein, the step of obtaining the current change state of the sitting station auxiliary training equipment and determining the change state of the wearer according to the current change state comprises the following steps:
acquiring the included angles among the plurality of current supporting parts;
determining that the wearer is in the upright state if the included angle increases over time;
determining that the wearer is in the sitting state if the included angle decreases over time;
said step of determining that said wearer is in said upright position if said included angle increases over time, comprising:
if the included angle gradually increases from a preset minimum value to a first preset value along with the time, determining that the wearer is in the starting stage of the standing state;
if the included angle is increased from the first preset value to a second preset value along with the lapse of time, determining that the wearer is in the middle stage of the standing state;
if the included angle is increased from the second preset value to a preset maximum value along with the lapse of time, determining that the wearer is in the finishing stage of the standing state;
determining that the wearer is in the seated position if the included angle decreases over time, comprising:
if the included angle gradually decreases from a preset maximum value to a third preset value along with the time, determining that the wearer is in the beginning stage of the sitting state;
if the included angle is reduced from the third preset value to a fourth preset value along with the time, determining that the wearer is in the middle stage of the sitting state;
and if the included angle is reduced from the fourth preset value to a preset minimum value along with the time, determining that the wearer is in the finishing stage of the sitting state.
8. The readable storage medium of claim 7, wherein the step of obtaining a current changing state of the sitting assistance training device and determining the changing state of the wearer from the current changing state is preceded by:
when an instruction for starting training is obtained, whether the sitting-station auxiliary training equipment is assembled on the wearer is detected;
and if the sitting-station auxiliary training equipment is not assembled on the wearer, sending prompt information.
9. The readable storage medium of claim 8, wherein the plurality of support portions are provided with a detection pressure sensor;
the step of detecting whether the sitting position assistance training device is fitted to the wearer comprises:
acquiring a detection pressure value fed back by the detection pressure sensor;
if the detected pressure values are all larger than or equal to a preset detected pressure threshold value, determining that the auxiliary training equipment of the wearer is assembled on the wearer;
if the detected pressure value is smaller than the preset detected pressure threshold value, it is determined that the auxiliary training equipment of the wearer is not assembled on the wearer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010068272.0A CN111297529B (en) | 2020-01-20 | 2020-01-20 | Sit-stand auxiliary training method, sit-stand auxiliary training equipment, control terminal and readable storage medium |
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| CN202010068272.0A CN111297529B (en) | 2020-01-20 | 2020-01-20 | Sit-stand auxiliary training method, sit-stand auxiliary training equipment, control terminal and readable storage medium |
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