CN107865753B

CN107865753B - Rehabilitation robot

Info

Publication number: CN107865753B
Application number: CN201711237069.6A
Authority: CN
Inventors: 欧勇军; 刘军; 贺浩; 颜丰华; 李文山; 丛明磊
Original assignee: Hunan Miaoshou Robot Co ltd
Current assignee: Suzhou Weikai Medical Technology Co.,Ltd.
Priority date: 2017-11-30
Filing date: 2017-11-30
Publication date: 2023-05-09
Anticipated expiration: 2037-11-30
Also published as: CN107865753A

Abstract

The invention discloses a rehabilitation robot, which comprises a lower limb robot and marks arranged at the positions of hip joints of lower limbs of a person, wherein the lower limb robot comprises a hip bone part, a pair of femoral parts positioned below the hip bone part, a hip joint assembly positioned between each femoral part and the hip bone part, and a camera, wherein the camera is arranged on the hip joint assembly and is used for shooting marked images of the marks, the positions of the marked images change along with the movement of the lower limbs of the person, and the camera outputs control signals according to the position changes of the marked images; the movement of the hip joint assembly to the marked position is controlled by a control means in real time in response to a control signal from the camera. The invention solves the problem that the bones of the lower limbs of the human body are easily damaged due to the delay between the robot bones and the motions of the human body in the traditional robot, and realizes the synchronous movement of the lower limb robot along with the motions of the lower limbs of the human body.

Description

Rehabilitation robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a rehabilitation robot.

Background

The hip joint on the human body is where the femur and the pelvis are connected, and all thigh movements are movements around the hip joint. The motion of the exoskeleton lower limb rehabilitation robot for rehabilitation nursing treatment is also simulated human leg motion, a hip joint driving motor simulates hip joints, and leg driving machinery moves around a motor shaft, but the existing exoskeleton lower limb rehabilitation robot does not have a synchronous adjustment scheme for the motor shaft and the joint shaft, the existing rehabilitation robot is usually manually adjusted and cannot realize real-time adjustment in motion, once the robot and the human lower limb exoskeleton are misplaced, a moment is generated on human bones, and medical accidents are seriously caused.

Patent document of application number 201310290027.4 discloses a gait rehabilitation training robot, including rehabilitation instrument platform and the wearable low limbs ectoskeleton of setting on rehabilitation instrument platform, wearable low limbs ectoskeleton includes waist ectoskeleton, left low limbs ectoskeleton and right low limbs ectoskeleton are connected respectively on waist ectoskeleton, and left low limbs ectoskeleton and right low limbs ectoskeleton symmetry set up, and bind in patient's left and right thigh and shank respectively to drive patient's left and right thigh and shank motion, accomplish the walking action, carry out gait rehabilitation training. The rehabilitation robot only adopts the traditional wearable lower limb exoskeleton, when the lower limb skeleton is bound on the lower limb of a patient, if the binding belt loosens during the walking action of the lower limb, the lower limb skeleton and the lower limb action of the patient are easy to delay or misplacement occurs, so that acting force is generated on the lower limb skeleton of the patient, and the bone recovery of the patient is damaged.

Disclosure of Invention

The invention mainly aims to provide a rehabilitation robot, which aims to solve the problem that the existing rehabilitation robot delays actions of bones of lower limbs of patients and damages bones of people.

In order to achieve the above purpose, the invention provides a rehabilitation robot which comprises a lower limb robot and a mark arranged at the hip joint position of the lower limb of a person,

the lower limb robot includes:

a hip component, a pair of femoral components positioned below the hip component, a hip joint assembly positioned between each femoral component and the hip component, the joint of the femoral components and the hip joint assembly being driven by a hip joint drive motor;

the camera is arranged at the joint of the femoral component and the hip joint component and is coaxial with a motor shaft of the hip joint driving motor, the camera is used for shooting a marked image of the mark and moves along with the lower limb of a person, the position of the marked image changes, and the camera outputs a control signal according to the position change of the marked image;

and the control component is used for responding to the control signal from the camera in real time to control the motor to move towards the position of the mark.

Preferably, the indicia is provided with a plurality of squares, each square being arranged in a checkered manner:

blocks of the same row: the vertical coordinates of the upper left corner of each square are the same, the widths of the squares are equal, and the heights of the squares are sequentially increased from left to right by a first size;

blocks of the same column: the upper left-hand corner of each square has the same abscissa, the height of each square is equal, and the width of each square increases from top to bottom in turn by the first dimension.

blocks of the same row: the vertical coordinates of the left upper corners of the squares are the same, the heights are the same, the squares on the left and right sides are symmetrically arranged by taking the centremost square as the center, and the widths of the squares are gradually decreased by a second size from the center to the left and right sides;

blocks of the same column: the left upper corner of each square is identical in abscissa and width, the squares on the upper and lower sides are symmetrically arranged by taking the most central square as the center, and the heights of the squares are sequentially decreased by a second size from the center to the upper and lower sides;

the mark is used for enabling the square with the largest center to correspond to the hip joint position of the lower limb of the person after the hip joint position is determined artificially.

Preferably, the square in the mark is black, and the other parts except the square in the mark are white.

Preferably, the square in the mark is of a first color, and the other parts except the square in the mark are of a second color; the camera is a black-and-white camera.

Preferably, the hip component is provided with: the hip joint comprises a side-expanding motor, a driving wheel arranged on an output shaft of the side-expanding motor, a left screw rod and a right screw rod which horizontally extend along the left-right direction, a driven wheel fixed on the left screw rod and the right screw rod, a left guide rod and a right guide rod which are parallel to the left screw rod and the right screw rod, wherein the driven wheel is meshed with the driving wheel, and the hip joint assembly is arranged on the left screw rod and the right screw rod.

Preferably, the hip joint assembly comprises a first member, a second member and a third member, the first member being connected to the posterior side of the hip component and being horizontally movable side-to-side relative to the hip component; the second component is connected to the rear side of the first component and can move up and down relative to the first component; the third component is connected to the bottom of the second component and can horizontally move back and forth relative to the second component; the camera and femoral component are coupled to the third component base.

Preferably, the first member front side is provided with: a left-right moving slide block matched with the left-right screw rod and a left-right moving slide sleeve matched with the left-right guide rod; the first member rear side is provided with: the bending and stretching motor, an upper lead screw and a lower lead screw which are arranged on an output shaft of the bending and stretching motor and extend vertically, and an upper guide rod and a lower guide rod which are parallel to the upper lead screw and the lower lead screw;

the second member rear side is provided with: an upper sliding block and a lower sliding block which are matched with the upper and lower screw rods, and an upper sliding sleeve and a lower sliding sleeve which are matched with the upper and lower guide rods; the second member bottom side is provided with: the front and rear motors, front and rear screw rods which are arranged on output shafts of the front and rear motors and horizontally extend along the front and rear directions, and front and rear guide rods which are parallel to the front and rear screw rods;

the top end of the third component is provided with: the front and rear sliding blocks are matched with the front and rear screw rods, and the front and rear sliding sleeves are matched with the front and rear guide rods.

Preferably, the indicia are provided on a pair of briefs worn on the lower limb of the person.

The invention also provides a control method of the rehabilitation robot, which comprises the following steps:

s1, setting a mark at the hip joint position of the lower limb of a person, wherein a plurality of black squares are arranged in the mark; binding a lower limb robot on the upper limb of a person, wherein a camera is arranged on the lower limb robot and is coaxial with a motor shaft of a hip joint driving motor;

s2, presetting the mark to be in a three-dimensional coordinate system, defining an X-axis direction from back to front, a Y-axis direction from bottom to top, and a Z-axis direction from left to right, wherein the camera shoots the mark, and when the mark is at a first mark position at A time, the camera is at a first position and shoots a first image;

s3, the CPU in the camera performs the following image calculation processing on the first image:

s31, firstly counting the upper left corner pixel of each black square in the first image, and then obtaining the pixel distance L between two squares in the X-axis direction at the moment A according to the position coordinates of the upper left corner pixel ₁ ；

S32, according to the known actual distance L between two squares ₀ Calculating the imaging pixel distance L of the square in the first image ₁ Distance from actual L ₀ A ratio K of (2);

s33, calculating the pixel length M of the center square of the center point in the current first image _A And pixel height N _A ；

S34 due to M _A :M _AS ＝N _A ：N _AS ＝L ₁ ：L ₀ =k, according to the ratio value K in step S32 ₁ Calculating the actual length M corresponding to the current first image center square _AS And an actual height N _AS ；

S35, since the arrangement order of the size of each square in the mark is known, according to the actual length M _AS And an actual height N _AS Finding the corresponding arrangement position to calculate the actual coordinates (X) _A ，Y _A )；

S4, along with the movement of the lower limb robot, the camera moves to a second position, the mark moves to a second mark position, the position of the hip joint of the lower limb of the person deviates from the position of the motor of the hip joint of the lower limb robot, and at the moment B, the camera shoots a second image for the mark;

s5, the CPU in the camera performs the following calculation processing on the second image:

s51, calculating the pixel length M of the center square at the center point in the second image _B And pixel height N _B ；

S52 due to M _B ：M _BS ＝N _B :N _BS =k, and calculating the actual length M of the center block based on K obtained in step S32 _BS And an actual height N _BS ；

S53, since the arrangement order of the sizes of each square in the mark is known, that isCalculating the actual coordinates (X) _B ，Y _B )；

S6, for the actual coordinates (X _A ，Y _A ) And the actual coordinates of the center square at time B (X _B ，Y _B ) According to X _AB ＝X _B -X _A Y is as follows _AB ＝Y _B -Y _A Calculating the offset X of the central square block on the X axis _AB And an offset Y on the Y-axis _AB The camera sends a control signal to a control part of the lower limb robot, and the control part indicates a second component of the hip joint assembly to move by a corresponding offset Y on a Y axis _AB And/or indicating movement of the third member on the Y-axis by a corresponding offset X _AB So that the motor shaft of the hip joint motor is moved again to correspond to the hip joint position of the lower limb of the person.

Compared with the prior art, the technical scheme of the invention has the beneficial effects that:

1. the invention sets the mark at the position of the hip joint of the lower limb of the human, sets the camera at the position of the lower limb robot corresponding to the position of the hip joint of the lower limb of the human, the camera is coaxial with the motor shaft of the hip joint motor, the camera acquires the marked image in real time, the position deviation between the mark and the camera is judged by calculating and analyzing the pattern in the image, thus obtaining the position deviation between the lower limb of the human and the hip joint motor of the robot, and then controlling the action of the lower limb robot, so that the position of the hip joint motor of the lower limb robot corresponds to the mark of the lower limb of the human again.

2. The pattern of the mark is designed in a black-white chess grid shape in the visual recognition technology, so that the pattern is regular and easy to recognize, and the camera can automatically judge the hip joint position according to the mark more easily.

3. The three-axis linkage structure adopted by the lower limb robot has small volume and reasonable weight, and all the components are together, so that the volume of necessary parts of the lower limb robot is reduced, and the use comfort of a patient is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a first block diagram of a lower limb robot in a rehabilitation robot according to an embodiment of the present invention;

fig. 2 is a second structural diagram of the lower limb robot in the rehabilitation robot proposed in fig. 1;

fig. 3 is a third block diagram of the lower limb robot in the rehabilitation robot proposed in fig. 1;

FIG. 4 is a first photograph marked in the rehabilitation robot set forth in FIG. 1;

FIG. 5 is a second view of the mark in the rehabilitation robot shown in FIG. 1;

FIG. 6 is a schematic diagram showing the variation in the activity of a marked block in the rehabilitation robot presented in FIG. 1;

FIG. 7 is a diagram of a coordinate system used for analyzing the position of the square in the mark in the rehabilitation robot shown in FIG. 1;

fig. 8 is a schematic diagram of a camera of the rehabilitation robot proposed in fig. 1 performing a square size change multiple on a photographed image.

The reference numerals of the invention illustrate:

reference numerals	Name of the name	Reference numerals	Name of the name
				1	Hip bone component	31	Sliding sleeve capable of moving up and down
11	Side-expanding motor	32	Slider capable of moving up and down
				12	Left and right screw rod	33	Front and rear motor
13	Left and right guide rod	34	Front and rear screw rod
				14	Driven wheel	35	Front and rear guide rod
2	First component	4	Third component
				21	Sliding sleeve capable of moving left and right	41	Sliding sleeve capable of moving forwards and backwards
22	Sliding block capable of moving left and right	42	Sliding block capable of moving forwards and backwards
				23	Bending and stretching motor	5	Fourth component
24	Upper and lower screw rod	6	Camera head
				25	Upper and lower guide rod	7	Control part
3	Second component	8	Vertical support
				9	Hip joint driving motor

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.

The invention provides a rehabilitation robot.

Referring to fig. 1 to 8, the rehabilitation robot includes a pair of mark shorts and a lower limb robot.

Lower limb robot part:

the lower extremity robot comprises a hip part 1, a symmetrically arranged femoral part 5, a hip joint assembly connecting the hip part 1 and the femoral part 5. The hip joint assembly comprises a first component 2, a second component 3, a third component 4 (the femoral component on the right in the figure is not shown).

As shown in fig. 1 and 2, the hip part 1 is horizontally disposed, a lateral expansion motor 11 is disposed on the front side of the hip part 1, an output shaft of the lateral expansion motor 11 extends out of the rear side of the hip part 1 and is provided with a driving wheel (not shown in the drawings), a left lead screw 12 and a right lead screw 13 are also mounted on the rear side of the hip part 1, the left lead screw 12 and the right lead screw 12 are horizontally disposed along the left and right direction, and the left and right lead screws 13 comprise two left and right lead screws respectively located on the upper side and the lower side of the left and right lead screws; driven wheels 14 are fixed on the left and right screw rods 12, the driven wheels 14 are meshed with the driving wheels, and the driving wheels and the driven wheels 14 are bevel gears.

The first member 2 is flat, and has a left-right moving slide 21 and a left-right moving slide 22 provided on the front side thereof, the left-right guide bar 13 is mounted on the left-right moving slide 21, and the left-right screw 12 is engaged with the left-right moving slide 22. Thus, when the lateral stretching motor 11 is driven, the lateral stretching motor 11 drives the first component 2 to move left and right along the left and right guide rods 13 sequentially through the driving wheel, the driven wheel 14, the left and right screw rods 12 and the left and right moving slide blocks 22.

As shown in fig. 1, the back of the first member 2 is provided with a bending motor 23, an output shaft of the bending motor 23 is connected with an upper and lower screw rod 24, left and right sides of the upper and lower screw rod 24 are provided with an upper and lower guide rod 25, and the upper and lower screw rod 24 and the upper and lower guide rod 25 are arranged along a vertical direction. The front end of the second member 3 is provided with an up-and-down moving sliding sleeve 31 and an up-and-down moving sliding block 32, the up-and-down screw rod 24 is matched with the up-and-down moving sliding block 32, and the up-and-down guide rod 25 is matched with the up-and-down moving sliding sleeve 31. Thus, when the bending and stretching motor 23 is started, the bending and stretching motor 23 drives the second component 3 to move up and down along the direction of the upper guide rod 25 through the upper and lower screw rods 24.

As shown in fig. 3, a front-rear motor 33 is disposed at the bottom of the second member 3, a front-rear screw rod 34 is connected to an output shaft of the front-rear motor 33, front-rear guide rods 35 are disposed on left and right sides of the front-rear screw rod 34, and the front-rear screw rod 34 and the front-rear guide rods 35 are horizontally disposed along a front-rear direction. The top of the third member 4 is provided with a front-back moving sliding sleeve 41 and a front-back moving sliding block 42, the front-back moving sliding sleeve 41 is matched with the front-back screw rod 34, and the front-back moving sliding block 42 is matched with the front-back guide rod 35. Thus, when the front and rear motor 33 is driven, the front and rear motor 33 drives the third member 4 to move back and forth along the front and rear guide rod 35 through the front and rear screw rod 34.

The femur component 5 is movably mounted at the bottom of the third component 4 and is driven by a hip joint driving motor 9, a camera 6 is arranged on the femur component 5 corresponding to the hip joint driving motor 9, and the camera 6 is coaxial with the hip joint driving motor 9. The movement axis directions of the first component 2, the second component 3 and the fourth component 4 respectively correspond to the X axis, the Y axis and the Z axis in a coordinate system serving as a robot control reference to form a three-axis linkage mechanism, so that the femoral component 5 is driven to move in three directions. The hip joint assembly may also employ, without limitation, other three-axis movement mechanisms capable of X-axis, Y-axis, Z-axis movement.

The hip bone part 1 is provided with a control part 7, and the control part 7 is connected with a camera 6, a lateral expansion motor 11, a flexion and extension motor 23 and a front motor 33 and is used for controlling the movement of the femur part 5 through each motor according to the analysis result of the image shot by the camera 6 so as to keep the motor shaft of the hip joint driving motor 9 coaxial with the hip joint.

Marking panty portions:

the marking shorts are close-fitting shorts worn on the lower limbs, and the size of the marking shorts can be customized according to patients with different body types.

Square marks are arranged on two sides of the mark shorts corresponding to the lower limbs of the human body. The mark can be arranged in a mode of sticking the mark on the shorts by a piece of paper or sewing the mark on the shorts by a piece of cloth, and the mark is not limited herein, so long as the mark is ensured to correspond to the hip joint position of the person, the mark can be closely attached to the hip joint position of the person and cannot fall off or move when the hip joint moves. In actual use, the hip joint position can be found manually, and the mark is directly stuck to the hip joint position of the person, so that the subsequent hip joint tracking action can be completed.

The mark comprises a plurality of square blocks in a checkered shape, the ground color of the mark is a first color, the square blocks are a second color, and the second color is required to have a certain gray scale difference relative to the first color, so that an image shot by a black-and-white camera is a black-and-white checkered image. Preferably, the ground color of the mark is white, and the square is black, so that the camera 6 may also be a color camera.

In the mark, the blocks are arranged according to a first rule and a second rule.

First law: (as shown in FIG. 4)

Blocks of the same row: the width of each square is equal, and the height of each square is increased from left to right in turn by a certain size; blocks of the same column: the heights of the blocks are equal, and the heights of the blocks are increased from top to bottom in sequence with the same size.

The second law: (as shown in FIG. 5)

Blocks of the same row: the small squares at the two sides are symmetrically arranged by taking the small square at the most center as the center, and the small squares are gradually increased from the center to the two sides by a certain size;

blocks of the same column: the same as the arrangement of the rows described above.

The second rule mark is used for enabling the square with the largest center to correspond to the hip joint position of the lower limb of the person after the hip joint position is manually determined.

The linkage principle part of the lower limb robot and the mark:

as shown in fig. 7, the front-to-back direction is defined as the X-axis direction, the top-to-bottom direction is defined as the Y-axis direction, and the left-to-right direction is defined as the Z-axis direction, and the lateral expansion motor 11 of the lower limb robot controls the hip joint assembly to synchronously expand and contract on the Z-axis, so as to ensure that the person is always located at the middle position of the hip bone part 1. The flexion and extension motor 23 controls the hip joint assembly to be adjusted on the Y axis, the front motor 33 and the rear motor 33 control the bottom end of the hip joint assembly to be adjusted on the X axis, and the rehabilitation robot controls the free movement of the lower limb robot through visual recognition.

The control method of the rehabilitation robot comprises the following steps:

s1, the lower limb robot is arranged on a vertical support 8, and after the lower limb robot is bound on the lower limb of a patient, the lower limb robot can perform rehabilitation training actions according to a preset program under the control of a control part 7 of the lower limb robot. The lower limb robot is fixed on the lower limb of the person to ensure that the camera 6 faces the mark, namely, the camera 6 is coaxial with a motor shaft of the hip joint driving motor;

S53, since the arrangement order of the sizes of each square in the mark is known, the actual coordinates (X _B ，Y _B )；

S6, for the actual coordinates (X _A ，Y _A ) And the actual coordinates of the center square at time B (X _B ，Y _B ) According to X _AB ＝X _B -X _A Y is as follows _AB ＝Y _B -Y _A Calculating the offset X of the central square block on the X axis _AB And an offset Y on the Y-axis _AB The camera sends a control signal to a control part of the lower limb robot, and the control part instructs the second component 3 of the hip joint assembly to move by a corresponding offset Y on the Y axis _AB And/or to indicate the movement of the third member 4 in the X-axis by a corresponding offset Y _AB So that the motor shaft of the hip joint motor is moved again to correspond to the hip joint position of the lower limb of the person.

Specifically, referring to fig. 6 and 8, the principle of the camera judging the position change of the mark is as follows:

and firstly, the coordinates of the initial positions of the upper left corners of all the black squares are the same, and the ratio value K of the actual size and the imaging size of the black squares can be calculated according to the preset inter-coordinate distance and imaging size analysis.

For example: the known actual inter-coordinate distance between two black squares is 10mm, and the imaging inter-coordinate distance in the photographed marker picture is 100px, so that the ratio value k=10 of the imaging size to the physical size can be calculated in real time.

Secondly, tracking each square in the marked picture:

1. if the squares are arranged according to the first rule shown in fig. 4, because the sizes of each square are different, the smallest square is 2mm in the X-axis direction, and increases by 1mm to 10mm in turn, then the image reflected on the photo is 20px to 100px. Similarly, in the Y-axis direction, the image reflected on the photograph is also.

Since the image center point and the hip joint are coaxial, it is possible to know where the hip joint motor is in the image at this time by analyzing the size of the square of the current image center point.

With respect to fig. 4, it is necessary to judge the stationary point and the moving point in the picture in advance. The method comprises the following steps:

at power-on, the default is to find the center point, which is the square where both the X-axis and Y-axis are 60px (default to center point). Then every 100MS a photograph was taken and analyzed for photographs. Because the marking picture is attached to the hip joint of the human body, part of the figure is deformed along with the movement of the joint. By comparing the image with the image obtained when the hip joint is reset, the following rule can be found, and the image is basically unchanged above the hip joint; when the front pendulum is carried out, the patterns at the front lower part are wrinkled; the lower back graphics folds during backswing. The hip joint position is thus analyzed. The black block size at this position is recorded and is followed all the time.

2. If the blocks are arranged according to the second rule shown in fig. 5, the largest block in the mark is opposite to the position of the hip joint, and the camera processing system can judge by tracking the largest block according to imaging.

In contrast to fig. 5, because the healthcare worker has previously found the position of the hip joint, the system will follow all the way up as long as the largest square in the marker is assigned to the joint.

The camera 6 collects a plurality of marked position images at different positions at 15 times per second, analyzes and judges the current position of a square in the images, and can correct the spatial position of a motor in real time according to the position of the hip joint, so that the synchronous response linkage of the lower limb robot along with the movement of the lower limb of a person is realized.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.

Claims

1. A rehabilitation robot is characterized by comprising a lower limb robot and a mark arranged at the hip joint position of the lower limb of a human,

the lower limb robot includes:

a hip component, a pair of femoral components positioned below the hip component, a hip joint assembly positioned between each femoral component and the hip component, the joint of the femoral components and the hip joint assembly being driven by a hip joint drive motor; the hip joint assembly comprises a first component, a second component and a third component, wherein the first component is connected to the rear side of the hip bone component and can horizontally move left and right relative to the hip bone component; the second component is connected to the rear side of the first component and can move up and down relative to the first component; the third component is connected to the bottom of the second component and can horizontally move back and forth relative to the second component; the femoral component is connected to the third component base;

a control unit for controlling the motor to move toward the position of the mark in real time in response to a control signal from the camera;

the control method of the rehabilitation robot comprises the following steps:

s31, firstly counting the upper left corner pixels of each black square in the first image, and then obtaining a pixel distance L1 between two squares in the X-axis direction at the moment A according to the position coordinates of the upper left corner pixels;

s32, calculating a ratio value K of an imaging pixel distance L1 of the square in the first image to the actual distance L0 according to the known actual distance L0 between the two squares;

s33, calculating the pixel length MA and the pixel height NA of a central square of a central point in the current first image;

s34, since MA: mas=na: nas=l1: l0=k, and according to the ratio value K1 in step S32, calculating an actual length MAS and an actual height NAS corresponding to the current first image center square;

s35, since the arrangement order of the size of each square in the mark is known, finding the corresponding arrangement position according to the actual length MAS and the actual height NAS, the actual coordinates (XA,

YA)；

s51, calculating a pixel length MB and a pixel height NB of a central square located at a central point in the second image;

s52, due to MB: mbs=nb nbs=k, and the actual length MBS and the actual height NBs of the center block are calculated according to K obtained in step S32;

s53, as the arrangement sequence of the size of each square in the mark is known, the actual coordinates (XB, YB) of the center square at the moment B can be calculated;

s6, calculating the offset XAB of the center square block on the X axis and the offset YAB of the center square block on the Y axis according to XAB=XB-XA and YAB=YB-YA on the actual coordinates (XA, YA) of the center square block at the time A and the actual coordinates (XB, YB) of the center square block at the time B, wherein the camera sends a control signal to a control part of the lower limb robot, and the control part instructs a second component of the hip joint assembly to move by the corresponding offset YAB on the Y axis and/or instructs a third component to move by the corresponding offset XAB on the Y axis so as to enable a motor shaft of the hip joint motor to move again to correspond to the position of the lower limb of a person.

2. The rehabilitation robot of claim 1, wherein the marker is provided with a plurality of squares, each square being arranged in a checkered manner:

3. The rehabilitation robot of claim 1, wherein the marker is provided with a plurality of squares, each square being arranged in a checkered manner:

wherein the square with the largest center corresponds to the hip joint position of the lower limb of the person.

4. A rehabilitation robot according to claim 2 or 3, wherein the square in the mark is black and the other part of the mark than the square is white.

5. A rehabilitation robot according to claim 2 or 3, wherein the square in the mark is of a first color, and the other parts of the mark except the square are of a second color; the camera is a black-and-white camera.

6. The rehabilitation robot of claim 1, wherein the hip component is provided with: the hip joint comprises a side-expanding motor, a driving wheel arranged on an output shaft of the side-expanding motor, a left screw rod and a right screw rod which horizontally extend along the left-right direction, a driven wheel fixed on the left screw rod and the right screw rod, a left guide rod and a right guide rod which are parallel to the left screw rod and the right screw rod, wherein the driven wheel is meshed with the driving wheel, and the hip joint assembly is arranged on the left screw rod and the right screw rod.

7. The rehabilitation robot of claim 6, wherein,

the first member front side is provided with: a left-right moving slide block matched with the left-right screw rod and a left-right moving slide sleeve matched with the left-right guide rod; the first member rear side is provided with: the bending and stretching motor, an upper lead screw and a lower lead screw which are arranged on an output shaft of the bending and stretching motor and extend vertically, and an upper guide rod and a lower guide rod which are parallel to the upper lead screw and the lower lead screw;

8. The rehabilitation robot of claim 1, wherein said indicia are provided on a pair of briefs worn on a person's lower limb.