CN111297369A

CN111297369A - Behavior state detection method, behavior state detection device, behavior state detection equipment and readable storage medium

Info

Publication number: CN111297369A
Application number: CN202010070592.XA
Authority: CN
Inventors: 谭高辉; 徐博源; 蔡雪风; 邱锐锋
Original assignee: Shenzhen Chwishay Smart Technology Co Ltd
Current assignee: Shenzhen Chwishay Smart Technology Co Ltd
Priority date: 2020-01-20
Filing date: 2020-01-20
Publication date: 2020-06-19

Abstract

The invention discloses a behavior state detection method, a device, equipment and a readable storage medium, wherein the behavior state detection method matches the change conditions of various limb angles acquired in real time by a rehabilitation wearing device with a preset angle change range rule, and can provide a standard action standard for a patient in a rehabilitation stage; through the action that the suggestion user carried out at present when unsatisfied to predetermine angle variation range rule at present to locking equipment does not exert the auxiliary force to the patient, avoids the injury that wrong action brought for patient's health, and the guide patient's health muscle carries out exact exercise, is favorable to subsequent recovered.

Description

Behavior state detection method, behavior state detection device, behavior state detection equipment and readable storage medium

Technical Field

The invention relates to the technical field of auxiliary robots, in particular to a behavior state detection method, a behavior state detection device, behavior state detection equipment and a readable storage medium.

Background

With the rapid development of science and technology, the application of intelligent rehabilitation medical instruments in the medical field is more and more extensive. But the current recovered medical instrument often is difficult to the accurate motion that detects the patient and carries out at present standardizes, and the patient often can cause the damage to the health because of carrying out the action of irregularity, and then influences subsequent recovered. Therefore, the technical problem that the accuracy of the existing rehabilitation auxiliary instrument for judging the behavior state of the patient is low is caused.

The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.

Disclosure of Invention

The invention mainly aims to provide a behavior state detection method, and aims to solve the technical problem that the accuracy of judging the behavior state of a patient by using the conventional rehabilitation auxiliary instrument is low.

In order to achieve the above object, the present invention provides a behavior state detection method applied to a behavior state detection device, the behavior state detection method including the steps of:

when detecting that the plurality of limb angles acquired based on the preset rehabilitation wearing equipment change, judging whether the change of the plurality of limb angles meets a preset angle change range rule or not;

if the change of the various limb angles does not meet the preset angle change range rule, locking the preset rehabilitation wearing equipment and outputting standard behavior state guide information;

and releasing the locking of the preset rehabilitation wearable device until the change of the multiple limb angles is detected to meet the preset angle change range rule, and outputting state conversion prompt information to feed back that the behavior state conversion condition is met currently.

Optionally, the step of determining whether the plurality of limb angles satisfy a preset angle variation range rule includes:

and judging whether the knee joint angle, the hip joint angle and the thigh inclination angle in the multiple limb angles enter a preset knee joint triggering angle range, a preset hip joint triggering angle range and a preset thigh stable angle range corresponding to a standard sitting stable state from a preset first knee joint angle range, a preset first hip joint angle range and a preset first thigh inclination angle range corresponding to a standing state.

Optionally, the step of releasing the locking of the preset rehabilitation wearable device and outputting the state transition prompt information to feed back that the behavior state transition condition is currently satisfied until the detected change of the multiple limb angles satisfies the preset angle change range rule includes:

until the knee joint angle is detected to enter the preset knee joint triggering angle range from the preset first knee joint angle range, the hip joint angle enters the preset hip joint triggering angle range from the preset first hip joint angle range, the thigh inclination angle enters the preset thigh stable angle range from the preset first thigh inclination angle range, the preset rehabilitation wearing equipment is unlocked, and prompt information is output to prompt that the current condition of converting the standing state to the standard sitting stable state is met.

and judging whether the knee joint angle and the thigh inclination angle in the multiple limb angles enter the preset knee joint triggering angle range and the preset thigh stable angle range from the preset second knee joint angle range and the preset second thigh inclination angle range corresponding to the sitting stable state.

and releasing the locking of the preset rehabilitation wearing equipment and outputting prompt information to prompt that the current condition of converting the sitting stable state into the standard sitting stable state is met until the knee joint angle is detected to enter the preset hip joint triggering angle range from the preset second knee joint angle range and the thigh inclination angle enters the preset thigh stable angle range from the preset second thigh inclination angle range.

Optionally, after the step of releasing the locking of the preset rehabilitation wearable device and outputting a state transition prompt message to feed back that the behavior state transition condition is currently satisfied until the detected change of the multiple limb angles satisfies the preset angle change range rule, the method further includes:

and applying corresponding auxiliary force to the user wearing the preset rehabilitation wearing equipment at present based on the behavior state conversion condition and the preset rehabilitation wearing equipment.

Optionally, the rate of change of the assisting force does not exceed a preset threshold.

Further, to achieve the above object, the present invention also provides a behavior state detection device including:

the angle change judging module is used for judging whether the change of the various limb angles meets the preset angle change range rule or not when detecting that the various limb angles acquired based on the preset rehabilitation wearing equipment change;

the guiding information output module is used for locking the preset rehabilitation wearing equipment and outputting guiding information of a standard behavior state if the change of the various limb angles does not meet the preset angle change range rule;

and the conversion information output module is used for releasing the locking of the preset rehabilitation wearable device until the change of the various limb angles is detected to meet the preset angle change range rule, and outputting state conversion prompt information so as to feed back that the behavior state conversion condition is met currently.

Further, to achieve the above object, the present invention also provides a behavior state detection device including: the device comprises a memory, a processor and a behavior state detection program which is stored on the memory and can run on the processor, wherein the behavior state detection program realizes the steps of the behavior state detection method when being executed by the processor.

Furthermore, to achieve the above object, the present invention also provides a computer-readable storage medium having a behavior state detection program stored thereon, which when executed by a processor implements the steps of the behavior state detection method as described above.

The invention provides a behavior state detection method, a behavior state detection device, behavior state detection equipment and a computer readable storage medium. The behavior state detection method comprises the steps of judging whether the change of various limb angles meets a preset angle change range rule or not when detecting that various limb angles acquired based on preset rehabilitation wearing equipment change; if the change of the various limb angles does not meet the preset angle change range rule, locking the preset rehabilitation wearing equipment and outputting standard behavior state guide information; and releasing the locking of the preset rehabilitation wearable device until the change of the multiple limb angles is detected to meet the preset angle change range rule, and outputting state conversion prompt information to feed back that the behavior state conversion condition is met currently. By the mode, the change conditions of various limb angles acquired by the rehabilitation wearing equipment in real time are matched with the preset angle change range rule, so that a standard action standard can be provided for a patient in a rehabilitation stage; through the action that the suggestion user carried out at present when unsatisfied to predetermine angle variation range rule at present to locking equipment does not exert the auxiliary force to the patient, avoids the injury that wrong action brought for patient's health, and guide patient's health muscle to carry out exact exercise, is favorable to subsequent recovered, thereby has solved the lower technical problem of accuracy of current recovered auxiliary instrument judgement patient's behavioral state.

Drawings

FIG. 1 is a schematic diagram of an apparatus architecture of a hardware operating environment according to an embodiment of the present invention;

FIG. 2 is a flowchart illustrating a behavior state detection method according to a first embodiment of the present invention;

FIG. 3 is a schematic view of the various states of the sitting process;

FIG. 4 is a schematic view of the limb angle;

FIG. 5 is a flow chart illustrating the switching of the operation states;

fig. 6 is a functional block diagram of an embodiment of the apparatus 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 terminal structure diagram of a hardware operating environment according to an embodiment of the present invention.

The terminal of the embodiment of the invention can be a PC, and can also be a mobile terminal device with a display function, such as a smart phone, a tablet computer and the like.

As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. 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 memory device separate from the processor 1001 described above.

Optionally, the 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 may adjust the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that may turn off the display screen and/or the backlight when the mobile terminal is moved 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), detect the magnitude and direction of gravity when the mobile terminal is stationary, and can be used for applications (such as horizontal and vertical screen switching, related games, magnetometer attitude calibration), vibration recognition related functions (such as pedometer and tapping) and the like for recognizing the attitude of the mobile terminal; of course, the mobile 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 terminal structure shown in fig. 1 is not intended to be limiting 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, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a behavior state detection program.

In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend 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 call the behavior state detection program stored in the memory 1005 and perform the following operations:

Further, the processor 1001 may call the behavior state detection program stored in the memory 1005, and also perform the following operations: a

Further, the processor 1001 may call the behavior state detection program stored in the memory 1005, and also perform the following operations:

the rate of change of the assist force does not exceed a preset threshold.

Based on the above hardware structure, various embodiments of the behavior state detection method of the present invention are proposed.

Referring to fig. 2, fig. 2 is a flowchart illustrating a first embodiment of the behavior state detection method.

A first embodiment of the present invention provides a behavior state detection method, including the steps of:

with the rapid development of science and technology, the application of intelligent rehabilitation medical instruments in the medical field is more and more extensive. But the current recovered medical instrument often is difficult to the accurate motion that detects the patient and carries out at present standardizes, and the patient often can cause the damage to the health because of carrying out the action of irregularity, and then influences subsequent recovered. Therefore, the technical problem that the accuracy of the existing rehabilitation auxiliary instrument for judging the behavior state of the patient is low is caused. In order to solve the problems, the invention provides a behavior state detection method, namely, the change conditions of various limb angles acquired by rehabilitation wearing equipment in real time are matched with a preset angle change range rule, and a standard action standard can be provided for a patient in a rehabilitation stage; through the action that the suggestion user carried out at present when unsatisfied to predetermine angle variation range rule at present to locking equipment does not exert the auxiliary force to the patient, avoids the injury that wrong action brought for patient's health, and guide patient's health muscle to carry out exact exercise, is favorable to subsequent recovered, thereby has solved the lower technical problem of accuracy of current recovered auxiliary instrument judgement patient's behavioral state. The behavior state detection method is applied to rehabilitation wearing equipment such as an exoskeleton robot, and the exoskeleton robot can be worn on the leg of the affected side of a user.

Step S10, when detecting that the angles of the limbs acquired based on the preset rehabilitation wearing equipment change, judging whether the changes of the angles of the limbs meet the preset angle change range rule;

wherein, the various limb angles can be knee joint angles, hip joint angles, thigh inclination angles and the like. The preset angle change range rule is a range of various limb angles corresponding to switching from one behavior state to another behavior state. The preset angle change range is scientifically set according to the limb angle corresponding to the standard action.

In this embodiment, the user group to which the present invention is directed is generally a patient who is inconvenient to sit and move, and who performs rehabilitation training with the aid of medical assistance equipment, the patient may perform rehabilitation training with rehabilitation wearing equipment, after the patient wears the rehabilitation wearing equipment, the sensor in the equipment may detect various limb angles of the patient in real time, when the equipment detects various limb angles of the patient, it is determined whether the current angle change satisfies a preset angle change range rule, it is understood that before the equipment determines the angle change, the behavior state before the change, specifically, the patient wears the rehabilitation wearing equipment equipped with the sensor that detects the inclination angle of the knee joint, hip joint, and thigh of the human body, and performs rehabilitation training for sitting and standing, the sitting process may be divided into six states according to the scientific movement principle, as shown in fig. 3, the standing state, the sitting process state, the sitting stable state, the standing up state and the standing up process state, and the standing up process state may be returned to the initial standing state again, and the angle change from the standing up state of the knee joint, the standing up state from the standing up state of the hip joint, the standing up state from the station angle range of the preset state, the hip joint, the standing up state from the standing up state of the hip joint, the thigh angle range of the hip joint, the standing up state from the station angle range of the hip joint, the standing up state, the thigh angle range of the hip joint, the thigh angle range of the thigh angle of the hip joint.

Step S20, if the change of the various limb angles does not meet the preset angle change range rule, locking the preset rehabilitation wearing equipment and outputting standard behavior state guide information;

in this embodiment, for the sitting process, the behavior states of the human body during the sitting process can be divided into a standing state, a sitting process state, an about-to-sit stable state, a sitting stable state, an about-to-stand state, and a stand process state. If the rehabilitation wearing device detects that part of the limb inclination angles or all the limb inclination angles in the change of various limb angles of the patient do not meet the preset angle change range rule, the current action of the patient is judged to be irregular, the current state is locked, the auxiliary force is not applied to the patient, and an abnormal prompt is output in a voice and/or text mode to guide the patient to correct the current wrong action.

And step S30, releasing the locking of the preset rehabilitation wearable device until the change of the multiple limb angles is detected to meet the preset angle change range rule, and outputting state conversion prompt information to feed back that the behavior state conversion condition is met currently.

In this embodiment, the rehabilitation wearable device releases the previous locking and outputs the prompt information that the current state can be switched until the change of the angles of the limbs of the patient is detected to meet the preset angle change range rule. The patient can press the key for exerting the auxiliary force that is predetermine in the recovered wearing equipment, and recovered wearing equipment just can exert corresponding auxiliary force to the patient this moment.

The invention provides a behavior state detection method. The behavior state detection method comprises the steps of judging whether the change of various limb angles meets a preset angle change range rule or not when detecting that various limb angles acquired based on preset rehabilitation wearing equipment change; if the change of the various limb angles does not meet the preset angle change range rule, locking the preset rehabilitation wearing equipment and outputting standard behavior state guide information; and releasing the locking of the preset rehabilitation wearable device until the change of the multiple limb angles is detected to meet the preset angle change range rule, and outputting state conversion prompt information to feed back that the behavior state conversion condition is met currently. By the mode, the change conditions of various limb angles acquired by the rehabilitation wearing equipment in real time are matched with the preset angle change range rule, so that a standard action standard can be provided for a patient in a rehabilitation stage; through the action that the suggestion user carried out at present when unsatisfied to predetermine angle variation range rule at present to locking equipment does not exert the auxiliary force to the patient, avoids the injury that wrong action brought for patient's health, and guide patient's health muscle to carry out exact exercise, is favorable to subsequent recovered, thereby has solved the lower technical problem of accuracy of current recovered auxiliary instrument judgement patient's behavioral state.

Further, not shown in the drawings, a second embodiment of the behavior state detection method of the present invention is proposed based on the first embodiment shown in fig. 2 described above. In the present embodiment, step S10 includes:

step a, judging whether a knee joint angle, a hip joint angle and a thigh inclination angle in the multiple limb angles enter a preset knee joint triggering angle range, a preset hip joint triggering angle range and a preset thigh stable angle range corresponding to a standard sitting and stable state from a preset first knee joint angle range, a preset first hip joint angle range and a preset first thigh inclination angle range corresponding to a standing and rising state.

The first knee joint angle range is preset, and the first hip joint angle range and the first thigh inclination angle range are standard knee joint angle ranges, hip joint angle ranges and thigh inclination angle ranges corresponding to the standing state. The behavior states corresponding to the preset knee joint triggering angle range, the preset hip joint triggering angle range and the preset thigh stable angle range are standard sitting stable states.

In this embodiment, it can be understood that before determining the angle change, the rehabilitation wearing device needs to determine the behavior state of the patient before the change. The rehabilitation wearing device determines the standing process state of the patient according to the knee joint angle, the hip joint angle and the thigh inclination angle of the patient detected in real time, and then judges whether to enter the sitting stable state from the standing process state. Specifically, the angle range of the knee joint corresponding to the standing state is preset as

The angle range of the hip joint is

The range of the thigh inclination angle is

The knee joint triggering range is

The triggering range of the hip joint is

The thigh stabilizing angle is

The rehabilitation wearing device detects the knee joint angle of the patient

Reduced to

Angle of hip joint

Reduced to

Angle of inclination of thigh

Reduced to

Further, in the present embodiment, step S30 includes:

and b, until the knee joint angle is detected to enter the preset knee joint triggering angle range from the preset first knee joint angle range, the hip joint angle enters the preset hip joint triggering angle range from the preset first hip joint angle range, the thigh inclination angle enters the preset thigh stable angle range from the preset first thigh inclination angle range, the preset rehabilitation wearing equipment is unlocked, and prompt information is output to prompt that the condition of converting the standing state to the standard sitting state is met at present.

In this embodiment, it can be understood that, before step b, if the rehabilitation wearing device detects that the knee joint angle of the patient does not enter the knee joint trigger angle range corresponding to the stable sitting state from the first knee joint angle range corresponding to the standing-up state, and/or the hip joint angle range does not enter the hip joint trigger angle range corresponding to the stable sitting state from the first hip joint angle range corresponding to the standing-up state, and/or the thigh tilt angle does not enter the thigh stable angle range corresponding to the stable sitting state from the first thigh tilt angle range corresponding to the standing-up state, it may be determined that the state transition condition is not currently satisfied, and the application of the assisting force to the patient is prohibited. Rehabilitation wearing equipment until detecting that the knee joint angle of a patient is within a first knee joint angle range corresponding to the standing stateAnd entering a knee joint triggering angle range corresponding to the sitting stable state, entering a hip joint triggering angle range corresponding to the sitting stable state from a first hip joint angle range corresponding to the standing state, entering a thigh stable angle range corresponding to the sitting stable state from a first thigh inclination angle range corresponding to the standing state, judging that the current condition of converting the standing state to the standard sitting stable state is met, unlocking the previous equipment, and outputting a voice prompt to inform a patient of standardizing the current behavior and action. Specifically, following the setting of the specific embodiment in step a, the rehabilitation wearing device detects that the knee joint angle of the patient is from

Reduced to

Angle of hip joint

Reduced to

Angle of inclination of thigh

Reduced to

The rehabilitation wearing equipment can judge the current behavior and action specification of the patient and can normally enter the next behavior and action. The rehabilitation wearing device outputs prompt information that the action can be normally carried out in the modes of voice, characters and the like, the patient can press an auxiliary key in the device, and the device can correspondingly adjust the auxiliary force so as to assist the patient to enter the next action state.

Further, in the present embodiment, step S10 includes:

and c, judging whether the knee joint angle and the thigh inclination angle in the multiple limb angles enter the preset knee joint triggering angle range and the preset thigh stabilizing angle range from the preset second knee joint angle range and the preset second thigh inclination angle range corresponding to the sitting and stabilizing state.

The preset second knee joint angle range and the preset second thigh inclination angle range are standard knee joint angle ranges, hip joint angle ranges and thigh inclination angle ranges corresponding to the sitting and stable state.

In this embodiment, it can be understood that before determining the angle change, the rehabilitation wearing device needs to determine the behavior state of the patient before the change. The rehabilitation wearing device determines the state of the patient to be seated and stabilized according to the knee joint angle and the thigh inclination angle of the patient detected in real time, and then judges whether to enter the standard state from the state of being seated and stabilized. Specifically, the preset knee joint angle range corresponding to the sitting and stable state is

The angle range of the hip joint is

The range of the thigh inclination angle is

The knee joint triggering range is

The triggering range of the hip joint is

The thigh stabilizing angle is

The rehabilitation wearing device detects the knee joint angle of the patient

Reduced to

Angle of hip joint

Reduced to

Angle of inclination of thigh

Reduced to

Further, in the present embodiment, step S30 includes:

and d, until the knee joint angle is detected to enter the preset hip joint triggering angle range from the preset second knee joint angle range, and the thigh inclination angle enters the preset thigh stable angle range from the preset second thigh inclination angle range, unlocking the preset rehabilitation wearing equipment, and outputting prompt information to prompt that the current condition of converting the sitting stable state to the standard sitting stable state is met.

In this embodiment, it can be understood that, before step d, if the rehabilitation wearing device detects that the knee joint angle of the patient does not enter the knee joint triggering angle range corresponding to the sitting stable state from the second knee joint angle range corresponding to the sitting stable state, and/or the thigh tilt angle does not enter the thigh stable angle range corresponding to the sitting stable state from the second thigh tilt angle range corresponding to the sitting stable state, it may be determined that the state transition condition is not satisfied currently, and the application of the assisting force to the patient is prohibited. The rehabilitation wearing device can judge that the current condition of converting the sitting stable state into the standard sitting stable state is met, and output voice, characters and the like until the knee joint angle of the patient is detected to enter the knee joint triggering angle range corresponding to the sitting stable state from the second knee joint angle range corresponding to the sitting stable state, and the thigh inclination angle enters the thigh stable angle range corresponding to the sitting stable state from the second thigh inclination angle range corresponding to the sitting stable stateAnd informing the patient of the current behavior action for specification. Specifically, following the setting of the specific embodiment in step c, the rehabilitation wearing device detects that the knee joint angle of the patient is from

Reduced to

Angle of hip joint

Reduced to

Angle of inclination of thigh

Reduced to

The rehabilitation wearing equipment can judge the current behavior and action specification of the patient and can normally enter the next behavior and action. The rehabilitation wearing device outputs prompt information that voice action can be normally carried out, the patient can press an auxiliary key in the device, and the device can correspondingly adjust auxiliary force to assist the patient to enter a next action state.

The invention provides a behavior state detection method. The behavioral state detection method further comprises the steps of obtaining angle data of knee joints, hip joints and thighs of a human body, setting limb angle ranges corresponding to a state to be stably seated, a state to be stably seated and a state to be raised, providing limb angle standards specified in each state, and prompting a patient that a current behavior acts correctly when the limb angle data of the patient enters the range corresponding to each state, so that the patient can act normally, and subsequent rehabilitation is facilitated.

Further, not shown in the drawings, a third embodiment of the behavior state detection method of the present invention is proposed based on the first embodiment shown in fig. 2 described above. In this embodiment, after step S30, the method further includes:

and e, applying corresponding auxiliary force to the user wearing the preset rehabilitation wearing equipment at present based on the behavior state conversion condition and the preset rehabilitation wearing equipment.

In this embodiment, the rehabilitation wearing device controls the assisting force applied to the patient according to the behavior state transition condition. Specifically, the behavior state transition condition may be: the process assisting force for transition from the standing state to the sitting process state increases, the process assisting force for transition from the sitting process state to the sitting state decreases, the process assisting force for transition from the sitting state to the standing state increases, the process assisting force for transition from the standing state to the standing process state increases, the process assisting force for transition from the standing process state to the standing state decreases, and the process assisting force for transition from the standing state to the sitting state decreases.

Further, in this embodiment, the method for detecting a behavior state of the present invention further includes:

and f, the change speed of the auxiliary force does not exceed a preset threshold value.

The preset threshold value can be flexibly set according to actual conditions, and the embodiment does not specifically limit the preset threshold value, but the numerical value is not too large, so that the effect of gradual change is achieved.

In this embodiment, the auxiliary force applied to the user by the rehabilitation wearing device is changed into a steady change process to ensure the comfort, safety, and stability of the protection itself of the wearer.

The invention provides a behavior state detection method. The behavior state detection method further applies corresponding auxiliary force under the condition that the actual behavior and action of the patient are normative, so that the patient can successfully carry out rehabilitation training in a normative manner; through setting up the threshold value for the auxiliary force can the steady change, has improved wearer's comfort, security, and the stability of protection self.

The invention also provides a behavior state detection device.

The behavior state detection device includes:

The invention also provides behavior state detection equipment.

The behavior state detection device comprises a processor, a memory and a behavior state detection program which is stored on the memory and can run on the processor, wherein when the behavior state detection program is executed by the processor, the steps of the behavior state detection method are realized.

The method implemented when the behavior state detection program is executed may refer to each embodiment of the behavior state detection method of the present invention, and details thereof are not repeated herein.

The invention also provides a computer readable storage medium.

The computer-readable storage medium of the present invention has stored thereon a behavior state detection program which, when executed by a processor, implements the steps of the behavior state detection method as described above.

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 solution 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) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, 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

1. A behavior state detection method, characterized by comprising:

2. The method according to claim 1, wherein the step of determining whether the plurality of body angles satisfy a predetermined angle variation range rule comprises:

3. The method for detecting the behavior state according to claim 2, wherein the step of unlocking the preset rehabilitation wearing device and outputting a state transition prompt message to feed back that the behavior state transition condition is currently satisfied until the change of the plurality of limb angles is detected to satisfy the preset angle change range rule comprises:

4. A method as claimed in claim 2, wherein the step of determining whether the plurality of limb angles satisfy a predetermined angle variation range rule comprises:

5. The method for detecting the behavior state according to claim 4, wherein the step of unlocking the preset rehabilitation wearing device and outputting a state transition prompt message to feed back that the behavior state transition condition is currently satisfied until the change of the plurality of limb angles is detected to satisfy the preset angle change range rule comprises:

6. The method for detecting a behavioral state according to claim 1, wherein, after the steps of releasing the lock on the preset rehabilitation wearable device and outputting a state transition prompt message to feed back that the behavioral state transition condition is currently satisfied until it is detected that the change of the plurality of limb angles satisfies the preset angle change range rule, the method further comprises:

7. A behavior state detection method according to claim 6, characterized in that a speed of change of the assist force does not exceed a preset threshold value.

8. A behavior state detection device characterized by comprising:

9. A behavior state detection device characterized by comprising: memory, a processor and a behaviour state detection program stored on the memory and executable on the processor, the behaviour state detection program when executed by the processor implementing the steps of the behaviour state detection method according to any of claims 1 to 7.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a behavior state detection program, which when executed by a processor implements the steps of the behavior state detection method according to any one of claims 1 to 7.