CN112972215A - Lower limb walking rehabilitation training vehicle and steering control method thereof - Google Patents

Lower limb walking rehabilitation training vehicle and steering control method thereof Download PDF

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Publication number
CN112972215A
CN112972215A CN202110354590.8A CN202110354590A CN112972215A CN 112972215 A CN112972215 A CN 112972215A CN 202110354590 A CN202110354590 A CN 202110354590A CN 112972215 A CN112972215 A CN 112972215A
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distance measuring
steering
measuring sensor
controller
patient
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CN112972215B (en
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徐家梁
陈勇
陈赞
刘园虎
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Nanjing Vishee Medical Technology Co Ltd
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Nanjing Vishee Medical Technology Co Ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/006—Appliances for aiding patients or disabled persons to walk about with forearm rests, i.e. for non-used arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a lower limb walking rehabilitation training vehicle and a steering control method thereof. The invention directly detects the relative distance between the waist of the patient and the rehabilitation training vehicle through two parallel laser ranging sensors, calculates the body direction of the patient through geometric transformation, and adjusts the differential speed of two wheels through a control algorithm, so that the rehabilitation training vehicle and the patient turn consistently, the accuracy is higher, the invention can move along with the patient in real time without error, including turning at any time, and the use is safer.

Description

Lower limb walking rehabilitation training vehicle and steering control method thereof
Technical Field
The invention belongs to the field of machinery and control, and particularly relates to a lower limb walking rehabilitation training vehicle and a steering control method thereof.
Background
Patients with dyskinesia after stroke or spinal cord injury, which usually show abnormal gait or inability to walk, can improve walking function by strengthening exercise to perform muscle strength, endurance, joint ability training, balance training, operation treatment, and targeted gait correction training. For a common patient, a certain body load can be reduced by using the rehabilitation training vehicle, the pressure of the lower limbs is reduced, the lower limb supporting capacity of the patient is weak, the control capacity is poor, only simple walking training can be performed, and the patient can only go straight and needs medical care intervention to turn. And to the higher patient of recovered degree, long-time gait training will be carried out in the later stage, and the size requirement to training space at this moment becomes high, and the intervention time that needs to nurse and care also will become long, and the rehabilitation training car gives the patient more control right this moment, follows the patient and walks around, not only limits to the rehabilitation hall, therefore the rehabilitation training car must possess the mobility in the two-dimensional space, follows to turn to the function indispensable.
The existing rehabilitation training vehicle products almost have no products with steering functions. The product with the self-steering function only comprises Andago in Switzerland. The product is on a suspended carrier on the top, and the device for lifting the waist of the patient is used for detecting whether the patient has the intention of turning. However, the device firstly carries out single detection through the top detector, and cannot control the bottom pulley to follow the subsequent steering of the patient, so that the device is not intelligent enough; meanwhile, because the detection device is arranged at the top, the detected angle is easily shielded by the moving hands of people, and the detection precision is very low. The Andago adopts the slider to be connected with the patient through flexible rope, because the rope has flexibility, consequently can not directly reflect patient's body motion, has great time delay and detection error.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems in the prior art, the invention provides a lower limb walking rehabilitation training vehicle and a steering control method thereof.
The technical scheme is as follows: in order to solve the technical problems, the invention provides a lower limb walking rehabilitation training vehicle which comprises a vehicle body support, wherein a first driving system and a second driving system are respectively arranged at two ends of the bottom of the vehicle body support, a weight reduction assembly is arranged at the top of the vehicle body support, a handrail assembly is arranged in the middle of the vehicle body support, a first distance measurement sensor and a second distance measurement sensor are arranged in the middle of the handrail assembly, and the weight reduction assembly, the first driving system and the second driving system are positioned on the same vertical plane.
Further, a controller is further arranged, and the controller comprises a following controller and a steering controller.
Furthermore, be provided with adjusting device on the automobile body support, adjusting device is last to be provided with a plurality of regulation hole, handrail subassembly both ends are provided with the mounting that matches with the regulation hole.
Further, the first driving system is composed of a first driver, a first driving motor and a first driving wheel; the second driving system is composed of a second driver, a second driving motor and a second driving wheel.
Further, the distance L between the first distance measuring sensor and the second distance measuring sensor is 15-20 cm.
A steering control method for the lower limb walking rehabilitation training vehicle as described above, comprising the steps of:
(1) collecting D1 and D2 by a first ranging sensor and a second ranging sensor respectively, wherein D1 is the relative distance between the first ranging sensor and the human body; d2 is the relative distance between the second distance measuring sensor and the human body;
(2) calculating a desired speed U for controlling the drive motor by means of a follow-up controllerfollow；
(3) The current human body steering is calculated by a steering controller
Figure BDA0003003236840000021
(4) Will be provided with
Figure BDA0003003236840000022
Desired steering as a steering controller
Figure BDA0003003236840000023
(5) According to actual steering
Figure BDA0003003236840000024
Deviation from desired steering
Figure BDA0003003236840000025
A steering controller adopts a position type PID to output steering control quantity;
(6) and the addition and subtraction are carried out according to the output quantity of the following controller, and the differential motion of the first driving motor and the second driving motor is controlled, so that the purpose of steering is achieved.
Further, the current human body turning direction is calculated in the step (3)
Figure BDA0003003236840000026
The method comprises the following specific steps:
setting a body coordinate system of the rehabilitation training vehicle and a body coordinate system of the patient, and determining by adopting a right-hand rule;
the rehabilitation training vehicle body coordinate system: origin O of coordinate system of vehicle bodycThe distance measuring device is positioned in the middle point of a line segment formed by the intersection of the plane where the first distance measuring sensor and the second distance measuring sensor are positioned and the plane where the first driving wheel and the second driving wheel are positioned; x is the number ofcThe shaft is positioned in a plane where the first distance measuring sensor and the second distance measuring sensor are positioned, is perpendicular to the central lines of the first driving wheel and the second driving wheel, and has the positive direction consistent with the advancing direction of the vehicle; y iscThe shaft is positioned in a plane where the first distance measuring sensor and the second distance measuring sensor are positioned, and the left side of the shaft is positive;
patient body coordinate system: origin O of patient body coordinate systemPThe first distance measuring sensor and the second distance measuring sensor are positioned in the plane where the first distance measuring sensor and the second distance measuring sensor are positioned and are positioned at the center point of the back of the patient; x is the number ofpThe shaft is positioned in the plane where the first distance measuring sensor and the second distance measuring sensor are positioned, and the direction of the shaft is consistent with the body turning direction; y ispThe shaft connects the first distance measuring sensor and the second distance measuring sensorThe plane where the two distance measuring sensors are located is taken as a zero plane, and the left side of the plane is positive;
d1 is the relative distance between the first distance measuring sensor and the human body; d2 is the relative distance between the second distance measuring sensor and the human body; l is the installation distance of the sensor; according to the coordinate system and the geometric relation, the steering angle of the patient relative to the vehicle is
Figure BDA0003003236840000027
Further, in the step (2), the expected rotating speed U of the driving motor is calculated and controlledfollowThe method comprises the following specific steps:
(2.1) calculating the origin O of the coordinate system of the body of the patient according to the relative distances D1 and D2 of the body measured by the distance measuring sensorsPAt a relative distance from the vehicle of
Figure BDA0003003236840000031
(2.2) mixing DrealDesired following distance D as a following controllerexpect；
(2.3) according to the actual steering DrealDeviation from desired steering Derr＝Dreal-DexpectThe following controller adopts an incremental PI to output a following control quantity Ufollow＝Ufollow+kpu*Derr+kiu*∑DerrWherein k ispu、kiuTo follow the control parameters of the controller.
Further, the specific steps of outputting the steering control amount in the step (5) are as follows:
Figure BDA0003003236840000032
wherein k isp、ki、kdAre control parameters.
Further, the specific steps of performing addition and subtraction according to the output quantity of the following controller in the step (6) are as follows:
the output of the follow-up controller is UfollowRight electricThe control output is Ufollow+UyawThe control output of the left motor is Ufollow-Uyaw。
Compared with the prior art, the invention has the advantages that:
according to the invention, the relative distance between the waist of the patient and the rehabilitation training vehicle is directly detected by two parallel laser ranging sensors, the body standing direction of the patient is solved through geometric transformation, and the differential speed of two wheels is adjusted by a control algorithm, so that the rehabilitation training vehicle and the patient turn in the same direction, and the trainee can autonomously follow the patient to advance and turn. Can directly detect patient's waist action through adorning range sensor at the middle part, it is higher not sheltering from and the accuracy like this, the function that can be better realize nimble following the patient and turn to.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of a coordinate system of a vehicle body of the rehabilitation training vehicle and a coordinate system of a patient body in an exemplary embodiment;
FIG. 3 is a schematic diagram of a controller according to an embodiment;
fig. 4 is a schematic structural diagram of a weight reduction device in an embodiment.
The system comprises a 1-weight reduction assembly, a 1.1-first weight reduction lifting rope, a 1.2-fixed pulley, a 1.3-movable pulley assembly, a 1.4-second weight reduction lifting rope, a 1.5-weight reduction driving device, a 1.6-weight reduction control system, a 1.7-weight reduction feedback device, a 2-first distance measurement sensor, a 3-second distance measurement sensor, a 4-handrail assembly, a 5-vehicle body support, a 6-first driving system and a 7-second driving system.
Detailed Description
The invention is further elucidated with reference to the drawings and the detailed description.
As shown in fig. 1, the lower limb walking rehabilitation training vehicle comprises a vehicle body support 5, wherein a first driving system 6 and a second driving system 7 are respectively arranged at two ends of the bottom of the vehicle body support 5, a weight reduction assembly 1 is arranged at the top of the vehicle body support 5, a handrail assembly 4 is arranged in the middle of the vehicle body support 5, a first distance measurement sensor 2 and a second distance measurement sensor 3 are arranged in the middle of the handrail assembly 4, and the weight reduction assembly 1, the first driving system 6 and the second driving system 7 are located on the same vertical plane. A controller is also provided, and the controller comprises a following controller and a steering controller. Wherein the weight loss assembly 1 primarily provides body tension to the patient to assist in training a gait in the event of insufficient support strength of the lower limbs. The first driving system 6 and the second driving system 7 are positioned on the same vertical plane, so that the vehicle body can be steered around a patient when the vehicle body is steered.
As shown in fig. 4, the weight reduction device comprises a first weight reduction lifting rope 1.1, a fixed pulley 1.2, a movable pulley assembly 1.3, a second weight reduction lifting rope 1.4, a weight reduction driving device 1.5, a weight reduction control system 1.6 and a weight reduction feedback device 1.7, wherein the fixed pulleys 1.2 are provided with two groups, the tail end of each group of fixed pulleys 1.2 is provided with the first weight reduction lifting rope 1.1, and the stress of the patient can be reduced by fixing the shoulders of the patient through the first weight reduction lifting rope 1.1. The other end of the fixed pulley 1.2 is connected with the movable pulley component 1.3, the fixed pulley component 1.3 is connected with the first weight-reducing lifting rope 1.1 through the second weight-reducing lifting rope 1.4, the tail end of the second weight-reducing lifting rope 1.4 is connected with the weight-reducing driving device 1.5, and the weight-reducing driving device 1.5 is controlled to move through the weight-reducing control system 1.6 on the weight-reducing driving device 1.5, so that the second weight-reducing lifting rope 1.4 is driven to move, and finally the first weight-reducing lifting rope 1.1 is driven to help a patient to reach a normal upright position. Wherein, the tail end of the weight reduction driving device 1.5 is also provided with a weight reduction feedback device 1.7 which can carry out real-time feedback on the weight reduction force and ensure the weight reduction effect and the safety performance.
Wherein, the vehicle body bracket 5 is provided with an adjusting device which is provided with a plurality of adjusting holes, and the two ends of the armrest component 4 are provided with fixing parts matched with the adjusting holes. The handrail component 4 can be adjusted according to the heights of different people, and can assist the patients to hold the hands, so that the safety performance of the training vehicle is further improved. The armrest component 4 mainly provides auxiliary support for the patient, and the armrest component 4 can be adjusted in height according to different heights of the patient, so that the positions measured by the first distance measuring sensor 2 and the second distance measuring sensor 3 are the waist of the patient, and distance information is provided for the vehicle to move forwards and turn along with the patient.
The first driving system 6 is composed of a first driver, a first driving motor and a first driving wheel; the second driving system 7 is composed of a second driver, a second driving motor and a second driving wheel. The distance L between the first distance measuring sensor 2 and the second distance measuring sensor 3 is 18cm, wherein the L is smaller than the waist width of most people after wearing the rehabilitation training vehicle coat hanger, but can effectively reflect waist movement. The first driving wheel and the second driving wheel are controlled independently, the recovery training vehicle can be driven to run linearly, and the vehicle body can be driven to steer through differential speed.
As shown in FIG. 2, the vehicle body coordinate system of the rehabilitation training vehicle and the patient body coordinate system are determined using the right-hand rule.
Origin O of coordinate system of vehicle bodycThe intersection point of the measuring plane where the first distance measuring sensor 2 and the second distance measuring sensor 3 are located and the vertical plane in the driving wheel is located; x is the number ofcThe shaft is positioned in a measuring plane where the first distance measuring sensor 2 and the second distance measuring sensor 3 are positioned, is perpendicular to the central lines of the two driving wheels, and the positive direction of the shaft is consistent with the advancing direction of the vehicle; y iscThe axis is located in the measuring plane of the first distance measuring sensor 2 and the second distance measuring sensor 3, and the left side is positive.
Origin O of patient body coordinate systemPThe first distance measuring sensor 2 and the second distance measuring sensor 3 are positioned in a measuring plane and are positioned at the central point of the back of the patient; x is the number ofpThe shaft is positioned in a measuring plane where the first distance measuring sensor 2 and the second distance measuring sensor 3 are positioned, and the direction is consistent with the body steering direction; y ispThe axis takes the measuring plane where the first distance measuring sensor 2 and the second distance measuring sensor 3 are located as a zero plane, and the left side is positive.
As shown above, D1 is the relative distance of the first ranging sensor 2 from the human body; d2 is the relative distance between the second distance measuring sensor 3 and the human body; l is the sensor mounting distance, and this value is fixed at 18 cm. It can be deduced from the above-mentioned coordinate system and geometrical relationship that the steering angle of the patient with respect to the vehicle is
Figure BDA0003003236840000051
As shown in fig. 3, the controller can be divided into two parts, namely a following controller and a steering controller.
Wherein the following control mainly controlsThe retraining vehicle moves straight along with the patient. When the following distance is calculated, the distance average value of the first distance measuring sensor 2 and the second distance measuring sensor 3 is called the relative distance between the vehicle and the patient, and the following controller calculates the expected rotating speed U for controlling the driving motor according to the relative distancefollow。
In the steering control, firstly, the current human body steering is calculated according to the steering calculation, namely formula (1)
Figure BDA0003003236840000052
Because during normal training, the patient may have some protrusions or may not be centered when wearing the device, even if the patient stands still, D1 is often inconsistent with D2, i.e., the device is not able to support the device
Figure BDA0003003236840000053
Is not 0. Therefore, when the patient triggers the rehabilitation training vehicle to follow the movement, the calculated human body stands to
Figure BDA0003003236840000054
Desired steering as a steering controller
Figure BDA0003003236840000055
During walking, according to actual steering
Figure BDA0003003236840000056
Deviation from desired steering
Figure BDA0003003236840000057
The steering controller adopts position PID, as shown in the following formula, outputs steering control quantity, and adds or subtracts the steering control quantity and the output quantity of the following controller to control the differential motion of the left motor and the right motor, thereby achieving the purpose of steering.
Figure BDA0003003236840000058
Wherein k isp、ki、kdAre control parameters.
Follow-up controlThe output of the device is UfollowThe control output of the right motor is Ufollow+UyawThe control output of the left motor is Ufollow-Uyaw. The invention directly obtains the steering of the patient through the two distance measuring sensors, and has simple principle, high response speed and sensitive response.

Claims (10)

1. The utility model provides a lower limbs rehabilitation training car that walks, includes automobile body support, its characterized in that: the automobile body support is characterized in that a first driving system and a second driving system are respectively arranged at two ends of the bottom of the automobile body support, a weight reduction assembly is arranged at the top of the automobile body support, a handrail assembly is arranged in the middle of the automobile body support, a first distance measurement sensor and a second distance measurement sensor are arranged in the middle of the handrail assembly, and the weight reduction assembly, the first driving system and the second driving system are located on the same vertical plane.
2. The lower limb walking rehabilitation training vehicle of claim 1, characterized in that: a controller is also provided, and the controller comprises a following controller and a steering controller.
3. The lower limb walking rehabilitation training vehicle of claim 1, characterized in that: the automobile armrest is characterized in that an adjusting device is arranged on the automobile body support, a plurality of adjusting holes are formed in the adjusting device, and fixing pieces matched with the adjusting holes are arranged at two ends of the armrest component.
4. The lower limb walking rehabilitation training vehicle of claim 1, characterized in that: the first driving system consists of a first driver, a first driving motor and a first driving wheel; the second driving system is composed of a second driver, a second driving motor and a second driving wheel.
5. The lower limb walking rehabilitation training vehicle of claim 4, wherein: and the distance L between the first distance measuring sensor and the second distance measuring sensor is 15-20 cm.
6. A steering control method of a lower limb walking rehabilitation vehicle according to any of claims 1-5, characterized by the following steps:
(1) collecting D1 and D2 by a first ranging sensor and a second ranging sensor respectively, wherein D1 is the relative distance between the first ranging sensor and the human body; d2 is the relative distance between the second distance measuring sensor and the human body;
(2) calculating a desired speed U for controlling the drive motor by means of a follow-up controllerfollow；
(3) The current human body steering is calculated by a steering controller
Figure FDA0003003236830000011
(4) Will be provided with
Figure FDA0003003236830000012
Desired steering as a steering controller
Figure FDA0003003236830000013
(5) According to actual steering
Figure FDA0003003236830000014
Deviation from desired steering
Figure FDA0003003236830000015
A steering controller adopts a position type PID to output steering control quantity;
(6) and the addition and subtraction are carried out according to the output quantity of the following controller, and the differential motion of the first driving motor and the second driving motor is controlled, so that the purpose of steering is achieved.
7. The method as claimed in claim 6, wherein the step (3) of calculating the current body steering is performed by calculating the current body steering
Figure FDA0003003236830000016
The method comprises the following specific steps:
setting a body coordinate system of the rehabilitation training vehicle and a body coordinate system of the patient, and determining by adopting a right-hand rule;
the rehabilitation training vehicle body coordinate system: origin O of coordinate system of vehicle bodycThe distance measuring device is positioned in the middle point of a line segment formed by the intersection of the plane where the first distance measuring sensor and the second distance measuring sensor are positioned and the plane where the first driving wheel and the second driving wheel are positioned; x is the number ofcThe shaft is positioned in a plane where the first distance measuring sensor and the second distance measuring sensor are positioned, is perpendicular to the central lines of the first driving wheel and the second driving wheel, and has the positive direction consistent with the advancing direction of the vehicle; y iscThe shaft is positioned in a plane where the first distance measuring sensor and the second distance measuring sensor are positioned, and the left side of the shaft is positive;
patient body coordinate system: origin O of patient body coordinate systemPThe first distance measuring sensor and the second distance measuring sensor are positioned in the plane where the first distance measuring sensor and the second distance measuring sensor are positioned and are positioned at the center point of the back of the patient; x is the number ofpThe shaft is positioned in the plane where the first distance measuring sensor and the second distance measuring sensor are positioned, and the direction of the shaft is consistent with the body turning direction; y ispThe axis takes the plane where the first distance measuring sensor and the second distance measuring sensor are located as a zero plane, and the left side is positive;
d1 is the relative distance between the first distance measuring sensor and the human body; d2 is the relative distance between the second distance measuring sensor and the human body; l is the installation distance of the sensor; according to the coordinate system and the geometric relation, the steering angle of the patient relative to the vehicle is
Figure FDA0003003236830000021
8. The steering control method for the vehicle for rehabilitation of walking of lower limbs according to claim 6, wherein the desired rotation speed U of the driving motor is calculated and controlled in the step (2)followThe method comprises the following specific steps:
(2.1) calculating the origin O of the coordinate system of the body of the patient according to the relative distances D1 and D2 of the body measured by the distance measuring sensorspAt a relative distance from the vehicle of
Figure FDA0003003236830000022
(2.2) mixing DrealDesired following distance D as a following controllerexpect；
(2.3) according to the actual steering DrealDeviation from desired steering Derr＝Dreal-DexpectThe following controller adopts an incremental PI to output a following control quantity Ufollow＝Ufollow+kpu*Derr+kiu*∑DerrWherein k ispu、kiuTo follow the control parameters of the controller.
9. The steering control method for the lower limb walking rehabilitation training vehicle according to claim 6, wherein the step (5) of outputting the steering control amount comprises the following steps:
Figure FDA0003003236830000023
wherein k isp、ki、kdAre control parameters.
10. The steering control method for the lower limb walking rehabilitation training vehicle according to claim 6, wherein the specific steps of adding and subtracting according to the output quantity of the follow-up controller in the step (6) are as follows:
the output of the follow-up controller is UfollowThe control output of the right motor is Ufollow+UyawThe control output of the left motor is Ufollow-Uyaw。
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