CN113499229B

CN113499229B - Rehabilitation institution control method, rehabilitation institution control system and rehabilitation device

Info

Publication number: CN113499229B
Application number: CN202110804918.1A
Authority: CN
Inventors: 魏文昊; 葛伟; 黄博俊; 李光林; 于文龙; 黄品高; 王辉; 黄剑平
Original assignee: Shenzhen Institute of Advanced Technology of CAS
Current assignee: Shenzhen Institute of Advanced Technology of CAS
Priority date: 2021-07-16
Filing date: 2021-07-16
Publication date: 2023-08-08
Anticipated expiration: 2041-07-16
Also published as: CN113499229A; WO2023284241A1

Abstract

The embodiment of the invention discloses a control method of a rehabilitation mechanism, a control system of the rehabilitation mechanism and rehabilitation equipment. The control method of the rehabilitation mechanism comprises the steps that a sensing module detects environmental characteristics, using gesture information of a user and position information of the user relative to the rehabilitation mechanism; the control module receives the environmental characteristics, the using gesture information and the position information and controls the walking module of the rehabilitation mechanism to walk omnidirectionally and autonomously according to the environmental characteristics, the using gesture information and the position information. The technical scheme provided by the embodiment of the invention can detect the rehabilitation state of the user in real time, is convenient for planning the rehabilitation training, can plan the walking strength of the whole rehabilitation mechanism according to the position and environmental characteristics of the user relative to the rehabilitation mechanism, realizes full-automatic omnidirectional autonomous following, reduces the interference to the patient, reduces the workload of nursing staff and improves the rehabilitation training effect of the patient.

Description

Rehabilitation institution control method, rehabilitation institution control system and rehabilitation device

Technical Field

The embodiment of the invention relates to the technical field of rehabilitation equipment, in particular to a control method of a rehabilitation mechanism, a control system of the rehabilitation mechanism and the rehabilitation equipment.

Background

Due to cerebral apoplexy, cerebrovascular diseases, accidental injury and the like, a large number of patients are inconvenient in hands and feet, paralyzed and even amputated. For patients with handicap and paralysis, nursing and rehabilitation training are needed; for lower limb amputees, it is necessary to learn and practice the use of prostheses. And these inevitably require support and weight loss to ensure that care or rehabilitation can be performed safely and effectively.

The walking mode of the walking hanger of the existing rehabilitation equipment is driven by a patient, a nursing staff pushes the walking hanger and two driving wheels drive the walking hanger, and the three modes can not enable the walking hanger to realize full-automatic omnidirectional autonomous following, so that the problems that the workload of the nursing staff is large, the type of rehabilitation training action is limited or the patient training is disturbed and the like can be caused.

The problem that the existing rehabilitation equipment cannot meet the needs of patients becomes a problem to be solved in the industry.

Disclosure of Invention

The embodiment of the invention provides a control method of a rehabilitation mechanism, a control system of the rehabilitation mechanism and rehabilitation equipment.

In order to realize the technical problems, the invention adopts the following technical scheme:

in a first aspect, an embodiment of the present invention provides a method for controlling a rehabilitation mechanism, including:

the sensing module detects environmental characteristics, using gesture information of a user and position information of the user relative to the rehabilitation mechanism;

the control module receives the environmental characteristics, the using gesture information and the position information and controls the walking module of the rehabilitation mechanism to walk omnidirectionally and autonomously according to the environmental characteristics, the using gesture information and the position information.

In some embodiments, the sensing module detects environmental characteristics, usage posture information of a user, and location information of the user relative to the rehabilitation facility, including:

the environment sensor collects the environment characteristics of the surrounding environment of the rehabilitation institution and sends the environment characteristics to the control module; the environment characteristics comprise binocular vision images and laser radar point cloud images of the surrounding environment of the rehabilitation mechanism;

the human body sensor collects the using gesture information of the user on the rehabilitation mechanism and sends the using gesture information to the control module; wherein, the using gesture information comprises real-time image data of a user acquired by the human body sensor;

The displacement sensor acquires the position information of a user relative to the rehabilitation mechanism and sends the position information to the control module; the position information comprises the offset of the hanging plate of the rehabilitation mechanism relative to the center of the hanging bracket.

In some embodiments, the control module receives the environmental characteristics, the usage posture information, and the location information, and controls the walking module of the rehabilitation mechanism to walk omnidirectionally and autonomously according to the environmental characteristics, the usage posture information, and the location information, including:

the environment sensing processing unit receives the environment characteristics and generates a grid map represented by a matrix according to the environment characteristics;

the human body posture processing unit receives the using posture information of the user on the rehabilitation mechanism, judges whether the user is in the posture information about to fall according to the using posture information of the user on the rehabilitation mechanism, and calculates the offset of the user relative to the center of the hanging frame;

the position detection processing unit judges a movement expected value of the walking module according to the position information of the user relative to the rehabilitation mechanism, acquired by the displacement sensor, and the offset of the user relative to the center of the hanger, calculated by the human body posture processing unit; wherein the movement expected value includes a direction of expected movement and a distance of expected movement;

And the path planning unit judges whether the walking module can continue to move and the target variation of the walking module displacement and the human body posture according to the grid map and the movement expected value of the walking module.

In some embodiments, after the sensing module detects the environmental characteristic, the usage posture information of the user, and the position information of the user relative to the rehabilitation facility, the method further comprises:

an emergency sensor collects an emergency signal whether the emergency sensor is triggered.

In some embodiments, after the path planning unit determines whether the walking module can continue to move and the target variation of the walking module displacement and the human body posture according to the grid map and the movement expected value of the walking module, the path planning unit further includes:

the emergency state detection unit generates an emergency stop command and an emergency event type according to the gesture information about whether the user is about to fall sent by the human gesture processing unit, the signal about whether the walking module can continue to move sent by the path planning unit and the emergency signal about whether the emergency sensor is triggered.

In some embodiments, after the emergency state detection unit generates an emergency stop command and an emergency event type according to the gesture information about whether the user is about to fall, the signal about whether the walking module can continue to move, and the emergency signal about whether the emergency sensor is triggered, the method further comprises:

The control unit controls the driving source of the rehabilitation mechanism to drive the walking module to walk according to the target variable quantity of the displacement and the human posture of the walking module by controlling the driving source of the rehabilitation mechanism to emergently brake according to the emergency stop command;

and the control unit controls the display module to display emergency information according to the emergency stop command and the emergency event type, and controls the voice module to carry out voice warning.

In some specific embodiments, the control unit controls the driving source of the rehabilitation mechanism to drive the walking module to walk according to the emergency stop command by controlling the emergency brake of the driving source of the rehabilitation mechanism to stop walking, and controls the driving source of the rehabilitation mechanism to drive the walking module to walk according to the displacement of the walking module and the target variation of the human body posture, and the method includes:

when the emergency stop command is triggered, the control unit outputs a target speed to be zero, and the driving source emergency brake enables the walking module to stop walking;

when the emergency stop command is not triggered, the control unit calculates the target movement speed of the walking module in proportion according to the error between the current displacement of the walking module and the target displacement and the error between the current human body posture and the target human body posture; decomposing the target movement speed of the walking module into a target rotation speed of a driving source of the walking module by utilizing a movement decomposition algorithm, and outputting the target rotation speed to a speed regulator of the driving source; the speed regulator controls the traveling speed of the traveling module by regulating the rotating speed of the driving source.

In some specific embodiments, the context aware processing unit receives the context feature and generates a grid map of a matrix representation from the context feature, comprising:

the environment perception processing unit searches vanishing points in a voting mode according to binocular vision images of surrounding environments of the rehabilitation mechanism, acquired by an environment sensor, of a static object, adopts texture features of pixels, extracts edges of the static object by utilizing color features, acquires edge information of the static object through a preset operator, and further marks the static object in a grid map; for a dynamic and static object, judging whether the pixels move or not by utilizing the instantaneous moving speed of the pixels on an imaging plane, and marking the moving paths of the pixels in a grid map to generate a grid map represented by a matrix;

when the environment sensor cannot acquire binocular vision images of the surrounding environment of the rehabilitation mechanism, the environment perception processing unit reflects correlations between the mobile hanging frame and surrounding objects by using depth information in a scene according to the laser radar point cloud images acquired by the environment sensor, acquires depth data of the surrounding environment by using the environment sensor, interpolates the depth data by using the color data to form small-granularity depth images, forms high-resolution scene images of the surrounding environment in the grid map, and generates the grid map represented by a matrix.

In some specific embodiments, the human body posture processing unit receives real-time image data of the user acquired by the human body sensor; and determining whether the user is in a position to be fallen and an offset of the user from the center of the hanger, comprising:

the human body posture processing unit extracts different characteristic points of a user by adopting a preset algorithm according to real-time image data of the user acquired by the human body sensor, and connects the characteristic points by using line segments according to a human body structure to obtain a skeleton framework of the user;

acquiring data characteristics of angles, angular velocities and angular accelerations of a user in the joint motion direction through adjacent image data of a preset frame number, performing pattern recognition through an algorithm, and judging whether the person is in a pose to be fallen or not;

acquiring initial position data of center points of five characteristic points of a right eye, a right ear, a nose, a left eye and a left ear of a user when the user stands at the middle position of the walking hanging frame in an initial state; acquiring current position data of center points of five characteristic points of a right eye, a right ear, a nose, a left eye and a left ear of a user when the user is in a use state; and the human body posture processing unit obtains the offset of the user relative to the center of the hanging bracket according to the difference value between the current position data and the initial position data.

In some specific embodiments, the position detection processing unit calculates a movement expected value of the walking module according to the offset of the suspension hanging plate of the rehabilitation mechanism relative to the hanger center and the offset of the user relative to the hanger center of the rehabilitation mechanism, which are acquired by the displacement sensor, and the method comprises the following steps:

the position detection processing unit multiplies the offset of a user relative to the hanger center of the rehabilitation mechanism and the offset of a suspension hanger plate of the rehabilitation mechanism relative to the hanger center by different weight coefficients respectively through a weighting algorithm and then performs vector summation to obtain a movement expected value of the walking module; wherein the weight coefficient of the offset of the user relative to the hanger center of the rehabilitation mechanism is greater than the weight coefficient of the offset of the hanging plate of the rehabilitation mechanism relative to the hanger center.

In some specific embodiments, the path planning unit determines whether the walking module can continue to move and the target variation of the walking module displacement and the human body posture according to the grid map and the movement expected value of the walking module, and includes:

according to the grid map input by the environment sensing module and the movement expected value of the walking hanger input by the position detection module, distance information from the current position to all other points is established in the grid map; calculating distance measurement information of each node in the path planning process through a preset algorithm to obtain target variable quantity of the walking module displacement and the human body posture;

If an obstacle appears, searching along a preset path is canceled, obstacle prompt information in front is output, and the walking module is judged to be unable to continue moving; wherein the grid map identifies surrounding obstacles, walking hangers, and other modules, the obstacles being displayed as open circuits in the grid map.

In a second aspect, an embodiment of the present invention provides a control system for a rehabilitation mechanism, performing the control method for any rehabilitation mechanism in the first aspect;

the control system of the rehabilitation institution comprises:

the sensing module is used for detecting environmental characteristics, using posture information of a user and position information of the user relative to the rehabilitation mechanism;

the control module is used for receiving the environmental characteristics, the using gesture information and the position information and controlling the walking module of the rehabilitation mechanism to walk omnidirectionally and autonomously according to the environmental characteristics, the using gesture information and the position information.

In a third aspect, an embodiment of the present invention provides a rehabilitation device, including a control system of the rehabilitation mechanism according to the second aspect; the control system of the rehabilitation institution comprises: the sensing module and the control module;

the rehabilitation apparatus further includes: a hanger body and a walking module; the hanger body is a portal frame;

The walking module is arranged below the vertical section of the portal frame and is provided with a driving source, and the driving source can drive the walking module to independently walk in all directions;

the sensing module is arranged on the hanger body and can detect environmental characteristics, use posture information of a user and position information of the user relative to the hanger body;

the control module is arranged below the vertical section of the portal frame and adjacent to the walking module, the sensing module is connected with the control module, and the control module is used for receiving the environmental characteristics, the using posture information and the position information, and controlling the walking module of the rehabilitation mechanism to walk omnidirectionally and autonomously according to the environmental characteristics, the using posture information and the position information.

In some embodiments, the rehabilitation device further comprises: the suspension module is arranged on the horizontal section of the portal frame and comprises a suspension bracket and a suspension plate, and the suspension plate is slidably arranged on the suspension bracket along two mutually perpendicular directions; the suspension bracket includes: the X-direction support and the Y-direction support are arranged at intervals, two ends of the Y-direction support are respectively and slidably arranged on the two X-direction supports, and the hanging plate is slidably arranged on the Y-direction support;

The sensing module comprises an environment sensor, a human body sensor and a displacement sensor; the environment sensor is arranged around the hanger body and is used for collecting environment characteristics; the human body sensor is arranged at the top of the hanger body, and the environment sensor is used for collecting the use posture information of a user; the displacement sensor comprises an X-direction displacement sensor arranged on the X-direction support and a Y-direction displacement sensor arranged on the Y-direction support, and the displacement sensor is used for collecting position information of a user.

In some embodiments, the rehabilitation device further comprises:

the emergency sensor is electrically connected with the control module and is used for acquiring an emergency signal whether the emergency sensor is triggered or not; the emergency sensor comprises an emergency stop button which is arranged on the hanger body; and/or the emergency sensor comprises a plurality of pressure-sensitive handrails, and the pressure-sensitive handrails are arranged on the hanger body at intervals along the vertical direction.

According to the control method of the rehabilitation mechanism, provided by the embodiment of the invention, the environmental characteristics, the use posture information of the user and the position information of the user relative to the rehabilitation mechanism are detected through the sensing module, the control module receives the environmental characteristics, the use posture information and the position information and controls the walking module of the rehabilitation mechanism to conduct omnidirectional autonomous walking according to the environmental characteristics, the use posture information and the position information, the rehabilitation state of the user is detected in real time, planning of rehabilitation training is facilitated, on the other hand, walking path stiffness planning of the whole hanging bracket system can be conducted according to the position of the user relative to the rehabilitation mechanism and the environmental characteristics, full-automatic omnidirectional autonomous following can be achieved, interference on a patient is reduced, workload of nursing staff is reduced, and the rehabilitation training effect of the patient is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings needed in the description of the embodiments of the present invention, 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 contents of the embodiments of the present invention and these drawings without inventive effort for those skilled in the art.

FIG. 1 is a flow chart of a control method of a rehabilitation institution according to an embodiment of the present invention;

FIG. 2 is a flowchart of another rehabilitation institution control method according to the embodiment of the present invention;

FIG. 3 is a flowchart of a control method of a rehabilitation facility according to an embodiment of the present invention;

FIG. 4 is a flowchart of a control method of a rehabilitation facility according to an embodiment of the present invention;

FIG. 5 is a flowchart of a control method of a rehabilitation facility according to an embodiment of the present invention;

FIG. 6 is a flowchart of a control method of a rehabilitation facility according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a control system of a rehabilitation mechanism according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a control system of another rehabilitation mechanism according to the embodiment of the present invention;

FIG. 9 is a schematic diagram of a control system of a rehabilitation facility according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of a control system of a rehabilitation facility according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of a rehabilitation device according to an embodiment of the present invention;

FIG. 12 is a schematic diagram of another rehabilitation device according to an embodiment of the present invention;

fig. 13 is a schematic structural view of a walking module according to an embodiment of the present invention;

FIG. 14 is a schematic view of a partial construction of a transmission assembly provided by an embodiment of the present invention;

FIG. 15 is another partial schematic view of a transmission assembly according to an embodiment of the present invention;

fig. 16 is a schematic structural view of a suspension module according to an embodiment of the present invention;

fig. 17 is a schematic structural view of a hanging plate according to an embodiment of the present invention.

Reference numerals:

1. a hanger body;

2. a walking module;

21. a driving source; 22. a walking bracket; 23. an omnidirectional travelling wheel; 231. an input wheel shaft;

24. a transmission assembly; 241. a coupling; 242. a power input shaft; 243. a first synchronous pulley; 244. a second synchronous pulley; 245. a first bearing; 246. a second bearing; 247. a shaft sleeve;

3. a suspension module;

31. A suspension bracket; 310. an X-direction bracket; 311. an X-direction sliding block; 312. an X-direction optical axis; 313. an X-direction buffer block; 314. an X-direction limiting block; 315. a Y-direction bracket; 316. a Y-direction sliding block; 317. a Y-direction optical axis; 318. a Y-direction buffer block; 319. a Y-direction limiting block;

32. a hanging plate; 321. a hanger plate body; 322. a suspension ring screw; 323. a ring nut; 324. a thrust bearing;

41. an X-axis displacement sensor; 42. a Y-displacement sensor; 43. an environmental sensor; 44. a human body sensor; 45. a displacement sensor;

5. an emergency sensor; 51. an emergency stop button; 52. a pressure-sensitive armrest;

6. a control module; 7. a sensing module;

721. an environment-aware processing unit; 722. a human body posture processing unit; 723. a position detection processing unit; 724. a path planning unit; 725. an emergency state detection unit; a control unit 726;

100. a control system of the rehabilitation institution; 200. a rehabilitation device.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly, for distinguishing between the descriptive features, and not sequentially, and not lightly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Based on the above technical problems, the present embodiment proposes the following solutions:

fig. 1 is a flowchart of a control method of a rehabilitation institution according to an embodiment of the present invention. Referring to fig. 1, a control method of a rehabilitation mechanism provided by an embodiment of the present invention includes:

s101, detecting environmental characteristics, using posture information of a user and position information of the user relative to the rehabilitation institution by using a sensing module.

Specifically, the sensing module may include an environmental sensor, a body sensor, a displacement sensor, and a control module.

S102, a control module receives the environmental characteristics, the using gesture information and the position information and controls a walking module of the rehabilitation mechanism to walk omnidirectionally and autonomously according to the environmental characteristics, the using gesture information and the position information.

Specifically, the sensing module can detect environmental characteristics, the use gesture of a user and the position of the user relative to the rehabilitation mechanism, and because the control module receives the environmental characteristics, the use gesture information and the position information, and carries out comprehensive calculation according to the environmental characteristics, the use gesture information and the position information, the walking module of the rehabilitation mechanism is controlled to independently walk in all directions, the control module can comprehensively consider the real-time environmental characteristics, the use gesture information and the position information of the rehabilitation mechanism, the relative position information of the user and the rehabilitation mechanism and other factors, plan the route of the rehabilitation mechanism in time, and can control the walking module of the rehabilitation mechanism to independently walk in all directions. The setting can detect the recovered state of user in real time on the one hand, makes things convenient for the planning of rehabilitation training, and on the other hand can carry out the walking route planning of whole gallows system according to the position and the environmental characteristic of the relative rehabilitation mechanism of user, has promoted gallows system's safety in utilization.

According to the control method of the rehabilitation mechanism, the environmental characteristics, the using posture information of the user and the position information of the user relative to the rehabilitation mechanism are detected through the sensing module, the control module receives the environmental characteristics, the using posture information and the position information and controls the walking module of the rehabilitation mechanism to conduct omni-directional autonomous walking according to the environmental characteristics, the using posture information and the position information, the rehabilitation state of the user is detected in real time, planning of rehabilitation training is facilitated, on the other hand, walking route planning of the whole hanger system can be conducted according to the position of the user relative to the rehabilitation mechanism and the environmental characteristics, full-automatic omni-directional autonomous following can be achieved, interference to a patient is reduced, work load of nursing staff is reduced, and the effect of rehabilitation training of the patient is improved.

In some embodiments, fig. 2 is a flowchart of another control method of a rehabilitation institution according to an embodiment of the present invention. On the basis of the above embodiment, referring to fig. 2, the method for controlling a rehabilitation mechanism according to the embodiment of the present invention includes:

s201, an environment sensor collects environment characteristics of the surrounding environment of the rehabilitation mechanism and sends the environment characteristics to the control module; the environment features comprise binocular vision images and laser radar point cloud images of the surrounding environment of the rehabilitation institution.

Specifically, the environmental sensor may include a binocular camera for acquiring binocular vision images of the surrounding environment of the rehabilitation institution and a lidar for acquiring lidar point cloud images of the surrounding environment of the rehabilitation institution.

S202, a human body sensor collects the using gesture information of a user on the rehabilitation mechanism and sends the using gesture information to the control module; the using gesture information comprises real-time image data of a user acquired by the human body sensor.

Specifically, the human body sensor comprises a camera, a depth camera or an infrared camera and the like, and is used for collecting the using posture information of a user on the rehabilitation mechanism.

S203, a displacement sensor collects position information of a user relative to the rehabilitation mechanism and sends the position information to the control module; the position information comprises the offset of the hanging plate of the rehabilitation mechanism relative to the center of the hanging bracket.

Specifically, the displacement sensor may include an X-direction displacement sensor and a Y-direction displacement sensor, and an exemplary fixed end of the X-direction displacement sensor may be mounted on the X-direction bracket, a movable end may be mounted on the X-direction slider, a fixed end of the Y-direction displacement sensor may be mounted on the Y-direction bracket, and a movable end may be mounted on the Y-direction slider. The position information of the user relative to the rehabilitation mechanism is acquired in real time through the X-displacement sensor and the Y-displacement sensor.

In some embodiments, fig. 3 is a flowchart of a control method of a rehabilitation facility according to an embodiment of the present invention. On the basis of the above embodiment, referring to fig. 3, the method for controlling a rehabilitation mechanism according to the embodiment of the present invention includes:

And S301, the environment sensing processing unit receives the environment characteristics and generates a grid map represented by a matrix according to the environment characteristics.

In some specific embodiments, the environment sensing processing unit may search vanishing points for static objects in a manner of voting by using texture features of pixels according to binocular vision images of surrounding environments of the rehabilitation mechanism acquired by the environment sensor, extract edges of the static objects by using color features, obtain edge information of the static objects by a preset operator, and further identify the static objects in a grid map; for a dynamic and static object, judging whether the pixels move or not by using the instantaneous moving speed of the pixels on an imaging plane, and marking the moving paths of the pixels in a grid map to generate the grid map represented by a matrix. When the environment sensor cannot acquire binocular vision images of the surrounding environment of the rehabilitation mechanism, the environment perception processing unit reflects the interrelation between the mobile hanging frame and surrounding objects by utilizing depth information in a scene according to the laser radar point cloud images acquired by the environment sensor, acquires the depth data of the surrounding environment by utilizing the environment sensor, interpolates the depth data by utilizing the color data to form small-granularity depth images, forms high-resolution scene images of the surrounding environment in a grid map, and generates the grid map represented by a matrix.

Specifically, the input source of the environment sensing processing unit is an environment sensor, the input information is a binocular vision image and a laser radar point cloud image of the surrounding environment, and the output object is a path planning unit; the output information is a grid map represented by a matrix. According to the image transmitted by the environment sensor, for static objects such as static barriers or rehabilitation training modules, the texture features of pixels are utilized to find vanishing points, the color features are utilized to extract the edges of the barriers or the modules, and the information of the edges of the barriers is obtained through a Robert operator, a soft operator, a canny operator or a Mean-shift operator, so that the barriers or the rehabilitation training modules are marked in a grid map. For dynamic objects, such as dynamic barriers, a hanger body or a moving rehabilitation training module, the instantaneous moving speed of pixels on an imaging plane is utilized to judge whether the pixels move or not, for example, an optical flow method can be adopted to detect, and the moving paths of the pixels are marked in a grid map. When the binocular camera is affected by ambient illumination, shadow and the like and effective obstacle types and position information of the ambient environment are difficult to obtain, the environment perception processing unit can acquire a point cloud image by using a laser radar, and the interrelation between the mobile hanging frame and the ambient environment objects is reflected by using depth information in a scene. Surrounding environment depth data is acquired using a lidar, the depth data is interpolated with color data to form a small granularity depth image, and a high resolution scene image of the surrounding environment is formed in a grid map.

S302, the human body posture processing unit receives the using posture information of the user on the rehabilitation mechanism, judges whether the user is in the posture information about to fall according to the using posture information of the user on the rehabilitation mechanism, and calculates the offset of the user relative to the center of the hanging frame.

In some specific embodiments, the human body posture processing unit extracts different characteristic points of a user by adopting a preset algorithm according to real-time image data of the user acquired by the human body sensor, and connects the characteristic points by using line segments according to a human body structure to obtain a skeleton structure of the user; acquiring data characteristics of angles, angular velocities and angular accelerations of a user in the joint motion direction through adjacent image data of a preset frame number, performing pattern recognition through an algorithm, and judging whether the person is in a pose to be fallen or not; acquiring initial position data of center points of five characteristic points of a right eye, a right ear, a nose, a left eye and a left ear of a user when the user stands at the middle position of the walking hanging frame in an initial state; acquiring current position data of center points of five characteristic points of a right eye, a right ear, a nose, a left eye and a left ear of a user when the user is in a use state; and the human body posture processing unit obtains the offset of the user relative to the center of the hanging bracket according to the difference value between the current position data and the initial position data.

Specifically, the input source of the human body posture processing unit is a human body sensor; the input information is real-time image data of a user; the output objects are a position detection processing unit and an emergency state detection unit; the output information is whether the user is in the pose of falling or not and the offset of the user relative to the center of the hanger. The image data of the user is collected through the human body sensor, 18 key points are extracted through an OpenPose algorithm, for example, a right eye, a right ear, a left eye, a left ear, a nose, a neck, a right shoulder, a right elbow, a right wrist, a left shoulder, a left elbow, a left wrist, a right crotch, a right knee, a right ankle, a left crotch, a left knee and a left ankle are connected to the above points according to the human body structure by using line segments to obtain the skeleton structure of the human body. By way of example, 12 joint motion directions can be obtained from 3 to 10 frames of adjacent image data, for example, left shoulder along sagittal plane, left shoulder along coronal plane, left elbow joint, right shoulder along sagittal plane, right shoulder along coronal plane, right elbow joint, left hip along sagittal plane, left hip along coronal plane, left knee joint, right hip along sagittal plane, right hip along coronal plane, and angle, angular velocity, and angular acceleration on right knee joint, for 36 data features, pattern recognition by SVM, LDA, KNN or ANN algorithm, and determination of whether a person is in a pose to be fallen. In the initial state, a user stands in the middle position of the hanger body, and the central points of the five key points of the right eye, the right ear, the nose, the left eye and the left ear of the user are taken as initial position points. When in use, the center points of the five key points of the right eye, the right ear, the nose, the left eye and the left ear of the user are extracted as the current position points. And obtaining the offset of the user relative to the center of the hanger through the difference value between the coordinates of the front position point and the coordinates of the initial position point.

S303, a position detection processing unit judges a movement expected value of the walking module according to the position information of the user relative to the rehabilitation mechanism, acquired by the displacement sensor, and the offset of the user relative to the center of the hanger, calculated by the human body posture processing unit; wherein the movement expected value includes a direction of expected movement and a distance of expected movement.

In some specific embodiments, the position detection processing unit multiplies the offset of the user relative to the hanger center of the rehabilitation mechanism and the offset of the suspension hanger plate of the rehabilitation mechanism relative to the hanger center by different weight coefficients respectively through a weighting algorithm, and then performs vector summation to obtain a movement expected value of the walking module; wherein the weight coefficient of the offset of the user relative to the hanger center of the rehabilitation mechanism is greater than the weight coefficient of the offset of the hanging plate of the rehabilitation mechanism relative to the hanger center.

S304, the path planning unit judges whether the walking module can continue to move and the target variation of the walking module displacement and the human body posture according to the grid map and the movement expected value of the walking module.

In some specific embodiments, the path planning unit establishes distance information from the current position to all other points in the grid map according to the grid map input by the environment sensing module and the movement expected value of the walking hanger input by the position detection module; calculating distance measurement information of each node in the path planning process through a preset algorithm to obtain target variable quantity of the displacement of the walking module and the human body posture; if an obstacle appears, searching along a preset path is canceled, obstacle prompt information is output in front of the path, and the walking module is judged to be unable to continue moving; wherein the grid map identifies surrounding obstacles, walking hangers, and other modules, the obstacles being displayed as open circuits in the grid map.

Specifically, the input sources of the path planning unit are an environment sensing processing unit and a position detection processing unit; the input information is respectively a grid map expressed by a matrix and a movement expected value of the hanger body, and the input information comprises the movement direction and the movement distance of the expected hanger body; the output object is an emergency state detection unit and a control unit; the output information is respectively the target variable quantity of whether the hanging frame can move continuously and the displacement and the gesture of the hanging frame body. According to the grid map which is input by the environment sensing module and is used for identifying surrounding obstacles, the hanger body and other modules, and the movement expected value of the hanger body which is input by the position detection module, distance information from the current position to all other points is established in the grid map, according to the movement expected value of the hanger body, distance measurement information of each node is calculated in the path planning process, if an obstacle appears, searching along a preset path is canceled, and obstacle prompt information is output in front.

In some embodiments, fig. 4 is a flowchart of a control method of a rehabilitation facility according to an embodiment of the present invention. On the basis of the above embodiment, referring to fig. 4, the method for controlling a rehabilitation mechanism according to the embodiment of the present invention includes:

S401, an emergency sensor collects emergency signals whether the emergency sensor is triggered or not.

In particular, the emergency sensor may include an emergency stop button and/or a plurality of pressure sensitive handrails for acquiring an emergency signal if the emergency sensor is triggered.

In some embodiments, fig. 5 is a flowchart of a control method of a rehabilitation facility according to an embodiment of the present invention. On the basis of the above embodiment, referring to fig. 5, the method for controlling a rehabilitation mechanism according to the embodiment of the present invention includes:

S501, an emergency state detection unit generates an emergency stop command and an emergency event type according to the gesture information about whether the user is about to fall or not, the signal about whether the walking module can continue to move or not, and the emergency signal about whether the emergency sensor is triggered or not, which are sent by the human gesture processing unit.

Specifically, the input sources of the emergency state detection unit are a human body gesture processing unit, a path planning unit and an emergency sensor, such as an emergency stop button or a pressure-sensitive handrail; the input information is whether the user is in a falling gesture, whether the hanging bracket can move continuously, whether the emergency switch or the pressure-sensitive handrail is triggered or not; the output object is a control unit; the output information is an emergency stop command and an emergency event type. When the hanger body is not movable, the emergency switch is triggered or the pressure-sensitive handrail is triggered, an emergency stop command is sent out. The emergency state detection unit judges the type of the emergency event according to the current information and sends the type of the emergency event to the control unit.

In some embodiments, fig. 6 is a flowchart of a control method of a rehabilitation facility according to an embodiment of the present invention. On the basis of the above embodiment, referring to fig. 6, the control method of the rehabilitation mechanism provided by the embodiment of the invention includes:

And S601, the control unit controls the driving source of the rehabilitation mechanism to drive the walking module to walk according to the emergency stop command, and controls the driving source of the rehabilitation mechanism to emergently brake according to the displacement of the walking module and the target variation of the human body posture.

In some specific embodiments, when the emergency stop command triggers, the control unit outputs that the target speed is zero, and the driving source emergency brake stops the walking module from walking; when the emergency stop command is not triggered, the control unit calculates the target movement speed of the walking module in proportion to the error between the current displacement of the walking module and the target displacement and the error between the current human body posture and the target human body posture; decomposing the target movement speed of the walking module into the target rotation speed of the driving source of the walking module by utilizing a movement decomposition algorithm, and outputting the target rotation speed to a speed regulator of the driving source; the speed regulator controls the walking speed of the walking module by regulating the rotating speed of the driving source.

Specifically, the driving source may be one of a brushless motor, a stepping motor, or a brushed motor, and may be provided with an angular hall sensor or a photoelectric encoder to enable servo control. Of course, the specific type of the driving source may be selected according to actual needs, and is not limited to the above. The input sources of the control unit are an emergency state detection unit and a path planning unit; the input information is an emergency stop command and target variable quantities of displacement and gesture respectively; the output object is a motor speed regulator; the output information is the target speed of each of the four motors. Illustratively, the control unit outputs a target speed of 0 when the emergency stop command triggers. When the emergency stop command is not triggered, the control unit calculates the target speed of the hanger body movement in proportion to the error of the current pose and the target pose, and the target speed of the traveling hanger is decomposed into target rotating speeds of four omnidirectional traveling wheels by utilizing a movement decomposition algorithm and is output to a speed regulator of a driving source, such as a motor speed regulator.

S602, the control unit controls the display module to display emergency information according to the emergency stop command and the emergency event type, and controls the voice module to carry out voice warning.

Specifically, the control unit controls the voice module, such as a loudspeaker, to carry out sound alarm according to the type of the emergency event output by the received emergency state detection unit, and controls the display module, such as a display, to send out corresponding warning reminding.

The embodiment of the invention provides a control system of a rehabilitation mechanism, which executes the control method of the rehabilitation mechanism in any embodiment. Fig. 7 is a schematic structural diagram of a control system of a rehabilitation mechanism according to an embodiment of the present invention. On the basis of the above embodiment, referring to fig. 7, a control system 100 of a rehabilitation mechanism according to an embodiment of the present invention includes:

the sensing module 7 is used for detecting environmental characteristics, using posture information of a user and position information of the user relative to the rehabilitation institution.

The control module 6 is used for receiving the environmental characteristics, the using gesture information and the position information and controlling the walking module of the rehabilitation mechanism to walk omnidirectionally and autonomously according to the environmental characteristics, the using gesture information and the position information.

In some embodiments, fig. 8 is a schematic structural diagram of a control system of another rehabilitation mechanism according to the embodiment of the present invention. On the basis of the above embodiment, referring to fig. 8, the sensing module 7 of the control system 100 of the rehabilitation mechanism according to the embodiment of the present invention includes:

an environmental sensor 43 for acquiring environmental characteristics of the surrounding environment of the rehabilitation facility and transmitting the environmental characteristics to the control module; the environmental features comprise binocular vision images and laser radar point cloud images of the surrounding environment of the rehabilitation institution.

A human body sensor 44 for collecting the use posture information of the rehabilitation mechanism from the user and transmitting the use posture information to the control module; the using gesture information comprises real-time image data of a user acquired by a human body sensor.

The displacement sensor 45 is used for collecting the position information of the user relative to the rehabilitation mechanism and sending the position information to the control module; wherein the positional information includes an offset of the hanging boom plate of the rehabilitation facility relative to the boom center.

In some embodiments, fig. 9 is a schematic structural diagram of a control system of a rehabilitation mechanism according to an embodiment of the present invention. On the basis of the above embodiment, referring to fig. 9, the control module 6 of the control system 100 of the rehabilitation mechanism according to the embodiment of the present invention includes:

The environment sensing processing unit 721 is configured to receive the environmental characteristics, and generate a grid map represented by the matrix according to the environmental characteristics.

The human body posture processing unit 722 is configured to receive posture information of a user on the rehabilitation mechanism, determine whether the user is in posture information about to fall according to the posture information of the user on the rehabilitation mechanism, and calculate an offset of the user relative to the center of the hanger.

A position detection processing unit 723, configured to determine a movement expected value of the walking module according to the position information of the user relative to the rehabilitation mechanism acquired by the displacement sensor and the offset of the user relative to the center of the hanger calculated by the human body posture processing unit; wherein the movement expected value includes a direction of the expected movement and a distance of the expected movement.

And a path planning unit 724 for determining whether the walking module can continue to move and the target variation of the walking module displacement and the human body gesture according to the grid map and the movement expected value of the walking module.

In some embodiments, fig. 10 is a schematic structural diagram of a control system of a rehabilitation mechanism according to an embodiment of the present invention. On the basis of the above embodiment, referring to fig. 10, the sensing module 7 of the control system 100 of the rehabilitation mechanism according to the embodiment of the present invention further includes:

An emergency sensor 53 for acquiring an emergency signal whether the emergency sensor 53 is triggered.

The control module 72 of the rehabilitation institution's control system 100 further includes:

the emergency state detection unit 725 is configured to generate an emergency stop command and an emergency event type according to the gesture information about whether the user is about to fall sent by the human gesture processing unit, the signal about whether the walking module can continue to move sent by the path planning unit, and the emergency signal about whether the emergency sensor 53 is triggered.

And the control unit 726 is used for stopping the walking module from walking by controlling the driving source of the rehabilitation mechanism to emergently brake according to the emergency stop command and controlling the driving source of the rehabilitation mechanism to drive the walking module to walk according to the displacement of the walking module and the target variation of the human body posture. The control unit 726 is further configured to control the display module to display emergency information and control the voice module to perform voice warning according to the emergency stop command and the type of the emergency event.

The control system of the rehabilitation mechanism provided by the embodiment of the invention detects the environmental characteristics, the use posture information of the user and the position information of the user relative to the rehabilitation mechanism through the sensing module, receives the environmental characteristics, the use posture information and the position information through the control module, controls the walking module of the rehabilitation mechanism to independently walk omnidirectionally according to the environmental characteristics, the use posture information and the position information, realizes real-time detection of the rehabilitation state of the user, facilitates planning of rehabilitation training, and can carry out walking route planning of the whole hanger system according to the position of the user relative to the rehabilitation mechanism and the environmental characteristics, thereby improving the use safety of the hanger system.

Fig. 11 is a schematic structural diagram of a rehabilitation device according to an embodiment of the present invention. Fig. 12 is a schematic structural view of another rehabilitation device according to the embodiment of the present invention. Fig. 13 is a schematic structural view of a walking module according to an embodiment of the present invention. On the basis of the above embodiment, referring to fig. 11 to fig. 13, the rehabilitation device 200 provided in the embodiment of the present invention includes the control system 100 of the rehabilitation mechanism provided in any of the above embodiments, where the control system 100 of the rehabilitation mechanism includes a sensing module and a control module, and the rehabilitation device 200 includes: a hanger body 1 and a walking module 2; the hanger body 1 is a portal frame; the walking module 2 is arranged below the vertical section of the portal frame, the walking module 2 is provided with a driving source 21, and the driving source 21 can drive the walking module 2 to independently walk omnidirectionally; the sensing module is arranged on the hanger body 1 and can detect environmental characteristics, use posture information of a user and position information of the user relative to the hanger body; the control module 6 is arranged below the vertical section of the portal frame and is adjacent to the walking module 2, the sensing module is connected with the control module 6, and the control module 6 is used for receiving environmental characteristics, using gesture information and position information and controlling the walking module 2 of the rehabilitation mechanism to independently walk omnidirectionally according to the environmental characteristics, using the gesture information and the position information.

Specifically, as shown in fig. 12, the number of walking modules 2 may be four, and the four walking modules 2 are respectively located below two vertical sections of the gantry. As shown in fig. 13, each traveling module 2 includes a driving source 21, a traveling bracket 22, an omni-directional traveling wheel 23, and a transmission assembly 24, and the driving source 21 may be a motor and is capable of driving the omni-directional traveling wheel 23 to travel omni-directionally and autonomously. FIG. 14 is a schematic view of a partial construction of a transmission assembly provided by an embodiment of the present invention; fig. 15 is another partial schematic view of a transmission assembly according to an embodiment of the present invention. As shown in fig. 14-15, the transmission assembly 24 may include a coupling 241, a power input shaft 242, a first timing pulley 243, and a second timing pulley 244, the coupling 241 being connected to the output shaft of the drive source 21, one end of the power input shaft 242 being connected to the coupling 241; the other end is rotatably matched on the walking bracket 22, a first synchronous pulley 243 is arranged on the power input shaft 242, first bearings 245 are arranged on two sides of the first synchronous pulley 243, a second synchronous pulley 244 is matched with the first synchronous pulley 243 through a synchronous transmission belt, the second synchronous pulley 244 is arranged on the input wheel shaft 231 of the omnidirectional walking wheel 23, and second bearings 246 are arranged on two sides of the second synchronous pulley 244. The sleeve 247 is located on both sides of the second timing pulley 244, and the sleeve 247 is sandwiched between the second timing pulley 244 and the second bearing 246.

In some embodiments, fig. 16 is a schematic structural diagram of a suspension module according to an embodiment of the present invention. On the basis of the above embodiment, in conjunction with fig. 12 and 16, the rehabilitation device provided in the embodiment of the present invention further includes: the suspension module 3, the suspension module 3 is arranged on the horizontal section of the portal frame, the suspension module 3 comprises a suspension bracket 31 and a suspension plate 32, and the suspension plate 32 is slidably arranged on the suspension bracket 31 along two mutually perpendicular directions; the suspension bracket 31 includes: the X-direction support 310 and the Y-direction support 315, the X-direction support 310 is two arranged at intervals, two ends of the Y-direction support 315 are respectively and slidably arranged on the two X-direction supports 310, and the hanging plate 32 is slidably arranged on the Y-direction support 315; the sensing module comprises an environment sensor 43, a human body sensor 44 and a displacement sensor 45; the environmental sensor 43 is arranged around the hanger body 1, and the environmental sensor 43 is used for collecting environmental characteristics; the body sensor 44 is arranged at the top of the hanger body 1, and the environment sensor 43 is used for collecting the using gesture information of a user; the displacement sensor 45 includes an X-displacement sensor 41 provided on the X-direction bracket 310 and a Y-displacement sensor 42 provided on the Y-direction bracket 315, and the displacement sensor 45 is used to collect positional information of a user.

Specifically, the suspension bracket 31 includes an X-direction bracket 310, an X-direction slider 311, an X-direction optical axis 312, an X-direction buffer block 313, an X-direction stopper 314, a Y-direction bracket 315, a Y-direction slider 316, a Y-direction optical axis 317, a Y-direction buffer block 318, and a Y-direction stopper 319. The X-direction brackets 310 are two arranged at intervals. The X-direction slider 311 is connected to the Y-direction bracket 315, and the X-direction optical axis 312 is mounted on the X-direction bracket 310 and cooperates with the X-direction slider 311. The X-direction buffer blocks 313 are disposed at both ends of the X-direction optical axis 312, and X-direction stoppers 314 are further disposed outside the X-direction buffer blocks 313. The Y-direction brackets 315 are two arranged at intervals, two ends of each Y-direction bracket 315 are respectively slidably arranged on the two X-direction brackets 310, and the hanging plate 32 is slidably arranged on the Y-direction brackets 315. The four Y-direction sliding blocks 316 are four, the four Y-direction sliding blocks 316 are all connected to the hanging plate 32, and the Y-direction optical axis 317 is mounted on the Y-direction bracket 315 and is matched with the Y-direction sliding blocks 316. Each Y-axis 317 is provided with two Y-sliders 316, Y-buffers 318 are provided at both ends of the Y-axis 317, and Y-stoppers 319 are further provided outside the Y-buffers 318.

In some embodiments, with continued reference to fig. 12 based on the above embodiments, the rehabilitation device 200 provided by the embodiment of the present invention further includes an emergency sensor 5, where the emergency sensor 5 is electrically connected to the control module 6, and the emergency sensor 5 is configured to collect an emergency signal that whether the emergency sensor is triggered; the emergency sensor 5 comprises an emergency stop button 51, and the emergency stop button 51 is arranged on the hanger body 1; and/or the emergency sensor 5 includes a plurality of pressure-sensitive handrails 52, and the plurality of pressure-sensitive handrails 52 are provided on the hanger body 1 at intervals in the vertical direction. Alternatively, fig. 17 is a schematic structural view of a hanging plate according to an embodiment of the present invention. As shown in fig. 17, the suspension plate 32 includes a suspension plate body 321, suspension bolts 322, suspension nuts 323, and thrust bearings 324, the suspension plate body 321 is slidably provided on the suspension bracket 31, the suspension bolts 322 are threaded on the suspension plate body 321, the suspension nuts 323 are fitted on the suspension bolts 322, the number of the thrust bearings 324 is two, and the two thrust bearings 324 are threaded on the suspension bolts 322 and are stopped on the upper side wall and the lower side wall of the suspension plate body 321.

The rehabilitation equipment provided by the embodiment of the invention comprises the control system of the rehabilitation mechanism provided by any embodiment, and because the hanger body is formed into the portal frame, on one hand, the weight of a user can be well borne, the whole hanger system can be ensured to stably run, and on the other hand, the portal frame structure can enable the hanger to better pass through the stair or slope and other rehabilitation props, so that the application range of the hanger system is widened, the rehabilitation action of the user is widened, and the rehabilitation effect of the user is improved. Because the lower extreme of portal frame is equipped with the walking module, the walking module can realize the omnidirectional walking under the drive of self actuating source, has realized that the gallows system is full-automatic independently omnidirectional in the use follows the user, can promote the safety in utilization of gallows system, can reduce nursing staff's work burden again. The slidable suspension module can move along with a user so as to reduce the influence of inertia and system response delay, thereby reducing the interference of the suspension system to the user and ensuring the rehabilitation effect.

Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims

1. A method for controlling a rehabilitation facility, comprising:

the control module receives the environmental characteristics, the using gesture information and the position information and controls the walking module of the rehabilitation mechanism to walk omnidirectionally and autonomously according to the environmental characteristics, the using gesture information and the position information;

the sensing module detects environmental characteristics, use posture information of a user and position information of the user relative to the rehabilitation institution, and comprises:

The displacement sensor acquires the position information of a user relative to the rehabilitation mechanism and sends the position information to the control module; the position information comprises the offset of a hanging plate of the rehabilitation mechanism relative to the center of a hanging bracket;

the control module receives the environmental characteristics, the usage posture information and the position information, and controls the walking module of the rehabilitation mechanism to walk omnidirectionally and autonomously according to the environmental characteristics, the usage posture information and the position information, and the control module comprises:

2. The method according to claim 1, further comprising, after the sensing module detects the environmental characteristic, the usage posture information of the user, and the position information of the user with respect to the rehabilitation facility:

3. The method according to claim 2, characterized by further comprising, after the path planning unit determines whether the walking module can continue to move and the target amount of change in the walking module displacement and the human body posture based on the grid map and the movement expectation value of the walking module:

4. The control method of a rehabilitation facility according to claim 3, wherein after the emergency state detection unit generates an emergency stop command and an emergency event type according to the posture information about whether the user is about to fall, the signal of whether the walking module can continue to move, which is transmitted from the path planning unit, and the emergency signal of whether the emergency sensor is triggered, which are transmitted from the human posture processing unit, the control method further comprises:

5. The control method of a rehabilitation apparatus according to claim 4, wherein the control unit controls the driving source of the rehabilitation apparatus to drive the walking module to walk according to the target variation of the displacement and the posture of the human body by controlling the driving source of the rehabilitation apparatus to emergently brake the walking module according to the emergency stop command, comprising:

6. The method of claim 1, wherein the environmental awareness processing unit receives the environmental characteristics and generates a grid map represented by a matrix from the environmental characteristics, comprising:

7. The control method of a rehabilitation institution according to claim 1, wherein the human body posture processing unit receives user real-time image data collected by the human body sensor; and determining whether the user is in a position to be fallen and an offset of the user from the center of the hanger, comprising:

acquiring initial position data of center points of five characteristic points of a right eye, a right ear, a nose, a left eye and a left ear of a user when the user stands at the middle position of the walking hanging frame in an initial state;

acquiring current position data of center points of five characteristic points of a right eye, a right ear, a nose, a left eye and a left ear of a user when the user is in a use state;

and the human body posture processing unit obtains the offset of the user relative to the center of the hanging bracket according to the difference value between the current position data and the initial position data.

8. The method according to claim 1, wherein the position detection processing unit calculates the movement expectation value of the traveling module based on the amount of displacement of the hanger plate of the rehabilitation mechanism with respect to the hanger center and the amount of displacement of the user with respect to the hanger center of the rehabilitation mechanism, which are acquired by the displacement sensor, comprising:

the position detection processing unit multiplies the offset of a user relative to the hanger center of the rehabilitation mechanism and the offset of a suspension hanger plate of the rehabilitation mechanism relative to the hanger center by different weight coefficients respectively through a weighting algorithm and then performs vector summation to obtain a movement expected value of the walking module;

Wherein the weight coefficient of the offset of the user relative to the hanger center of the rehabilitation mechanism is greater than the weight coefficient of the offset of the hanging plate of the rehabilitation mechanism relative to the hanger center.

9. The method according to claim 1, wherein the path planning unit determines whether the walking module can continue to move and a target variation of the walking module displacement and the human body posture based on the grid map and a movement expectation value of the walking module, comprising:

if an obstacle appears, searching along a preset path is canceled, obstacle prompt information in front is output, and the walking module is judged to be unable to continue moving;

wherein the grid map identifies surrounding obstacles, walking hangers and modules, suspension modules, control modules, and sensing modules, the obstacles being displayed as open circuits in the grid map.

10. A control system for a rehabilitation facility, comprising: the control system of the rehabilitation facility performs the control method of the rehabilitation facility according to any one of claims 1 to 9;

the control system of the rehabilitation institution comprises:

11. A rehabilitation apparatus, comprising: the rehabilitation facility control system of claim 10; the control system of the rehabilitation institution comprises: the sensing module and the control module;

12. The rehabilitation apparatus according to claim 11, wherein,

the rehabilitation apparatus further includes: the suspension module is arranged on the horizontal section of the portal frame and comprises a suspension bracket and a suspension plate, and the suspension plate is slidably arranged on the suspension bracket along two mutually perpendicular directions; the suspension bracket includes: the X-direction support and the Y-direction support are arranged at intervals, two ends of the Y-direction support are respectively and slidably arranged on the two X-direction supports, and the hanging plate is slidably arranged on the Y-direction support;

the sensing module comprises an environment sensor, a human body sensor and a displacement sensor;

the environment sensor is arranged around the hanger body and is used for collecting environment characteristics;

The human body sensor is arranged at the top of the hanger body and is used for collecting the use posture information of a user;

the displacement sensor comprises an X-direction displacement sensor arranged on the X-direction support and a Y-direction displacement sensor arranged on the Y-direction support, and the displacement sensor is used for collecting position information of a user.

13. The rehabilitation apparatus according to claim 12, characterized in that the rehabilitation apparatus further comprises:

the emergency sensor is electrically connected with the control module and is used for acquiring an emergency signal whether the emergency sensor is triggered or not;

the emergency sensor comprises an emergency stop button which is arranged on the hanger body; and/or:

the emergency sensor comprises a plurality of pressure handrails, and the pressure handrails are arranged on the hanger body at intervals along the vertical direction.