CN113908019A - Walking aid following method and system based on walking aid and terminal equipment - Google Patents

Walking aid following method and system based on walking aid and terminal equipment Download PDF

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Publication number
CN113908019A
CN113908019A CN202111052020.XA CN202111052020A CN113908019A CN 113908019 A CN113908019 A CN 113908019A CN 202111052020 A CN202111052020 A CN 202111052020A CN 113908019 A CN113908019 A CN 113908019A
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target object
walking aid
moving speed
movement
rate
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CN113908019B (en
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张笑千
罗朝晖
尚鹏
杨德龙
侯增涛
刘程祥
王博
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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Priority to CN202111052020.XA priority Critical patent/CN113908019B/en
Priority to PCT/CN2021/137590 priority patent/WO2023035458A1/en
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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
    • 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
    • A61H2201/5064—Position sensors
    • 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
    • A61H2201/5079—Velocity sensors

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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 application is suitable for the technical field of intelligent walking aid, and provides a following walking aid method, a system and terminal equipment based on a walking aid, wherein the method comprises the following steps: acquiring motion information of a target object using a walker; obtaining a moving speed of the target object in a first direction by using the motion information; controlling movement of the walker in the first direction in accordance with the rate of movement. By the aid of the method, the walking aid can actually and actively follow the target object to assist the target object to perform rehabilitation training better.

Description

Walking aid following method and system based on walking aid and terminal equipment
Technical Field
The application belongs to the technical field of intelligent walking aids, and particularly relates to a following walking aid method, system, device, terminal equipment and storage medium based on a walking aid.
Background
The main pathological manifestations of lower limb dysfunction are that the lower limbs of patients are difficult to effectively support the bodies of the patients, the mobility and the life quality of the patients are greatly damaged, and the common lower limb dysfunction caused by stroke is common. With the development of economy, the need for improving the quality of life of patients with lower limb dysfunction is increasing, and thus industries related to rehabilitation of patients with lower limb dysfunction, such as auxiliary equipment used in the rehabilitation process, are being developed.
The rehabilitation process can accelerate the recovery process of the balance ability and muscle strength of the patient by the aid of the auxiliary equipment. Earlier aids were fully passive walking aids, such as the common non-assisted modality support walker, often requiring professional caregivers to assist in the rehabilitation process for artificial rehabilitation training. In order to solve the above problems, an active walking aid device is available on the market, but the current common active walking aid device generally needs a user to operate a designated controller (handrail sensing pressure device, operating rocker, etc.) to control the movement of the active walking aid device.
The existing active walking aid equipment still needs a user to operate the equipment, and real active following walking aid for a patient cannot be realized.
Disclosure of Invention
The embodiment of the application provides a following walking aid method, a following walking aid system, a following walking aid device, a terminal device and a storage medium based on a walking aid, and the technical problem that walking aid equipment in the prior art cannot really and actively follow a patient to walk can be solved.
In a first aspect, the present application provides a walking aid-based following walking aid method, including:
obtaining motion information of a target object using the walker;
obtaining the moving speed of the target object in a first direction by utilizing the motion information;
controlling movement of the walker in the first direction in accordance with the rate of movement.
Based on the above method, motion information of the target object is acquired by using the walker, a moving rate of the target object in the first direction is acquired using the motion information, and the movement of the walker in the first direction is controlled according to the moving rate. During the movement of the target object, the movement of the walker in the first direction is automatically adjusted according to the motion information of the target object. When the target object adopts the walking aid based on the method for rehabilitation training, excessive operation on the walking aid is not needed, and the walking aid can actively follow the walking aid of the target object, so that the walking aid can better assist the target object in rehabilitation training.
In a possible implementation manner of the first aspect, the obtaining, by using the motion information, a moving speed of the target object in a first direction includes:
determining the step length of the lower limb according to the lifting angle of the lower limb and the length value;
and obtaining the moving speed of the target object in the first direction according to the step length.
Optionally, a first inertial sensor is arranged at a thigh part of the lower limb, and a second inertial sensor is arranged at a shank part of the lower limb; the lifting angle of the lower limb comprises a thigh lifting angle acquired by the first inertial sensor and a shank lifting angle acquired by the second inertial sensor; the length values include a thigh length value and a shank length value.
Illustratively, the step size is obtained according to the following equation:
DS＝D1 sinθ1+D2 sinθ2
wherein: dSFor said step length, D1Is the thigh length value, D2Is the value of the length of the lower leg, theta1For the thigh elevation angle, θ2Raising the angle for the lower leg.
In an alternative embodiment, said controlling the movement of said walker in said first direction in dependence on said rate of movement comprises:
controlling the walker to move in the first direction according to the movement rate of the target object when the movement rate of the target object in the first direction is within a preset rate range;
limiting a rate of movement of the walker in the first direction when the rate of movement of the target object in the first direction is not within a preset rate range.
Optionally, the limiting the rate of movement of the walker in the first direction comprises:
when the moving speed of the target object in the first direction is smaller than the lower limit value of a preset speed range and continuously longer than a preset time length, controlling the walking aid to perform braking treatment so that the moving speed of the walking aid becomes zero;
and when the moving speed of the target object in the first direction is larger than the upper limit value of a preset speed range, taking the upper limit value as the target moving speed of the walking aid, and controlling the walking aid to move in the first direction according to the target moving speed.
In a second aspect, the embodiment of the application provides a walking aid-based following walking aid system, which comprises a walking aid and a driving device, wherein the wheels of the walking aid are provided with motors;
the driving device is used for acquiring motion information of a target object using the walking aid, acquiring the moving speed of the target object in a first direction according to the motion information, and controlling the motor according to the moving speed so that the motor drives the walking aid to move in the first direction.
In a possible implementation manner of the second aspect, the system further includes a first inertial sensor and a second inertial sensor, the first inertial sensor is worn on the thigh part of the target object, and the second inertial sensor is worn on the calf part of the target object;
the motion information acquired by the driving equipment comprises a lifting angle and a length value of the lower limb; wherein the elevation angle of the lower limb comprises a thigh elevation angle obtained from the first inertial sensor and a shank elevation angle obtained from the second inertial sensor; the length value comprises a thigh length value and a shank length value of the target object;
the driving device is used for obtaining the moving speed of the target object in a first direction according to the motion information; the method specifically comprises the following steps:
determining the step length of the lower limb according to the lifting angle of the lower limb and the length value;
and obtaining the moving speed of the target object in the first direction according to the step length.
In a third aspect, embodiments of the present application provide a walking aid-based following walking aid device, including:
a motion information acquisition unit for acquiring motion information of a target object using the walker;
a movement rate obtaining unit configured to obtain a movement rate of the target object in the first direction using the motion information;
a movement control unit for controlling the movement of the walker in the first direction in dependence on the rate of movement.
In a fourth aspect, the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the walking aid-based following walking aid method according to any one of the first aspect.
In a fifth aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program which, when executed by a processor, implements a walker-based follow-up walking method according to any one of the first aspect described above.
In a sixth aspect, embodiments of the present application provide a computer program product which, when run on a terminal device, causes the terminal device to perform the walker-based follow walking method of any one of the first aspect described above.
It is understood that the beneficial effects of the second to sixth aspects can be seen from the description of the first aspect, and are not described herein again.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural view of a walker-based follow-up walking system according to one embodiment of the present application;
FIG. 2 is a schematic flow diagram of a walker-based follow-up walking method according to an embodiment of the present application;
fig. 3 is a flowchart illustrating a method for obtaining a moving speed of the target object in a first direction by using the motion information according to an embodiment of the present application;
FIG. 4 is a schematic flow chart of a method for controlling movement of the walker in the first direction based on the rate of movement provided by an embodiment of the present application;
FIG. 5 is a schematic structural view of a walker-based follow-up walking device according to one embodiment of the present application;
fig. 6 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
At present, the walking aid for the rehabilitation of patients with lower limb dysfunction has the problem that the walking aid cannot be really and actively followed by the patients, so that the rehabilitation training auxiliary effect of the users is poor. In order to solve the technical problem, the embodiment of the application provides a method, a system, a device, a terminal device and a storage medium for following walking aid based on a walking aid; the movement of the walker in the first direction is controlled according to the movement rate by acquiring the movement information of the target object using the walker and obtaining the movement rate of the target object in the first direction using the movement information. According to the technical scheme, the moving speed of the walking aid in the first direction is controlled according to the moving speed of the target object in the first direction, so that the moving speed of the walking aid is influenced by the moving speed of the target object, the walking aid can actively follow the walking aid to the target object, and rehabilitation training is better assisted.
As shown in FIG. 1, a schematic structure diagram of a walking aid based following walking aid system provided by an embodiment of the application is provided. This walking aid based following helps capable system includes: a walker 101, a motor 102 arranged on the wheels of the walker, a drive device 103, and an inertial sensor set 104 in communicative connection with the drive device 103, and wherein the inertial sensor set 104 comprises a plurality of inertial sensors 1041, the plurality of inertial sensors 1041 being arranged, in use, at the lower limbs of a target subject using the walker. The driving device can be a terminal device or a circuit driving module integrated on the walking aid.
In this embodiment, the motion information is obtained through inertial sensors, each of the inertial sensors is a nine-axis inertial sensor, it should be noted that each of the inertial sensors may also be another type of inertial sensor, and the inertial sensors are not particularly limited in this embodiment of the application.
From the above analysis, in the walking aid-based following walking aid system in the embodiment of the present application, the driving device obtains the motion information of the lower limbs of the target object by obtaining the inertial sensor worn on the lower limbs of the target object using the walking aid and analyzes the motion information to obtain the moving rate of the target object in the first direction, and controls the motor on the walking aid according to the moving rate, so as to control the movement of the walking aid in the first direction.
In another case, the motion information may be video information or image information obtained through a camera. Illustratively, for example, the driving device in the system may be connected with a camera, the camera is arranged on the walking aid and is used for shooting videos or images of the lower limb movement of the target object using the walking aid, and the driving device acquires the videos or images shot by the camera and performs data analysis on the video information or image information to obtain the moving speed of the target object in the first direction, so as to control the movement of the walking aid in the first direction according to the moving speed.
Referring to fig. 2, it is a schematic flow chart of a walking aid-based walking aid following method according to an embodiment of the present application. By way of example and not limitation, the method may include the steps of:
s201, acquiring motion information of the target object using the walking aid.
In the embodiment of the application, specifically, the motion information of the target object starts to be acquired after the target object wears the relevant equipment and starts the walking aid.
Alternatively, the motion information may be image or video information obtained by a camera, or may be sensor information obtained by a sensor.
In one possible implementation, when the target object is detected to be located at the target relative position of the walking aid, acquiring the motion information of the target object; wherein the target relative position refers to the position of the target object relative to the walker when the walker is in use.
In a possible implementation, upon detecting that the target object is located at the target relative position of the walker, in particular, may include:
detecting a relative position of a target object and the walker;
and comparing the relative position with a preset relative position range, and if the relative position belongs to the preset relative position range, judging that the target object is positioned at the target relative position of the walking aid.
In a specific embodiment, after detecting that the target object is located at the target relative position of the walker, the method further comprises: and sending a starting prompt tone which prompts that the target object and the walking aid are in a starting state.
S202, obtaining the moving speed of the target object in the first direction by utilizing the motion information.
In the embodiment of the present application, the first direction refers to a moving direction of the target object, and the moving rate indicates how fast the target object moves in the first direction. In particular, the method is applied to a lower limb dysfunction patient during a walking exercise in which the first direction generally defaults to a substantially straight line.
S203, controlling the movement of the walking aid in the first direction according to the movement rate.
In the embodiment of the application, the walking aid moves along with the target object in the first direction so as to realize walking aid on the target object; the moving speed of the target object in the first direction obtained by using the motion information of the target object is the main basis for adjusting the moving state of the walking aid.
In the above method, the movement rate of the target object in the first direction is obtained by acquiring and using the motion information of the target object, and then the movement of the walker in the first direction is controlled according to the movement rate. The movement of the walking aid in the first direction is controlled according to the movement rate of the target object in the first direction, so that the movement of the walking aid is influenced by the movement rate of the target object, and the walking aid can actively follow the walking aid to the target object to better assist rehabilitation training.
Exemplarily, based on the system shown in fig. 1, as shown in fig. 2, when the motion information includes a lifting angle and a length value of the lower limb of the target object, fig. 3 provides a flowchart of an implementation method of step S202. As shown in fig. 3, step S202 may include:
s2021, determining the step length of the lower limb according to the lifting angle of the lower limb and the length value.
S2022, obtaining the moving speed of the target object in the first direction according to the step length.
By the method, the data information (lower limb length) of the target object can be integrated into the calculation of the movement rate, so that the obtained data is closer to the actual situation of the target object.
In an alternative embodiment, a first inertial sensor is arranged at the thigh part of the lower limb of the target object, and a second inertial sensor is arranged at the shank part of the lower limb of the target object; the lifting angle of the lower limb comprises a thigh lifting angle acquired by the first inertial sensor and a shank lifting angle acquired by the second inertial sensor; the length values include a thigh length value and a shank length value.
In practical application, the inertial sensors are positioned on the thighs and the shanks of a target object, and because the lower limbs of a human body are composed of the thighs and the shanks connected by the knee joints, the lifting angles of the thighs and the shanks are different in the actual moving process.
In general, inertial sensors are the primary components used to detect and measure acceleration, tilt, shock, vibration, rotation, and multiple degrees of freedom of motion. In the embodiment of the present application, the inertial sensor may be a nine-axis inertial sensor. In the embodiment of the present application, the elevation angle refers to an angle of a target (for example, thigh and calf of a target object) with a vertical direction detected during the movement.
In practical application, we first simulated typical walking patterns of lower limb dysfunction patients caused by stroke. We define the motor phase of stroke patients (taking unilateral lower limb motor dysfunction as an example) as three parts, namely, a double-leg support phase, a healthy limb stepping phase and a diseased limb merging phase. In the starting stage of the walking aid, the two leg supports of the patient touch the ground in parallel, namely the two leg supports are the two leg support phases; then the patient takes a step in advance for the limb health, takes a step for the limb health and touches the ground with the full sole, the walking aid moves along with the patient, and a supporting and walking aid stage is provided for the patient; when the healthy limb steps to the ground, the healthy limb can provide part of the body weight support, but the walking speed and amplitude of the affected limb are limited, at the moment, the walking aid dynamically adjusts parameters to walk the affected limb so that the affected limb can move to the position of the healthy limb, namely, when the affected limb finishes stepping and the whole sole lands, the affected limb is in a walking phase. The above process is mainly carried out through the experiment and verification of the motion of the patient on a vector plane. In the present application, experiments and verification are performed by the motion of the human body on the sagittal plane, so that the limb motion of the human can be simplified into a joint link diagram no matter how the foot and the upper body move, wherein the thigh and the calf are two links connected by the knee joint respectively.
In one implementation, the simplified method described above, wherein the step size is obtained according to the following equation:
DS＝D1 sinθ1+D2 sinθ2
wherein: dSIs the step size, D1Is the thigh length value of the target object, D2Is the value of the target object's calf length, θ1Thigh elevation angle, theta, of the target object2The calf elevation angle for the target object.
In one implementation, the moving rate Δ V in the first direction may be obtained according to the following equation:
Figure BDA0003253086510000091
wherein: Δ D is the step size in a unit time period, and Δ t is the unit time period.
Fig. 4 is a schematic flowchart of step S203 according to an embodiment of the present application. As shown in fig. 4, the present embodiment determines whether the moving rate of the target object in the first direction is within the preset rate range, and specifically, step S203 may include:
s2031, when the moving speed of the target object in the first direction is within a preset speed range, controlling the walking aid to move in the first direction according to the moving speed of the target object.
S2032, when the moving speed of the target object in the first direction is not within a preset speed range, limiting the moving speed of the walking aid in the first direction.
In the above scheme, the preset rate range is a rate normal range. Comparing the moving speed of the target object in the first direction with a preset speed range; when the moving speed of the target object is in a normal range, the walking aid moves in a first direction according to the moving speed of the target object, namely, the target object is subjected to follow-up walking; when the rate of movement of the target object is outside the normal range, then the rate of movement of the walker in the first direction is limited. By making a determination whether the moving speed of the target object is normal or not, more practical situations can be dealt with, for example, if the moving speed of the target object is too low or too high, both situations present a certain risk, for example, if the moving speed is too high, an overspeed risk is identified, and if the moving speed is too low, the target object is identified as involuntary sliding or the walking aid is slowly rolling. In one embodiment, the predetermined rate is in the range of 0.2m/s to 1 m/s.
In one embodiment, limiting the rate of movement of the walker in the first direction in step S2032 may comprise: when the moving speed of the target object in the first direction is smaller than the lower limit value of the preset speed range and is continuously longer than the preset duration, controlling the walking aid to perform braking treatment so that the moving speed of the walking aid becomes zero; and when the moving speed of the target object in the first direction is larger than the upper limit value of the preset speed range, taking the upper limit value as the target moving speed of the walking aid, and controlling the walking aid to move in the first direction according to the target moving speed.
According to the scheme, the condition that the moving speed of the target object is too low is judged and recognized, the walking aid is braked, and the danger brought to the target object by the fact that the target object accidentally slips or the walking aid slowly slides can be avoided. The determination that the duration is longer than the preset duration specifically divides the case that the moving rate of the target object is too low, and if the moving rate is too low and the duration is short, the result may be caused by other reasons, for example, the moving rate of the target object may be significantly increased immediately after the target object starts to move, and at this time, the braking process is not performed.
In the above-described embodiment, the walker is controlled to move at the target movement rate that is the upper limit value by determining and recognizing that the target object movement rate is too high. Since the moving speed of the walking aid is equal to the upper limit value, the walking aid can help the target object to gradually reduce the moving speed to the upper limit value while following the target patient with the excessively high moving speed.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Corresponding to the walking aid based following walking aid method described in the above embodiments, fig. 5 shows a structural block diagram of the walking aid based following walking aid device 5 provided in the embodiments of the present application, and for convenience of explanation, only the parts related to the embodiments of the present application are shown.
Referring to fig. 5, the apparatus includes:
a motion information acquiring unit 51 for acquiring motion information of a target object using the walker;
a movement rate obtaining unit 52 configured to obtain a movement rate of the target object in a first direction using the motion information;
a movement control unit 53 for controlling the movement of the walking aid in the first direction in dependence of the movement rate.
In an optional embodiment, the motion information includes a lifting angle and a length value of the lower limb of the target object; the moving rate obtaining unit 52 is configured to, when obtaining the moving rate of the target object in the first direction by using the motion information, specifically:
determining the step length of the lower limb according to the lifting angle of the lower limb and the length value;
and obtaining the moving speed of the target object in the first direction according to the step length.
Optionally, a first inertial sensor is arranged at a thigh part of the lower limb, and a second inertial sensor is arranged at a shank part of the lower limb; the lifting angle of the lower limb comprises a thigh lifting angle acquired by the first inertial sensor and a shank lifting angle acquired by the second inertial sensor; the length values include a thigh length value and a shank length value.
Optionally, the moving rate obtaining unit 52 is further configured to obtain the step size of the target object according to the following formula:
DS＝D1 sinθ1+D2 sinθ2
wherein: dSIs the step size, D1Is a target object thigh length value, D2Is the target object shank length value, θ1Thigh elevation angle, theta, of the target object2The calf elevation angle for the target object.
In an embodiment, the movement control unit 53, when being configured to control the movement of the walker in the first direction in dependence of the movement rate, is specifically configured to:
controlling the walker to move in the first direction according to the movement rate of the target object when the movement rate of the target object in the first direction is within a preset rate range;
limiting a rate of movement of the walker in the first direction when the rate of movement of the target object in the first direction is not within a preset rate range.
Optionally, the movement control unit 53 is configured to limit the movement rate of the walker in the first direction, and is further configured to:
when the moving speed of the target object in the first direction is smaller than the lower limit value of a preset speed range and continuously longer than a preset time length, controlling the walking aid to perform braking treatment so that the moving speed of the walking aid becomes zero;
and when the moving speed of the target object in the first direction is larger than the upper limit value of a preset speed range, taking the upper limit value as the target moving speed of the walking aid, and controlling the walking aid to move in the first direction according to the target moving speed.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
The apparatus shown in fig. 5 may be a software unit, a hardware unit, or a combination of software and hardware unit built in the existing terminal device, may be integrated into the terminal device as a separate pendant, or may exist as a separate terminal device.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
Fig. 6 is a schematic structural diagram of a terminal device according to an embodiment of the present application. The terminal device in the embodiment of the application is a driving device in a walking aid based following walking aid system. As shown in fig. 6, the terminal device 6 of this embodiment includes: at least one processor 60 (only one processor is shown in fig. 6), a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, the steps of any of the various method embodiments described above being implemented when the computer program 62 is executed by the processor 60.
The terminal device 6 may be a mobile phone, a robot (e.g., a smart robot of a hospital), a wearable device (e.g., a smart meter), etc. The terminal device 6 may also be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The terminal device may include, but is not limited to, a processor 60, a memory 61. Those skilled in the art will appreciate that fig. 6 is only an example of the terminal device 6, and does not constitute a limitation to the terminal device 6, and may include more or less components than those shown, or combine some components, or different components, such as an input/output device, a network access device, and the like.
The Processor 60 may be a Central Processing Unit (CPU), and the Processor 60 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may in some embodiments be an internal storage unit of the terminal device 6, such as a hard disk or a memory of the terminal device 6. The memory 61 may also be an external storage device of the terminal device 6 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the terminal device 6. The memory 61 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 61 may also be used to temporarily store data that has been output or is to be output.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: the computer program code can be carried to any entity or device following a walker/terminal device based on the walker, a recording medium, a computer Memory, a Read-Only Memory (ROM), a Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims (10)

1. A method for following walking aid based on walking aid, which is characterized by comprising the following steps:
obtaining motion information of a target object using the walker;
obtaining the moving speed of the target object in a first direction by utilizing the motion information;
controlling movement of the walker in the first direction in accordance with the rate of movement.
2. The method of claim 1, wherein the motion information includes a lift angle and a length value of a lower limb of the target object, and wherein obtaining the rate of movement of the target object in the first direction using the motion information comprises:
determining the step length of the lower limb according to the lifting angle of the lower limb and the length value;
and obtaining the moving speed of the target object in the first direction according to the step length.
3. The method of claim 2, wherein the thigh portion of the lower limb is provided with a first inertial sensor and the calf portion of the lower limb is provided with a second inertial sensor; the lifting angle of the lower limb comprises a thigh lifting angle acquired by the first inertial sensor and a shank lifting angle acquired by the second inertial sensor; the length values include a thigh length value and a shank length value.
4. The method of claim 3, wherein the step size is obtained according to the following equation:
DS＝D1sinθ1+D2sinθ2
wherein: dSFor said step length, D1Is the thigh length value, D2Is the value of the length of the lower leg, theta1For the thigh elevation angle, θ2Raising the angle for the lower leg.
5. The method of claim 1, wherein said controlling movement of the walker in the first direction as a function of the rate of movement comprises:
controlling the walker to move in the first direction according to the movement rate of the target object when the movement rate of the target object in the first direction is within a preset rate range;
limiting a rate of movement of the walker in the first direction when the rate of movement of the target object in the first direction is not within a preset rate range.
6. The method of claim 5, wherein said limiting the rate of movement of said walker in said first direction comprises:
when the moving speed of the target object in the first direction is smaller than the lower limit value of a preset speed range and continuously longer than a preset time length, controlling the walking aid to perform braking treatment so that the moving speed of the walking aid becomes zero;
and when the moving speed of the target object in the first direction is larger than the upper limit value of a preset speed range, taking the upper limit value as the target moving speed of the walking aid, and controlling the walking aid to move in the first direction according to the target moving speed.
7. A following walking aid system based on a walking aid is characterized by comprising the walking aid and a driving device, wherein a motor is arranged on wheels of the walking aid;
the driving device is used for acquiring motion information of a target object using the walking aid, acquiring the moving speed of the target object in a first direction according to the motion information, and controlling the motor according to the moving speed so that the motor drives the walking aid to move in the first direction.
8. The system of claim 7, further comprising a first inertial sensor worn on a thigh portion of the target subject and a second inertial sensor worn on a calf portion of the target subject;
the motion information acquired by the driving equipment comprises a lifting angle and a length value of the lower limb; wherein the elevation angle of the lower limb comprises a thigh elevation angle obtained from the first inertial sensor and a shank elevation angle obtained from the second inertial sensor; the length value comprises a thigh length value and a shank length value of the target object;
the driving device is used for obtaining the moving speed of the target object in a first direction according to the motion information; the method specifically comprises the following steps:
determining the step length of the lower limb according to the lifting angle of the lower limb and the length value;
and obtaining the moving speed of the target object in the first direction according to the step length.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 6.
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