WO2023035458A1

WO2023035458A1 - Walking aid-based following walking assistance method and system, and terminal device

Info

Publication number: WO2023035458A1
Application number: PCT/CN2021/137590
Authority: WO
Inventors: 张笑千; 罗朝晖; 尚鹏; 杨德龙; 侯增涛; 刘程祥; 王博
Original assignee: 中国科学院深圳先进技术研究院
Priority date: 2021-09-08
Filing date: 2021-12-13
Publication date: 2023-03-16
Also published as: CN113908019B; CN113908019A

Abstract

A walking aid-based following walking assistance method and system, and a terminal device, applicable to the technical field of intelligent walking assistance. The method comprises: obtaining motion information of a target subject using a walking aid (S201); using the motion information to obtain a moving speed of the target subject in a first direction (S202); and controlling the movement of the walking aid in the first direction according to the moving speed (S203). According to the method, the walking aid can provide active following walking assistance for the target subject, thereby better assisting the target subject in rehabilitation training.

Description

Method, system and terminal device for walking aid based on walking aid

technical field

The present application belongs to the technical field of intelligent walking aids, and in particular relates to a walking aid-based following walking aiding method, system, device, terminal equipment and storage medium.

Background technique

The main pathological manifestation of lower limb dysfunction is that the patient's lower limbs are difficult to form effective support for his body, which greatly damages the patient's mobility and quality of life. The common example is lower limb dysfunction caused by stroke. With the development of the economy, patients with lower extremity dysfunction have an increasing need to improve their quality of life. Therefore, industries related to the rehabilitation of patients with lower limb dysfunction have developed to a certain extent, such as auxiliary equipment used in the rehabilitation process.

The use of assistive devices during the rehabilitation process can speed up the recovery process of the patient's balance and muscle strength. The assistive devices that appeared earlier were completely passive walking aids, such as the common unassisted mode support walker. During the rehabilitation process, professional nurses are often needed to help with manual rehabilitation training. In order to solve the above problems, a kind of active walking aid device has appeared on the market at present, but the common active walking aid device generally requires the user to manipulate a designated controller (handrail sensor pressure device, joystick, etc.) to control its movement.

Existing active walking assistance devices still require the user to operate the device, and it is impossible to truly actively follow and assist patients.

Contents of the invention

The embodiment of the present application provides a walking aid-based walking aid method, system, device, terminal device and storage medium, which can solve the technical problem that the walking aid device in the prior art cannot truly actively follow the patient.

In the first aspect, the embodiment of the present application provides a walker-based walking aid method, including:

obtaining motion information of a target subject using the walker;

Obtain a moving rate of the target object in a first direction by using the motion information;

Movement of the walker in the first direction is controlled based on the movement rate.

Based on the above method, the movement information of the target object is obtained by using the walking aid, the moving speed of the target object in the first direction is obtained by using the moving information, and the movement of the walking aid in the first direction is controlled according to the moving speed. During the moving process 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 uses the walker based on the above method for rehabilitation training, there is no need to perform too many operations on the walker, and the walker can actively follow the target object, so that the walker can be better. To assist the target object in rehabilitation training.

In a possible implementation manner of the first aspect, the motion information includes the lift angle and length value of the lower limb of the target object, and the motion information is used to obtain the target object in the first direction movement rates, including:

Determining the step length of the lower limbs through the lifting angle of the lower limbs and the length value;

Obtain the moving rate of the target object in the first direction according to the step size.

Optionally, the thigh of the lower limb is provided with a first inertial sensor, and the calf of the lower limb is provided with a second inertial sensor; the lifting angle of the lower limb includes the thigh lifting obtained by the first inertial sensor Angle, and the calf lifting angle acquired by the second inertial sensor; the length value includes a thigh length value and a calf length value.

Exemplarily, the step size is obtained according to the following formula:

D _S ＝D ₁ sin θ ₁ +D ₂ sin θ ₂

Wherein: _DS is the step length, D ₁ is the thigh length value, D ₂ is the calf length value, θ ₁ is the thigh lifting angle, and θ ₂ is the calf lifting angle.

In an optional implementation manner, the controlling the movement of the walker in the first direction according to the moving rate includes:

When the moving speed of the target object in the first direction is within a preset speed range, controlling the walker to move in the first direction according to the moving speed of the target object;

When the moving speed of the target object in the first direction is not within a preset speed range, limit the moving speed of the walker in the first direction.

Optionally, the limiting the moving rate of the walker in the first direction includes:

When the moving speed of the target object in the first direction is less than the lower limit of the preset speed range and lasts longer than the preset duration, the walking aid is controlled to perform braking processing, so that the walking aid The movement speed of the

When the moving speed of the target object in the first direction is greater than the upper limit value of the preset speed range, the upper limit value is used as the target moving speed of the walker, and the walker is controlled to Moving in the first direction according to the target movement rate.

In the second aspect, the embodiment of the present application provides a walker-based following walking aid system, including a walker and a driving device, and the wheels of the walker are provided with motors;

The driving device is used to obtain motion information of a target object using the walker, and according to the motion information, obtain a moving rate of the target object in a first direction, and control a motor according to the moving rate, so that the motor drives the walker 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 of the target subject, and the second inertial sensor Wearing it on the lower leg of the target object;

The motion information acquired by the driving device includes the lifting angle and length value of the lower limbs; wherein the lifting angle of the lower limbs includes the thigh lifting angle acquired from the first inertial sensor, and the thigh lifting angle acquired from the second inertial sensor. The calf lifting angle; the length value includes the thigh length value and the calf length value of the target object;

The driving device is configured to obtain the moving rate of the target object in the first direction according to the motion information; specifically including:

In the third aspect, the embodiment of the present application provides a walker-based walking aid device, including:

a movement information acquisition unit, configured to acquire movement information of a target subject using the walker;

a moving speed acquiring unit, configured to use the motion information to obtain the moving speed of the target object in the first direction;

A movement control unit, configured to control the movement of the walker in the first direction according to the movement rate.

In a fourth aspect, an embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and operable on the processor, when the processor executes the computer program The walking aid-based follow-up walking aid method described in any one of the first aspects above is realized.

In the fifth aspect, the embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements any one of the above-mentioned first aspects. A walker-based follow-the-walker method.

In the sixth aspect, the embodiment of the present application provides a computer program product, when the computer program product is run on the terminal device, it enables the terminal device to execute the walker-based follow-up assistance described in any one of the above-mentioned first aspects method.

It can be understood that, for the beneficial effects of the above-mentioned second aspect to the sixth aspect, reference can be made to the related description in the above-mentioned first aspect, which will not be repeated here.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without any creative effort.

Fig. 1 is a schematic structural diagram of a walking aid-based following walking aid system provided by an embodiment of the present application;

Fig. 2 is a schematic flowchart of a walker-based follow-up walking method provided by an embodiment of the present application;

Fig. 3 is a schematic flowchart of a method for obtaining the moving rate of the target object in the first direction by using the motion information provided by an embodiment of the present application;

Fig. 4 is a schematic flowchart of a method for controlling the movement of the walker in the first direction according to the moving speed according to an embodiment of the present application;

Fig. 5 is a schematic structural diagram of a walker-based walking aid device provided by an embodiment of the present application;

Fig. 6 is a schematic structural diagram of a terminal device provided by an embodiment of the present application.

Detailed ways

In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand 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 without 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 should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and/or components, but does not exclude one or more other Presence or addition of features, wholes, steps, operations, elements, components and/or collections thereof.

It should also be understood that the term "and/or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

In addition, in the description of the specification and appended claims of the present application, the terms "first", "second", "third" and so on are only used to distinguish descriptions, and should not be understood as indicating or implying relative importance.

Reference to "one embodiment" or "some embodiments" or the like in the specification of the present application 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," "in other embodiments," etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean "one or more but not all embodiments" unless specifically stated otherwise. The terms "including", "comprising", "having" and variations thereof mean "including but not limited to", unless specifically stated otherwise.

At present, the walking aids used for the rehabilitation of patients with lower limb dysfunction generally have the problem of being unable to truly actively follow and assist the patients, resulting in poor rehabilitation training assistance for users. In order to solve this technical problem, an embodiment of the present application provides a method, system, device, terminal device, and storage medium for following walking aids based on walkers; The moving rate of the target object in the first direction is obtained, and the movement of the walker in the first direction is controlled according to the moving rate. The technical solution in the embodiment of this application controls the movement of the walker in the first direction according to the moving rate of the target object in the first direction, so the movement of the walker will be affected by the moving speed of the target object, so that the walking aid The walker can actively follow and assist the target object to better assist rehabilitation training.

As shown in FIG. 1 , it is a schematic structural diagram of a walking aid-based following walking aid system provided by an embodiment of the present application. The following walking aid system based on a walker includes: a walker 101, a motor 102 arranged on the wheels of the walker, a driving device 103, and an inertial sensor group 104 connected in communication with the driving device 103, and the inertial sensor The group 104 includes a plurality of inertial sensors 1041 which, in use, are provided on the lower limbs of a target subject using a walking aid. The drive device may be a terminal device, or a circuit drive module integrated on the walker.

In this embodiment, motion information is obtained through inertial sensors, and each of the inertial sensors is a nine-axis inertial sensor. It should be noted that each inertial sensor can also be other types of inertial sensors. The sensor is not specifically limited.

Through the above analysis, it can be seen that 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 target object's lower limbs through the inertial sensor worn on the target object's lower limbs using the walking aid, and then performs a process on the motion information. The moving speed of the target object in the first direction is analyzed, and the motor on the walker is controlled according to the moving speed, thereby controlling the movement of the walker in the first direction. In this system, the walker can control the target The subject actively follows the walking aid.

In another case, the motion information may be video information or image information obtained through a camera. Exemplarily, for example, the drive device in the system may be connected to a camera, the camera is set on the walker, and is used to capture video or images of the movement of the target object's lower limbs using the walker, and the drive device obtains the video captured by the camera or images and perform 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 walker in the first direction according to the moving speed.

Referring to FIG. 2 , it is a schematic flowchart of a walking aid-based following walking assistance method provided by an embodiment of the present application. By way of example and not limitation, the method may include the following steps:

S201. Acquire motion information of a target object using the walking aid.

In the embodiment of the present application, specifically, after the target object has put on the relevant equipment and started the walking aid, the motion information of the target object can be acquired.

Optionally, as mentioned above, the motion information may be image or video information obtained by a camera, or sensor information obtained by a sensor.

In a possible implementation, when it is detected that the target object is located at the target relative position of the walker, the motion information of the target object is acquired; where the target relative position refers to the relative position of the target object when using the walker location of the device.

In a possible implementation manner, after detecting that the target object is located at the target relative position of the walker, specifically, it may include:

detecting a relative position of a target object to said walker;

The relative position is compared with a preset relative position range, and if the relative position belongs to the preset relative position range, it is determined that the target object is located at the target relative position of the walker.

In a specific embodiment, after it is detected that the target object is located at the target relative position of the walking aid, it further includes: emitting a start-up prompt sound, the start-up prompt sound prompting the target object that the walker is already in the target position. start state.

S202. Using the motion information, obtain a moving rate of the target object in a first direction.

In the embodiment of the present application, the first direction refers to the moving direction of the target object, and the moving speed indicates the speed at which the target object moves in the first direction. Specifically, the method is applied to a patient with lower limb dysfunction during walking exercise. During the walking exercise, the first direction is generally approximately a straight line by default.

S203. Control the movement of the walker in the first direction according to the movement rate.

In the embodiment of the present application, the walking aid moves along with the target object in the first direction so as to assist the target object in walking; the moving speed of the target object in the first direction obtained by using the motion information of the target object is used to adjust the walking aid The main basis for moving status.

In the above method, the movement rate of the target object in the first direction is obtained by acquiring and using the movement information of the target object, and then the movement of the walker in the first direction is controlled according to the movement rate. Control the movement of the walker in the first direction according to the moving speed of the target object in the first direction, so that the movement of the walker will be affected by the moving speed of the target object, so the walker can actively follow the target object Walking aid, better assist in rehabilitation training.

Exemplarily, based on the system shown in FIG. 1 , as shown in FIG. 2 , when the motion information includes the lifting angle and length value of the lower limb of the target object, FIG. 3 provides a schematic flowchart of an implementation method of step S202 . As shown in Figure 3, step S202 may include:

S2021. Determine the step length of the lower limb according to the lifting angle of the lower limb and the length value.

S2022. Obtain the moving speed of the target object in the first direction according to the step size.

Through the above method, the data information (length of the lower limbs) of the target object can be integrated into the calculation of the moving speed, so that the obtained data is closer to the actual situation of the target object.

In an optional embodiment, a first inertial sensor is set on the thigh of the lower limb of the target object, and a second inertial sensor is set on the calf of the lower limb of the target object; the lifting angle of the lower limb includes the value acquired by the first inertial sensor The thigh lift angle, and the calf lift angle acquired by the second inertial sensor; the length value includes the thigh length value and the calf length value.

In practical applications, the position of the inertial sensor is on the thigh and calf of the target object. Since the lower limbs of the human body are composed of the thigh and calf connected by the knee joint, the lifting angle of the thigh and calf will be different during the actual movement. The above method separately detects the lifting angles of the thigh and the calf, and calculates the moving distance by combining the length of the thigh and the length of the calf, so that the accuracy of the obtained moving distance data is higher.

Generally speaking, inertial sensors are mainly components used to detect and measure acceleration, tilt, shock, vibration, rotation, and multi-degree-of-freedom motion. In this embodiment of the application, the inertial sensor may be a nine-axis inertial sensor. In the embodiment of the present application, the lifting angle refers to the angle between the detection target (for example, the thigh and lower leg of the target object) and the vertical direction during the moving process.

For practical applications, we first simulated the typical walking patterns of patients with stroke-induced lower extremity dysfunction. We define the movement phase of stroke patients (taking unilateral lower limb motor dysfunction as an example) into three parts, namely, the support phase of the legs, the step phase of the healthy limb, and the parallel step phase of the affected limb. In the start-up phase of the walker, the patient's legs are supported on the ground in parallel, which is the double-leg support phase; then the patient's healthy limb steps first, and the healthy limb steps and the soles of the feet are on the ground, which is the healthy limb's step phase, and the walker follows the patient's movement, which is The patient provides support and walking aid stage; when the healthy limb steps on the ground, the healthy limb can provide part of the body weight support, but the walking speed and range of the affected limb are limited. At this time, the walker will dynamically adjust the parameters to carry out Walking aid, so that it can move to the position of the healthy limb, that is, when the affected limb completes the step and the sole of the foot touches the ground, that is, the affected limb is in the same step phase. The above process is mainly tested and verified through the movement of the patient on the vector plane. In this application, experiments and verifications are carried out through the movement of the human body on the sagittal plane, so no matter how the feet and upper body move, the movement of the human limbs can be simplified into a joint linkage diagram, where the thigh and calf are represented by the knee Two connecting rods that are articulated.

In a specific implementation, according to the above simplified method, wherein the step size can be obtained according to the following formula:

D _S ＝D ₁ sin θ ₁ +D ₂ sin θ ₂

Among them: D _S is the step length, D ₁ is the thigh length value of the target object, D ₂ is the calf length value of the target object, θ ₁ is the thigh lifting angle of the target object, and θ ₂ is the calf lifting angle of the target object.

In a specific implementation, the moving rate ΔV in the first direction can be obtained according to the following formula:

Among them: ΔD is the step size in the unit time period, and Δt is the unit time period.

Referring to FIG. 4 , it is a schematic flowchart of step S203 provided by an embodiment of the present application. As shown in FIG. 4, this embodiment judges whether the moving speed of the target object in the first direction is within the preset speed range. Specifically, step S203 may include:

S2031. When the moving speed of the target object in the first direction is within a preset speed range, control the walker 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, limit the moving speed of the walker in the first direction.

In the above solution, the preset rate range is the normal rate range. Compare the moving speed of the target object in the first direction with the preset speed range; when the moving speed of the target object is within the normal range, the walker moves in the first direction according to the moving speed of the target object, that is, to the target object Perform follow-up walking assistance; when the moving speed of the target object exceeds the normal range, limit the moving speed of the walking aid in the first direction. By judging 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, there are certain dangers in both situations. For example, if the moving speed is too high If the speed of movement is too low, it is recognized as an unintentional sliding of the target object or a slow rolling of the walker. In a specific implementation, the preset velocity range is 0.2m/s˜1m/s.

In one of the embodiments, limiting the moving speed of the walker in the first direction in step S2032 may include: when the moving speed of the target object in the first direction is less than the lower limit value of the preset speed range , and last longer than the preset duration, control the walker to perform braking processing, so that the moving speed of the walker becomes zero; when the moving speed of the target object in the first direction is greater than the upper limit of the preset speed range value, the upper limit value is used as the target movement rate of the walker, and the walker is controlled to move in the first direction according to the target movement rate.

In the above scheme, by judging and identifying the situation that the moving speed of the target object is too low, the walking aid is braked, which can avoid the danger to the target object caused by the target object sliding unintentionally or the walking aid sliding slowly. Among them, the judgment that the duration is longer than the preset duration makes a specific division of the case where the movement speed of the target object is too low. If the movement speed is too low and the duration is short, it may be caused by other reasons, such as the target object At the beginning of the step, the movement speed will be significantly increased, and no braking will be performed at this time.

In the above solution, by judging and identifying the situation that the moving speed of the target object is too high, the walker is controlled to move with the upper limit as the target moving speed. Since the moving speed of the walker is equal to the upper limit, the walker can follow the target patient whose moving speed is too high and at the same time help the target to gradually reduce the moving speed to the upper limit.

It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiment 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 a walking aid-based following walking aid device 5 provided by the embodiment of the present application. For the sake of illustration, only Parts related to the embodiments of the present application are shown.

Referring to Figure 5, the device includes:

A movement information acquiring unit 51, configured to acquire movement information of a target subject using the walker;

A moving rate acquiring unit 52, configured to use the motion information to obtain the moving rate of the target object in the first direction;

A movement control unit 53, configured to control the movement of the walker in the first direction according to the movement rate.

In an optional embodiment, the motion information includes the lifting angle and length value of the lower limb of the target object; the moving speed acquisition unit 52 is configured to use the motion information to obtain When moving up the rate, specifically for:

Optionally, the moving speed acquisition unit 52 is also used to obtain the step size of the target object according to the following formula:

D _S ＝D ₁ sin θ ₁ +D ₂ sin θ ₂

In one embodiment, when the movement control unit 53 is used to control the movement of the walker in the first direction according to the movement rate, it is specifically used to:

Optionally, the movement control unit 53 is used to limit the moving speed of the walker in the first direction, specifically to:

It should be noted that the information interaction and execution process between the above-mentioned devices/units are based on the same concept as the method embodiment of the present application, and its specific functions and technical effects can be found in the method embodiment section. I won't repeat them here.

In addition, the device shown in Figure 5 can be a software unit, a hardware unit, or a combination of software and hardware built into existing terminal equipment, or it can be integrated into the terminal equipment as an independent pendant, or it can be used as an independent terminal device exists.

Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units, Completion of modules means that the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware It can also be implemented in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application. For the specific working process of the units and modules in the above system, reference may be made to the corresponding process in the foregoing method embodiments, and details will not be repeated here.

FIG. 6 is a schematic structural diagram of a terminal device provided by an embodiment of the present application. The terminal device in the embodiment of the present application is the drive device in the follow-up walking aid system based on the walker. 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 stored in the memory 61 and can be processed in the at least one processor. A computer program 62 running on the processor 60, when the processor 60 executes the computer program 62, implements the steps in any of the above method embodiments.

The terminal device 6 may be a mobile phone, a robot (such as a hospital-like smart robot), a wearable device (such as a smart watch), and the like. The terminal device 6 may also be computing devices such as desktop computers, notebooks, palmtop computers, and cloud servers. The terminal device may include, but not limited to, a processor 60 and a memory 61 . Those skilled in the art can understand that FIG. 6 is only an example of the terminal device 6, and does not constitute a limitation to the terminal device 6. It may include more or less components than those shown in the figure, or combine certain components, or different components. , for example, may also include input and output devices, network access devices, and so on.

The so-called processor 60 can be a central processing unit (Central Processing Unit, CPU), and the processor 60 can also be other general processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit) , ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

The storage 61 may be an internal storage unit of the terminal device 6 in some embodiments, such as a hard disk or memory of the terminal device 6 . The memory 61 can also be an external storage device of the terminal device 6 in other embodiments, such as a plug-in hard disk equipped on the terminal device 6, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, flash memory card (Flash Card), etc. Further, the memory 61 may also include both an internal storage unit of the terminal device 6 and an external storage device. The memory 61 is used to store operating system, application program, boot loader (BootLoader), data and other programs, such as the program code of the computer program. The memory 61 can also be used to temporarily store data that has been output or will be output.

The embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in each of the foregoing method embodiments can be realized.

An embodiment of the present application provides a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal can implement the steps in the foregoing method embodiments when executed.

If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the procedures in the methods of the above embodiments in the present application can be completed by instructing related hardware through computer programs, and the computer programs can be stored in a computer-readable storage medium. The computer program When executed by a processor, the steps in the above-mentioned various method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium. Such as U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunication signals under legislation and patent practice.

In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts that are not detailed or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

In the embodiments provided in this application, it should be understood that the disclosed device/network device and method may be implemented in other ways. For example, the device/network device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still implement the foregoing embodiments Modifications to the technical solutions described in the examples, or equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the application, and should be included in the Within the protection scope of this application.

Claims

A walking aid-based walking aid method, characterized in that it includes:

obtaining motion information of a target subject using the walker;

Obtain a moving rate of the target object in a first direction by using the motion information;

Movement of the walker in the first direction is controlled based on the movement rate.
The method according to claim 1, wherein the motion information includes the lifting angle and length value of the target object's lower limbs, and using the motion information to obtain the target object in the first direction movement rates, including:

Determining the step length of the lower limbs through the lifting angle of the lower limbs and the length value;

Obtain the moving rate of the target object in the first direction according to the step size.
The method according to claim 2, wherein a first inertial sensor is provided at the thigh of the lower limb, and a second inertial sensor is provided at the lower leg of the lower limb; the raising angle of the lower limb includes The thigh raising angle acquired by the first inertial sensor, and the calf raising angle acquired by the second inertial sensor; the length value includes a thigh length value and a calf length value.
The method according to claim 3, wherein the step size is obtained according to the following formula:

D S ＝D 1 sinθ 1 +D 2 sinθ 2

Wherein: DS is the step length, D 1 is the thigh length value, D 2 is the calf length value, θ 1 is the thigh lifting angle, and θ 2 is the calf lifting angle.
The method according to claim 1, wherein the controlling the movement of the walker in the first direction according to the movement rate comprises:

When the moving speed of the target object in the first direction is within a preset speed range, controlling the walker to move in the first direction according to the moving speed of the target object;

When the moving speed of the target object in the first direction is not within a preset speed range, limit the moving speed of the walker in the first direction.
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 less than the lower limit of the preset speed range and lasts longer than the preset duration, the walking aid is controlled to perform braking processing, so that the walking aid The movement speed of the

When the moving speed of the target object in the first direction is greater than the upper limit value of the preset speed range, the upper limit value is used as the target moving speed of the walker, and the walker is controlled to Moving in the first direction according to the target movement rate.
A follow-up walking aid system based on a walker, characterized in that it includes a walker and a driving device, and the wheels of the walker are provided with motors;

The driving device is used to obtain motion information of a target object using the walker, and according to the motion information, obtain a moving rate of the target object in a first direction, and control a motor according to the moving rate, so that the motor drives the walker to move in the first direction.
The system according to claim 7, further comprising a first inertial sensor and a second inertial sensor, the first inertial sensor is worn on the thigh of the target subject, and the second inertial sensor is worn in the area of the lower leg of the subject;

The motion information acquired by the driving device includes the lifting angle and length value of the lower limbs; wherein the lifting angle of the lower limbs includes the thigh lifting angle acquired from the first inertial sensor, and the thigh lifting angle acquired from the second inertial sensor. The calf lifting angle; the length value includes the thigh length value and the calf length value of the target object;

The driving device is configured to obtain the moving rate of the target object in the first direction according to the motion information; specifically including:

Determining the step length of the lower limbs through the lifting angle of the lower limbs and the length value;

Obtain the moving rate of the target object in the first direction according to the step size.
A terminal device, comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, characterized in that, when the processor executes the computer program, the following claims 1 to 1 are implemented. 6. The method described in any one.
A computer-readable storage medium, the computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.