CN111939009B - Double-track tracking rehabilitation weight-reduction walking training vehicle and tracking method - Google Patents
Double-track tracking rehabilitation weight-reduction walking training vehicle and tracking method Download PDFInfo
- Publication number
- CN111939009B CN111939009B CN202010617596.5A CN202010617596A CN111939009B CN 111939009 B CN111939009 B CN 111939009B CN 202010617596 A CN202010617596 A CN 202010617596A CN 111939009 B CN111939009 B CN 111939009B
- Authority
- CN
- China
- Prior art keywords
- tracking
- driving motor
- track
- infrared detector
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 208000016261 weight loss Diseases 0.000 title claims abstract description 32
- 239000013585 weight reducing agent Substances 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims abstract description 35
- 238000001514 detection method Methods 0.000 claims description 17
- 230000009977 dual effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 230000004580 weight loss Effects 0.000 claims 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004064 dysfunction Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a rehabilitation weight-reducing walking training vehicle with double-track tracking and a tracking method, wherein the tracking motion of the weight-reducing vehicle is realized by adopting a double-track tracking scheme; comprises a body of a rehabilitation weight-reduction walking training vehicle; the left and right sides in front of the bottom of the vehicle body are respectively provided with a left driving wheel and a right driving wheel; the driving wheel is driven by the driving motor, a tracking sensor which is right opposite to the tracking track is installed in front of a rack of the driving motor, the tracking sensor tracks the tracking track and feeds a tracking result back to the controller, and the controller controls the driving wheel to accelerate, decelerate or move at a constant speed according to the tracking result. The invention adopts a double-track tracking mode to realize the active control of the advancing and turning of the weight-reducing vehicle, does not need human intervention on the advancing route of the weight-reducing vehicle, avoids the potential safety hazard existing when a patient operates and controls the weight-reducing vehicle to turn, can release the manpower for the accompanying and supervising to operate the weight-reducing vehicle, and can carry out the rehabilitation training process of the patient continuously and smoothly on the premise of ensuring the safety.
Description
Technical Field
The invention relates to a double-track tracking rehabilitation weight-reduction walking training vehicle and a tracking method, and belongs to the technology of rehabilitation weight-reduction walking training vehicles.
Background
Patients in the recovery phase of lower limb movement dysfunction caused by stroke, spinal cord injury, fracture postoperation and the like need to perform rehabilitation training, can be guided by professional rehabilitation personnel to perform rehabilitation training in a one-to-one mode, and can also perform rehabilitation training by adopting auxiliary training equipment with a weight-losing support function; the labor cost in the one-to-one mode is too high, time and labor are consumed, and meanwhile, professional rehabilitation personnel are extremely lack, so that the method is not suitable for wide popularization, and the method for performing rehabilitation training by adopting auxiliary training equipment is a scheme with high feasibility. At present, there are not too many auxiliary training devices to choose clinically, and with the gradual increase of the rehabilitation training requirement, designing and improving safe, quantitative, effective and repeatable auxiliary training devices is a problem to be solved urgently.
The rehabilitation weight-reduction walking training vehicle (hereinafter referred to as weight-reduction vehicle) is auxiliary training equipment for assisting patients with lower limb movement dysfunction in walking training by weight-reduction support, in the clinical patient rehabilitation training process, the weight-reduction vehicle needs to walk or turn linearly, for patients, particularly patients in early stages of the disease course, the advancing direction of the weight-reduction vehicle cannot be controlled by the patients due to safety considerations, and if special medical personnel are equipped, medical resources cannot be released.
At present, in an electric shifting machine in the field of rehabilitation, the turning scheme adopted comprises the steps of placing a posture sensor on a patient body to acquire the turning trend of the patient, fixing a pull rope on the shoulder of the patient to acquire the turning trend of the patient and the like; for the patients in the rehabilitation period, due to the fact that factors such as gait abnormity, incorrect force applying mode and the like affect the walking posture of the human body, the sensors cannot continuously and accurately feed back the turning intention of the patients; therefore, the auxiliary training equipment designed based on the technology has potential safety hazards and can also influence the effect of rehabilitation training.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the double-track tracking rehabilitation weight-reduction walking training vehicle and the tracking method.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the technical scheme that:
the existing tracking vehicle mostly adopts a single-track tracking scheme, namely tracking by a single tracking sensor, and the tracking line can be a single line, a double line or more, but the single-track tracking scheme requires that the tracking sensor is arranged at the middle position of the vehicle body and has requirements on the installation height; due to the special structure of the weight-reducing vehicle for rehabilitation training, the installation of the tracking sensor with high requirements cannot be realized, and therefore the single-track tracking scheme cannot be applied to the weight-reducing vehicle.
The invention provides a double-track tracking rehabilitation weight-reduction walking training vehicle, which adopts a double-track tracking scheme to realize the tracking motion of a weight-reduction vehicle; comprises a rehabilitation weight-reduction walking training vehicle body; use automobile body direction of advance as the place ahead, install left drive wheel and right drive wheel respectively in the bottom the place ahead left and right sides of automobile body, left driving motor drive left drive wheel, right driving motor drive right drive wheel, the motion of automobile body leans on left driving motor and right driving motor's differential motion to realize: when the speed of the left driving motor is equal to that of the right driving motor, the vehicle body moves linearly; when the speed of the left driving motor is higher than that of the right driving motor, the vehicle body rotates rightwards; when the speed of the left motor is less than that of the right driving motor, the vehicle body rotates left.
A left tracking sensor which is right opposite to the left tracking track is arranged in front of a frame of the left driving motor, the left tracking sensor tracks the left tracking track and feeds a tracking result back to the controller, and the controller controls the left driving wheel to accelerate, decelerate or move at a constant speed according to the tracking result;
a right tracking sensor which is right opposite to the right tracking track is installed in front of a machine frame of the right driving motor, the right tracking sensor tracks the right tracking track and feeds a tracking result back to the controller, and the controller controls the right driving wheel to accelerate, decelerate or move at a constant speed according to the tracking result.
The method firstly creatively applies the tracking method to the weight-reducing vehicle, and then adopts the scheme of the double-tracking sensor and the double-tracking track, which is completely different from the tracking scheme of the prior art, is also a tracking scheme capable of adapting to the actual structure of the weight-reducing vehicle, and is a scheme capable of being simply and efficiently realized; each tracking sensor controls one driving motor instead of two driving motors at the same time, and then the actual motion track of the weight-reducing vehicle is formed by matching the two driving motors; the left tracking track and the right left tracking track are parallel in position. The tracking method is applied to the weight-reducing vehicle, so that the weight-reducing vehicle can efficiently and stably move along a set route, the weight-reducing vehicle can independently and safely carry out rehabilitation training on a patient without accompanying of medical personnel, the requirement on the medical personnel is greatly reduced, and the cost and the environmental limitation of the rehabilitation training of the patient are also greatly reduced.
Preferably, the left tracking sensor and the right tracking sensor are tracking sensors including four tracking detectors, the central points of the four tracking detectors are on the same straight line l, and when the vehicle body moves straight along the straight line part of the tracking track, the straight line l is perpendicular to the straight line part of the tracking track.
Preferably, the four infrared detectors of the tracking sensor are sequentially marked as a left infrared detector, a middle right infrared detector and a right infrared detector from left to right, and in the direction of a straight line l: the maximum distance between any two points in the detection range of the middle left infrared detector and the middle right infrared detector is 1/4-1/2 of the width of the tracking track, the minimum distance between any two points outside the detection range of the left infrared detector and the middle left infrared detector is 1/3-1/2 of the width of the tracking track, the minimum distance between any two points outside the detection range of the middle right infrared detector and the middle right infrared detector is 1/3-1/2 of the width of the tracking track, and the equivalent diameter of the detection range of the infrared detectors is 1/10-1/8 of the width of the tracking track.
Preferably, the four tracking detectors of the tracking sensor are all infrared detectors, when infrared light of the infrared detector irradiates on a black tracking track, the infrared light is absorbed by the tracking track, when an area (other color area) outside the tracking track irradiated by the infrared light of the infrared detector, the infrared light is reflected, and the infrared detector receives a reflected signal; each infrared detector is connected to an I/O interface of the controller through high and low level signals (for example, the received reflected signal is high level, and the received reflected signal is not low level), and the controller judges the motion state of the weight-reducing vehicle through logic and controls the driving motor, so that the driving wheels perform related motion.
Preferably, when the tracking result is that the middle left infrared detector and the middle right infrared detector receive the reflected signals, the front straight line is represented; when the tracking result is that the left infrared detector, the middle left infrared detector and the right infrared detector receive the reflection signals, the front right turn is indicated; and when the tracking result is that the left infrared detector, the middle right infrared detector and the right infrared detector receive the reflection signals, the front left transmission is indicated.
Specifically, the width of the tracking track is 45mm, the equivalent diameter of the detection range of the infrared detector is 5-6 mm, the maximum distance between any two points within the detection range of the middle left infrared detector and the middle right infrared detector is 15-16 mm, the minimum distance between any two points outside the detection range of the left infrared detector and the middle left infrared detector is 20-22 mm, and the minimum distance between any two points outside the detection range of the middle right infrared detector and the right infrared detector is 20-22 mm.
A tracking method of the rehabilitation weight-reduction walking training vehicle with double-track tracking comprises the following steps: for a left tracking sensor of the left driving motor, when the tracking result shows that the front part moves straight, the controller controls the left driving motor to drive the left driving wheel to move at a constant speed; when the tracking result shows that the vehicle turns left ahead, the controller controls the left driving motor to drive the left driving wheel to perform deceleration movement; when the tracking result shows that the vehicle turns right ahead, the controller controls the left driving motor to drive the left driving wheel to do accelerated motion; for a right tracking sensor of the right driving motor, when the tracking result shows that the vehicle moves straight ahead, the controller controls the right driving motor to drive the right driving wheel to move at a constant speed; when the tracking result shows that the vehicle turns left ahead, the controller controls the right driving motor to drive the right driving wheel to do accelerated motion; when the tracking result shows that the vehicle turns right ahead, the controller controls the right driving motor to drive the right driving wheel to perform deceleration movement.
Specifically, the rotation speeds of the left driving motor and the right driving motor are calculated according to the following formula:
V l ＝V l_last +S l ×(6×t 5 -15×t 4 +10×t 3 )/1000
V r ＝V r_last +S r ×(6×t 5 -15×t 4 +10×t 3 )/1000
wherein: v l And V r Respectively representing the real-time rotating speed of the left driving motor and the right driving motor sent to the controller in cm/s; v l_last And V r_last Respectively representing the real-time rotating speed of the left driving motor and the right driving motor sent to the controller at the previous sampling moment in cm/s; t represents the adjustment time in ms; s. the l Representing a left drive motor speed sign function, S when the left drive motor turns left l = -1, left drive motor right turn S l =1, S when left driving motor is running straight l ＝0；S r Representing the sign function of the speed of the right drive motor, S when the right drive motor turns left r =1, right turn of right driving motor S r = -1, right driving motor straight S r ＝0。
The controller respectively controls the left driving motor and the right driving motor to move at a constant speed, accelerate or decelerate through respectively judging the real-time detection results of the left tracking sensor and the right tracking sensor, and the forward, left-turning or right-turning movement of the vehicle body is realized through a differential motion principle, so that the tracking movement is completed.
Has the beneficial effects that: according to the double-track-tracking rehabilitation weight-reduction walking training vehicle and the tracking method, the advancing and turning active control of the weight-reduction vehicle is realized in a double-track tracking mode, the advancing route of the weight-reduction vehicle does not need to be manually intervened, the potential safety hazard caused by the fact that a patient operates and controls the weight-reduction vehicle to turn is avoided, meanwhile, the manpower for accompanying and supervising the operation of the weight-reduction vehicle can be released, and the whole rehabilitation training of the patient can be continuously and smoothly carried out on the premise that the safety is guaranteed.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the results of a tracking sensor;
FIG. 3 is a diagram of a tracking track, which includes two tracking tracks in parallel;
FIG. 4 is a tracking sensor detection logic, 4 (a) for forward, 4 (b) for right turn, and 4 (c) for left turn;
FIG. 5 is a flow chart of a control algorithm;
the figure includes: 1-a tracking sensor; 2-driving wheels; 3-driving a motor; 4-a tracking detector; 5-the track.
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1, it is a dual-track tracking rehabilitation weight-reduction walking training vehicle, which uses a dual-track tracking scheme to implement the tracking motion of the weight-reduction vehicle; comprises a body of a rehabilitation weight-reduction walking training vehicle; use automobile body direction of advance as the place ahead, install left drive wheel and right drive wheel respectively in the bottom the place ahead left and right sides of automobile body, left driving motor drive left drive wheel, right driving motor drive right drive wheel, the motion of automobile body leans on left driving motor and right driving motor's differential motion to realize: when the speed of the left driving motor is equal to that of the right driving motor, the vehicle body moves linearly; when the speed of the left driving motor is higher than that of the right driving motor, the vehicle body rotates rightwards; when the speed of the left driving motor is less than that of the right driving motor, the vehicle body rotates left.
A left tracking sensor which is right opposite to the left tracking track is arranged in front of a rack of the left driving motor, the left tracking sensor tracks the left tracking track and feeds a tracking result back to the controller, and the controller controls the left driving wheel to accelerate, decelerate or move at a constant speed according to the tracking result; and a right tracking sensor which is right opposite to the right tracking track is arranged in front of the rack of the right driving motor, the right tracking sensor tracks the right tracking track and feeds a tracking result back to the controller, and the controller controls the right driving wheel to accelerate, decelerate or move at a constant speed according to the tracking result.
As shown in fig. 2, the left tracking sensor and the right tracking sensor are each tracking sensors including four tracking sensors, and the central points of the four tracking sensors are on the same straight line l, and when the vehicle body travels straight along the straight line portion of the tracking track, the straight line l is perpendicular to the straight line portion of the tracking track. In this example, L1=70mm, L2=59mm, L3=21mm, and L4=15.7mm.
As shown in fig. 3, for the dual tracking tracks provided in this embodiment, the inner and outer tracking tracks are parallel to each other, the left tracking sensor and the right tracking sensor respectively track one track, and the width of each tracking track is 45mm; in the tracking training process, the weight-reducing vehicle always moves along the tracking track.
The four tracking detectors of the tracking sensor are all infrared detectors, when infrared light of the infrared detectors irradiates on black tracking tracks, the infrared light is absorbed by the tracking tracks, when areas (other color areas) outside the tracking tracks irradiated by the infrared light of the infrared detectors are irradiated, the infrared light is reflected, and the infrared detectors receive reflected signals; each infrared detector is connected to an I/O interface of the controller through high and low level signals (for example, the received reflected signal is high level, and the received reflected signal is not low level), and the controller judges the motion state of the weight-reducing vehicle through logic and controls the driving motor, so that the driving wheels perform related motion. As shown in fig. 4, when the tracking result is that the middle left and middle right infrared detectors receive the reflected signals, it indicates that the vehicle is moving straight ahead; when the tracking result is that the left infrared detector, the middle left infrared detector and the right infrared detector receive the reflection signals, the front right turn is indicated; and when the tracking result is that the left infrared detector, the middle infrared detector, the right infrared detector and the left infrared detector receive the reflection signals, the front left transmission is indicated.
As shown in fig. 5, for the left tracking sensor of the left driving motor, when the tracking result shows that the vehicle moves straight ahead, the controller controls the left driving motor to drive the left driving wheel to move at a constant speed; when the tracking result shows that the vehicle turns left ahead, the controller controls the left driving motor to drive the left driving wheel to perform deceleration movement; when the tracking result shows that the front part turns right, the controller controls the left driving motor to drive the left driving wheel to do accelerated motion; for a right tracking sensor of the right driving motor, when the tracking result shows that the front part moves straight, the controller controls the right driving motor to drive the right driving wheel to move at a constant speed; when the tracking result shows that the front part turns left, the controller controls the right driving motor to drive the right driving wheel to move in an accelerated way; when the tracking result shows that the front part turns right, the controller controls the right driving motor to drive the right driving wheel to perform deceleration movement. The rotation speeds of the left driving motor and the right driving motor are calculated according to the following formula:
V l ＝V l_last +S l ×(6×t 5 -15×t 4 +10×t 3 )/1000
V r ＝V r_last +S r ×(6×t 5 -15×t 4 +10×t 3 )/1000
wherein: v l And V r Respectively representing the real-time rotating speed of the left driving motor and the right driving motor sent to the controller in cm/s; v l_last And V r_last Respectively representing the real-time rotating speed of the left driving motor and the right driving motor which are sent to the controller at the previous sampling moment in cm/s; t meterIndicating the adjusting time in ms; s. the l Representing a left drive motor speed sign function, S when the left drive motor turns left l = -1, left drive motor right turn S l =1, S when left driving motor goes straight l ＝0；S r Representing the speed sign function of the right driving motor, S when the right driving motor rotates left r =1, right driving motor right turn S r = -1, right driving motor straight S r ＝0。
The controller respectively controls the left driving motor and the right driving motor to move at a constant speed, accelerate or decelerate through respectively judging the real-time detection results of the left tracking sensor and the right tracking sensor, and the forward, left-turn or right-turn movement of the vehicle body is realized through a differential motion principle, so that the tracking movement is completed.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.
Claims (8)
1. A double-track tracking rehabilitation weight-reduction walking training vehicle comprises a vehicle body of the rehabilitation weight-reduction walking training vehicle; the method is characterized in that: use automobile body direction of advance as the place ahead, install left drive wheel and right drive wheel respectively in the bottom the place ahead left and right sides of automobile body, left driving motor drive left drive wheel, right driving motor drive right drive wheel, the motion of automobile body leans on left driving motor and right driving motor's differential motion to realize: when the speed of the left driving motor is equal to that of the right driving motor, the vehicle body moves linearly; when the speed of the left driving motor is higher than that of the right driving motor, the vehicle body rotates rightwards; when the speed of the left driving motor is lower than that of the right driving motor, the vehicle body rotates left;
for a left tracking sensor of the left driving motor, when the tracking result shows that the vehicle moves straight ahead, the controller controls the left driving motor to drive the left driving wheel to move at a constant speed; when the tracking result shows that the vehicle turns left ahead, the controller controls the left driving motor to drive the left driving wheel to perform deceleration movement; when the tracking result shows that the front part turns right, the controller controls the left driving motor to drive the left driving wheel to do accelerated motion;
for a right tracking sensor of the right driving motor, when the tracking result shows that the vehicle moves straight ahead, the controller controls the right driving motor to drive the right driving wheel to move at a constant speed; when the tracking result shows that the front part turns left, the controller controls the right driving motor to drive the right driving wheel to move in an accelerated way; when the tracking result shows that the vehicle turns right ahead, the controller controls the right driving motor to drive the right driving wheel to do deceleration movement;
the rotation speeds of the left driving motor and the right driving motor are calculated according to the following formula:
V l ＝V l_last +S l ×(6×t 5 -15×t 4 +10×t 3 )/1000
V r ＝V r_last +S r ×(6×t 5 -15×t 4 +10×t 3 )/1000
wherein: v l And V r Respectively shows that the left driving motor and the right driving motor are sent to the controllerReal-time rotation speed of the system, unit cm/s; v l_last And V r_last Respectively representing the real-time rotating speed of the left driving motor and the right driving motor sent to the controller at the previous sampling moment in cm/s; t represents the adjustment time in ms; s l Indicating left drive motor speed sign function, left drive motor left turn time S l = -1, S when left drive motor turns right l =1, S when left driving motor is running straight l ＝0；S r Representing the sign function of the speed of the right drive motor, S when the right drive motor turns left r =1, right driving motor right turn S r = -1, right driving motor straight S r ＝0。
2. The dual-track-tracked rehabilitation weight-reduction walking training vehicle according to claim 1, characterized in that:
a left tracking sensor which is right opposite to the left tracking track is arranged in front of a rack of the left driving motor, the left tracking sensor tracks the left tracking track and feeds a tracking result back to the controller, and the controller controls the left driving wheel to accelerate, decelerate or move at a constant speed according to the tracking result;
and a right tracking sensor which is right opposite to the right tracking track is arranged in front of the rack of the right driving motor, the right tracking sensor tracks the right tracking track and feeds a tracking result back to the controller, and the controller controls the right driving wheel to accelerate, decelerate or move at a constant speed according to the tracking result.
3. The dual-track-tracked rehabilitation weight-reduction walking training vehicle according to claim 2, characterized in that: the left tracking sensor and the right tracking sensor are tracking sensors comprising four tracking detectors, the central points of the four tracking detectors are on the same straight line l, and when the vehicle body moves straight along the straight line part of the tracking track, the straight line l is perpendicular to the straight line part of the tracking track.
4. The dual-track-tracked rehabilitation weight-reduction walking training vehicle according to claim 3, wherein: the four infrared detectors of the tracking sensor are sequentially marked as a left infrared detector, a middle right infrared detector and a right infrared detector from left to right, and in the direction of a straight line l: the maximum distance between any two points in the detection range of the middle left infrared detector and the middle right infrared detector is 1/4-1/2 of the width of the tracking track, the minimum distance between any two points outside the detection range of the left infrared detector and the middle left infrared detector is 1/3-1/2 of the width of the tracking track, the minimum distance between any two points outside the detection range of the middle right infrared detector and the middle right infrared detector is 1/3-1/2 of the width of the tracking track, and the equivalent diameter of the detection range of the infrared detectors is 1/10-1/8 of the width of the tracking track.
5. The dual track tracked rehabilitation weight-loss walking training vehicle according to claim 3 or 4, characterized in that: the four tracking detectors of the tracking sensor are all infrared detectors, when infrared light of the infrared detectors irradiates on the tracking tracks, the infrared light is absorbed by the tracking tracks, when the infrared detectors irradiate areas outside the tracking tracks, the infrared light is reflected, and the infrared detectors receive reflected signals.
6. The dual track tracked rehabilitation weight-loss walking training vehicle of claim 5, wherein: when the tracking result is that the middle left infrared detector and the middle right infrared detector receive the reflection signals, the front straight going is indicated; when the tracking result is that the left infrared detector, the middle left infrared detector and the right infrared detector receive the reflection signals, the front right turn is indicated; and when the tracking result is that the left infrared detector, the middle infrared detector, the right infrared detector and the left infrared detector receive the reflection signals, the front left transmission is indicated.
7. The dual-track tracking rehabilitation weight-reduction walking training vehicle according to claim 3 or 4, characterized in that: the width of the tracking track is 45mm, the equivalent diameter of the detection range of the infrared detector is 5-6 mm, the maximum distance between any two points within the detection range of the middle left infrared detector and the middle right infrared detector is 15-16 mm, the minimum distance between any two points outside the detection range of the left infrared detector and the middle left infrared detector is 20-22 mm, and the minimum distance between any two points outside the detection range of the middle right infrared detector and the middle right infrared detector is 20-22 mm.
8. The dual track tracked rehabilitation weight-loss walking training vehicle of claim 1, wherein: the controller respectively controls the left driving motor and the right driving motor to move at a constant speed, accelerate or decelerate through respectively judging the real-time detection results of the left tracking sensor and the right tracking sensor, and the forward, left-turning or right-turning movement of the vehicle body is realized through a differential motion principle, so that the tracking movement is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010617596.5A CN111939009B (en) | 2020-07-01 | 2020-07-01 | Double-track tracking rehabilitation weight-reduction walking training vehicle and tracking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010617596.5A CN111939009B (en) | 2020-07-01 | 2020-07-01 | Double-track tracking rehabilitation weight-reduction walking training vehicle and tracking method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111939009A CN111939009A (en) | 2020-11-17 |
| CN111939009B true CN111939009B (en) | 2022-10-25 |
Family
ID=73337520
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010617596.5A Active CN111939009B (en) | 2020-07-01 | 2020-07-01 | Double-track tracking rehabilitation weight-reduction walking training vehicle and tracking method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111939009B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112754868A (en) * | 2021-01-21 | 2021-05-07 | 芜湖航科恒益自动化科技有限责任公司 | Mobile accompanying type human lower limb rehabilitation training robot |
| CN112972215B (en) * | 2021-04-01 | 2023-09-29 | 南京伟思医疗科技股份有限公司 | Lower limb walking rehabilitation training vehicle and steering control method thereof |
| CN114557267A (en) * | 2022-03-31 | 2022-05-31 | 广州大学 | Automatic tracking vehicle for irrigation |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104898673A (en) * | 2015-05-21 | 2015-09-09 | 苏州工业职业技术学院 | Intelligent tracking trolley based on infrared sensors and tracking method thereof |
| CN105946970A (en) * | 2016-03-27 | 2016-09-21 | 林洪立 | Intelligent steering angle driving unit of electric car |
| WO2018133050A1 (en) * | 2017-01-20 | 2018-07-26 | 法玛科技顾问股份有限公司 | Electric walking aid for multimode walking training, and control method therefor |
| CN106859928B (en) * | 2017-04-19 | 2019-11-22 | 浙江福祉医疗器械有限公司 | Gait rehabilitation training robot and force-feedback control method for the robot |
| EP3530252B1 (en) * | 2018-02-27 | 2022-03-30 | Jtekt Corporation | Walking assist device |
| CN110236875A (en) * | 2019-05-13 | 2019-09-17 | 广西科技大学 | A kind of movable lower limb exoskeleton rehabilitation robot and its control system |
| CN110841245A (en) * | 2019-11-18 | 2020-02-28 | 南京伟思医疗科技股份有限公司 | Rehabilitation subtracts heavy walking training car suitable for multi-mode |
-
2020
- 2020-07-01 CN CN202010617596.5A patent/CN111939009B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111939009A (en) | 2020-11-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111939009B (en) | Double-track tracking rehabilitation weight-reduction walking training vehicle and tracking method | |
| CN104814847A (en) | Mobile Medical Device and Method for Controlling a Movement of the Mobile Medical Device | |
| US9238492B2 (en) | Chassis for a robot | |
| US8960352B2 (en) | Wheelchair transportation system | |
| CN107389054A (en) | Robot testing's platform | |
| CN104921905B (en) | Gait rehabilitation training devices | |
| CN108721004A (en) | Above formula seat robot and Intelligent seat robot afterwards | |
| JP6740190B2 (en) | Mobile device | |
| JP2011125371A (en) | Mobile x-ray equipment | |
| JP2019025252A5 (en) | ||
| CN212281917U (en) | All-terrain stretcher vehicle | |
| CN103287517B (en) | A kind of deformed caterpillar formula small-sized movable system | |
| CN105460091B (en) | Crawler body assembly | |
| CN204840149U (en) | Gait rehabilitation training device | |
| CN210105429U (en) | Automatic guide intelligence robot of parking | |
| CN105411761B (en) | Self-balancing stretcher car | |
| AU2017252481A1 (en) | Patient ceiling-hoist carriage | |
| JP2009078044A (en) | Drive assist device for wheelchair | |
| CN213776828U (en) | Pipeline robot crawler | |
| CN207141175U (en) | A kind of wheeled sufficient end device of hospital's crusing robot | |
| CN205359497U (en) | Nodal pattern pipe bed closes | |
| CN208323358U (en) | Low-voltage platform area crusing robot | |
| CN114041938A (en) | Multi-functional locomotive of electronic helping hand of hospital's intelligence | |
| CN210212576U (en) | Moving mechanism of robot | |
| CN205469350U (en) | Crawler -type is from running gear |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |