WO2023035458A1 - 基于助行器的跟随助行方法、***和终端设备 - Google Patents
基于助行器的跟随助行方法、***和终端设备 Download PDFInfo
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- WO2023035458A1 WO2023035458A1 PCT/CN2021/137590 CN2021137590W WO2023035458A1 WO 2023035458 A1 WO2023035458 A1 WO 2023035458A1 CN 2021137590 W CN2021137590 W CN 2021137590W WO 2023035458 A1 WO2023035458 A1 WO 2023035458A1
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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
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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
- 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
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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
- 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
Definitions
- 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.
- lower limb dysfunction 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.
- 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.
- 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.
- professional nurses are often needed to help with manual rehabilitation training.
- 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.
- 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.
- the embodiment of the present application provides a walker-based walking aid method, including:
- Movement of the walker in the first direction is controlled based on the movement rate.
- 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
- the movement of the walking aid in the first direction is controlled according to the moving speed.
- the movement of the walker in the first direction is automatically adjusted according to the motion information of the target object.
- 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:
- the thigh of the lower limb is provided with a first inertial sensor
- 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.
- step size is obtained according to the following formula:
- DS is the step length
- D 1 is the thigh length value
- D 2 is the calf length value
- ⁇ 1 is the thigh lifting angle
- ⁇ 2 is the calf lifting angle
- controlling the movement of the walker in the first direction according to the moving rate includes:
- the limiting the moving rate of the walker in the first direction includes:
- the walking aid is controlled to perform braking processing, so that the walking aid The movement speed of the target object in the first direction.
- 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.
- 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.
- 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:
- 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.
- 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
- 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 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 is provided.
- 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.
- 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.
- references 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- the walker can control the target The subject actively follows the walking aid.
- the motion information may be video information or image information obtained through a camera.
- 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.
- FIG. 2 it is a schematic flowchart of a walking aid-based following walking assistance method provided by an embodiment of the present application.
- the method may include the following steps:
- the motion information of the target object can be acquired.
- the motion information may be image or video information obtained by a camera, or sensor information obtained by a sensor.
- 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.
- the target object after detecting that the target object is located at the target relative position of the walker, specifically, it may include:
- 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.
- the target object 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.
- 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.
- the method is applied to a patient with lower limb dysfunction during walking exercise.
- the first direction is generally approximately a straight line by default.
- 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.
- 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.
- step S202 may include:
- 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.
- 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.
- 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.
- inertial sensors are mainly components used to detect and measure acceleration, tilt, shock, vibration, rotation, and multi-degree-of-freedom motion.
- the inertial sensor may be a nine-axis inertial sensor.
- 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.
- 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.
- 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.
- 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.
- step size can be obtained according to the following formula:
- 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
- ⁇ 1 is the thigh lifting angle of the target object
- ⁇ 2 is the calf lifting angle of the target object.
- the moving rate ⁇ V in the first direction can be obtained according to the following formula:
- ⁇ D is the step size in the unit time period
- ⁇ t is the unit time period
- step S203 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:
- 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.
- 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.
- the preset velocity range is 0.2m/s ⁇ 1m/s.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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:
- the thigh of the lower limb is provided with a first inertial sensor
- 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.
- 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 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
- ⁇ 1 is the thigh lifting angle of the target object
- ⁇ 2 is the calf lifting angle of the target object.
- the movement control unit 53 when used to control the movement of the walker in the first direction according to the movement rate, it is specifically used to:
- the movement control unit 53 is used to limit the moving speed of the walker in the first direction, specifically to:
- the walking aid is controlled to perform braking processing, so that the walking aid The movement speed of the target object in the first direction.
- 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.
- 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.
- 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.
- 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 .
- 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.
- the 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.
- 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.
- 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.
- ROM read-only memory
- RAM Random Access Memory
- electrical carrier signal telecommunication signal
- software distribution medium Such as U disk, mobile hard disk, magnetic disk or optical disk, etc.
- computer readable media may not be electrical carrier signals and telecommunication signals under legislation and patent practice.
- the disclosed device/network device and method may be implemented in other ways.
- the device/network device embodiments described above are only illustrative.
- the division of the modules or units is only a logical function division.
- 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.
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Abstract
一种基于助行器的跟随助行方法、***和终端设备,适用于智能助行技术领域,该方法包括:获取使用助行器的目标对象的运动信息(S201);利用运动信息,获得目标对象在第一方向上的移动速率(S202);根据移动速率控制助行器在第一方向上的移动(S203)。通过该方法可以实现助行器对目标对象进行真正的主动跟随助行,更好地辅助目标对象进行康复训练。
Description
本申请属于智能助行技术领域,尤其涉及基于助行器的跟随助行方法、***、装置、终端设备和存储介质。
下肢功能障碍主要病理表现为患者下肢难以对自己的身体形成有效的支撑,极大损害了患者的行动能力与生活质量,常见的如中风导致的下肢功能障碍。随着经济的发展,下肢功能障碍患者对于生活质量提升的需要日渐增多,因而与下肢功能障碍患者康复相关的产业得到一定的发展,例如在康复过程中用到的辅助设备。
在康复过程借助辅助设备可以加快患者平衡能力和肌肉力量的恢复过程。较早出现的辅助设备为完全被动式的助行设备,例如常见的无助力模态的支撑式步行器,在康复过程中往往需要专业护工帮助进行人工康复训练。为了解决上述问题,目前市场上又出现了一种主动助行设备,但是目前常见的主动助行设备一般需要用户操纵指定的控制器(扶手感应压力器、操纵摇杆等)来控制其运动。
现有的主动助行设备仍然需要用户对设备进行操作,无法实现对患者进行真正的主动跟随助行。
发明内容
本申请实施例提供了基于助行器的跟随助行方法、***、装置、终端设备和存储介质,可以解决现有技术中助行设备无法实现对患者进行真正的主动跟随助行的技术问题。
第一方面,本申请实施例提供了一种基于助行器的跟随助行方法,包括:
获取使用所述助行器的目标对象的运动信息;
利用所述运动信息,获得所述目标对象在第一方向上的移动速率;
根据所述移动速率控制所述助行器在所述第一方向上的移动。
基于上述方法,通过使用助行器的获取目标对象的运动信息,利用运动信息获得目标对象在第一方向上的移动速率,并且根据移动速率控制助行器在第一方向上的移动。在目标对象的移动过程中,根据目标对象的运动信息自动调整助行器在第一方向上的移动。目标对象在采用基于上述方法的助行器进行康复训练时,无需对助行器进行过多的操作,助行器可以对目标对象的进行主动的跟随助行,因此使得助行器可以更好地辅助目标对象进行康复训练。
在第一方面的一种可能的实现方式中,所述运动信息包括所述目标对象的下肢的抬起角度和长度值,所述利用所述运动信息,获得所述目标对象在第一方向上的移动速率,包括:
通过所述下肢的抬起角度和所述长度值,确定所述下肢的步长;
根据所述步长得到所述目标对象在所述第一方向上的移动速率。
可选的,所述下肢的大腿部位设置有第一惯性传感器,所述下肢的小腿部位设置有第二惯性传感器;所述下肢的抬起角度包括通过所述第一惯性传感器获取的大腿抬起角度,和所述第二惯性传感器获取的小腿抬起角度;所述长度值包括大腿长度值和小腿长度值。
示例性的,所述步长根据下式获得:
D
S=D
1sin θ
1+D
2sin θ
2
其中:D
S为所述步长,D
1为所述大腿长度值,D
2为所述小腿长度值,θ
1为所述大腿抬起角度,θ
2为所述小腿抬起角度。
在一种可选的实施方式中,所述根据所述移动速率控制所述助行器在所述第一方向上的移动,包括:
当所述目标对象在所述第一方向上的移动速率在预设速率范围内时,控制所述助行器按照所述目标对象的移动速率在所述第一方向上移动;
当所述目标对象在所述第一方向上的移动速率不在预设速率范围内时,限制所述助行器在所述第一方向上的移动速率。
可选的,所述限制所述助行器在所述第一方向上的移动速率,包括:
当所述目标对象在所述第一方向上的移动速率小于预设速率范围的下限值,并且持续大于预设时长,控制所述助行器进行制动处理,以使所述助行器的移动速率变为零;
当所述目标对象在所述第一方向上的移动速率大于预设速率范围的上限值时,将所述上限值作为所述助行器的目标移动速率,控制所述助行器在所述第一方向上按照所述目标移动速率移动。
第二方面,本申请实施例提供了一种基于助行器的跟随助行***,包括助行器和驱动设备,所述助行器的轮子上设置有电机;
所述驱动设备用于获取使用所述助行器的目标对象的运动信息,并根据所述运动信息,获得所述目标对象在第一方向上的移动速率,以及根据所述移动速率控制电机,以使得电机带动所述助行器在所述第一方向上移动。
在第二方面的一种可能的实现方式中,所述***还包括第一惯性传感器和第二惯性传感器,所述第一惯性传感器穿戴在所述目标对象的大腿部位,所述第二惯性传感期穿戴在所述目标对象的小腿部位;
所述驱动设备获取的运动信息包括下肢的抬起角度和长度值;其中所述下肢的抬起角度包括从所述第一惯性传感器获取的大腿抬起角度,和从所述第二惯性传感器获取的小腿抬起角度;所述长度值包括目标对象的大腿长度值和小腿长度值;
所述驱动设备用于根据所述运动信息,获得所述目标对象在第一方向上的移动速率;具体包括:
通过所述下肢的抬起角度和所述长度值,确定所述下肢的步长;
根据所述步长得到所述目标对象在所述第一方向上的移动速率。
第三方面,本申请实施例提供了一种基于助行器的跟随助行装置,包括:
运动信息获取单元,用于获取使用所述助行器的目标对象的运动信息;
移动速率获取单元,用于利用所述运动信息,获得所述目标对象在所述第一方向上的移动速率;
移动控制单元,用于根据所述移动速率控制所述助行器在所述第一方向上的移动。
第四方面,本申请实施例提供了一种终端设备,包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序,所述处理器执行所述计算机程序时实现上述第一方面中任一项所述的基于助行器的跟随助行方法。
第五方面,本申请实施例提供了一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,所述计算机程序被处理器执行时实现上述第一方面中任一项所述的基于助行器的跟随助行方法。
第六方面,本申请实施例提供了一种计算机程序产品,当计算机程序产品在终端设备上运行时,使得终端设备执行上述第一方面中任一项所述的基于助行器的跟随助行方法。
可以理解的是,上述第二方面至第六方面的有益效果可以参见上述第一方面中的相关描述,在此不再赘述。
为了更清楚地说明本申请实施例中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。
图1是本申请一实施例提供的基于助行器的跟随助行***结构示意图;
图2是本申请一实施例提供的基于助行器的跟随助行方法的流程示意图;
图3是本申请一实施例提供的利用所述运动信息,获得所述目标对象在第 一方向上的移动速率的方法流程示意图;
图4是本申请一实施例提供的根据所述移动速率控制所述助行器在所述第一方向上的移动的方法流程示意图;
图5是本申请一实施例提供的基于助行器的跟随助行装置的结构示意图;
图6是本申请一实施例提供的终端设备的结构示意图。
以下描述中,为了说明而不是为了限定,提出了诸如特定***结构、技术之类的具体细节,以便透彻理解本申请实施例。然而,本领域的技术人员应当清楚,在没有这些具体细节的其它实施例中也可以实现本申请。在其它情况中,省略对众所周知的***、装置、电路以及方法的详细说明,以免不必要的细节妨碍本申请的描述。
应当理解,当在本申请说明书和所附权利要求书中使用时,术语“包括”指示所描述特征、整体、步骤、操作、元素和/或组件的存在,但并不排除一个或多个其它特征、整体、步骤、操作、元素、组件和/或其集合的存在或添加。
还应当理解,在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合,并且包括这些组合。
另外,在本申请说明书和所附权利要求书的描述中,术语“第一”、“第二”、“第三”等仅用于区分描述,而不能理解为指示或暗示相对重要性。
在本申请说明书中描述的参考“一个实施例”或“一些实施例”等意味着在本申请的一个或多个实施例中包括结合该实施例描述的特定特征、结构或特点。由此,在本说明书中的不同之处出现的语句“在一个实施例中”、“在一些实施例中”、“在其他一些实施例中”、“在另外一些实施例中”等不是必然都参考相同的实施例,而是意味着“一个或多个但不是所有的实施例”,除非是以其他方式另外特别强调。术语“包括”、“包含”、“具有”及它们的 变形都意味着“包括但不限于”,除非是以其他方式另外特别强调。
目前用于下肢功能障碍患者康复的助行器,普遍存在无法实现对患者进行真正的主动跟随助行的问题,从而导致对使用者的康复训练辅助效果欠佳。为了解决该技术问题,本申请实施例提供一种基于助行器的跟随助行方法、***、装置、终端设备及存储介质;通过获取使用助行器的目标对象的运动信息,并利用运动信息获得目标对象在第一方向上的移动速率,根据移动速率控制助行器在第一方向上的移动。本申请实施例中的技术方案根据目标对象在第一方向上的移动速率来控制助行器在第一方向上的移动,因此助行器的移动会受到目标对象移动速率的影响,从而使得助行器可以对目标对象进行主动跟随助行,更好地辅助进行康复训练。
如图1所示,为本申请一实施例提供的基于助行器的跟随助行***的结构示意图。该基于助行器的跟随助行***包括:助行器101、设置在助行器轮子上的电机102、驱动设备103、以及与驱动设备103通信连接的惯性传感器组104,以及,其中惯性传感器组104包括多个惯性传感器1041,在使用时,多个惯性传感器1041设置在使用助行器的目标对象的下肢。其中驱动设备可以是终端设备,也可以是集成在助行器上的电路驱动模块。
在本实施例中,运动信息是通过惯性传感器获得的,每个所述惯性传感器为九轴惯性传感器,需要说明的是每个惯性传感器也可以是其他类型的惯性传感器,本申请实施例对惯性传感器不做具体限制。
通过上述分析可知,本申请实施例中的基于助行器的跟随助行***,驱动设备通过获取穿戴在使用助行器的目标对象下肢的惯性传感器获取目标对象下肢的运动信息并对运动信息进行分析得到目标对象在第一方向上的移动速率,根据所述移动速率来控制助行器上的电机,从而控制助行器在第一方向上的移动,在该***中助行器可以对目标对象的进行主动的跟随助行。
在另一种情况下,运动信息可以是通过摄像头获得的视频信息或图像信息。示例性的,例如***中的驱动设备可以与摄像头相连接,摄像头设置在助行器 上,用于拍摄使用助行器的目标对象下肢运动情况的视频或图像,驱动设备获取摄像头拍下的视频或图像并对视频信息或图像信息进行数据分析,得到目标对象在第一方向上的移动速率,从而根据所述移动速率控制助行器在第一方向上的移动。
参见图2,是本申请一实施例提供的基于助行器的跟随助行方法的流程示意图。作为示例而非限定,所述方法可以包括以下步骤:
S201,获取使用所述助行器的目标对象的运动信息。
本申请实施例中,具体来说可以是在目标对象穿戴好相关设备并启动助行器之后,开始获取目标对象的运动信息。
可选的,如上文所述运动信息可以是通过摄像头获取的图像或视频信息,也可以是通过传感器获得的传感器信息。
在一种可能的实现方式中,在检测到目标对象位于助行器的目标相对位置时,获取目标对象的运动信息;其中目标相对位置指的是目标对象在使用助行器时相对于助行器的位置。
在一种可能的实现方式中,在检测到目标对象位于所述助行器的目标相对位置,具体来说可以包括:
检测目标对象与所述助行器的相对位置;
将所述相对位置与预设相对位置范围进行比较,若所述相对位置属于预设相对位置范围,则判断所述目标对象位于所述助行器的所述目标相对位置。
在一个具体的实施例中,在检测到目标对象位于所述助行器的目标相对位置后,还包括:发出启动提示音,所述启动提示音提示所述目标对象所述助行器已处于启动状态。
S202,利用所述运动信息,获得所述目标对象在第一方向上的移动速率。
本申请实施例中,第一方向指的是目标对象的移动方向,移动速率表示的是目标对象在第一方向上移动的快慢。具体地,该方法应用于下肢功能障碍患者在进行行走锻炼过程,在行走锻炼过程中,第一方向一般默认大致为直线。
S203,根据所述移动速率控制所述助行器在所述第一方向上的移动。
本申请实施例中,助行器在第一方向上跟随目标对象移动从而实现对目标对象的助行;利用目标对象的运动信息获得的目标对象在第一方向上的移动速率是调整助行器移动状态的主要依据。
在上述方法中,通过获取并利用目标对象的运动信息,来获得目标对象在第一方向上的移动速率,然后根据移动速率控制助行器在第一方向上的移动。根据目标对象在第一方向上的移动速率来控制助行器在第一方向上的移动,使得助行器的移动会受到目标对象移动速率的影响,因而助行器可以对目标对象进行主动跟随助行,更好地辅助进行康复训练。
示例性的,基于图1所示的***,如图2所示,在运动信息包括所述目标对象的下肢的抬起角度和长度值时,图3提供步骤S202的一种实现方法的流程示意图。如图3所示,步骤S202可以包括:
S2021,通过所述下肢的抬起角度和所述长度值,确定所述下肢的步长。
S2022,根据所述步长得到所述目标对象在所述第一方向上的移动速率。
通过上述方法,可以将目标对象自身的数据信息(下肢长度)融入到移动速率的计算中,使得获得的数据更加接近目标对象的实际情况。
在一个可选的实施例中,在目标对象下肢的大腿部位设置有第一惯性传感器,在目标对象下肢的小腿部位设置有第二惯性传感器;下肢的抬起角度包括通过第一惯性传感器获取的大腿抬起角度,和第二惯性传感器获取的小腿抬起角度;长度值包括大腿长度值和小腿长度值。
在实际应用中,惯性传感器位置在目标对象的大腿和小腿上,由于人体的下肢是由膝关节连接的大腿和小腿组成,在实际移动过程中,大腿和小腿的抬起角度会有所不同,上述方法通过分别检测大腿和小腿的抬起角度,并结合大腿长度和小腿长度进行移动距离的计算,使得获得的移动距离数据准确度更高。
一般来说,惯性传感器主要是用于检测和测量加速度、倾斜、冲击、振动、旋转和多自由度运动的部件。在本申请实施例中,惯性传感器可以为九轴惯性 传感器。在本申请实施例中,抬起角度指的是在移动过程中检测目标(例如目标对象的大腿和小腿)与垂直方向的夹角。
在实际应用中,我们首先对中风导致的下肢功能障碍患者的典型行走模式进行了模拟。我们将中风患者(以单侧下肢运动功能障碍为例)的运动相定义为三部分,即双腿支撑相、健肢迈步相和患肢并步相。在助行器启动阶段,患者双腿支撑并行着地,即为双腿支撑相;随后患者健肢先行迈步,其健肢迈步并全脚掌着地为健肢迈步相,助行器跟随患者运动,为患者提供支撑与助行阶段;当健肢迈步着地后,健肢可提供部分人体体重支撑,但患肢迈步的速度和幅度均受限,此时,助行器将动态调整参数对患肢进行助行,使其可以移动到健肢所在位置,即当患肢完成迈步,并全脚掌着地时,即患肢并步相。上述过程主要通过患者在矢量平面上的运动进行实验与验证。在本申请中,通过人体在矢状面上的运动进行实验和验证,因此无论脚部和上半身如何运动,均可将人的肢体运动简化为关节连杆图,其中大腿和小腿分别为由膝关节连接的两个连杆。
在一个具体实施中,根据上述的简化方法,其中步长可以根据下式获得:
D
S=D
1sin θ
1+D
2sin θ
2
其中:D
S为步长,D
1为目标对象的大腿长度值,D
2为目标对象的小腿长度值,θ
1为目标对象的大腿抬起角度,θ
2为目标对象的小腿抬起角度。
在一个具体实施中,第一方向上的移动速率ΔV可以根据下式获得:
其中:ΔD为单位时间段内的步长,Δt为单位时间段。
参见图4,是本申请一实施例提供的步骤S203的流程示意图。如图4所示,本实施例对目标对象在第一方向上的移动速率是否在预设速率范围内进行了判断,具体来说步骤S203可以包括:
S2031,当所述目标对象在所述第一方向上的移动速率在预设速率范围内时,控制所述助行器按照所述目标对象的移动速率在所述第一方向上移动。
S2032,当所述目标对象在所述第一方向上的移动速率不在预设速率范围内时,限制所述助行器在所述第一方向上的移动速率。
在上述方案中,预设速率范围为速率正常范围。将目标对象在第一方向上的移动速率与预设速率范围进行比较;当目标对象的移动速率在正常范围时,助行器按照目标对象的移动速率在第一方向上移动,即对目标对象进行跟随助行;当目标对象的移动速率超出正常范围时,则对助行器在第一方向上的移动速率进行限制。通过对目标对象的移动速率进行正常与否的判断,可以应对更多的实际情况,例如如果目标对象的移动速率过低或过高,两种情况均存在一定的危险,例如如果移动速率过高则识别为超速危险,如果移动速率过低则识别为目标对象无意识滑动或者助行器缓慢溜车。在一个具体实施中,其中预设速率范围为0.2m/s~1m/s。
在其中一个实施例中,步骤S2032中的限制所述助行器在所述第一方向上的移动速率可以包括:当目标对象在第一方向上的移动速率小于预设速率范围的下限值,并且持续大于预设时长,控制助行器进行制动处理,以使助行器的移动速率变为零;当目标对象在所述第一方向上的移动速率大于预设速率范围的上限值时,将上限值作为所述助行器的目标移动速率,控制助行器在第一方向上按照目标移动速率移动。
上述方案中通过对目标对象移动速率过低的情况判断和识别,对助行器进行制动处理,可以避免由于目标对象无意思滑动或助行器缓慢溜车给目标对象带来危险。其中对于持续时长大于预设时长的判断,使得对于目标对象的移动速率过低的情况进行了具体的划分,如果移动速率过低持续时长较短则可能是其他原因导致的,例如可能是目标对象刚开始进行步后续移动速率会显著提高,此时不做制动处理。
上述方案中,通过对目标对象移动速率过高的情况判断和识别,控制助行器以上限值作为目标移动速率来进行移动。由于助行器移动速率等于上限值,此时助行器可以对移动速率过高目标患者进行跟随的同时能够帮助目标对象逐 渐将移动速率降低至上限值。
应理解,上述实施例中各步骤的序号的大小并不意味着执行顺序的先后,各过程的执行顺序应以其功能和内在逻辑确定,而不应对本申请实施例的实施过程构成任何限定。
对应于上文实施例所述的基于助行器的跟随助行方法,图5示出了本申请实施例提供的基于助行器的跟随助行装置5的结构框图,为了便于说明,仅示出了与本申请实施例相关的部分。
参照图5,该装置包括:
运动信息获取单元51,用于获取使用所述助行器的目标对象的运动信息;
移动速率获取单元52,用于利用所述运动信息,获得所述目标对象在第一方向上的移动速率;
移动控制单元53,用于根据所述移动速率控制所述助行器在所述第一方向上的移动。
在一个可选的实施例中,所述运动信息包括所述目标对象的下肢的抬起角度和长度值;移动速率获取单元52用于利用所述运动信息,获得所述目标对象在第一方向上的移动速率时,具体用于:
通过所述下肢的抬起角度和所述长度值,确定所述下肢的步长;
根据所述步长得到所述目标对象在所述第一方向上的移动速率。
可选的,所述下肢的大腿部位设置有第一惯性传感器,所述下肢的小腿部位设置有第二惯性传感器;所述下肢的抬起角度包括通过所述第一惯性传感器获取的大腿抬起角度,和所述第二惯性传感器获取的小腿抬起角度;所述长度值包括大腿长度值和小腿长度值。
可选的,移动速率获取单元52还用于根据下式获得目标对象的步长:
D
S=D
1sin θ
1+D
2sin θ
2
其中:D
S为步长,D
1为目标对象大腿长度值,D
2为目标对象小腿长度值,θ
1为目标对象的大腿抬起角度,θ
2为目标对象的小腿抬起角度。
在一个实施例中,移动控制单元53在用于根据所述移动速率控制所述助行器在所述第一方向上的移动时,具体用于:
当所述目标对象在所述第一方向上的移动速率在预设速率范围内时,控制所述助行器按照所述目标对象的移动速率在所述第一方向上移动;
当所述目标对象在所述第一方向上的移动速率不在预设速率范围内时,限制所述助行器在所述第一方向上的移动速率。
可选的,移动控制单元53在用于限制所述助行器在所述第一方向上的移动速率,具体还用于:
当所述目标对象在所述第一方向上的移动速率小于预设速率范围的下限值,并且持续大于预设时长,控制所述助行器进行制动处理,以使所述助行器的移动速率变为零;
当所述目标对象在所述第一方向上的移动速率大于预设速率范围的上限值时,将所述上限值作为所述助行器的目标移动速率,控制所述助行器在所述第一方向上按照所述目标移动速率移动。
需要说明的是,上述装置/单元之间的信息交互、执行过程等内容,由于与本申请方法实施例基于同一构思,其具体功能及带来的技术效果,具体可参见方法实施例部分,此处不再赘述。
另外,图5所示的装置可以是内置于现有的终端设备内的软件单元、硬件单元、或软硬结合的单元,也可以作为独立的挂件集成到所述终端设备中,还可以作为独立的终端设备存在。
所属领域的技术人员可以清楚地了解到,为了描述的方便和简洁,仅以上述各功能单元、模块的划分进行举例说明,实际应用中,可以根据需要而将上述功能分配由不同的功能单元、模块完成,即将所述装置的内部结构划分成不同的功能单元或模块,以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块可以集成在一个处理单元中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个单元中,上述集成的单元既可以采用硬 件的形式实现,也可以采用软件功能单元的形式实现。另外,各功能单元、模块的具体名称也只是为了便于相互区分,并不用于限制本申请的保护范围。上述***中单元、模块的具体工作过程,可以参考前述方法实施例中的对应过程,在此不再赘述。
图6为本申请一实施例提供的终端设备的结构示意图。本申请实施例中的终端设备即为基于助行器的跟随助行***中的驱动设备。如图6所示,该实施例的终端设备6包括:至少一个处理器60(图6中仅示出一个处理器)、存储器61以及存储在所述存储器61中并可在所述至少一个处理器60上运行的计算机程序62,所述处理器60执行所述计算机程序62时实现上述任意各个方法实施例中的步骤。
所述终端设备6可以是手机、机器人(比如说医院那种智能机器人)、穿戴设备(比如智能表)等。终端设备6也可以是桌上型计算机、笔记本、掌上电脑及云端服务器等计算设备。终端设备可包括,但不仅限于,处理器60、存储器61。本领域技术人员可以理解,图6仅仅是终端设备6的举例,并不构成对终端设备6的限定,可以包括比图示更多或更少的部件,或者组合某些部件,或者不同的部件,例如还可以包括输入输出设备、网络接入设备等。
所称处理器60可以是中央处理单元(Central Processing Unit,CPU),该处理器60还可以是其他通用处理器、数字信号处理器(Digital Signal Processor,DSP)、专用集成电路(Application Specific Integrated Circuit,ASIC)、现成可编程门阵列(Field-Programmable Gate Array,FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
所述存储器61在一些实施例中可以是所述终端设备6的内部存储单元,例如终端设备6的硬盘或内存。所述存储器61在另一些实施例中也可以是所述终端设备6的外部存储设备,例如终端设备6上配备的插接式硬盘,智能存储卡(Smart Media Card,SMC),安全数字(Secure Digital,SD)卡,闪存卡(Flash Card)等。进一步地,所述存储器61还可以既包括所述终端设备6的内部存储单元也包括外部存储设备。所述存储器61用于存储操作***、应用程序、引导装载程序(BootLoader)、数据以及其他程序等,例如所述计算机程序的程序代码等。所述存储器61还可以用于暂时地存储已经输出或者将要输出的数据。
本申请实施例还提供了一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,所述计算机程序被处理器执行时实现可实现上述各个方法实施例中的步骤。
本申请实施例提供了一种计算机程序产品,当计算机程序产品在移动终端上运行时,使得移动终端执行时实现可实现上述各个方法实施例中的步骤。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储介质中。基于这样的理解,本申请实现上述实施例方法中的全部或部分流程,可以通过计算机程序来指令相关的硬件来完成,所述的计算机程序可存储于一计算机可读存储介质中,该计算机程序在被处理器执行时,可实现上述各个方法实施例的步骤。其中,所述计算机程序包括计算机程序代码,所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质至少可以包括:能够将计算机程序代码携带到基于助行器的跟随助行装置/终端设备的任何实体或装置、记录介质、计算机存储器、只读存储器(ROM,Read-Only Memory)、随机存取存储器(RAM,Random Access Memory)、电载波信号、电信信号以及软件分发介质。例如U盘、移动硬盘、磁碟或者光盘等。在某些司法管辖区,根据立法和专利实践,计算机可读介质不可以是电载波信号和电信信号。
在上述实施例中,对各个实施例的描述都各有侧重,某个实施例中没有详述或记载的部分,可以参见其它实施例的相关描述。
本领域普通技术人员可以意识到,结合本文中所公开的实施例描述的各示例的单元及算法步骤,能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行,取决于技术方案的特定应用 和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能,但是这种实现不应认为超出本申请的范围。
在本申请所提供的实施例中,应该理解到,所揭露的装置/网络设备和方法,可以通过其它的方式实现。例如,以上所描述的装置/网络设备实施例仅仅是示意性的,例如,所述模块或单元的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,例如多个单元或组件可以结合或者可以集成到另一个***,或一些特征可以忽略,或不执行。另一点,所显示或讨论的相互之间的耦合或直接耦合或通讯连接可以是通过一些接口,装置或单元的间接耦合或通讯连接,可以是电性,机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的,作为单元显示的部件可以是或者也可以不是物理单元,即可以位于一个地方,或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
以上所述实施例仅用以说明本申请的技术方案,而非对其限制;尽管参照前述实施例对本申请进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围,均应包含在本申请的保护范围之内。
Claims (10)
- 一种基于助行器的跟随助行方法,其特征在于,包括:获取使用所述助行器的目标对象的运动信息;利用所述运动信息,获得所述目标对象在第一方向上的移动速率;根据所述移动速率控制所述助行器在所述第一方向上的移动。
- 如权利要求1所述的方法,其特征在于,所述运动信息包括所述目标对象的下肢的抬起角度和长度值,所述利用所述运动信息,获得所述目标对象在第一方向上的移动速率,包括:通过所述下肢的抬起角度和所述长度值,确定所述下肢的步长;根据所述步长得到所述目标对象在所述第一方向上的移动速率。
- 如权利要求2所述的方法,其特征在于,所述下肢的大腿部位设置有第一惯性传感器,所述下肢的小腿部位设置有第二惯性传感器;所述下肢的抬起角度包括通过所述第一惯性传感器获取的大腿抬起角度,和所述第二惯性传感器获取的小腿抬起角度;所述长度值包括大腿长度值和小腿长度值。
- 如权利要求3所述的方法,其特征在于,所述步长根据下式获得:D S=D 1sinθ 1+D 2sinθ 2其中:D S为所述步长,D 1为所述大腿长度值,D 2为所述小腿长度值,θ 1为所述大腿抬起角度,θ 2为所述小腿抬起角度。
- 如权利要求1所述的方法,其特征在于,所述根据所述移动速率控制所述助行器在所述第一方向上的移动,包括:当所述目标对象在所述第一方向上的移动速率在预设速率范围内时,控制所述助行器按照所述目标对象的移动速率在所述第一方向上移动;当所述目标对象在所述第一方向上的移动速率不在预设速率范围内时,限制所述助行器在所述第一方向上的移动速率。
- 如权利要求5所述的方法,其特征在于,所述限制所述助行器在所述第一方向上的移动速率,包括:当所述目标对象在所述第一方向上的移动速率小于预设速率范围的下限 值,并且持续大于预设时长,控制所述助行器进行制动处理,以使所述助行器的移动速率变为零;当所述目标对象在所述第一方向上的移动速率大于预设速率范围的上限值时,将所述上限值作为所述助行器的目标移动速率,控制所述助行器在所述第一方向上按照所述目标移动速率移动。
- 一种基于助行器的跟随助行***,其特征在于,包括助行器和驱动设备,所述助行器的轮子上设置有电机;所述驱动设备用于获取使用所述助行器的目标对象的运动信息,并根据所述运动信息,获得所述目标对象在第一方向上的移动速率,以及根据所述移动速率控制电机,以使得电机带动所述助行器在所述第一方向上移动。
- 如权利要求7所述的***,其特征在于,还包括第一惯性传感器和第二惯性传感器,所述第一惯性传感器穿戴在所述目标对象的大腿部位,所述第二惯性传感期穿戴在所述目标对象的小腿部位;所述驱动设备获取的运动信息包括下肢的抬起角度和长度值;其中所述下肢的抬起角度包括从所述第一惯性传感器获取的大腿抬起角度,和从所述第二惯性传感器获取的小腿抬起角度;所述长度值包括目标对象的大腿长度值和小腿长度值;所述驱动设备用于根据所述运动信息,获得所述目标对象在第一方向上的移动速率;具体包括:通过所述下肢的抬起角度和所述长度值,确定所述下肢的步长;根据所述步长得到所述目标对象在所述第一方向上的移动速率。
- 一种终端设备,包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序,其特征在于,所述处理器执行所述计算机程序时实现如权利要求1至6任一项所述的方法。
- 一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,其特征在于,所述计算机程序被处理器执行时实现如权利要求1至6任一 项所述的方法。
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