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Rehabilitation weight-reducing walking training vehicle capable of realizing linear following by detecting distance and control method

A technology for weight loss walking training and distance detection, which is applied in the field of medical devices to achieve the effect of short data transmission time, low probability of interference, and guaranteed accuracy

Active Publication Date: 2020-04-07
NANJING VISHEE MEDICAL TECH
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

However, in the prior art, there is no walking training vehicle for weight loss rehabilitation that can achieve accurate straight-line follow through detection distance

Method used

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  • Rehabilitation weight-reducing walking training vehicle capable of realizing linear following by detecting distance and control method
  • Rehabilitation weight-reducing walking training vehicle capable of realizing linear following by detecting distance and control method
  • Rehabilitation weight-reducing walking training vehicle capable of realizing linear following by detecting distance and control method

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specific Embodiment

[0073] 1. The control system uses Raspberry Pi as the controller and a TFmini laser ranging sensor as the distance sensor;

[0074] 2. Set the Raspberry Pi communication cycle to 10ms, that is, get the measurement value of the distance sensor every 10ms;

[0075] 3. When the patient puts on the protective clothing (that is, the weight reduction sling) completes the preparatory action and starts the follow mode switch, the Raspberry Pi saves the current distance (the lateral distance between the distance sensor and the patient's back) as the absolute distance between the weight loss vehicle and the patient ;

[0076] 4. When the patient moves forward, the distance between the sensor and the back increases due to the forward movement of the back;

[0077] 5. The controller receives the real-time distance value at the current time and compares the real-time distance value with the absolute distance value to obtain the distance difference, and obtains the training vehicle speed correction...

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Abstract

The invention relates to a rehabilitation weight-reducing walking training vehicle capable of realizing linear following by detecting a distance and a control method, and belongs to the field of medical instruments. The rehabilitation weight-reducing walking training vehicle comprises a controller and a distance sensor for detecting the distance between a weight-reducing vehicle and the back of apatient. The controller comprises a distance information acquisition module, a speed control module and a motor driving module, wherein the distance information acquisition module receives a real-timedistance measurement value acquired by the distance sensor to obtain a real-time distance value Act_dis at the current moment, and obtains a distance difference value Err_dis between the real-time distance value Act_dis at the current moment and a set absolute distance value Abs_dis through calculation; the speed control module receives the distance difference value Err_dis, and a PID algorithm is adopted to obtain a training vehicle speed correction value Act_speed at the current moment; and the motor driving module receives the speed value Act_speed of the training vehicle and enables the training vehicle to run at the speed of Act_speed by controlling a motor. According to the invention, the synchronous real-time performance of synergic movement of the weight-reducing vehicle and a patient is ensured.

Description

Technical field [0001] The invention relates to a rehabilitation weight-reducing walking training vehicle that realizes straight-line follow through detecting distance, and belongs to the field of medical equipment. Background technique [0002] In the clinical rehabilitation of various patients (such as patients with lower limb motor dysfunction caused by stroke, spinal cord injury, fracture surgery, etc.) in the lower limb rehabilitation period, auxiliary equipment is needed to support auxiliary equipment for weight loss. At present, there are not too many training equipments in clinical practice, and the demand for rehabilitation continues to expand, but there is a shortage of professional rehabilitation personnel; the one-to-one mode is expensive and time-consuming. In order to solve these problems in the process of rehabilitation training, new technologies that are safe, quantitative, effective and capable of repeated training are urgently needed. [0003] Rehabilitation walk...

Claims

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Application Information

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IPC IPC(8): A61H3/04
CPCA61H3/04A61H2003/043A61H2003/046
Inventor 冯雷黄河钱忆陈赞嵇兵
Owner NANJING VISHEE MEDICAL TECH
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