Device control method of walking auxiliary equipment

Abstract

The invention relates to the technical field of walking assisting equipment, in particular to a control method of a walking assisting device capable of improving gaits, increasing walking speed and improving walking ability, which comprises the following steps of: connecting first power rotating shaft parts on left and right limbs of a body at inverted convex connecting ends on two sides of a waist-surrounding fixing frame body through pin shafts; the first power rotating shaft part is connected with the thigh supporting guide rod sections on the two sides, the second power rotating shaft part and the shank supporting guide rod section, so that paired or single three-section swinging auxiliary walking equipment is formed; the thigh supporting guide rod sections and the shank supporting guide rod sections on the two sides are guided to move through the synergistic effect of a control computer and motors on the two sides by applying an inverted simple pendulum principle method, bending and stretching of hips and knee joints are assisted, then the shanks are guided to do kicking motion, and the requirements of different users are met; the user is helped to improve the gait, and the walking speed and the walking ability are intelligently improved.

Description

Technical Field

[0003] The present invention relates to the technical field of walking assistance equipment, and in particular to a walking assistance device control method capable of improving gait, increasing walking speed and enhancing walking ability. Background Art

[0005] Walking assistance devices are generally divided into: assistive devices used for medical rehabilitation, such as canes, hand-supported walkers, double crutches, arm-supported four-wheel brake walkers, suitable for walking disorders, used as leg and foot rehabilitation exercises, mainly medical rehabilitation equipment, and can be used to amplify the user's muscle strength and replace the user to support heavy loads (for example, carrying heavy objects) power-assisted robots.

[0006] The other type is a wearable exoskeleton walking aid, which is mostly used by people with leg disabilities, loss of walking ability, or weakened muscles and temporary loss of walking ability, to enable rehabilitation or help improve their ability to walk independently.

[0007] Existing walking assistive devices, whether they are assistive devices used for medical rehabilitation or wearable exoskeleton walking assistive devices, can help users improve their gait, but they have complex structures and are mostly a pair of types, not suitable for unilateral use, and are not intelligent. Summary of the invention

[0009] ‌Technical Issues‌

[0010] The main technical problem of the present invention is to provide a walking aid with simple structure, convenient disassembly and operation, and intelligence, so as to help users improve gait, increase walking speed and enhance walking ability to meet the needs of different users.

[0011] ‌Technical content

[0012] A method for controlling a walking assist device comprises: a waist-fixing frame body which can be fastened and fixed on the waist of a wearer, a first power shaft component connected to the left and right (L, R) limbs of the body through a pin at the inverted convex connection ends on both sides, the first power shaft component rotatably connected to the thigh support guide rod sections on both sides through an axis, the thigh support guide rod section rotatably connected to the second power shaft component through an axis, the second power shaft component fixedly connected to the calf support guide rod section through an axis, the calf support guide rod section can be rotatably rotated, and the above constitutes a paired or unilateral three-section swingable The auxiliary walking device is characterized in that: a power battery pack and an intelligent control system are arranged in the body cavity of the waist fixing frame, and the first DC servo motor module of the first power joint rotating shaft component device on both sides and the second DC servo motor module of the second power joint rotating shaft component device are connected and controlled, and the movement of the thigh support guide rod section and the calf support guide rod section on both sides is guided by the inverted single pendulum principle method to assist the bending and extension of the hip and knee joints, and then guide the calf to do kicking movements, which is suitable for the needs of different users, and helps users improve gait, intelligently increase walking speed and improve walking ability;

[0013] The waist-encircling frame also includes: a left waist-encircling frame and a right waist-encircling frame connected by a damping hinge shaft, which is a cavity formed by a rigid outer shell material, and a power battery pack and an intelligent control system are installed in the cavity to provide power and an intelligent control system; the inverted convex connection ends of the front lower ends of the left waist-encircling frame and the right waist-encircling frame can be connected to the first power shaft component through a pin shaft, and the inner ends thereof are equipped with a friction-taping belt, which can easily fit and fasten the waist-encircling frame to the waist;

[0014] The waist-encircling fixed frame also includes: a buckle opening is arranged on it, which can open and close the battery replacement circuit, and a power switch adjustment key is arranged on the front end thereof, which is used to control the power switch and angle adjustment of the rotation speed of the first power shaft component and the second power shaft component. The power switch adjustment key is a push-type combined with a rotary control. Pressing the button turns on the power, and pressing it again to rebound turns off the power. Long pressing can be used to control the alarm device. The upper rotary button is an acceleration button and a deceleration button for controlling the rotation speed of the first power shaft component and the second power shaft component, that is, the walking speed. The lower rotary button is an angle swing button, that is, to control the swing angle of the first power shaft component and the second power shaft component;

[0015] The first power joint rotating shaft is composed of a circular hollow shaft shell, in which a first DC servo motor module is fixed. The first DC servo motor module also includes a first reducer, a first encoder and an embedded angle sensor, and a first controller that work together in the module. The first DC servo motor module controls the rotation angle by receiving a pulse signal; the first reducer uses a gear speed converter to reduce the number of revolutions of the motor to the required number of revolutions and obtain a larger torque; the first encoder and the embedded angle sensor are composed of an encoder and an angle sensor containing a grating or Hall element, and two eccentric gears and two eccentric wheels installed on the dividing head, which can directly measure the angular velocity and position parameters of the rotating machinery. The first controller is responsible for receiving the signal sent by the servo motor and converting it into a power signal to control the current of the servo motor and drive the servo motor to work. The controller obtains the real-time position information of the servo motor through the encoder, and promptly corrects the signal instruction to ensure that the motor position, direction and speed meet the predetermined requirements;

[0016] The thigh support link joint is composed of a circular rotating shaft housing connected to the first power joint rotating shaft on the upper side, and is connected to the upper thigh support link, the middle adjustment support rod and the lower thigh support link on the lower side, and is fixedly connected to the inner lower thigh fixed circular hollow shaft housing and the thigh massage patch fixing strap device. The upper shaft is movably connected to the first power joint rotating shaft, and the driving device transmits power to guide the thigh movement to achieve a smooth and efficient single pendulum; the massage patch fixing strap is provided with magic adhesive tape at both ends, and a breathable soft pad is provided on the inner side of the magic adhesive tape;

[0017] The second power joint rotating shaft can be movably connected to the thigh support link, and is composed of a circular hollow shaft housing, fixedly connected to a DC servo motor module, and also includes a second DC servo motor, a second reducer, a second encoder and an embedded angle sensor, and a second controller that work together in the module. The DC servo motor module controls the rotation angle by receiving pulse signals, and accurately controls the rotation of the servo motor by comparing the input pulse and the feedback pulse, and feeds back the actual rotation angle through the encoder, and realizes high-precision motion control through a closed-loop control system. The position and speed of the motor rotor are accurately controlled by changing the input current phase; the reducer uses a gear speed converter to reduce the number of revolutions of the motor to the required number of revolutions and obtain a larger torque; the encoder and the embedded angle sensor contain a grating or Hall element, and when the shaft rotates, the grating or Hall element will A device that detects angle changes and converts these changes into electrical signal outputs, directly measures the angular velocity and position parameters of rotating machinery, and is realized by two eccentric gears and two eccentric wheels installed on the dividing head. The eccentric gears mesh with each other, causing the eccentric wheels to generate radial force. The angular parameters are obtained by measuring the distance between the two eccentric wheels to measure the position and speed of the servo motor. It transmits the real-time position signal of the servo motor back to the controller, and the controller adjusts the operating state of the motor according to the feedback signal to ensure that the motor works according to the predetermined requirements, forming a closed-loop control system, thereby achieving high dynamic response and precise control; the controller is responsible for receiving the signal sent by the servo motor and converting it into a power signal to control the current of the servo motor and drive the servo motor to work. The controller obtains the real-time position information of the servo motor through the encoder, and promptly corrects the signal instruction to ensure that the motor position, direction and speed meet the predetermined requirements;

[0018] The calf support guide rod section is composed of a calf support guide rod support fixing rod fixedly connected to the second power joint rotation axis, a calf fixed support plate fixedly connected below it, and a calf massage patch fixing strap fixedly connected thereto. The calf support guide rod section transmits power through a driving device of the second power joint rotation axis to guide the calf movement, thereby realizing a smooth and efficient single pendulum; the calf massage patch fixing strap is fixedly connected to the calf support guide rod support fixing rod, and both ends of the calf massage patch fixing strap are provided with magic adhesive tapes, and a breathable soft pad is provided on the inner side of the magic adhesive tape;

[0019] The power battery pack and intelligent control system are composed of a power battery pack combined with an intelligent control system PCB panel, and the PCB panel includes: a CPU chip, a gyroscope module, a database storage module, a sending module, a receiving module, a wireless module, a driving module, a sensor module, and a positioning navigation module, which are installed in a waist-mounted fixed frame. The power battery pack is equipped with a lithium-ion battery, and the batteries are combined in series and parallel to provide the required voltage and current to drive the motor, meet the different voltage and current requirements of the walking assistance device, and thus drive the normal operation of the device. The intelligent control system is connected to the walking assistance device controller, the first power shaft, and the second power shaft electrodes, and the controller or the wireless connection APP on the intelligent terminal device drives the control device to implement automatic control or remote control of the walking assistance device.

[0020] The inverted pendulum principle method includes: Inverted pendulum principle: The movement of the pelvis is similar to an inverted pendulum, with the legs as the fulcrum, and smooth and efficient bipedal walking is achieved through the conversion of kinetic energy and potential energy. It is applied in walking assistance equipment, and the movement of the hip and knee joints is detected by the built-in angle sensor, the motor operation is controlled, and the bending and extension of the hip and knee joints are assisted, thereby guiding the calf to perform kicking movements; The control method of the inverted pendulum adopts the LQR optimal control method, which is an optimal control method based on the state space method. The optimal control law is solved by minimizing a quadratic performance indicator function composed of state variables and control variables. In the inverted pendulum control, the LQR optimal control can make the system quickly reach a stable state and has good robustness: ① Sense joint movement through sensors: Sense the movement of the target joint through the first sensing unit to generate the motion vector data of the target joint; Sense the movement of the dual joint through the second sensing unit to generate the motion vector data of the dual joint; ② Predict joint motion angle: obtain the motion vector data of the target joint generated by the first sensor unit and the motion vector data of the dual joint generated by the second sensor unit, and predict the motion angle of the target joint after a predetermined time based on these data; ③ Control the execution unit: according to the predicted motion angle, control the execution unit to drive the lower limbs of the machine so that the corresponding joint parts of the lower limbs of the machine are at the corresponding motion angle at the moment after the predetermined time; ④ Adjust the height of the walker: put the walker beside you, bend your elbow to 90 degrees, and adjust the height of the walker so that the top of the walker is equal to the height of the elbow; ⑤ Stride control: keep a small stride to avoid losing balance due to excessive strides; ⑥ Movement coordination: when the walker is close, grab the walker or handrail with both hands to better maintain balance; ⑦ Even breathing: keep even breathing and a relaxed state to avoid excessive exertion; ⑧ Gradually increase the distance: At the beginning, you can practice a few times at home and gradually increase the distance and time of walking.

[0021] Beneficial effects‌

[0022] The walking aid of the present invention has the following beneficial effects:

[0023] ‌Improve gait‌: By controlling the synergy of the computer and the motors on both sides, the flexion and extension of the hip and knee joints are assisted, thereby improving gait; ‌Increase walking speed‌: By optimizing the movement mechanism, users can walk faster; ‌Improve walking ability‌: Help users practice left-right symmetrical walking and stepping movements; Intelligent, able to measure and verify data such as left-right symmetry, movable angle range, walking speed, etc. during walking, so that users can conduct self-assessment and training, safety alarms, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of a paired device according to an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of a single-sided device according to a second embodiment of the present invention;

[0027] Figure 3 A detailed diagram of the waist-encircling fixing frame of the present invention;

[0028] Figure 4 A detailed structural diagram of the first power shaft component of the present invention;

[0029] Figure 5 It is a detailed structural diagram of the thigh support guide rod section of the present invention;

[0030] Figure 6 The second power shaft component of the present invention is a detailed structural diagram of the calf support guide rod section;

[0031] Figure 7 A schematic diagram of a power battery pack and an intelligent control system of the present invention;

[0032] In the figure: a waist fixing frame 1, a left waist fixing frame L1, a right waist fixing frame R1, an inverted convex connection end 10, a damping shaft 11, a buckle opening 12, a power switch adjustment key 13, a massage patch fastening belt 14, a first power shaft component 2, a first fixable and detachable circular shaft housing 20, a first DC servo motor module 21, a first DC servo motor 210, a first reducer 211, a first encoder and an embedded angle sensor 212, a first controller 213, a thigh support guide rod section 3, a first movable circular shaft housing 30, and a thigh upper support connecting rod. 31. Middle adjustment support rod 32, lower thigh support connecting rod 33, lower thigh fixed circular hollow shaft shell 34, thigh massage patch fixing strap 35, second power shaft 4, second DC servo motor module 40, second DC servo motor 401, second reducer 402, second encoder and embedded angle sensor 403, second controller 404, calf support guide rod section 5, calf support guide rod support fixing rod 50, calf fixed support plate 51, calf massage patch fixing strap 53, power battery pack and intelligent control system 6, power battery pack 60, intelligent control system PCB panel 61. DETAILED DESCRIPTION

[0034] In order to make the objectives, technical solutions and advantages of the present invention clearer and more explicit, the present invention is further described in detail below with reference to the accompanying drawings and examples; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0035] The proposed technical solutions are specific embodiments 1 and 2:

[0036] like Figure 1 , Figure 2As shown, a method for controlling a walking assist device comprises: a waist fixing frame 1 which can be fastened and fixed on the waist of a wearer, wherein the inverted convex connection ends 10 on both sides thereof are connected to the first power shaft component 2 on the left and right (L, R) limbs of the body through a pin shaft, wherein the first power shaft component 2 is rotatably connected to the thigh support guide rod sections 3 on both sides through an axis, wherein the thigh support guide rod section 3 is rotatably connected to the second power shaft component 4 through an axis, wherein the second power shaft component 4 is fixedly connected to the calf support guide rod section 5 and the calf support guide rod section 5 is rotatable through an axis, and the above constitutes a pair or a single three-section swingable The auxiliary walking device is characterized in that: a power battery pack and an intelligent control system 6 are arranged in the cavity of a waist-encircling fixed frame 1, which is connected to control the first DC servo motor module 21 of the first power joint rotating shaft component 2 on both sides and the second DC servo motor module 40 of the second power joint rotating shaft component 4, and guides the movement of the thigh support guide rod section 3 and the calf support guide rod section 5 on both sides through the inverted single pendulum principle method, assists the bending and extension of the hip and knee joints, and then guides the calf to do kicking movements, which is suitable for the needs of different users, helps users improve gait, intelligently improve walking speed and improve walking ability;

[0037] like Figure 3 As shown, the waist-encircling frame 1 also includes: the waist-encircling frame 1 also includes: the left waist-encircling frame L1 and the right waist-encircling frame R1 are connected by a damping hinge shaft 11, which is a cavity formed by a rigid outer shell material, and a power battery pack and an intelligent control system 6 are installed in the cavity to provide power and an intelligent control system; the front lower end inverted convex connection end 10 of the left waist-encircling frame L1 and the right waist-encircling frame R1 can be connected to the first power shaft component 2 through a pin shaft, and the inner side end thereof is equipped with a friction-tape tightening belt 14, which can easily fit and tighten the waist-encircling frame 1 to the waist;

[0038] like Figure 3 As shown, the waist-encircling fixed frame 1 also includes: a buckle opening 12 is arranged on it, which can open and close the battery replacement circuit, and a power switch adjustment key 13 is arranged on the front end thereof, which is used to control the power switch and angle adjustment of the rotation speed of the first power shaft component 2 and the second power shaft component 4. The power switch adjustment key 13 is a push-type combined with a rotary control. Pressing the button turns on the power, and pressing it again to rebound turns off the power. Long pressing can be used to control the alarm device. The upper rotary button is an acceleration button and a deceleration button for controlling the rotation speed of the first power shaft component 2 and the second power shaft component 4, that is, the walking speed. The lower rotary button is an angle swing button, that is, to control the swing angle of the first power shaft component 2 and the second power shaft component 4;

[0039] like Figure 4As shown, the first power joint rotating shaft 2 is composed of a circular hollow shaft housing 20, in which a first DC servo motor module 21 is fixed. The first DC servo motor module 21 also includes a first reducer 210, a first encoder and an embedded angle sensor 211, and a first controller 212, which work together in the module. The first DC servo motor module 21 controls the rotation angle by receiving a pulse signal; the first reducer 210 uses a gear speed converter to reduce the number of revolutions of the motor to the required number of revolutions and obtain a larger torque; the first encoder and the embedded angle sensor 211 are composed of an encoder and an angle sensor containing a grating or Hall element, and two eccentric gears and two eccentric wheels installed on the dividing head can directly measure the angular velocity and position parameters of the rotating machinery. The first controller 212 is responsible for receiving the signal sent by the servo motor and converting it into a power signal to control the current of the servo motor and drive the servo motor to work. The controller obtains the real-time position information of the servo motor through the encoder, and promptly corrects the signal instruction to ensure that the motor position, direction and speed meet the predetermined requirements;

[0040] like Figure 5 As shown, the thigh support link 3 is connected to the first power joint rotation axis 2 by a circular rotating shaft housing 30 on the upper side, and is connected to the upper thigh support link 31, the middle adjustment support rod 32 and the lower thigh support link 33 on the lower side, and is fixedly connected to the inner lower thigh fixed circular hollow shaft housing 34 and the thigh massage patch fixing strap 35. The upper shaft is movably connected to the first power joint rotation axis 2, and the driving device transmits power to guide the thigh movement to achieve a smooth and efficient single pendulum; the massage patch fixing strap 34 is provided with magic adhesive tapes at both ends, and a breathable soft pad is provided on the inner side of the magic adhesive tape;

[0041] like Figure 6As shown, the second power joint rotating shaft 4 can be movably connected to the thigh support link 3, and is composed of a circular hollow shaft housing 40, which is fixedly connected to a DC servo motor module 41, and also includes a second DC servo motor 401, a second reducer 402, a second encoder and an embedded angle sensor 403, and a second controller 404, which work together in the module. The DC servo motor module 41 controls the rotation angle by receiving pulse signals, and accurately controls the rotation of the servo motor by comparing the input pulse and the feedback pulse, and feeds back the actual rotation angle through the encoder, and realizes high-precision motion control through a closed-loop control system by changing the input current phase to accurately control the position and speed of the motor rotor; the reducer 402 uses a gear speed converter to reduce the number of revolutions of the motor to the required number of revolutions and obtain a larger torque; the encoder and the embedded angle sensor 403 are composed of an encoder and an angle sensor containing a grating or Hall element, when When the shaft rotates, the grating or Hall element will detect the change of angle and convert these changes into electrical signal output. The device that directly measures the angular velocity and position parameters of the rotating machinery is realized by two eccentric gears and two eccentric wheels installed on the dividing head. The eccentric gears mesh with each other, so that the eccentric wheels generate radial force. The angular parameters are obtained by measuring the distance between the two eccentric wheels to measure the position and speed of the servo motor. It transmits the real-time position signal of the servo motor back to the controller. The controller adjusts the running state of the motor according to the feedback signal to ensure that the motor works according to the predetermined requirements, forming a closed-loop control system, thereby achieving high dynamic response and precise control; the controller 404 is responsible for receiving the signal sent by the servo motor, and converting it into a power signal to control the current of the servo motor and drive the servo motor to work. The controller obtains the real-time position information of the servo motor through the encoder, and promptly corrects the signal instruction to ensure that the motor position, direction and speed meet the predetermined requirements;

[0042] like Figure 6 As shown, the calf support guide rod section 5 is composed of a calf support guide rod support fixing rod 50 fixedly connected to the second power joint rotation axis 4, a calf fixed support plate 51 fixedly connected thereunder, and a calf massage patch fixing strap 52 fixedly connected thereto. The calf support guide rod section 5 transmits power through the driving device of the second power joint rotation axis 4 to guide the calf movement, thereby realizing a smooth and efficient single pendulum; the calf massage patch fixing strap 52 is fixedly connected to the calf support guide rod support fixing rod 50, and both ends of the calf massage patch fixing strap 52 are provided with magic adhesive tapes, and a breathable soft pad is provided on the inner side of the magic adhesive tapes;

[0043] like Figure 7As shown, the power battery pack and the intelligent control system 6 are composed of a power battery pack 60 combined with an intelligent control system PCB panel 61, and the PCB panel includes: a CPU chip, a gyroscope module, a database storage module, a sending module, a receiving module, a wireless module, a driving module, a sensor module, and a positioning navigation module. The device is installed in the waist fixing frame 1, and the power battery pack 60 is equipped with a lithium-ion battery. The battery is combined in series and parallel, which can provide the required voltage and current to drive the motor to meet the different voltage and current requirements of the walking assistance device, thereby driving the normal operation of the device; the intelligent control system 61 is connected to the walking assistance device controller 212, the first power shaft 2, and the second power shaft 4 electrodes, and the APP drive control device on the controller or wireless connection intelligent terminal device implements automatic control or remote control operation of the walking assistance device;

[0044] The above-mentioned inverted pendulum principle method includes: Inverted pendulum principle: With the legs as the fulcrum, smooth and efficient bipedal walking is achieved through the conversion of kinetic energy and potential energy. It is applied in walking assistance equipment. The movement of the hip and knee joints is detected by the built-in angle sensor, and the motor operation is controlled to assist the bending and extension of the hip and knee joints, thereby guiding the calf to kick. The control method of the inverted pendulum adopts the LQR optimal control method, which is an optimal control method based on the state space method. The optimal control law is solved by minimizing a quadratic performance indicator function composed of state variables and control variables. In the inverted pendulum control, the LQR optimal control can make the system quickly reach a stable state and has good robustness: ① Sensing joint movement through sensors: The movement of the target joint is sensed by the first sensing unit to generate the motion vector data of the target joint; the movement of the dual joint is sensed by the second sensing unit to generate the motion vector data of the dual joint; ② Predicting joint movement ③ Motion angle: obtain the motion vector data of the target joint generated by the first sensor unit and the motion vector data of the dual joint generated by the second sensor unit, and predict the motion angle of the target joint after a predetermined time based on these data; ③ Control the execution unit: according to the predicted motion angle, control the execution unit to drive the lower limbs of the machine so that the corresponding joint parts of the lower limbs of the machine are at the corresponding motion angle at the moment after the predetermined time; ④ Adjust the height of the walker: put the walker beside you, bend your elbows to 90 degrees, and adjust the height of the walker so that the top of the walker is equal to the height of the elbow; ⑤ Stride control: keep a small stride to avoid losing balance due to excessive strides; ⑥ Movement coordination: when the walker is close, grab the walker or handrail with both hands to better maintain balance; ⑦ Even breathing: keep even breathing and relaxed to avoid excessive force; ⑧ Gradually increase the distance: at the beginning, you can practice a few times at home and gradually increase the distance and time of walking.

Claims

1. A method for controlling a walking assist device, comprising: The invention comprises a waist-encircling fixing frame (1) which can be fastened and fixed on the waist of the wearer, and a first power rotating shaft component (2) is connected to the left and right (L, R) limbs of the body through a pin at the inverted convex connection ends (10) on both sides thereof, the first power rotating shaft component (2) is rotatably connected to the thigh support guide rod sections (3) on both sides through an axis, the thigh support guide rod section (3) is rotatably connected to the second power rotating shaft component (4) through an axis, and the second power rotating shaft component (4) is fixedly connected to the calf support guide rod section (5) and the calf support guide rod section (5) is rotatable through an axis, thereby forming a paired or single-sided three-section swingable auxiliary walking device. The invention is characterized in that a power battery pack and an intelligent control system (6) are arranged in the cavity of a waist-encircling fixed frame (1), which is connected to control a first DC servo motor module (21) of a first power joint rotating shaft component (2) on both sides and a second DC servo motor module (40) of a second power joint rotating shaft component (4), and guides the movement of the thigh support guide rod sections (3) and the calf support guide rod sections (5) on both sides through the inverted single pendulum principle method, assists the bending and extension of the hip and knee joints, and further guides the calf to perform kicking movements, so as to meet the needs of different users, help users improve their gait, intelligently increase their walking speed and enhance their walking ability.

2. The method for controlling a walking assistance device according to claim 1, characterized in that: The waist-encircling fixing frame (1) further comprises: a left waist-encircling fixing frame (L1) and a right waist-encircling fixing frame (R1) connected by a damping hinge shaft (11), which is a cavity formed by a rigid outer shell material, wherein a power battery pack and an intelligent control system (6) are installed in the cavity to provide power and the intelligent control system; the inverted convex connection ends (10) at the front lower ends of the left waist-encircling fixing frame (L1) and the right waist-encircling fixing frame (R1) can be connected to the first power rotating shaft component (2) by means of a pin shaft, and the inner ends thereof are provided with a friction-attaching belt (14), which can easily fit and fasten the waist-encircling fixing frame (1) to the waist.

3. A method for controlling a walking assistance device according to claim 1 or 2, characterized in that: The waist-encircling fixed frame (1) further comprises: a buckle opening (12) is arranged on it, which can open and close the battery replacement circuit; a power switch adjustment key (13) is arranged on the front end thereof, which is used to control the power switch and angle adjustment of the rotation speed of the first power shaft component (2) and the second power shaft component (4); the power switch adjustment key (13) is a push-type combined with a rotary control; pressing the button turns on the power, and pressing it again turns off the power; a long press can be used to control the alarm device; the upper rotary button is an acceleration button and a deceleration button for controlling the rotation speed of the first power shaft component (2) and the second power shaft component (4), that is, the walking speed; the lower rotary button is an angle swing button, that is, controlling the swing angle of the first power shaft component (2) and the second power shaft component (4).

4. A method for controlling a walking assistance device according to claim 1 or 3, characterized in that: The first power joint rotating shaft (2) comprises a circular hollow shaft housing (20) in which a first DC servo motor module (21) is fixed. The first DC servo motor module (21) further comprises a first reducer (210), a first encoder and an embedded angle sensor (211), and a first controller (212) which work together in the module. The first DC servo motor module (21) controls the rotation angle by receiving a pulse signal. The first reducer (210) uses a gear speed converter to reduce the number of revolutions of the motor to a required number of revolutions and obtain a larger torque. The first encoder and the embedded angle sensor (211) are composed of an encoder and an angle sensor containing a grating or a Hall element. Two eccentric gears and two eccentric wheels are mounted on a dividing head, and can directly measure the angular velocity and position parameters of the rotating machine. The first controller (212) is responsible for receiving the signal sent by the servo motor and converting it into a power signal to control the current of the servo motor and drive the servo motor to work. The controller obtains the real-time position information of the servo motor through the encoder and promptly corrects the signal instruction to ensure that the motor position, direction and speed meet the predetermined requirements.

5. The method for controlling a walking assistance device according to claim 1, characterized in that: The thigh support link section (3) is composed of a circular rotating shaft shell (30) connected to the first power joint rotating shaft (2), and is connected to the upper thigh support link (31), the middle adjustment support rod (32) and the lower thigh support link (33) at the lower side, and is fixedly connected to the inner lower thigh fixed circular hollow shaft shell (34) and a thigh massage patch fixing strap (35) device. The upper shaft is movably connected to the first power joint rotating shaft (2) and transmits power through a driving device to guide the thigh movement, thereby realizing a smooth and efficient single pendulum; the massage patch fixing strap (34) is provided with magic adhesive tape at both ends, and a breathable soft pad is provided on the inner side of the magic adhesive tape.

6. A method for controlling a walking assistance device according to claim 1, characterized in that: The second power joint rotation axis (4) is movably connected to the thigh support link (3), and is composed of a circular hollow shaft housing (40), fixedly connected to a DC servo motor module (41), and also includes a second DC servo motor (401), a second reducer (402), a second encoder and an embedded angle sensor (403), and a second controller (404) which work together in the module. The DC servo motor module (41) controls the rotation angle by receiving a pulse signal, accurately controls the rotation of the servo motor by comparing the input pulse and the feedback pulse, and feeds back the actual rotation angle through the encoder, and realizes high-precision motion control through a closed-loop control system by changing the input current phase to accurately control the position and speed of the motor rotor; the reducer (402) uses a gear speed converter to reduce the number of revolutions of the motor to the required number of revolutions and obtain a larger torque; the encoder and the embedded angle sensor (403) are composed of an encoder and an angle sensor. Grating or Hall element, when the shaft rotates, the grating or Hall element will detect the change of angle and convert these changes into electrical signal output. The device directly measures the angular velocity and position parameters of the rotating machinery. It is realized by two eccentric gears and two eccentric wheels installed on the dividing head. The eccentric gears are meshed with each other, so that the eccentric wheels generate radial force. The angular parameters are obtained by measuring the distance between the two eccentric wheels to measure the position and speed of the servo motor. It transmits the real-time position signal of the servo motor back to the controller. The controller adjusts the running state of the motor according to the feedback signal to ensure that the motor works according to the predetermined requirements, forming a closed-loop control system, thereby achieving high dynamic response and precise control; the controller (404) is responsible for receiving the signal sent by the servo motor and converting it into a power signal to control the current of the servo motor and drive the servo motor to work. The controller obtains the real-time position information of the servo motor through the encoder, and corrects the signal instruction in time to ensure that the motor position, direction and speed meet the predetermined requirements.

7. The method for controlling a walking assistance device according to claim 1, characterized in that: The calf support guide rod section (5) is composed of a calf support guide rod support fixing rod (50) fixedly connected to the second power joint rotation axis (4), a calf fixed support plate (51) fixedly connected thereto, and a calf massage patch fixing strap (52) fixedly connected thereto. The calf support guide rod section (5) transmits power through a driving device of the second power joint rotation axis (4) to guide the calf movement, thereby achieving a smooth and efficient single pendulum; the calf massage patch fixing strap (52) is fixedly connected to the calf support guide rod support fixing rod (50), and the calf massage patch fixing strap (52) is provided with magic adhesive tape at both ends, and a breathable soft pad is provided on the inner side of the magic adhesive tape.

8. The method for controlling a walking assistance device according to claim 1, characterized in that: The power battery pack and intelligent control system (6) are composed of a power battery pack (60) combined with an intelligent control system PCB panel (61), wherein the PCB panel comprises: a CPU chip, a gyroscope module, a database storage module, a transmission module, a reception module, a wireless module, a drive module, a sensor module, and a positioning navigation module, which are installed in a waist-mounted fixed frame (1). The power battery pack (60) is equipped with lithium-ion batteries, which are combined in series and parallel to provide the required voltage and current to drive the motor, meet the different voltage and current requirements of the walking assistance device, and thus drive the normal operation of the device. The intelligent control system (61) is connected to the walking assistance device controller (212), the first power shaft (2), and the second power shaft (4) electrodes, and is driven by the controller or wirelessly connected to the APP on the intelligent terminal device to control the device to implement automatic control or remote control of the walking assistance device.

9. A method for controlling a walking assistance device according to any one of claims 1 to 10, characterized in that: The inverted pendulum principle method includes: Inverted pendulum principle: using the legs as the fulcrum, smooth and efficient bipedal walking is achieved through the conversion of kinetic energy and potential energy. It is applied in walking assistance equipment. The movement of the hip and knee joints is detected by the built-in angle sensor, and the motor operation is controlled to assist the bending and extension of the hip and knee joints, thereby guiding the calf to perform kicking movements; The control method of the inverted pendulum adopts the LQR optimal control method, which is an optimal control method based on the state space method. The optimal control law is solved by minimizing a quadratic performance indicator function composed of state variables and control variables. In the inverted pendulum control, the LQR optimal control can make the system quickly reach a stable state and has good robustness: ① Sensing joint movement through sensors: sensing the movement of the target joint through the first sensing unit to generate the motion vector data of the target joint; sensing the movement of the dual joint through the second sensing unit to generate the motion vector data of the dual joint; ② Predicting the joint movement angle ③ Control the execution unit: According to the predicted motion angle, the execution unit drives the lower limbs of the machine, so that the corresponding joint parts of the lower limbs of the machine are at the corresponding motion angles at the moment after the predetermined time; ④ Adjust the height of the walker: Put the walker beside you, bend your elbows to 90 degrees, and adjust the height of the walker so that the top of the walker is equal to the height of the elbow; ⑤ Stride control: Keep a small stride to avoid losing balance due to excessive strides; ⑥ Movement coordination: When the walker is close, grab the walker or handrail with both hands to better maintain balance; ⑦ Even breathing: Keep even breathing and a relaxed state to avoid excessive force; ⑧ Gradually increase the distance: At the beginning, you can practice at home a few times and gradually increase the distance and time of walking.

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