Stride-based motion assistive device control method, device, terminal, and medium

Abstract

The present invention discloses a method, device, terminal, and medium for controlling a motion-assisting device based on stride. The method includes: when a user is exercising, collecting the current load data of the motion-assisting device in real time, and determining the gait cycle based on the current load data, wherein the gait cycle includes a support period, a swing period, and a stance period; obtaining the track speed of the motion-assisting device, and determining the real-time stride based on the gait cycle and the track speed; and controlling the motion-assisting device based on the real-time stride within a preset time period. The present invention can analyze the current load data of the motion-assisting device. Since the current load data is periodic and the user's gait changes are also periodic, the user's gait cycle can be analyzed, and then the user's real-time stride can be analyzed in combination with the track speed. The motion-assisting device can be controlled based on the real-time stride, thereby realizing intelligent and personalized exercise services for the user and better ensuring the user's exercise safety.

Description

Technical Field

[0001] The present invention relates to the field of motion analysis technology, and in particular to a method, device, terminal and medium for controlling a motion assist device based on stride. Background Art

[0002] As people pay more and more attention to their health and exercise becomes more and more popular, various sports assistive devices are becoming an increasingly popular choice. Currently, the control of sports assistive devices is largely limited to manual control by the user, such as manually turning the device on and off and adjusting the speed using buttons. This fails to achieve intelligent control of sports assistive devices, and even more so, fails to control sports assistive devices based on the user's actual exercise conditions.

[0003] Therefore, the prior art still has defects. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method, device, terminal and medium for controlling a sports assist device based on stride length in order to address the above-mentioned defects of the prior art. The technical solution adopted by the present invention is as follows:

[0005] In a first aspect, the present invention provides a method for controlling a sports assist device based on stride, wherein the method comprises:

[0006] When the user exercises, current load data of the exercise assisting device is collected in real time, and a gait cycle is determined based on the current load data, where the gait cycle includes a stance period, a swing period, and a stance period;

[0007] obtaining a track speed of the exercise assisting device, and determining a real-time stride length based on the gait cycle and the track speed;

[0008] The exercise assisting device is controlled based on the real-time stride length within a preset time period.

[0009] In one implementation, determining the gait cycle based on the current load data includes:

[0010] When the current load data continues to increase, obtaining a first current average value of the current load data, and if the first current average value is greater than a preset current threshold, determining that the stage in which the current load data continues to increase is the stance period of the gait cycle;

[0011] If the current load data remains stable, determining that the stage in which the current load data remains stable is the stance period of the gait cycle;

[0012] When the current load data continues to decrease, a second current average of the current load data is obtained. If the second current average is less than a preset current threshold, it is determined that the stage in which the current load data continues to decrease is the swing period of the gait cycle.

[0013] In one implementation, determining the gait cycle based on the current load data includes:

[0014] identifying a touchdown event and a lift-off event based on the current load data, wherein the touchdown event is an event in which the foot contacts the exercise assisting device, and the lift-off event is an event in which the foot leaves the exercise assisting device;

[0015] Determine the period from the beginning to the end of the contact event as the support period;

[0016] The period from the beginning to the end of the lift-off event is determined as the swing period.

[0017] In one implementation, the identifying a touchdown event and a liftoff event based on the current load data includes:

[0018] When the current load data continues to increase, obtaining a first duration during which the current load data is greater than a preset current threshold, and if the first duration is greater than a duration threshold, using a first timestamp when the current load data is greater than the current threshold as a start time of the touchdown event;

[0019] When the current load data continues to decrease, obtaining a second duration in which the current load data is less than a preset current threshold; if the second duration is greater than a duration threshold, using a second timestamp when the current load data is less than the current threshold as the end time of the touchdown event and the start time of the lift-off event;

[0020] When the current load data increases again and is greater than the current threshold again, a third timestamp when the current load data is greater than the current threshold again is used as the end time of the lift-off event and the start time of the next touchdown time.

[0021] In one implementation, controlling the exercise assisting device based on the real-time stride length within a preset time period includes:

[0022] Determine the stride change trend based on the real-time stride length within a preset time period;

[0023] If the stride length change trend is increasing, sending a speed increase control instruction for increasing the crawler speed to the motion assisting device;

[0024] If the trend of the stride change is decreasing, a deceleration control instruction for reducing the crawler belt rotation speed is issued to the motion assisting device.

[0025] In one implementation, controlling the exercise assisting device based on the real-time stride length within a preset time period further includes:

[0026] After outputting the speed-increasing control instruction, obtaining the speed of the crawler belt after the speed-increasing control instruction in real time;

[0027] If the increased speed of the crawler belt is greater than a preset safety speed, a shutdown control instruction is output to the motion auxiliary device.

[0028] In one implementation, the method further includes:

[0029] Get the user's left and right footsteps respectively;

[0030] If the difference between the left footstep and the right footstep exceeds a preset difference, an abnormal prompt message is output.

[0031] In a second aspect, an embodiment of the present invention further provides a stride-based motion assistive device control device, wherein the device is used to implement the steps of the stride-based motion assistive device control method described in any one of the above solutions, and the device includes:

[0032] a gait cycle determination module, configured to collect current load data of the exercise assistive device in real time when the user is exercising, and determine a gait cycle based on the current load data, wherein the gait cycle includes a stance period, a swing period, and a stance period;

[0033] a real-time stride determination module, configured to obtain a track speed of the exercise assisting device and determine a real-time stride based on the gait cycle and the track speed;

[0034] The device control module is used to control the exercise assisting device based on the real-time stride length within a preset time period.

[0035] In a third aspect, an embodiment of the present invention further provides a terminal, wherein the terminal includes a memory, a processor, and a stride-based motion assisting device control program stored in the memory and runnable on the processor. When the processor executes the stride-based motion assisting device control program, the steps of the stride-based motion assisting device control method of any one of the above-mentioned schemes are implemented.

[0036] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein a stride-based motion assisting device control program is stored on the computer-readable storage medium, and the stride-based motion assisting device control program implements the steps of the stride-based motion assisting device control method described in any one of the above-mentioned schemes on the computer-readable storage medium.

[0037] Beneficial effects: Compared with the prior art, the present invention provides a method for controlling a motion-assisting device based on stride. When the user is exercising, the present invention collects the current load data of the motion-assisting device in real time, and determines the gait cycle based on the current load data. The gait cycle includes a support period, a swing period, and a standing period. Then, the track speed of the motion-assisting device is obtained, and the real-time stride is determined based on the gait cycle and the track speed. Finally, the motion-assisting device is controlled based on the real-time stride within a preset time period. The present invention can analyze the current load data of the motion-assisting device. Since the current load data is periodic and the user's gait changes are also periodic, the user's gait cycle can be analyzed, and then the user's real-time stride can be analyzed in combination with the track speed, so that the motion-assisting device can be controlled based on the real-time stride, thereby realizing intelligent and personalized motion services for users and better ensuring the user's motion safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a flow chart of a preferred embodiment of a method for controlling a sports assisting device based on stride provided in an embodiment of the present invention.

[0039] Figure 2 A schematic diagram of the architecture of a stride-based motion assistance device control apparatus provided in an embodiment of the present invention.

[0040] Figure 3 This is a functional block diagram of a terminal provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and effect of the present invention clearer and more specific, 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.

[0042] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents, operations, or steps, nor must they be executed in the order described. For example, some operations or steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0043] It should be understood that the terms used in this specification are only for the purpose of describing particular embodiments and are not intended to limit the present invention. As used in the specification and appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0044] It should be understood that, to facilitate a clear description of the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, terms such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. For example, the first control information and the second control information are merely used to distinguish different control information and do not limit their order.

[0045] Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit them to be different.

[0046] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0047] Based on the problems of the prior art, the present invention provides a method for controlling a motion-assisting device based on stride. The method of this embodiment can control the motion-assisting device based on real-time stride, thereby providing intelligent and personalized motion services to users and better ensuring the user's motion safety. In specific applications, when the user is exercising, this embodiment collects the current load data of the motion-assisting device in real time, and determines the gait cycle based on the current load data. The gait cycle includes a support period, a swing period, and a stance period. Then, the track speed of the motion-assisting device is obtained, and the real-time stride is determined based on the gait cycle and the track speed. Finally, the motion-assisting device is controlled based on the real-time stride within a preset time period. The motion postures of this embodiment include a stop posture, a walking posture, and a running posture. It can be seen that the motion-assisting device control method based on stride of this embodiment can analyze the user's actual motion situation, facilitate the provision of better motion-assisting services to users, and facilitate better ensuring the user's motion safety by understanding the user's actual motion habits.

[0048] The stride-based motion assisting device control method of this embodiment can be applied to a terminal, and the terminal can be a terminal product such as a computer, a mobile phone, and a smart TV. In addition, since the application scenario of this embodiment is a motion scenario, in order to facilitate the analysis of the user's actual motion situation, and in order to ensure the real-time performance of the stride-based motion assisting device control method, the stride-based motion assisting device control method of this embodiment can also be applied to wearable devices, that is, the above-mentioned terminal is the user's wearable device, such as a smart watch, a smart bracelet, and other portable intelligent products. In addition, the stride-based motion assisting device control method of this embodiment can also be applied to motion assisting devices, such as a treadmill. In this case, the above-mentioned terminal is a treadmill. In actual applications, the specific form of the terminal is not limited in this embodiment. Specifically, as Figure 1As shown in , the stride-based motion assist device control method of this embodiment includes the following steps:

[0049] Step S100 : When the user is exercising, current load data of the exercise assisting device is collected in real time, and a gait cycle is determined based on the current load data. The gait cycle includes a stance period, a swing period, and a standing period.

[0050] Taking running as an example, the exercise-assisting device in this embodiment is a treadmill. Since the current load data on the treadmill changes periodically while the user is running, and the user's gait also changes periodically, the gait cycle can be analyzed based on the current load data. The gait cycle consists of the stance phase, the swing phase, and the stance phase. The stance phase is when the foot first contacts the treadmill and bears weight, while the swing phase is when the foot swings forward after leaving the ground.

[0051] In one implementation, this embodiment includes the following steps when determining the gait cycle:

[0052] Step S101: If the current load data continues to increase, obtaining a first current average value of the current load data; if the first current average value is greater than a preset current threshold, determining that the stage in which the current load data continues to increase is the stance period of the gait cycle;

[0053] Step S102: If the current load data remains stable, determining that the stage in which the current load data remains stable is the stance period of the gait cycle;

[0054] Step S103: Based on the continuous decrease of the current load data, a second current average of the current load data is obtained; if the second current average is less than a preset current threshold, it is determined that the stage in which the current load data continuously decreases is the swing period of the gait cycle.

[0055] Specifically, after obtaining the current load data of the exercise assisting device, this embodiment can first pre-process the current load data, for example, filtering or normalizing the current load data, so as to eliminate the impact of running speed differences on the current load data. Next, this embodiment can monitor the changes in the current load data in real time and draw a waveform diagram of the current load data, thereby determining the fluctuation of the current load sample, including peaks, troughs, fluctuation amplitude, rising edge slope, falling edge slope, cycle duration, etc. It can be seen from the drawn waveform diagram that when the user exercises on the treadmill, the current load data changes periodically. For example, during the user's running exercise, taking the user's single leg as an example, when the user is in the support period, the foot touches the ground and applies a vertical impact force and backward friction force to the treadmill track. The treadmill motor needs to increase the torque to maintain the running belt speed. At this time, the treadmill's current load data increases significantly. Especially in the extension phase, the muscle exerts force to generate greater propulsion, and the current load data reaches a peak. During the swing phase, after the user's feet leave the ground, the force exerted on the belt decreases, and the treadmill's motor only needs to maintain basic operation. At this time, the current load data decreases to a stable level. When the user is in the stance phase, the treadmill's current load data remains stable.

[0056] Based on this, after obtaining the waveform of the current load data, this embodiment obtains a first current average of the current load data when the current load data continues to grow. If the first current average is greater than a preset current threshold, it indicates that the user's foot has contacted the treadmill track and applied a vertical impact force and backward friction force to the treadmill. At this time, it can be determined that the stage in which the current load data continues to grow is the support phase of the gait cycle. If the current load data remains stable, the stage in which the current load data remains stable is determined to be the stance phase of the gait cycle. When the current load data continues to decrease, a second current average of the current load data is obtained. If the second current average is less than the preset current threshold, the user's foot begins to leave the treadmill track. It can be determined that the stage in which the current load data continues to decrease is the swing phase of the gait cycle. This embodiment can accurately analyze the gait cycle by analyzing the changes and size of the current load data.

[0057] Furthermore, when analyzing the current load data, this embodiment can also identify touchdown and lift-off events during the user's exercise process based on changes in the current load data. The touchdown event is the event in which the foot contacts the track of the exercise-assisting device, and the lift-off event is the event in which the foot leaves the track of the exercise-assisting device. The start and end phases of the touchdown event can then be determined as the stance phase, and the start and end phases of the lift-off event can be determined as the swing phase. Thus, this embodiment requires identifying the touchdown time and lift-off events. Specifically, based on the waveform of the current load data, when the current load data continues to increase, the first duration of time during which the current load data exceeds a preset current threshold is obtained. If the first duration is greater than the duration threshold, the current load data is now steadily increasing, indicating that the user's foot has begun to contact the treadmill track. At this point, the first timestamp when the current load data exceeds the current threshold can be used as the start time of the touchdown event, and the touchdown event begins. When the current load data reaches a peak value, the sole of the foot is fully in contact with the treadmill track, and the stable phase after the peak value is the stance phase. When the current load data continues to decrease, a second duration during which the current load data is less than a preset current threshold is obtained. If the second duration is greater than the duration threshold, indicating that the current load data is steadily decreasing, this indicates that the user's foot has begun to leave the treadmill track. Therefore, the second timestamp when the current load data is less than the current threshold can be used as the end time of the touchdown event and the start time of the lift-off event, thereby identifying the start and end phases of the touchdown event. When the current load data increases again and again exceeds the current threshold, the third timestamp when the current load data is again greater than the current threshold is used as the end time of the lift-off event and the start time of the next touchdown event, thereby identifying the start and end phases of the lift-off event. After identifying the touchdown event and lift-off event, this embodiment can determine the start and end phases of the touchdown event as the support phase, and the start and end phases of the lift-off event as the swing phase. By analyzing the durations during which the current load data exceeds or falls below the current threshold, this embodiment can determine whether the current load data is changing steadily, thereby identifying touchdown and lift-off events and accurately analyzing the gait cycle.

[0058] In addition, the present embodiment can also compare the current load data at a certain moment with the current threshold to determine the support period and the swing period. For example, when the current load data at a certain moment is greater than the current threshold, it can be determined that the support period has begun. If the current load data at a certain moment is less than the current threshold, it can be determined that the support period has ended and the swing period has begun. Furthermore, after analyzing the support period based on the current load data, the present embodiment can also analyze motion parameters such as the ground contact time and the air time based on the cycle length of the support period. In addition, the current threshold of the present embodiment can be set based on the model of the motion-assisting device. For example, a mapping table of treadmill models and current thresholds can be established. Based on the mapping table, the current threshold corresponding to the treadmill model used by the user at this time can be selected. It can be seen that the present embodiment can adopt a variety of methods to determine the gait cycle, and the present embodiment is not limited to this.

[0059] In other implementations, since the current load data changes periodically and the gait also changes periodically, after collecting the current load data, this embodiment determines the current cycle corresponding to the current load data based on a first mapping relationship. The first mapping relationship in this embodiment is: current load sample - current sample cycle. Based on this first mapping relationship, the current load data of the sports assistive device can be collected in real time while the user is running, and then the current load data is matched with the first mapping relationship to obtain the corresponding current cycle. The current cycle includes: a current load rising period, a current load falling period, and a current load stable period.

[0060] During a user's running motion, taking a single leg as an example, during the stance phase, the user's foot strikes the ground, exerting vertical impact force and backward friction on the treadmill. The treadmill motor must increase torque to maintain the treadmill speed. During this phase, the treadmill's current load data increases significantly, and the corresponding current cycle is the current load rising phase. Especially during the extension phase, muscle exertion generates greater propulsion, and the current load data reaches a peak. During the swing phase, after the user's foot leaves the ground, the user's force on the treadmill decreases, and the treadmill motor only needs to maintain basic treadmill operation. At this point, the current load data drops to a stable level, and the corresponding current cycle is the current load falling phase. When the user is in the stance phase, the treadmill's current load data remains stable and unchanged for a period of time, corresponding to the current load stabilization phase. The current load rising phase, current load falling phase, and current load stabilization phase constitute a complete current cycle. Based on this, this embodiment trains a second mapping relationship, and based on this second mapping relationship, determines the gait cycle corresponding to this current cycle. The second mapping relationship in this embodiment is: gait sample - current sample cycle. After the current cycle is obtained, the current cycle is matched with the second mapping relationship to obtain the corresponding gait cycle. For example, if the current cycle is determined to be a rising current load period, the corresponding gait cycle is a stance period; if the current cycle is determined to be a falling current load period, the corresponding gait cycle is a swing period; if the current cycle is determined to be a stable current load period, the corresponding gait cycle is a stance period.

[0061] In order to make the current load samples more diverse, the users of this embodiment can also be current load samples of multiple user samples of different genders, different body shapes and different running habits at different gaits. In this way, the data of the current load samples collected is richer. This embodiment can analyze the current load samples of each user sample at different gaits, and then obtain the current sample period in which the current load samples of each user sample at different gait samples are located. Then, the current sample periods of all user samples are integrated to obtain the integrated current sample period, and then the integrated current sample period is mapped to the current load sample to obtain a first mapping relationship. The integrated current sample period is mapped to the gait sample to obtain a second mapping relationship. At this time, the first mapping relationship and the second mapping relationship are both obtained based on training of different users, and therefore can be applied to different users, thereby improving the applicability of this embodiment.

[0062] In other implementations, this embodiment can also train a convolutional neural network model to obtain a gait analysis model for outputting a gait label. The input data of the gait analysis model is the collected current load data. The gait analysis model can automatically analyze the current load data, determine the corresponding current cycle, and then determine the gait label corresponding to the current cycle. The gait cycle at this time can be determined based on the gait label. Preferably, when analyzing the current load data, the gait analysis model can automatically classify the waveform of the current load data based on a clustering algorithm, identify the clustering results under different gaits, and then output the gait label corresponding to the current load data input at this time.

[0063] In other implementations, this embodiment can further analyze the user's motion posture. Since the current cycle and gait cycle under different motion postures are different and have certain regularities, after obtaining the current cycle and gait cycle, this embodiment can perform a comprehensive analysis based on the current cycle and the gait cycle to determine the user's posture. Specifically, the current characteristics in the current cycle and the gait characteristics in the gait cycle are extracted respectively, and then a comprehensive analysis is performed based on the current characteristics and the gait characteristics. The current characteristics in this embodiment include the current fluctuation amplitude and current frequency reflected by the entire current cycle, and the gait characteristics include: cycle duration or gait frequency.

[0064] In actual application, when the gait characteristic is the cycle duration, if the current fluctuation amplitude and the current frequency are both 0, the motion posture is determined to be a stop posture; if the current fluctuation amplitude is less than the first amplitude value and the current frequency is less than the first frequency value, and the cycle duration of the gait cycle is greater than the cycle threshold, the motion posture is determined to be a walking posture; if the current fluctuation amplitude is greater than the second amplitude value and the current frequency is greater than the second frequency value, and the cycle duration of the gait cycle is less than the cycle threshold, the motion posture is determined to be a running posture. In another implementation, when the gait characteristic is the gait frequency, if the gait frequency is 0, the motion posture is determined to be a stop posture; if the current fluctuation amplitude is less than the first amplitude value and the current frequency is less than the first frequency value, and the gait frequency of the gait cycle is less than the step frequency threshold, the motion posture is determined to be a walking posture; if the current fluctuation amplitude is greater than the second amplitude value and the current frequency is greater than the second frequency value, and the gait frequency of the gait cycle is greater than the step frequency threshold, the motion posture is determined to be a running posture. It can be seen from this that this embodiment can also analyze motion posture information based on current load data.

[0065] It should be noted that if the user's left and right feet have the same motion, this embodiment can analyze the motion posture using a single foot as an example, analyzing the current cycle and gait cycle of a single foot (e.g., the left foot). Of course, this embodiment can also use the above-described method to analyze the motion posture of each foot separately for the current cycle and gait cycle of the left and right feet, thereby determining whether the motion postures of the left and right feet are the same. If they are not, an abnormality can be determined. Furthermore, when the user is in a running posture, this embodiment can further obtain motion parameters of the user in the running posture and then analyze the motion parameters. For example, the obtained motion parameters can be compared with preset reference motion parameters to determine whether the user's running posture is abnormal. If an abnormality is present, such as slipping on one foot, alternating running, or supporting with both hands (falling), a pop-up window or sound alarm can be automatically displayed on the user's mobile terminal, exercise-assistance device, or wearable device to remind the user to ensure exercise safety. If the alarm duration exceeds a preset time, a control instruction can be issued to the exercise-assistance device, such as controlling the treadmill to slow down or even stop operation. In addition, this embodiment can also monitor the operating status of the sports assistive device in real time when the user is in a running posture. If any abnormality is found, a pop-up window prompt or sound alarm prompt can also be issued to ensure the user's exercise safety.

[0066] Step S200: Acquire the speed of the track of the exercise assisting device, and determine the real-time stride based on the gait cycle and the speed of the track.

[0067] After obtaining the gait cycle, this embodiment can obtain the cycle duration of the gait cycle, which is the sum of the support period, the stance period and the swing period. It should be noted that the stance period does not necessarily exist. If the user does not stop significantly during the movement, the support period is directly connected and transitioned with the swing period, and there is no stance period. Stride refers to the distance a single leg moves from one touchdown to the next, that is, the displacement of the body within a gait cycle. In the treadmill scenario, the user is stationary relative to the ground, and the reverse movement speed of the treadmill track (that is, the track speed) is equal to the user's forward speed, so the stride = track speed * cycle duration of the gait cycle. Therefore, this embodiment can analyze the real-time stride.

[0068] In one implementation, this embodiment can analyze the user's left and right feet separately, analyzing the gait cycle of each foot. The user's left and right foot strides are then calculated. The difference between the left and right foot strides is then calculated. If the difference between the left and right foot strides exceeds a preset difference, indicating that the strides of the left and right feet are inconsistent and the gait is asymmetrical, an abnormality prompt can be output. Specifically, a pop-up prompt or sound alarm can be automatically displayed on the user's mobile terminal, sports assistive device, or wearable device to remind the user to ensure exercise safety.

[0069] Step S300: Control the exercise assisting device based on the real-time stride length within a preset time period.

[0070] After obtaining the real-time stride, this embodiment can analyze the real-time stride within a preset time period to determine whether the real-time stride has changed. If it has changed, a control instruction for controlling the motion assisting device is issued in a timely manner, thereby achieving control of the motion assisting device.

[0071] In one implementation, the present embodiment includes the following steps when controlling the exercise assisting device:

[0072] Step S301: determining a stride length change trend based on the real-time stride length within a preset time period;

[0073] Step S302: If the stride length change trend is increasing, a speed-increasing control instruction for increasing the crawler speed is sent to the exercise assisting device;

[0074] Step S303: If the trend of the stride length change is decreasing, a deceleration control instruction for reducing the speed of the crawler belt is sent to the exercise assisting device.

[0075] Specifically, this embodiment obtains the real-time stride length within a preset time period (for example, within 8 consecutive seconds), and then compares the size of each real-time stride length to determine the stride length change trend. If the stride length change trend is increasing, it means that the user's exercise speed has increased. At this time, in order to adapt to the user's exercise speed, an increase control instruction for increasing the speed of the track will be issued to the exercise assisting device. If the stride length change trend is decreasing, it means that the user's exercise speed has decreased. At this time, in order to adapt to the user's exercise speed, a deceleration control instruction for reducing the speed of the track will be issued to the exercise assisting device. It can be seen that this embodiment can intelligently control the exercise assisting device according to the user's actual exercise situation without the need for additional button operations, and the exercise assisting device can adapt to the user's exercise speed, so as to provide personalized exercise services for the user.

[0076] Furthermore, to ensure user safety during exercise, this embodiment also provides a safety speed setting. This safety speed can be set based on the user's weight and exercise habits (such as their usual stride length). Thus, this safety speed is user-adapted and ensures safety during exercise. This embodiment can obtain the increased speed of the crawler track in real time after outputting the speed-up control command. If the increased speed exceeds the preset safety speed, a shutdown control command is output to the exercise-assisting device, effectively preventing safety hazards caused by excessive crawler track speed.

[0077] Based on the above embodiment, the present invention further provides a stride-based motion assisting device control device, which is used to implement any one of the steps in the above method embodiment, such as Figure 2 As shown in , the apparatus includes: a gait cycle determination module 10, a real-time stride determination module 20, and a device control module 30. Specifically, the gait cycle determination module 10 is used to collect current load data of the motion-assisting device in real time when the user is exercising, and to determine the gait cycle based on the current load data, wherein the gait cycle includes a support period, a swing period, and a stance period. The real-time stride determination module 20 is used to obtain the track speed of the motion-assisting device, and to determine the real-time stride based on the gait cycle and the track speed. The device control module 30 is used to control the motion-assisting device based on the real-time stride within a preset time period.

[0078] The working principles of each module in the stride-based motion assistance device control device of this embodiment are the same as the principles of each step in the above method embodiment, and will not be repeated here.

[0079] Each module in the aforementioned stride-based motion assist device control device may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor in a terminal in the form of hardware, or may be stored in a memory in the terminal in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0080] Based on the above embodiment, the present invention further provides a terminal, the principle block diagram of the terminal can be as follows: Figure 3 The terminal may include one or more processors 100 ( Figure 3Only one is shown in the figure), a memory 101, and a computer program 102 stored in the memory 101 and executable on one or more processors 100. For example, a program for controlling a motion-assistance device based on stride. When one or more processors 100 execute computer program 102, each step of the embodiment of the method for controlling a motion-assistance device based on stride can be implemented. Alternatively, when one or more processors 100 execute computer program 102, the functions of each module / unit in the embodiment of the apparatus for controlling a motion-assistance device based on stride can be implemented, without limitation herein.

[0081] In one embodiment, the processor 100 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (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 any conventional processor.

[0082] In one embodiment, memory 101 may be an internal storage unit of an electronic device, such as a hard drive or memory. Memory 101 may also be an external storage device of the electronic device, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash memory card, etc. Furthermore, memory 101 may include both an internal storage unit of the electronic device and an external storage device. Memory 101 is used to store computer programs and other programs and data required by the terminal. Memory 101 may also be used to temporarily store data that has been output or is about to be output.

[0083] Those skilled in the art will understand that Figure 3 The principle block diagram shown in the figure is only a block diagram of a partial structure related to the solution of the present invention, and does not constitute a limitation on the terminal to which the solution of the present invention is applied. The specific terminal may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0084] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, operation database or other media used in the embodiments provided by the present invention may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), Direct Memory Bus Dynamic RAM (DRDRAM), and Rambus Dynamic RAM (RDRAM), among others.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for controlling a sports assist device based on stride, characterized in that: The method comprises: When the user exercises, current load data of the exercise assisting device is collected in real time, and a gait cycle is determined based on the current load data, where the gait cycle includes a stance period, a swing period, and a stance period; obtaining a track speed of the exercise assisting device, and determining a real-time stride length based on the gait cycle and the track speed; controlling the exercise assisting device based on the real-time stride length within a preset time period; The determining of the gait cycle based on the current load data comprises: identifying a touchdown event and a lift-off event based on the current load data, wherein the touchdown event is an event in which the foot contacts the exercise assisting device, and the lift-off event is an event in which the foot leaves the exercise assisting device; Determine the period from the beginning to the end of the contact event as the support period; Determine the period from the beginning to the end of the lift-off event as a swing period; The identifying of a touchdown event and a liftoff event based on the current load data includes: When the current load data continues to increase, obtaining a first duration during which the current load data is greater than a preset current threshold, and if the first duration is greater than a duration threshold, using a first timestamp when the current load data is greater than the current threshold as a start time of the touchdown event; When the current load data continues to decrease, obtaining a second duration in which the current load data is less than a preset current threshold; if the second duration is greater than a duration threshold, using a second timestamp when the current load data is less than the current threshold as the end time of the touchdown event and the start time of the lift-off event; When the current load data increases again and is greater than the current threshold again, taking a third timestamp when the current load data is greater than the current threshold again as the end time of the lift-off event and the start time of a next touchdown event; or, The determining of the gait cycle based on the current load data comprises: After collecting the current load data, determining a current cycle corresponding to the current load data based on a first mapping relationship, the current cycle including: a current load rising period, a current load falling period, and a current load stable period; Matching the current cycle with the second mapping relationship to determine the corresponding gait cycle; When training the first mapping relationship and the second mapping relationship, analyzing the current load samples of each user sample under different gaits to obtain the current sample period in which the current load samples of each user sample under different gait samples are located, integrating the current sample periods of all user samples to obtain an integrated current sample period, mapping the integrated current sample period and the current load sample to obtain the first mapping relationship, and mapping the integrated current sample period and the gait sample to obtain the second mapping relationship; The controlling of the exercise assisting device based on the real-time stride length within a preset time period includes: Determine the stride change trend based on the real-time stride length within a preset time period; If the stride length change trend is increasing, sending a speed increase control instruction for increasing the crawler speed to the motion assisting device; If the stride length change trend is decreasing, a deceleration control instruction for reducing the crawler speed is issued to the motion assisting device; After outputting the speed-increasing control instruction, obtaining the speed of the crawler belt after the speed-increasing control instruction in real time; If the increased speed of the crawler belt is greater than a preset safety speed, a shutdown control instruction is output to the exercise assisting device, wherein the safety speed is set according to the user's weight and exercise habits.

2. The method for controlling a sports assisting device based on stride according to claim 1, wherein: The method further comprises: Get the user's left and right footsteps respectively; If the difference between the left footstep and the right footstep exceeds a preset difference, an abnormal prompt message is output.

3. A stride-based motion assist device control system, characterized in that: The system is used to implement the steps of the stride-based motion assist device control method according to any one of claims 1 to 2, and the system comprises: a gait cycle determination module, configured to collect current load data of the exercise assistive device in real time when the user is exercising, and determine a gait cycle based on the current load data, wherein the gait cycle includes a stance period, a swing period, and a stance period; a real-time stride determination module, configured to obtain a track speed of the exercise assisting device and determine a real-time stride based on the gait cycle and the track speed; The device control module is used to control the exercise assisting device based on the real-time stride length within a preset time period.

4. A terminal, characterized in that: The terminal includes a memory, a processor, and a stride-based motion assisting device control program stored in the memory and runnable on the processor. When the processor executes the stride-based motion assisting device control program, it implements the steps of the stride-based motion assisting device control method as described in any one of claims 1-2.

5. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a stride-based motion assistance device control program, and the stride-based motion assistance device control program implements the steps of the stride-based motion assistance device control method according to any one of claims 1-2 on the computer-readable storage medium.

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