Control method of walk replacing device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a control method of a device for riding instead of walking, electronic equipment and a storage medium, and belongs to the technical field of tools for riding instead of walking. The method comprises the following steps: acquiring inertial motion data through an inertial measurement unit; acquiring a plurality of load data through a plurality of load detection modules; gait phase analysis and pressure distribution analysis are carried out based on the multiple pieces of load data, and gait phase information and a pressure center position of the walking replacing device are determined respectively; performing intention analysis based on the gait phase information, the inertial motion data and the pressure center position corresponding to the two walking devices to obtain motion intention information of the wearer; performing foot posture analysis according to the inertial motion data corresponding to the two walking devices, and determining a target operation mode of the walking devices; and based on the target operation mode of the walking device and the motion intention information of the wearer, controlling the walking device to move through the power module. According to the embodiment of the invention, the use intention of the wearer can be accurately identified, and the movement of the device can be assisted.

Description

Technical Field

[0001] This application relates to the field of personal transportation technology, and more particularly to a control method, electronic device, and storage medium for a personal transportation device. Background Technology

[0002] In related technologies, many wearable mobility devices rely primarily on inertial measurement units (IMUs) to estimate the wearer's motion state. However, relying solely on IMUs has inherent drawbacks. After long-term integration, IMUs are prone to significant drift errors, leading to inaccurate estimation of the wearer's foot position and posture. This results in an inability to accurately identify the wearer's intentions, potentially causing falls and injuries.

[0003] Therefore, how to provide accurate motion state parameters for the control system of wearable mobility devices in order to more accurately identify the wearer's intentions and assist in realizing the movement of the mobility device has become an urgent technical problem to be solved. Summary of the Invention

[0004] The main objective of this application is to provide a control method, electronic device, and storage medium for a personal mobility device, which aims to accurately identify the wearer's intention to use the device and assist in realizing the movement of the personal mobility device.

[0005] To achieve the above objectives, a first aspect of this application provides a control method for a personal mobility device, applied to the personal mobility device, which includes an inertial measurement unit, a power module, and multiple load detection modules. The power module is used to drive the personal mobility device to move. The method includes: Inertial motion data is acquired through the inertial measurement unit; Multiple load data are obtained through multiple load detection modules; Gait phase analysis is performed based on multiple load data to determine the gait phase information of the mobility device. Based on pressure distribution analysis of multiple load data, the pressure center location of the personal transportation device is determined. Based on the gait phase information, inertial motion data, and pressure center position corresponding to the two mobility devices, intention analysis is performed to obtain the wearer's movement intention information; Based on the inertial motion data corresponding to the two personal mobility devices, foot posture analysis is performed to determine the target operating mode of the personal mobility devices. Based on the target operating mode of the mobility device and the wearer's movement intention information, the power module controls the movement of the mobility device.

[0006] In some embodiments, the step of performing gait phase analysis based on multiple load data to determine the gait phase information of the mobility device includes: Based on multiple load data, the vertical ground reaction force exerted by the wearer on the mobility device is determined. Based on the changing trend of the vertical ground reaction force, the current gait phase information of the mobility device is determined.

[0007] In some embodiments, the gait phase information of the mobility device includes a support phase and a swing phase; The determination of the current gait phase information of the mobility device based on the changing trend of the vertical ground reaction force includes: In response to the vertical ground reaction force increasing and exceeding a preset first force threshold, the mobility device is determined to switch from the swing phase to the support phase. In response to the decrease in the vertical ground reaction force and its falling below a preset second force threshold, the mobility device is determined to switch from the support phase to the swing phase.

[0008] In some embodiments, the gait phase information of the mobility device includes a support phase and a swing phase, and the transition process between a swing phase and a support phase of the mobility device is one gait cycle; The intention analysis, based on the gait phase information, inertial motion data, and pressure center position corresponding to the two mobility devices, yields the wearer's movement intention information, including: When the mobility device is in the support phase, the wearer's movement intention information is determined by comparing the changing trend of the pressure center position in the current gait cycle with the changing trend of the pressure center position in multiple historical gait cycles. When the mobility device is in the oscillation phase, the wearer's movement intention information is determined by comparing the trend of the inertial motion data in the current gait cycle with the trend of the inertial motion data in multiple historical gait cycles.

[0009] In some embodiments, the motion intent information includes acceleration intent and deceleration intent; When the mobility device is in the support phase, the wearer's movement intention information is determined by comparing the changing trend of the pressure center position within the current gait cycle with the changing trend of the pressure center position within multiple historical gait cycles, including: Based on the location of the pressure center, determine the ankle joint torque of the wearer in the mobility device; For each gait cycle, the highest torque value and peak timing of the ankle joint torque are obtained; In response to the current gait cycle being relative to multiple historical gait cycles, the peak timing being advanced or the maximum torque value being increased, the wearer is determined to have the acceleration intention; In response to the current gait cycle being delayed or the peak moment value decreasing relative to multiple historical gait cycles, the wearer is determined to have the intention to decelerate.

[0010] In some embodiments, after determining the wearer's movement intention information by comparing the trend of the pressure center position within the current gait cycle with the trend of the pressure center position within multiple historical gait cycles when the mobility device is in the support phase, the process includes: The average of the highest torque values ​​of the ankle joint torque within multiple historical gait cycles is obtained to obtain the historical peak average value; The acceleration value of the mobility device is determined based on the difference between the highest torque value of the ankle joint torque during the current gait cycle and the average historical peak value. The power module provides power to the mobility device based on the acceleration value.

[0011] In some embodiments, the step of detecting foot posture based on the inertial motion data of the two mobility devices to determine the target operating mode of the mobility devices includes: For each of the aforementioned personal mobility devices, foot posture detection is performed based on the inertial motion data to obtain the foot posture information of the personal mobility device; Based on the foot posture information, the target operating mode is determined by matching it with a plurality of preset candidate mode postures, wherein each candidate mode posture corresponds to one candidate operating mode.

[0012] In some embodiments, the gait phase information of the mobility device includes a support phase and a swing phase, the target operating mode includes a locking mode, a stepping mode, a sliding mode and a calibration mode, and the mobility device also includes a roller module; The method of controlling the movement of the personal mobility device via the power module based on the target operating mode of the device and the wearer's movement intention information includes: In response to the target operating mode being the locked mode, the power module controls the roller module to prevent rotation. In response to the target operating mode being the stepping mode, the power module provides power to the roller module of the corresponding mobility device; In response to the target operating mode being the sliding mode, the global pressure center position is determined by the pressure center positions of the two mobility devices and the vertical ground reaction force. Based on the global pressure center position, the power module is controlled to provide power to the roller module of the mobility device corresponding to the support phase. In response to the target operating mode being the calibration mode, the power module controls the roller module to be non-rotating, and collects the wearer's body state information to calibrate the wearer's movement posture and generate safe operating parameters that match the wearer.

[0013] In some embodiments, the method further includes: In response to the fact that the vertical ground reaction force corresponding to any of the mobility devices satisfies the preset center of gravity alternation condition within a preset window time, it is determined that the wearer intends to brake in an emergency. In response to the fact that the inertial motion data corresponding to any of the mobility devices within the window time meets a preset rapid alternation condition, the wearer is determined to have the intention to brake urgently.

[0014] To achieve the above objectives, a second aspect of this application provides a personal transportation device, the device comprising: An inertial measurement unit (IMU) is used to acquire inertial motion data. Multiple load detection modules are used to acquire multiple load data. The roller module is located at the bottom of the mobility device; The central processing unit is configured to perform gait phase analysis based on multiple load data to determine the gait phase information of the mobility device; perform pressure distribution analysis based on multiple load data to determine the pressure center position of the mobility device; perform intention analysis based on the gait phase information, inertial motion data, and pressure center position of two mobility devices to obtain the wearer's movement intention information; and perform foot posture analysis based on the inertial motion data of two mobility devices to determine the target operating mode of the mobility device. A power module is used to control the roller module to achieve movement of the mobility device based on the wearer's movement intention information and the target operating mode of the mobility device.

[0015] To achieve the above objectives, a third aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the control method for the personal transportation device described in the first aspect.

[0016] To achieve the above objectives, a fourth aspect of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the control method for the personal transportation device described in the first aspect.

[0017] The control method, electronic device, and storage medium for the mobility device proposed in this application acquire inertial motion data through an inertial measurement unit and acquire multiple load data through multiple load detection modules. Based on the multiple load data, gait phase analysis is performed to determine the gait phase information of the mobility device. Then, based on the multiple load data, pressure distribution analysis is performed to determine the pressure center position of the mobility device. Intent analysis is performed based on the gait phase information, inertial motion data, and pressure center position of two mobility devices to obtain the wearer's movement intent information. Foot posture analysis is performed based on the inertial motion data of the two mobility devices to determine the target operating mode of the mobility device. Finally, based on the target operating mode of the mobility device and the wearer's movement intent information, a power module controls the movement of the mobility device. Therefore, this application, by introducing multiple load detection modules to acquire multiple load data, can analyze gait phase information and pressure center position to more accurately identify the wearer's usage intent. Furthermore, by determining different operating modes through the foot postures of two mobility devices, it provides a more accurate and richer combination of motion state parameters, thereby safely and intuitively assisting the movement of the mobility device. Attached Figure Description

[0018] Figure 1 This is a flowchart of the control method for the personal transportation device provided in the embodiments of this application; Figure 2 yes Figure 1 The flowchart of step S103 in the process; Figure 3 yes Figure 2 The flowchart of step S202 in the document; Figure 4 yes Figure 1 The flowchart of step S105 in the process; Figure 5 yes Figure 4 The flowchart of step S401 in the text; Figure 6 yes Figure 4 The flowchart following step S401; Figure 7 yes Figure 1 Another flowchart of step S105 in the process; Figure 8 yes Figure 1 The flowchart of step S106 in the process; Figure 9 yes Figure 1 The flowchart of step S107 in the process; Figure 10 This is a schematic diagram of the structure of the personal transportation device provided in the embodiments of this application; Figure 11 This is another structural schematic diagram of the personal transportation device provided in the embodiments of this application; Figure 12 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0020] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0022] This application provides a control method, electronic device, and storage medium for a personal mobility device, which aims to accurately identify the wearer's intention to use the device and assist in realizing the movement of the personal mobility device.

[0023] The control method, electronic device, and storage medium of the personal mobility device provided in this application are specifically described through the following embodiments. First, the control method of the personal mobility device in the embodiments of this application is described.

[0024] The control method for a personal transportation device provided in this application relates to the field of personal transportation technology. The control method for a personal transportation device provided in this application can be applied to a terminal or to software within a terminal. In some embodiments, the terminal can be a smartphone, tablet computer, laptop computer, desktop computer, etc.; the software can be an application that implements the control method for the personal transportation device, etc., but is not limited to the above forms.

[0025] It should be noted that in all specific embodiments of this application, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user location information, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant standards. In addition, when embodiments of this application require access to sensitive personal information of users, separate permission or consent from the user is obtained through pop-ups or redirection to a confirmation page. Only after obtaining the user's separate permission or consent is the necessary user-related data required for the proper functioning of these embodiments acquired.

[0026] Figure 1 This is an optional flowchart of the control method for the personal transportation device provided in the embodiments of this application. Figure 1 The method may include, but is not limited to, steps S101 to S107.

[0027] Step S101: Acquire inertial motion data through the inertial measurement unit; Step S102: Obtain multiple load data through multiple load detection modules; Step S103: Perform gait phase analysis based on multiple load data to determine the gait phase information of the mobility device; Step S104: Perform pressure distribution analysis based on multiple load data to determine the pressure center location of the personal mobility device; Step S105: Based on the gait phase information, inertial motion data and pressure center position corresponding to the two mobility devices, intention analysis is performed to obtain the wearer's motion intention information; Step S106: Perform foot posture analysis based on the inertial motion data corresponding to the two mobility devices to determine the target operating mode of the mobility devices. Step S107: Based on the target operating mode of the mobility device and the wearer's movement intention information, the mobility device is controlled to move via the power module.

[0028] In step S101 of some embodiments, the controller acquires inertial motion data in real time using a six-axis inertial measurement unit (IMU) installed on the mobility device. The inertial motion data specifically includes linear acceleration and angular velocity along three axes.

[0029] In step S102 of some embodiments, multiple load detection modules installed in the mobility device acquire multiple load data, which are the pressure values ​​detected by each load detection module. The load data can be obtained with reference to formula (1): , in, This represents the load data measured by the i-th load detection module; This represents the original voltage of the i-th load detection module; This represents the gain coefficient (N / V). This represents the zero-point offset value, in volts (V).

[0030] The load detection module can be distributed at different positions on the sole of the foot of the mobility device to detect the pressure values ​​exerted by the wearer on different positions of the mobility device.

[0031] In step S103 of some embodiments, gait phase analysis is performed based on the acquired multiple load data to obtain gait phase information of the mobility device. Gait phase information is a classification label describing which specific stage of the walking cycle a wearer's foot or mobility device is in; simply put, it determines the state of the mobility device or the wearer's foot, whether it is stepping on the ground or swinging in the air.

[0032] Please see Figure 2 In some embodiments, step S103 may include, but is not limited to, steps S201 to S202: Step S201: Based on multiple load data, determine the vertical ground reaction force exerted by the wearer on the mobility device; Step S202: Based on the changing trend of the vertical ground reaction force, determine the current gait phase information of the mobility device; In step S201 of some embodiments, the vertical ground reaction force exerted by the wearer on the mobility device is determined based on multiple load data. Specifically, the values ​​detected by all load detection modules are summed to calculate the total vertical ground reaction force. The vertical ground reaction force can be obtained by referring to the following formula (2): (2), in, This represents the vertical ground reaction force. Multiple, distributed load data are combined into a single scalar value representing the total vertical pressure exerted by the wearer on the entire mobility device at the current moment, i.e., the vertical ground reaction force.

[0033] In step S202 of some embodiments, the current gait phase information of the mobility device is realized based on the changing trend of the vertical ground reaction force. The vertical ground reaction force can be used to determine whether the wearer is currently applying force to the mobility device, and thus determine the state of the mobility device or the wearer's feet.

[0034] The rate of change of the vertical ground reaction force can be calculated by filtering and differentiating it. This is because the vertical ground reaction force exhibits distinct phases during the wearer's walking cycle. The force rises from zero to its peak value corresponding to the heel-to-foot-flat phase, remains stable during the middle support phase, and then rapidly decreases to zero, corresponding to the toe-to-toe lift-off and the beginning of the swing phase.

[0035] In some embodiments, inertial motion data is fused and estimated using an extended Kalman filter to continuously estimate the position, velocity, and attitude of the foot during non-fixed support. Furthermore, a load detection module triggers a Zero Velocity Update (ZUPT) to estimate the foot's motion state.

[0036] Please see Figure 3 In some embodiments, the gait phase information of the mobility device includes a support phase and a swing phase. The support phase indicates that the foot of the mobility device or the wearer is on the ground and bearing weight. The swing phase indicates that the foot has left the ground and is swinging forward in the air, preparing for the next landing. Step S202 may include, but is not limited to, steps S301 to S302: Step S301: In response to the vertical ground reaction force rising and exceeding the preset first force threshold, the mobility device is determined to switch from the swing phase to the support phase. Step S302: In response to the decrease of the vertical ground reaction force and its lowering below the preset second force threshold, it is determined that the mobility device changes from the support phase to the swing phase. In step S301 of some embodiments, a corresponding judgment rule can be constructed based on the phased characteristics of the vertical ground reaction force during the wearer's walking cycle. When the vertical ground reaction force begins to rise, i.e., its time derivative or slope is positive, and the amplitude of the vertical ground reaction force exceeds a preset first force threshold, it can be determined that the wearer has effectively landed and begun to bear weight. The existence of the first force threshold is to prevent the load detection module from being falsely triggered due to noise or minor collisions during the oscillation phase. Once both conditions are met simultaneously, it can be determined that the gait phase information of the mobility device has been updated from the oscillation phase to the support phase.

[0037] In step S302 of some embodiments, similarly, when the mobility device is in the support phase, the vertical ground reaction force begins to decrease, i.e., its time derivative or slope is negative, indicating that the wearer is unloading the weight of the foot in preparation for lifting. And when the amplitude of the vertical ground reaction force is simultaneously lower than a preset second force threshold, it is determined that the foot has effectively lifted off the ground. The second force threshold is used to ensure that the foot or mobility device is essentially no longer bearing weight, thereby confirming the entry into the swing phase. Once both conditions are met simultaneously, the gait phase information of the mobility device can be considered updated from the support phase to the swing phase.

[0038] The first force threshold and the second force threshold can be reasonably set by the number of experiments. In some embodiments, they can also be generated based on the wearer's weight, so as to adapt to the weight of different wearers and their corresponding walking styles.

[0039] Steps S301 to S302 are used to determine the gait phase information of a single mobility device and relevant thresholds are used to prevent false triggering, thus ensuring the accuracy of the gait phase information.

[0040] In some embodiments, by determining the gait phase information of a single mobility device, the gait phase information of two mobility devices can also be determined, thereby determining the state of the wearer's two feet and obtaining the global gait state. The global gait state includes a single support phase, a double support phase, and a double swing phase. A single support phase indicates that one foot is in the support phase and the other foot is in the swing phase; a double support phase indicates that both feet are in the support phase simultaneously; a double swing phase indicates that both feet are suspended in the air, and the wearer may be in the process of jumping. After determining the gait phase of both feet, the global gait state is obtained, which can be used to further analyze the wearer's action intentions and behavioral patterns, thereby controlling the switching of control strategies for different foot mobility devices to safely and intuitively assist the movement of the mobility devices.

[0041] In some embodiments, the following judgment principles can also be used to help determine the state of the wearer's two mobility devices.

[0042] When any mobility device transitions from the swing phase to the support phase, and the vertical ground reaction force of the mobility device in the corresponding support phase exceeds the preset support threshold, it can be determined that the global gait information has transitioned from a dual swing phase to a single support phase. This occurs when both of the wearer's feet are in the air, and either foot lands first.

[0043] When any of the mobility devices transitions from the support phase to the swing phase, and the vertical ground reaction force corresponding to all mobility devices is lower than the preset second support threshold, the global gait information is determined to transition from a single support phase to a dual swing phase. This occurs when the wearer has only one foot supporting them, and this only supporting foot also performs the operation of transitioning from the support phase to the swing phase.

[0044] When any of the mobility devices transitions from the swing phase to the support phase, and the vertical ground reaction force corresponding to all mobility devices exceeds the preset support threshold, the global gait information is determined to transition from a single support phase to a dual support phase. This occurs when the wearer already has one foot in the support phase, and the swinging foot has also completed the landing action.

[0045] When any gait device transitions from the support phase to the swing phase, and the vertical ground reaction force of the gait device in the corresponding swing phase is lower than the preset second support threshold, the global gait information is determined to have transitioned from a dual-support phase to a single-support phase. This occurs when both feet of the wearer are on the ground, and one foot lifts up first, and the vertical ground reaction force of that foot is lower than the preset second support threshold; in this case, it is confirmed that the lifted foot does not bear any force.

[0046] In step S104 of some embodiments, the real-time location of the pressure center, i.e., the pressure center location, is determined by using multiple, distributed load data. The pressure center location accurately reflects the instantaneous point of action of the wearer's center of gravity on the mobility device, and can be referred to the following formulas (3), (4), and (5): (3), (4), (5), Where COPx and COPy represent the coordinates of the pressure center in the x and y directions, respectively, and COP is the vector representation of the pressure center, which can indicate the location of the pressure center.

[0047] In step S105 of some embodiments, the wearer's movement intention is comprehensively determined by fusing information from multiple sources to obtain movement intention information.

[0048] Please see Figure 4 In some embodiments, the transition process between a swing phase and a support phase of the mobility device is a gait cycle, and multiple gait cycles linked together can represent the wearer's walking process. Step S105 may include, but is not limited to, steps S401 to S402: Step S401: When the gait device is in the support phase, the wearer's movement intention information is determined by comparing the changing trend of the pressure center position in the current gait cycle with the changing trend of the pressure center position in multiple historical gait cycles. Step S402: When the gait device is in the swing phase, the wearer's movement intention information is determined by comparing the changing trend of inertial motion data in the current gait cycle with the changing trend of inertial motion data in multiple historical gait cycles.

[0049] In step S401 of some embodiments, when the wearer's feet touch the ground, i.e., when the mobility device is in the support phase, the current state, i.e., the trend of change of the pressure center position within the current gait cycle, can be compared with the trend of change of the pressure center position within multiple historical gait cycles, i.e., compared with the walking state over a past period of time. The trend of change of the pressure center position specifically refers to the instantaneous change slope of the pressure center position. The change of the pressure center position per unit time reflects the forward and backward swing trend of the body's center of mass. When the rate of change of the pressure center position is detected to be accelerating and the direction is consistent, it can be determined that the wearer has a tendency to accelerate forward. If the rate of change of the pressure center position slows down, or unstable swinging occurs, it may be determined that the wearer intends to decelerate. Unstable swinging may indicate that the wearer's center of gravity is unstable, and deceleration should be performed to enhance the wearer's walking stability.

[0050] In step S402 of some embodiments, when the wearer's feet leave the ground, i.e. when the mobility device is in the swing phase, the change trend of inertial motion data in the current gait cycle can be compared with the change trend of inertial motion data in multiple historical gait cycles. That is, the rate of change of angular velocity and linear velocity during the swing phase can be analyzed to obtain the wearer's foot frequency. If the rate of change of angular velocity and linear velocity increases, the wearer's foot swings faster and the foot changes more frequently, which can determine that the wearer intends to speed up and should accelerate. If the rate of change of angular velocity and linear velocity decreases, the wearer's foot swings slower, which can determine that the wearer intends to decelerate.

[0051] Through steps S401 and S402, a dynamic intent analysis engine is constructed. By strictly binding intent analysis with gait phase information, the engine automatically switches to the optimal analysis strategy under different physical conditions. This context-based analysis method, which compares current and historical trends, ensures that the most effective way to interpret the user's movement intent is used, thereby greatly improving the accuracy, robustness, and responsiveness of intent recognition.

[0052] Please see Figure 5 In some embodiments, the motion intention information includes acceleration intention and deceleration intention, and step S401 may include, but is not limited to, steps S501 to S504: Step S501: Determine the ankle joint torque of the wearer in the mobility device based on the location of the pressure center; Step S502: For each step cycle, obtain the highest torque value and peak timing of the ankle joint torque; Step S503: In response to the current gait cycle being earlier or the peak moment value increasing relative to multiple historical gait cycles, determine that the wearer intends to accelerate. Step S504: In response to the current gait cycle being delayed or the peak moment value decreasing relative to multiple historical gait cycles, determine that the wearer intends to decelerate.

[0053] In step S501 of some embodiments, the ankle joint torque of the wearer in the mobility device is determined based on the location of the pressure center, specifically referring to formula (6): (6), in, Indicates ankle joint torque. The ankle joint torque components in the sagittal plane (adjustment direction) can be represented by T. ankle express, This represents the ankle joint torque component in the frontal plane (rolling direction). Ankle joint torque precisely quantifies the wearer's intention to push off the ground forward (accelerate) or backward (decelerate), especially the component T in the sagittal plane. ankle This allows for a better presentation.

[0054] In step S502 of some embodiments, for each step phase cycle, the highest torque value and peak timing of the ankle joint torque are obtained. The highest torque value is the maximum value of the ankle joint torque reached during the support phase. At the same time, the time (or the time point) after the start of the support phase is recorded, and this time point is the peak timing.

[0055] In steps S503 to S504 of some embodiments, the growth trend and timing of the ankle joint torque can be used to identify acceleration or deceleration intentions. If the peak occurs earlier and the amplitude increases, this change can be determined as the wearer actively and additionally applying forward propulsion force, thus determining the wearer's movement intention as an acceleration intention. If the peak is delayed and the amplitude decreases, it is determined as a deceleration intention. This change can be determined as the wearer actively suppressing propulsion force or applying a reverse braking torque, thus determining the wearer's movement intention as a deceleration intention.

[0056] Based on this determination, the target single-step acceleration of the current gait cycle can be dynamically calculated.

[0057] Please see Figure 6 In some embodiments, step S401 may be followed by steps S601 to S603, including but not limited to: Step S601: Obtain the average of the highest torque values ​​of the ankle joint within multiple historical gait cycles to obtain the historical peak average. Step S602: Determine the acceleration value of the mobility aid based on the difference between the highest torque value of the ankle joint torque in the current gait cycle and the historical average peak value. Step S603: Adjust the power provided by the power module to the mobility device based on the acceleration value.

[0058] In step S601 of some embodiments, a dynamic, personalized baseline is first established to represent the wearer's normal or previous force exertion level during smooth walking. This can be obtained by averaging the highest ankle torque values ​​across multiple historical gait cycles, yielding a historical peak mean. The historical peak mean dynamically reflects the user's average propulsion force and serves as a benchmark for comparison and quantification in subsequent steps.

[0059] In step S602 of some embodiments, the wearer's intention intensity in the current cycle is quantified, the highest torque value of the ankle joint measured in the current gait cycle is obtained, and it is compared with the calculated historical peak average value. By calculating the difference between the two, the wearer's subjective intention is converted into a specific numerical value, namely the acceleration value. A large positive difference value represents a strong acceleration intention, while a small positive difference value represents a slight acceleration intention. If the difference value is negative, it represents a deceleration intention, thereby realizing the quantification of the user's intention.

[0060] If the current speed of the personal mobility device is v, and its speed correlation coefficient k(v) is negatively correlated with the speed, k′(v)<0, then the acceleration value of the personal mobility device in each gait cycle can be referred to formula (7): (7), Where a represents the acceleration value, and k(v) represents the velocity correlation coefficient. This indicates the highest torque value of the ankle joint during the current gait cycle. This represents the historical peak average. This indicates that the highest measured ankle joint torque value is higher than the average level, corresponding to an intention to accelerate; conversely, it indicates an intention to decelerate.

[0061] In some embodiments, the mobility device learns and adjusts based on the user's motion data within historical gait cycles, such as adjusting the speed correlation coefficient based on the highest torque value and peak timing of the ankle joint torque within multiple historical gait cycles, thereby dynamically correcting the speed correlation coefficient to better suit the user's walking style and speed.

[0062] In some embodiments, in order to ensure the safety of the mobility device, the acceleration value is limited, which is specifically set according to the wearer's physical condition information, the hardware of the mobility device, or the safety limit stored in the mobility device.

[0063] In some embodiments, the acceleration timing of the mobility device is set from the moment when the ankle joint torque reaches its maximum value to the moment when the mobility device reaches its maximum stride speed during the swing phase. The moment when the maximum stride speed occurs is the moment when the linear velocity of the mobility device reaches its maximum value, which can be obtained through an inertial measurement unit. Then, acceleration commands at the acceleration timing can be generated based on the peak phase and width parameters of the Bell curve to control the power module.

[0064] In step S603 of some embodiments, the quantified intensity of intent is converted into actual physical action, and the power supplied by the power module to the mobility device is adjusted. For example, the acceleration value can be directly used to set the target motor torque, power output, or adjust the control gain.

[0065] Steps S601 to S603 collectively construct a crucial closed loop that shifts the user's intent from qualitative identification to quantitative control. A historical peak average is calculated, and the difference between the current peak and the historical peak average is used to precisely convert the wearer's subjective exertion level (i.e., the strength of their intent) into a specific acceleration value. This quantified acceleration value is then directly mapped to a specific adjustment of the power provided by the power module. This design achieves a proportional control effect, ensuring that the amount of assistance provided by the mobility device is directly proportional to the amount of force exerted by the wearer, thus providing a highly intuitive, sensitive, and precisely responsive human-computer interaction experience.

[0066] Please see Figure 7 In some embodiments, step 105 may include, but is not limited to, steps S701 to S702: Step S701: In response to the fact that the vertical ground reaction force corresponding to any mobile device satisfies the preset center of gravity alternation condition within a preset window time, it is determined that the wearer intends to brake in an emergency. Step S702: In response to the fact that the inertial motion data corresponding to any mobile device within the window time meets the preset rapid alternation condition, it is determined that the wearer intends to brake urgently.

[0067] In step S701 of some embodiments, the vertical ground reaction forces from the left and right mobility devices are continuously monitored to determine if a weight transfer condition is present. The weight transfer condition refers to the rate of weight transfer between the wearer's left and right feet. This is achieved by calculating the time derivative of the normalized load difference between the two feet, i.e., the instantaneous speed at which weight is transferred from one foot to the other. When this weight transfer rate suddenly exceeds a preset emergency threshold within a preset window time, it can be determined that the wearer has performed an abnormal and violent weight transfer, such as an emergency braking action, thus confirming the wearer's intention to brake suddenly.

[0068] In step S702 of some embodiments, inertial motion data is acquired. The preset rapid alternation condition specifically refers to detecting that the wearer is performing alternating rapid steps within a window of time. For example, very short and rapid small steps or stomping movements, which are identified by analyzing acceleration and angular velocity patterns in the inertial motion data, also do not conform to the characteristics of normal walking or deceleration. Therefore, when such a specific gait pattern is detected, it can be determined that the wearer intends to brake suddenly.

[0069] Through steps S701 to S702, a redundant and highly reliable emergency stop safety detection method is constructed to ensure that no matter whether the wearer expresses an emergency braking intention through a violent shift of the center of gravity or through abnormally rapid short steps, the intention can be captured quickly and accurately, and the highest priority braking response can be triggered, thereby providing the wearer with critical safety protection.

[0070] In step S106 of some embodiments, foot posture analysis is performed based on the inertial motion data acquired by the two mobility devices to determine a global target operating mode. Foot posture recognition is achieved by detecting posture features at specific time intervals. For example, changes in the pitch and yaw angles of the mobility devices are monitored to identify basic postures such as "lifting the heel," "lifting the toes," or "rotating." By combining the posture states of both feet, such as one foot being stationary while the other foot is pronating, a preset target operating mode is determined and switched to.

[0071] Please see Figure 8 In some embodiments, step S106 may include, but is not limited to, steps S801 to S802: Step S801: For each mobility device, foot posture detection is performed based on inertial motion data to obtain foot posture information of the mobility device; Step S802: Based on the foot posture information, match it with multiple preset candidate mode postures to determine the target operation mode from multiple candidate operation modes, wherein each candidate mode posture corresponds to a candidate operation mode.

[0072] In step S801 of some embodiments, by acquiring the inertial motion data corresponding to each mobility device, especially signals such as pitch angle, yaw angle and angular velocity (ωz), the foot posture information of the mobility device is determined based on these data.

[0073] In step S802 of some embodiments, the preset multiple candidate mode postures refer to a set of specific start-stop rules stored in the system. For example, the selection rule for a candidate mode posture may be defined as when the foot posture information of one foot is continuously raising the heel and the foot posture information of the other foot is stationary. By determining whether the current combination of foot posture information of both feet satisfies all the timing and logical conditions of a certain candidate mode posture, such as the posture needing to last for more than a specific time threshold, the candidate operating mode corresponding to the candidate mode posture is determined and switched as the current target operating mode.

[0074] In step S107 of some embodiments, a target operating mode is determined, and then the identified motion intention information is mapped to specific control instructions under the target operating mode.

[0075] Please see Figure 9 In some embodiments, the target operating mode includes a locking mode, a stepping mode, a sliding mode, and a calibration mode. The mobility device also includes a roller module. Step S107 may include, but is not limited to, steps S901 to S904: In step S901, in response to the target operating mode being locked, the roller module is controlled to be non-rotatable via the power module. In step S902, in response to the target operating mode being stepping mode, power is provided to the roller module supporting the corresponding mobility device via the power module; Step S903: In response to the target operating mode being the sliding mode, the global pressure center position is determined by the pressure center positions of the two mobility devices and the vertical ground reaction force. Based on the global pressure center position, the power module is controlled to provide power to the roller module of the mobility device corresponding to the support phase. In step S904, in response to the target operating mode being calibration mode, the power module controls the roller module to be non-rotating, and collects the wearer's body state information to calibrate the wearer's movement posture and generate safe operating parameters that match the wearer.

[0076] In step S901 of some embodiments, when the target operating mode is the locked mode, the power module controls the roller module to prevent it from rotating. This is typically achieved by applying maximum braking force or mechanical locking. In this case, the mobility device attaches to the wearer's foot like a normal shoe, allowing the wearer to walk forward without the roller module rotating and causing slippage. The locked mode can be switched when the wearer is going down stairs or crossing obstacles.

[0077] In step S902 of some embodiments, when the target operating mode is switched to the stepping mode, when a mobility device is detected to be in the support phase, a precise and brief power is provided to the roller module of the mobility device corresponding to that support via the power module. This discontinuous power output can assist the wearer in completing a single, controlled step of displacement.

[0078] In step S903 of some embodiments, when the target operating mode is switched to gliding mode, the two mobility devices will jointly provide power to achieve the effect of a skateboard. The global center of pressure of the two mobility devices in their supported state is determined by the center of pressure positions of the two devices and the vertical ground reaction force. Then, based on the change in this global center of pressure position, the wearer's overall movement intention is analyzed, and the power module is controlled to synchronize the operation of the two roller modules to achieve a smooth assist effect similar to a balance bike or automatic walkway. The calculation of the global center of pressure position can be referred to formula (8): (8), in, Indicates the location of the global pressure center. Indicates the position of the center of pressure on the left foot. Indicates the center of pressure of the right foot. This represents the vertical reaction force of the left foot on the ground. This represents the vertical reaction force of the right foot on the ground.

[0079] In step S904 of some embodiments, when the target operating mode is switched to calibration mode, the power module can control the roller module to be non-rotatable, allowing the wearer to take several steps in a safe state. This allows the collection of the wearer's body state information, such as initial posture data of inertial motion data, including step length, step frequency, and pressure center position, etc., and calibrates the wearer's movement posture. The main purpose is to establish a baseline for posture calibration. Furthermore, the body state information collected in this calibration mode, such as weight estimation or balance characteristics, can be used to generate safe operating parameters matched to the wearer, such as personalized acceleration and braking intensity limits, to achieve adaptive and personalized safety control.

[0080] In some embodiments, the mobility device also includes customizable configuration features or a customizable control interface, allowing users to personalize control parameters according to their preferences and activity types. For example, it can connect to an external mobile application via Bluetooth to enable visual adjustments and real-time configuration updates.

[0081] To ensure user safety and equipment stability during personalized adjustments, safe adjustable ranges are set for all adjustable parameters (including acceleration, deceleration, maximum speed, stopping sensitivity, and braking intensity). These safe adjustable ranges are calculated in real time by the controller based on the physical properties of the shoe, the coefficient of friction of the ground, user weight estimation, and balance stability, thereby automatically limiting the user's input range and ensuring that no parameter setting exceeds hardware and human safety limits.

[0082] In some embodiments, a personalized recommendation function is also provided. By analyzing the user's recent gait data, speed changes, balance stability indicators, and usage scenarios (such as commuting, indoor, or mobility aid modes), the system automatically calculates and recommends the most suitable combination of control parameters for the current user. These recommended values ​​take into account safety, comfort, and responsiveness, and can be directly adopted in the application interface or used as a reference for user adjustments.

[0083] In some embodiments, a safety monitoring mechanism is also provided. When an abnormal situation is detected (such as wheel slippage, excessively rapid change in the center of pressure, or excessive tilt of the shoe), the relevant parameters will be automatically limited or reversed, and the user will be prompted on the application to adjust to a safer range, thereby ensuring the user's safety when using the mobility device.

[0084] In some embodiments, this application detects the gait cycle of the wearer's feet in real time. If no new gait cycle update signal is received from the wearer within a preset gait update time, the device switches to protection mode and decelerates to zero. In this way, the device will only provide speed to accelerate when the wearer continuously performs walking actions, and the speed of the device will continuously decrease until it stops once the wearer stops walking.

[0085] Steps S101 to S107 of this embodiment involve acquiring inertial motion data through an inertial measurement unit, acquiring multiple load data through multiple load detection modules, performing gait phase analysis based on the multiple load data to determine the gait phase information of the mobility device, performing pressure distribution analysis based on the multiple load data to determine the pressure center position of the mobility device, performing intent analysis based on the gait phase information, inertial motion data, and pressure center position of the two mobility devices to obtain the wearer's movement intent information, performing foot posture analysis based on the inertial motion data of the two mobility devices to determine the target operating mode of the mobility device, and finally controlling the movement of the mobility device through a power module based on the target operating mode of the mobility device and the wearer's movement intent information. Therefore, this application, by introducing multiple load detection modules to acquire multiple load data, can analyze gait phase information and pressure center position to more accurately identify the wearer's usage intent. Furthermore, by determining different operating modes through the foot postures of the two mobility devices, it provides a more accurate and richer combination of motion state parameters, thereby safely and intuitively assisting the movement of the mobility device.

[0086] Please see Figure 10 and Figure 11 This application also provides a personal transportation device that can implement the above-described control method for the personal transportation device. The device includes: An inertial measurement unit (IMU) is used to acquire inertial motion data. Multiple load detection modules are used to acquire multiple load data. The roller module is located at the bottom of the mobility device; The central processing unit is used to perform gait phase analysis based on multiple load data to determine the gait phase information of the mobility device; to perform pressure distribution analysis based on multiple load data to determine the pressure center position of the mobility device; to perform intention analysis based on the gait phase information, inertial motion data and pressure center position of the two mobility devices to obtain the wearer's movement intention information; and to perform foot posture analysis based on the inertial motion data of the two mobility devices to determine the target operating mode of the mobility device. The power module controls the roller module to move the mobility device based on the wearer's movement intention information and the target operating mode of the mobility device.

[0087] In some embodiments, the roller module also includes a track.

[0088] The specific implementation method of this mobility device is basically the same as the specific embodiment of the control method of the above-mentioned mobility device, and will not be described again here.

[0089] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the control method of the aforementioned personal transportation device. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0090] Please see Figure 12 , Figure 12 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes: The processor 1201 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 1202 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 1202 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1202 and is called by the processor 1201 to execute the control method of the personal transportation device according to the embodiments of this application. The input / output interface 1203 is used to implement information input and output; The communication interface 1204 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 1205 transmits information between various components of the device (e.g., processor 1201, memory 1202, input / output interface 1203, and communication interface 1204); The processor 1201, memory 1202, input / output interface 1203 and communication interface 1204 are connected to each other within the device via bus 1205.

[0091] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the control method for the aforementioned personal transportation device.

[0092] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0093] The control method, electronic device, and storage medium for the mobility device provided in this application acquire inertial motion data through an inertial measurement unit, acquire multiple load data through multiple load detection modules, perform gait phase analysis based on the multiple load data to determine the gait phase information of the mobility device, then perform pressure distribution analysis based on the multiple load data to determine the pressure center position of the mobility device, and perform intention analysis based on the gait phase information, inertial motion data, and pressure center position of two mobility devices to obtain the wearer's movement intention information. Based on the inertial motion data of the two mobility devices, perform foot posture analysis to determine the target operating mode of the mobility device, and finally, based on the target operating mode of the mobility device and the wearer's movement intention information, control the movement of the mobility device through a power module. Therefore, this application, by introducing multiple load detection modules to acquire multiple load data, can analyze gait phase information and pressure center position to more accurately identify the wearer's usage intention. Furthermore, by determining different operating modes through the foot postures of two mobility devices, it provides a more accurate and richer combination of motion state parameters, thereby safely and intuitively assisting the movement of the mobility device.

[0094] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0095] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0096] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0097] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0098] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0099] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0100] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. The coupling or direct coupling or communication connection between the shown or discussed units may be through some interfaces, or indirect coupling or communication connection between the apparatus or units, and may be electrical, mechanical, or other forms.

[0101] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0102] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0103] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0104] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A control method for a personal transportation device, characterized in that, An application to a personal transportation device, the personal transportation device including an inertial measurement unit, a power module, and multiple load detection modules, wherein the power module is used to drive the personal transportation device to move, the method comprising: Inertial motion data is acquired through the inertial measurement unit; Multiple load data are obtained through multiple load detection modules; Gait phase analysis is performed based on multiple load data to determine the gait phase information of the mobility device. Based on pressure distribution analysis of multiple load data, the pressure center location of the personal transportation device is determined. Based on the gait phase information, inertial motion data, and pressure center position corresponding to the two mobility devices, intention analysis is performed to obtain the wearer's movement intention information; Based on the inertial motion data corresponding to the two personal mobility devices, foot posture analysis is performed to determine the target operating mode of the personal mobility devices. Based on the target operating mode of the mobility device and the wearer's movement intention information, the power module controls the movement of the mobility device.

2. The method according to claim 1, characterized in that, The step of performing gait phase analysis based on multiple load data to determine the gait phase information of the mobility device includes: Based on multiple load data, the vertical ground reaction force exerted by the wearer on the mobility device is determined. Based on the changing trend of the vertical ground reaction force, the current gait phase information of the mobility device is determined.

3. The method according to claim 2, characterized in that, The gait phase information of the mobility device includes the support phase and the swing phase; The determination of the current gait phase information of the mobility device based on the changing trend of the vertical ground reaction force includes: In response to the vertical ground reaction force increasing and exceeding a preset first force threshold, the mobility device is determined to switch from the swing phase to the support phase. In response to the decrease in the vertical ground reaction force and its falling below a preset second force threshold, the mobility device is determined to switch from the support phase to the swing phase.

4. The method according to claim 1, characterized in that, The gait phase information of the mobility device includes a support phase and a swing phase. The transition process between a swing phase and a support phase of the mobility device is one gait cycle. The intention analysis, based on the gait phase information, inertial motion data, and pressure center position corresponding to the two mobility devices, yields the wearer's movement intention information, including: When the mobility device is in the support phase, the wearer's movement intention information is determined by comparing the changing trend of the pressure center position in the current gait cycle with the changing trend of the pressure center position in multiple historical gait cycles. When the mobility device is in the oscillation phase, the wearer's movement intention information is determined by comparing the trend of the inertial motion data in the current gait cycle with the trend of the inertial motion data in multiple historical gait cycles.

5. The method according to claim 4, characterized in that, The motion intent information includes acceleration intent and deceleration intent; When the mobility device is in the support phase, the wearer's movement intention information is determined by comparing the changing trend of the pressure center position within the current gait cycle with the changing trend of the pressure center position within multiple historical gait cycles, including: Based on the location of the pressure center, determine the ankle joint torque of the wearer in the mobility device; For each gait cycle, the highest torque value and peak timing of the ankle joint torque are obtained; In response to the current gait cycle being relative to multiple historical gait cycles, the peak timing being advanced or the maximum torque value being increased, the wearer is determined to have the acceleration intention; In response to the current gait cycle being delayed or the peak moment value decreasing relative to multiple historical gait cycles, the wearer is determined to have the intention to decelerate.

6. The method according to claim 5, characterized in that, After determining the wearer's movement intention information by comparing the trend of the pressure center position within the current gait cycle with the trend of the pressure center position within multiple historical gait cycles when the mobility device is in the support phase, the process includes: The average of the highest torque values ​​of the ankle joint torque within multiple historical gait cycles is obtained to obtain the historical peak average value; The acceleration value of the mobility device is determined based on the difference between the highest torque value of the ankle joint torque during the current gait cycle and the average historical peak value. The power module provides power to the mobility device based on the acceleration value.

7. The method according to claim 1, characterized in that, The step of detecting foot posture based on the inertial motion data of the two personal mobility devices to determine the target operating mode of the personal mobility devices includes: For each of the aforementioned personal mobility devices, foot posture detection is performed based on the inertial motion data to obtain the foot posture information of the personal mobility device; Based on the foot posture information, the target operating mode is determined by matching it with a plurality of preset candidate mode postures, wherein each candidate mode posture corresponds to one candidate operating mode.

8. The method according to claim 1, characterized in that, The gait phase information of the mobility device includes a support phase and a swing phase; the target operating mode includes a locking mode, a stepping mode, a sliding mode, and a calibration mode; and the mobility device also includes a roller module. The method of controlling the movement of the personal mobility device via the power module based on the target operating mode of the device and the wearer's movement intention information includes: In response to the target operating mode being the locked mode, the power module controls the roller module to prevent rotation. In response to the target operating mode being the stepping mode, the power module provides power to the roller module of the corresponding mobility device; In response to the target operating mode being the sliding mode, the global pressure center position is determined by the pressure center positions of the two mobility devices and the vertical ground reaction force. Based on the global pressure center position, the power module is controlled to provide power to the roller module of the mobility device corresponding to the support phase. In response to the target operating mode being the calibration mode, the power module controls the roller module to be non-rotating, and collects the wearer's body state information to calibrate the wearer's movement posture and generate safe operating parameters that match the wearer.

9. The method according to claim 1, characterized in that, The method further includes: In response to the fact that the vertical ground reaction force corresponding to any of the mobility devices satisfies the preset center of gravity alternation condition within a preset window time, it is determined that the wearer intends to brake in an emergency. In response to the fact that the inertial motion data corresponding to any of the mobility devices within the window time meets a preset rapid alternation condition, the wearer is determined to have the intention to brake urgently.

10. A personal transportation device, characterized in that, The mobility device includes: An inertial measurement unit (IMU) is used to acquire inertial motion data. Multiple load detection modules are used to acquire multiple load data. The roller module is located at the bottom of the mobility device; The central processing unit is configured to perform gait phase analysis based on multiple load data to determine the gait phase information of the mobility device; perform pressure distribution analysis based on multiple load data to determine the pressure center position of the mobility device; perform intention analysis based on the gait phase information, inertial motion data, and pressure center position of two mobility devices to obtain the wearer's movement intention information; and perform foot posture analysis based on the inertial motion data of two mobility devices to determine the target operating mode of the mobility device. A power module is used to control the roller module to achieve movement of the mobility device based on the wearer's movement intention information and the target operating mode of the mobility device.

11. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the control method of the personal transportation device according to any one of claims 1 to 9.

12. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the control method of the personal transportation device according to any one of claims 1 to 9.

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