Walking aid device and control method thereof

Abstract

The present application discloses a walking aid device and a control method thereof, the walking aid device comprising: a stepping assembly; a functional bracket, comprising a first bracket, a second bracket and a third bracket; a first lifting bracket and a second lifting bracket, respectively cross-hinged with the second bracket and the third bracket in an X shape, and connected to the stepping assembly at intervals; a fixing fixture, comprising a waist support and a strap, the opposite ends of the waist support are elastically connected to the first lifting bracket and the second lifting bracket respectively; a driving assembly; a detection assembly, for detecting the user's weight and center of gravity position, so as to send a first feedback signal to the driving assembly, so that the driving assembly drives the first lifting bracket and / or the second lifting bracket to move closer to or away from the stepping assembly, so as to drive the waist support and the strap corresponding to the user's left lower limb and / or right lower limb to move closer to or away from the stepping assembly. The walking aid device of the present application can automatically adjust the weight reduction ratio according to the user's landing situation, so as to effectively increase the user's walking ability.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical and electronic equipment, and in particular to a walking aid device and a control method thereof. Background Art

[0002] Walking rehabilitation training is a very important and effective method for treating lower limb movement disorders in the middle and late stages of stroke. Usually, patients need to undergo repeated, task-oriented, and targeted training programs based on the lower limb movement level during this rehabilitation stage. However, patients are often unable to train autonomously due to insufficient lower limb strength and require manual assistance or other weight loss system interventions. Among them, the usual lower limb rehabilitation evaluation indicators are concentrated in three aspects: muscle activation level; weight support ability; body balance. Therefore, during training, it is necessary to provide patients with basic lower limb freedom of movement, necessary weight loss measures to enable them to support their own weight with their spare strength, and measures to encourage autonomous maintenance of body balance.

[0003] However, current weight loss systems, i.e., body weight-supported walking aids, are mostly based on fixed frames or treadmill-based rope weight loss systems, and cannot provide the function of following the patient's movement, or dynamic weight loss function based on the patient's weight, gait phase, and lower limb mobility. Therefore, it greatly limits the rehabilitation effect of the lower limbs. Summary of the invention

[0004] The present application provides a walking aid device and a control method thereof, which can solve the problem that the walking aid devices in the prior art cannot provide the function of following the user's movement and the dynamic weight reduction function according to the user's weight, gait stage, and lower limb mobility, thereby greatly limiting the rehabilitation effect of the lower limbs.

[0005] In order to solve the above technical problems, a technical solution adopted by the present application is: to provide a walking aid device, wherein the walking aid device includes: a stepping assembly; a functional bracket, including a first bracket, a second bracket and a third bracket, one end of the first bracket is vertically connected to one end of the second bracket, and the other end of the first bracket is vertically connected to the third bracket, and the other ends of the second bracket and the third bracket are respectively connected to the stepping assembly; a lifting mechanism, including a first lifting bracket and a second lifting bracket, the first lifting bracket and the second bracket are cross-hinged in an X shape, the second lifting bracket and the third bracket are cross-hinged in an X shape, and one end of the first lifting bracket and one end of the second lifting bracket are spaced apart and connected to the stepping assembly; a fixing fixture, including the corresponding A waist support and a strap are interconnected, with opposite ends of the waist support elastically connected to the other end of the first lifting bracket and the other end of the second lifting bracket respectively, and used to support the user's waist, and the strap is used to be worn on the user's crotch; a driving component, connecting the first lifting bracket and the second lifting bracket; a detection component, connected to the driving component, the detection component is used to detect the user's weight and center of gravity position, so as to send a first feedback signal to the driving component based on the user's weight and center of gravity position, so that the driving component drives the other end of the first lifting bracket and / or the other end of the second lifting bracket to approach or move away from the stepping component, so as to drive the waist support and the parts of the strap corresponding to the left lower limb and / or the right lower limb of the user to approach or move away from the stepping component.

[0006] The walking aid device also includes a controller, which is connected to the driving component and the detection component, and is used to receive a first feedback signal sent by the detection component, and to send a lifting control instruction to the driving component based on the first feedback signal, so that the driving component responds to the lifting control instruction to drive the other end of the first lifting bracket and / or the other end of the second lifting bracket to perform lifting movement.

[0007] Among them, the detection component includes a pressure collection shoe, the sole of the pressure collection shoe is provided with a pressure sensor, the pressure sensor is communicatively connected to the controller, and the pressure collection shoe is used to be worn on the user's foot to detect the user's weight and center of gravity position through the pressure sensor, so as to send a first feedback signal to the controller based on the user's weight and center of gravity position.

[0008] Among them, the stepping assembly includes a fourth bracket, a fifth bracket and a sixth bracket, one end of the fifth bracket is vertically connected to one end of the fourth bracket, and the other end thereof is connected to the other end of the second bracket away from the first bracket, one end of the sixth bracket is vertically connected to the other end of the fourth bracket, and the other end thereof is connected to the other end of the third bracket away from the first bracket.

[0009] The walking aid device also includes Mecanum wheels, which are four in number and are movably connected at intervals to a side surface of the stepping assembly that is away from the functional bracket.

[0010] Among them, the detection component also includes a three-dimensional force sensor, which is connected to the waist support and the driving component. The driving component is also connected to the Mecanum wheel. The three-dimensional force sensor is used to detect the movement trend of the waist support and send a second feedback signal to the driving component based on the movement trend, so that the driving component drives the Mecanum wheel to drive the stepping component to follow the corresponding movement trend.

[0011] The walking aid device also includes an emergency stop button, which is connected to the second bracket and the driving component. The emergency stop button is used to receive a user's press to send an emergency stop command to the driving component to stop driving the Mecanum wheel.

[0012] The walking aid device also includes an interconnected obstacle detector, which is connected to a side surface of the second bracket facing away from the fixing clamp and is communicated with the driving component to detect whether there is an obstacle in the current direction of travel of the walking aid device, and when there is an obstacle, an obstacle avoidance control instruction is sent to the driving component, so that the driving component drives the Mecanum wheel to drive the stepping component to move in the direction of bypassing the obstacle.

[0013] Among them, the walking aid device also includes a state switching switch and a stepper control joystick, the state switching switch and the stepper control joystick are respectively connected to the driving component, the state switching switch is used to switch the working state of the driving component between the passive weight reduction propulsion mode and the dynamic weight reduction following mode, so as to switch the working state of the driving component to the passive weight reduction propulsion mode, and the stepper control joystick receives the thrust applied by the user, and sends corresponding travel control instructions to the driving component based on the direction of the thrust, so that the driving component drives the Mecanum wheel to drive the stepper component to move in the direction corresponding to the thrust.

[0014] In order to solve the above technical problems, another technical solution adopted by the present application is: to provide a control method for a walking aid device, wherein the walking aid device includes: a stepping assembly; a functional bracket, including a first bracket, a second bracket and a third bracket, one end of the first bracket is vertically connected to one end of the second bracket, and the other end thereof is vertically connected to the third bracket, and the other ends of the second bracket and the third bracket are respectively connected to the stepping assembly; a lifting mechanism, including a first lifting bracket and a second lifting bracket, the first lifting bracket and the second bracket are cross-hinged in an X shape, the second lifting bracket and the third bracket are cross-hinged in an X shape, and one end of the first lifting bracket and one end of the second lifting bracket are connected to the stepping assembly at intervals; a fixing fixture, including a waist support and a strap connected to each other, and the opposite ends of the waist support are elastically connected to the other end of the first lifting bracket and The other end of the second lifting bracket is used to support the user's waist, and the strap is used to be worn on the user's crotch; a driving component is connected to the first lifting bracket and the second lifting bracket; a detection component is connected to the driving component; the control method includes: receiving a first feedback signal sent by the detection component; wherein the first feedback signal is generated by the detection component detecting the user's weight and center of gravity position; determining the weight loss ratio and the user's current moving state based on the first feedback signal; generating a lifting control instruction according to the weight loss ratio and the moving state; sending the lifting control instruction to the driving component, so that the driving component drives the other end of the first lifting bracket and / or the other end of the second lifting bracket to move closer to or away from the stepping component, so as to drive the waist support and the part of the strap corresponding to the left lower limb and / or right lower limb of the user to move closer to or away from the stepping component.

[0015] The walking aid device also includes four Mecanum wheels, which are movably connected to a side surface of the stepping assembly away from the functional bracket at intervals, and connected to the driving assembly; the control method also includes: receiving a second feedback signal sent by the detection assembly; wherein the second feedback signal is generated by the detection assembly detecting the movement trend of the waist support; determining the user's current direction of travel based on the second feedback signal; generating a first travel control instruction according to the direction of travel; and sending the first travel control instruction to the driving assembly, so that the driving assembly drives the Mecanum wheel to drive the stepping assembly to follow the corresponding movement trend.

[0016] Among them, the walking aid device also includes a state switching switch and a stepping control joystick, and the state switching switch and the stepping control joystick are respectively connected to the driving component; the control method also includes: receiving a state switching signal sent by the state switching switch to determine the working state of the driving component; in response to the working state of the driving component being a passive weight-reducing pushing mode, receiving a control signal sent by the stepping control joystick; wherein the control signal is the control joystick receiving the thrust applied by the user, and is generated based on the direction of the thrust; generating a second travel control instruction according to the control signal; and sending the second travel control instruction to the driving component, so that the driving component drives the Mecanum wheel to drive the stepping component to move in the direction corresponding to the thrust.

[0017] Among them, the detection component includes a pressure collection shoe and a three-dimensional force sensor, the sole of the pressure collection shoe is provided with a pressure sensor, the first feedback signal includes pressure sensor feedback data and three-dimensional force sensor feedback data, the user's current walking state includes heel contact stage, flat foot contact stage, push-off or heel-off stage and swing period, and the step of determining the weight loss ratio and the user's current walking state based on the first feedback signal includes: inputting the pressure sensor feedback data and the three-dimensional force sensor feedback data into a preset network function model to determine the weight loss ratio and the user's current walking state.

[0018] The beneficial effects of the present application are as follows: Different from the prior art, the first lifting bracket and the second lifting bracket in the walking aid device provided by the present application are respectively cross-hinged with the second bracket and the third bracket of the functional bracket in an X shape, and are connected to the stepping assembly at intervals, and one end of the first lifting bracket and one end of the second lifting bracket are connected to the stepping assembly at intervals, and the opposite ends of the waist support in the fixing fixture are elastically connected to the other end of the first lifting bracket and the other end of the second lifting bracket, respectively, and are used to support the user's waist, and its straps are used to be worn on the user's crotch, and the detection component is used to detect the user's weight and center of gravity position, so as to send a first feedback signal to the driving component based on the user's weight and center of gravity position, so that the driving component drives the other end of the first lifting bracket and / or the other end of the second lifting bracket to approach or move away from the stepping assembly, so as to drive the waist support and the part of the strap corresponding to the user's left lower limb and / or right lower limb to approach or move away from the stepping assembly, so as to identify the user's gait according to the user's weight and center of gravity position, so as to dynamically adjust the weight loss ratio, and selectively assist the user's left lower limb and / or right lower limb, so as to ensure a more natural gait. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of an embodiment of the walking aid device of the present application;

[0020] Figure 2 yes Figure 1 A schematic diagram of a framework of a specific embodiment of a walking aid device;

[0021] Figure 3 yes Figure 2 A schematic diagram of a framework of a specific embodiment of the operation interface of the serial port screen module in the terminal control system of the walking aid device;

[0022] Figure 4 is a flow chart of a first embodiment of a control method for a walking aid device of the present application;

[0023] Figure 5 is a flow chart of a second embodiment of the control method of the walking aid device of the present application;

[0024] Figure 6 is a flow chart of a third embodiment of the control method of the walking aid device of the present application;

[0025] Figure 7 It is a flowchart of an embodiment of a training method of the walking aid device of the present application in a dynamic weight loss following mode;

[0026] Figure 8 It is a schematic diagram of the gait phase recognition classification and dynamic weight reduction logic of the walking aid device of the present application during the training process;

[0027] Fig. 9 It is a control flow chart of the walking aid device of the present application in a gait cycle during the training process;

[0028] Fig.10 It is a characteristic schematic diagram of the walking aid device of the present application following the user's body movement during a gait cycle during training. DETAILED DESCRIPTION

[0029] After long-term research, the inventor found that most of the current body weight-supported walking aids are based on a fixed frame or a treadmill-based rope weight reduction system, which cannot provide the function of following the user's movement and the dynamic weight reduction function based on the user's weight, gait phase, and lower limb mobility. Therefore, the lower limb rehabilitation effect is greatly limited.

[0030] Among them, walking rehabilitation training is a very important and effective method for the treatment of lower limb movement disorders in the middle and late stages of stroke. Usually, patients need to undergo repeated, task-oriented, and targeted training programs based on the lower limb movement level during this rehabilitation stage. However, patients are often unable to train autonomously due to insufficient lower limb strength and require human assistance or other weight loss system interventions. Among them, the usual lower limb rehabilitation evaluation indicators are concentrated in three aspects: muscle activation degree; weight support ability; body balance. Therefore, during training, it is necessary to provide patients with basic lower limb freedom of movement, necessary weight loss measures to enable them to support their own weight with their spare strength, and measures to encourage autonomous maintenance of body balance.

[0031] The introduction of the passive flexible cable weight-reducing treadmill can effectively solve the problem that users cannot walk on their own strength and reduce the workload of medical staff. Generally, the patient is fixed to a fixed frame by a flexible cable, and walks on a dedicated slow-speed treadmill. The weight-reduction ratio and walking speed can be adjusted according to the walking ability of the lower limbs. And because the patient and the frame are flexibly connected, a certain walking swing amplitude is allowed by setting the calibrated flexible cable tension, but the amplitude is limited. In fact, the machine cannot follow the patient's body to move in all directions in real time, which will cause the flexible cable to drag. And due to the elastic characteristics of the flexible cable, the patient's forced swinging movement will cause unnatural gait characteristics and cannot stimulate the patient's ability to maintain balance autonomously. And due to the characteristics of the body moving up and down when walking, the fixed weight-reduction ratio will also cause weight-reduction instability during training.

[0032] Although subsequent research work will enable it to passively adjust the weight loss ratio according to the load of the cable and try to maintain the stability of the weight loss ratio, it is still not well controlled due to the passive retractable characteristics of the cable. The problem of forced movement such as patient body swaying has not been solved, and the effect of lower limb rehabilitation is therefore limited.

[0033] In order to overcome the above problems, dynamic tracking weight loss treadmills have been proposed in recent years. Under the same slow treadmill configuration, the soft cable system is replaced with a clamp system that can actively follow the multi-dimensional movement of the patient's body. For example, an active following lower limb walking training system fixed at the waist collects and calculates the spatial position of the patient's center of gravity through a variety of force sensors, and follows the patient's body movement accordingly. For example, a waist-fixed multi-dimensional following lower limb training system based on machine learning is fixed to the patient's lower limbs through an IMU (Inertial Measurement Unit), calculates the patient's center of gravity position in real time, and adopts corresponding weight loss strategies by analyzing the characteristics of the healthy and disabled lower limbs. The above experiments have proved that in the mode of dynamically following the patient's center of gravity, the weight loss force is more stable, and the gait curve is closer to the normal walking curve.

[0034] Although a large number of experiments have shown that the active following weight-reducing lower limb rehabilitation system based on the treadmill does play a certain role in lower limb rehabilitation for relevant patients, more and more scientific research has shown that rehabilitation training with direct contact with the ground can still improve the realization of natural gait and maximization of rehabilitation efficiency. This is because patients can walk freely according to their own consciousness, rather than being restricted by the unidirectional (forward) movement constraints of the treadmill.

[0035] At the same time, the movable follow-up weight-reducing walking aid device based on this solution can be applied to more scenarios such as home and community, realizing more application possibilities while also enhancing the user experience. For example, an active weight-reducing movable frame, through the feedback of the plantar pressure system and calculating the position of the body's center of gravity and the state of contact with the ground, then deduces the walking stage, dynamically adjusts the weight-reduction ratio of the left and right lower limbs, and can achieve dynamic weight reduction under relatively free walking conditions. For another example, a traction-type dynamic weight-reducing ground walking aid system adjusts the weight-reduction direction to make the weight-reduction direction almost vertical, thereby minimizing the error state of lateral dragging. However, since the walking aid device itself is equipped with a variety of sensors and actuators, it is heavy and a passive frame. During the training process, the patient needs to rely on the body to drag, which makes it difficult for the lower limbs that are already insufficient in strength to complete the training movements.

[0036] In recent years, the dynamic body weight support system has been regarded as a very promising rehabilitation method for lower limb rehabilitation of patients with mid- to late-stage stroke. A variety of dynamic body weight support system walkers based on human body center of gravity recognition and gait recognition have been proposed. These solutions are all based on a frame fixed to the environment, such as a treadmill and a frame rope unloading system, and therefore cannot provide patients with walking training in contact with the ground.

[0037] In order to effectively achieve a natural gait and maximize the efficiency of rehabilitation walking training, the present application provides a walking aid. The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is particularly noted that the following embodiments are only used to illustrate the present application, but do not limit the scope of the present application. Similarly, the following embodiments are only some embodiments of the present application and not all embodiments. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0038] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0039] See also Figure 1 , Figure 1 1 is a schematic diagram of the structure of an embodiment of the walking aid device of the present application. In this embodiment, the walking aid device 10 includes: a stepping assembly 11, a functional bracket 12, a lifting mechanism 13, a fixing fixture 14, a driving assembly 15 and a detection assembly 16.

[0040] Among them, a walking aid device 10 provided in the present application is specifically used to assist walking for people who have lost part of their walking ability, so that when the wearer is trained to walk with his lower limbs using the walking aid device 10, the wearer's left lower limb and / or right lower limb can be correspondingly unweighted and assisted according to the wearer's walking state, thereby increasing the wearer's walking ability as much as possible.

[0041] Specifically, the stepping assembly 11 of the walking aid device 10 can be understood as the mounting base of the entire device, and is correspondingly provided with a driving wheel, so that the entire walking aid device 10 can be driven to move after being subjected to a driving force provided by a corresponding power device or a user when walking.

[0042] The functional bracket 12 further includes a first bracket 121, a second bracket 122 and a third bracket 123. One end of the second bracket 122 is vertically connected to one end of the first bracket 121, and the other end thereof is connected to the stepping assembly 11. One end of the third bracket 123 is vertically connected to the other end of the first bracket 121, and the other end thereof is also correspondingly connected to the stepping assembly 11 and is spaced from the other end of the second bracket 122.

[0043] The lifting mechanism 13 further includes a first lifting bracket 131 and a second lifting bracket 132. The first lifting bracket 131 is cross-hinged with the second bracket 122 in an X shape, and the second lifting bracket 132 is further cross-hinged with the third bracket 123 in an X shape. One end of the first lifting bracket 131 and one end of the second lifting bracket 132 are specifically connected to the stepping assembly 11 at an interval, so that the first lifting bracket 131 and the second lifting bracket 132 can be driven independently to perform lifting movements relative to the stepping assembly 11.

[0044] The fixing fixture 14 further includes a waist support 141 and a strap (not shown) connected to each other. The opposite ends of the waist support 141 are elastically connected to the other end of the first lifting bracket 131 and the other end of the second lifting bracket 132, respectively, so as to support the user's waist when the user wears the fixing fixture 14, and the strap is used to be worn on the user's crotch to support the user in the direction of gravity.

[0045] Furthermore, the driving component 15 is correspondingly connected to the first lifting bracket 131 and the second lifting bracket 132, and the detection component 16 is further connected to the driving component 15, so that when the detection component 16 detects the weight and center of gravity of the user, it can send a first feedback signal to the driving component 15 in real time based on the weight and center of gravity of the user, so that the driving component 15 drives the other end of the first lifting bracket 131 and / or the other end of the second lifting bracket 132 to move closer to or away from the stepping component 11 according to the first feedback signal, thereby driving the waist support 141 and the part of the strap corresponding to the left lower limb and / or right lower limb of the user to move closer to or away from the stepping component 11, that is, to perform a lifting movement, so as to reduce the weight and assist the left lower limb and / or right lower limb of the user.

[0046] It is understandable that the stepping assembly 11 can be placed on any reasonable ground surface to facilitate the user to walk with assistance after wearing the waist support 141 and the straps of the fixing clamp 14, and the movement of the first lifting bracket 131 and / or the second lifting bracket 132 close to or away from the stepping assembly 11, that is, its lifting movement specifically refers to the back and forth movement in the direction of gravity.

[0047] In one embodiment, when the driving component 15 obtains the first feedback signal, it determines the weight loss ratio corresponding to the current assistance to the user and the user's current walking state according to a preset program, so as to dynamically provide corresponding lifting assistance to the user's left lower limb and / or right lower limb.

[0048] And the lifting assistance is specifically set proportionally to the user's weight and corresponds to different walking states. For example, when the left lower limb is in the foot-lifting stage, the user's left lower limb is assisted by lifting the other end of the first lifting bracket 131, and in the left lower limb landing stage, the height of the other end of the first lifting bracket 131 is gradually lowered to reduce the assistance to the user's left lower limb until the assistance is cancelled in the supporting stage.

[0049] The above scheme drives the first lifting bracket 131 and / or the second lifting bracket 132 to perform lifting movements by detecting the user's weight and center of gravity position, so as to drive the waist support 141 and the part of the strap corresponding to the user's left lower limb and / or right lower limb to perform lifting movements, thereby being able to identify the user's gait in real time according to the user's weight and center of gravity position, dynamically adjust the weight loss ratio, and selectively assist the user's left lower limb and / or right lower limb, thereby ensuring a more natural gait.

[0050] In one embodiment, the walking aid device 10 also includes a controller (not shown in the figure), which is specifically connected to the driving component 15 and the detection component 16, so that when the detection component 16 obtains the first feedback signal, the controller can receive the first feedback signal sent by the detection component 16, and send a lifting control instruction to the driving component 15 based on the first feedback signal, so that the driving component 15 can respond to the lifting control instruction and drive the other end of the first lifting bracket 131 and / or the other end of the second lifting bracket 132 to make them perform corresponding lifting movements, thereby driving the waist support 141 and the parts of the straps corresponding to the user's left lower limb and / or right lower limb to perform lifting movements, so as to reduce the weight and assist the user's left lower limb and / or right lower limb.

[0051] In one embodiment, the controller is also specifically communicatively connected to an external host computer, for example, any reasonable intelligent terminal such as a background computer or a server, so as to receive the first feedback signal and rehabilitation data such as the user's gait acquired and sent in real time by the detection component 16, and transmit them to the host computer for the host computer to conduct experiments or training analysis.

[0052] Optionally, the controller may be any reasonable device with program control function, such as a single chip microcomputer, a processor or an MCU (Micro Control Unit) circuit, and the present application does not limit this.

[0053] Optionally, the driving assembly 15 specifically includes a power supply and a first driving motor and a second driving motor respectively connected to the power supply, and the first driving motor and the second driving motor are respectively used to independently drive the other end of the first lifting bracket 131 and the other end of the second lifting bracket 132 to perform corresponding lifting movements.

[0054] Furthermore, in one embodiment, the detection component 16 also includes a pressure collection shoe (not shown in the figure), the sole of the pressure collection shoe is provided with a pressure sensor (not shown in the figure), and the pressure sensor is communicatively connected to the controller, for example, connected to the controller via a communication data line or wire to ensure stable and effective signal transmission; or, the pressure sensor can also be connected via Bluetooth, Wi-Fi (wireless network communication technology) or any other reasonable wireless communication technology, which is not limited in the present application.

[0055] Among them, the pressure collecting shoes are specifically used to be worn on the user's feet, so that when the user wears the pressure collecting shoes and walks, the pressure sensor can identify and detect the user's weight and center of gravity position, and generate a first feedback signal corresponding to the user's weight and center of gravity position, so as to send the first feedback signal to the controller for corresponding power assistance control.

[0056] In one embodiment, the stepper assembly 11 further includes a fourth bracket 111, a fifth bracket 112, and a sixth bracket 113, one end of the fifth bracket 112 is specifically vertically connected to one end of the fourth bracket 111, and the other end thereof is connected to the other end of the second bracket 122 in the functional bracket 12 away from the first bracket 121. One end of the sixth bracket 113 is specifically vertically connected to the other end of the fourth bracket 111, and the other end thereof is connected to the other end of the third bracket 123 in the functional bracket 12 away from the first bracket 121, so as to install and support the functional bracket 12, and the user can specifically walk in a semi-enclosed area with a gap formed at one end correspondingly surrounded by the fourth bracket 111, the fifth bracket 112, and the sixth bracket 113.

[0057] Furthermore, in one embodiment, the walking aid device 10 further includes Mecanum wheels 17, the number of which is specifically 4, and each of which is movably connected to a side surface of the stepping assembly 11 away from the functional bracket 12 at intervals, so as to drive the entire walking aid device 10 to walk in any direction on a plane. In other embodiments, the number of the Mecanum wheels 17 can also be any reasonable number such as 6, 8 or 10, and the present application does not limit this.

[0058] It should be noted that the Mecanum wheel 17 specifically refers to a wheel capable of omnidirectional movement, and this omnidirectional movement is specifically based on the principle of a central wheel with many axles located around the wheel. These angled peripheral axles convert part of the wheel steering force into a wheel normal force, so that the final synthesis of these forces can generate a resultant force vector in any required direction depending on the direction and speed of each wheel, thereby ensuring that the platform can move freely in the direction of the final resultant force vector without changing the direction of the wheel itself. There are many small rollers distributed obliquely on its rim, so the wheel can slide laterally. The generatrix of the small roller is very special. When the wheel rotates around the fixed wheel center axis, the envelope of each small roller is a cylindrical surface, so the wheel can roll forward continuously. The Mecanum wheel 17 has a compact structure and flexible movement, and is a very successful omnidirectional wheel. When there are 4 such new wheels combined, the omnidirectional movement function can be realized more flexibly and conveniently.

[0059] It is understandable that in the process of using the walking aid 10 to assist the user in walking, in order to achieve the vertical direction of weight reduction, it is necessary to avoid the drag effect of the walking aid 10 on the user as much as possible, and reduce the extra pulling force burden caused by the user pushing and pulling the walking aid 10. Compared with the walking trajectory of healthy people, the walking trajectory of users with lower limb mobility impairment may have abnormal gaits such as left-right translation, left-right translation and forward and backward movement, which requires the walking aid 10 to have the ability to move in three plane directions, namely forward and backward, left and right, and rotation.

[0060] Therefore, the walking aid device 10 also needs to dynamically track the position of the center of gravity of the human body and realize omnidirectional following movement accordingly. In terms of the actuator, the omnidirectional following movement system of the walking aid device 10 needs to be composed of Mecanum wheels 17 and a control system, so that when the Mecanum wheels 17 are movably connected to the side surface of the stepping assembly 11 away from the functional bracket 12 at intervals, they can be driven to drive the entire walking aid device 10 to walk in any direction on the plane.

[0061] Optionally, the diameter of the four Mecanum wheels 17 is 152 mm, and the total load-bearing capacity is 400 kg.

[0062] The four Mecanum wheels 17 are respectively connected to the four stepper motors correspondingly arranged in the drive assembly 15. Under the action of the 1:10 reducer, each stepper motor has a holding torque of 10N*m, and under the drive of 24V, 4A-MAX (maximum) current, the basic step angle is 0.18° and the maximum speed is 60RPM (revolutions per minute).

[0063] The stepper motor can specifically step at the four corners of the assembly 11, and has the ability to drive the user's weight and the weight of the walking aid 10, so as to realize omnidirectional movement on any plane by controlling the forward and reverse combination of the four Mecanum wheels 17. The stepper motor can also be communicatively connected to the controller in the walking aid 10, and the controller can specifically communicate with each stepper motor through level logic control, so as to be able to send an enable signal, a speed regulation pulse signal, and a direction signal, etc. to it.

[0064] In one embodiment, the detection component 16 further includes a three-dimensional force sensor 161, the number of which is specifically two, and one end of the two three-dimensional force sensors 161 is respectively connected to the opposite ends of the waist support 141, and the other end thereof is respectively connected to the other end of the first lifting bracket 131 and the second lifting bracket 132 away from the stepping component 11, and is further communicatively connected to the driving component 15. The driving component 15 is also connected to the Mecanum wheel 17, and the three-dimensional force sensor 161 is used to detect the movement trend of the waist support 141. For example, when the user has an abnormal gait of left-right translation or left-right translation combined with forward and backward movement, a corresponding thrust can be applied to two or one of the three-dimensional force sensors 161, so that the three-dimensional force sensor 161 can generate a second feedback signal corresponding to the movement trend.

[0065] And the three-dimensional force sensor 161 can send the second feedback signal to the driving component 15, so that the driving component 15 can drive the Mecanum wheel 17 to drive the stepping component 11 to follow the movement trend of the user, so as to avoid the drag effect of the walking aid device 10 on the user as much as possible, and reduce the additional tension burden of the user caused by pushing and pulling the walking aid device 10, so as to effectively avoid the problem of left and right shaking caused by the user being pulled by the rope on the treadmill or other rehabilitation equipment, so that the direction of the weight reduction force of the walking aid device 10 is always in the direction of the vertical plane, and compared with the traditional rope traction system, the speed of weight reduction assistance is faster.

[0066] It is understandable that when using the walking aid device 10 for lower limb walking training, the user usually has two points of contact with the outside world, namely, the contact between the two feet and the ground, and the contact between the waist and hips and the walking aid device 10, which correspond to the positions where the user exerts force while walking and reduces weight. The pressure data at these two points is crucial for judging walking ability and implementing weight reduction strategies by the walking aid device 10. Therefore, in the walking aid device 10, pressure collection shoes dedicated to collecting sole pressure distribution and three-dimensional force sensors 161 for collecting waist and crotch pressure need to be configured accordingly.

[0067] The pressure collection shoe is obtained by integrating pressure sensors distributed at four points on the sole of the foot and a data calculation and upload module into a special medical slipper, and is powered by a small rechargeable lithium battery to integrate all electronic modules through the sole, and uses a 2.4g wireless transparent transmission module to transmit data with the controller, so users do not need to wear additional sensors, just wear designated shoes to collect data. The pressure sensor uses a high-precision weighing sensor, and each sole is integrated with 4 pressure sensors to measure the pressure value of the key landing point at each gait cycle stage, and the collected data is calculated by the single-chip microcomputer on the shoe and uploaded to the controller at a speed of 10HZ.

[0068] Furthermore, a three-dimensional force sensor 161 for detecting and feeding back the movement of the body's center of gravity in six-axis directions is integrated on both sides of the waist support 141 of the walking aid device 10. The three-axis force range of the three-dimensional force sensor 161 is 5-100KG, and bidirectional force measurement can be performed in each direction. The three dimensions of the three-dimensional force sensor 161 are respectively composed of a Wheatstone full-bridge circuit, without the need for coupling operation, and can directly output an analog signal proportional to the force value, with a signal range of 1.0-1.5mV / V, and then the voltage signal can be amplified by a transmitter into a standard analog signal of 0-5V / 4-20mA. Each axial force sensing signal requires a transmitter for conversion, that is, a total of six transmitters are required for signal processing, and communicate with the controller by wire to calculate and track the center of gravity position of the human body.

[0069] In one embodiment, the walking aid 10 further includes an emergency stop button 18, which is specifically mounted on the second bracket 122 and connected to the drive assembly 15. When the user encounters an emergency and presses the emergency stop button 18, the emergency stop button 18 can send an emergency stop command to the drive assembly 15, causing the drive assembly 15 to stop driving the Mecanum wheels 17 in an emergency, thereby preventing the user from encountering any reasonable emergency situations such as being dragged by the walking aid 10 or hitting an obstacle.

[0070] In one embodiment, the walking aid device 10 also includes an interconnected obstacle detector (not shown), and the obstacle detector is specifically connected to a side surface of the second bracket 122 away from the fixing fixture 14, and is communicated with the drive component 15 to detect in real time whether there is an obstacle in the current direction of travel of the walking aid device 10, and when an obstacle is detected, it can send an obstacle avoidance control instruction to the drive component 15, so that the drive component 15 drives the Mecanum wheel 17 to drive the stepping component 11 to move in the direction of bypassing the obstacle to avoid collision with the obstacle.

[0071] In one embodiment, the driving component 15 of the walking aid device 10 specifically includes two working states during the process of the walking aid device 10 assisting the user in walking, namely, a passive weight-reducing pushing mode and a dynamic weight-reducing following mode. The passive weight-reducing pushing mode can be specifically understood as a mode in which the walking aid device 10 operates at a preset weight-reducing ratio for the user and drives the user to move forward; while the dynamic weight-reducing following mode can be understood as a mode in which the walking aid device 10 operates in a mode in which the user is dynamically weight-reduced and follows the user's movement trend.

[0072] Furthermore, the walking aid device 10 also includes a state switching switch 19 and a stepping control rocker 110, which are respectively connected to the driving assembly 15, and the state switching switch 19 is specifically used to switch the working state of the driving assembly 15 between the passive weight reduction pushing mode and the dynamic weight reduction following mode. When the state switching switch 19 switches the working state of the driving assembly 15 to the passive weight reduction pushing mode, the user can control the driving assembly 15 through the stepping control rocker 110. For example, when the user applies a thrust in one direction to the push rod, the stepping control rocker 110 can send a corresponding travel control instruction to the driving assembly 15 based on the direction of the thrust, so that the driving assembly 15 can drive the Mecanum wheel 17 to drive the stepping assembly 11 to move in the direction of the thrust.

[0073] When the state switching switch 19 switches the working state of the driving component 15 to the dynamic weight loss following mode, the stepping control joystick 110 will become invalid, and the driving component 15 is used to receive the second feedback signal sent by the three-dimensional force sensor 161 according to the user's movement trend, so as to drive the Mecanum wheel 17 to drive the stepping component 11 to follow the movement trend.

[0074] It is understandable that the emergency stop button 18, the state switching switch 19 and the stepping control rocker 110 are correspondingly arranged in the control panel formed on the side surface of the first bracket 121 facing the fixing fixture 14, and are presented in front of the user's operation, so as to facilitate the user's operation and ensure safety. Specifically, the control panel can be powered by two 24V, 30000mAh rechargeable lithium battery packs, and has overload and overheating protection functions, and the maximum safe discharge current of the control panel is 20A, and the battery can also provide a relatively stable current without clutter.

[0075] Please continue reading Figure 2 , Figure 2 yes Figure 1 A schematic diagram of the framework of a specific embodiment of a walking aid device.

[0076] In this embodiment, the walking aid device 20 specifically includes: a plantar pressure detection unit 21, a 2.4G wireless transparent transmission receiving module 22, an infrared obstacle avoidance sensor 24, a joystick and switch unit 25, a main control microcontroller 23, a lifting and moving weight reduction actuator 26, a weight reduction waist support 27, a body center of gravity detection unit 28, a control terminal 29 and a planar moving weight reduction actuator 210. Among them, the plantar pressure detection unit 21 further includes: 4 high-precision weighing sensors 211, a transformer module 212, and a 2.4G wireless transparent transmission sending module 213; the joystick and switch unit 25 further includes: a joystick / follow-up mode switching switch 251, an obstacle avoidance switch 252 and a joystick 253; the lifting and moving weight loss actuator 26 further includes: a DC motor driver 261 and an electric cylinder 262; the control terminal 29 further includes: a voice recognition module 291, a serial port screen module 292 and a Bluetooth transparent transmission module sending end 293; the body center of gravity detection unit 28 further includes: 2 three-dimensional force sensors 281 and an analog weighing transmitter 282; the planar moving weight loss actuator 210 further includes: 4 stepper motor drivers 2101, 4 stepper motors 2102 and 4 Mecanum wheels 2103.

[0077] It is understandable that in the weight measurement and gait phase detection phase, specifically when the user wears the collection shoes, the user's weight is measured, and the main control microcontroller 23 will record the user's weight value 10 times within 5 seconds, and remove the two unstable data before and after, and average the middle 6 groups of data to determine the user's final weight value. The weight value will be recorded in the program of the main control microcontroller 23 and will affect the dynamic weight loss, that is, under dynamic weight loss walking, the weight loss ratio is set to be the same, the greater the weight loss, the greater the weight loss (the weight loss ratio is weight loss weight / weight), so it can ensure that users with large weights obtain greater actual weight loss, and vice versa, people with small weights obtain less actual weight loss.

[0078] At the same time, during the dynamic weight-reducing walking process, the pressure values ​​of the user's left and right feet can be read respectively through the two plantar pressure detection units 21 set corresponding to the user's left and right feet to obtain the user's current gait stage. If the pressure of one foot is less than half of the body weight, it is determined that the user is currently in the stage of landing on both feet; if the pressure of one foot is greater than 3 / 4 of the body weight, it is determined that the user is currently in the stage of lifting or landing; if the pressure of one foot is greater than 4 / 5 of the body weight, it is determined that the user is currently in the stage of single-leg support. Obviously, lifting the foot, landing the foot and supporting one leg require more weight-reducing force for people with lower limb mobility disorders. Therefore, after determining that the user is in the above state, the walking aid device 20 will give a weight-reducing force of 3\2 relative to double-leg support corresponding to lifting the foot and landing the foot, and give a weight-reducing force of 2 times that of double-leg support corresponding to single-leg support.

[0079] Among them, two three-dimensional force sensors 281 are respectively arranged on the left and right sides of the waist support, and each three-dimensional force sensor 281 can measure the forces in three directions of the XYZ axis. When the user is training with the walking aid device 20, the waist needs to be fixed in the weight-reducing waist support 27 and fixed with waist and hip straps. At this time, we can think that the user and the walking aid device 20 are bound as one. Therefore, the user's twisting, up and down, left and right, front and back movements of the body will be captured by the two three-dimensional force sensors 281, and the corresponding force values ​​will be converted into digital signals through the transmitter and ADC (analog-to-digital converter), and input into the main control microcontroller 23.

[0080] The force value can be converted into the speed value required to drive the stepper motor 2102 through calculation and conversion by the main control microcontroller 23, that is, when the person moves left and right, the machine also moves left and right, and when the person moves forward and backward, the machine also moves forward and backward, and when the person turns around, the machine also turns around. The thrust applied by the user to the three-dimensional force sensor 281 is proportional to the driving force of the stepper motor 2102, that is, the faster the user wants to walk, the faster the machine will follow.

[0081] In addition, the Z-axis direction measured by the three-dimensional force sensor 281, that is, the force in the opposite direction of the gravity direction, will also be used as the input quantity for controlling the up and down movement of the weight reduction module, so as to realize dynamic weight reduction of people during the walking process and maintain the weight reduction value at a relatively stable value. Since people usually move up and down during walking, if the weight reduction waist support cannot move, the weight reduction force will increase or decrease with the up and down movement during walking. After reading the force situation in the Z-axis direction in real time, the force size and direction can be sent to the main control microcontroller 23, so that the main control microcontroller 23 outputs PWM (Pulsewidth modulation) pulses and direction signals to the electric cylinder 262 controller. Among them, the greater the force on the three-dimensional force sensor 281, the greater the PWM value, and the faster the movement speed of the electric cylinder 262, so as to achieve the purpose of dynamic weight reduction of the user during walking.

[0082] According to the characteristics of the Mecanum wheels 2103, after forming a four-wheel array, the three-axis movement of the front, back, left, right, and rotation in the plane direction can be completed. By setting the program, after the three-dimensional force sensor receives the force signal, the single-chip microcomputer controls the four stepping motors 2102 to drive the four Mecanum wheels 2103 to move, so that the walking aid device 20 can completely follow the user in the plane direction.

[0083] Furthermore, the control console of the walking aid device 20 integrates an obstacle avoidance switch 252, a rocker / follow-up mode switching button 251, and a rocker 253, which are input devices to the main control microcontroller 23, so that when the obstacle avoidance switch 252 is turned on, the walking aid device 20 can see whether there is an obstacle, and judge whether the obstacle is on the left or right, and the walking aid device 20 moves horizontally to the corresponding direction to avoid the obstacle. In the control mode of the rocker 253, the user can control the walking aid device 20 to move forward, backward, left, right, and rotate by manipulating the rocker 252.

[0084] In addition, the serial port screen module in the system control terminal 29 can serve as a functional unit for data output and control command input of the system, and can control the main functions of the walking aid device 20 and display the main data to the user; the voice recognition module 291 is used to recognize the user's voice commands to control some functions of the walking aid device 20, which is convenient for users who cannot operate the screen; the Bluetooth transparent transmission module can send relevant experimental or training data to the host computer 2102.

[0085] It is understandable that, unlike static or passive weight loss systems, dynamic weight loss systems can be dynamically adjusted according to the ups and downs of the body during walking and the weight loss ratio in different gait stages under multi-sensor control, making the weight loss ratio controllable.

[0086] The weight reduction system is specifically divided into two parts: a fixing fixture and a lifting mechanism. The fixing fixture is composed of a weight reduction waist support 27, a three-dimensional force sensor 281, and a fixing strap (not shown). The fixing strap is used to fix and reduce the weight of the user's legs, hips, and waist, and is completely locked with the weight reduction waist support 27. The three-dimensional force sensor 281 is installed on the opposite sides of the weight reduction waist support 27. The fixing fixture as a whole is combined with the lifting mechanism in a hinged and detachable manner. The lifting mechanism is divided into two groups, namely the first lifting bracket and the second lifting bracket, and is driven by the corresponding DC motor driver 261 and the electric cylinder 262, respectively, with a thrust of 20mm / s and a total of 140kg, and a correspondingly integrated dual-circuit closed-loop feedback system, and a rated current of 7.5A.

[0087] Furthermore, the weight reduction system specifically communicates with the controller by wire through logic level signals. The left and right groups of the lifting mechanism can perform lifting actions respectively, and each has one relative degree of freedom in the vertical direction, so as to drive the fixing fixture to tilt to the left and right directions at different lifting speeds or directions, and have two relative degrees of freedom of vertical and X-axis rotation, so as to realize the control of the weight reduction ratio of the left and right lower limbs according to the gait stage events, and customize different weight reduction levels according to the different obstacle levels of the left and right legs.

[0088] In order to logically connect and integrate the above functions and record the effective experimental data collected during the experiment, the walking aid device 20 is also provided with a terminal control 29 and a data collection and analysis management system (not shown).

[0089] Among them, the terminal control 29 is specifically composed of a serial port screen module 292, a voice recognition module 291 and a Bluetooth transparent transmission module transmitting end 293, and the serial port screen module 292 is provided with a customized operation interface. The serial port screen module 292 specifically adopts a capacitive touch screen, which can be programmed and forms a two-way logic control with the main control microcontroller 23. After being connected to the main control microcontroller 23 at a baud rate of 115200 through the TTL level, the timeliness of data transmission can be guaranteed. The voice recognition module 291 is internally integrated with a microcontroller that can realize specific sentence recognition through programming. After testing, the comprehensive recognition rate of the voice recognition module 291 can reach more than 80%, and it is also connected to the microcontroller at a baud rate of 9600 through the TTL level. Through the voice recognition module 291, during the experiment, the user does not need to operate any physical buttons or screens to operate the walking aid device 20 for corresponding walking training, and this plays a certain role in the accuracy of data collection during our experiment, because it can avoid the interference of body movement unrelated to gait events. In addition, the Bluetooth transparent transmission module transmitter 293 specifically works at a baud rate of 115200, so the test data can be remotely and quickly transmitted to the host computer 202 through the external Bluetooth transparent transmission module receiver 201, and wireless transmission allows the experiment to get rid of the constraints of ropes and realize experimental data collection at any distance during the experiment. And the walking aid device 20 can also write a corresponding operation interface system control program according to the system control logic and experimental function requirements.

[0090] Please continue reading Figure 3 , Figure 3 yes Figure 2 A schematic diagram of a framework of a specific embodiment of the operation interface of the serial port screen module in the terminal control system of the walking aid device.

[0091] In one embodiment, the operation interface of the serial port screen module 292 is specifically divided into three partitions: left, right, and bottom, corresponding to the key parameter display area, control panel, and status display. Among them, the key parameters include the real-time status and readings of each sensor during the experiment, and the wireless data upload start and stop buttons are below, so that during the experiment, the effective data recorded by the walking aid device 20 can be uploaded to the remote host computer 2102 system at the appropriate time. And each data record adopts a specific recording format, including each experimental system parameter, gait stage, and continuous motion data under each gait stage, so as to facilitate subsequent analysis.

[0092] The control panel is an interactive control interface, which includes system operation and emergency stop control, voice control on and off, metronome on and off, including metronome frequency adjustment, brain-computer interface control mode reserved interface, weight loss ratio increase and decrease adjustment, weight measurement, automatic manual weight loss system control, and weight loss system lifting adjustment and display two-in-one slider. The status display bar displays obstacle avoidance status, gait events, joystick or three-dimensional force sensor control status, and wireless connection status of plantar pressure shoes and system from left to right.

[0093] It should be noted that in recent years, the dynamic body weight support system has been regarded as a very promising rehabilitation method for the lower limb rehabilitation of users with mid- to late-stage stroke, and a variety of dynamic body weight support system walkers based on human body center of gravity recognition and gait recognition have been proposed. These solutions are all based on a frame fixed to the environment, such as a treadmill and a frame rope weight reduction system, and therefore cannot provide users with walking training in contact with the ground. Related studies have shown that vertical weight reduction walking training in contact with the ground can effectively achieve a natural gait and maximize the efficiency of rehabilitation walking training. Based on this, in this embodiment, a walking aid device 20 that can automatically follow and vertically reduce weight based on human body center of gravity recognition is specifically described, so that the spatial position of the human body center of gravity and the walking cycle stage can be calculated by collecting the waist three-dimensional force sensor 281 and the plantar pressure data, and then the omnidirectional mobile walking aid device 20 based on the Mecanum wheel 2103 is controlled to follow the horizontal direction and dynamically support the body weight in the vertical direction.

[0094] When the walking aid device 20 is used, the force supported by the body weight is always in the vertical direction, which can greatly reduce the horizontal dragging phenomenon of the walking aid and weight reduction system on the user. At the same time, different stable weight reduction ratios are given according to the different stages of each walking cycle of the user, so that the natural gait can be restored while reducing weight. And through two groups of control tests corresponding to the treadmill-type fixed weight reduction system and the walking aid device 20, it can be proved that the walking aid device 20 effectively avoids the dragging phenomenon caused by the passive rope system, etc., and it is observed that the vertical movement of the user when walking does not significantly affect the weight reduction ratio value, and the weight reduction ratio can also be automatically adjusted according to the landing situation. Therefore, the user can use the walking aid device 20 to significantly increase the walking ability while reducing the dragging phenomenon in three-dimensional space and achieve a natural gait.

[0095] Specifically, by using the three-dimensional force sensors 281 located on both sides of the waist as horizontal movement capture devices, and using a four-wheel drive system based on the Mecanum wheel 2103, the walking aid device 20 can perform omnidirectional movement in three axes according to the decision of the movement capture data, and the weight reduction direction is always approximately vertical. Since the stages of double-leg support and single-leg support are constantly changing during walking training, it is necessary to identify the gait stage and give different weight reduction ratios for different support conditions. The weight reduction system monitors the data of the pressure sensors located on the soles and waist, and identifies the stance phase and step phase in each walking cycle of the user to provide different weight reduction ratios and maintain stability. Through a series of experiments comparing the different weight reduction and following modes of the flexible rope walker and the walking aid device 20, it can be verified that users using the walking aid device 20 can obviously perform lower limb walking training more naturally, while maintaining a relatively normal gait and making the most of the remaining strength of the lower limbs to support the body weight and maintain balance. The lower limb rehabilitation training based on the walking aid device 20 will no longer be restricted by the venue. By allowing the user to walk on the ground and letting the walking aid device 20 follow the user's movement, the walking aid device 20 can also avoid dragging the user as much as possible, and only retain the necessary vertical weight reduction assistance, so that the user can be trained in a walking manner that is close to that of a normal person. In addition, the emergency stop button deployed on the walking aid device 20 can also provide an emergency electric brake function to prevent accidents such as falls.

[0096] In addition, this application also provides a control method for a walking aid device, please continue to refer to Figure 4 , Figure 4 It is a flow chart of the first embodiment of the control method of the walking aid device of the present application. In this embodiment, the walking aid device includes: a stepping assembly; a functional bracket, including a first bracket, a second bracket and a third bracket, one end of the first bracket is vertically connected to one end of the second bracket, and the other end thereof is vertically connected to the third bracket, and the other ends of the second bracket and the third bracket are respectively connected to the stepping assembly; a lifting mechanism, including a first lifting bracket and a second lifting bracket, the first lifting bracket and the second bracket are cross-hinged in an X shape, the second lifting bracket and the third bracket are cross-hinged in an X shape, and one end of the first lifting bracket and one end of the second lifting bracket are spaced and connected to the stepping assembly; a fixing fixture, including a waist support and a strap connected to each other, the opposite ends of the waist support are elastically connected to the other end of the first lifting bracket and the other end of the second lifting bracket, and are used to support the user's waist, and the strap is used to be worn on the user's crotch; a driving assembly, connecting the first lifting bracket and the second lifting bracket; a detection assembly, connected to the driving assembly. This embodiment includes the following steps:

[0097] S31: Receive a first feedback signal sent by a detection component.

[0098] Specifically, the control method can be understood as a method by which a controller in a walking aid device controls each actuator, so as to reduce weight and assist walking for a user who is wearing a fixed fixture of the walking aid device.

[0099] Specifically, the controller receives a first feedback signal generated by the detection component when detecting the weight and center of gravity position of the user.

[0100] S32: Determine the weight loss ratio and the user's current walking state based on the first feedback signal.

[0101] Furthermore, after receiving the first feedback signal, the controller can determine the user's weight and center of gravity, and then determine the weight loss ratio corresponding to the weight loss and assistance required for the user and the user's current moving state according to a preset program.

[0102] It is understandable that for users of different weights, when using walking aids to assist them, in order to ensure a better assistance effect, different assistances are obviously needed. For example, for users with heavier weight, greater lifting assistance needs to be applied to them. In order to meet the assistance needs of different users, the specific method adopted here is to set a weight reduction ratio to apply corresponding assistance to the user according to the weight reduction ratio.

[0103] And when the user is in different walking states, for example, when the user is in different walking states such as lifting the foot, supporting and landing, the walking aid device also needs to adopt different power assisting methods accordingly to provide assistance to the user's left lower limb and / or right lower limb. For example, when the left lower limb is in the foot lifting stage, the user's left lower limb is assisted by lifting the other end of the first lifting bracket, and in the landing stage of the left lower limb, the power assisting the user's left lower limb is gradually reduced until the supporting stage, when the power assisting is canceled.

[0104] It can be seen from this that after determining the above-mentioned weight loss ratio and the user's current walking state, the power assistance method and size that should be used for the user can be correspondingly determined.

[0105] S33: Generate a lifting control instruction according to the weight reduction ratio and the travel status.

[0106] Furthermore, after determining the most appropriate weight reduction ratio required for the current assistance to the user and the travel state adopted by the walking aid device, a corresponding lifting control instruction can be generated.

[0107] S34: Sending a lifting control instruction to the driving component, so that the driving component drives the other end of the first lifting bracket and / or the other end of the second lifting bracket to move closer to or away from the stepping component, thereby driving the waist support and the parts of the strap corresponding to the left lower limb and / or the right lower limb of the user to move closer to or away from the stepping component.

[0108] After the controller sends the generated lifting control instruction to the driving component, it can control the driving component to drive the first lifting bracket and the second lifting bracket, so that the other end of the first lifting bracket and / or the other end of the second lifting bracket moves closer to or away from the stepping component, thereby driving the waist support and the parts of the strap corresponding to the user's left lower limb and / or right lower limb to move closer to or away from the stepping component, that is, driving the user's left lower limb and / or right lower limb to perform lifting movement, thereby reducing the weight and assisting the user's left lower limb and / or right lower limb.

[0109] Furthermore, in one embodiment, the detection component includes a pressure collection shoe and a three-dimensional force sensor, the sole of the pressure collection shoe is provided with a pressure sensor, the first feedback signal includes pressure sensor feedback data and three-dimensional force sensor feedback data, the user's current walking state includes heel contact stage, flat foot contact stage, push-off or heel-off stage and swing period, and the above S32 can also specifically include: inputting the pressure sensor feedback data and the three-dimensional force sensor feedback data into a preset network function model to determine the weight loss ratio and the user's current walking state.

[0110] See also Figure 5 , Figure 5 is a flow chart of a second embodiment of the control method of the walking aid device of the present application. The control method of the walking aid device of this embodiment is Figure 4 A flow chart of a detailed embodiment of a control method for a walking aid device in the embodiment of the present invention, wherein the walking aid device further comprises a Mecanum wheel, the number of the Mecanum wheels is 4, and the Mecanum wheels are movably connected to a side surface of the stepping assembly away from the functional bracket at intervals, and connected to the driving assembly. This embodiment comprises the following steps:

[0111] S41: Receive a first feedback signal sent by a detection component.

[0112] S42: Determine the weight loss ratio and the user's current walking state based on the first feedback signal.

[0113] S43: Generate a lifting control instruction according to the weight reduction ratio and the travel status.

[0114] S44: Sending a lifting control instruction to the driving component, so that the driving component drives the other end of the first lifting bracket and / or the other end of the second lifting bracket to move closer to or away from the stepping component, thereby driving the waist support and the parts of the strap corresponding to the left lower limb and / or the right lower limb of the user to move closer to or away from the stepping component.

[0115] Among them, S41, S42, S43 and S44 are respectively Figure 3S31, S32, S33 and S34 are the same. Please refer to S31, S32, S33 and S34 and their related text descriptions for details, which will not be repeated here.

[0116] S45: Receive a second feedback signal sent by the detection component.

[0117] Specifically, the detection component in the walking aid device can also determine the user's current movement trend by detecting the lumbar support, thereby generating a second feedback signal, and sending the second feedback signal to the controller of the walking aid device.

[0118] S46: Determine the user's current moving direction based on the second feedback signal.

[0119] Furthermore, the controller can determine the user's current movement trend through the second feedback signal, and thus can determine the user's current moving direction.

[0120] S47: Generate a first travel control instruction according to the travel direction.

[0121] It is understandable that after determining the user's current traveling direction, the controller can generate a first traveling control instruction according to the traveling direction to ensure that the walking aid device can follow the traveling direction and avoid the user dragging the walking aid device during the traveling process.

[0122] S48: Send the first control instruction to the drive component, so that the drive component drives the Mecanum wheel to drive the stepper component to follow the corresponding movement trend.

[0123] Furthermore, when the first control instruction is sent to the drive component, the drive component can drive the Mecanum wheel to drive the stepper component to follow the user's current movement trend, so as to avoid the drag effect of the walking aid on the user as much as possible, and reduce the additional tension burden of the user caused by pushing and pulling the walking aid. It also effectively avoids the problem of left and right shaking caused by the user being pulled by the rope on the treadmill or other rehabilitation equipment, so that the direction of the weight reduction force of the walking aid is always in the direction of the vertical plane, and compared with the traditional rope traction system, the speed of weight reduction assistance is faster.

[0124] See also Figure 6 , Figure 6 is a flow chart of the third embodiment of the control method of the walking aid device of the present application. The control method of the walking aid device of this embodiment is Figure 4 A flow chart of a detailed embodiment of a control method for a walking aid device in the embodiment of the present invention, wherein the walking aid device further comprises a state switching switch and a stepping control rocker, the state switching switch and the stepping control rocker are respectively connected to the driving assembly, and the embodiment comprises the following steps:

[0125] S51: Receive a first feedback signal sent by a detection component.

[0126] S52: Determine the weight loss ratio and the user's current walking state based on the first feedback signal.

[0127] S53: Generate a lifting control instruction according to the weight reduction ratio and the travel status.

[0128] S54: Sending a lifting control instruction to the driving component, so that the driving component drives the other end of the first lifting bracket and / or the other end of the second lifting bracket to move closer to or away from the stepping component, thereby driving the waist support and the parts of the strap corresponding to the left lower limb and / or the right lower limb of the user to move closer to or away from the stepping component.

[0129] Among them, S41, S42, S43 and S44 are respectively Figure 3 S31, S32, S33 and S34 are the same. Please refer to S31, S32, S33 and S34 and their related text descriptions for details, which will not be repeated here.

[0130] S55: Receive a state switching signal sent by the state switching switch to determine the working state of the driving component.

[0131] It is understandable that the driving component of the walking aid device specifically includes two working states during the process of the walking aid device assisting the user in walking, namely, a passive weight-reducing pushing mode and a dynamic weight-reducing following mode. The passive weight-reducing pushing mode can be specifically understood as a mode in which the walking aid device operates at a preset weight-reducing ratio for the user and drives the user to move forward; while the dynamic weight-reducing following mode can be understood as a mode in which the walking aid device operates in a mode in which the user is dynamically weight-reduced and follows the user's movement trend.

[0132] The state switching switch is specifically used to switch the working state of the drive component between the passive weight reduction pushing mode and the dynamic weight reduction following mode.

[0133] Specifically, the controller of the walking aid device receives a state switching signal sent by the state switching switch so as to correspondingly determine the current working state of the driving component.

[0134] S56: In response to the working state of the driving component being the passive weight-reducing propulsion mode, receiving a control signal sent by the stepping control joystick.

[0135] Among them, when it is determined that the state switching switch specifically switches the working state of the driving component to the passive weight reduction pushing mode, the user can control the driving component through the stepper control joystick. For example, when the user applies a thrust in one direction to the push rod, the stepper control joystick can send a control signal to the controller based on the direction of the thrust.

[0136] S57: Generate a second travel control instruction according to the control signal.

[0137] Furthermore, the controller can generate a second travel control instruction in response to the control signal.

[0138] S58: Send the second control instruction to the drive assembly, so that the drive assembly drives the Mecanum wheel to drive the stepper assembly to move in the direction corresponding to the thrust.

[0139] After the second control instruction is sent to the drive component, the drive component can drive the Mecanum wheel to drive the stepping component to move in the direction of the user's thrust.

[0140] It is understandable that when the state switching switch switches the working state of the driving component to the dynamic weight loss following mode, the stepper control joystick will become invalid, and the driving component is used to receive the second feedback signal sent by the three-dimensional force sensor according to the user's movement trend, so as to drive the Mecanum wheel to drive the stepper component to follow the movement trend.

[0141] Furthermore, in one embodiment, the controller in the walking aid device is specifically loaded with a preset network function model established through training, so that each weight reduction or stepping execution unit in the walking aid device can be controlled through the preset network function model, thereby realizing the control method of the walking aid device. Among them, the walking aid device specifically corresponds to two different control modes, a passive weight reduction pushing mode and a dynamic weight reduction following mode, that is, a fixed weight reduction ratio and the walking aid device pushes the user to move, and a real-time dynamic adjustment of the weight reduction ratio according to the user's gait status and driving the walking aid device to follow the user's movement according to the user's movement trend, and the preset network function model correspondingly includes a passive weight reduction pushing mathematical model and a dynamic weight reduction following mathematical model.

[0142] Specifically, when the dynamic weight-reducing following mode of the walking aid is turned off, the walking aid is equivalent to a passive weight-reducing walking vehicle system that can pre-set a fixed weight-reducing ratio coefficient, and specifically, the walking vehicle is driven to move in the plane space by the movement of the human body. In the training process, the corresponding electric push rod will be maintained at the preset position, and the four Mecanum wheels are in a passive rotation state. Among them, when the chassis of the walking aid adopts four sets of spring buffer systems and is articulated with a universal connector, the walking aid can provide a certain buffer to the movement of the user's body center of gravity in three-dimensional space during walking training in the passive pushing mode, for example, buffering the up and down movement and the shaking of the user's body from front to back and left to right.

[0143] First, when establishing the XYZ three-axis spatial coordinate system, the vertical direction used in the weight reduction system, that is, the opposite direction of the gravity direction, is defined as the Z-axis direction. It can be seen that since the user is always fixed to the center of the waist support by the fixed fixture during training, while allowing a small amount of shaking, we assume that the user is always in the center position, and the body weight support system will form a whole with the person, then the force condition during exercise can be described as:

[0144]

[0145]

[0146] Among them, the above and They are the weight-reducing force of the weight-reducing system that is ultimately applied to the clamps on the legs, i.e. the weight-reducing force of the straps. and is the reaction force of the legs touching the ground, m and G represent the user's original weight and gravity. We define β as the dynamic weight reduction ratio coefficient, which is obtained by the ratio of weight reduction force to body weight, and its value is determined by the preset minimum value and the gait stage. v Specifically refers to the acceleration of the user's body in the vertical direction. The walking aid device is connected to the two ends of the waist support through two electric push rods, that is, one end of the first lifting bracket and the second lifting bracket. Therefore, the actual weight reduction force and the weight reduction force acting on the two ends of the waist support will be located on the same bracket. Therefore, the actual weight reduction force is:

[0147]

[0148]

[0149] Among them, the above and W is the lifting force of the electric push rod on one end of the waist support in the Z-axis direction, HJ is the distance between the two fixed points of the fixture and the waist support, w FS is the distance between the two hinge points of the electric actuator and the lumbar support. and Each of them consists of two crossed groups, and is located at a distance from the fixed end. Each set of electric push rods moves at the same time, so no matter whether it is raised or lowered, the left and right forces it provides and the lifting force in the Z-axis direction and The angles are equal. Therefore, the lifting force can be described as:

[0150]

[0151]

[0152] Among them, the above and and They are the lifting forces of the left and right groups of cross electric push rods. and Directly provided by the buffer, and due to the existence of the hinge, and It needs to be converted, and the solution is as follows:

[0153]

[0154]

[0155]

[0156]

[0157]

[0158]

[0159] in, are the equivalent forces of the buffers located at the left front, right front, left rear and right rear of the system respectively, and are their equivalent deformations, which are negative when compressed, k f is the stiffness coefficient of the two groups in front, k r In order to keep the front and rear balance under the downward pressure of the lumbar support, that is, the front and rear drop heights are consistent, different stiffness coefficients need to be used for the front and rear buffers, that is,

[0160]

[0161] Secondly, in the plane direction, that is, the two directions perpendicular to the gravity direction and perpendicular to each other, the X-axis and Y-axis directions, when it is assumed that the user and the weight reduction system move in the plane direction relative to the walking aid chassis and the ground at the same time, and the weight reduction system and the walking aid chassis are connected through a buffer, here we will equate it to a total of 8 groups of spring buffer structures located in the front, back, left and right. The force during its movement can be described as:

[0162]

[0163]

[0164]

[0165]

[0166] in, is the lateral and fore-aft forces acting on the user relative to the unweighting system, To cushion the lateral and front-to-back reaction forces of the system, is the lateral and front-to-back reaction force of the tire relative to the buffer system when the tire rotates passively, k1 and k2 are the lateral and front-to-back equivalent stiffness coefficients of the buffer, It is the equivalent deformation of the buffer in the lateral and front-to-back directions, and is negative when it is compressed.

[0167] Furthermore, when the walking aid is in the dynamic weight-reducing following mode, that is, the control method in the dynamic weight-reducing mode specifically corresponds to that during the training process, the weight-reducing system actively moves the fixed fixture in the Z-axis direction to change the weight-reducing preload ratio. Due to the effect of the buffer mentioned above, the weight-reducing system will partially compensate for the instability of the weight-reducing ratio caused by the action response delay of the electric push rod actuator.

[0168] Please continue reading Figure 7 , Figure 7 It is a flow chart of an embodiment of a training method of the walking aid device of the present application in a dynamic weight loss following mode.

[0169] S61: Set the preload weight reduction ratio.

[0170] Under the specific control logic, the minimum weight loss ratio β needs to be set before training. min , that is, the minimum weight loss ratio during the support period:

[0171]

[0172] in, is the minimum weight loss target value during the support period.

[0173] S62: Training.

[0174] S63: Force value in the Z-axis direction.

[0175] S64: Plantar pressure.

[0176] After the training begins, the controller of the walking aid device will continuously read the force data M in the Z-axis direction from the two three-dimensional force sensors and the left and right plantar pressure sensors. GRFi During real-time operation, the five most recent data sets sent by each sensor are collected and tracked:

[0177]

[0178]

[0179]

[0180]

[0181] By analyzing the data, the average value of the last five groups of pressure values ​​of the three-dimensional force sensor in the Z-axis direction can be obtained. And the average of the last five sets of pressure values ​​of the plantar pressure sensor on each foot And the value is converted and recorded every 5ms.

[0182] S65: Gait event identification and force comparison.

[0183] By further processing the data, the contact characteristics between the foot and the ground can be determined:

[0184] Lift your feet:

[0185] support:

[0186] Where to stay:

[0187] Among them, according to the change trend of the plantar pressure value over time, it can be divided into four trends: lifting the foot, supporting and landing. Combined with the average value of the plantar pressure value, each gait phase can be further defined. Here we use the gait classification method to divide a gait cycle into four sub-phases, defined as: heel contact phase (H, heel contact phase), flat foot contact phase (F, flat foot contact phase), push-off or heel-off phase (P, lifting the foot off the ground phase), swing phase (S, swing phase).

[0188] S → H:

[0189] β set =2β min ;

[0190] H → F:

[0191] β set =1.5β min ;

[0192] F:

[0193] β set =β min ;

[0194] F → P:

[0195] β set =1.5βmin ;

[0196] P → S:

[0197] β set =2β min ;

[0198] S:

[0199] β set =2β min ;

[0200] S66: Determine whether the weight loss ratio target is achieved.

[0201] It is understandable that the gait event transition and state of a certain lower limb are defined, which are divided into 4 state transition stages and 2 continuous state stages, and are judged by the rising and falling trends of the plantar pressure values ​​and the ratio relative to the body weight value. At the same time, the controller of the walking aid will set the applied pressure relative to the initial setting value β in each stage. min Weight loss ratio of different ratios β set .

[0202] Among them, if the weight loss ratio β set If the weight loss ratio target is not reached, S67 is executed. set If the weight loss ratio target has been reached, execute S69.

[0203] S67: Adjust the system weight reduction ratio.

[0204] like Figure 8 As shown, Figure 8 This is a schematic diagram of the gait phase recognition and classification and dynamic weight loss logic of the walking aid device in the training process. Figure 8 The original image is a color image to distinguish the characteristic curves in the image. It is worth noting that due to the buffering effect of the spring buffer force and the response time of the electric push rod, the actual weight loss ratio will not change suddenly according to the control signal. Therefore, the weight loss system will be more linear in responding to different weight loss ratios, which can effectively reduce the setbacks in the adjustment process, and the user will feel less sudden changes in weight loss. The actual weight loss ratio characteristics can be described according to the gait stage as:

[0205] a v =a L +a B ;

[0206]

[0207]

[0208] H→F / F: Δβ set =-0.5β min

[0209] F→P / P→S: Δβ set =-0.5β min

[0210] Among them, the acceleration of the user's body in the vertical direction is a v Under the joint action of the spring buffer and the electric push rod, the acceleration a of the two is B , a L The weight loss ratio changes from H to F / F by Δβ set Both are -0.5β min , the change value Δβ in the F→P / P→S stage set Both are 0.5β min . It can be seen that the overall acceleration of the weight reduction system a v The change value β in proportion to the actual weight loss will be compensated by the spring buffer and the acceleration of the electric push rod.

[0211] S68: Force values ​​in the X-axis and Y-axis directions.

[0212] like Fig. 9 As shown, Fig. 9 This is a control flow chart of the walking aid device of the present application in a gait cycle during the training process. During the lower limb walking training in the dynamic weight-reducing following mode, the walking aid device will not only dynamically reduce weight in the vertical direction and the Z-axis direction, but will also actively follow the user's center of gravity movement in the plane direction. At this time, the four Mecanum wheels have independent driving capabilities. Similarly, due to the buffer effect mentioned above, the weight-reducing system will partially compensate for the follow-up asynchrony caused by the action response delay of the active follow-up movement.

[0213] S69: Estimate the user's center of gravity movement trend.

[0214] At the beginning of the training process, the weight loss system will record and analyze the planar forces received by the three-dimensional force sensor, that is, the forces along the X-axis and Y-axis directions, and estimate the position of the user's center of gravity in the planar direction for tracking. During real-time operation, the forces of the two three-dimensional force sensors in the X-axis and Y-axis directions are collected and tracked, and the average of the last five sets of data is calculated.

[0215]

[0216]

[0217]

[0218]

[0219] in, It is the average value of the last five groups of force values. i∈{l, r} refers to the left and right three-dimensional force sensors. k∈{x, y} refers to the force measured along the X-axis or Y-axis. The value is converted and recorded every 5 ms.

[0220] S610: Whether the walking aid moves with the user's body.

[0221] It is understandable that this value is generated by the human acting on the walking aid, i.e. It can be regarded as the ultimate driving force of the walking aid, that is, the combined force generated by all Mecanum wheels, so that Determines whether the mobility aid is currently moving with the user's body.

[0222] If the walking aid device does not move with the user's body, S611 is executed; if the walking aid device moves with the user's body, S612 is executed.

[0223] S611: driving the walking aid device to follow the user's body movement.

[0224] According to the size, direction and point of action of the input sensor force, by configuring different driving forces on the four wheels, the left and right deviation and rotation relative to the forward direction can be achieved. The relationship can be expressed as:

[0225]

[0226]

[0227]

[0228] Shift Left:

[0229] Shift right:

[0230] Turn left:

[0231] Turn right:

[0232] in, is the driving force configured on each wheel. Similarly, the four sub-phases of a gait cycle described above are used as the analysis basis to analyze the horizontal direction of the walking aid following the user's body movement during training, such as Fig.10 As shown, Fig.10 is a characteristic schematic diagram of the walking aid device of the present application following the user's body movement during a gait cycle during training. Fig.10The original image is specifically a color image so that the characteristic curves in the image can be distinguished.

[0233] It can be seen that in a gait cycle, as the user walks forward, the left and right feet alternately enter the swing and support states, and the center of gravity of the body will swing left and right. Define the right foot as the starting point when it is in the swing state, then the user's center of gravity will swing to the right during the period from the right foot swinging state to the right foot completely touching the ground. After that, the right foot exerts force until the left foot completely touches the ground, and the right foot enters the swing state, during which the user's center of gravity will swing to the left. By capturing the movement of the center of gravity, the walking aid is controlled to swing synchronously left and right. It is worth noting that the actual swing of the walking aid will be slightly delayed from the swing of the user's body, and the drag force generated by the delay will be partially offset by the equivalent spring buffer force. When it is assumed that the driving force loaded on the wheel is equal to the actual driving force, it can be seen that the force characteristics of the system during following are:

[0234]

[0235] During the training process, turning events may also occur. By collecting the forces in the X direction of the two 3D force sensors, The difference is calculated to obtain the rotation amount, thereby controlling the movement of the four wheels at different speeds and directions to rotate the walking aid.

[0236] S612: Is the training completed?

[0237] It is understandable that after S67 and S611, S611 may be executed again to repeatedly enter the training process until the walking aid device can effectively achieve the weight loss ratio target and move with the user's body.

[0238] And by setting corresponding parameters, such as confidence, it is determined whether the training effect meets the set requirements.

[0239] If the training effect does not meet the set requirements, S611 is executed again, and when it is determined that the set requirements are met, the training is terminated.

[0240] It is understandable that the walking aid device corresponding to the first embodiment, the second embodiment and the third embodiment of the walking aid device control method in the present application is specifically the walking aid device as described in any of the above items, and may further include components such as an emergency stop button and an obstacle detector, so as to be able to perform some other more specific walking aid device control methods. For details, please refer to Figure 1-Figure 3 And the related text description will not be repeated here.

[0241] The beneficial effects of the present application are as follows: Different from the prior art, the first lifting bracket and the second lifting bracket in the walking aid device provided by the present application are respectively cross-hinged with the second bracket and the third bracket of the functional bracket in an X shape, and are connected to the stepping assembly at intervals, and one end of the first lifting bracket and one end of the second lifting bracket are connected to the stepping assembly at intervals, and the opposite ends of the waist support in the fixing fixture are elastically connected to the other end of the first lifting bracket and the other end of the second lifting bracket, respectively, and are used to support the user's waist, and its straps are used to be worn on the user's crotch, and the detection component is used to detect the user's weight and center of gravity position, so as to send a first feedback signal to the driving component based on the user's weight and center of gravity position, so that the driving component drives the other end of the first lifting bracket and / or the other end of the second lifting bracket to move close to or away from the stepping assembly, so as to drive the waist support and the part of the strap corresponding to the user's left lower limb and / or right lower limb to move close to or away from the stepping assembly, so as to identify the user's gait according to the user's weight and center of gravity position, so as to dynamically adjust the weight reduction ratio, and selectively assist the user's left lower limb and / or right lower limb, so as to ensure a more natural gait.

[0242] The above are only implementation methods of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A walking aid, characterized in that: The walking aids include: Stepper components; A functional bracket, comprising a first bracket, a second bracket and a third bracket, wherein one end of the first bracket is vertically connected to one end of the second bracket, and the other end of the first bracket is vertically connected to the third bracket, and the other ends of the second bracket and the third bracket are respectively connected to the stepping assembly; The lifting mechanism comprises a first lifting bracket and a second lifting bracket, wherein the first lifting bracket and the second bracket are cross-hinged in an X shape, the second lifting bracket and the third bracket are cross-hinged in an X shape, and one end of the first lifting bracket and one end of the second lifting bracket are spaced and connected to the stepping assembly; A fixing fixture, comprising a waist support and a strap connected to each other, wherein opposite ends of the waist support are elastically connected to the other end of the first lifting bracket and the other end of the second lifting bracket, respectively, and are used to support the user's waist, and the strap is used to be worn on the user's crotch; A driving assembly, connecting the first lifting bracket and the second lifting bracket; The detection component comprises a pressure collection shoe, the sole of the pressure collection shoe is provided with at least one pressure sensor, the pressure collection shoe is used to be worn on the foot of the user, so as to detect the weight and center of gravity position of the user through the pressure sensor, and send a first feedback signal based on the weight and center of gravity position of the user; a controller connected to the driving assembly and in communication with the pressure sensor, and configured to receive the first feedback signal sent by the pressure sensor, and to send a lifting control instruction to the driving assembly based on the first feedback signal, so that the driving assembly drives the other end of the first lifting bracket and / or the other end of the second lifting bracket to move closer to or away from the stepping assembly in response to the lifting control instruction, so as to drive the waist support and the parts of the strap corresponding to the left lower limb and / or the right lower limb of the user to move closer to or away from the stepping assembly.

2. The walking aid device according to claim 1, characterized in that: The stepper assembly also includes a fourth bracket, a fifth bracket and a sixth bracket, one end of the fifth bracket is vertically connected to one end of the fourth bracket, and the other end of the fifth bracket is connected to the other end of the second bracket away from the first bracket, one end of the sixth bracket is vertically connected to the other end of the fourth bracket, and the other end of the sixth bracket is connected to the other end of the third bracket away from the first bracket.

3. The walking aid device according to claim 1, characterized in that: The walking aid device also includes Mecanum wheels, the number of which is 4 and which are movably connected at intervals to a side surface of the stepping assembly away from the functional bracket.

4. The walking aid device according to claim 3, characterized in that: The detection component also includes a three-dimensional force sensor, which is connected to the waist support and the drive component. The drive component is also connected to the Mecanum wheel. The three-dimensional force sensor is used to detect the movement trend of the waist support, and send a second feedback signal to the drive component based on the movement trend, so that the drive component drives the Mecanum wheel to drive the stepping component to follow the movement trend.

5. The walking aid device according to claim 4, characterized in that: The walking aid device also includes an emergency stop button, which is connected to the second bracket and the driving assembly. The emergency stop button is used to receive a press of the user to send an emergency stop instruction to the driving assembly to cause the driving assembly to stop driving the Mecanum wheel.

6. The walking aid device according to claim 4, characterized in that: The walking aid device also includes an interconnected obstacle detector, which is connected to a side surface of the second bracket facing away from the fixing fixture and is in communication with the drive assembly to detect whether there is an obstacle in the current direction of travel of the walking aid device, and when there is an obstacle, sends an obstacle avoidance control instruction to the drive assembly, so that the drive assembly drives the Mecanum wheel to drive the stepping assembly to move in a direction to bypass the obstacle.

7. The walking aid device according to claim 4, characterized in that: The walking aid device also includes a state switching switch and a stepping control joystick, the state switching switch and the stepping control joystick are respectively connected to the driving component, the state switching switch is used to switch the working state of the driving component between the passive weight-reducing pushing mode and the dynamic weight-reducing following mode, so as to switch the working state of the driving component to the passive weight-reducing pushing mode, and the stepping control joystick receives the thrust applied by the user to send corresponding travel control instructions to the driving component based on the direction of the thrust, so that the driving component drives the Mecanum wheel to drive the stepping component to move in the direction corresponding to the thrust.

8. A method for controlling a walking aid, characterized in that: The walking aid device includes: a stepping assembly; a functional bracket, including a first bracket, a second bracket and a third bracket, one end of the first bracket is vertically connected to one end of the second bracket, and the other end of the first bracket is vertically connected to the third bracket, and the other ends of the second bracket and the third bracket are respectively connected to the stepping assembly; a lifting mechanism, including a first lifting bracket and a second lifting bracket, the first lifting bracket and the second bracket are cross-hinged in an X shape, the second lifting bracket and the third bracket are cross-hinged in an X shape, and one end of the first lifting bracket and one end of the second lifting bracket are spaced and connected to the stepping assembly; a fixing fixture, including a waist support and a strap connected to each other, the opposite ends of the waist support are elastically connected to the other end of the first lifting bracket and the other end of the second lifting bracket, and are used to support the user's waist, and the strap is used to be worn on the user's crotch; a driving assembly, connecting the first lifting bracket and the second lifting bracket; a detection assembly, including a pressure collection shoe, the sole of the pressure collection shoe is provided with at least one pressure sensor, and the pressure collection shoe is used to be worn on the foot of the user; a controller, connected to the driving assembly, and communicatively connected to the pressure sensor; The control method comprises: The controller receives a first feedback signal sent by the pressure sensor; wherein the first feedback signal is generated by the pressure sensor detecting the weight and center of gravity position of the user; determining a weight loss ratio and a current walking state of the user based on the first feedback signal; generating a lifting control instruction according to the weight reduction ratio and the travel state; The lifting control instruction is sent to the driving component, so that the driving component drives the other end of the first lifting bracket and / or the other end of the second lifting bracket to move closer to or away from the stepping component, so as to drive the waist support and the parts of the strap corresponding to the left lower limb and / or the right lower limb of the user to move closer to or away from the stepping component.

9. The method for controlling a walking aid device according to claim 8, characterized in that: The walking aid device further includes Mecanum wheels, the number of which is 4 and which are movably connected at intervals to a side surface of the stepping assembly away from the functional bracket and connected to the driving assembly; The detection component further includes a three-dimensional force sensor, and the three-dimensional force sensor is connected to the waist support and the controller; The control method further comprises: Receiving a second feedback signal sent by the three-dimensional force sensor; wherein the second feedback signal is generated by the three-dimensional force sensor detecting the movement trend of the waist support; determining the current traveling direction of the user based on the second feedback signal; generating a first travel control instruction according to the travel direction; The first travel control instruction is sent to the drive component, so that the drive component drives the Mecanum wheel to drive the stepping component to follow the movement trend.

10. The method for controlling a walking aid device according to claim 9, characterized in that: The walking aid device further comprises a state switching switch and a stepping control rocker, wherein the state switching switch and the stepping control rocker are respectively connected to the driving assembly; The control method further comprises: Receiving a state switching signal sent by the state switching switch to determine the working state of the driving component; In response to the working state of the driving component being the passive weight-reducing pushing mode, receiving a control signal sent by the stepping control joystick; wherein the control signal is generated by the stepping control joystick receiving the thrust applied by the user and correspondingly based on the direction of the thrust; generating a second travel control instruction according to the control signal; The second travel control instruction is sent to the drive assembly, so that the drive assembly drives the Mecanum wheel to drive the stepping assembly to move in a direction corresponding to the thrust.

11. The method for controlling a walking aid device according to claim 8, characterized in that: The detection component includes a pressure collection shoe and a three-dimensional force sensor, the sole of the pressure collection shoe is provided with a pressure sensor, the first feedback signal includes feedback data of the pressure sensor and feedback data of the three-dimensional force sensor, the current walking state of the user includes a heel contact stage, a flat foot contact stage, a push-off or heel-off stage, and a swing period, and the step of determining the weight loss ratio and the current walking state of the user based on the first feedback signal includes: The pressure sensor feedback data and the three-dimensional force sensor feedback data are input into a preset network function model to determine the weight loss ratio and the current walking state of the user.

Images