A multi-dimensional control method and system based on a weight loss functional training system

Abstract

The embodiment of the present application provides a multi-dimension control method and system based on a weight loss function training system, a human body is pulled upward by a rope to lose weight, the tension provided by the rope is a weight loss degree F, and the method comprises the following steps: acquiring the tension of the rope and an angle θ between the rope and a plumb line; setting a weight loss target value f0 and an increment value Δf, and adjusting the weight loss degree F by using a PID control method, and the adjustment process is: controlling F=M PID (f0, Δf); and adjusting the size of the increment value Δf according to the angle θ, so that the patient can adjust the weight loss degree during the exercise process, and the size of the increment value is adjusted according to the angle between the rope and the plumb line, so that the weight loss degree is stably kept near the target value at a faster speed, and the situation that the weight loss degree is too large or too small is avoided.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of feedback systems, and more particularly, embodiments of the present application relate to a multi-dimensional control system based on a body weight support training system and a control method based on a body weight support training system. BACKGROUND

[0002] The body weight support training system is a motor lifting and protection sling control, which reduces the weight of the lower limbs of the patient, allows the patient to stand, walk, sit, and other exercise training in a safe environment, and gradually enhances the ability of the lower limbs of the patient to support the body weight. This training system can help the patient to correctly control the muscle activity, so that the limb ability of the patient can be best recovered. The training system is suitable for patients with lower limb weakness, paralysis, etc.

[0003] The current body weight support training system is usually in a fixed state, and cannot be automatically adjusted according to the training state of the patient, resulting in too large or too small body weight support, and poor exercise effect of the patient. SUMMARY

[0004] The present application provides a multi-dimensional control method and system based on a body weight support training system, which solves the problem that the body weight support function of the current technical solution cannot automatically reduce the body weight according to the real-time state of the patient, resulting in too large or too small body weight support. To this end,

[0005] The present application provides a solution in the following aspects.

[0006] In the present context, embodiments of the present application are expected to provide a body weight reduction by pulling the human body upward by a rope, the tension provided by the rope being the body weight support F, comprising the following steps:

[0007] Obtaining the tension of the rope, the angle θ between the rope and the plumb line;

[0008] Setting a body weight target value f0 and an increment value Δf, and adjusting the body weight support F by using a PID control method, the adjustment process being: F=M PID (f0, Δf); wherein the size of the increment value Δf is adjusted according to the angle θ:

[0009] Δf= ;

[0010] In the formula, and are predetermined threshold values of the angle of the rope, the positive and negative signs represent the direction of the rope, and n represents the predetermined increment value, and Δn represents the increment of the predetermined increment value.

[0011] The beneficial effect of the control method of the body weight reduction functional training system in the above embodiment is that the patient can adjust the body weight reduction degree during the exercise, and the size of the increment value is adjusted according to the included angle between the rope and the plumb line, so that the body weight reduction degree is stabilized at the target value at a faster speed, and the situation of too large or too small body weight reduction degree is avoided.

[0012] In one embodiment, the rope is horizontally supported and downwardly guided by a pulley assembly which is controlled to slide in the horizontal direction; when θ , the pulley assembly is controlled to slide in a first direction; when , the pulley assembly is controlled to slide in a second direction.

[0013] The beneficial effect of the control method of the body weight reduction functional training system in the above embodiment is that the sliding of the pulley assembly is used to adjust the included angle θ, so that the included angle θ is within the threshold range, and the pulling force of the rope on the patient can be kept in an approximately vertical upward state, avoiding a large horizontal pulling force of the rope on the patient, and improving the exercise effect.

[0014] In one embodiment, when the included angle θ is adjusted, the sliding speed of the pulley assembly is v, the height of the pulley assembly from the ground is h, and the height h and the speed v are positively correlated: control v = βhv0; in the formula: β is an adjustment coefficient, and v0 is the average speed of the patient in the past n seconds.

[0015] The beneficial effect of the control method of the body weight reduction functional training system in the above embodiment is that the sliding speed of the pulley assembly is controlled, and the change rate of the pulling direction of the rope is controlled, so that the jerk feeling of the patient caused by the movement of the pulley assembly is reduced.

[0016] In one embodiment, a servo motor is driven by a servo driver to control the body weight reduction degree F; the tension of the rope is monitored; when the instantaneous change amount of the tension of the rope exceeds a set value, the servo driver is controlled to issue a command to lock the servo motor.

[0017] The beneficial effect of the control method of the body weight reduction functional training system in the above embodiment is that the servo motor is locked to avoid the patient from falling down, and the safety of the patient during the exercise is ensured.

[0018] In one embodiment, a body weight reduction target value f0 and an increment value Δf are set, and the body weight reduction degree F is adjusted by using a PID control method, which includes: adjusting f0= a0Ln(m·v 上 -1 ), wherein m is the weight of the patient, v 上 is the average speed of the patient in the last training, and a0 is a correction coefficient.

[0019] The beneficial effect of the embodiment of the control method based on the body weight support training system is that the body weight support target value is adjusted according to the historical data of the patient's exercise, so that the system can adapt to the needs of the patient's exercise.

[0020] In one embodiment, the shaking amount of the patient is detected by the acceleration sensor; and the body weight support target value f0 is increased when the shaking amount of the patient during walking exceeds a preset threshold.

[0021] The beneficial effect of the embodiment of the control method based on the body weight support training system is that the training condition of the patient can be monitored in real time, and the safety of the patient during exercise is further ensured.

[0022] A multi-dimensional control system based on a body weight support training system, comprising a truss and a first servo motor arranged on the truss, the first servo motor being used to drive a rope on the truss to provide body weight support for a patient; further comprising a pulley assembly arranged on the truss, the pulley assembly being used to move along the truss under the driving of a second servo motor; a first photoelectric sensor is installed on the truss to detect the speed of the pulley assembly; a tension sensor is connected to the rope to measure the degree of body weight support; an inclination sensor is installed on the rope to measure the angle θ; an acceleration sensor is installed on the patient to measure the shaking amount of the patient; a controller and a memory are further included, the controller being connected to the tension sensor, the acceleration sensor, the inclination sensor and the first photoelectric sensor, and the first servo motor and the second servo motor being connected through a servo driver, the memory storing a computer program, and the controller executing the computer program to realize the steps in the above method. BRIEF DESCRIPTION OF DRAWINGS

[0023] The above and other objects, features and advantages of the exemplary embodiments of the present application will be more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which:

[0024] Figure 1 A method flowchart is schematically shown;

[0025] Figure 2 A walking direction of the pulley assembly is schematically shown;

[0026] Figure 3 Another walking direction of the pulley assembly is schematically shown;

[0027] In the drawings: 1, first servo motor; 2, rope; 3, pulley assembly; 4, inclination sensor; 5, truss.

[0028] In the drawings, the same or corresponding reference numerals indicate the same or corresponding parts. DETAILED DESCRIPTION

[0029] The principles and spirits of the present application will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are given only so that those skilled in the art can better understand and implement the present application, and do not limit the scope of the present application in any way. On the contrary, these embodiments are provided so that the present disclosure is more thorough and complete, and the scope of the present disclosure is fully conveyed to those skilled in the art.

[0030] In combination Figure 1 As shown in the accompanying drawings, a control method of a weight loss function training system, wherein the human body is pulled upward by a rope to lose weight, the tension provided by the rope is the weight loss degree F, comprising the following steps:

[0031] Obtain the tension of the rope, the angle θ between the rope and the plumb line;

[0032] Set the weight loss target value f0 and the increment value Δf, and adjust the weight loss degree F by using the PID control method, and the adjustment process is:

[0033] F=M PID (f0, Δf);

[0034] Wherein, the size of the increment value Δf is adjusted according to the angle θ:

[0035] Δf= ;

[0036] In the formula, and are predetermined rope angle threshold values, the positive and negative signs represent the direction of the rope, and n represents the predetermined increment value, and Δn represents the increment of the predetermined increment value.

[0037] In one embodiment, the corresponding system of the present application is as shown in the accompanying drawings Figure 2 In one embodiment, the corresponding system of the present application is as shown in the accompanying drawings Figure 2As shown, it comprises: a truss 5, and a first servo motor 1 provided on the truss 5, which is used to drive the rope 2 on the truss 5 to provide the patient with a body weight support force; further comprising a pulley assembly 3 provided on the truss 5, which is used to move along the truss 5 under the drive of a second servo motor; a first photoelectric sensor is installed at the upper end of the truss 5 for detecting the speed of the pulley assembly 3, and a second photoelectric sensor is installed at the lower end of the truss 5 for detecting the speed of the patient walking, a tension sensor is connected to the rope 2 for measuring the body weight support force, and an inclination sensor 4 is installed on the rope 2 for measuring the angle θ; further comprising an acceleration sensor installed on the patient's body for measuring the patient's shaking amount; further comprising a controller and a memory, the controller is connected to the tension sensor, the acceleration sensor, the inclination sensor 4, the first photoelectric sensor and the second photoelectric sensor, and the first servo motor 1 and the second servo motor are connected through a servo driver, the memory stores a computer program, and the controller executes the computer program to realize the steps described in the above method.

[0038] Based on the above system, the size of the incremental value Δf is adjusted according to the included angle θ, so that the body weight support force is quickly stabilized near the target value, and the purpose of quickly adjusting the body weight support force F is achieved, avoiding the situation that the body weight support force is too large or too small.

[0039] PID control method is a feedback control algorithm used to control stability and accuracy in a system. PID includes proportional, integral and derivative parts, and PID control method calculates control instructions according to the difference between the current body weight support force F of the patient walking and the target value f0. The PID controller adjusts the output of the system body weight support force F according to the weighted sum of the three parts, so that the response of the system meets the expectation. The output of the PID controller is the linear combination of the proportional, integral and derivative parts, and the weight of each part can be adjusted in real time according to the size of the included angle θ during the patient's exercise, so that the body weight support force F quickly returns to the vicinity of the target value f0, reduces the adjustment time, ensures the stability of the body weight support force F, and provides great convenience for the patient's walking exercise.

[0040] In one embodiment, a tension sensor is connected to the rope, which measures the tension of the rope, i.e. the body weight support force F, the tension of the rope is provided by the servo motor, and the included angle θ between the rope and the plumb line is measured by the inclination sensor, for the threshold range on the left side of the plumb line, for the threshold range on the right side of the plumb line, the PID control method is used to adjust the incremental value Δf, which can make the body weight support force F quickly return to the vicinity of the target value f0, and ensure the stability of the body weight support force F.

[0041] For example, the target value f0 of the body weight support force is 500N, 100N, 20N, 30°, -30°:

[0042] When θ is 20°, Δf is 100N;

[0043] When θ is 40°, Δf is 80N;

[0044] When θ is -40°, Δf is 120N;

[0045] It can be understood that f0may also be 400N, 600N and other values, may be 90N, 110N and other values, may be 15N, 25N and other values, 20°, 35° and other values, f0, 20°, 35° and other values, f0, , According to the physical condition of the patient.

[0046] The rope is horizontally supported and guided downward by a pulley assembly, which is controlled to slide in the horizontal direction;

[0047] When θ Figure 2 , the pulley assembly is controlled to slide in a first direction to make θ within the range of (- ), the first direction being the X direction in FIG. 1, at this time, the distance between the patient and the pulley assembly gradually decreases, in other words, the length of the rope gradually decreases, the sliding process of the pulley assembly has a pulling force on the rope, therefore, the value of Δf should be reduced to be to avoid the change rate of the weight-reducing force F being too large, and to reduce the impact of the movement of the pulley assembly on the patient. It can be understood that when the change rate of the weight-reducing force F is too large in the actual exercise process, the patient has a sense of frustration, which affects the comfort of the patient during exercise. Figure 2 When θ , the pulley assembly is controlled to slide in a second direction to make θ within the range of (-

[0048] ), the first direction and the second direction being opposite, the second direction being the Y direction in FIG. 1, the length of the rope between the pulley assembly and the patient has a tendency to increase, at this time, the rope has a tendency to loosen, therefore, Δf should be increased to be Figure 3 Figure 3 ​​​​, to make up for the slack of the rope, so that the weight reduction degree F is quickly adjusted to the target value f0, avoiding the situation that the weight reduction degree F is in a small state for a long time due to the movement of the pulley assembly.

[0049] When , at this time, the rope is within the set angle threshold range, and the pulley assembly is in a static state.

[0050] The sliding adjustment of the pulley assembly adjusts the angle θ to be within the angle threshold range, so that the tension of the rope on the patient remains in an approximately vertical upward state, avoiding a large horizontal tension on the patient, and improving the exercise effect. It can be understood that when the patient moves in the first direction, the moving direction of the pulley assembly is also the first direction, and when the patient moves in the second direction, the moving direction of the pulley assembly is the second direction. Based on the moving characteristics of the pulley assembly, the pulley assembly will cause the rope to vibrate during movement. The vibration of the rope has an adverse effect on the patient's exercise. In order to reduce the impact of the movement of the pulley assembly on the patient, the pulley assembly moves intermittently to reduce the movement time of the pulley assembly and reduce the impact on the patient.

[0051] In one embodiment, when adjusting the angle θ of the rope, the speed of the pulley assembly sliding is v, the height of the pulley assembly from the ground is h, and the height h is positively correlated with the speed v: control v = βhv0; where: β is an adjustment coefficient, the value range is 2-4, v0 is the average speed of the patient in the past n seconds, n can be 5, 10, 15, 20 and other numbers.

[0052] For example, h is 2.5m, v0 is 0.6m / s, β is 2, and v is 3m / s. By controlling the moving speed of the pulley assembly, the pulley assembly is adapted to the walking speed of the patient, further reducing the impact of the vibration of the rope on the patient during the movement of the pulley assembly, and allowing the patient to walk normally during the movement of the pulley assembly.

[0053] In one embodiment, the servo motor is driven by the servo driver to control the weight reduction degree F; including: monitoring the tension of the rope; when the instantaneous change amount of the rope tension exceeds the set value, controlling the servo driver to issue a command to lock the servo motor, and controlling the pulley assembly to slide to adjust the angle θ of the rope to be within the range of .

[0054] When the patient has a tendency to fall, the patient has a large tension on the rope, causing the instantaneous change amount of the rope tension to increase. At this time, the servo motor is locked, preventing the rope from elongating, which can effectively prevent the patient from falling and ensure the safety of the patient during exercise.

[0055] In one embodiment, a weight loss target value f0 and an increment value Δf are set, and the weight loss force F is adjusted using a PID control method, including: adjusting f0=a0Ln(m·v 上 -1 ), where m is the weight of the patient, v 上 is the average speed of the patient in the last training, and a0 is a correction coefficient, with a value range of 50-80.

[0056] For example, v 上 is 0.6 m / s, the mass m is 60 kg, and a0 is 65, then f0 is 300 N. During the exercise, the value of a0 can be set, and the system automatically adjusts the target value f0 according to the recovery of the patient to adapt to the needs of the patient during the exercise. The change trajectory of the weight loss target value f0 is a logarithmic curve, which makes the target value f0 change smoothly and reduces the discomfort of the patient caused by the change of the target value f0. In other words, the target value f0 changes automatically during the patient's unconscious exercise, achieving the effect of automatic adjustment.

[0057] For example, as the patient's body gradually recovers, the patient's walking speed increases, and at this time, the target value f0 for the next exercise decreases as v increases, adapting to the needs of the patient's exercise. It should be noted that the weight loss target value f0 can be automatically adjusted by the system, or the target value f0 can be manually input according to the actual situation. The priority of manual adjustment is higher than that of automatic adjustment, that is, the target value f0 input manually is used first to adapt to the actual needs of the patient.

[0058] In one embodiment, the acceleration sensor detects the shaking amount of the patient, and the measurement site is any part of the patient's body, such as: including but not limited to arms, abdomen, back, legs, etc. In this embodiment, the shaking amount of the legs is preferentially detected. If the shaking amount of the patient during walking exceeds the pre-set threshold value, it is judged that the legs are shaking, indicating that the weight loss target value f0 is too small, and at this time, the weight loss target value f0 is re-set and adjusted, that is, f0 is increased to adapt to the needs of the exercise.

[0059] If the shaking amount of the patient during walking is within the pre-set threshold range, it is determined to be normal movement, and the training condition is normal.

[0060] In one embodiment, a multi-dimensional control system based on a weight loss function training system includes a truss and a first servo motor arranged on the truss, the first servo motor being used to drive a rope on the truss to provide a weight loss force for a patient; further comprising a pulley assembly arranged on the truss, the pulley assembly being used to move along the truss under the drive of a second servo motor; a first photoelectric sensor is installed on the truss to detect the speed of the pulley assembly, a tension sensor is connected to the rope to measure the weight loss force, and an inclination sensor is installed on the rope to measure the angle θ.

[0061] Further comprising: an acceleration sensor installed on the patient to measure the amount of shaking of the patient, a controller and a memory, the controller being connected to the tension sensor, the acceleration sensor, the inclination sensor and the first photoelectric sensor, and the first servo motor and the second servo motor being connected through a servo driver, the memory storing a computer program, and the controller executing the computer program to realize the steps of the above method.

[0062] The system is as shown in Figure 2 Since the foregoing has been described, it will not be repeated here.

[0063] Those skilled in the art can understand that, Figure 1 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device of the present application. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0064] In the present application, the inclination sensor 4 is installed on the rope, the inclination sensor 4 measures the acceleration direction of the rope through the accelerometer, and the angle of the rope is calculated through the angle between the acceleration of the rope and the gravitational acceleration. The photoelectric sensor uses the photoelectric principle to calculate the speed by detecting the time difference when the object passes through the photoelectric sensor. The tension sensor is installed on the rope to measure the tension of the rope. The acceleration sensor measures the inertia force on the mass block during acceleration, obtains the acceleration value by using Newton's second law, and obtains the shaking amount through the direction of the acceleration value.

[0065] In this document, the terms "computer-readable medium" and "storage medium" are used to generally refer to media such as removable storage drives, memory, certain hardware storage media such as resistive random access memory (RRAM), dynamic random access memory (DRAM), static random access memory (SRAM), enhanced dynamic access memory (EDRAM), high-bandwidth memory (HBM), hybrid memory cube (HMC), and the like, or any other medium that can be used to store the desired information and which can be accessed by a computer. Any of these computer-readable media can be part of a device or accessible or connectable thereto. Any application described herein can be implemented using computer-readable / executable instructions that can be stored or otherwise held by such computer-readable media.

[0066] Moreover, although the operations of the method(s) herein can be described in a particular, sequential order, this order is not meant to be a limitation and one or more of the operations can be performed in different orders, or omitted, or performed concurrently. Further, described operations can be performed by specific hardware components or modules or by software components or modules that are executed by a processor or a computer system. Additionally or alternatively, steps can be performed in parallel. Additionally or alternatively, some steps can be performed by the same hardware or software component or module.

[0067] The use of the verbs "comprise", "comprising", "include", "including", "contain", "containing", "involving", and variations thereof, in the description and in the claims, is intended to be construed as non-exhaustive, such that the meaning of "comprising" and "containing" specifically

[0068] While the principles and spirit of the application have been described with reference to several specific embodiments, it is to be understood that the application is not limited to the specific embodiments disclosed and that the division into aspects is not meant to imply that features from one aspect cannot be combined with features from another aspect to benefit, but is merely for ease of presentation. The application is intended to cover any and all modifications and equivalent arrangements within the spirit and scope of the appended claims. The scope of the appended claims covers the entire range of equivalents and modifications as is encompassed by the specification.

Claims

1. A control method of a weight loss function training system, wherein, The method comprises the following steps: lifting the human body upward by a rope to reduce the weight, the rope providing a tension force F, characterized in that: obtaining the tension force of the rope and the angle θ between the rope and the plumb line; setting a target value f0 and an increment value Δf of the weight reduction, and adjusting the tension force F by using a PID control method, the adjustment process being: F = M PID (f0, Δf); wherein the increment value Δf is adjusted according to the angle θ: Δf = 1 / 2 * (f2 - f1) ​ In the formula, and is a predetermined rope angle threshold value, the positive and negative signs indicate the orientation of the rope, n represents a predetermined increment value, and Δn represents an increment of the predetermined increment value. Adjust f0= a0·ln(m·v 上 -1 ), wherein m is the patient weight, v 上 is the average speed of the last training of the patient, and a0 is a correction factor. the rope is horizontally supported and downward guided by a pulley assembly, and the pulley assembly is controlled to slide in the horizontal direction; when θ sliding the pulley assembly in a first direction; When the pulley assembly is controlled to slide in a second direction; the first direction and the second direction are opposite to each other; when the angle θ is adjusted, the speed of the pulley assembly is v, the height of the pulley assembly from the ground is h, and the height h and the speed v are positively correlated: Control v = β·h·v0; wherein β is an adjustment coefficient, and v0 is the average speed of the patient in the past n seconds.

2. The control method of the body weight support training system according to claim 1, characterized in that: detecting the shaking amount of the patient by using an acceleration sensor; further comprising: if the shaking amount of the patient during walking exceeds a pre-set threshold value, increasing the target value f0 of the weight reduction.

3. A multi-dimension control system based on a weight loss function training system, characterized in that, The system comprises a truss and a first servo motor arranged on the truss, the first servo motor being used to drive the rope on the truss to provide a weight reduction force for the patient; further comprising a pulley assembly arranged on the truss, the pulley assembly being used to move along the truss under the drive of a second servo motor; a first photoelectric sensor is installed on the truss to detect the speed of the pulley assembly; a tension sensor is connected to the rope to measure the weight reduction force; an inclination sensor is installed on the rope to measure the angle θ; an acceleration sensor is installed on the patient to measure the shaking amount of the patient; a controller and a memory are further included, the controller being connected to the tension sensor, the acceleration sensor, the inclination sensor and the first photoelectric sensor, and the first servo motor and the second servo motor being connected through a servo driver, the memory storing a computer program, and the controller executing the computer program to realize the steps of any one of claims 1-2.

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