A walking aid control method

Abstract

The application provides a walking aid device control method, and relates to the technical field of data processing. The method comprises the following steps: acquiring two first pressure values collected by first pressure sensors in two first air bags on a torso fixing structure of a walking aid device, and two second pressure values collected by second pressure sensors in two second air bags on the torso fixing structure; determining a movement demand of a target user of the walking aid device according to the two first pressure values and the two second pressure values; if the movement demand of the target user is a straight-line movement demand, acquiring a third pressure value collected by a third pressure sensor in a third air bag, and a fourth pressure value collected by a fourth pressure sensor in a fourth air bag; and determining a control parameter of a target motor in the torso fixing structure according to the third pressure value and the fourth pressure value, so as to provide a supporting force for a human torso of the target user in a straight-line movement process of the target user, to make the center of gravity of the target user approach the center, and to ensure that the target user can move in a straight line.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and more specifically, to a method for controlling a mobility aid device. Background Technology

[0002] In recent years, exoskeleton robots have been widely researched and applied in the military and medical fields. They can provide wearers with protective functions and enhance their abilities, such as extending, supplementing, replacing, or strengthening human body functions, limb movement capabilities, and load-bearing capacity. Currently, there are many types of walking aids for exoskeleton robots. Existing walking aids mainly use a robotic arm on the back to fix the exoskeleton robot, allowing the wearer to move based on the control of the robotic arm. The walking aid uses the back to sense the center of gravity and then uses the robotic arm to mechanically adjust the user's center of gravity position, enabling the wearer to move mechanically. However, this does not allow for the training of the wearer's limbs. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of the prior art by providing a method for controlling a walking aid device. This method uses two first pressure values ​​and two second pressure values ​​to determine the movement needs of the target user corresponding to the walking aid device. If the target user's movement needs are for straight movement, a third pressure value and a fourth pressure value are obtained to determine the control parameters of the target motor. This provides support to the target user's torso, thereby enabling the target user's center of gravity to swing correctly, which is beneficial for training the target user's limbs.

[0004] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0005] In a first aspect, embodiments of this application provide a method for controlling a mobility aid, including:

[0006] The system acquires two first pressure values ​​collected by first pressure sensors inside two first airbags on the torso fixation structure of the walking aid device, and two second pressure values ​​collected by second pressure sensors inside two second airbags on the torso fixation structure; wherein, the two first airbags include: airbags in the front-to-back direction in the first lateral region corresponding to the two legs on the torso, and the two second airbags include: airbags in the front-to-back direction in the second lateral region corresponding to the two legs on the torso.

[0007] Based on the two first pressure values ​​and the two second pressure values, the movement needs of the target user corresponding to the walking aid device are determined;

[0008] If the target user's movement requirement is a straight-line requirement, the third pressure value collected by the third pressure sensor in the third airbag on the torso fixation structure and the fourth pressure value collected by the fourth pressure sensor in the fourth airbag on the torso fixation structure are obtained; the third airbag is the airbag between the two first airbags in the first side region, and the fourth airbag is the airbag between the two second airbags in the second side region.

[0009] Based on the third pressure value and the fourth pressure value, the control parameters of the target motor in the torso fixing structure are determined so that the target motor provides support for the target user's torso during the target user's straight-line movement.

[0010] In an optional implementation, determining the movement needs of the target user corresponding to the walking aid device based on the two first pressure values ​​and the two second pressure values ​​includes:

[0011] Determine whether the two first pressure values ​​and the two second pressure values ​​reach a preset pressure threshold;

[0012] If neither of the two first pressure values ​​nor the two second pressure values ​​reaches the preset pressure threshold, then the target user's movement requirement is determined to be a straight-line requirement.

[0013] In an optional implementation, determining the movement needs of the target user corresponding to the walking aid device based on the two first pressure values ​​and the two second pressure values ​​further includes:

[0014] If at least one of the two first pressure values ​​and the second pressure value reaches the preset pressure threshold, then the target user's motion requirement is determined to be a steering requirement.

[0015] In an optional implementation, determining the control parameters of the target motor in the torso fixation structure based on the third pressure value and the fourth pressure value, so that the target motor provides support for the target user's torso during the target user's straight-line movement, includes:

[0016] If the third pressure value is greater than the preset friction force of the torso fixing structure in the walking aid device, but the fourth pressure value is less than the preset friction force, then the control parameter of the target motor is determined to be the first control parameter, so that the target motor applies a first support force to the position corresponding to the fourth airbag; wherein, the first support force is a support force whose pressure value is equal to the pressure difference between the third pressure value and the preset friction force;

[0017] Continue monitoring the fourth pressure value;

[0018] If the fourth pressure value is detected to increase and approach the preset friction force, the control parameter of the target motor is determined to be the second control parameter, so that the target motor applies a second support force to the position corresponding to the fourth airbag. The second support force is the preset support force, until both the third pressure value and the fourth pressure value are less than the preset friction force.

[0019] In an optional implementation, before determining the control parameter of the target motor as the first control parameter if the third pressure value is greater than the preset friction force of the torso fixing structure in the walking aid device, but the fourth pressure value is less than the preset friction force, the method further includes:

[0020] The preset friction force is calculated based on the weight of the walking aid and the preset friction coefficient.

[0021] In an optional implementation, the method further includes:

[0022] If the target user's movement requirement is a turning requirement, obtain the first distance value collected by the first ranging sensor corresponding to the first side area of ​​the walking aid device and the second distance value collected by the second ranging sensor corresponding to the second side area;

[0023] Based on the first distance value and the second distance value, control parameters are determined for the first moving component in the first side region and the second moving component in the second side region of the mobility aid device, so as to perform differential control on the first moving component and the second moving component during the target user's turning process.

[0024] In an optional implementation, determining control parameters for a first moving component in the first side region and a second moving component in the second side region of the mobility aid based on the first distance value and the second distance value, so as to perform differential control on the first moving component and the second moving component during the target user's turning process, includes:

[0025] Based on the first forward distance value collected by the first forward ranging sensor in the first ranging sensor and the second forward distance value collected by the second forward ranging sensor in the second ranging sensor, the first target distance between the target user and the obstacle in front is determined;

[0026] The road width is determined based on the first lateral distance value collected by the first lateral distance sensor in the first ranging sensor and the second lateral distance value collected by the second lateral distance sensor in the second ranging sensor;

[0027] If the road width is greater than twice the vehicle width, and the first target distance is greater than the preset diagonal distance, the control parameters of the first moving component and the second moving component are determined to be forward differential control parameters, so that both the first moving component and the second moving component are forward rotating during the target user's turning process, and there is a preset speed deviation; wherein, the vehicle width is the shortest distance between the first moving component and the second moving component, and the preset diagonal distance is the diagonal distance between the first moving component and the second moving component.

[0028] In an optional implementation, determining control parameters for a first moving component in the first side region and a second moving component in the second side region of the mobility aid based on the first distance value and the second distance value, so as to perform differential control on the first moving component and the second moving component during the target user's turning process, further includes:

[0029] If the road width is detected to be less than or equal to twice the vehicle width, and the first target distance is greater than the preset diagonal distance, then the first moving part is determined to be in a locked state, and the control parameter of the second moving part is a forward rotation control parameter, so as to lock the first moving part during the target user's turning process, so that the second moving part rotates forward.

[0030] In an optional implementation, determining control parameters for a first moving component in the first side region and a second moving component in the second side region of the mobility aid based on the first distance value and the second distance value, so as to perform differential control on the first moving component and the second moving component during the target user's turning process, further includes:

[0031] If the road width is detected to be less than or equal to twice the vehicle width, and the first target distance is less than or equal to the preset diagonal distance, then the control parameter of the first moving part is determined to be a reverse control parameter, and the control parameter of the second moving part is determined to be a forward control parameter, so that the first moving part and the second moving part can reverse and forward respectively during the target user's turning process.

[0032] In an optional implementation, determining control parameters for a first moving component in the first side region and a second moving component in the second side region of the mobility aid based on the first distance value and the second distance value, so as to perform differential control on the first moving component and the second moving component during the target user's turning process, further includes:

[0033] If the road width is greater than the vehicle width, and the first target distance is less than or equal to the preset diagonal distance, the control parameter of the first moving component is determined to be a reverse control parameter, and the control parameter of the second moving component is determined to be a forward control parameter, so that the first moving component and the second moving component reverse and forward respectively during the target user's turning process.

[0034] Secondly, embodiments of this application also provide a walking aid control device, comprising:

[0035] The acquisition module is used to acquire two first pressure values ​​collected by the first pressure sensors in the two first airbags on the torso fixation structure of the walking aid device, and two second pressure values ​​collected by the second pressure sensors in the two second airbags on the torso fixation structure; wherein, the two first airbags include: airbags in the front-back direction in the first lateral region corresponding to the two legs on the human torso, and the two second airbags include: airbags in the front-back direction in the second lateral region corresponding to the two legs on the human torso.

[0036] The determining module is used to determine the movement needs of the target user corresponding to the walking aid device based on the two first pressure values ​​and the two second pressure values.

[0037] The acquisition module is further configured to acquire, if the target user’s movement requirement is a straight-line requirement, a third pressure value collected by a third pressure sensor in the third airbag on the torso fixation structure and a fourth pressure value collected by a fourth pressure sensor in the fourth airbag on the torso fixation structure; the third airbag is the airbag between the two first airbags in the first side region, and the fourth airbag is the airbag between the two second airbags in the second side region.

[0038] The determining module is also used to determine the control parameters of the target motor in the torso fixing structure based on the third pressure value and the fourth pressure value, so that the target motor provides support force to the torso of the target user during the target user's straight movement.

[0039] The beneficial effects of this application are:

[0040] This application provides a method for controlling a walking aid, comprising: acquiring two first pressure values ​​collected by first pressure sensors in two first airbags on a torso fixation structure of the walking aid, and two second pressure values ​​collected by second pressure sensors in two second airbags on a torso fixation structure; wherein the two first airbags include airbags in a front-to-back direction in a first lateral region corresponding to the legs of the human torso, and the two second airbags include airbags in a front-to-back direction in a second lateral region corresponding to the legs of the human torso; determining the movement needs of the target user corresponding to the walking aid based on the two first pressure values ​​and the two second pressure values; if the movement needs of the target user are straight-line movement needs, acquiring a third pressure value collected by a third pressure sensor in a third airbag on a torso fixation structure, and a fourth pressure value collected by a fourth pressure sensor in a fourth airbag on a torso fixation structure; the third airbag is the airbag between the two first airbags in the first lateral region, and the fourth airbag is the airbag between the two second airbags in the second lateral region; determining the control parameters of a target motor in the torso fixation structure based on the third pressure values ​​and the fourth pressure values, so that the target motor provides support force to the human torso of the target user during the straight-line movement of the target user.

[0041] The method of this application determines the movement needs of the target user corresponding to the walking aid device through two first pressure values ​​and two second pressure values. If the target user's movement needs are straight-line needs, then a third pressure value and a fourth pressure value are obtained, and the control parameters of the target motor are determined. The method controls the target user to provide support force to the target user's torso during straight-line movement, so that the target user's center of gravity moves towards the center, reducing the pressure of the target user on one side area, ensuring that the target user can move in a straight line, thereby avoiding displacement caused by excessive pressure on one side area, which would cause the target user's driving direction to deviate. Attached Figure Description

[0042] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the structure of a walking aid device provided in an embodiment of this application;

[0044] Figure 2 This is a schematic diagram of the structure of multiple airbags provided in an embodiment of this application;

[0045] Figure 3 This is one of the flowcharts illustrating a method for controlling a mobility aid provided in this application.

[0046] Figure 4 A second schematic flowchart illustrating a method for controlling a mobility aid provided in this application.

[0047] Figure 5 A third schematic flowchart illustrating a method for controlling a mobility aid provided in this application.

[0048] Figure 6 A fourth schematic flowchart illustrating a method for controlling a mobility aid provided in this application.

[0049] Figure 7 Fifth schematic flowchart of a walking aid control method provided in this application embodiment;

[0050] Figure 8(a) is a schematic diagram of a turning route for a walking aid device provided in an embodiment of this application;

[0051] Figure 8(b) is a schematic diagram of another walking aid device turning route provided in an embodiment of this application;

[0052] Figure 8(c) is a schematic diagram of another walking aid device turning route provided in an embodiment of this application. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments.

[0054] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0055] In the description of this application, it should be noted that if the terms "upper", "lower", etc. appear to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of this application is usually placed in, it is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0056] Furthermore, the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Additionally, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0057] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0058] To ensure that the walking aid can provide support to the user's torso when the user is walking straight, and to prevent the user from losing control of their center of gravity and thus being unable to maintain straight movement. Figure 1 This is a schematic diagram of the structure of a walking aid device provided in an embodiment of this application. Figure 2 This is a schematic diagram of a structure of multiple airbags provided in an embodiment of this application. Figure 1 As shown, the walking assistance device 110 includes: a target motor 120, a first ranging sensor, a second ranging sensor, a first moving part 140, a second moving part 150, a control unit 160, and multiple airbags 170. Among them, as... Figure 2 As shown, the multiple airbags 170 include: two first airbags 171, two second airbags 172, a third airbag 173, and a fourth airbag 174. The two first airbags 171 are respectively disposed in the walking aid device 110 for fixing the first lateral area of ​​the human torso corresponding to the two legs in the front-back direction. The two second airbags 172 are respectively disposed in the walking aid device 110 for fixing the second lateral area of ​​the human torso corresponding to the two legs in the front-back direction. The third airbag 173 is disposed between the two first airbags 171, and the fourth airbag 174 is disposed between the two second airbags 172.

[0059] Multiple airbags 170 and target motors 120 are mounted on the torso fixation structure of the walking aid. Each airbag 170 includes a gas pressure sensor, a soft bag, an air tube, and an air pump. The gas pressure sensor in the airbag 170 can monitor the pressure signal value in the airbag 170 in real time. Control unit 160

[0060] This is used to monitor the gas pressure value in each airbag 170 through a gas pressure sensor. If a loss of pressure is detected in the airbag 170, the air pump is controlled to inflate the airbag 170 through the air tube to monitor whether the pressure inside the airbag 170 is normal. If the airbag 170 loses pressure for the second time, it is determined that the airbag 170 has malfunctioned.

[0061] The first moving component 140 and the second moving component 150 are disposed at the bottom of the walking aid device and are used to drive the walking aid device to move. The first moving component 140 is located in the first side area of ​​the walking aid device and includes two first wheels connected by a first connecting device. The second moving component 150 is located in the second side area of ​​the walking aid device and includes two second wheels connected by a second connecting device. The first distance measuring sensor includes a first lateral distance measuring sensor 131 and a first forward distance measuring sensor 132. The first lateral distance measuring sensor 131 is respectively disposed at a preset position near the two first wheels of the first connecting device, and the first forward distance measuring sensor 132 is disposed at the front end of the first connecting device. The second distance measuring sensor includes a second lateral distance measuring sensor and a second forward distance measuring sensor. The second lateral distance measuring sensor is respectively disposed at a preset position near the two second wheels of the second connecting device, and the second forward distance measuring sensor is disposed at the front end of the second connecting device.

[0062] The width 'a' of the walking aid is determined by the distance between the first wheel connected to the front end of the first connecting device and the second wheel connected to the front end of the second connecting device. The preset diagonal distance 'b' of the walking aid is determined by the distance between the second wheel connected to the front end of the second connecting device and the first wheel 140 connected to the rear end of the first connecting device. The walking aid connects to the target user via an exoskeleton wearable device, thereby providing the target user with the necessary exercise support.

[0063] The following detailed explanation, in conjunction with the accompanying drawings and specific examples, illustrates the walking aid control method provided in the embodiments of this application. Figure 3 This is one of the flowcharts illustrating a method for controlling a mobility aid provided in this application. Figure 3 As shown, the method includes:

[0064] S101. Acquire two first pressure values ​​collected by the first pressure sensors in the two first airbags on the torso fixation structure of the walking aid device, and two second pressure values ​​collected by the second pressure sensors in the two second airbags on the torso fixation structure.

[0065] The two first airbags include airbags in the front-to-back direction in the first lateral region corresponding to the two legs on the human torso, and the two second airbags include airbags in the front-to-back direction in the second lateral region corresponding to the two legs on the human torso.

[0066] In this embodiment, the torso fixing structure on the walking aid is used to fix the position of the target user's two legs. If two first airbags are fixedly set on the first side area of ​​the human torso corresponding to the two legs, i.e. the area corresponding to the left leg, then two second airbags are set on the second side area of ​​the human torso corresponding to the two legs, i.e. the area corresponding to the right leg. The two first airbags are respectively set in the front and back direction of the area corresponding to the left leg, and the two second airbags are respectively set in the front and back direction of the area corresponding to the right leg.

[0067] The first pressure value is collected by the first pressure sensor in the first airbag and the second pressure value is collected by the second pressure sensor in the second airbag. The collected pressure values ​​are then uploaded to the control unit, so that the control unit obtains two first pressure values ​​and two second pressure values.

[0068] S102. Based on the two first pressure values ​​and the two second pressure values, determine the movement needs of the target user corresponding to the walking aid device.

[0069] The target user's movement needs can include straight-line movement needs and turning needs. Turning needs can be further divided into left-turn needs and right-turn needs. By comparing two first pressure values, two second pressure values, and a preset pressure threshold, the movement needs of the target user corresponding to the walking aid device are specifically determined.

[0070] S103. If the target user's movement requirement is a straight-line requirement, obtain the third pressure value collected by the third pressure sensor in the third airbag on the torso fixation structure, and the fourth pressure value collected by the fourth pressure sensor in the fourth airbag on the torso fixation structure.

[0071] The third airbag is the airbag between the two first airbags in the first side region, and the fourth airbag is the airbag between the two second airbags in the second side region.

[0072] If the first side area corresponds to the target user's left leg, the third airbag is positioned at the far left of that area. If the second side area corresponds to the target user's right leg, the fourth airbag is positioned at the far right of that area. A third pressure value is collected by a third pressure sensor within the third airbag, and a fourth pressure value is collected by a fourth pressure sensor within the fourth airbag. These collected pressure values ​​are then uploaded to the control unit, allowing the control unit to obtain both the third and fourth pressure values.

[0073] S104. Based on the third and fourth pressure values, determine the control parameters of the target motor in the torso fixing structure so that the target motor provides support for the target user's torso during the target user's straight-line movement.

[0074] Specifically, based on the third and fourth pressure values, the support state of the target user is determined, as well as the control parameters of the target motor in the torso fixation structure are determined. The target motor is a transverse stepper motor in the torso fixation structure. Based on the magnitude of the third and fourth pressure values, the control parameters of the target motor are determined, namely, the rotation direction and rotation intensity of the target motor. During the target user's straight movement, the target motor provides support force to the target user's torso, causing the target user's center of gravity to move towards the center, ensuring the target user's straight movement.

[0075] In summary, this application provides a method for controlling a walking aid device, comprising: acquiring two first pressure values ​​collected by first pressure sensors within two first airbags on a torso fixation structure of the walking aid device, and two second pressure values ​​collected by second pressure sensors within two second airbags on a torso fixation structure; wherein the two first airbags include airbags in a front-to-back direction in a first lateral region corresponding to the legs on the torso, and the two second airbags include airbags in a front-to-back direction in a second lateral region corresponding to the legs on the torso; and determining the walking aid device based on the two first pressure values ​​and the two second pressure values. The system is designed to meet the movement needs of the target user. If the target user's movement needs are to move straight, the system acquires the third pressure value collected by the third pressure sensor in the third airbag of the torso fixation structure and the fourth pressure value collected by the fourth pressure sensor in the fourth airbag of the torso fixation structure. The third airbag is the airbag between two first airbags in the first side region, and the fourth airbag is the airbag between two second airbags in the second side region. Based on the third and fourth pressure values, the system determines the control parameters of the target motor in the torso fixation structure so that the target motor provides support for the target user's torso during the target user's straight movement.

[0076] The method of this application determines the movement needs of the target user corresponding to the walking aid device through two first pressure values ​​and two second pressure values. If the target user's movement needs are straight-line needs, then a third pressure value and a fourth pressure value are obtained, and the control parameters of the target motor are determined. The method controls the target user to provide support force to the target user's torso during straight-line movement, so that the target user's center of gravity moves towards the center, reducing the pressure of the target user on one side area, ensuring that the target user can move in a straight line, thereby avoiding displacement caused by excessive pressure on one side area, which would cause the target user's driving direction to deviate.

[0077] This application also provides another possible implementation of the walking aid control method. Figure 4 This is a second schematic flowchart illustrating a method for controlling a mobility aid provided in this application. Figure 4 As shown, based on two first pressure values ​​and two second pressure values, the movement needs of the target user corresponding to the walking aid device are determined, including:

[0078] S201. Determine whether the two first pressure values ​​and the two second pressure values ​​have reached the preset pressure threshold.

[0079] S202. If neither of the two first pressure values ​​nor the two second pressure values ​​reaches the preset pressure threshold, then the target user's movement demand is determined to be a straight-line demand.

[0080] In this embodiment, the preset pressure threshold can be specifically set according to the actual target user's weight and height data.

[0081] Since the two first pressure values ​​are the pressure values ​​at the front and rear positions of the first side area collected by the first pressure sensor in the two first airbags, and the two second pressure values ​​are the pressure values ​​at the front and rear positions of the second side area collected by the second pressure sensor in the two second airbags, if neither the two first pressure values ​​nor the two second pressure values ​​reach the preset pressure threshold, that is, both are less than the preset pressure threshold, then the target user's movement demand is determined to be a straight-line demand.

[0082] Optionally, if at least one of the two first pressure values ​​and the second pressure value reaches a preset pressure threshold, then the target user's motion requirement is determined to be a steering requirement.

[0083] Specifically, turning needs can be divided into left turn needs and right turn needs. When the target user turns, both legs of the human torso need to twist to achieve the turn. For example, if the target user needs to turn left, the right leg needs to turn to the left front, and the left leg needs to turn to the left in place. The pressure value collected by the pressure sensor in the front airbag in the area corresponding to the right leg will reach the preset pressure threshold. At the same time, the pressure value collected by the pressure sensor in the rear airbag in the area corresponding to the left leg will reach the preset pressure threshold. At this time, if the area corresponding to the right leg is the first side area and the area corresponding to the left leg is the second side area, the first pressure value collected by the front airbag in the first side area reaches the preset pressure threshold, and the second pressure value collected by the rear airbag in the second side area reaches the preset pressure threshold. Thus, the control unit of the walking aid device can determine that the target user's movement need is a left turn need.

[0084] In another example, if the target user needs to turn right, the left leg needs to turn forward to the right, and the right leg needs to turn to the right in place. The pressure value collected by the pressure sensor in the front airbag in the area corresponding to the left leg will reach the preset pressure threshold. At the same time, the pressure value collected by the pressure sensor in the rear airbag in the area corresponding to the right leg will reach the preset pressure threshold. At this time, if the area corresponding to the right leg is the first side area and the area corresponding to the left leg is the second side area, the first pressure value collected by the rear airbag in the first side area will reach the preset pressure threshold, and the second pressure value collected by the front airbag in the second side area will reach the preset pressure threshold. Thus, the control unit of the walking aid device can determine that the target user's movement requirement is a right turn requirement.

[0085] In the method provided in this application embodiment, it is determined whether two first pressure values ​​and two second pressure values ​​reach a preset pressure threshold; if neither the two first pressure values ​​nor the two second pressure values ​​reach the preset pressure threshold, the target user's movement demand is determined to be a straight-line demand. By comparing the two first pressure values, the two second pressure values, and the preset pressure threshold, the target user's movement demand is determined, and the target user's movement is further controlled according to the target user's movement demand.

[0086] This application also provides another possible implementation of the walking aid control method. Figure 5 This is the third flowchart illustrating a method for controlling a mobility aid provided in this application. Figure 5 As shown, based on the third and fourth pressure values, the control parameters of the target motor in the torso fixation structure are determined so that the target motor provides support for the target user's torso during the target user's straight-line movement, including:

[0087] S301. If the third pressure value is greater than the preset friction force of the torso fixing structure in the walking aid device, but the fourth pressure value is less than the preset friction force, then the control parameter of the target motor is determined as the first control parameter, so that the target motor applies the first support force to the position corresponding to the fourth airbag.

[0088] The first supporting force is the supporting force whose pressure value is equal to the pressure difference between the third pressure value and the preset friction force.

[0089] In this embodiment, when the target user's movement requirement is to move straight, if the detected third pressure value is greater than the preset friction force, but the fourth pressure value is less than the preset friction force, it indicates that when the target user is moving straight, the first side area corresponding to the third airbag is the support phase. That is, the target user's center of gravity shifts from the center or the second side area to the first side area. If the first side area is indicated as the area corresponding to the target user's left leg and the second side area is indicated as the area corresponding to the target user's right leg, then when the target user steps with their left leg, the third pressure value collected by the third pressure sensor in the third airbag is greater than the preset friction force. At this time, the target user will experience a displacement deviation during straight movement, generating a position offset S. Then, the control parameter for controlling the target motor is the first control parameter, so that when the target user steps with their right leg, the target motor applies a first support force to the position corresponding to the fourth airbag, thereby generating a reverse and identical position offset, causing the target user's center of gravity to move closer to the center, ensuring that the target user is moving straight.

[0090] Optionally, a preset friction force can be calculated based on the weight of the walking aid and a preset coefficient of friction.

[0091] The preset friction force f is expressed as: f = μmg, where u = 0.5 represents the preset friction coefficient, g represents the gravity coefficient, and m represents the weight of the walking aid.

[0092] The bit offset S can be expressed as:

[0093] S=(Ff) / m×T 2

[0094] Where f represents the preset friction force, m represents the gravity of the walking aid, T represents the time it takes for the target patient to take a step, and F represents the third pressure value. The third pressure value is obtained by dividing the data collected by the third pressure sensor by the full-scale digital value and then multiplying it by the pressure range of the third pressure sensor.

[0095] S302, Continue monitoring the fourth pressure value.

[0096] S303. If the fourth pressure value is detected to increase and approach the preset friction force, the control parameter of the target motor is determined to be the second control parameter, so that the target motor applies a second support force to the position corresponding to the fourth airbag. The second support force is the preset support force, until both the third pressure value and the fourth pressure value are less than the preset friction force.

[0097] If, after the target user steps out with their right leg, the fourth pressure value is detected to increase and approach the preset friction force, then the control parameter of the target motor is determined to be the second control parameter. This causes the target motor to apply a preset support force to the position corresponding to the fourth airbag. The preset support force is a reverse force, which causes the target user's center of gravity to move towards the center when the target user steps out with their right leg and is about to produce a positional offset. This reduces the pressure on the target patient's right leg.

[0098] It should be noted that the preset support force applied by the target motor is generated by rotating the target motor. After the target motor applies the first preset support force, the fourth pressure value is detected to be increasing and approaching the preset friction force. The target motor then applies the second preset support force, which is greater than the first preset support force.

[0099] In the method provided in this application embodiment, control parameters of the target motor are determined using a third pressure value and a fourth pressure value. If the third pressure value is greater than the preset friction force of the torso fixing structure in the walking aid device, but the fourth pressure value is less than the preset friction force, then the control parameters of the target motor are determined as the first control parameters, so that the target motor applies a first support force to the position corresponding to the fourth airbag. The first support force is a support force whose pressure value is equal to the pressure difference between the third pressure value and the preset friction force. The fourth pressure value is continuously monitored. If the fourth pressure value is detected to increase and approach the preset friction force, then the control parameters of the target motor are determined as the second control parameters, so that the target motor applies a second support force to the position corresponding to the fourth airbag. The second support force is the preset support force, until both the third and fourth pressure values ​​are less than the preset friction force. By determining the control parameters of the target motor, the target user's center of gravity can be kept centered during straight-line walking, thereby avoiding lateral swaying due to instability during straight-line walking. Simultaneously, the pressure on one leg is reduced, preventing displacement deviation and resulting in a deviation in the driving direction.

[0100] This application also provides another possible implementation of the walking aid control method. Figure 6 This is the fourth flowchart illustrating a method for controlling a mobility aid provided in this application. Figure 6 As shown, the method also includes:

[0101] S401. If the target user's movement requirement is a turning requirement, obtain the first distance value collected by the first ranging sensor corresponding to the first side area of ​​the walking aid device and the second distance value collected by the second ranging sensor corresponding to the second side area.

[0102] S402. Based on the first distance value and the second distance value, determine the control parameters of the first moving part in the first side area and the second moving part in the second side area on the walking aid device, so as to perform differential control on the first moving part and the second moving part during the target user's turning process.

[0103] In this embodiment, a first distance sensor, a second distance sensor, a first moving component, and a second moving component are disposed at the bottom of the walking aid device. The first distance sensor and the first moving component are located in the first side area of ​​the walking aid device, and the second distance sensor and the second moving component are located in the second side area of ​​the walking aid device. The first moving component includes two first wheels, and the second moving component includes two second wheels. The first distance sensor is disposed on the first connecting device of the two first wheels and is used to measure the distance between the first side area of ​​the walking aid device and surrounding obstacles. The second distance sensor is disposed on the second connecting device of the two second wheels and is used to measure the distance between the second side area of ​​the walking aid device and surrounding obstacles.

[0104] Based on the first distance value collected by the first ranging sensor and the second distance value collected by the second ranging sensor, the control parameters of the first moving part and the second moving part are determined, thereby performing differential control on the first moving part and the second moving part to meet the steering needs of the target user.

[0105] In the method provided in this application embodiment, if the target user's movement requirement is a turning requirement, a first distance value collected by a first ranging sensor corresponding to a first side area of ​​the mobility aid device and a second distance value collected by a second ranging sensor corresponding to a second side area are obtained. Based on the first and second distance values, control parameters for a first moving component in the first side area and a second moving component in the second side area of ​​the mobility aid device are determined to perform differential control on the first and second moving components during the target user's turning process. Thus, differential control of the first and second moving components based on the first and second distance values ​​fulfills the target user's turning requirement.

[0106] This application also provides another possible implementation of the walking aid control method. Figure 7 Figure 8(a) is a schematic diagram of a walking aid control method provided in this application embodiment; Figure 8(b) is a schematic diagram of another walking aid turning route provided in this application embodiment; Figure 8(c) is a schematic diagram of yet another walking aid turning route provided in this application embodiment. Figure 7 As shown, based on a first distance value and a second distance value, control parameters are determined for a first moving component in a first side region and a second moving component in a second side region on the mobility aid device, in order to perform differential control of the first and second moving components during the target user's turning process, including:

[0107] S501. Based on the first forward distance value collected by the first forward ranging sensor in the first ranging sensor and the second forward distance value collected by the second forward ranging sensor in the second ranging sensor, determine the first target distance between the target user and the obstacle in front.

[0108] In this embodiment, a first forward ranging sensor is disposed at the front end of the first connecting device, and a second forward ranging sensor is disposed at the front end of the second connecting device. Both the first and second forward ranging sensors are used to measure the distance between the target user and an obstacle in front. The obstacle in front can be a wall, debris, etc. The minimum distance value is determined from the first forward distance value and the second forward distance value as the first target distance.

[0109] S502. Determine the road width based on the first lateral distance value collected by the first lateral distance sensor in the first ranging sensor and the second lateral distance value collected by the second lateral distance sensor in the second ranging sensor.

[0110] The first lateral distance sensor is set at a preset position near the two first wheels of the first connecting device, and the second lateral distance sensor is set at a preset position near the two second wheels of the second connecting device. The first lateral distance sensor is used to measure the distance of the target user from an obstacle on one side, and the second lateral distance sensor is used to measure the distance of the target user from an obstacle on the other side. The width of the road where the walking assistance device is located is determined based on the first lateral distance value, the second lateral distance value and the width of the vehicle body.

[0111] S503. If the road width is greater than twice the vehicle width, and the first target distance is greater than the preset diagonal distance, the control parameters of the first moving part and the second moving part are determined to be forward differential control parameters, so that the first moving part and the second moving part are both forward rotating during the target user's turning process, and there is a preset speed deviation.

[0112] The vehicle width is the shortest distance between the first moving part and the second moving part, that is, the distance between the first wheel connected to the front end of the first connecting device and the second wheel connected to the front end of the second connecting device; the preset diagonal distance is the diagonal distance between the first moving part and the second moving part, that is, the distance between the first wheel connected to the front end of the first connecting device and the second wheel connected to the rear end of the second connecting device, which is the preset diagonal distance of the walking aid device.

[0113] As shown in Figure 8(a), when the road width is greater than twice the vehicle width and the first target distance is greater than the preset diagonal distance, the control parameters of the first moving part and the second moving part are determined to be forward differential control parameters. If the target user's steering requirement is a left turn, the first moving part is the moving part corresponding to the first side area of ​​the walking aid device, i.e., the left wheel, and the second moving part is the moving part corresponding to the second side area of ​​the walking aid device, i.e., the right wheel. Then, it is determined that both the first moving part and the second moving part are rotating forward, and there is a preset speed deviation. That is, the first moving part, i.e., the left wheel, moves slowly, and the second moving part, i.e., the right wheel, moves quickly, thereby completing the left turn of the walking aid device.

[0114] If the target user's steering requirement is to turn right, the first moving part, i.e. the left wheel, moves quickly, while the second moving part, i.e. the right wheel, moves slowly, thereby completing the right turn of the walking aid device.

[0115] In the method provided in this embodiment, a first target distance between the target user and the obstacle ahead is determined based on the first forward distance value collected by the first forward distance sensor in the first ranging sensor and the second forward distance value collected by the second forward distance sensor in the second ranging sensor. The road width is determined based on the first lateral distance value collected by the first lateral distance sensor in the first ranging sensor and the second lateral distance value collected by the second lateral distance sensor in the second ranging sensor. If the road width is greater than twice the vehicle width, and the first target distance is greater than a preset diagonal distance, the control parameters for the first and second moving parts are determined to be forward differential control parameters. This ensures that both the first and second moving parts rotate forward during the target user's turning process, with a preset speed deviation. Therefore, based on the first and second distance values, the control parameters for the first and second moving parts on the mobility aid are determined, and differential control is performed to fulfill the target user's turning requirements.

[0116] This application embodiment also provides another possible implementation of the walking aid device control method. When the walking aid device turns, there are two types of offset: one is inward offset, where the entire walking aid device offsets towards the turning center during the turn, and the device body can still move forward normally after the turn without failing to turn due to external factors (obstacles); the other is outward offset, where the entire walking aid device moves outward from the turning center during the turn, increasing the turning distance and potentially causing turning failure due to external factors. Therefore, correction is provided for outward offset. Based on a first distance value and a second distance value, control parameters are determined for a first moving component in a first side region and a second moving component in a second side region on the walking aid device to perform differential control of the first and second moving components during the target user's turning process. The method also includes:

[0117] If the road width is detected to be less than or equal to twice the vehicle width, and the first target distance is greater than the preset diagonal distance, then the first moving part is determined to be in a locked state, and the control parameter of the second moving part is set to a forward rotation control parameter, so as to lock the first moving part during the target user's turning process, and make the second moving part rotate forward.

[0118] Specifically, when the walking aid device turns normally, the distance values ​​collected by the first forward ranging sensor and the second forward ranging sensor form an arc-shaped path with time. When the walking aid device deviates from its turning position, the distance values ​​collected by the first forward ranging sensor and the second forward ranging sensor change abruptly, causing a spike in the arc-shaped path.

[0119] As shown in Figure 8(b), if the first forward distance value detected by the first forward ranging sensor changes abruptly when the walking aid device turns, it is determined that an outward deviation has occurred. The first and second lateral ranging sensors detect that the road width is less than twice the width of the vehicle body, and the first target distance, i.e. the distance to the obstacle in front, is greater than the preset diagonal distance. If the target user's turning requirement is a left turn, it is determined that the first moving part, i.e. the left wheel, is locked, and the second moving part, i.e. the right wheel, rotates forward, thereby completing the left turn of the walking aid device. If the target user's turning requirement is a right turn, it is determined that the first moving part, i.e. the left wheel, rotates forward, and the second moving part, i.e. the right wheel, is locked, thereby completing the right turn of the walking aid device.

[0120] Optionally, if the road width is detected to be less than or equal to twice the vehicle width, and the first target distance is less than or equal to a preset diagonal distance, then the control parameters of the first moving part are determined to be reverse control parameters, and the control parameters of the second moving part are determined to be forward control parameters, so that the first moving part and the second moving part can reverse and forward respectively during the target user's turning process.

[0121] Specifically, as shown in Figure 8(c), if the mobility aid deviates outward when turning, the first and second lateral ranging sensors detect that the road width is less than twice the vehicle width, and the first target distance (the distance to the obstacle in front) is less than or equal to the preset diagonal distance. If the target user's turning requirement is a left turn, the first moving part (the left wheel) is rotated in the opposite direction, and the second moving part (the right wheel) is rotated in the forward direction, thus completing the left turn of the mobility aid. If the target user's turning requirement is a right turn, the first moving part (the left wheel) is rotated in the forward direction, and the second moving part (the right wheel) is rotated in the opposite direction, thus completing the right turn of the mobility aid. When an outward deviation occurs, the first and second moving parts are controlled to reverse and rotate in the forward direction, respectively, to correct the turning path of the mobility aid and avoid turning failure and collision with obstacles.

[0122] This application embodiment also provides another possible implementation of the walking aid device control method, which determines the control parameters of a first moving part in a first side region and a second moving part in a second side region on the walking aid device based on a first distance value and a second distance value, so as to perform differential control on the first moving part and the second moving part during the target user's turning process, and further includes:

[0123] If the road width is greater than the vehicle width, and the first target distance is less than or equal to the preset diagonal distance, the control parameters of the first moving part are determined to be reverse control parameters, and the control parameters of the second moving part are determined to be forward control parameters, so that the first moving part and the second moving part can reverse and forward respectively during the target user's turning process.

[0124] Specifically, when the mobility aid is preparing to turn, if the road width is detected to be greater than the vehicle width, and the first target distance is less than or equal to the preset diagonal distance, if the target user's turning requirement is a left turn, then the first moving part, i.e., the left wheel, is determined to rotate in the opposite direction, and the second moving part, i.e., the right wheel, is determined to rotate in the forward direction, thereby completing the left turn of the mobility aid; if the target user's turning requirement is a right turn, then the first moving part, i.e., the left wheel, is determined to rotate in the forward direction, and the second moving part, i.e., the right wheel, is determined to rotate in the opposite direction, thereby completing the right turn of the mobility aid. Since the first and second moving parts rotate in the opposite direction and in the forward direction respectively during the target user's turn, with the target user's center as the turning center, the mobility aid will not deviate from its turning position.

[0125] The following will continue to explain the walking aid control device and electronic device provided in any of the above embodiments of this application. The specific implementation process and the resulting technical effects are the same as those in the corresponding method embodiments. For the sake of brevity, the parts not mentioned in this embodiment can be referred to the corresponding content in the method embodiment.

[0126] This application provides a possible implementation of a walking aid control device. The walking aid control device includes:

[0127] The acquisition module is used to acquire two first pressure values ​​collected by the first pressure sensors in the two first airbags on the torso fixation structure of the walking aid device, and two second pressure values ​​collected by the second pressure sensors in the two second airbags on the torso fixation structure; wherein, the two first airbags include: airbags in the front-back direction in the first lateral region corresponding to the two legs on the torso fixation body, and the two second airbags include: airbags in the front-back direction in the second lateral region corresponding to the two legs on the torso fixation body.

[0128] The determination module is used to determine the movement needs of the target user corresponding to the walking aid device based on two first pressure values ​​and two second pressure values;

[0129] The acquisition module is also used to acquire, if the target user’s movement requirement is a straight movement requirement, the third pressure value collected by the third pressure sensor in the third airbag on the torso fixation structure and the fourth pressure value collected by the fourth pressure sensor in the fourth airbag on the torso fixation structure; the third airbag is the airbag between two first airbags in the first side region, and the fourth airbag is the airbag between two second airbags in the second side region.

[0130] The determination module is also used to determine the control parameters of the target motor in the torso fixation structure based on the third pressure value and the fourth pressure value, so that the target motor can provide support for the target user's torso during the target user's straight movement.

[0131] The above-described device is used to execute the method provided in the foregoing embodiments, and its implementation principle and technical effect are similar, so they will not be described again here.

[0132] These modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more microprocessors, or one or more Field Programmable Gate Arrays (FPGAs). Alternatively, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a system-on-a-chip (SOC).

[0133] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for controlling a walking aid, characterized in that, include: The system acquires two first pressure values ​​collected by first pressure sensors within two first airbags on the torso fixation structure of the walking aid device, and two second pressure values ​​collected by second pressure sensors within two second airbags on the torso fixation structure; wherein, the two first airbags include airbags for fixing the human torso and corresponding to the front-back direction in the first lateral region of the legs, and the two second airbags include airbags for fixing the human torso and corresponding to the front-back direction in the second lateral region of the legs. Based on the two first pressure values ​​and the two second pressure values, the movement needs of the target user corresponding to the walking aid device are determined; If the target user's movement requirement is a straight-line requirement, the third pressure value collected by the third pressure sensor in the third airbag on the torso fixation structure and the fourth pressure value collected by the fourth pressure sensor in the fourth airbag on the torso fixation structure are obtained; the third airbag is the airbag between the two first airbags in the first side region, and the fourth airbag is the airbag between the two second airbags in the second side region. Based on the third pressure value and the fourth pressure value, the control parameters of the target motor in the torso fixing structure are determined so that the target motor provides support force to the torso of the target user during the target user's straight-line movement. The step of determining the movement needs of the target user corresponding to the walking aid device based on the two first pressure values ​​and the two second pressure values ​​includes: Determine whether the two first pressure values ​​and the two second pressure values ​​reach a preset pressure threshold; If neither of the two first pressure values ​​nor the two second pressure values ​​reaches the preset pressure threshold, then the target user's movement requirement is determined to be a straight-line requirement. The step of determining the control parameters of the target motor in the torso fixation structure based on the third pressure value and the fourth pressure value, so that the target motor provides support force to the torso of the target user during the target user's straight-line movement, includes: If the third pressure value is greater than the preset friction force of the torso fixing structure in the walking aid device, but the fourth pressure value is less than the preset friction force, then the control parameter of the target motor is determined to be the first control parameter, so that the target motor applies a first support force to the position corresponding to the fourth airbag; wherein, the first support force is a support force whose pressure value is equal to the pressure difference between the third pressure value and the preset friction force; Continue monitoring the fourth pressure value; If the fourth pressure value is detected to increase and approach the preset friction force, the control parameter of the target motor is determined to be the second control parameter, so that the target motor applies a second support force to the position corresponding to the fourth airbag. The second support force is the preset support force, until both the third pressure value and the fourth pressure value are less than the preset friction force.

2. The method according to claim 1, characterized in that, The step of determining the movement needs of the target user corresponding to the walking aid device based on the two first pressure values ​​and the two second pressure values ​​further includes: If at least one of the two first pressure values ​​and the two second pressure values ​​reaches the preset pressure threshold, then the target user's motion requirement is determined to be a steering requirement.

3. The method according to claim 1, characterized in that, Before determining the control parameter of the target motor as the first control parameter if the third pressure value is greater than the preset friction force of the torso fixing structure in the walking aid device, but the fourth pressure value is less than the preset friction force, the method further includes: The preset friction force is calculated based on the weight of the walking aid and the preset friction coefficient.

4. The method according to claim 2, characterized in that, The method further includes: If the target user's movement requirement is a turning requirement, obtain the first distance value collected by the first ranging sensor corresponding to the first side area of ​​the walking aid device and the second distance value collected by the second ranging sensor corresponding to the second side area; Based on the first distance value and the second distance value, control parameters are determined for the first moving component in the first side region and the second moving component in the second side region of the mobility aid device, so as to perform differential control on the first moving component and the second moving component during the target user's turning process.

5. The method according to claim 4, characterized in that, The step of determining control parameters for a first moving component in the first side region and a second moving component in the second side region of the mobility aid based on the first distance value and the second distance value, in order to perform differential control on the first moving component and the second moving component during the target user's turning process, includes: Based on the first forward distance value collected by the first forward ranging sensor in the first ranging sensor and the second forward distance value collected by the second forward ranging sensor in the second ranging sensor, the first target distance between the target user and the obstacle in front is determined; The road width is determined based on the first lateral distance value collected by the first lateral distance sensor in the first ranging sensor and the second lateral distance value collected by the second lateral distance sensor in the second ranging sensor; If the road width is greater than twice the vehicle width, and the first target distance is greater than the preset diagonal distance, the control parameters of the first moving component and the second moving component are determined to be forward differential control parameters, so that both the first moving component and the second moving component are forward rotating during the target user's turning process, and there is a preset speed deviation; wherein, the vehicle width is the shortest distance between the first moving component and the second moving component, and the preset diagonal distance is the diagonal distance between the first moving component and the second moving component.

6. The method according to claim 5, characterized in that, The step of determining control parameters for a first moving component in the first side region and a second moving component in the second side region of the mobility aid based on the first distance value and the second distance value, so as to perform differential control on the first moving component and the second moving component during the target user's turning process, further includes: If the road width is detected to be less than or equal to twice the vehicle width, and the first target distance is greater than the preset diagonal distance, then the first moving part is determined to be in a locked state, and the control parameter of the second moving part is a forward rotation control parameter, so as to lock the first moving part during the target user's turning process, so that the second moving part rotates forward.

7. The method according to claim 5, characterized in that, The step of determining control parameters for a first moving component in the first side region and a second moving component in the second side region of the mobility aid based on the first distance value and the second distance value, so as to perform differential control on the first moving component and the second moving component during the target user's turning process, further includes: If the road width is detected to be less than or equal to twice the vehicle width, and the first target distance is less than or equal to the preset diagonal distance, then the control parameter of the first moving part is determined to be a reverse control parameter, and the control parameter of the second moving part is determined to be a forward control parameter, so that the first moving part and the second moving part can reverse and forward respectively during the target user's turning process.

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