Low Battery Control Method, Device, Equipment and Storage Medium for Prosthetic Legs

Abstract

The present invention discloses a low power control method, device, equipment and storage medium for a prosthetic leg. The low power control method for the prosthetic leg includes: when the power of the prosthetic leg drops to a preset low power threshold, the prosthetic leg enters a limited mode; when the prosthetic leg is in the limited mode, the motion function is limited, and the motion function includes a motion mode and / or motion parameters; the prosthetic leg uses the limited motion function to assist in motion. The technical solution of this application can, when the prosthetic leg has low power, basically maintain the user's usage experience when the prosthetic leg has normal power, and extend the usage duration of the prosthetic leg by limiting the motion function of the prosthetic leg.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent applications, and particularly to a low-power control method, device, equipment and storage medium for a prosthetic leg. Background Art

[0002] A prosthetic leg is a mechanical and electronic device that can compensate for the basic functions of lower limb amputees. The prosthetic leg integrates information, electronics, control, biomedical, materials, energy, and mechanical technologies. Intelligent prosthetic legs use the principles of artificial intelligence science, fully imitating the ability of human sensory organs to collect information, the brain to analyze and summarize information, and the prosthetic leg to act according to the instructions of the brain. In the prior art, when the power of the prosthetic leg is consumed to a relatively low level during movement, a low-power control scheme is not used, but the conventional control scheme is continued until the power is exhausted. This will cause the bending angle and resistance of the knee joint of the prosthetic leg to remain at the moment of power-off. Due to the suddenness of the power-off of the prosthetic leg, it is difficult for the user to adapt immediately. The resistance of the prosthetic leg inconsistent with the user's expectation will cause the user to lose balance during movement, and even fall. Also, since the movement parameters such as resistance cannot be changed after the prosthetic leg is powered off, the prosthetic leg always maintains the same movement parameters during the movement process after power-off, resulting in certain obstacles during the user's use of the prosthetic leg, and thus bringing an unsatisfactory use experience. How to basically maintain the user's use experience when the prosthetic leg is at normal power while extending the use duration of the prosthetic leg has become an urgent issue in the industry. Summary of the Invention

[0003] The present invention provides a low-power control method, device, equipment and storage medium for a prosthetic leg, which is used to extend the use duration of the prosthetic leg by limiting the movement function of the prosthetic leg while basically maintaining the user's use experience when the prosthetic leg is at normal power.

[0004] According to the first aspect of the present invention, a low-power control method for a prosthetic leg is provided. The low-power control method for the prosthetic leg includes:

[0005] When the power of the prosthetic leg drops to a preset low-power threshold, the prosthetic leg enters a limited mode;

[0006] When the prosthetic leg is in the limited mode, the movement function is limited, and the movement function includes a movement mode and / or movement parameters;

[0007] The prosthetic leg uses the limited movement function to assist movement.

[0008] In one embodiment, the limitation of the movement function, where the movement function includes a movement mode and / or movement parameters, includes:

[0009] Exclude the motion modes with a risk coefficient greater than a preset risk threshold according to the risk coefficients of the respective motion modes; and / or

[0010] Limit the bending resistance and / or the knee joint flexion angle to be not greater than the corresponding safety range according to the preset safety range of the bending resistance and / or the preset safety range of the knee joint flexion angle.

[0011] In one embodiment, the limitation of the motion function further includes:

[0012] Judge the limit interval corresponding to the real-time power of the prosthetic leg according to the preset limit interval table of power and function;

[0013] Use the limitation rules corresponding to the limit interval to limit the motion function.

[0014] In one embodiment, it further includes:

[0015] The allowable motion modes corresponding to different limit intervals are not the same;

[0016] The bending resistance range and / or the knee joint flexion angle range of the same motion mode in different limit intervals are not the same.

[0017] In one embodiment, it further includes:

[0018] When the available running duration of the prosthetic leg in the current motion mode is lower than the preset duration threshold, the prosthetic leg enters the limited mode.

[0019] In one embodiment, it further includes:

[0020] When the prosthetic leg is in the limited mode, give a reminder through a preset reminder method, and the reminder method includes any one or more of voice report, light flashing, vibrator vibration, buzzer beeping, and short message reminder.

[0021] According to the second aspect of the present invention, there is provided a low-power control device for a prosthetic leg, including:

[0022] An entry module for when the power of the prosthetic leg drops to a preset low-power threshold, the prosthetic leg enters the limited mode;

[0023] A limitation module for when the prosthetic leg is in the limited mode, limiting the motion function, and the motion function includes motion mode and / or motion parameters;

[0024] An auxiliary module for the prosthetic leg to assist in motion using the limited motion function.

[0025] In one embodiment, the entry module, the limitation module, and the auxiliary module are controlled to execute any one of the above low-power control methods for the prosthetic leg.

[0026] According to a third aspect of the present invention, there is provided an electronic device, which includes: a processor and a memory storing computer program instructions;

[0027] When the processor executes the computer program instructions, the above-mentioned low-power control method for any prosthetic leg is implemented.

[0028] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium, characterized in that computer program instructions are stored on the computer-readable storage medium, and when the computer program instructions are executed by a processor, the above-mentioned low-power control method for any prosthetic leg is implemented.

[0029] In summary, the present invention provides a low-power control method and device for a prosthetic leg. The method includes: when the power of the prosthetic leg drops to a preset low-power threshold, the prosthetic leg enters a limited mode; when the prosthetic leg is in the limited mode, the motion function is limited, and the motion function includes a motion mode and / or motion parameters; the prosthetic leg uses the limited motion function to assist in movement. The technical solution of this application can extend the usage duration of the prosthetic leg by limiting the motion function of the prosthetic leg while basically maintaining the user's usage experience when the prosthetic leg has normal power.

[0030] Other features and advantages of the present invention will be described in the following specification, and will, in part, become apparent from the specification or be understood by practicing the present invention. The objectives and other advantages of the present invention can be achieved and obtained by the structures particularly pointed out in the written specification, claims, and drawings.

[0031] The technical solution of the present invention will be further described in detail below through the drawings and embodiments. Description of the Drawings

[0032] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0033] Figure 1 It is a flowchart of a low-power control method for a prosthetic leg provided by an embodiment of the present invention;

[0034] Figure 2 It is a flowchart of step S12 of a low-power control method for a prosthetic leg provided by an embodiment of the present invention;

[0035] Figure 3Flowchart of step S12 of another low - power control method for a prosthetic leg provided by an embodiment of the present invention;

[0036] Figure 4 Structural diagram of a low - power control device for a prosthetic leg provided by an embodiment of the present invention;

[0037] Figure 5 Structural diagram of an electronic device provided by an embodiment of the present invention. Detailed implementation manners

[0038] The features and exemplary embodiments of various aspects of the present application will be described in detail below. To make the purpose, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only intended to provide a better understanding of the present application by showing examples of the present application.

[0039] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non - exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, elements defined by the statement "including..." do not exclude the existence of additional identical elements in the process, method, article or device including the said elements.

[0040] As Figure 1 shown, the present invention provides a low - power control method for a prosthetic leg. The low - power control method for the prosthetic leg includes:

[0041] In step S11, when the power of the prosthetic leg drops to a preset low - power threshold, the prosthetic leg enters a restricted mode;

[0042] In step S12, when the prosthetic leg is in the restricted mode, the motion function is restricted, and the motion function includes a motion mode and / or motion parameters;

[0043] In step S13, the prosthetic leg uses the restricted motion function to assist in movement.

[0044] In one embodiment, the prosthetic leg is composed of a socket, a knee joint, a shank tube, an ankle joint, a foot sole, etc. The knee joint includes devices such as an upper connecting part, a rotating shaft, a calf part, and a resistance device. The motor in the resistance device adjusts the damping coefficient through a rotary regulating valve to provide bending resistance and extension resistance, and the power of the motor can be provided by a hydraulic system. The resistance values of the knee joint include bending resistance values and extension resistance values. When the power of the prosthetic leg reaches the preset low power threshold, the prosthetic leg enters a limited mode, extending the usage time of the prosthetic leg while basically maintaining the usage experience of the prosthetic leg when it has normal power.

[0045] When the prosthetic leg is in the limited mode, the motion function is limited, and the motion function includes a motion mode and / or motion parameters. The motion modes include the motion mode of walking on flat ground, the motion mode of going up and down stairs, the motion mode of going up and down slopes, the motion mode of sitting down and standing up, the motion mode of cycling, the motion mode of ball games, the motion mode of mountain climbing, the motion mode of running, etc. The motion parameters include but are not limited to bending resistance and knee joint flexion angle. By excluding some motion modes with higher risk factors, these motion modes with higher risk factors often consume more power per unit time. Also, by reducing the bending resistance and knee joint flexion angle in any motion mode, the power consumption of the prosthetic leg per unit time in this motion mode can be reduced. Through the above technical means, the prosthetic leg can be prevented from being in a state of high power consumption, and the power consumption of the prosthetic leg in the limited mode is relatively low, thus extending the usage duration of the prosthetic leg while maintaining the functionality of the prosthetic leg.

[0046] For different motion modes, the power consumption of the prosthetic leg varies greatly. With the same amount of power, the sustainable durations of different motion modes are different. For example, for the motion modes of walking on flat ground and mountain climbing, the motion parameters adopted by the prosthetic leg are very different, resulting in a large difference in the power consumption of the prosthetic leg per unit time.

[0047] Therefore, in addition to the power judgment method, it is also necessary to judge the low power of the prosthetic leg according to the method of the sustainable duration of the current motion mode. For example, when using the motion mode of walking on flat ground and the remaining power of the prosthetic leg is 20% with a sustainable duration of 1 hour, if the preset duration threshold is 30 minutes, there is no need to limit the motion function in this case. Another example is when using the motion mode of ball games and the remaining power of the prosthetic leg is 40% with a sustainable duration of 20 minutes, if the preset duration threshold is 30 minutes, the motion function needs to be limited in this case to maintain a longer usage time of the prosthetic leg.

[0048] When the prosthetic leg is in the limited mode, the user is informed through a preset reminder method, which includes any one or more of voice reporting, light flashing, vibrator vibration, buzzer beeping, and short message reminder. When the battery level of the prosthetic leg is at different low battery stages, the reminder method and reminder content used are different. As the battery level gradually decreases, the reminder intensity gradually increases, such as brighter flashing lights, faster flashing frequencies, voice reports with louder volumes, louder beeping sounds, and stronger vibration intensities.

[0049] The technical solution in this embodiment can extend the usage duration of the prosthetic leg by limiting the movement function of the prosthetic leg while basically maintaining the user's usage experience when the prosthetic leg has normal battery power when the battery of the prosthetic leg is low.

[0050] In one embodiment, as Figure 2 shown, step S12 includes the following steps S21 - S22:

[0051] In step S21, according to the risk coefficients of each movement mode, the movement modes with risk coefficients greater than the preset risk threshold are excluded;

[0052] In step S22, according to the safety range of the preset bending resistance and / or the safety range of the preset knee joint flexion angle, the bending resistance and / or the knee joint flexion angle are limited not to exceed the corresponding safety range.

[0053] In one embodiment, the risk coefficient of the preset flat - ground walking movement mode in the prosthetic leg is 0.1, the risk coefficient of the up - and - down - stairs movement mode is 0.3, the risk coefficient of the up - and - down - slope movement mode is 0.4, the risk coefficient of the sit - to - stand movement mode is 0.2, the risk coefficient of the cycling movement mode is 0.5, the risk coefficient of the ball - game movement mode is 0.9, the risk coefficient of the mountain - climbing movement mode is 0.7, and the risk coefficient of the running movement mode is 0.6. If the preset risk threshold is 0.55, then the available movement modes of the prosthetic leg are the flat - ground walking movement mode, the up - and - down - stairs movement mode, the up - and - down - slope movement mode, the sit - to - stand movement mode, and the cycling movement mode.

[0054] According to the preset safety range of bending resistance, it is not greater than 500N, and the preset safety range of knee joint flexion angle is not greater than 45°. If the maximum value of the original bending resistance of a certain movement mode is 1000N and the maximum knee joint flexion angle is 60°, then the maximum value of the current bending resistance of this movement mode is limited to 500N, and the maximum value of the current knee joint flexion angle is limited to 45°. Further, the change value of the bending resistance in the limited mode is 0.5 times, and the value of the current bending resistance at any moment of this movement mode is 0.5 times the value of the original bending resistance; the change value of the knee joint flexion angle in the limited mode is 0.75 times, and the angle value of the knee joint flexion angle at any moment of this movement mode is 0.75 times the angle value of the original bending resistance.

[0055] In one embodiment, as Figure 3 shown, step S12 further includes the following steps S31 - S32:

[0056] In step S31, according to the preset limited interval table of electric quantity and function, determine the limited interval corresponding to the real - time electric quantity of the prosthetic leg;

[0057] In step S32, use the limited rules corresponding to the limited interval to limit the movement function.

[0058] In one embodiment, there is a one - to - one correspondence between the remaining electric quantity interval of the prosthetic leg and the specific function limitation relationship in the preset limited interval table of electric quantity and function. For example, in the preset limited interval table of electric quantity and function, when the remaining electric quantity of the prosthetic leg is in the electric quantity interval of 20% - 30%, the function limitation of the prosthetic leg is 75%; when the remaining electric quantity of the prosthetic leg is in the electric quantity interval of 10% - 20%, the function limitation of the prosthetic leg is 50%; when the remaining electric quantity of the prosthetic leg is in the electric quantity interval of 3% - 10%, the function limitation of the prosthetic leg is 25%. According to the electric quantity interval where the real - time electric quantity of the prosthetic leg is located, select the function limitation value corresponding to this electric quantity interval to limit the bending resistance and / or knee joint flexion angle of the prosthetic leg.

[0059] In addition, the allowable motion patterns corresponding to different limited intervals are not the same. For example, in a preset limited interval table of battery power and functions, when the remaining battery power of the prosthetic leg is in the power interval of 20%-30%, the allowable motion patterns include the motion pattern of walking on flat ground, the motion pattern of going up and down stairs, the motion pattern of going up and down slopes, the motion pattern of sitting down and standing up, the motion pattern of cycling, and the motion pattern of running; when the remaining battery power of the prosthetic leg is in the power interval of 10%-20%, the allowable motion patterns include the motion pattern of walking on flat ground, the motion pattern of going up and down stairs, the motion pattern of going up and down slopes, and the motion pattern of sitting down and standing up; when the remaining battery power of the prosthetic leg is in the power interval of 3%-10%, the allowable motion patterns include the motion pattern of walking on flat ground and the motion pattern of going up and down stairs. Further, the bending resistance range and / or the knee joint flexion angle range of the same motion pattern in different limited intervals are not the same. For example, when the remaining battery power of the prosthetic leg is in the power interval of 20%-30%, the bending resistance range and / or the knee joint flexion angle range of the motion pattern of walking on flat ground is 75%; when the remaining battery power of the prosthetic leg is in the power interval of 3%-10%, the bending resistance range and / or the knee joint flexion angle range of the motion pattern of walking on flat ground is 25%.

[0060] In one embodiment, Figure 4 is a block diagram of a low-battery control device for a prosthetic leg shown according to an exemplary embodiment. As Figure 4 shown, the low-battery control device of the prosthetic leg includes an entry module 41, a limitation module 42, and an assistance module 43.

[0061] The entry module 41 is configured to cause the prosthetic leg to enter a limited mode when the battery power of the prosthetic leg drops to a preset low-battery threshold;

[0062] The limitation module 42 is configured to limit the motion functions when the prosthetic leg is in the limited mode, and the motion functions include motion patterns and / or motion parameters;

[0063] The assistance module 43 is configured to assist the motion using the limited motion functions of the prosthetic leg.

[0064] The entry module 41, the limitation module 42, and the assistance module 43 included in the block diagram of the low-battery control device for a prosthetic leg are controlled to execute the low-battery control method of the prosthetic leg described in any of the above embodiments.

[0065] As Figure 5 shown, the present invention provides an electronic device 500, and the electronic device includes: a processor 501 and a memory 502 storing computer program instructions;

[0066] When the processor 501 executes computer program instructions, when the power of the prosthetic leg drops to a preset low power threshold, the prosthetic leg enters a restricted mode; when the prosthetic leg is in the restricted mode, the movement function is restricted, and the movement function includes a movement mode and / or movement parameters; the prosthetic leg uses the restricted movement function to assist movement.

[0067] The present invention provides a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, when the power of the prosthetic leg drops to a preset low power threshold, the prosthetic leg enters a restricted mode; when the prosthetic leg is in the restricted mode, the movement function is restricted, and the movement function includes a movement mode and / or movement parameters; the prosthetic leg uses the restricted movement function to assist movement.

[0068] It should be understood that the specific features, operations, and details described above regarding the method of the present invention can also be similarly applied to the device and system of the present invention, or vice versa. In addition, each step of the method of the present invention described above can be executed by the corresponding components or units of the device or system of the present invention.

[0069] It should be understood that each module / unit of the device of the present invention can be implemented in whole or in part by software, hardware, firmware, or a combination thereof. Each module / unit can be embedded in the processor of the computer device in the form of hardware or firmware or independent of the processor, or can be stored in the memory of the computer device in the form of software for the processor to call to execute the operations of each module / unit. Each module / unit can be implemented as an independent component or module, or two or more modules / units can be implemented as a single component or module.

[0070] In one embodiment, a computer device is provided, which includes a memory and a processor. Computer instructions executable by the processor are stored on the memory. When the computer instructions are executed by the processor, they instruct the processor to execute each step of the method of the embodiment of the present invention. This computer device can be generally a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities. In one embodiment, this computer device may include a processor, a memory, a network interface, a communication interface, etc. connected through a system bus. The processor of this computer device can be used to provide necessary computing, processing, and / or control capabilities. The memory of this computer device can include a non-volatile storage medium and an internal memory. An operating system, computer programs, etc. can be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface and communication interface of this computer device can be used to connect and communicate with external devices through a network. The computer program, when executed by the processor, executes the steps of the method of the present invention.

[0071] The present invention can be implemented as a computer-readable storage medium having stored thereon a computer program, which, when executed by a processor, causes the steps of the method of the embodiments of the present invention to be performed. In one embodiment, the computer program is distributed over a plurality of network-coupled computer devices or processors such that the computer program is stored, accessed, and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, may be executed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations may be executed by one or more computer devices or processors, and one or more other method steps / operations may be executed by one or more other computer devices or processors. One or more computer devices or processors may execute a single method step / operation or execute two or more method steps / operations.

[0072] Those of ordinary skill in the art will understand that the method steps of the present invention can be instructed by a computer program to cause relevant hardware such as a computer device or a processor to complete. The computer program can be stored in a non-transitory computer-readable storage medium, and when the computer program is executed, the steps of the present invention are caused to be executed. Depending on the situation, any reference herein to a memory, storage, database, or other medium may include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0073] The various technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features are described, any combination of these technical features should be considered to be covered by this specification as long as such a combination does not result in a contradiction.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some or all of the technical features. And these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A low power control method for a prosthetic leg, characterized in that: include: When the battery level of the prosthetic leg drops to a preset low battery threshold, the prosthetic leg enters a restricted mode; When the prosthetic leg is in the restricted mode, a movement function is restricted, wherein the movement function includes a movement pattern and / or movement parameters; The prosthetic leg uses the defined motor function to assist movement; The motion function is defined, and the motion function includes a motion pattern and / or motion parameters, including: According to the risk factor of each exercise mode, exclude exercise modes whose risk factor is greater than a preset risk threshold; and / or According to the preset safety range of the bending resistance and / or the preset safety range of the knee joint flexion angle, the bending resistance and / or the knee joint flexion angle are limited to be no greater than the corresponding safety range.

2. The low power control method for a prosthetic leg according to claim 1, characterized in that: The limitation of the movement function also includes: According to the preset power and function limit interval table, determine the limit interval corresponding to the real-time power of the prosthetic leg; The movement function is limited using the limitation rules corresponding to the limited interval.

3. The low power control method for a prosthetic leg according to claim 2, characterized in that: Also includes: Different limited intervals correspond to different allowable movement patterns; The bending resistance range and / or knee flexion angle range of the same movement pattern in different limited intervals are not the same.

4. The low power control method for a prosthetic leg according to claim 1, wherein: Also includes: When the operable time of the prosthetic leg in the current motion mode is less than a preset time threshold, the prosthetic leg enters the restricted mode.

5. The low power control method for a prosthetic leg according to claim 1, wherein: Also includes: When the artificial leg is in the restricted mode, a reminder is given through a preset reminder method, which includes any one or more of a voice report, a flashing light, a vibrator vibration, a buzzer beep, and a short message reminder.

6. A low power control device for an artificial leg, characterized in that: include: an entry module, configured to cause the prosthetic leg to enter a restricted mode when the power of the prosthetic leg drops to a preset low power threshold; a limiting module, configured to limit a motion function when the prosthetic leg is in a limiting mode, wherein the motion function includes a motion pattern and / or motion parameters; An auxiliary module, configured to assist the prosthetic leg in movement using the defined movement function; The limiting of the motion function, which includes motion patterns and / or motion parameters, includes: excluding motion patterns with a risk factor greater than a preset risk threshold based on the risk factor of each motion pattern; And / or according to a preset safety range of bending resistance and / or a preset safety range of knee joint flexion angle, the bending resistance and / or the knee joint flexion angle are limited to be no greater than the corresponding safety range.

7. The low power control device for a prosthetic leg according to claim 6, characterized in that: The entry module, the restriction module and the auxiliary module are controlled to execute the low-power control method for the prosthetic leg according to any one of claims 1 to 5.

8. A computing device, characterized in that include: Communication interface, processor, memory; The memory is used to store program instructions, and when the program instructions are executed by the processor, the computing device implements the low-power control method for the prosthetic leg according to any one of claims 1 to 5.

9. A computer-readable storage medium having program instructions stored thereon, characterized in that: When the program instructions are executed by a computer, the computer implements the low-power control method for the prosthetic leg according to any one of claims 1 to 5.

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