A walking aid movement control method and system

Abstract

This invention provides a method and system for controlling the movement of an assistive device. The method includes: acquiring the coordinates of the farthest end position of the movement control lever of the assistive device from its rotation center in each direction; constructing a speed change curve of the assistive device based on multiple end position coordinates; acquiring the current stopping position of the movement control lever; determining whether the current end position coordinate of the movement control lever is located in an accidental touch area; if not located in an accidental touch area, determining whether the current end position coordinate of the movement control lever is located in a turning area; if located in a turning area, determining the speed conversion coordinates corresponding to the current stopping position of the movement control lever based on the current end position coordinates of the movement control lever and the speed change curve; and calculating the rotational speed of the drive components corresponding to each driving wheel of the assistive device based on the speed conversion coordinates and the current end position coordinates of the movement control lever. This method and system improve the smoothness of the movement control of the assistive device and enhance the safety and reliability during use.

Description

Technical Field

[0001] The present invention relates to the technical field of walking aids, and in particular to a method and system for controlling movement of a walking aid. Background Art

[0002] At present, China's population aging is becoming increasingly serious. The rapid development of population aging has led to the urgent need to solve the problem of elderly people's life assistance. Existing research results show that when elderly people and disabled people with walking instability or lower limb motor dysfunction use mobile walking aids, they can better help them move independently without relying on the help of others. This is especially important for elderly people with limited mobility or difficulty in movement, which can increase their autonomy and independence. It enables the elderly to more conveniently control mobile walking aids and improve the convenience and efficiency of daily life.

[0003] When controlling the movement of current mobile walking aids, the flexibility of the walking aids is not high during the process of changing from straight to turning, and some even cause the walking aids to roll over, resulting in a poor operating experience for the user. Therefore, how to improve the operational flexibility of the walking aids and improve the safety and reliability of the walking aids during use are technical issues that need to be solved urgently. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a method and system for controlling the movement of a walking aid to eliminate or improve one or more defects in the prior art.

[0005] One aspect of the present invention provides a method for controlling movement of a walking aid, the method comprising the following steps:

[0006] Acquire the end position coordinates of the moving control rod of the walking aid which are farthest from the rotation center in all directions, and construct a speed change curve of the walking aid based on the multiple end position coordinates;

[0007] Acquire the current stop position of the mobile control rod, determine whether the current end position coordinates of the mobile control rod are located in the mis-touch area, and if not located in the mis-touch area, determine whether the current end position coordinates of the mobile control rod are located in the turning area;

[0008] When the mobile control rod is in the turning area, the speed conversion coordinates corresponding to the current stop position of the mobile control rod are determined based on the current end position coordinates of the mobile control rod and the speed change curve;

[0009] The rotation speed of the driving component corresponding to each traveling wheel of the walking aid is calculated based on the speed conversion coordinates and the current end position coordinates of the moving control rod.

[0010] In some embodiments of the present invention, determining the speed conversion coordinates corresponding to the current stop position of the mobile control rod based on the current end position coordinates of the mobile control rod and the speed change curve includes:

[0011] Obtaining the projection of the current end position coordinates of the mobile control rod on the plane to which the speed change curve belongs;

[0012] Determining a projection line passing through the projection and the rotation center of the mobile control rod;

[0013] The coordinates of the intersection point between the projection straight line and the speed change curve are calculated, and the coordinates of the intersection point are speed conversion coordinates.

[0014] In some embodiments of the present invention, calculating the rotation speed of the driving component corresponding to each traveling wheel of the walking aid based on the speed conversion coordinate and the current end position coordinate of the mobile control rod includes:

[0015] Calculating coordinate transformation coefficients based on the speed conversion coordinates;

[0016] Obtaining new coordinate values ​​based on the coordinate transformation coefficients and the current end position coordinates;

[0017] The rotation speed of the driving components corresponding to each traveling wheel of the walking aid is calculated based on the new coordinate value.

[0018] In some embodiments of the present invention, the calculation formula for the rotation speed of the driving component corresponding to each driving wheel of the walking aid is:

[0019]

[0020] Among them, V L is the speed of the driving component corresponding to the left driving wheel, V R is the speed of the driving component corresponding to the right driving wheel, (ρx a , ρy a ) is the new coordinate value, ρ is the coordinate transformation coefficient, (x a ,y a ) is the projection coordinate corresponding to the current end position coordinate.

[0021] In some embodiments of the present invention, before obtaining the current stop position of the mobile control rod, the method further includes:

[0022] Determine a maximum movement area of ​​the mobile control rod, and divide the maximum movement area into a plurality of sub-areas, wherein the plurality of sub-areas include an error touch area, a straight travel area, and a turning area;

[0023] The mis-touch area is a circular area with the rotation center of the mobile control rod as the center of the circle.

[0024] In some embodiments of the present invention, when the current stop position of the movable control rod is in the straight travel area, the rotation speeds of the driving components corresponding to the travel wheels of the walking aid are the same.

[0025] In some embodiments of the present invention, the speed change curve of the walking aid is:

[0026] Where a1, b1, c1, d1 are all greater than zero, and b1>d1, b1c1=a1d1; or,

[0027] Where a2, b2, c2, d2 are all greater than zero, and b2≥a2=c2≥d2; or,

[0028] Among them, a3 and b3 are both less than zero, c3, d3, m, and n are all greater than zero, and bm+qm+nc+np=0.

[0029] In some embodiments of the present invention, the straight travel area is an area surrounded by the straight line y=-ax, the straight line y=ax, the boundary line of the false touch area and the boundary line of the maximum movement area.

[0030] In some embodiments of the present invention, the multiple sub-areas further include an in-situ rotation area, which is an area surrounded by the straight line y=-bx, the straight line y=bx, the false touch area boundary line and the maximum movement area boundary line.

[0031] According to another aspect of the present invention, a walking aid movement control system is also disclosed. The system includes a processor, and the processor is used to execute a computer program. When the computer program is executed, the system implements the steps of the method described in any of the above embodiments.

[0032] The walking aid movement control method and system of the present invention first determines whether the current end position coordinates of the moving control rod are located in the mis-touch area. When it is not located in the mis-touch area, it further determines whether the current end position coordinates of the moving control rod are located in the turning area. When it is located in the turning area, it first determines the speed conversion coordinates corresponding to the current stop position of the moving control rod based on the current end position coordinates of the moving control rod and the speed change curve, and then calculates the rotation speed of the driving components corresponding to each driving wheel of the walking aid based on the speed conversion coordinates and the current end position coordinates. This method strictly limits the maximum speed of the walking aid in moving forward or backward, improves driving safety, and this method makes the speed change of the walking aid in the process of changing from straight driving to turning smoother. Therefore, the walking aid movement control method and system improves the flexibility of the walking aid movement control and improves the safety and reliability of the walking aid during use.

[0033] Additional advantages, purposes, and features of the present invention will be described in part in the following description, and will become apparent to those skilled in the art after studying the following, or may be learned from the practice of the present invention. The purposes and other advantages of the present invention may be achieved and obtained by the structures specifically indicated in the specification and the accompanying drawings.

[0034] Those skilled in the art will appreciate that the objectives and advantages that can be achieved with the present invention are not limited to the above specific description, and the above and other objectives that can be achieved by the present invention will be more clearly understood from the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of this application, and do not constitute a limitation of the present invention. The components in the drawings are not drawn to scale, but are only for illustrating the principles of the present invention. In order to facilitate the illustration and description of some parts of the present invention, the corresponding parts in the drawings may be enlarged, that is, they may become larger relative to other components in the exemplary device actually manufactured according to the present invention. In the drawings:

[0036] Figure 1 4 is a flow chart of a method for controlling movement of a walking aid in one embodiment of the present invention.

[0037] Figure 2 Schematic diagram of the structure of a walking aid in one embodiment of the present invention.

[0038] Figure 3 Schematic diagram of the structure of a control system of a walking aid in one embodiment of the present invention.

[0039] Figure 4 Schematic diagram of the stop position of the moving control rod in one embodiment of the present invention.

[0040] Figure 5 FIG. 4 is a flow chart of a method for controlling movement of a walking aid according to another embodiment of the present invention.

[0041] Figure 6 FIG. 4 is a schematic diagram of a speed variation curve according to an embodiment of the present invention.

[0042] Figure 7 FIG. 4 is a schematic diagram of a speed variation curve according to another embodiment of the present invention.

[0043] Figure 8 FIG. 4 is a schematic diagram of a speed variation curve according to another embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0045] It should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only structures and / or processing steps closely related to the solutions according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0046] It should be emphasized that the term “include / comprises” when used herein refers to the presence of features, elements, steps or components, but does not exclude the presence or addition of one or more other features, elements, steps or components.

[0047] It should also be noted that, unless otherwise specified, the term “connection” herein may refer not only to a direct connection but also to an indirect connection involving an intermediate.

[0048] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

[0049] Figure 1 FIG. 1 is a flow chart of a method for controlling the movement of a walking aid according to an embodiment of the present invention, with reference to FIG. Figure 1 The walking aid movement control method at least includes the following steps S10 to S40.

[0050] Step S10: acquiring the end position coordinates of the moving control rod of the walking aid which are farthest from the rotation center in all directions, and constructing a speed change curve of the walking aid based on a plurality of the end position coordinates.

[0051] Step S20: obtaining the current stop position of the mobile control rod, determining whether the current end position coordinates of the mobile control rod are located in the mis-touch area, and if not located in the mis-touch area, determining whether the current end position coordinates of the mobile control rod are located in the turning area.

[0052] Step S30: When the mobile control rod is in the turning area, the speed conversion coordinates corresponding to the current stop position of the mobile control rod are determined based on the current end position coordinates of the mobile control rod and the speed change curve.

[0053] Step S40: Calculating the rotation speed of the driving components corresponding to each traveling wheel of the walking aid based on the speed conversion coordinates and the current end position coordinates of the moving control rod.

[0054] For example, the walking aid may be a wheelchair 100, such as Figure 2As shown, the walking aid includes a mobile control rod 210, a controller 130, a battery 140, a left motor 160L, and a right motor 160R. The mobile control rod can be exemplarily a Hall rocker, and the above components are respectively fixed on the wheelchair body. Figure 3 , the controller 130 includes a microprocessor (MCU) 131, a left motor drive unit 132 and a right motor drive unit 133; wherein the battery 140 may be any lithium battery or lead-acid battery, and the battery supplies power to the left motor drive unit 132, the right motor drive unit 133, the microprocessor 131 and the Hall rocker through the battery management module 141; the left motor drive unit 132 drives the left motor 160L, and the right motor drive unit 133 drives the right motor 160R. When the walking aid moves, the position change of the Hall rocker provides the microprocessor 131 with the speed and direction signal of the walking aid; the microprocessor 131 calculates and processes the above signal and sends a speed instruction to the left motor drive unit 132 and the right motor drive unit 133 to drive the motor to rotate or stop.

[0055] In the present application, the movement control of the walking aid is realized by changing the position of the mobile control rod 210. The mobile control rod can be specifically a Hall rocker, which can rotate in any direction around the origin 213. When the Hall rocker rotates, its stop position will have a projection on the XOY plane composed of the X-axis, the Y-axis, and the origin, and the projection line through the projection passes through the origin. Figure 4 In the example, the current stop position of the Hall rocker is in the first quadrant of the XOY plane, and Figure 4 The square dotted line 218 in the figure is the maximum position that the end of the Hall rocker can reach, and also represents the maximum movement area of ​​the mobile control rod. Each terminal position of the Hall rocker corresponds to a projection line, and the projection line 215 has an end point coordinate (x a ,y a ), the end point coordinates correspond to the voltage output of the Hall rocker one by one.

[0056] In the above step S10, the reachable area of ​​the moving control rod is converted into a closed area surrounded by a curve through coordinate transformation, so that the speed change curve is approximated to the shape of the curve. The specific curve can be set based on actual needs. For example, the speed change curve can be Figure 6 , Figure 7 or Figure 8 The curve shown in .

[0057] exist Figure 6 In , the speed change curve is determined based on two parabolas and is expressed as: Among them, a1, b1, c1, d1 are all greater than zero, and b1>d1, b1c1=a1d1. Figure 7In the figure, the speed change curve is approximately two semi-ellipses, the first semi-ellipses are located above the X-axis, the short axis of the first semi-ellipses is on the X-axis, the second semi-ellipses are located below the X-axis, and the long axis of the second semi-ellipses is also on the X-axis. Specifically, Figure 7 The speed variation curve shown can be expressed as: Among them, a2, b2, c2, d2 are all greater than zero, and b2≥a2=c2≥d2. Figure 8 In the above equation, the speed change curve can be expressed as: Among them, a3, b3 are less than zero, c3, d3, m, n are greater than zero, and bm+qm+nc+np=0; among them, when , y=d3 or y=a3.

[0058] In the above embodiments, the specific values ​​of a1, b1, c1, d1, a2, b2, c2, d2, a3, b3, c3, d3, m, and n can be set according to actual needs. For example, Figure 6 In the embodiment shown, the values ​​of a1, b1, c1, and d1 can be 6.93, 1, 2.63, and 0.38, respectively; Figure 7 In the embodiment shown, the values ​​of a2, b2, c2, and d2 can be 0.38, 1, 0.38, and 0.38, respectively; Figure 8 In the illustrated embodiment, the values ​​of a3, b3, c3, d3, m, p, n, and q may be -0.38, -0.04, 0.04, 1, 0.15, -0.35, 0.016, and 0, respectively.

[0059] In the above step S20, the area where the current stop position of the mobile control rod in the stopped state is located is determined. If it is located in the mis-touch area, it is concluded that the mobile control rod is mis-touched. If it is not located in the mis-touch area, it is further determined whether the mobile control rod is stopped in the turning area. If it is located in the turning area, it is concluded that the intention of operating the mobile control rod is to make the walking aid turn. Specifically, when determining whether the current end position of the mobile control rod is located in the mis-touch area and the turning area, the projection straight line of the mobile control rod can be obtained first, and then the end point coordinate (x a ,y a ) belongs to the area, when the end point coordinate (x a ,y a ) is located in the mis-touch area, it is concluded that the mobile control rod is mis-touch operated, and the walking aid stops moving; when the end point coordinate (x a ,y a ) is located in the turning area, it is concluded that the mobile control lever controls the steering of the walking aid. Figure 6 , Figure 7 and Figure 8, the false touch area is ∑ in7 The area is a circular area with the rotation center of the mobile control rod as the center; for example, the radius r of the false touch area can be set to 5 / 100 of the farthest position reached by the end of the Hall rocker on the X-axis. It can be understood that the size of r in this embodiment is only a preferred example, and the value of r depends on the size of the false touch area. In other embodiments, the value of r can also be set according to specific needs.

[0060] In some embodiments, before obtaining the current stop position of the mobile control rod, the walking aid movement control method further includes: determining the maximum movement area of ​​the mobile control rod, dividing the maximum movement area into a plurality of sub-areas, the plurality of sub-areas including an error touch area, a straight travel area, and a turning area. Figure 6 , Figure 7 and Figure 8 , the maximum moving area of ​​the mobile joystick is a square area, which contains at least one false touch area, two straight driving areas and four turning areas. The false touch area is represented by ∑ in7 Indicated by ∑ in1 and∑ in2 The four turning areas are represented by ∑ in3 ,∑ in4 ,∑ in5 and∑ in6 represents, and ∑ in4 and∑ in3 Symmetrical with respect to the positive half axis of the Y axis, ∑ in5 and∑ in6 Symmetrical with respect to the negative half axis of the Y axis. Wherein, when the current stop position of the moving control rod is in the mis-touch area, the rotation speeds of the driving components corresponding to the driving wheels of the walking aid are the same; in some embodiments, the driving component may be a motor.

[0061] Furthermore, the straight area is an area surrounded by the straight line y=-ax, the straight line y=ax, the boundary line of the false touch area, and the boundary line of the maximum movement area. In one embodiment, a can be specifically taken as 9. Figure 6 , Figure 7 and Figure 8 The straight line AD and the straight line BC in the figure are respectively expressed as: y=-9x and y=9x; and the points A, B, C, and D in the figure are the intersections of the straight line AD, the straight line BC and the boundary line of the maximum movement area, and the maximum movement boundary line is the square boundary line.

[0062] In some other embodiments, the multiple sub-areas into which the maximum movement area is divided may further include an in-situ rotation area, which is an area surrounded by the straight line y=-bx, the straight line y=bx, the boundary line of the false touch area, and the boundary line of the maximum movement area. Figure 8, the rotation area in place is ∑ in8 and∑ in9 The two in-situ rotation areas are symmetrical with respect to the Y axis. The straight lines y=-bx and y=bx are straight lines EH and GF respectively. The specific value of parameter b is 1 / 9. The straight lines EH and GF are expressed as follows: and And the points E, F, G, and H in the figure are the intersections of the straight line EH, the straight line GF, and the boundary line of the maximum movement area.

[0063] In the above step S30, the speed conversion coordinates corresponding to the current stop position of the mobile control rod are determined according to the current end position coordinates of the mobile control rod and the speed change curve. Specifically, firstly, the projection straight line of the current stop state of the mobile control rod is obtained. The end point coordinates of the projection straight line are the projection of the end position coordinates of the mobile control rod on the plane to which the speed change curve belongs, such as Figure 4 As shown in the figure, the projection line 215 is the projection line of the moving control rod on the XOY plane, then the coordinate point (x a ,y a ) is the end point coordinate of the projection line 215 of the moving control rod; further, according to the end point coordinate of the projection line (x a ,y a ) and the speed change curve to determine the speed conversion coordinates corresponding to the current stop position of the mobile control lever.

[0064] In some embodiments of the present invention, determining the speed conversion coordinates corresponding to the current stop position of the mobile control rod based on the current end position coordinates of the mobile control rod and the speed change curve includes: obtaining the projection of the current end position coordinates of the mobile control rod on the plane to which the speed change curve belongs; determining a projection line passing through the projection and the rotation center of the mobile control rod; calculating the intersection coordinates of the projection line and the speed change curve, the intersection coordinates being the speed conversion coordinates. Since the end point coordinates of the projection line are (x a ,y a ), then the projection line can pass through the end point coordinates (x a ,y a ) to get its expression: Further, according to the expression of the projection line and the expression of the speed change curve, the coordinates of the intersection point (x b ,y b ), and further calculate the coordinate transformation coefficient ρ according to the intersection coordinates, and the coordinate transformation coefficient After calculating the coordinate transformation coefficient ρ, the coordinate transformation is performed according to ρ to obtain the new coordinate (ρx a ,ρy a ), the new coordinate (ρxa ,ρy a ) is the velocity conversion coordinate.

[0065] In the above step S40, in order to further calculate the rotation speed of the two driving wheels during the steering process, in some embodiments, the rotation speed of the driving components corresponding to each driving wheel of the walking aid is calculated based on the speed conversion coordinates and the current end position coordinates of the mobile control rod, which may specifically include: calculating the coordinate transformation coefficient based on the speed conversion coordinates; obtaining a new coordinate value based on the coordinate transformation coefficient and the current end position coordinates; and calculating the rotation speed of the driving components corresponding to each driving wheel of the walking aid based on the new coordinate value.

[0066] Exemplarily, the calculation formula for the rotation speed of the driving component corresponding to each driving wheel of the walking aid is:

[0067]

[0068] Among them, V L is the speed of the driving component corresponding to the left driving wheel, V R is the speed of the driving component corresponding to the right driving wheel, (ρx a , ρy a ) is the new coordinate value, ρ is the coordinate transformation coefficient, (x a ,y a ) is the projection coordinate corresponding to the current end position coordinate.

[0069] Figure 5 FIG. 1 is a flow chart of a method for controlling the movement of a walking aid according to another embodiment of the present invention. Figure 5 The program of the walking aid movement control method is a part of the walking aid software system running in the microprocessor. The program is periodically repeated in the walking aid control system. The program determines the coordinate value after coordinate conversion by the end point coordinate value of the stop position of the mobile control rod (specifically, the Hall rocker), and then calculates the rotation speed value of the left and right motors.

[0070] Specifically, first collect the stop position coordinates (x a ,y a ), the stop position coordinate (x a ,y a ) is the end point coordinate of the projection line of the Hall rocker, and the stop position coordinate (x a ,y a ) is located in the false touch area∑ in7 , that is, calculation Is it less than r? 2 , r is the radius of the false touch area, when Less than r 2 Whena ,y a ) is located in the false touch area∑ in7 ; If the stop position coordinate (x a ,y a ) is located in the false touch area∑ in7 , it is judged that the user touched it by mistake, and the speed values ​​of the left and right motors are both zero. a ,y a ) is not located in the false touch area∑ in7 , then continue to determine the stop position coordinates (x a ,y a ) is in the straight-ahead area∑ in1 or in2 , for example, can calculate |X a Is |less than|Y a / 9|, if less than, then stop position coordinate (x a ,y a ) is located in the straight-ahead area, at which point the motor speeds of the left and right wheels of the walking aid are equal; further, let x a = 0, then the straight-line speed of the walking aid V = 2by a , where the value of b is equal to b1, b2 or b3 of the corresponding speed change curve.

[0071] Furthermore, if the stop position coordinates (x a ,y a ) is located in the turning area. At this time, the intersection coordinates (x b ,y b ), and then find the coordinate transformation coefficient based on the intersection coordinates Then, based on the coordinate transformation coefficient, the velocity transformation coordinate ((ρx a ,ρy a ), and calculates the speed values ​​of the left and right motors according to the speed conversion coordinates. Further, the controller sends a speed command, and the microprocessor sends the command to the left motor drive unit and the right motor drive unit according to the calculated speed values ​​of the left and right motors, thereby controlling the speed and direction of the walking aid.

[0072] In order to prevent users from making mistakes, the above embodiment introduces the mistaken touch area ∑ in7 design; in the prior art, when the user accidentally touches the Hall rocker, the walking aid will move slightly; in this application, if the stop position of the Hall rocker happens to be in the mis-touch area∑ in7, it is considered as an accidental touch, and the walking aid will not be moved. In addition, the walking aid movement control method in the above embodiment ensures that the walking aid can remain stable when traveling straight, and achieves a smooth transition when turning, thereby improving stability and safety; and the speed change curve in the method has different shapes above and below the X-axis, so that the walking aid can reach the maximum speed when traveling straight forward, and slow down when traveling straight backward. And during the turning process, the speed of the aid gradually decreases, achieving a smooth transition, and improving stability and safety when turning.

[0073] In addition, Figure 8 In the embodiment shown, the expressions of the straight line EH and the straight line GF are respectively: EH: GF: In this embodiment, the maximum movement area of ​​the mobile control lever is divided into 9 sub-areas: one false touch area, two straight travel areas, four turning areas and two in-situ rotation areas. Figure 6 and Figure 7 The embodiment adds two in-situ rotation areas ∑ in8 and∑ in9 In this embodiment, when it is determined that the current stop position of the mobile control rod is in the in-situ rotation area, let y a =0, the speed calculation formula of the left motor and the right motor is expressed as:

[0074] Figure 8 The embodiment shown in the figure ensures that the walking aid can move straight stably and at the same time can ensure that the walking aid can rotate stably in place, which has certain advantages in a narrow space, facilitating operation and ensuring safety. Figure 7 The speed of the embodiment shown is reduced when going straight forward to a turn, that is, it changes from slow first and then fast to fast first and then slow; the speed is also reduced when going straight backward to a turn, that is, fast first and then slow; this setting ensures that the speed is low when the turning angle is large, thereby achieving the purpose of stability and safety. At the same time, this embodiment sets a mis-touch area to increase the stability of the walking aid.

[0075] In the above embodiment, the driving component of the running wheel may be a motor, and the motor may be a brushed DC motor or a brushless DC motor; in addition, when the walking aid performs its function, the signal input of its speed and direction may adopt a Hall rocker or other types of mobile control rods, as long as the signal input of speed and direction control can be realized.

[0076] The walking aid movement control method and system disclosed in the embodiment of the present invention can provide users with a safer and smoother control experience by manipulating the mobile control rod. With the Hall rocker of the walking aid as the carrier, under the premise of using the smooth control method, a certain angle is set when moving forward to ensure that the walking aid can move forward stably within the angle range, and the same applies to moving backward; in addition, the speed change is smoother in the process of changing from straight driving to turning; when moving backward or turning, the maximum speed is strictly limited to ensure driving safety. Against the background of increasingly serious aging, the present application can better meet the travel safety needs of the elderly and people with disabilities by using the mobile control rod to smoothly control the mobile walking aid.

[0077] Corresponding to the above method, the present invention also provides a walking aid movement control system, the system includes a processor, the processor is used to execute a computer program, when the computer program is executed, the system implements the steps of the method described in any of the above embodiments.

[0078] The embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the aforementioned edge computing server deployment method are implemented. The computer-readable storage medium can be a tangible storage medium, such as a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a floppy disk, a hard disk, a removable storage disk, a CD-ROM, or any other form of storage medium known in the technical field.

[0079] It should be understood by those skilled in the art that the exemplary components, systems and methods described in conjunction with the embodiments disclosed herein can be implemented in hardware, software or a combination of the two. Whether it is performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present invention are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link via a data signal carried in a carrier.

[0080] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0081] In the present invention, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with features of other embodiments or replace features of other embodiments.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the embodiments of the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for controlling movement of a walking aid, characterized in that: The method comprises the following steps: Acquire the end position coordinates of the moving control rod of the walking aid which are farthest from the rotation center in all directions, and construct a speed change curve of the walking aid based on the multiple end position coordinates; Acquire the current stop position of the mobile control rod, determine whether the current end position coordinates of the mobile control rod are located in the mis-touch area, and if not located in the mis-touch area, determine whether the current end position coordinates of the mobile control rod are located in the turning area; the mis-touch area is a circular area with the rotation center of the mobile control rod as the center; When the mobile control rod is in the turning area, the speed conversion coordinates corresponding to the current stop position of the mobile control rod are determined based on the current end position coordinates of the mobile control rod and the speed change curve; Calculating the rotation speed of the driving components corresponding to each traveling wheel of the walking aid based on the speed conversion coordinates and the current end position coordinates of the moving control rod; Calculating the rotation speed of the driving components corresponding to each traveling wheel of the walking aid based on the speed conversion coordinates and the current end position coordinates of the moving control rod comprises: Calculating coordinate transformation coefficients based on the speed conversion coordinates; Obtaining new coordinate values ​​based on the coordinate transformation coefficients and the current end position coordinates; Calculating the rotation speed of the driving components corresponding to each traveling wheel of the walking aid based on the new coordinate value; The calculation formula for the rotation speed of the driving components corresponding to each traveling wheel of the walking aid is: Among them, V L is the speed of the driving component corresponding to the left driving wheel, V R is the speed of the driving component corresponding to the right driving wheel, (ρx a , ρy a ) is the new coordinate value, ρ is the coordinate transformation coefficient, (x a ,y a ) is the projection coordinate corresponding to the current end position coordinate.

2. The method for controlling the movement of a walking aid according to claim 1, characterized in that: Determining the speed conversion coordinates corresponding to the current stop position of the mobile control rod based on the current end position coordinates of the mobile control rod and the speed change curve includes: Obtaining the projection of the current end position coordinates of the mobile control rod on the plane to which the speed change curve belongs; Determining a projection line passing through the projection and the rotation center of the mobile control rod; The coordinates of the intersection point between the projection straight line and the speed change curve are calculated, and the coordinates of the intersection point are speed conversion coordinates.

3. The method for controlling the movement of a walking aid according to claim 1, characterized in that: Before obtaining the current stop position of the mobile control rod, the method further includes: The maximum movement area of ​​the mobile control rod is determined, and the maximum movement area is divided into a plurality of sub-areas, wherein the plurality of sub-areas include an erroneous touch area, a straight travel area, and a turning area.

4. The method for controlling the movement of a walking aid according to claim 3, characterized in that: When the current stop position of the movable control rod is located in the straight-ahead area, the rotation speeds of the driving components corresponding to the travel wheels of the walking aid are the same.

5. The method for controlling the movement of a walking aid according to claim 1, characterized in that: The speed variation curve of the walking aid is: Where a1, b1, c1, d1 are all greater than zero, and b1>d1, b1c1=a1d1; or, Where a2, b2, c2, d2 are all greater than zero, and b2≥a2=c2≥d2; or, Among them, a3 and b3 are both less than zero, c3, d3, m, and n are all greater than zero, and bm+qm+nc+np=0; Among them, a1, b1, c1, d1, a2, b2, c2, d2, a3, b3, c3, d3, m, and n are all numerical values.

6. The method for controlling the movement of a walking aid according to claim 3, characterized in that: The straight travel area is an area surrounded by the straight line y=-ax, the straight line y=ax, the boundary line of the false touch area and the boundary line of the maximum movement area.

7. The method for controlling the movement of a walking aid according to claim 6, characterized in that: The multiple sub-areas further include an in-situ rotation area, which is an area surrounded by a straight line y=-bx, a straight line y=bx, a boundary line of an error-touch area, and a boundary line of a maximum movement area.

8. A walking aid movement control system, characterized in that: The system comprises a processor configured to execute a computer program, and when the computer program is executed, the system implements the steps of the method according to any one of claims 1 to 7.

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