Rehabilitation training device

Abstract

The invention discloses a rehabilitation training device, and relates to the technical field of intelligent medical treatment. According to the device, an intelligent chassis carries a rehabilitation training device to move; the carrier is arranged on the intelligent chassis; one end of the intelligent mechanical arm is fixed on the carrier, and the other end is fixedly connected with a display; the display displays rehabilitation training content; the sensor module is arranged on the outer wall of the carrier and used for collecting environment sensing data of the space where the rehabilitation training device is located. The visual acquisition module is arranged on the display and is used for acquiring image data; the main control module is arranged in the carrier and is used for automatically planning an activity path of the rehabilitation training device in the space according to the environment sensing data and the image data, automatically determining a training area according to the image data and controlling the intelligent chassis to move to the training area according to the activity path; and according to the image data and the rehabilitation training part of the target object, the position angle and height of a displayer matched with the rehabilitation training part are determined, and then the inclination angle and lifting height of the intelligent mechanical arm are adjusted.

Description

Technical Field

[0001] The present application relates to the field of computer technology, specifically to the field of smart medical technology, and especially to a rehabilitation training device. Background Art

[0002] Existing home rehabilitation equipment can be roughly divided into two categories.

[0003] One is limb function rehabilitation equipment: many advanced rehabilitation equipment can already be used at home, including physical therapy equipment, motion trackers and smart fitness equipment. Remote rehabilitation equipment: including rehabilitation robots, smart sports equipment and physical therapy equipment. Wearable devices: monitor health indicators such as exercise volume, heart rate, and sleep. Rehabilitation robots: assist patients in walking, hand function training, etc. Smart sports equipment: such as smart treadmills and smart fitness bikes, provide real-time feedback and personalized training plans. Physical therapy equipment: such as electrical stimulators and ultrasonic therapy devices, assist in the treatment of muscle and joint problems.

[0004] The other category is mainly based on mobile applications and software. Patients are guided to conduct rehabilitation training by installing applications on mobile phones or hardware devices, and guidance is provided through video, text and voice. Health management applications: record and analyze users' health data, such as diet, exercise, sleep, etc. Help users understand their own health status, set and track health goals. Rehabilitation training applications: provide rehabilitation training videos, step-by-step guidance and progress tracking. It is convenient for patients to conduct rehabilitation training at home and improve compliance.

[0005] For devices that are primarily mobile applications and software, the following flaws currently exist:

[0006] First: patients may need to be trained in the use of the equipment, which also requires regular maintenance and calibration. It may be difficult for patients to complete these tasks on their own, and improper operation may affect the rehabilitation effect.

[0007] Second: Mobile applications and software have poor user experience: the equipment adjustment process is difficult to operate, and the different rehabilitation parts require patients to adjust their positions back and forth in a home environment, which is not friendly to elderly users. Summary of the invention

[0008] In view of the technical problems that the devices based on mobile applications and software in the prior art are difficult to operate and have poor user experience, the present application provides a rehabilitation training device, including:

[0009] An intelligent chassis, used for carrying the rehabilitation training device;

[0010] A carrier, the carrier being placed on the smart chassis;

[0011] An intelligent mechanical arm, one end of which is fixed on the carrier, and the other end of which is fixedly connected to a display;

[0012] The display is used to display the rehabilitation training content;

[0013] A sensor module, the sensor module is arranged on the outer wall of the carrier and is used to collect environmental perception data of the space where the rehabilitation training device is located;

[0014] A visual acquisition module, which is placed on the display and is used to acquire image data;

[0015] A main control module, which is built into the carrier, is used to automatically plan the activity path of the rehabilitation training device in the space according to the environmental perception data and the image data, automatically determine the training area according to the image data, and control the movement of the intelligent chassis according to the activity path to move the rehabilitation training device to the training area; it is also used to determine the position angle and height of the display adapted to the rehabilitation training part according to the image data and the rehabilitation training part of the target object, and adjust the inclination angle and lifting height of the intelligent robotic arm according to the position angle and height.

[0016] According to the scheme of the present application, a rehabilitation training device is proposed. The rehabilitation training device can automatically plan an activity path and select a training area within the space where it is located, so that the rehabilitation training device can move to the training area by itself according to the activity path, avoiding manual movement of the equipment; and automatically adjust the inclination angle and lifting height of the intelligent robotic arm in the training area so that the display is in a position angle and height that are adapted to the rehabilitation training part, avoiding manual adjustment of the equipment, avoiding manual operation of the equipment, and when conducting rehabilitation training on different parts, the intelligent robotic arm and the display are automatically adjusted to adapt to different rehabilitation training parts, and the target object can remain motionless, avoiding constant movement and repositioning of the target object, which is beneficial to improving user experience; since there is no need to manually operate the equipment, adjust the equipment height, angle, etc., the cognitive cost of users learning rehabilitation equipment is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0018] Figure 1 is a structural schematic diagram of an embodiment of a rehabilitation training device according to the present application;

[0019] Figure 2 is a plan view of the carrier when the intelligent robotic arm according to the present application is folded and recovered into the cavity;

[0020] Figure 3 This is a top view of the carrier when the intelligent robotic arm according to the present application is folded and recovered into the cavity. DETAILED DESCRIPTION

[0021] The following is a description of exemplary embodiments of the present application in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0022] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0023] In this embodiment, a rehabilitation training device is provided, such as Figure 1 As shown, the device comprises:

[0024] Intelligent chassis 101, used for carrying the rehabilitation training device;

[0025] A carrier 102, which is placed on the smart chassis 101;

[0026] An intelligent mechanical arm 103, one end of the intelligent mechanical arm 103 is fixed on the carrier, and the other end of the intelligent mechanical arm 103 is fixedly connected to a display 104;

[0027] The display 104 is used to display the rehabilitation training content;

[0028] A sensor module 105, which is disposed on the outer wall of the carrier 102 and is used to collect environmental perception data of the space where the rehabilitation training device is located;

[0029] A visual acquisition module 106, which is placed on the display 104 and is used to acquire image data;

[0030] A main control module (not shown in the figure) is built into the carrier 102, and is used to automatically plan the activity path of the rehabilitation training device in the space according to the environmental perception data and the image data, automatically determine the training area according to the image data, and control the movement of the intelligent chassis 101 according to the activity path to move the rehabilitation training device to the training area; it is also used to determine the position angle and height of the display 104 adapted to the rehabilitation training part according to the image data and the rehabilitation training part of the target object, and adjust the inclination angle and lifting height of the intelligent robotic arm 103 according to the position angle and height.

[0031] Depend on Figure 1 As shown, the above-mentioned rehabilitation training device can automatically plan an activity path and select a training area within the space where it is located, so that the rehabilitation training device can move to the training area by itself according to the activity path, avoiding manual movement of the equipment; and automatically adjust the inclination angle and lifting height of the intelligent robotic arm in the training area, so that the display is in a position angle and height adapted to the rehabilitation training part, avoiding manual adjustment of the equipment, avoiding manual operation of the equipment, and when conducting rehabilitation training on different parts, the intelligent robotic arm and the display are automatically adjusted to adapt to different rehabilitation training parts, and the target object can remain motionless, avoiding the target object from constantly moving and changing its position, which is beneficial to improving the user experience; since there is no need to manually operate the equipment, adjust the equipment height, angle, etc., the cognitive cost of users learning rehabilitation equipment is avoided.

[0032] In some optional implementations of this embodiment, the above-mentioned rehabilitation training device can be used for autonomous (i.e., without the need for human guidance such as a physician) rehabilitation training of any part (such as different limb parts) and any field (such as limbs, language, etc.). The above-mentioned rehabilitation training device can be used for home rehabilitation training, and can also be used in medical institutions and rehabilitation institutions. However, the use of the above-mentioned rehabilitation training device makes home rehabilitation training more convenient and provides a better experience while ensuring the training effect.

[0033] In some optional implementations of the present embodiment, the intelligent chassis 101 may be any form of intelligent chassis that can move based on control instructions or control data, for example, it may be a wheeled cloud-trail mobile chassis.

[0034] In some optional implementations of this embodiment, the intelligent robotic arm 103 may be an intelligent robotic arm of any form that can be folded and rotated based on control instructions or control data.

[0035] In some optional implementations of the present embodiment, the above-mentioned components such as the intelligent chassis 101, the intelligent robotic arm 103, the display 104, the sensor module 105 and the visual acquisition module 106 are all connected to the main control module, and the main control module controls each component to perform its respective function.

[0036] In some optional implementations of this embodiment, the main control module may be a CPU chip, a controller, etc. having data processing capabilities and control capabilities.

[0037] In some optional implementations of this embodiment, in order to accurately perform autonomous planning of the activity path, the sensor module 5 includes: an ultrasonic sensor, an inertial measurement unit and an infrared sensor;

[0038] The visual acquisition module 106 is used to acquire image data of the environment where the rehabilitation training device is located in the space;

[0039] The main control module is used to match the features of the image data with the map features of the space, and determine the current position of the rehabilitation training device in the space according to the matching result; it is also used to locate the rehabilitation training device according to the motion state information of the rehabilitation training device collected by the inertial measurement unit, the position data collected by the infrared sensor and the current position, to achieve positioning updates during the continuous movement of the rehabilitation training device, to automatically plan the activity path of the rehabilitation training device in the space, and to control the rehabilitation training device to avoid obstacles on the activity path according to the data (for example, distance data) sent back by the ultrasonic sensor.

[0040] In some optional implementations of this embodiment, the process of matching the features of the image data with the map features of the space may be to extract key feature points or feature lines, such as edges, corner points, etc., from the image data, and match these features with features in a map or reference image to determine the position of the rehabilitation training device.

[0041] In some optional implementations of this embodiment, the ultrasonic sensor calculates the distance between the rehabilitation training device and the obstacle by emitting ultrasonic waves and measuring the time it takes for the ultrasonic waves to be reflected back from the obstacle. This method has low cost, fast acquisition speed, high distance resolution, and is not affected by weather conditions and external environmental conditions, and is applicable to various mobile robot sensing systems.

[0042] Inertial measurement unit (IMU), based on the measurement data of sensors such as gyroscopes and accelerometers, combined with algorithms such as Kalman filtering, is used to locate and navigate the rehabilitation training device. IMU can provide information about the motion state of the rehabilitation training device, such as speed and acceleration, which is very important for accurate navigation.

[0043] Infrared sensors detect changes in infrared radiation to determine location.

[0044] In some optional implementations of the present embodiment, in order to quickly and accurately determine a venue that meets the needs of rehabilitation training, the main control module is proposed, which is used to determine the size of the venue based on the relative position information of the object in the space in the image data; judge the shape of the object based on the light and dark information of the image data; and determine the area where the size of the venue is greater than a preset threshold and the shape of the object is different from the target object as the training area.

[0045] In some optional implementations of this embodiment, the preset threshold can be determined based on the length of the limb after stretching, ensuring that the size of the venue meets the requirements when the limb of the rehabilitation training performs various stretching movements during the training process. The shape of the object is different from the target object, which makes it easier to accurately collect the training process data of the target object during the training process.

[0046] In some optional implementations of this embodiment, color information may also be referred to in the process of determining the relative position of the object in the space and the shape of the object.

[0047] In some optional implementations of this embodiment, in order to improve the clarity and accuracy of image data, the above-mentioned visual acquisition module 106 may include a lighting system, a visual sensor (such as a camera, etc.), an analog-to-digital converter, and a frame memory. Through the visual sensor, a two-dimensional image of the environment can be obtained. This process depends on the lighting conditions. Good lighting can make the image formed by the object clearer, enhance the detection information, overcome the problems of shadows, low contrast, mirror reflection, etc., thereby improving the clarity and accuracy of the image.

[0048] In some optional implementations of the present embodiment, in order to improve the user experience and avoid the user manually adjusting the device and moving the position, it is proposed to automatically adjust the intelligent robotic arm and the display to adapt to different rehabilitation training parts. For example, the main control module is used to establish a spatial coordinate system by taking the ground position of the target object as the origin in the image data; marking the height and width of the target object with corresponding coordinate values ​​in the spatial coordinate system; calculating the position angle and height of the display adapted to the rehabilitation training part according to the coordinate value of the height and the coordinate value of the width of the target object and the rehabilitation training part, and adjusting the inclination angle and lifting height of the intelligent robotic arm according to the position angle and height.

[0049] In some optional implementations of this embodiment, for example, taking Parkinson's limb function rehabilitation facial training as an example, the main control module will calculate the sitting height, angle, mouth opening and closing angle and other parameters of the target object in the spatial coordinate system based on the reference calibration origin, and then control the tilt angle and lifting height of the intelligent robotic arm.

[0050] In some optional implementations of this embodiment, the intelligent mechanical arm 103 is raised from the inside of the carrier to the top surface of the carrier, and the main control module uses the ground as the height calibration origin, and can calculate the parameters required for the intelligent mechanical lifting through the data sent back by the posture sensor module, the visual acquisition module, and the ultrasonic module. The intelligent mechanical arm of the display is adjusted to rise to a position angle and height that is suitable for rehabilitation.

[0051] In some optional implementations of this embodiment, taking Parkinson's limb function rehabilitation as an example, it involves various rehabilitation training parts such as face, shoulders, limbs, whole body, hands, etc. Compared with the existing rehabilitation model, the patient needs to repeatedly adjust the angle recognized by the device, resulting in the inability to complete all the training by himself, and requires the assistance of the patient's family. The rehabilitation training device of this application does not require the patient (i.e., the target object) to move the position and does not require the assistance of family members. The device itself automatically adjusts the height and angle required for training through a variety of sensors and algorithms, and guides the patient to complete the training at home, thereby improving the efficiency, effectiveness and user experience of the training.

[0052] In some optional implementations of this embodiment, in order to achieve the flexibility of the rehabilitation training device and reduce the volume of the device, it is proposed that the carrier 102 is a cavity with an upper opening; one end of the intelligent mechanical arm 103 is fixed to the inner bottom of the cavity 102; the main control module is also used to inquire the target object whether the training is completed at the end of the rehabilitation training, and when receiving the instruction to complete the training, control the intelligent mechanical arm to fold and retract it into the cavity to achieve the state of the device being folded, such as Figure 2 , 3 As shown, Figure 2 is a plan view of the carrier 102 when the intelligent robotic arm is folded and recovered into the cavity. Figure 3 is a top view of the carrier 102 .

[0053] In some optional implementations of this embodiment, the main control module is further used to control the visual acquisition module 106 to output a voice to inquire whether the target object has completed the training when the rehabilitation training is completed, and receive an instruction to complete the training through the visual acquisition module 106; or,

[0054] At the end of the rehabilitation training, the display 104 is controlled to output voice or text to inquire the target subject whether the training is completed, and the instruction to complete the training is received through the display 104 .

[0055] In some optional implementations of this embodiment, it is proposed that the state of the display can be flexibly adjusted. For example, the main control module is also used to control the other end of the intelligent mechanical arm 103 to rotate so that the display 104 is in a horizontal state when the rehabilitation training starts; when the rehabilitation training is completed, the other end of the intelligent mechanical arm 103 is controlled to rotate so that the display 104 is in a vertical state, such as Figure 3 shown.

[0056] In some optional implementations of this embodiment, in order to improve the convenience of using the rehabilitation training device, such as Figure 1 As shown, it is also proposed that the device further includes:

[0057] The recharging module 107 is placed on the outer wall of the carrier 102; the main control module is also used to control the smart chassis 101 to move to the charging seat in the space according to the activity path after completing the rehabilitation training, so that the recharging module 107 is docked with the charging seat to charge the rehabilitation training device.

[0058] In some optional implementations of this embodiment, the rehabilitation training device can accurately identify the location of the charging base through built-in sensors and algorithms, and plan the optimal path to return to the charging base. For example, the rehabilitation training device can plan multiple paths to different destinations, such as a path to a training area, a path to a charging base, etc.

[0059] In some optional implementations of this embodiment, in order to further improve the convenience, personalization and timeliness of rehabilitation training, the main control module is proposed, which is also used to determine the rehabilitation training period according to the rehabilitation training plan of the target object and the electronic medical record of the target object.

[0060] For example, the target individual or relative can scan the QR code of the rehabilitation training device to download the device app and remotely install the relevant rehabilitation software; or install the rehabilitation software offline and synchronize it to the rehabilitation training device. The rehabilitation software can output a rehabilitation training plan adapted to the target object based on the target object's relevant basic data, symptom data, electronic medical records, etc. The rehabilitation training device can also directly input the rehabilitation training plan set by the rehabilitation doctor for the target object. The rehabilitation training device can also set a training time plan suitable for the target object's own life period and rehabilitation time according to the rehabilitation training plan and the patient's own electronic medical records. For example, which time period of the day is the rehabilitation training period.

[0061] In some optional implementations of this embodiment, in order to further improve the user experience of rehabilitation training, the main control module is proposed, which is also used to automatically wake up if the time reaches the rehabilitation training period, control the recharging module 107 to detach from the charging base, and control the smart chassis 101 to move to the training area according to the activity path.

[0062] For example, when the rehabilitation training period arrives every day, the rehabilitation training device automatically wakes up and controls the recharging module to automatically detach from the charging base. It can also automatically find the target person through navigation and positioning, regulate the movement of the intelligent mobile chassis 101 to guide the target person to move to a suitable training area, and guide the target person to perform relevant pre-rehabilitation preparations and training precautions through voice.

[0063] In some optional implementations of the present embodiment, during the training process, the rehabilitation training device can collect training process data such as the training status, training results, and movement training degree of the target object through the visual acquisition module. After completing the training of the target object, the training process data can be synchronously sent to the contracted family doctor for data synchronization, and can also be sent to the relatives of the target object to timely observe the rehabilitation status of the target object. The training process data can also be synchronized with the data cloud platform to formulate the next rehabilitation training plan according to the actual situation of the target object.

[0064] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above invention concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other to form a technical solution.

Claims

1. A rehabilitation training device, comprising: An intelligent chassis, used for carrying the rehabilitation training device; A carrier, the carrier being placed on the smart chassis; An intelligent mechanical arm, one end of which is fixed on the carrier, and the other end of which is fixedly connected to a display; The display is used to display the rehabilitation training content; A sensor module, the sensor module is arranged on the outer wall of the carrier and is used to collect environmental perception data of the space where the rehabilitation training device is located; A visual acquisition module, which is placed on the display and is used to acquire image data; A main control module, which is built into the carrier and is used to automatically plan an activity path of the rehabilitation training device in the space according to the environmental perception data and the image data, automatically determine a training area according to the image data, and control the movement of the intelligent chassis according to the activity path to move the rehabilitation training device to the training area; It is also used to determine the position angle and height of the display adapted to the rehabilitation training part according to the image data and the rehabilitation training part of the target object, and adjust the inclination angle and lifting height of the intelligent mechanical arm according to the position angle and height.

2. The rehabilitation training device according to claim 1, wherein: The sensor module includes: an ultrasonic sensor, an inertial measurement unit and an infrared sensor; The visual acquisition module is used to acquire image data of the environment in which the rehabilitation training device is located in the space; The main control module is used to match the features of the image data with the map features of the space, and determine the current position of the rehabilitation training device in the space according to the matching result; it is also used to locate the rehabilitation training device according to the motion state information of the rehabilitation training device collected by the inertial measurement unit, the position data collected by the infrared sensor and the current position, to achieve positioning updates during the continuous movement of the rehabilitation training device, to automatically plan the activity path of the rehabilitation training device in the space, and to control the rehabilitation training device to avoid obstacles on the activity path according to the data returned by the ultrasonic sensor.

3. The rehabilitation training device according to claim 1, wherein: The main control module is used to determine the size of the venue according to the relative position information of the object in the space in the image data; The shape of the object is determined according to the light and dark information of the image data; and an area where the size of the site is greater than a preset threshold and the shape of the object is different from that of the target object is determined as the training area.

4. The rehabilitation training device according to claim 1, wherein: The main control module is used to establish a spatial coordinate system by taking the ground position of the target object as the origin in the image data; Marking the height and width of the target object with corresponding coordinate values ​​in the spatial coordinate system; According to the coordinate value of the height, the coordinate value of the width and the rehabilitation training part of the target object, the position angle and height of the display adapted to the rehabilitation training part are calculated, and the inclination angle and lifting height of the intelligent robotic arm are adjusted according to the position angle and height.

5. The rehabilitation training device according to any one of claims 1 to 4, wherein: The carrier is a cavity with an upper opening; One end of the intelligent robotic arm is fixed to the inner bottom of the cavity; The main control module is also used to inquire the target object whether the training has been completed at the end of the rehabilitation training, and when receiving the instruction to complete the training, control the intelligent robotic arm to fold and retract it into the cavity.

6. The rehabilitation training device according to claim 5, wherein: The main control module is further used to control the visual acquisition module to output a voice to inquire whether the target object has completed the training when the rehabilitation training is finished, and receive the instruction of completing the training through the visual acquisition module; or At the end of the rehabilitation training, the display is controlled to output voice or text to inquire whether the target object has completed the training, and an instruction to complete the training is received through the display.

7. The rehabilitation training device according to any one of claims 1 to 4, wherein: The main control module is also used to control the other end of the intelligent robotic arm to rotate so that the display is in a horizontal state when the rehabilitation training starts; and to control the other end of the intelligent robotic arm to rotate so that the display is in a vertical state when the rehabilitation training is completed.

8. The rehabilitation training device according to any one of claims 1 to 4, wherein: The device also includes: A recharging module, the recharging module being disposed on an outer wall of the carrier; The main control module is also used to control the intelligent chassis to move to the charging seat in the space according to the activity path after completing the rehabilitation training, so that the recharging module docks with the charging seat to charge the rehabilitation training device.

9. The rehabilitation training device according to any one of claims 1 to 4, wherein: The main control module is further used to determine a rehabilitation training period according to the rehabilitation training plan of the target object and the electronic medical record of the target object.

10. The rehabilitation training device according to claim 9, wherein: The main control module is also used to automatically wake up if the time reaches the rehabilitation training period, control the recharging module to detach from the charging base, and control the intelligent chassis to move to the training area according to the activity path.

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