Rehabilitation training device

Abstract

The application discloses a rehabilitation training device and relates to the technical field of intelligent medical treatment. The device comprises: an intelligent chassis carrying the rehabilitation training device to move; a carrier placed on the intelligent chassis; one end of an intelligent mechanical arm fixed on the carrier and the other end fixedly connected with a display; the display displays rehabilitation training content; a sensor module arranged on the outer wall of the carrier is used for collecting environmental perception data of the space where the rehabilitation training device is located; a visual acquisition module placed on the display is used for collecting image data; a main control module built in the carrier is used for automatically planning the activity path of the rehabilitation training device in the space according to the environmental perception 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; according to the image data and the rehabilitation training part of a target object, the position angle and the height of the display adapted to the rehabilitation training part are determined, and then the inclination angle and the lifting height of the intelligent mechanical arm are adjusted.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer, in particular to the technical field of smart medical treatment, and especially to a rehabilitation training device. BACKGROUND

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

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

[0004] The other category is mainly mobile applications and software, which guide patients to perform rehabilitation training through mobile phone or hardware device installed application program, and provide guidance through video, text and voice. Health management application: records and analyzes user's health data such as diet, exercise and sleep. Helps users understand their own health status, and makes and tracks health goals. Rehabilitation training application: provides rehabilitation training video, step guidance and progress tracking. Facilitates patients to perform rehabilitation training at home and improves compliance.

[0005] For the equipment mainly based on mobile applications and software, the following defects exist at present:

[0006] Firstly, patients may need to receive training for the use of the equipment, and need regular maintenance and calibration, which may be difficult for patients to complete by themselves, and improper operation may affect the rehabilitation effect.

[0007] Secondly, mobile applications and software have poor user experience: the adjustment process is difficult to operate, and different rehabilitation parts need to be adjusted by patients in the home environment, which is not friendly to elderly users. SUMMARY

[0008] In view of the technical problems of the existing equipment mainly based on mobile applications and software, such as difficult operation and poor user experience, the present application provides a rehabilitation training device, which comprises:

[0009] An intelligent chassis for carrying the rehabilitation training device to move;

[0010] A carrier placed on the intelligent chassis;

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

[0012] The display is used to show rehabilitation training content.

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

[0014] A visual acquisition module is arranged on the display and is used to collect image data.

[0015] A main control module is built-in on 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 intelligent chassis to move according to the activity path and move the rehabilitation training device to the training area; and is further used to determine a position angle and a height of the display that are adapted to a rehabilitation training part according to the image data and the rehabilitation training part of a target object, and adjust an inclination angle and a lifting height of the intelligent mechanical arm according to the position angle and the height.

[0016] According to the scheme of the present application, a rehabilitation training device is provided, which can automatically plan an activity path and select a training area in a space, so that the rehabilitation training device can move to the training area according to the activity path, avoiding manual movement of the device; and the inclination angle and the lifting height of the intelligent mechanical arm are automatically adjusted in the training area, so that the display is at a position angle and a height that are adapted to a rehabilitation training part, avoiding manual adjustment of the device, avoiding manual operation of the device, and automatically adjusting the intelligent mechanical arm and the display to adapt to different rehabilitation training parts when rehabilitation training of different parts is performed, so that the target object can remain stationary, avoiding constant movement and position change of the target object, which is beneficial to improve user experience; since manual operation of the device, adjustment of the height and the angle of the device, etc. are not required, the cognitive cost of learning the rehabilitation device by the user is avoided. BRIEF DESCRIPTION OF DRAWINGS

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

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

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

[0020] Figure 3 is a top view of the carrier when the smart mechanical arm according to the present application is folded and recycled into the cavity. DETAILED DESCRIPTION

[0021] Exemplary embodiments of the present application are described herein with reference to the accompanying drawings, in which various specific details are set forth to assist in a thorough understanding of the embodiments. It will be apparent, however, to one of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the spirit and scope of the application. Thus, the exemplary embodiments described herein are not intended to be limited to the particular forms set forth herein. Rather, the present application is to cover all modifications, equivalents, and alternatives falling within the scope of the application.

[0022] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0023] In the present embodiment, a rehabilitation training device is provided, as shown in the figure, which comprises: Figure 1

[0024] a smart chassis 101 for carrying the rehabilitation training device to move;

[0025] a carrier 102 placed on the smart chassis 101;

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

[0027] the display 104 for showing rehabilitation training content;

[0028] a sensor module 105 arranged on the outer wall of the carrier 102 for collecting environmental perception data of the space where the rehabilitation training device is located;

[0029] a visual acquisition module 106 placed on the display 104 for collecting image data;

[0030] ​A master module (not shown in the figure) is built in the carrier 102, which 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 intelligent chassis to move 101 and move the rehabilitation training device to the training area according to the activity path; and 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 tilt angle and lifting height of the intelligent mechanical arm 103 according to the position angle and height.

[0031] As shown in Figure 1 It can be seen from the above that the rehabilitation training device can automatically plan the activity path and select the training area in the space, so that the rehabilitation training device can move to the training area according to the activity path, avoiding manual movement of the equipment; and the tilt angle and lifting height of the intelligent mechanical arm are automatically adjusted in the training area, so that the display is at a position angle and height adapted to the rehabilitation training part, avoiding manual adjustment of the equipment, avoiding manual operation of the equipment, and automatically adjusting the intelligent mechanical arm and the display to adapt to different rehabilitation training parts when performing rehabilitation training of different parts, so that the target object can remain stationary, avoiding the target object to move and change positions frequently, which is beneficial to improve the user experience; since manual operation of the equipment, adjustment of the height and angle of the equipment, etc. are not required, the cognitive cost of the user learning the rehabilitation equipment is avoided.

[0032] In some optional implementation manners of the embodiment, the above rehabilitation training device can be used for autonomous (i.e., without human guidance such as doctors) rehabilitation training of any part (such as different limb parts) and any field (such as limbs, language, etc.). The above rehabilitation training device can be used for home rehabilitation training, and can also be used for medical institutions and rehabilitation institutions. However, the use of the above rehabilitation training device makes home rehabilitation training more convenient and better in experience under the premise of ensuring training effect.

[0033] In some optional implementation manners of the embodiment, the intelligent chassis 101 can be an intelligent chassis of any form capable of moving based on control instructions or control data, for example, it can be a wheeled cloud trace moving chassis.

[0034] In some optional implementation manners of the embodiment, the intelligent mechanical arm 103 can be an intelligent mechanical arm of any form capable of folding and rotating based on control instructions or control data.

[0035] In some optional implementations of the embodiment, the above-mentioned intelligent chassis 101, intelligent mechanical arm 103, display 104, sensor module 105, and visual acquisition module 106 are connected with the master control module, and the master control module controls the components to complete their respective functions.

[0036] In some optional implementations of the embodiment, the master control module can be a CPU chip or a controller with data processing and control capabilities.

[0037] In some optional implementations of the embodiment, in order to accurately plan the activity path, the above-mentioned sensor module 5 includes an ultrasonic sensor, an inertial measurement unit, and an infrared sensor.

[0038] The visual acquisition module 106 is configured to acquire image data of an environment in which the rehabilitation training device is located in the space.

[0039] The master control module is configured to match features of the image data with map features of the space, determine a current position of the rehabilitation training device in the space according to a matching result, and position the rehabilitation training device according to motion state information of the rehabilitation training device acquired by the inertial measurement unit, position data acquired by the infrared sensor, and the current position, update the positioning during continuous movement of the rehabilitation training device, automatically plan an activity path of the rehabilitation training device in the space, and control the rehabilitation training device to avoid obstacles on the activity path according to data (e.g., distance data) returned by the ultrasonic sensor.

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

[0041] In some optional implementations of the embodiment, the ultrasonic sensor calculates the distance between the rehabilitation training device and the obstacle by emitting ultrasonic waves and measuring the time taken for the waves to reflect off the obstacle. This method is low in cost, fast in acquisition speed, high in distance resolution, and not affected by weather conditions and external environmental conditions, and is suitable for various mobile robot sensing systems.

[0042] The inertial measurement unit (IMU) measures data from sensors such as gyroscopes and accelerometers, and uses algorithms such as Kalman filtering to position and navigate the rehabilitation training device. The 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, on the other hand, detect changes in infrared radiation to determine position.

[0044] In some optional implementations of the embodiment, in order to quickly and accurately determine a site that meets the needs of rehabilitation training, the master control module is provided for determining the size of the site according to the relative position information of the object in the space in the image data; judging the shape of the object according to the light and dark information of the image data; and determining a region where the size of the site is greater than a preset threshold and the shape of the object is different from the target object as the training region.

[0045] In some optional implementations of the embodiment, the above-mentioned preset threshold can be determined according to the length of the stretched limb of the rehabilitation training, so as to ensure that the size of the site meets the needs during various stretching movements of the limb during the training process. The difference between the shape of the object and the target object makes it convenient to accurately collect the training process data of the target object during the training process.

[0046] In some optional implementations of the embodiment, color information can 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 the embodiment, in order to improve the clarity and accuracy of the image data, the above-mentioned visual acquisition module 106 can include an illumination system, a visual sensor (such as a camera, a camera, etc.), an analog-to-digital converter, and a frame memory, etc. 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 embodiment, in order to improve the user experience and avoid manual adjustment of the equipment and movement of the position by the user, the automatic adjustment of the intelligent mechanical arm and the display to adapt to different rehabilitation training parts is proposed. For example, the master control module is used to establish a space coordinate system with the ground position where the target object is located as the origin in the image data; label the corresponding coordinate values of the height and width of the target object in the space coordinate system; calculate the position angle and height of the display that adapts to the rehabilitation training part according to the coordinate values of the height and width of the target object and the rehabilitation training part; and adjust the inclination angle and lifting height of the intelligent mechanical arm according to the position angle and height.

[0049] In some optional implementations of the embodiment, for example, taking the facial training for the rehabilitation of Parkinson's limb function as an example, the master control module calculates the height, angle, and angle of mouth opening of the target object in the spatial coordinate system with the reference calibrated origin as the starting point, and then controls the tilt angle and lifting height of the intelligent mechanical arm.

[0050] In some optional implementations of the embodiment, the intelligent mechanical arm 103 is lifted to the top surface of the carrier by the carrier, and the master control module takes the ground as the height calibration origin. The parameters required for the intelligent mechanical lifting can be calculated through the data returned by the posture sensor module, the visual acquisition module, and the ultrasonic module. The intelligent mechanical arm of the display is adjusted to a position angle and height suitable for rehabilitation.

[0051] In some optional implementations of the embodiment, taking the rehabilitation of Parkinson's limb function as an example, the facial, shoulder, limb, whole body, and hand are involved in each rehabilitation training part. Compared with the existing rehabilitation mode, the patient needs to repeatedly adjust the angle recognized by the equipment, which makes the patient unable to complete the entire training, and the patient's family members need to assist. The rehabilitation training device of the present 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 multiple sensors and algorithms, guides the patient to complete the training at home, and improves the training efficiency, effectiveness, and user experience.

[0052] In some optional implementations of the embodiment, in order to realize the flexibility and variability of the rehabilitation training device and reduce the size of the device, the carrier 102 is an upper opening cavity, one end of the intelligent mechanical arm 103 is fixed to the inner bottom of the cavity 102, and the master control module is further configured to inquire whether the target object has completed the training at the end of the rehabilitation training. When receiving the instruction to complete the training, the intelligent mechanical arm is controlled to fold and be recycled into the cavity to realize the folded state of the device, as shown in Figure 2 、 3 , Figure 2 is a plan view of the carrier 102 when the intelligent mechanical arm is folded and recycled into the cavity, Figure 3 is a top view of the carrier 102.

[0053] In some optional implementations of the embodiment, the master control module is further configured to control the visual acquisition module 106 to output a voice to inquire whether the target object has completed the training at the end of the rehabilitation training, and receive the 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 a voice or text to inquire whether the target object has completed the training, and the instruction to complete the training is received through the display 104.

[0055] In some optional implementations of the embodiment, it is proposed that the state of the display can be flexibly adjusted, for example, the master control module is also used to control the other end of the intelligent mechanical arm 103 to rotate to make the display 104 in a horizontal screen state when starting the rehabilitation training; and control the other end of the intelligent mechanical arm 103 to rotate to make the display 104 in a vertical screen state when completing the rehabilitation training, as shown in Figure 3 .

[0056] In some optional implementations of the embodiment, in order to improve the use convenience of the rehabilitation training device, as shown in Figure 1 , it is further proposed that the device further comprises:

[0057] a charging module 107, which is arranged on the outer wall of the carrier 102; and the master control module is further used to control the intelligent chassis 101 to move to a charging seat in the space according to the activity path after completing the rehabilitation training, so that the charging module 107 is connected with the charging seat to charge the rehabilitation training device.

[0058] In some optional implementations of the embodiment, the rehabilitation training device can accurately identify the position of the charging seat through the built-in sensor and algorithm, and plan an optimal path to return to the charging seat. For example, the rehabilitation training device can plan multiple paths to different destinations, such as a path to the training area and a path to the charging seat.

[0059] In some optional implementations of the embodiment, in order to further improve the convenience, individualization and timeliness of the rehabilitation training, the master control module is further used to determine a rehabilitation training period according to a rehabilitation training plan of the target object and an electronic medical record of the target object.

[0060] For example, the target object or relatives can scan the two-dimensional code of the rehabilitation training device to download a device app, remotely install relevant rehabilitation software, or install the rehabilitation software offline and synchronize to the rehabilitation training device. The rehabilitation software can output a rehabilitation training plan adapted to the target object based on relevant basic data, symptom data, electronic medical records, etc. of the target object. 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 period plan suitable for the life period and rehabilitation timeliness of the target object according to the rehabilitation training plan and the electronic medical record of the patient. For example, which time period is the rehabilitation training period every day.

[0061] In some optional implementations of the embodiment, to further improve the user experience of the rehabilitation training, the main control module is further configured to automatically wake up and control the back charging module 107 to disengage from the charging base and control the smart chassis 101 to move to the training area according to the activity path if the time reaches the rehabilitation training period.

[0062] For example, when the rehabilitation training period arrives every day, the rehabilitation training device automatically wakes up, controls the back charging module to automatically disengage from the charging base, and can also automatically find the target object himself through navigation and positioning, control the smart chassis 101 to move to guide the target object to move to the appropriate training area, and guide the target object to perform the relevant preparation work before rehabilitation and the training precautions through voice guidance.

[0063] In some optional implementations of the embodiment, the rehabilitation training device can collect the training process data such as the training state, training results, and action training degree of the target object through the visual acquisition module during the training process, and can synchronize the training process data to the contracted family doctor for data synchronization after completing the training of the target object, and can also send the training process data to the relatives of the target object to timely observe the rehabilitation condition of the target object, and can also synchronize the training process data with the data cloud platform to formulate the next rehabilitation training scheme according to the actual condition of the target object.

[0064] The above description is only the preferred embodiment of the present application and the explanation of the applied technical principles. It should be understood by those skilled in the art that the scope of the application involved in the present application is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by the combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the technical solutions formed by the mutual replacement of the above features and the technical features disclosed in the present application (but not limited to) having similar functions.

Claims

1. A rehabilitation training device, comprising: an intelligent chassis for carrying the rehabilitation training device to move; a carrier placed on the intelligent chassis; an intelligent mechanical arm, one end of which is fixed on the carrier, and the other end of which is fixedly connected with a display; the display is used to show rehabilitation training content; a sensor module is arranged on the outer wall of the carrier, and is used to collect environmental perception data of a space in which the rehabilitation training device is located; a visual acquisition module is placed on the display, and is used to collect image data; a master control module is built-in on 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 intelligent chassis to move according to the activity path, so as to move the rehabilitation training device to the training area; and is further used to determine a position angle and a height of the display which are adapted to a rehabilitation training part according to the image data and the rehabilitation training part of a target object, adjust an inclination angle and a lifting height of the intelligent mechanical arm according to the position angle and the height, and automatically adjust the intelligent mechanical arm and the display to adapt to different rehabilitation training parts when rehabilitation training of different parts is performed; the sensor module comprises an ultrasonic sensor, an inertial measurement unit and an infrared sensor; the visual acquisition module is used to collect image data of an environment in which the rehabilitation training device is located in the space; the master control module is used to match features of the image data with features of a map of the space, determine a current position of the rehabilitation training device in the space according to a matching result, and further used to position the rehabilitation training device according to motion state information of the rehabilitation training device collected by the inertial measurement unit, position data collected by the infrared sensor and the current position, realize positioning update in continuous movement of the rehabilitation training device, realize automatic planning of the activity path of the rehabilitation training device in the space, and control the rehabilitation training device to avoid obstacles on the activity path according to data returned by the ultrasonic sensor; the master control module is used to determine a size of a site according to relative position information of objects in the space in the image data, judge a shape of the objects according to brightness information of the image data, and determine a region in which the size of the site is greater than a preset threshold value and the shape of the objects is different from the target object as the training area; the master control module is used to establish a space coordinate system by taking a ground position in which the target object is located as an origin in the image data, label corresponding coordinate values of a height and a width of the target object in the space coordinate system, and calculate the position angle and the height of the display which are adapted to the rehabilitation training part according to the coordinate values of the height and the width of the target object and the rehabilitation training part, and adjust the inclination angle and the lifting height of the intelligent mechanical arm according to the position angle and the height.

2. The rehabilitation training device according to claim 1, wherein, the carrier is an open-top cavity; one end of the intelligent mechanical arm is fixed to the inner bottom of the cavity; the master control module is further configured to inquire whether the target object completes the training at the end of the rehabilitation training, and control the intelligent mechanical arm to fold and be recycled into the cavity when receiving an instruction of completing the training.

3. The rehabilitation training device according to claim 1, wherein, the master control module is further configured to control the visual acquisition module to output voice to inquire whether the target object completes the training at the end of the rehabilitation training, and receive an instruction of completing the training through the visual acquisition module; or, control the display to output voice or text to inquire whether the target object completes the training at the end of the rehabilitation training, and receive an instruction of completing the training through the display.

4. The rehabilitation training device according to claim 1, wherein, the master control module is further configured to control the other end of the intelligent mechanical arm to rotate to make the display in a horizontal screen state when starting the rehabilitation training, and control the other end of the intelligent mechanical arm to rotate to make the display in a vertical screen state when completing the rehabilitation training.

5. The rehabilitation training device of claim 1, wherein, the device further comprises: a recharging module disposed on the outer wall of the carrier; the master control module is further configured to control the intelligent chassis to move to a charging seat in the space according to the activity path to make the recharging module dock with the charging seat and charge the rehabilitation training device after completing the rehabilitation training.

6. The rehabilitation training device according to claim 5, wherein, the master control module is further configured to determine a rehabilitation training period according to a rehabilitation training plan of the target object and an electronic medical record of the target object.

7. The rehabilitation training device according to claim 6, wherein, the master control module is further configured to automatically wake up, control the recharging module to separate from the charging seat, and control the intelligent chassis to move to the training area according to the activity path if the time reaches the rehabilitation training period.

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