Control method and device of pushing training robot, electronic equipment and program product

Abstract

The invention is suitable for the technical field of robots, and provides a control method and device for a pushing training robot, electronic equipment and a program product. The control method of the pushing training robot comprises the following steps: after a pushing operation of a target user on the pushing training robot is triggered, obtaining pushing training parameters associated with the target user; according to the pushing training parameters, the pushing training robot is controlled to move; in the moving process of the pushing training robot, the pushing training robot is controlled to keep the pushing speed and / or the pushing resistance within a preset range. According to the embodiment of the invention, the pushing speed and / or the pushing resistance can be adaptively adjusted, so that the pushing training process is more scientific and effective.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular, relates to a control method, device, electronic equipment and program product for training a robot. Background Art

[0002] As the public pays more attention to healthy living, the demand for efficient and personalized rehabilitation training equipment is increasing. Traditional training equipment mostly uses fixed resistance or manually adjusted resistance, which leads to limited training effects and safety risks, and cannot meet the market demand for high-quality rehabilitation training equipment. Summary of the invention

[0003] The embodiments of the present application provide a control method, device, electronic device and program product for a pushing training robot, which can adaptively adjust the pushing speed and / or pushing resistance during the pushing training process, making the pushing training process more scientific and effective.

[0004] A first aspect of an embodiment of the present application provides a control method for a pushing training robot, comprising: after a target user triggers a pushing operation on the pushing training robot, obtaining pushing training parameters associated with the target user; controlling the movement of the pushing training robot according to the pushing training parameters; and during the movement of the pushing training robot, controlling the pushing training robot to keep the pushing speed and / or pushing resistance within a preset range.

[0005] In some embodiments of the first aspect, obtaining the pushing training parameters associated with the target user includes: controlling the pushing training robot to move to a target position; performing identity recognition at the target position, and when the target user is recognized, obtaining the pushing training parameters associated with the target user.

[0006] In some embodiments of the first aspect, obtaining the promotion training parameters associated with the target user includes: obtaining user data of the target user, the user data including one or more of the target user's physical condition, training goals, and historical training data; and determining the promotion training parameters adapted to the target user based on the user data.

[0007] In some embodiments of the first aspect, the control method of the pushing training robot further includes: if the pushing training robot cannot reach the target position, or if it is identified that the user does not match the target user, controlling the pushing training robot to output prompt information.

[0008] In some embodiments of the first aspect, before controlling the movement of the pushing training robot according to the pushing training parameters, it also includes: determining the target height of the pushing handle of the pushing training robot according to the height data of the target user; and adjusting the pushing handle according to the target height.

[0009] In some embodiments of the first aspect, the control method of the pushing training robot also includes: during the movement of the pushing training robot, if the first duration of the pushing handle of the pushing training robot being in an unsupported state is greater than a first duration threshold, or if the second duration of the pushing training robot not detecting the user is greater than a second duration threshold, then the pushing training robot is controlled to return to a preset standby point.

[0010] In some embodiments of the first aspect, during the process of pushing the training robot to move, it also includes: recording the current pushing data; after controlling the movement of the pushing training robot according to the pushing training parameters, it also includes: when it is detected that the pushing task of the target user is completed, determining and displaying the pushing score according to the current pushing data and historical pushing data.

[0011] A control device for a pushing training robot provided in the second aspect of an embodiment of the present application includes: a parameter acquisition unit, used to acquire pushing training parameters associated with a target user after the target user triggers a pushing operation on the pushing training robot; a motion control unit, used to control the movement of the pushing training robot according to the pushing training parameters; and an adjustment unit, used to control the pushing training robot to keep the pushing speed and / or pushing resistance within a preset range during the movement of the pushing training robot.

[0012] A third aspect of an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the control method for pushing a training robot when executing the computer program.

[0013] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the control method for pushing a training robot are implemented.

[0014] A fifth aspect of an embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes the steps of the control method for pushing a training robot.

[0015] In an embodiment of the present application, after the target user triggers the pushing operation of the pushing training robot, the movement of the pushing training robot is controlled according to the pushing training parameters associated with the target user. During the movement of the pushing training robot, the pushing training robot is controlled to keep the pushing speed and / or pushing resistance within a preset range. The pushing speed and / or pushing resistance can be adaptively adjusted during the pushing training process, making the pushing training process more scientific and effective. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 It is a schematic diagram of the implementation flow of a control method for promoting a training robot provided in an embodiment of the present application;

[0018] Figure 2 This is a schematic diagram of a specific implementation process of user registration provided in an embodiment of the present application;

[0019] Figure 3 This is a schematic diagram of a specific implementation flow of user login provided in an embodiment of the present application;

[0020] Figure 4 Schematic diagram of the architecture of the training robot provided in the embodiment of the present application;

[0021] Figure 5 This is a flow chart of the implementation training provided by the embodiment of the present application;

[0022] Figure 6 It is a structural schematic diagram of a control device for promoting a training robot provided in an embodiment of the present application;

[0023] Figure 7 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are protected by the present application.

[0025] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0026] In the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0027] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0028] As the public pays more attention to healthy living, the demand for efficient and personalized rehabilitation training equipment is increasing. Traditional training equipment mostly uses fixed resistance or manually adjusted resistance, which leads to limited training effects and safety risks, and cannot meet the market demand for high-quality rehabilitation training equipment.

[0029] In view of this, the present application proposes a control method for a pushing training robot, which can adaptively adjust the pushing speed and / or pushing resistance to make the pushing training process more scientific and effective.

[0030] In order to illustrate the technical solution of the present application, a specific embodiment is provided below for illustration.

[0031] Figure 1 The present invention provides a schematic diagram of a control method for a push training robot, which can be applied to an electronic device. The electronic device can be a computer, a mobile phone, or other intelligent device used to control or communicate with the push training robot, or it can be the push training robot itself.

[0032] Among them, the pushing training robot is a rehabilitation robot that provides pushing training for users. While the pushing training robot can provide support for users, users can push the pushing training robot to walk. The pushing training robot can adjust the resistance encountered by users during pushing through motion control, thereby promoting the recovery of users' motor functions and achieving the effect of rehabilitation training.

[0033] Specifically, the control method of the training robot may include the following steps S101 to S103.

[0034] Step S101, after the target user triggers the promotion operation on the promotion training robot, the promotion training parameters associated with the target user are obtained.

[0035] In the implementation of the present application, the target user refers to a user who needs to perform pushing training. The target user triggers the pushing operation of the pushing training robot, indicating that the user needs to start pushing training. The present application does not limit the triggering method of the pushing operation. For example, the pushing operation trigger can be confirmed when the pushing training robot detects that the target user holds the pushing handle, or when the pushing training robot detects the initial thrust.

[0036] For each user, a corresponding training plan can be pre-configured, including training tasks, training objectives of each training task, and its implementation training parameters. After the target user triggers the implementation operation of the implementation training robot, the implementation training parameters associated with the target user can be obtained for use in the implementation training.

[0037] Among them, the pushing training parameters may include but are not limited to: pushing speed, pushing angle, pushing distance, pushing duration, pushing resistance, etc.

[0038] Step S102, controlling the movement of the pushing training robot according to the pushing training parameters.

[0039] In the implementation manner of the present application, the movement of the pushing training robot can be controlled according to the pushing training parameters, so as to apply pushing resistance to the target user and meet the user's pushing training needs.

[0040] Step S103, during the movement of the pushing training robot, controlling the pushing training robot to keep the pushing speed and / or pushing resistance within a preset range.

[0041] In the implementation of the present application, the preset range can be set according to the needs, for example, according to the training plan formulated by professional medical staff. During the movement of the training robot, the training robot can be controlled to keep the pushing speed and / or pushing resistance within the preset range to ensure the effectiveness and safety of the pushing process of the target user.

[0042] Specifically, the force applied by the target user to the pushing training robot can be detected, and the damping coefficient of the robot can be adjusted, so as to control the pushing training robot to keep the pushing speed and / or pushing resistance within a preset range.

[0043] In an embodiment of the present application, after the target user triggers the pushing operation of the pushing training robot, the movement of the pushing training robot is controlled according to the pushing training parameters associated with the target user. During the movement of the pushing training robot, the pushing training robot is controlled to keep the pushing speed and / or pushing resistance within a preset range. The pushing speed and / or pushing resistance can be adaptively adjusted during the pushing training process, making the pushing training process more scientific and effective.

[0044] Specifically, in some embodiments of the present application, obtaining the pushing training parameters associated with the target user may include: controlling the pushing training robot to move to the target position, performing identity recognition at the target position, and when the target user is recognized, obtaining the pushing training parameters associated with the target user.

[0045] The target location can be a specific location set by the user or the location of the target user. The training robot can autonomously navigate to the target location and perform identity recognition at the target location through sensors such as cameras.

[0046] The above-mentioned identity recognition can be achieved by taking a user image with a camera, performing face detection on the user image, extracting facial features to compare with features in a face database, and determining whether the extracted facial features are consistent with the facial features of the target user.

[0047] For details, please refer to Figure 2 First, the target user can register. The target user can obtain the account, password and facial feature number. If the facial feature number already exists, it will remind that it already exists. Otherwise, the Software Development Kit (SDK) is activated, the software engine and camera are initialized, the face image is taken by the camera, and the facial features are extracted by the feature detection algorithm to register the face. If the registration fails, a prompt will be given. If the registration is successful, the facial features will be entered into the face database, and a prompt will be given that the registration is successful.

[0048] Please refer to Figure 3When the target user uses the promotion training robot, the user can log in. Specifically, the promotion training robot can activate the software development kit, initialize the software engine and camera, and take a user image, extract the facial features in the user image, and match them in the face library. If there is a facial feature with a similarity higher than the similarity threshold, the user with the facial feature is confirmed as the target user, and the relevant user data of the target user is obtained to complete the user login. If there is no facial feature with a similarity higher than the similarity threshold, it can be prompted that the face recognition error is unavailable and login is impossible.

[0049] In some implementations of the present application, obtaining promotion training parameters associated with a target user may include: obtaining user data of the target user, and determining promotion training parameters adapted to the target user based on the user data.

[0050] The user data may include one or more of the target user's physical condition, training goals, and historical training data.

[0051] Specifically, user data can be input into a deep learning model to output training parameters that are suitable for the target users, so that the training process is adapted to the actual conditions of the target users, thereby improving the pertinence and satisfaction of the training, avoiding sports injuries, and improving the safety and comfort of training.

[0052] In some embodiments of the present application, before controlling the movement of the pushing training robot according to the pushing training parameters, it may also include: determining the target height of the pushing handle of the pushing training robot according to the height data of the target user, and adjusting the pushing handle according to the target height.

[0053] In this way, the height of the pushing handle can be adapted to the height of the target user, making it convenient for the target user to hold the pushing handle.

[0054] In some embodiments of the present application, the control method of the pushing training robot may further include: if the pushing training robot cannot reach the target position, or if it is identified that the user does not match the target user, controlling the pushing training robot to output a prompt message to remind the user that the pushing task cannot be performed.

[0055] In some embodiments of the present application, the control method of the pushing training robot also includes: during the movement of the pushing training robot, if the first duration of the pushing handle of the pushing training robot being in an unsupported state is greater than a first duration threshold, or if the second duration of the pushing training robot not detecting the user is greater than a second duration threshold, then the pushing training robot is controlled to return to a preset standby point.

[0056] The first time threshold and the second time threshold can be set according to actual conditions, for example, both are set to 5 minutes. The hand-free state means that the user's hand is off the push handle, which can be measured by a sensor.

[0057] In some embodiments of the present application, during the process of training the robot to move, it also includes: detecting and displaying real-time training parameters, for example, information such as pushing speed, pushing angle, pushing distance, and pushing time changes can be displayed.

[0058] In some embodiments of the present application, during the process of training the robot to move, the process also includes: recording the current pushing data. The current pushing data may include but is not limited to the pushing speed, pushing angle, pushing distance, pushing duration, pushing resistance and other pushing training parameters of the current pushing task, and may also include error information when a fault or collision occurs.

[0059] After controlling the movement of the pushing training robot according to the pushing training parameters, it also includes: when it is detected that the pushing task of the target user is completed, determining and displaying the pushing score according to the current pushing data and historical pushing data.

[0060] The completion of the promotion task may refer to the target user's promotion duration meeting the duration threshold, or the promotion distance meeting the length threshold, which is not limited in this application. The historical promotion data refers to the promotion data recorded in the past training process.

[0061] Specifically, by using the current promotion data and historical promotion data, the stability and coordination of the target user's promotion process can be analyzed from the dimensions of promotion speed, control angle, leg coordination, etc., and the corresponding promotion score can be displayed for the target user's reference. Users can check their training progress and results anytime and anywhere, which is convenient for self-management and adjustment.

[0062] Figure 4 The schematic diagram of the architecture of the training robot is shown. The training robot may include a business user interface (UI) layer, a basic function user interface layer, a business processing layer, a basic function processing layer, a function and business system, a service layer, basic services, a component library, and chassis services and drivers.

[0063] Among them, the business interaction layer can be used to display information related to the implementation process, such as implementation tasks, real-time implementation training parameters, etc. The business processing layer is used to process data related to the implementation training process, such as determining the implementation score, etc. The basic function user interface layer can be used to display the user registration interface, login interface, etc. The basic function processing layer is used to output prompt information. Functional and business systems refer to various software and hardware functional systems, such as task systems, user systems, training systems, etc. The service layer is used to call various algorithms or control strategies, such as navigation algorithms, face recognition algorithms, etc. Basic services include but are not limited to state machines and databases. The component library may include but is not limited to analysis components, model components, business components, and basic components. Chassis services and drives are used to control the movement of the robot.

[0064] Please refer to Figure 5 After the target user triggers the push operation of the push training robot, the task database can be queried to obtain the training task of the target user according to the user data of the target user. If there is a training task, the push training parameters associated with the target user are obtained, otherwise, the task database is queried again. Subsequently, the working status of the robot is verified. If the robot is in an occupied state, the status of the training task is updated to an unfinished state. If the robot is in an idle state, it automatically enters the navigation mode and monitors whether the robot is in a logged-in state. If the robot is in a logged-in state, it logs out and starts to execute the training task, otherwise the training task can be executed directly.

[0065] like Figure 5As shown, in the process of executing the training task, the robot can first navigate to the target position, and retry if the navigation fails, until after three retries, the robot is controlled to output a prompt message and update the status of the training task to an unfinished state. If the robot reaches the target position, the navigation is successful, and the identity can be identified at the target position. If the identified user does not match the target user, the robot is controlled to output a prompt message to remind the user that the push task cannot be performed. If the push training robot does not detect that the second duration of the user is greater than the second duration threshold, the push training robot is controlled to return to the preset standby point. When the identified user matches the target user, that is, when the target user is identified, the login is completed, and the push training parameters associated with the target user are obtained and displayed. In response to the user viewing the training task and clicking to start execution, the push training robot is controlled to move according to the push training parameters, and during the movement of the push training robot, the push training robot is controlled to keep the push speed and / or push resistance within a preset range. If this training task is not completed, the status of the training task is updated to an unfinished state. If the first duration of the push handle of the push training robot being in the handless state during the movement of the push training robot is greater than the first duration threshold, the user will log out and control the push training robot to return to the preset standby point. If the training task is completed, the push data and push score can be displayed, the training task status is updated to the completed status, and the training task is ended. If the user clicks to continue training, other function interfaces can be displayed to experience other evaluation and push experience functions.

[0066] It should be noted that, for the sake of simplicity of description, the aforementioned method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the described order of actions, because according to the present application, certain steps can be performed in other orders.

[0067] like Figure 6 Shown is a schematic structural diagram of a control device 600 for a pushing training robot provided in an embodiment of the present application, wherein the control device 600 for the pushing training robot is configured on an electronic device.

[0068] Specifically, the control device 600 for promoting the training robot may include:

[0069] The parameter acquisition unit 601 is used to acquire the pushing training parameters associated with the target user after the target user triggers the pushing operation of the pushing training robot;

[0070] A motion control unit 602, used to control the motion of the pushing training robot according to the pushing training parameters;

[0071] The adjustment unit 603 is used to control the pushing training robot to keep the pushing speed and / or pushing resistance within a preset range during the movement of the pushing training robot.

[0072] In some embodiments of the present application, the parameter acquisition unit 601 is specifically used to: control the pushing training robot to move to the target position; perform identity recognition at the target position, and when the target user is recognized, obtain the pushing training parameters associated with the target user.

[0073] In some embodiments of the present application, the parameter acquisition unit 601 is specifically used to: obtain user data of the target user, the user data including one or more of the target user's physical condition, training goals, and historical training data; and determine the promotion training parameters adapted to the target user based on the user data.

[0074] In some embodiments of the present application, the control device 600 of the pushing training robot may further include a prompt unit, which is specifically used to: if the pushing training robot cannot reach the target position, or if it is identified that the user does not match the target user, control the pushing training robot to output a prompt message.

[0075] In some embodiments of the present application, the control device 600 of the pushing training robot may further include a handle adjustment unit, which is specifically used to: determine the target height of the pushing handle of the pushing training robot according to the height data of the target user; and adjust the pushing handle according to the target height.

[0076] In some embodiments of the present application, the motion control unit 602 can also be used to: during the movement of the pushing training robot, if the first duration of the pushing handle of the pushing training robot being in the hand-free state is greater than a first duration threshold, or if the second duration of the pushing training robot not detecting the user is greater than a second duration threshold, then control the pushing training robot to return to a preset standby point.

[0077] In some embodiments of the present application, the control device 600 of the pushing training robot may also include a score analysis unit, which is specifically used to: after controlling the movement of the pushing training robot according to the pushing training parameters, it also includes: when it is detected that the pushing task of the target user is completed, determine and display the pushing score based on the current pushing data and historical pushing data.

[0078] It should be noted that, for the convenience and simplicity of description, the specific working process of the control device 600 for promoting the training robot can be referred to Figures 1 to 5 The corresponding process of the method will not be repeated here.

[0079] like Figure 7 , which is a schematic diagram of an electronic device provided in an embodiment of the present application. Specifically, the electronic device 7 may include: a processor 70, a memory 71, and a computer program 72 stored in the memory 71 and executable on the processor 70, such as a control program for a training robot. When the processor 70 executes the computer program 72, the steps in the above-mentioned control method for training a robot are implemented, such as Figure 1 Alternatively, when the processor 70 executes the computer program 72, the functions of each module / unit in the above-mentioned device embodiments are realized, for example Figure 6 The functions of the parameter acquisition unit 601, the motion control unit 602 and the adjustment unit 603 are shown.

[0080] The computer program may be divided into one or more modules / units, which are stored in the memory 71 and executed by the processor 70 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program in the electronic device.

[0081] For example, the computer program can be divided into: a parameter acquisition unit, a motion control unit, and an adjustment unit. The specific functions of each unit are as follows: the parameter acquisition unit is used to acquire the pushing training parameters associated with the target user after the target user triggers the pushing operation of the pushing training robot; the motion control unit is used to control the pushing training robot to move according to the pushing training parameters; the adjustment unit is used to control the pushing training robot to keep the pushing speed and / or pushing resistance within a preset range during the movement of the pushing training robot.

[0082] The electronic device may include, but is not limited to, a processor 70 and a memory 71. Those skilled in the art will appreciate that Figure 7 These are merely examples of electronic devices and do not constitute a limitation of the electronic device. The electronic device may include more or fewer components than those shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0083] The processor 70 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0084] The memory 71 may be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. The memory 71 may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device. Furthermore, the memory 71 may also include both an internal storage unit of the electronic device and an external storage device. The memory 71 is used to store the computer program and other programs and data required by the electronic device. The memory 71 may also be used to temporarily store data that has been output or is to be output.

[0085] It should be noted that, for the convenience and brevity of description, the structure of the above electronic device can also refer to the specific description of the structure in the method embodiment, which will not be repeated here.

[0086] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0087] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0088] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are 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 this application.

[0089] In the embodiments provided in the present application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0090] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0091] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0092] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0093] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A control method for promoting a training robot, characterized in that: include: After the target user triggers a promotion operation on the promotion training robot, obtaining promotion training parameters associated with the target user; Controlling the movement of the pushing training robot according to the pushing training parameters; During the movement of the pushing training robot, the pushing training robot is controlled to keep the pushing speed and / or pushing resistance within a preset range.

2. The control method of the pushing training robot as claimed in claim 1, characterized in that: The obtaining of the promotion training parameters associated with the target user includes: Controlling the pushing training robot to move to a target position; Identity recognition is performed at the target location, and when the target user is recognized, a promotion training parameter associated with the target user is obtained.

3. The control method of the pushing training robot as claimed in claim 2, characterized in that: The obtaining of the promotion training parameters associated with the target user includes: Acquire user data of the target user, wherein the user data includes one or more of the target user's physical condition, training goal, and historical training data; The promotion training parameters adapted to the target user are determined according to the user data.

4. The control method of the pushing training robot as claimed in claim 2, characterized in that: The control method for promoting the training robot also includes: If the pushing training robot cannot reach the target position, or if it is identified that the user does not match the target user, the pushing training robot is controlled to output prompt information.

5. The control method of the pushing training robot according to any one of claims 1 to 4, characterized in that: Before controlling the movement of the pushing training robot according to the pushing training parameters, the method further comprises: Determining a target height of a pushing handle of the pushing training robot according to the height data of the target user; According to the target height, the pushing handle is adjusted.

6. The control method of the pushing training robot according to any one of claims 1 to 4, characterized in that: The control method for promoting the training robot also includes: During the movement of the pushing training robot, if the first duration of the pushing handle of the pushing training robot being in the hand-free state is greater than the first duration threshold, or if the second duration of the pushing training robot not detecting the user is greater than the second duration threshold, the pushing training robot is controlled to return to the preset standby point.

7. The control method of a pushing training robot according to any one of claims 1 to 4, characterized in that: The process of promoting the training robot movement also includes: recording the promotion data; After controlling the movement of the pushing training robot according to the pushing training parameters, the method further includes: when it is detected that the pushing task of the target user is completed, determining and displaying the pushing score according to the current pushing data and historical pushing data.

8. A control device for a training robot, characterized in that: include: A parameter acquisition unit, configured to acquire a push training parameter associated with the target user after the target user triggers a push operation on the push training robot; A motion control unit, used to control the motion of the pushing training robot according to the pushing training parameters; The adjustment unit is used to control the pushing training robot to keep the pushing speed and / or pushing resistance within a preset range during the movement of the pushing training robot.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the control method for a training robot are implemented as described in any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed, the steps of the control method for a training robot as claimed in any one of claims 1 to 7 are implemented.

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