Active artificial limb and road condition conversion method

Abstract

The invention discloses an active artificial limb and a road condition conversion method applied to the technical field of bionic mechanics. The method comprises the steps that when it is determined that road condition switching conditions are met according to gait features of a bionic mechanical device, environment feature collection is carried out, and according to the collected environment features and corresponding collection equipment position orientation information, the road condition conversion type and the distance between a road condition to be converted and the bionic mechanical device are determined. And determining the next action mode based on the road condition conversion type, the action standard parameter and the distance. According to the method and the device, the problem that a bionic mechanical device cannot be automatically adjusted to adapt to scene switching during scene switching in the prior art can be solved, the action smoothness of the bionic mechanical device under scene switching is improved, and the action can be automatically and accurately adjusted to adapt to scene switching.

Description

Technical Field

[0001] The present application relates to the technical field of bionic mechanics, and in particular to an active prosthesis and a road condition conversion method. Background Art

[0002] Bionic mechanical devices are mechanical devices with more concentrated functions, higher efficiency and biological characteristics designed and manufactured to imitate the morphology, structure and control principles of biological organisms, such as active prostheses and robots.

[0003] The action execution accuracy of bionic mechanical devices in related technologies is not high, especially when switching from one scene to another, the action switching is not smooth, and it cannot automatically and accurately adjust to adapt to the scene switching. Take the bionic mechanical device as an active prosthesis, and the scene switching is the conversion of the road conditions between flat ground and stairs. During the walking process, when switching from flat ground to stairs, the active prosthesis lacks a smooth transition during the conversion process, resulting in a sudden change in gait, affecting the continuity and comfort of walking, and the gait cannot be adjusted accurately in real time, and safety and stability cannot be guaranteed.

[0004] In view of this, improving the smoothness of the movement of bionic mechanical devices under scene switching and being able to automatically and accurately adjust the movement to adapt to scene switching are technical problems that technical personnel in this field need to solve.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0006] The present application provides a road condition conversion method, device, electronic device and non-volatile storage medium, which improve the smoothness of the movement of bionic mechanical devices under scene switching and can automatically and accurately adjust the movement to adapt to scene switching.

[0007] In order to solve the above technical problems, this application provides the following technical solutions:

[0008] On one hand, the present application provides a road condition conversion method, including:

[0009] When it is determined that the road condition switching condition is met according to the gait characteristics of the bionic mechanical device, an environmental feature acquisition instruction is generated;

[0010] Whenever an environmental feature collection instruction is detected, the road condition conversion type and the distance between the road condition to be converted and the bionic mechanical device are determined according to the collected environmental features and the corresponding collection device position orientation information;

[0011] Based on the road condition conversion type and the action standard parameters, the action mode is determined according to the distance between the road condition to be converted and the bionic mechanical device.

[0012] Exemplarily, after determining the action mode based on the road condition conversion type and the action standard parameter and according to the distance between the road condition to be converted and the bionic mechanical device, the method further includes:

[0013] Determine the road condition parameters of the road condition to be converted according to the environmental characteristics and the location and orientation information of the acquisition device;

[0014] Based on the action mode and the action standard parameters, the action trajectory of the bionic mechanical device is determined according to the action characteristics of the bionic mechanical device under the road condition to be converted and the road condition parameters.

[0015] Exemplarily, the action standard parameter is a healthy limb step length, the road condition parameter includes a stair height and a stair width, the action characteristic of the bionic mechanical device in the road condition to be converted is moving along an arc, and determining the action trajectory of the bionic mechanical device according to the action characteristic of the bionic mechanical device in the road condition to be converted and the road condition parameter includes:

[0016] Determine the center coordinate point of the projection of the horizontal plane of the steps to be stepped on the vertical plane according to the road condition parameters;

[0017] Based on the healthy limb step length, determining the plantar coordinate point of the center point of the plantar of the healthy limb in the vertical horizontal plane according to the distance between the road condition to be converted and the bionic mechanical device;

[0018] The distance between the central coordinate point and the sole coordinate point is used as the circle diameter and the circle center;

[0019] A circular trajectory is determined according to the circle diameter and the circle center as the sole trajectory of the bionic mechanical device.

[0020] Exemplarily, the road condition switching condition is when the contact position between the bionic mechanical device and the ground is at the maximum, and when it is determined according to the gait characteristics of the bionic mechanical device that the road condition switching condition is met, generating an environmental characteristic acquisition instruction includes:

[0021] The pressure sensors are divided into a plurality of rows in advance according to the maximum length of the contact position between the bionic mechanical device and the ground;

[0022] Acquiring pressure sensor data at a position where the bionic mechanical device contacts the ground during movement;

[0023] Determining the support phase gait characteristics of the bionic mechanical device according to the changing rules of the pressure sensor data in each row;

[0024] When the support period gait characteristics meet the road condition switching condition, an environmental feature collection instruction is generated.

[0025] Exemplarily, the environmental feature is three-dimensional environmental point cloud data, and the method of determining the road condition conversion type and the distance between the road condition to be converted and the bionic mechanical device according to the environmental feature and the corresponding acquisition device position orientation information includes:

[0026] The three-dimensional environment point cloud data is coordinate-converted based on the position and orientation information of the acquisition device, so that the Z axis of the acquisition device is parallel to the ground, and the horizontal plane of the acquisition device is parallel to the vertical plane of the road condition to be converted;

[0027] According to the normal vector characteristics of the horizontal plane and the vertical plane, the three-dimensional environment point cloud data after coordinate transformation is divided into horizontal plane point cloud data and vertical plane point cloud data;

[0028] Projecting the horizontal plane point cloud data and the vertical plane point cloud data on the vertical plane to obtain two-dimensional coordinate points;

[0029] Clustering the two-dimensional coordinate points to obtain horizontal plane coordinate points and vertical plane coordinate points of each staircase;

[0030] Identifying a road condition conversion type according to the number of vertical planes formed by the vertical plane point cloud data;

[0031] Determine the distance between the road condition to be converted and the bionic mechanical device according to the Z-axis coordinates of the vertical plane coordinate points of each staircase;

[0032] Correspondingly, determining the road condition parameters of the road condition to be converted according to the environmental characteristics and the location and orientation information of the acquisition device includes:

[0033] Determine the height of the stairs according to the Y coordinates of the vertical plane coordinate points of each step of the stairs;

[0034] Determine the width of the stairs according to the Z coordinates of the horizontal plane coordinate points of each staircase;

[0035] The height of the stairs and the width of the stairs are used as the road condition parameters of the stairs.

[0036] Exemplarily, the acquisition device position orientation information is Euler angles, and the coordinate conversion of the three-dimensional environment point cloud data based on the acquisition device position orientation information includes:

[0037] The three-dimensional environment point cloud data is subjected to radius filtering and random downsampling filtering, and the target point cloud data is intercepted from the filtered three-dimensional environment point cloud data by extending the preset distance in the positive and negative directions of the X-axis with the origin of the spatial coordinate system as the center;

[0038] Direction correction is performed on the target point cloud data according to the Euler angle to perform coordinate transformation on the target point cloud data.

[0039] Exemplary also include:

[0040] Obtaining the rotation angle of the inertial measurement unit around the X-axis of the spatial coordinate system during the measurement process, and using the angle as the Euler angle of the connection component between the first joint and the second joint of the bionic mechanical device upward with the ground as the baseline;

[0041] Determining whether the bionic mechanical device is in a swing phase or a support phase according to a variation trend of the angle, and determining a gait feature of the bionic mechanical device in the swing phase according to the angle;

[0042] The swing phase gait characteristics and the support phase gait characteristics are used as the gait characteristics of the entire gait cycle of the bionic mechanical device.

[0043] Exemplarily, the determining of the action mode based on the road condition conversion type and the action standard parameter according to the distance between the road condition to be converted and the bionic mechanical device includes:

[0044] When the distance is less than the standard action parameter, the healthy limb moves;

[0045] When the distance is greater than the standard action parameter and less than twice the product of the standard action parameter and the fluctuation factor, the healthy limb moves forward once according to the standard action parameter, and then the bionic mechanical device moves;

[0046] When the distance is greater than twice the product of the standard action parameter and the fluctuation factor, the healthy limb moves forward once according to the standard action parameter, and the bionic mechanical device moves forward once according to the standard action parameter, triggering the generation of the environmental feature collection instruction.

[0047] On the other hand, the present application provides an active prosthesis, characterized in that it includes a processor, a memory, a pressure sensor, an inertial measurement unit, a depth camera, and a mounting device;

[0048] Wherein, the pressure sensor is deployed on the sole of the active prosthesis to collect sole pressure data;

[0049] The mounting device is a wedge-shaped device deployed at the calf position of the active prosthesis, and the wedge-shaped plane of the mounting device includes a first mounting slot and a second mounting slot, the first mounting slot is used to mount the inertial measurement unit, and the second mounting slot is used to mount the depth camera; the inertial measurement unit is used to measure the Euler angles of the calf and the depth camera, and the depth camera is used to collect environmental features;

[0050] The processor is used to implement the steps of any of the above-mentioned road condition conversion methods when executing the computer program stored in the memory.

[0051] Finally, the present application also provides a method for converting road conditions of an active prosthesis, including:

[0052] When it is determined that the entire sole of the prosthesis touches the ground according to the gait characteristics of the active prosthesis during the support period, an environmental feature acquisition instruction is generated;

[0053] Whenever an environmental feature acquisition instruction is detected, the type of road condition conversion and the distance between the road condition to be converted and the active prosthesis are determined according to the acquired environmental features and the corresponding acquisition device position orientation information;

[0054] Based on the road condition conversion type and the healthy limb step length, and according to the distance between the road condition to be converted and the bionic mechanical device, the action sequence and action mode of the healthy limb and the active prosthesis at the current moment are determined.

[0055] The advantage of the technical solution provided by the present application is that when a road condition switch is detected, the road condition switch type is identified based on the collected environmental information, and the distance between the bionic mechanical device and the road condition to be switched is determined. After the road condition switch type is accurately identified, the next action of the bionic mechanical device can be determined by combining the action standard parameters and the distance, and the action can be automatically and accurately adjusted to adapt to the scene switch, thereby improving the smoothness of the action of the bionic mechanical device under the scene switch.

[0056] In addition, the present application also provides an active prosthesis and a road condition conversion method thereof for the road condition conversion method, which further makes the method more practical. The active prosthesis and the road condition conversion method thereof have corresponding advantages.

[0057] The technical features mentioned above, the technical features to be mentioned below, and the technical features shown separately in the drawings can be combined with each other arbitrarily, as long as the combined technical features are not contradictory. All feasible feature combinations are technical contents clearly recorded in this application. Any of the multiple sub-features contained in the same sentence can be applied independently, and does not have to be applied together with other sub-features.

[0058] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. 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 any creative work.

[0060] Figure 1 A flow chart of a road condition conversion method provided in this application;

[0061] Figure 2 A schematic diagram of the structure of the pressure sensor provided in this application in an exemplary application scenario;

[0062] Figure 3 The pressure value of the horizontal ground multi-step walking matrix column type thin film pressure sensor provided by this application;

[0063] Figure 4 A schematic diagram of the process flow of the active prosthesis road condition conversion method provided in this application;

[0064] Figure 5 A schematic flow chart of another method for converting road conditions of an active prosthesis provided in the present application;

[0065] Figure 6 A schematic diagram of environmental characteristics collected when the flat road condition is switched to the staircase road condition provided by this application;

[0066] Figure 7 A schematic diagram of environmental characteristics collected when the flat road condition is switched to the downstairs road condition provided by this application;

[0067] Figure 8 The application provided for Figure 6 A schematic diagram of point cloud data obtained after preprocessing the environmental features;

[0068] Fig. 9 The application provided for Figure 7 A schematic diagram of point cloud data obtained after preprocessing the environmental features;

[0069] Fig.10 The application provided for Figure 8 Schematic diagram of the projected clustering results of the environmental features;

[0070] Fig.11 The application provided for Fig. 9 Schematic diagram of the projected clustering results of the environmental features;

[0071] Fig.12 A schematic diagram for determining the mode of action provided for this application;

[0072] Fig.13 This is a schematic diagram of the calculation of the arc of the active prosthetic foot trajectory corresponding to the switching from the flat road condition to the staircase road condition in this application;

[0073] Fig.14 This is a schematic diagram of the calculation of the arc of the active prosthetic foot trajectory corresponding to the switching from the flat road condition to the staircase road condition in this application;

[0074] Fig.15 A schematic diagram of a structural framework of a specific implementation of an active prosthesis provided in this application;

[0075] Fig.16 A schematic diagram of the structure of an exemplary embodiment of the installation device provided in the present application. DETAILED DESCRIPTION

[0076] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Among them, the terms "first", "second", "third", "fourth", etc. in the specification and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations of the two are intended to cover non-exclusive inclusions. The term "exemplary" means "used as an example, embodiment or illustrative". Any embodiment described here as "exemplary" is not necessarily interpreted as being superior or better than other embodiments.

[0077] Various non-limiting embodiments of the present application are described in detail below. In order to better illustrate the present application, numerous specific details are provided in the specific embodiments below. It should be understood by those skilled in the art that the present application can also be implemented without these specific details. In other examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application.

[0078] First see Figure 1 , Figure 1 A flow chart of a road condition conversion method provided by this application, which may include the following contents:

[0079] S101: When it is determined that the road condition switching condition is met according to the gait characteristics of the bionic mechanical device, an environmental characteristic acquisition instruction is generated.

[0080] Among them, the bionic mechanical device of this embodiment is a mechanical device with more concentrated functions, higher efficiency and biological characteristics designed and manufactured to imitate the morphology, structure and control principle of organisms, including but not limited to robots, prostheses, and bionic legs. The gait characteristics are used to reflect the action form of the current bionic mechanical device, such as whether it is a support period or a swing period. If it is a support period, whether the whole sole of the foot is on the ground or the sole of the foot is on the ground with the heel in the air. The road condition switching condition is a condition that is pre-set and used to trigger the collection of environmental data. Those skilled in the art can flexibly set it according to the actual accuracy and data processing volume required, which does not affect the implementation of the present invention.

[0081] S102: Whenever an environmental feature collection instruction is detected, the road condition conversion type and the distance between the road condition to be converted and the bionic mechanical device are determined according to the collected environmental features and the corresponding collection device position orientation information.

[0082] Whenever an environmental feature acquisition instruction is detected, the environmental feature acquisition device is triggered to acquire environmental features, and S102 and S103 are executed. The type of environmental features matches the acquisition device. For example, if the environmental features are point cloud data, they can be acquired by a laser radar or a depth camera. If the environmental features are three-dimensional image data, they can be acquired by a distance meter and an image acquisition device. Those skilled in the art can make choices based on actual conditions, which will not affect the implementation of the present invention. The acquisition device position orientation information is used to describe the orientation and position of the acquisition device in three-dimensional space. For example, the acquisition device position orientation information can be represented by Euler angles. Euler angles may include pitch angles (Pitch), yaw angles (Yaw) and roll angles (Roll). These angles can be used to acquire the specific orientation and position of the device position camera. Taking a depth camera as an example, Euler angles can describe the direction and posture of the depth camera in three-dimensional space. The road condition conversion type indicates the road condition to be transitioned from the current road condition, that is, the road condition to be switched to is defined as the road condition to be converted. The road condition conversion types include switching from flat ground conditions to upstairs conditions, switching from flat ground conditions to downstairs conditions, switching from flat ground conditions to uphill conditions, switching from flat ground conditions to downhill conditions, switching from upstairs conditions to flat ground conditions, and switching from downstairs conditions to flat ground conditions.

[0083] S103: Based on the road condition conversion type and the action standard parameters, the action mode is determined according to the distance between the road condition to be converted and the bionic mechanical device.

[0084] Among them, the action standard parameter indicates the distance of an action in the current scene. For walking scenes, if the bionic mechanical device is a prosthesis, the action standard parameter can be the healthy limb step length, and if the bionic mechanical device is a robot, the action standard parameter can be the robot step length. The action mode is how to act at the next moment of the current moment, including what action to do in what way and which leg to step out. What action to do in what way is determined by the road condition conversion type. For example, if the road condition conversion type is from flat ground to climbing stairs, the action should be to lift the leg and step up. If the road condition conversion type is from flat ground to descending stairs, the action should be to lift the leg and step down.

[0085] In the technical solution provided by the present application, when it is detected that a road condition switch is to be made, the road condition switch type is identified based on the collected environmental information, and the distance between the bionic mechanical device and the road condition to be switched is determined. After the road condition switch type is accurately identified, the next action of the bionic mechanical device can be determined by combining the action standard parameters and the distance between them, and the action can be automatically and accurately adjusted to adapt to the scene switch, thereby improving the smoothness of the action of the bionic mechanical device under the scene switch.

[0086] The above embodiment does not limit how to generate the environment feature collection instruction. Based on the above embodiment, the present application also provides an exemplary implementation method, which may include the following contents:

[0087] The pressure sensors are pre-divided into multiple rows according to the maximum length of the contact position between the bionic mechanical device and the ground; the pressure sensor data at the contact position between the bionic mechanical device and the ground during movement is obtained; the support period gait characteristics of the bionic mechanical device are determined according to the change pattern of the pressure sensor data in each row; when the support period gait characteristics meet the road condition switching conditions, an environmental feature acquisition instruction is generated.

[0088] In this embodiment, the pressure sensor may adopt any sensor that can measure pressure data, which does not affect the implementation of the present invention. The size of the contact position between the bionic mechanical device and the ground will be different according to different actions. The maximum length refers to the length of the position when the contact position is the largest in all actions. Taking the bionic mechanical device as a prosthesis as an example, the maximum length is the length of the entire sole of the foot. Taking the mechanical leg as an example, the maximum length is the bottom length of the mechanical leg. In order to facilitate the discovery of the change pattern, the pressure points of each row of the pressure sensor can be averaged to represent the pressure value of each row. According to the change pattern of the pressure point values ​​of each row of the pressure sensor, the gait characteristics of the bionic mechanical device during the support period can be obtained. Taking the pressure sensor as an example, Figure 2The flexible matrix column type thin film pressure sensor shown in the figure takes the prosthesis as an example of a bionic mechanical device. The flexible matrix column type thin film pressure sensor on the sole of the foot is divided into 201-206 rows of pressure point data according to the length of the sole of the prosthesis. The average of each row of data represents the row of data. By analyzing the change law of the average of the 6 rows of data, the gait characteristics of the support period can be obtained. The gait characteristics include but are not limited to the heel landing first and the sole of the foot landing later; the heel leaves the ground first and the sole of the foot leaves the ground later. By analyzing these 6 rows of data, the following can be obtained: Figure 3 The gait data of the stance phase are shown. Figure 3 Each color curve represents the change of pressure value in each row. From the color change curve, it can be seen that the pressure data conforms to the gait characteristics of the support period.

[0089] For example, taking into account both the data processing volume and detection accuracy of environmental characteristics, an environmental characteristic acquisition instruction can be generated each time the bottom of the bionic mechanical device is completely on the ground. Taking the active prosthesis as an example, if the matrix column thin film pressure sensor detects that the entire sole of the prosthesis is on the ground, the acquisition device is triggered to shoot the environment, and the environmental characteristics are obtained by processing the captured environmental data accordingly.

[0090] Based on the above embodiments, the present invention further provides a method for determining the gait characteristics of a bionic mechanical device, which may include the following contents:

[0091] The angle of rotation of the inertial measurement unit around the X-axis of the spatial coordinate system during the measurement process is obtained, and the angle is used as the Euler angle of the connecting component between the first joint and the second joint of the bionic mechanical device with the ground as the baseline; according to the changing trend of the angle, it is determined whether the bionic mechanical device is in the swing phase or the support phase, and the swing phase gait characteristics of the bionic mechanical device are determined according to the angle; the swing phase gait characteristics and the support phase gait characteristics are used as the gait characteristics of the entire gait cycle of the bionic mechanical device.

[0092] After the support period gait characteristics are determined by the pressure sensor data of the above embodiment, the gait cycle includes a swing period and a support period. In this embodiment, the swing period gait characteristics can be determined by the measurement data of the inertial measurement unit. The Euler angle of the connecting component between the first joint and the second joint of the bionic mechanical device with the ground as the baseline can accurately reflect the characteristics of the bionic mechanical device during the action process. Taking the prosthesis as an example, the connecting component between the first joint and the second joint of the bionic mechanical device with the ground as the baseline is the calf. The gait characteristics of the swing period can be expressed by the Euler angle, which can be expressed by the roll angle on the IMU sensor, that is, the angle of rotation of the IMU around the X-axis. In the transition process from the swing period to the support period, the roll angle tends to increase, that is, the gait characteristics of the bionic mechanical device in the swing period can be obtained through the roll angle, and the obtained swing period gait characteristics and support period gait characteristics constitute the gait characteristics of the entire gait cycle.

[0093] With the continuous advancement of medical technology and the growing demand for rehabilitation, prosthetic technology has become one of the research directions in modern medicine and engineering. Traditional prostheses, or passive prostheses, rely on the user's muscle strength and gait habits to simulate normal walking movements. This type of prosthesis has obvious limitations when dealing with complex and changing road conditions, especially in the transition between flat ground and stairs. When walking on flat ground, passive prostheses can better simulate the gait of healthy limbs, but when walking on stairs, due to the changes in the height and inclination angle of the stair steps, the wearer needs to spend more effort and attention to maintain balance and stability, which not only increases the difficulty of walking, but may also cause safety hazards such as falls.

[0094] In order to solve this problem, active prostheses have been developed that can automatically adjust the gait according to the wearer's walking intention and changes in road conditions through built-in power systems and sensors. However, although the active prostheses in the current related technologies can recognize the environment, such as stairs, they lack smooth transitions during road condition conversions, resulting in sudden changes in gait, affecting the continuity and comfort of walking. In addition, the built-in algorithm is complex, resulting in a slow response speed, and the gait cannot be adjusted accurately in real time. The safety and stability of walking do not meet user needs. In view of this, the present invention also provides a method for converting road conditions of an active prosthesis, such as Figure 4 As shown, it may include the following:

[0095] S401: When it is determined that the entire sole of the prosthesis is touching the ground according to the gait characteristics of the active prosthesis during the support period, an environmental feature collection instruction is generated.

[0096] S402: Whenever an environmental feature collection instruction is detected, the road condition conversion type and the distance between the road condition to be converted and the active prosthesis are determined according to the collected environmental features and the corresponding collection device position orientation information.

[0097] S403: Based on the road condition conversion type and the healthy limb step length, and according to the distance between the road condition to be converted and the bionic mechanical device, determine the movement sequence and movement mode of the healthy limb and the active prosthesis at the current moment.

[0098] The implementation method of this embodiment is the same as that of the above embodiment. Please refer to the same contents recorded in the above embodiment, which will not be repeated here.

[0099] In order to make it clearer to those skilled in the art how the active prosthesis of the present invention realizes the road condition conversion, the present embodiment further provides that the pressure sensor adopts a matrix column type thin film pressure sensor, the first road condition is flat ground, the second road condition is stairs, the road condition conversion type is the flat ground road condition converted to the staircase road condition or the flat ground road condition converted to the staircase road condition type, and the road condition conversion process of the active prosthesis may include:

[0100] like Figure 5As shown, the sensor data collected by the matrix column thin film pressure sensor is obtained, and the support period gait characteristics of the active prosthesis are obtained by analyzing the sensor data. According to the support period gait characteristics, it is determined that the prosthesis is fully on the ground, and the stair point cloud data is captured by a depth camera, and the Euler angle of the IMU (inertial measurement unit) is read at this time. The type of road condition conversion is determined based on the stair point cloud data and the Euler angle, and the height, width of the stairs and the distance between the prosthesis and the stairs are calculated. By comparing the known relationship between the healthy limb step length of the prosthesis wearer and the distance between the active prosthesis and the stairs, it is determined whether the step up or down the stairs is an active prosthesis or a healthy limb. When the step up or down the stairs is an active prosthesis, the arc of the center trajectory of the plantar of the prosthesis going up (down) the stairs is calculated.

[0101] It should be noted that there is no strict order of execution between the steps in this application. As long as they comply with the logical order, these steps can be executed simultaneously or in a certain preset order. Figure 1 , Figure 4 and Figure 5 This is just a schematic and does not mean that this is the only execution order.

[0102] The above embodiment does not limit how to determine the type and distance of road condition conversion by environmental features and acquisition device position orientation information. Based on the above embodiment, this embodiment collects three-dimensional environmental point cloud data of stairs as environmental features, and provides an exemplary implementation method for processing the environmental features, which may include the following contents:

[0103] Based on the position and orientation information of the acquisition device, the three-dimensional environmental point cloud data is converted into coordinates so that the Z axis of the acquisition device is parallel to the ground, and the horizontal plane of the acquisition device is parallel to the vertical plane of the road condition to be converted; according to the normal vector characteristics of the horizontal plane and the vertical plane, the three-dimensional environmental point cloud data after the coordinate conversion is divided into horizontal plane point cloud data and vertical plane point cloud data; the horizontal plane point cloud data and the vertical plane point cloud data are projected on the vertical plane to obtain two-dimensional coordinate points; the two-dimensional coordinate points are clustered to obtain the horizontal plane coordinate points and the vertical plane coordinate points of each step of the stairs; the road condition conversion type is identified according to the number of vertical class planes formed by the vertical plane point cloud data; according to the Z-axis coordinates in the vertical plane coordinate points of each step of the stairs, the distance between the road condition to be converted and the bionic mechanical device is determined; according to the Y coordinates in the vertical plane coordinate points of each step of the stairs, the height of the stairs is determined; according to the Z coordinates in the horizontal plane coordinate points of each step of the stairs, the width of the stairs is determined; the height of the stairs and the width of the stairs are used as the road condition parameters of the stairs.

[0104] In this embodiment, the three-dimensional environment point cloud features are as follows: Figure 7 and Figure 6As shown, the origin of the coordinate system in the figure is the intersection of arrows of various colors, representing the depth camera lens, wherein the arrow pointing inwards represents the vector in the X direction, the arrow pointing outwards and pointing to the point cloud data represents the direction vector in the Z direction, and another arrow pointing outwards represents the direction vector in the Z direction. In order to further improve the processing accuracy of environmental features, the collected original environmental features may be preprocessed before processing them. Exemplarily, the preprocessing process may include: filtering the three-dimensional environmental point cloud data to reduce the amount of original point cloud data and filter out outliers and noise. The filtering method may adopt radius filtering and random downsampling filtering. Then, with the origin of the spatial coordinate system as the center, the target point cloud data is intercepted from the filtered three-dimensional environment point cloud data by extending the preset distance in the positive and negative directions of the X-axis. That is, the target point cloud data is used as the data for calculating the road condition parameters and the distance between the road condition and the bionic mechanical device. As a simpler coordinate conversion method, the Euler angle can be used to represent the position and orientation of the acquisition device. The direction of the target point cloud data is corrected according to the Euler angle to convert the coordinates of the target point cloud data so that the Z axis of the depth camera is parallel to the ground, and the XOY plane is parallel to the vertical plane of the stairs, that is, the horizontal plane of the stairs is parallel to the ground, and the vertical plane is perpendicular to the ground. Figure 8 and Fig. 9 The point cloud data obtained after filtering, interception and direction correction is shown. The target point cloud data is classified into horizontal point cloud data and vertical point cloud data using the normal vectors corresponding to the horizontal plane and the vertical plane. The number of vertical planes is determined based on the vertical point cloud data. If the number of vertical planes is 0, the road condition conversion type is from horizontal to downstairs; if the number of vertical planes is greater than 0, the road condition conversion type is from horizontal to upstairs. When the road condition conversion type is from horizontal to upstairs, the horizontal point cloud data and the vertical point cloud data are projected on the YOZ plane respectively, and the projected two-dimensional point cloud data are clustered, as shown in the figure. Fig.10 As shown in , the horizontal plane point cloud data and vertical plane point cloud data of each stair step are obtained. Fig.10 As shown, taking two steps of stairs as an example, Fig.10The abscissa is Z and the ordinate is Y. Colors 0 and 1 represent the vertical planes of the stairs, and colors 2 and 3 represent the horizontal planes. Exemplarily, the average value of the vertical coordinates of the horizontal planes can be subtracted to obtain the height of the stairs, that is, the average value of the Y coordinates of the vertical plane coordinate points is subtracted to obtain the height of the stairs. The average value of the abscissas of the vertical planes can be subtracted to obtain the width of the stairs, that is, the average value of the Z coordinates of the horizontal plane coordinate points is subtracted to obtain the width of the stairs. The minimum average value of the vertical planes is the distance between the active prosthesis and the stairs, that is, after obtaining the average value of the Z coordinates of the vertical plane coordinate points, the minimum value is the distance between the prosthesis and the stairs. When the road condition conversion type is from a horizontal road condition to a downstairs road condition, the horizontal point cloud data is projected onto the YOZ plane, and the projected two-dimensional point cloud data is clustered to obtain the horizontal plane classes of each step. The clustering result is as shown in Fig.11 shown. Taking a 4-step staircase as an example, Fig.11 the abscissa is Z and the ordinate is Y. Colors 0, 1, 2, and 3 represent the horizontal planes of different steps.

[0105] The above embodiments do not make any limitations on how to determine the action mode based on the road condition conversion type, action standard parameters, and the distance between the road condition to be converted and the bionic mechanical device. The present invention also provides an exemplary implementation method, which may include the following content:

[0106] When the distance is less than the action standard parameter, the healthy limb moves; when the distance is greater than the action standard parameter and less than the product of twice the action standard parameter and the fluctuation factor, the healthy limb moves forward once according to the action standard parameter, and then the bionic mechanical device moves; when the distance is greater than the product of twice the action standard parameter and the fluctuation factor, the healthy limb moves forward once according to the action standard parameter, the bionic mechanical device moves forward once according to the action standard parameter, and an environmental feature acquisition instruction is triggered.

[0107] In this embodiment, if the distance between the road condition to be converted and the bionic mechanical device is D and the action standard parameter is s, then when 0 < D < S, the healthy limb moves; when S < D < 2S, the healthy limb moves once under the current working condition, and then the bionic mechanical device moves into the road condition to be converted; when D > 2S, the healthy limb moves once under the current working condition, and then the bionic mechanical device also moves once under the current working condition to re-measure the environmental information. Taking the road condition to be converted as a staircase and the action standard parameter as the step length of the healthy limb, whether it is a horizontal road condition converted to an up-staircase road condition or a horizontal road condition converted to a down-staircase road condition, the distance of the bionic mechanical device in the road condition to be converted is correspondingly the distance between the active prosthesis and the stairs. The distance between the active prosthesis and the stairs can be defined as the distance between the active prosthesis and the vertical plane of the step to be stepped on (stepped down), as shown in Fig.12As shown, the front line segment represents the active prosthesis, and the rear line segment represents the healthy limb. When 0 < D < S, the healthy limb steps onto (down) the stairs; when S < D < 2S, the healthy limb takes a step forward and the stump steps onto (down) the stairs; when D > 2S, the healthy limb takes a step forward and the stump takes a step forward, and the environmental information is re-measured.

[0108] Based on the above embodiments, after determining the action mode and collecting the environmental characteristics, trajectory information describing the action can be further generated, which may include the following contents:

[0109] Determine the road condition parameters of the road condition to be converted according to the environmental characteristics and the position and orientation information of the acquisition device; based on the action mode and the action standard parameters, determine the action trajectory of the bionic mechanical device according to the action characteristics and road condition parameters of the bionic mechanical device under the road condition to be converted.

[0110] Among them, the road condition parameters are the road condition information of the road condition to be converted, including but not limited to the shape and size of the road condition. Taking the road condition as a staircase as an example, the road condition parameters can be the height and width of the staircase. The action characteristic refers to the action mode of the bionic mechanical device, and the action trajectory of the bionic mechanical device can be determined according to its action characteristics.

[0111] Exemplarily, taking the current road condition as flat ground and the road condition to be converted as the healthy limb step length as the action standard parameter, and the road condition parameters including the staircase height and staircase width, whether the horizontal road condition is converted to the up-staircase road condition or the horizontal road condition is converted to the down-staircase road condition, the distance of the bionic mechanical device in the road condition to be converted is correspondingly the distance between the active prosthesis and the staircase. The distance between the active prosthesis and the staircase can be defined as the distance between the active prosthesis and the vertical plane of the step onto (down) the step. The action characteristic of the bionic mechanical device in the road condition to be converted is to move along an arc, that is, the sole trajectory of the active prosthesis stepping onto or down the stairs is an arc. Determine the midpoint of the projection of the horizontal plane of the step onto (down) the step on the YOZ plane according to the width and height of the staircase, and obtain the coordinate point of the healthy limb sole center point on the YOZ plane according to the distance between the prosthesis and the staircase. The process of obtaining the center and radius of the sole trajectory arc by connecting the two points as the diameter of the circle is as follows: Determine the central coordinate point of the projection of the horizontal plane of the staircase step to be stepped onto on the vertical horizontal plane according to the road condition parameters; based on the healthy limb step length, determine the sole coordinate point of the healthy limb sole center point on the vertical horizontal plane according to the distance between the road condition to be converted and the bionic mechanical device; take the distance between the central coordinate point and the sole coordinate point as the diameter and center of the circle; determine the circular trajectory as the sole trajectory of the bionic mechanical device according to the circle diameter and center. For example, please refer to Fig.13 and Fig.14 , Fig.13Schematic diagram for calculating the arc of the movement trajectory when switching from flat ground路况 to going up the stairs路况. The upper semi-circular arc of the circle is the trajectory arc of the sole center of the active prosthesis when stepping onto the stairs. The circle is constructed with points A and B as the diameter. When the distance D between the prosthesis and the stairs satisfies S < D < 2S, point A is the coordinate point after the healthy limb walks forward by one step length S, and point B is the central coordinate point after the horizontal plane of the stairs is projected onto the YOZ plane. Fig.14 Schematic diagram for constructing the arc of the trajectory when switching from flat ground路况 to going down the stairs路况. The upper semi-circular arc of the circle is the trajectory arc of the sole center of the active prosthesis when stepping down the stairs. The circle is constructed with points A and B as the diameter. When the distance D between the prosthesis and the stairs satisfies S < D < 2S, point A is the coordinate point after the healthy limb walks forward by one step length S, and point B is the central coordinate point after the horizontal plane of the stairs is projected onto the YOZ plane.

[0112] Finally, this embodiment also provides an active prosthesis, as Fig.15 shown, the active prosthesis may include a processor 151, a memory 152, a pressure sensor 153, an inertial measurement unit 153, a depth camera 155, and a mounting device 156;

[0113] Among them, the pressure sensor 153 is deployed on the sole of the active prosthesis to collect sole pressure data; as Fig.16 shown, the mounting device 156 is a wedge-shaped device 1560 deployed at the calf position of the active prosthesis. The wedge-shaped plane of the mounting device includes a first mounting groove 15601 and a second mounting groove 15602. The first mounting groove 15601 is used to mount the inertial measurement unit 153, and the second mounting groove 15602 is used to mount the depth camera 155; the inertial measurement unit 153 is used to measure the Euler angles of the calf and the depth camera 155, and the depth camera 155 is used to collect environmental features; the processor 151 is used to implement the steps of any previous路况 conversion method when executing the computer program stored in the memory 152.

[0114] In this embodiment, the required data is collected through these sensors such as the pressure sensor 153, the inertial measurement unit 153, the depth camera 155, and the mounting device 156. Exemplarily, the pressure sensor 153 can be a sole flexible matrix columnar thin film pressure sensor to collect the pressure data of the sole of the active prosthesis during movement for stance phase gait analysis; the pressure data of the sole of the prosthesis during movement collected by the sole flexible matrix columnar thin film pressure sensor module is used for stance phase gait analysis. The depth camera 155 can be a Pico Flexx depth camera to collect the point cloud data of the road condition to be converted, such as the stairs; the inertial measurement unit 153 can be an Xsens inertial measurement unit, and its function is to collect the Euler angles of the calf and the Euler angles of the depth camera. According to the collected data, the prosthesis gait and environmental information are obtained, and then the type of road condition conversion is judged, and the road condition conversion is realized.

[0115] The present application also provides a corresponding device for the road condition conversion method and the road condition conversion method of the active prosthesis, which further makes the method more practical. Among them, the device can be described from the perspective of the functional module and the perspective of the hardware. The road condition conversion device provided by the present application is introduced below. The device is used to implement the road condition conversion method provided by the present application. In this embodiment, the road condition conversion device may include or be divided into one or more program modules, and the one or more program modules are stored in a storage medium and executed by one or more processors to complete the road condition conversion method disclosed in Example 1. The program module referred to in this application refers to a series of computer program instruction segments that can complete specific functions, which is more suitable for describing the execution process of the road condition conversion device in the storage medium than the program itself. The following description will specifically introduce the functions of each program module of this embodiment. The road condition conversion device described below and the road condition conversion method and the road condition conversion method of the active prosthesis described above can be referred to in correspondence with each other.

[0116] Based on the perspective of functional modules, the road condition conversion device may include:

[0117] The instruction generation module is used to generate an environmental feature acquisition instruction when it is determined that the road condition switching condition is met based on the gait characteristics of the bionic mechanical device.

[0118] The data analysis module is used to determine the road condition conversion type and the distance between the road condition to be converted and the bionic mechanical device according to the collected environmental characteristics and the corresponding collection device position orientation information whenever an environmental feature collection instruction is detected.

[0119] The action mode determination module is used to determine the action mode based on the road condition conversion type and the action standard parameters and according to the distance between the road condition to be converted and the bionic mechanical device.

[0120] Optionally, in some implementations of the present embodiment, the above-mentioned device may also include a trajectory generation module, for example, for determining the road condition parameters of the road condition to be converted based on environmental characteristics and the location and orientation information of the acquisition device; based on the action mode and action standard parameters, the action trajectory of the bionic mechanical device is determined according to the action characteristics and road condition parameters of the bionic mechanical device under the road condition to be converted.

[0121] As an exemplary implementation of the above embodiment, the above trajectory generation module can also be used for: determining the center coordinate point of the projection of the horizontal plane of the stair step to be stepped into on the vertical plane according to the road condition parameters; determining the plantar coordinate point of the center point of the plantar of the healthy limb in the vertical plane according to the distance between the road condition to be converted and the bionic mechanical device based on the healthy limb step length; using the distance between the center coordinate point and the plantar coordinate point as the circle diameter and the center of the circle; determining the circular trajectory as the plantar trajectory of the bionic mechanical device according to the circle diameter and the center of the circle, wherein the action standard parameter is the healthy limb step length, the road condition parameters include the stair height and the stair width, and the action characteristic of the bionic mechanical device under the road condition to be converted is movement along a circular arc.

[0122] In some implementations of the present embodiment, the above-mentioned instruction generation module can also be used for: when the road condition switching condition is that the contact position of the bionic mechanical device with the ground is the largest, pre-dividing the pressure sensors into multiple rows according to the maximum length of the contact position of the bionic mechanical device with the ground; obtaining the pressure sensor data of the bionic mechanical device at the contact position with the ground during movement; determining the support period gait characteristics of the bionic mechanical device according to the change law of each row of pressure sensor data; when the support period gait characteristics meet the road condition switching condition, generating an environmental feature collection instruction.

[0123] Exemplarily, in some other implementations of this embodiment, the above-mentioned data analysis module can also be used for: if the environmental feature is three-dimensional environmental point cloud data, based on the position and orientation information of the acquisition device, the three-dimensional environmental point cloud data is coordinate-converted so that the Z axis of the acquisition device is parallel to the ground, and the horizontal plane of the acquisition device is parallel to the vertical plane of the road condition to be converted; according to the normal vector characteristics of the horizontal plane and the vertical plane, the three-dimensional environmental point cloud data after the coordinate conversion is divided into horizontal plane point cloud data and vertical plane point cloud data; the horizontal plane point cloud data and the vertical plane point cloud data are converted in the vertical plane Projection is performed to obtain two-dimensional coordinate points; the two-dimensional coordinate points are clustered to obtain the horizontal plane coordinate points and vertical plane coordinate points of each step of the stairs; the road condition conversion type is identified according to the number of vertical class planes formed by the vertical plane point cloud data; the distance between the road condition to be converted and the bionic mechanical device is determined according to the Z-axis coordinates in the vertical plane coordinate points of each step of the stairs; the height of the stairs is determined according to the Y-coordinates in the vertical plane coordinate points of each step of the stairs; the width of the stairs is determined according to the Z-coordinates in the horizontal plane coordinate points of each step of the stairs; the height and width of the stairs are used as the road condition parameters of the stairs.

[0124] Exemplarily, in some other implementations of this embodiment, the above-mentioned data analysis module can also be used for: when the position orientation information of the acquisition device is the Euler angle, radius filtering and random downsampling filtering are performed on the three-dimensional environment point cloud data, and target point cloud data is intercepted from the filtered three-dimensional environment point cloud data by extending a preset distance in the positive and negative directions of the X-axis with the origin of the spatial coordinate system as the center; the direction of the target point cloud data is corrected according to the Euler angle to perform coordinate conversion on the target point cloud data.

[0125] Exemplarily, in some other implementations of the present embodiment, the above-mentioned device also includes a gait feature determination module, which can be used to: obtain the angle of rotation of the inertial measurement unit around the X-axis of the spatial coordinate system during the measurement process, and use the angle as the Euler angle of the connecting component between the first joint and the second joint of the bionic mechanical device with the ground as the baseline; determine whether the bionic mechanical device is in the swing phase or the support phase according to the changing trend of the angle, and determine the swing phase gait characteristics of the bionic mechanical device according to the angle; use the swing phase gait characteristics and the support phase gait characteristics as the gait characteristics of the entire gait cycle of the bionic mechanical device.

[0126] Illustratively, in some other implementations of the present embodiment, the above-mentioned action mode determination module can also be used for: when the distance is less than the action standard parameter, the healthy limb moves; when the distance is greater than the action standard parameter but less than twice the product of the action standard parameter and the fluctuation factor, the healthy limb moves forward once according to the action standard parameter, and then the bionic mechanical device moves; when the distance is greater than twice the product of the action standard parameter and the fluctuation factor, the healthy limb moves forward once according to the action standard parameter, and the bionic mechanical device moves forward once according to the action standard parameter, triggering the generation of an environmental feature collection instruction.

[0127] Based on the functional module, the road condition conversion device of the active prosthesis may include:

[0128] A prosthetic instruction generation module is used to generate an environmental feature acquisition instruction when it is determined that the entire sole of the prosthetic foot is touching the ground according to the gait characteristics of the active prosthetic during the support period;

[0129] The prosthetic data analysis module is used to determine the type of road condition conversion and the distance between the road condition to be converted and the active prosthesis according to the collected environmental characteristics and the corresponding collection device position and orientation information whenever an environmental characteristic collection instruction is detected;

[0130] The prosthetic action mode determination module is used to determine the action sequence and action mode of the healthy limb and the active prosthesis at the current moment based on the road condition conversion type and the healthy limb step length, according to the distance between the road condition to be converted and the bionic mechanical device.

[0131] The device mentioned above is described from the perspective of functional modules. Furthermore, the present application also provides an electronic device, which is described from the perspective of hardware. The electronic device includes a memory for storing computer programs; a processor for implementing the steps of the road condition conversion method and the road condition conversion method of the active prosthesis mentioned in any of the above embodiments when executing the computer program.

[0132] Among them, the processor may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the processor may also be a controller, a microcontroller, a microprocessor or other data processing chip. The processor may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content that needs to be displayed on the display screen. In some embodiments, the processor may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0133] The memory may include one or more computer-readable storage media, which may be non-transitory. The memory may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash memory storage devices. In some embodiments, the memory may be an internal storage unit of an electronic device, such as a hard disk of a server. In other embodiments, the memory may also be an external storage device of an electronic device, such as a plug-in hard disk equipped on a server, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Further, the memory may also include both an internal storage unit of an electronic device and an external storage device. The memory may not only be used to store application software and various types of data installed in the electronic device, such as: the code of the program in the process of executing the road condition conversion method and the road condition conversion method of the active prosthesis, but also be used to temporarily store data that has been output or is to be output. In this embodiment, the memory is at least used to store the following computer program, wherein, after the computer program is loaded and executed by the processor, the relevant steps of the road condition conversion method and the road condition conversion method of the active prosthesis disclosed in any of the aforementioned embodiments can be implemented. In addition, the resources stored in the memory may also include an operating system and data, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system may include Windows, Unix, Linux, etc. The data may include but is not limited to data corresponding to the road condition conversion result, etc.

[0134] In some embodiments, the electronic device may further include a display screen, an input / output interface, a communication interface or a network interface, a power supply and a communication bus. Among them, the display screen, the input / output interface such as a keyboard belong to the user interface, and the optional user interface may also include a standard wired interface, a wireless interface, etc. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode) touch device, etc. The display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device and to display a visual user interface. The communication interface may optionally include a wired interface and / or a wireless interface, such as a WI-FI interface, a Bluetooth interface, etc., which are generally used to establish a communication connection between an electronic device and other electronic devices. The communication bus may be a peripheral component interconnect standard (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc.

[0135] It can be understood that if the road condition conversion method and the road condition conversion method of the active prosthesis in the above embodiment are implemented in the form of a software functional unit and sold or used as an independent product, they can be stored in a non-volatile storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the relevant technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium to execute all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes but is not limited to: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (RandomAccess Memory, RAM), electrically erasable programmable ROM, register, hard disk, multimedia card, card-type memory (such as SD or DX memory, etc.), magnetic memory, removable disk, CD-ROM, magnetic disk or optical disk, etc. Various media that can store program codes. Based on this, the present invention also provides a non-volatile storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the road condition conversion method and the steps of the road condition conversion method of the active prosthesis recorded in any of the above embodiments are executed.

[0136] It is understandable that if the road condition conversion method and the road condition conversion method of an active prosthesis in the above-mentioned embodiments are implemented in the form of a software functional unit and sold or used as an independent product, the computer software product may not need to be stored in a physical storage medium. For example, it can be directly transmitted to a computer or other device with information processing capabilities through a wired network or a wireless network to execute all or part of the steps of the methods of each embodiment of the present invention. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the relevant technology or all or part of the technical solution can be embodied in the form of a software product. Based on this, the present invention also provides a computer program product storing a computer program. When the computer program is executed by a processor, the road condition conversion method and the steps of the road condition conversion method of an active prosthesis recorded in any of the above embodiments are executed.

[0137] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. Professionals can also further realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are executed 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 exceed the scope of this application.

[0138] The above is a detailed introduction to an active prosthesis and road condition conversion method provided by the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. It should be pointed out that based on the embodiments in the present application, for ordinary technicians in this technical field, all other embodiments obtained without creative work are within the scope of protection of the present application. Without departing from the principles of the present application, several improvements and modifications may be made to the present application, and these improvements and modifications also fall within the scope of protection of the present application.

Claims

1. A road condition conversion method, characterized in that: include: When it is determined that the road condition switching condition is met according to the gait characteristics of the bionic mechanical device, an environmental feature acquisition instruction is generated; Whenever an environmental feature collection instruction is detected, the road condition conversion type and the distance between the road condition to be converted and the bionic mechanical device are determined according to the collected environmental features and the corresponding collection device position orientation information; Based on the road condition conversion type and the action standard parameters, the action mode is determined according to the distance between the road condition to be converted and the bionic mechanical device.

2. The road condition conversion method according to claim 1, characterized in that: After determining the action mode based on the road condition conversion type and the action standard parameter and according to the distance between the road condition to be converted and the bionic mechanical device, the method further includes: Determine the road condition parameters of the road condition to be converted according to the environmental characteristics and the location and orientation information of the acquisition device; Based on the action mode and the action standard parameters, the action trajectory of the bionic mechanical device is determined according to the action characteristics of the bionic mechanical device under the road condition to be converted and the road condition parameters.

3. The road condition conversion method according to claim 2, characterized in that: The standard action parameter is the healthy limb step length, the road condition parameter includes the stair height and the stair width, the action characteristic of the bionic mechanical device in the road condition to be converted is moving along an arc, and determining the action trajectory of the bionic mechanical device according to the action characteristic of the bionic mechanical device in the road condition to be converted and the road condition parameter includes: Determine the center coordinate point of the projection of the horizontal plane of the steps to be stepped on the vertical plane according to the road condition parameters; Based on the healthy limb step length, determining the plantar coordinate point of the center point of the plantar of the healthy limb in the vertical horizontal plane according to the distance between the road condition to be converted and the bionic mechanical device; The distance between the central coordinate point and the sole coordinate point is used as the circle diameter and the circle center; A circular trajectory is determined according to the circle diameter and the circle center as the sole trajectory of the bionic mechanical device.

4. The road condition conversion method according to claim 1, characterized in that: The road condition switching condition is when the contact position between the bionic mechanical device and the ground is at the maximum, and when it is determined according to the gait characteristics of the bionic mechanical device that the road condition switching condition is met, generating an environmental characteristic acquisition instruction, including: The pressure sensors are divided into a plurality of rows in advance according to the maximum length of the contact position between the bionic mechanical device and the ground; Acquiring pressure sensor data at a position where the bionic mechanical device contacts the ground during movement; Determining the support phase gait characteristics of the bionic mechanical device according to the changing rules of the pressure sensor data in each row; When the support period gait characteristics meet the road condition switching condition, an environmental feature collection instruction is generated.

5. The road condition conversion method according to claim 1, characterized in that: The environmental feature is three-dimensional environmental point cloud data, and determining the road condition conversion type and the distance between the road condition to be converted and the bionic mechanical device according to the environmental feature and the corresponding acquisition device position orientation information includes: The three-dimensional environment point cloud data is coordinate-converted based on the position and orientation information of the acquisition device, so that the Z axis of the acquisition device is parallel to the ground, and the horizontal plane of the acquisition device is parallel to the vertical plane of the road condition to be converted; According to the normal vector characteristics of the horizontal plane and the vertical plane, the three-dimensional environment point cloud data after coordinate transformation is divided into horizontal plane point cloud data and vertical plane point cloud data; Projecting the horizontal plane point cloud data and the vertical plane point cloud data on the vertical plane to obtain two-dimensional coordinate points; Clustering the two-dimensional coordinate points to obtain horizontal plane coordinate points and vertical plane coordinate points of each staircase; Identifying a road condition conversion type according to the number of vertical planes formed by the vertical plane point cloud data; Determine the distance between the road condition to be converted and the bionic mechanical device according to the Z-axis coordinates of the vertical plane coordinate points of each staircase; Correspondingly, determining the road condition parameters of the road condition to be converted according to the environmental characteristics and the location and orientation information of the acquisition device includes: Determine the height of the stairs according to the Y coordinates of the vertical plane coordinate points of each step of the stairs; Determine the width of the stairs according to the Z coordinates of the horizontal plane coordinate points of each staircase; The height of the stairs and the width of the stairs are used as the road condition parameters of the stairs.

6. The road condition conversion method according to claim 5, characterized in that: The acquisition device position orientation information is Euler angles, and the three-dimensional environment point cloud data is coordinate-converted based on the acquisition device position orientation information, including: The three-dimensional environment point cloud data is subjected to radius filtering and random downsampling filtering, and the target point cloud data is intercepted from the filtered three-dimensional environment point cloud data by extending the preset distance in the positive and negative directions of the X-axis with the origin of the spatial coordinate system as the center; Direction correction is performed on the target point cloud data according to the Euler angle to perform coordinate transformation on the target point cloud data.

7. The road condition conversion method according to claim 1, characterized in that: Also includes: Obtaining the rotation angle of the inertial measurement unit around the X-axis of the spatial coordinate system during the measurement process, and using the angle as the Euler angle of the connection component between the first joint and the second joint of the bionic mechanical device upward with the ground as the baseline; Determining whether the bionic mechanical device is in a swing phase or a support phase according to a variation trend of the angle, and determining a gait feature of the bionic mechanical device in the swing phase according to the angle; The swing phase gait characteristics and the support phase gait characteristics are used as the gait characteristics of the entire gait cycle of the bionic mechanical device.

8. The road condition conversion method according to any one of claims 1 to 7, characterized in that: The determining of the action mode based on the road condition conversion type and the action standard parameter and according to the distance between the road condition to be converted and the bionic mechanical device includes: When the distance is less than the standard action parameter, the healthy limb moves; When the distance is greater than the standard action parameter and less than twice the product of the standard action parameter and the fluctuation factor, the healthy limb moves forward once according to the standard action parameter, and then the bionic mechanical device moves; When the distance is greater than twice the product of the standard action parameter and the fluctuation factor, the healthy limb moves forward once according to the standard action parameter, and the bionic mechanical device moves forward once according to the standard action parameter, triggering the generation of the environmental feature collection instruction.

9. An active prosthesis, characterized in that: Includes a processor, a memory, a pressure sensor, an inertial measurement unit, a depth camera and a mounting device; Wherein, the pressure sensor is deployed on the sole of the active prosthesis to collect sole pressure data; The mounting device is a wedge-shaped device deployed at the calf position of the active prosthesis, and the wedge-shaped plane of the mounting device includes a first mounting slot and a second mounting slot, the first mounting slot is used to mount the inertial measurement unit, and the second mounting slot is used to mount the depth camera; the inertial measurement unit is used to measure the Euler angles of the calf and the depth camera, and the depth camera is used to collect environmental features; The processor is used to implement the steps of the road condition conversion method according to any one of claims 1 to 8 when executing the computer program stored in the memory.

10. A method for converting road conditions of an active prosthesis, characterized in that: include: When it is determined that the entire sole of the prosthesis touches the ground according to the gait characteristics of the active prosthesis during the support period, an environmental feature acquisition instruction is generated; Whenever an environmental feature acquisition instruction is detected, the type of road condition conversion and the distance between the road condition to be converted and the active prosthesis are determined according to the acquired environmental features and the corresponding acquisition device position orientation information; Based on the road condition conversion type and the healthy limb step length, and according to the distance between the road condition to be converted and the bionic mechanical device, the action sequence and action mode of the healthy limb and the active prosthesis at the current moment are determined.

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