Control method, system and device of gait training device

Abstract

The invention discloses a control method, system and device for a gait training device.According to the scheme, the operation speed of a treadmill does not need to be adjusted manually, the target operation speed of the treadmill is determined according to leg joint point data of a user walking on the treadmill and the current operation speed of the treadmill, and therefore the target operation speed of the treadmill is determined; therefore, the current running speed of the treadmill is adjusted to the target running speed, so that the current running speed of the treadmill meets the requirements of a user. Therefore, the running speed of the treadmill of the gait training device can be adaptively adjusted based on the walking state of the user, manual adjustment is not needed, and the gait training efficiency of the user is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a control method, system and device for a gait training device. Background Art

[0002] The running speed of the treadmill in the gait training device is usually set manually, such as selecting the running speed of the treadmill according to the needs of the user, and the user can walk on the treadmill at the running speed of the treadmill, thereby realizing the training of the user's walking gait.

[0003] Once the running speed of the treadmill is selected, it remains fixed until the user manually adjusts the running speed again. However, the running speed of the treadmill required by the user in different states is different. If the running speed of the treadmill is frequently switched by manual control, the user's gait training efficiency will undoubtedly be reduced. Summary of the invention

[0004] The purpose of the present invention is to provide a control method, system and device for a gait training device, which can adaptively adjust the running speed of the treadmill of the gait training device based on the walking state of the user without manual adjustment, thereby improving the gait training efficiency of the user.

[0005] In order to solve the above technical problems, the present invention provides a control method of a gait training device, wherein the gait training device includes a treadmill, and the control method includes:

[0006] Acquire leg joint point data of a user when walking on a treadmill; the leg joint point data is motion data of at least one leg joint point of the user when walking on the treadmill;

[0007] Acquire the current running speed of the treadmill, and determine the target running speed of the treadmill based on the leg joint point data and the current running speed;

[0008] The current running speed of the treadmill is adjusted to the target running speed.

[0009] Preferably, obtaining leg joint data of a user walking on a treadmill includes:

[0010] Acquire a real-time video image of the user walking on the treadmill captured by a camera;

[0011] Based on the real-time video image, the actual foot lifting time and actual foot lifting height of the user when walking on the treadmill are determined.

[0012] Preferably, determining the target running speed of the treadmill based on the leg joint data and the current running speed includes:

[0013] Calculating a foot-lifting time coefficient based on the actual foot-lifting time and the preset average foot-lifting time;

[0014] Calculating a foot-lifting height coefficient based on the actual foot-lifting height and a preset average foot-lifting height;

[0015] Calculate a movement disorder coefficient based on the foot-lifting time coefficient and the foot-lifting height coefficient;

[0016] The target running speed is calculated based on the motion disorder coefficient and the current running speed of the treadmill.

[0017] Preferably, the treadmill includes a left foot running belt and a right foot running belt; the current running speed of the treadmill includes the current left foot running speed of the left foot running belt and the current right foot running speed of the right foot running belt; the actual foot lifting time includes the actual left foot lifting time and the actual right foot lifting time, and the actual foot lifting height includes the actual left foot lifting height and the actual right foot lifting height;

[0018] Calculating the foot lifting time coefficient based on the actual foot lifting time and the preset average foot lifting time includes:

[0019] Calculate the left foot lifting time coefficient based on the actual left foot lifting time and the preset average foot lifting time, and calculate the right foot lifting time coefficient based on the actual right foot lifting time and the preset average foot lifting time;

[0020] The foot-lifting height coefficient is calculated based on the actual foot-lifting height and the preset average foot-lifting height, including:

[0021] Calculate the left foot lifting height coefficient based on the actual left foot lifting height and the preset average foot lifting height, and calculate the right foot lifting height coefficient based on the actual right foot lifting height and the preset average foot lifting height;

[0022] The motion disorder coefficient is calculated based on the foot-lifting time coefficient and the foot-lifting height coefficient, including:

[0023] Calculate the left foot movement disorder coefficient based on the left foot lifting time coefficient and the left foot lifting height coefficient, and calculate the right foot movement disorder coefficient based on the right foot lifting time coefficient and the right foot lifting height coefficient;

[0024] Calculating the target running speed based on the motion disorder coefficient and the current running speed of the treadmill includes:

[0025] Calculate the target left foot running speed based on the left foot movement disorder coefficient and the current left foot running speed, and calculate the target right foot running speed based on the right foot movement disorder coefficient and the current right foot running speed;

[0026] Adjusting the current running speed of the treadmill to the target running speed includes:

[0027] The current left foot running speed of the left foot running belt is adjusted to the target left foot running speed, and the current right foot running speed of the right foot running belt is adjusted to the target right foot running speed.

[0028] Preferably, the gait training device further comprises a weight-reducing hanger for providing gravity support for the user; the control method further comprises:

[0029] Calculating a weight-reducing pulling force based on the user's weight and a preset weight-reducing coefficient;

[0030] The motor of the weight-reducing hanger is controlled to output a pulling force to the user as the weight-reducing pulling force, so that the user can walk on the treadmill based on the weight-reducing pulling force provided by the motor.

[0031] Preferably, after controlling the motor of the weight-reducing hanger to output the pulling force to the user as the weight-reducing pulling force, the method further comprises:

[0032] Obtaining the height of the weight-reducing hanger at preset intervals;

[0033] determining a height change of the weight-reducing hanger based on the height of the weight-reducing hanger;

[0034] If the height change of the weight-reducing hanger is greater than a preset change, the height of the weight-reducing hanger is locked, and the treadmill is controlled to stop running.

[0035] Preferably, after controlling the motor of the weight-reducing hanger to output the pulling force to the user as the weight-reducing pulling force, the method further comprises:

[0036] obtaining an actual pulling force applied to the motor by the user when walking on the treadmill;

[0037] If the actual pulling force is greater than the weight-reducing pulling force, increasing the output pulling force of the motor of the weight-reducing hanger on the user;

[0038] If the actual pulling force is less than the weight-reducing pulling force, the output pulling force of the motor of the weight-reducing hanger on the user is reduced.

[0039] Preferably, before calculating the weight-reducing pulling force based on the weight of the user and a preset weight-reducing coefficient, the method further includes:

[0040] Determine whether a weight loss instruction has been received;

[0041] If yes, the step of calculating the weight-reducing pulling force based on the weight of the user and a preset weight-reducing coefficient is entered;

[0042] If not, the process proceeds to the step of obtaining the leg joint data of the user when walking on the treadmill.

[0043] In order to solve the above technical problems, the present invention further provides a control system of a gait training device, wherein the gait training device comprises a treadmill, and the control system comprises:

[0044] A first acquisition unit is used to acquire leg joint point data of a user when walking on a treadmill; the leg joint point data is motion data of at least one leg joint point of the user when walking on the treadmill;

[0045] a second acquisition unit, configured to acquire a current running speed of the treadmill, and determine a target running speed of the treadmill based on the leg joint point data and the current running speed;

[0046] An adjustment unit is used to adjust the current running speed of the treadmill to the target running speed.

[0047] In order to solve the above technical problems, the present invention provides a control device for a gait training device, comprising:

[0048] Memory for storing computer programs;

[0049] The processor is used to implement the steps of the control method of the gait training device as described above when executing the computer program.

[0050] The present application provides a control method, system and device for a gait training device. In this solution, there is no need to manually adjust the running speed of the treadmill. Instead, the target running speed of the treadmill is determined by the leg joint data of the user when the user walks on the treadmill and the current running speed of the treadmill, so that the current running speed of the treadmill is adjusted to the target running speed, so that the current running speed of the treadmill can adapt to the needs of the user. It can be seen that in this application, the running speed of the treadmill of the gait training device can be adaptively adjusted based on the walking state of the user, without manual adjustment, thereby improving the gait training efficiency of the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0052] Figure 1 A schematic flow chart of a control method of a gait training device provided by the present invention;

[0053] Figure 2A schematic diagram of a gait training device including a weight-reducing hanger provided in the present application;

[0054] Figure 3 A schematic diagram of the structure of a control system of a gait training device provided by the present invention;

[0055] Figure 4 A schematic structural diagram of a control device of a gait training device provided by the present invention. DETAILED DESCRIPTION

[0056] The core of the present invention is to provide a control method, system and device for a gait training device, which can adaptively adjust the running speed of the treadmill of the gait training device based on the walking state of the user without manual adjustment, thereby improving the gait training efficiency of the user.

[0057] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] Please refer to Figure 1 , Figure 1 A flow chart of a control method of a gait training device provided by the present invention, wherein the gait training device includes a treadmill, and the control method includes:

[0059] S11: Acquire leg joint point data of a user walking on a treadmill; the leg joint point data is motion data of at least one leg joint point of the user walking on a treadmill;

[0060] Walking is a common physiological phenomenon, which involves complex biomechanical and physiological mechanisms. Walking is one of the most important activities of the human body. It not only makes people move, but also promotes human health. Walking can enhance heart function and make the heart beat slowly and powerfully; it can enhance blood vessel elasticity and reduce the possibility of blood vessel rupture; it can enhance muscle strength, strengthen legs, feet, tendons and bones, make joints flexible, and promote blood circulation and metabolism in the human body; it can enhance the secretion function of the digestive glands, promote regular gastrointestinal peristalsis, increase appetite, and has a good effect on preventing and treating hypertension, diabetes, obesity, habitual constipation and other diseases.

[0061] Due to cerebral palsy, stroke, brain trauma, Parkinson's disease, vascular Parkinson's syndrome and sports injuries, some users have abnormal gait when walking, which affects their normal life and work. Therefore, it is necessary to conduct gait training for users so that they can walk with a normal gait.

[0062] In the prior art, a user can walk on a treadmill of a gait training device. By setting the speed of the treadmill, the user can walk along the running speed of the treadmill to achieve gait training for the user while walking. If the walking state of the user changes, the running speed of the treadmill needs to be adjusted manually, but a single adjustment may not meet the needs of the user, so the running speed of the treadmill needs to be adjusted multiple times, and the gait training efficiency of the user is low.

[0063] In order to solve the above technical problems, in the present application, when the user walks on the treadmill, the leg joint point data of the user when walking on the treadmill is obtained in real time, wherein the leg joint point data is the motion data of at least one leg joint point when the user walks on the treadmill, such as the motion data of the knee joint or the motion data of the foot joint. The present application does not limit this, as long as it can reflect the walking state of the user when walking.

[0064] The user's leg joint data can reflect the user's movement trajectory and joint angle changes during gait training, which is helpful for analyzing the symmetry, stability and fluency of the user's gait, so as to determine whether the user's motor function is normal and timely discover potential movement disorders or disease risks. In addition, the leg joint data can be used to calculate the user's gait parameters, such as the user's step length, stride, pace, step frequency, and the movement of the body's center of gravity, which is helpful for evaluating whether the user's gait is normal.

[0065] S12: obtaining the current running speed of the treadmill, and determining the target running speed of the treadmill based on the leg joint point data and the current running speed;

[0066] When the user walks on the treadmill, in order to adapt to the different physical conditions of the user, the running speed of the treadmill is adaptively adjusted in the present application. Specifically, the target running speed of the treadmill is determined according to the user's current running speed and the leg joint point data of the user at the current running speed, that is, the target running speed adapted to the user's current state is determined according to the user's running state at the current running speed of the treadmill.

[0067] S13: Adjust the current running speed of the treadmill to the target running speed.

[0068] After the target running speed of the treadmill is determined, the current running speed of the treadmill can be adjusted to the target running speed, so that the user can walk on the treadmill at the target running speed, which is convenient for the user's gait training.

[0069] It should be noted that the initial speed of the treadmill can be 0, or a speed less than the preset minimum speed. Once the user starts walking, the running speed of the treadmill will be gradually increased. When the user starts walking on the treadmill, the target running speed of the treadmill can be determined in real time according to the user's current running speed and the user's leg joint point data in the present application, thereby improving the user's gait training efficiency. That is, each time the target running speed is determined and the current running speed of the treadmill is adjusted to the target running speed, it is still necessary to obtain the user's leg joint point data in real time and re-determine the target running speed. During the user's walking on the treadmill of the gait running device, the speed of the treadmill is always adjusted. Therefore, the running speed of the treadmill at each moment can adapt to the different states of the user, so as to perform gait training for users in different states.

[0070] In summary, in the present application, the running speed of the treadmill of the gait training device can be adaptively adjusted based on the walking state of the user without manual adjustment, thereby improving the gait training efficiency of the user.

[0071] Based on the above embodiments:

[0072] As a preferred embodiment, obtaining leg joint data of a user walking on a treadmill includes:

[0073] Acquire a real-time video image of a user walking on a treadmill captured by a camera;

[0074] Based on the real-time video images, the actual foot lifting time and actual foot lifting height of the user when walking on the treadmill are determined.

[0075] In this embodiment, when the user walks on the treadmill, the camera shoots the user's walking process in real time, so as to identify and capture the leg joint point images in the real-time video image of the user walking shot by the camera, and determine the actual foot-lifting time and actual foot-lifting height of the user in the real-time video image. For example, when the camera shoots the real-time video image of the user walking, it selects and locks the foot image from the real-time video image, and determines the actual foot-lifting time and actual foot-lifting height of the user according to the movement trajectory of the foot image in the real-time video image. Specifically, the actual foot-lifting time and actual foot-lifting height in the real-time video image can be identified and obtained through a deep reinforcement learning algorithm, and this application does not limit this.

[0076] It should be noted that the user's actual foot-lifting time and actual foot-lifting height are the actual foot-lifting time and actual foot-lifting height required for each step the user takes, or the average foot-lifting time and average foot-lifting height during the user's walking of a preset number of steps, so that the running speed of the treadmill can be adjusted in real time during the user's walking.

[0077] The height of the user's foot lift during gait training can reflect the user's gait stability. A higher foot lift height usually means better gait stability and less risk of falling. If the foot lift height is too low, it may increase the contact time between the foot and the ground, resulting in unstable gait and increased risk of falling. The foot lift height can also reflect the strength and coordination of the user's lower limb muscles. A higher foot lift height usually requires stronger muscle strength, especially the muscles around the hip, knee and ankle joints. If the foot lift height is insufficient, it may indicate insufficient strength or poor coordination of the relevant muscles. If the foot lift height is limited, it may indicate limited range of motion of the joints, which may be caused by joint stiffness, contracture or pain. The foot lift time can reflect the swing phase of the user's gait cycle. The swing phase includes the toe-off, the lower limb swing forward and the heel landing. The length of the foot lift time can reflect the duration of these stages, thereby evaluating the fluency and coordination of gait. By monitoring the height and duration of the user's foot lift during gait training, abnormal gaits can be detected, such as threshold stepping (foot drop gait), short-leg gait, painful gait, etc. During gait training, by monitoring the changes in the height and duration of foot lift, the user's rehabilitation progress can be evaluated. If the height of the foot lift gradually increases and the duration of the foot lift gradually returns to normal, it indicates that the patient's gait function is improving.

[0078] The camera may use a Kinect camera to shoot real-time video footage of the user walking on the treadmill. The Kinect camera identifies human body parts through depth images, and then infers leg joints. The specific steps are: in the depth image, find the leg joints through edge detection and other methods to determine the tracking target, match the leg joint features in the current frame with the leg joint features in the historical frame, determine the position and movement of the leg joints, and calculate the movement trajectory of the leg joints according to the feature matching results of the leg joints, including the time and height of the foot lifting, so as to determine the actual foot lifting height and actual foot lifting time of the user during walking.

[0079] As a preferred embodiment, determining the target running speed of the treadmill based on the leg joint point data and the current running speed includes:

[0080] Calculate the foot lifting time coefficient based on the actual foot lifting time and the preset average foot lifting time;

[0081] Calculate the foot lift height coefficient based on the actual foot lift height and the preset average foot lift height;

[0082] The dyskinesia coefficient was calculated based on the leg-lifting time coefficient and the leg-lifting height coefficient;

[0083] The target running speed is calculated based on the dyskinetic coefficient and the current running speed of the treadmill.

[0084] In this embodiment, the preset average foot-lifting time and the preset average foot-lifting height of a person during normal walking are predetermined. When a user walks on a treadmill, the goal of gait training is the preset average foot-lifting time and the preset average foot-lifting height. When determining the target running speed of the treadmill, the foot-lifting time coefficient is first calculated based on the user's actual foot-lifting time and the preset average foot-lifting time. The foot-lifting time coefficient reflects the difference between the user's actual foot-lifting time and the preset average foot-lifting time. The foot-lifting height coefficient is calculated based on the user's actual foot-lifting height and the preset average foot-lifting height. The foot-lifting height coefficient reflects the difference between the user's actual foot-lifting height and the preset average foot-lifting height. Based on this, the user's motion disorder coefficient is calculated, and the target running speed is calculated based on the motion disorder coefficient and the current running speed of the treadmill. The target running speed is adjusted based on the user's actual foot-lifting time and the actual foot-lifting height, so that the user's gait training is close to the preset average foot-lifting time and the preset average foot-lifting height, so that the user can maintain a normal gait for walking.

[0085] As a preferred embodiment, the treadmill includes a left foot running belt and a right foot running belt; the current running speed of the treadmill includes the current left foot running speed of the left foot running belt and the current right foot running speed of the right foot running belt; the actual foot lifting time includes the actual left foot lifting time and the actual right foot lifting time, and the actual foot lifting height includes the actual left foot lifting height and the actual right foot lifting height;

[0086] Calculates the leg lift time factor based on the actual leg lift time and the preset average leg lift time, including:

[0087] The left foot lifting time coefficient is calculated based on the actual left foot lifting time and the preset average foot lifting time, and the right foot lifting time coefficient is calculated based on the actual right foot lifting time and the preset average foot lifting time;

[0088] Calculates the foot lift height factor based on the actual foot lift height and the preset average foot lift height, including:

[0089] The left foot lifting height coefficient is calculated based on the actual left foot lifting height and the preset average foot lifting height, and the right foot lifting height coefficient is calculated based on the actual right foot lifting height and the preset average foot lifting height;

[0090] The motion disorder coefficient is calculated based on the leg lifting time coefficient and the leg lifting height coefficient, including:

[0091] The left foot movement disorder coefficient is calculated based on the left foot lifting time coefficient and the left foot lifting height coefficient, and the right foot movement disorder coefficient is calculated based on the right foot lifting time coefficient and the right foot lifting height coefficient;

[0092] The target running speed is calculated based on the motion disorder coefficient and the current running speed of the treadmill, including:

[0093] Calculate the target left foot running speed based on the left foot motion obstacle coefficient and the current left foot running speed, and calculate the target right foot running speed based on the right foot motion obstacle coefficient and the current right foot running speed;

[0094] Adjust the current running speed of the treadmill to the target running speed, including:

[0095] The current left foot running speed of the left foot running belt is adjusted to the target left foot running speed, and the current right foot running speed of the right foot running belt is adjusted to the target right foot running speed.

[0096] Taking into account the different actual conditions of different users, and the different walking conditions of the left and right feet of the same user when walking, such as a user with hemiplegia may have abnormal gait on only one side, the treadmill in the present application includes a left foot running belt and a right foot running belt. The user's left foot walks on the left foot running belt following the running speed of the left foot running belt, and the right foot walks on the right foot running belt following the running speed of the right foot running belt, thereby achieving gait training for the left foot and right foot respectively.

[0097] Specifically, based on the real-time video images, the time when the user lifts his left foot and the height at which the user lifts his left foot when walking can be determined respectively, thereby calculating the left foot lifting time coefficient and the left foot lifting height coefficient at which the user lifts his left foot when walking, and then calculating the left foot movement disorder data based on the left foot lifting time coefficient and the left foot lifting height coefficient, and setting the target left foot running speed based on the left foot movement disorder data and the current left foot running speed of the left foot running belt, so that the user walks according to the target left foot running speed of the left foot running belt, thereby realizing the training of the user's left foot step when walking.

[0098] Correspondingly, the right foot lifting time and the right foot lifting height of the user when walking can be determined respectively according to the real-time video image, thereby calculating the right foot lifting time coefficient and the right foot lifting height coefficient of the user when walking, and then calculating the right foot motion disorder data according to the right foot lifting time coefficient and the right foot lifting height coefficient, and setting the target right foot running speed according to the right foot motion disorder data and the current right foot running speed of the right foot running belt, so that the user walks according to the target right foot running speed of the right foot running belt, so as to realize the training of the user's right foot gait when walking.

[0099] Based on this, the gaits of the left foot and the right foot of the user when walking can be trained separately to meet the training needs of different feet of different users.

[0100] Specifically, when calculating the left foot lifting time coefficient based on the actual left foot lifting time and the preset average foot lifting time, it can be specifically calculated by t L =(T L -T) / T, where t L is the left foot lifting time coefficient, TL is the actual left foot lifting time, T is the preset average foot lifting time, and the difference between the actual left foot lifting time and the preset average foot lifting time is calculated to determine the difference between the actual left foot lifting time and the preset average foot lifting time when the user is walking, and then the difference is compared with the preset average foot lifting time to determine the proportion of the difference between the actual left foot lifting time and the preset average foot lifting time to the preset average foot lifting time, that is, the left foot lifting time coefficient; when calculating the right foot lifting time coefficient based on the actual right foot lifting time and the preset average foot lifting time, it can be specifically calculated by t R =(T R -T) / T, where t R is the right foot lifting time coefficient, T R is the actual right foot lifting time, T is the preset average foot lifting time, and the difference between the actual right foot lifting time and the preset average foot lifting time is calculated to determine the difference between the actual right foot lifting time and the preset average foot lifting time when the user is walking, and then the difference is compared with the preset average foot lifting time to determine the ratio of the difference between the actual right foot lifting time and the preset average foot lifting time to the preset average foot lifting time, that is, the right foot lifting time coefficient. It should be noted that due to the different physical conditions of the users, the actual left foot lifting time or the actual right foot lifting time when the user is walking may be less than the preset average foot lifting time. Therefore, the left foot lifting time coefficient and the right foot lifting time coefficient may be positive or negative.

[0101] When calculating the left foot lift height coefficient based on the actual left foot lift height and the preset average foot lift height, it can be specifically calculated by h L =(H L -H) / H, where h L is the left foot lifting height coefficient, H L is the actual left foot lifting height, H is the preset average foot lifting height, and the difference between the actual left foot lifting height and the preset average foot lifting height is calculated to determine the difference between the actual left foot lifting height and the preset average foot lifting height when the user walks, and then the difference is compared with the preset average foot lifting height to determine the ratio of the difference between the actual left foot lifting height and the preset average foot lifting height to the preset average foot lifting height, that is, the left foot lifting height coefficient; when calculating the right foot lifting height coefficient based on the actual right foot lifting height and the preset average foot lifting height, it can be specifically calculated by h R =(H R -H) / H, where h R is the right foot lifting height coefficient, H Ris the actual right foot lifting height, H is the preset average foot lifting height, and the difference between the actual right foot lifting height and the preset average foot lifting height is calculated to determine the difference between the actual right foot lifting height and the preset average foot lifting height when the user walks, and then the difference is compared with the preset average foot lifting height to determine the ratio of the difference between the actual right foot lifting height and the preset average foot lifting height to the preset average foot lifting height, that is, the right foot lifting height coefficient. It should be noted that due to the different physical conditions of the users, the actual left foot lifting height or the actual right foot lifting height of the user when walking may be less than the preset average foot lifting height. Therefore, the left foot lifting height coefficient and the right foot lifting height coefficient may be positive or negative.

[0102] When calculating the left foot movement disorder coefficient based on the left foot lifting time coefficient and the left foot lifting height coefficient, due to different physical conditions of the users, the weight coefficients of the left foot lifting height and the left foot lifting time that the users need to train are different. If the emphasis is placed on training the user's left foot lifting height, then the weight coefficient of the left foot lifting height is greater than the weight coefficient of the left foot lifting time. If the emphasis is placed on training the user's left foot lifting time, then the weight coefficient of the left foot lifting time is greater than the weight coefficient of the left foot lifting height. This application does not limit this. The left foot movement disorder coefficient can be obtained by multiplying the left foot lifting height coefficient by the weight coefficient of the left foot lifting height and the left foot lifting time coefficient by the weight coefficient of the left foot lifting time. Taking the example that the weight coefficient of the left foot lifting time and the weight coefficient of the left foot lifting height are both 0.5, the left foot movement disorder coefficient can be obtained by σ L =0.5t L +0.5h L We get, where σ L is the left foot movement disorder coefficient.

[0103] Correspondingly, the weight coefficients of the right foot lifting height and the right foot lifting time that the user needs to train are different. If the focus is on training the user's right foot lifting height, then the weight coefficient of the right foot lifting height is greater than the weight coefficient of the right foot lifting time. If the focus is on training the user's right foot lifting time, then the weight coefficient of the right foot lifting time is greater than the weight coefficient of the right foot lifting height. This application is not limited to this. The right foot movement disorder coefficient can be obtained by multiplying the right foot lifting height coefficient by the weight coefficient of the right foot lifting height and the right foot lifting time coefficient by the weight coefficient of the right foot lifting time. Taking the example that the weight coefficient of the right foot lifting time and the weight coefficient of the right foot lifting height are both 0.5, the right foot movement disorder coefficient can be obtained by σ R =0.5t R +0.5h R We get, where σ Ris the right foot movement disorder coefficient. Since the left foot lifting height coefficient, the right foot lifting height coefficient, the left foot lifting time coefficient and the right foot lifting time coefficient can all be positive or negative, the left foot movement disorder coefficient and the right foot movement disorder coefficient can also be positive or negative.

[0104] Of course, the weight coefficient of the left foot lifting time and the weight coefficient of the right foot lifting time can be the same or different, and the weight coefficient of the left foot lifting height and the weight coefficient of the right foot lifting height can be the same or different, depending on the user's physical condition.

[0105] After determining the left foot motion disorder coefficient and the right foot motion disorder coefficient respectively, the target left foot running speed of the left foot treadmill is determined according to the left foot motion disorder coefficient, and the target right foot running speed of the right foot treadmill is determined according to the right foot motion disorder coefficient, and the current running speeds of the left foot treadmill and the right foot treadmill are adjusted respectively.

[0106] When the target left foot running speed is calculated based on the left foot motion obstacle coefficient and the current left foot running speed, the current left foot running speed is multiplied by the left foot motion obstacle coefficient, and then the product is added to the current left foot running speed. Specifically, V L =V L1 +V L1 ×σ L Calculated, where V L is the target left foot running speed, V L1 is the current left foot running speed, due to the left foot motion disorder coefficient σ L It can be positive or negative, so the product of the current left foot running speed and the left foot motion disorder coefficient can be positive or negative. When the product of the current left foot running speed and the left foot motion disorder coefficient is positive, the target left foot running speed is increased compared with the current left foot running speed, that is, the user's left foot walking speed is slower, and it is necessary to train him to increase his left foot walking speed; when the product of the current left foot running speed and the left foot motion disorder coefficient is negative, the target left foot running speed is reduced compared with the current left foot running speed, that is, the user's left foot walking speed is faster, and it is necessary to train him to reduce his left foot walking speed.

[0107] When the target right foot running speed is calculated based on the right foot motion obstacle coefficient and the current right foot running speed, the current right foot running speed is multiplied by the right foot motion obstacle coefficient, and then the product is added to the current right foot running speed. Specifically, V R =V R1 +V R1 ×σ R Calculated, where V R is the target right foot running speed, V R1 is the current running speed of the right foot, due to the right foot motion obstacle coefficient σ RIt can be positive or negative, so the product of the current right foot running speed and the right foot motion disorder coefficient can be positive or negative. When the product of the current right foot running speed and the right foot motion disorder coefficient is positive, the target right foot running speed is increased compared with the current right foot running speed, that is, the user's right foot walking speed is slower, and he needs to be trained to increase his right foot walking speed; when the product of the current right foot running speed and the right foot motion disorder coefficient is negative, the target right foot running speed is reduced compared with the current right foot running speed, that is, the user's right foot walking speed is faster, and he needs to be trained to reduce his right foot walking speed.

[0108] Based on this, the user's walking gait can be trained by adjusting the current left foot running speed of the left foot treadmill and the current right foot running speed of the right foot treadmill respectively, thereby improving the user's walking stability and achieving the purpose of gait training.

[0109] As a preferred embodiment, the gait training device further includes a weight-reducing hanger for providing gravity support for the user; and the control method further includes:

[0110] Calculate the weight-reducing pull based on the user's weight and a preset weight-reducing factor;

[0111] The output pulling force of the motor controlling the weight-reducing hanger to the user is the weight-reducing pulling force, so that the user can walk on the treadmill based on the weight-reducing pulling force provided by the motor.

[0112] Taking into account the different physical conditions of users, some users cannot stand normally. In order to ensure that users who cannot stand normally can also be trained through the gait training device, a weight-reducing hanger is also provided in the gait training device in this embodiment. The vest of the weight-reducing hanger is hung on the ceiling rail through a drawstring ring. The user wears the vest of the weight-reducing hanger and hangs on the weight-reducing hanger. The motor of the weight-reducing hanger is set on the ceiling rail. Before the user starts walking training, the weight-reducing hanger is pulled to a suitable position by the motor according to the weight-reducing tension. The vest hangs on the user to give the user a weight-reducing tension. During the user's walking process, the tension of the drawstring of the weight-reducing hanger is calculated based on the user's weight and the preset weight-reducing coefficient. It will not change suddenly and can provide the user with a stable weight-reducing force, ensuring that the user walks on the treadmill in a standing posture for gait training. Please refer to Figure 2 , Figure 2 A schematic diagram of a gait training device including a weight-reducing hanger provided in the present application. 1 is a display screen for inputting the user's weight or displaying the user's foot-lifting height and foot-lifting time, 2 is a camera, 3 is an emergency stop button for immediately controlling the treadmill to stop running when pressed, 4 is a treadmill base, 5 is a right foot running belt, 6 is a left foot running belt, 7 is a handrail, 8 is a ladder, 9 is a motor, 10 is a weight-reducing hanger, and the setting of the vest is not shown in the figure.

[0113] When calculating the weight-reducing pulling force, the calculation can be performed based on the user's weight and the preset weight-reducing coefficient. Specifically, the user's gravity is first calculated based on the user's weight, and then the product of the user's gravity and the preset weight-reducing coefficient is set as the weight-reducing pulling force. For example, if the preset weight-reducing coefficient is set to 30% and the user's gravity is 500N, then the user's required rated weight-reducing pulling force is 150N, and the power output is 150N of pulling force to pull the user up so that the user can walk on the treadmill. Of course, the specific setting of the preset weight-reducing coefficient can be adjusted according to the user's physical condition or gait training requirements, and this application does not limit this.

[0114] As a preferred embodiment, after controlling the motor of the weight-reducing hanger to output the pulling force to the user as the weight-reducing pulling force, the method further comprises:

[0115] Obtain the height of the weight-reducing hanger at a preset interval;

[0116] determining a height change of the weight-reducing hanger based on the height of the weight-reducing hanger;

[0117] If the height change of the weight-reducing hanger is greater than the preset change, the height of the weight-reducing hanger will be locked and the treadmill will be controlled to stop running.

[0118] Considering that although the motor provides the user with weight-reducing pulling force while the user is walking on the treadmill, the user is still at risk of falling. If the user falls, it may cause greater impact on the user's body.

[0119] In order to solve the above technical problems, in this embodiment, after the motor outputs the weight-reducing pulling force, the height of the weight-reducing hanger is obtained at preset intervals. When the user starts walking, the weight-reducing hanger will move up and down with the user's gait, but the movement amplitude is not large. However, if the user is about to fall, the user will instantly pull down the weight-reducing hanger through his own gravity. At this time, by continuously obtaining the height of the weight-reducing hanger, when the height of the weight-reducing hanger suddenly changes significantly, it can be considered that the user is about to fall. At this time, the height of the weight-reducing hanger will be immediately locked, that is, the weight-reducing hanger can no longer move up and down, thereby preventing the user from falling to the ground, and controlling the treadmill to stop running to avoid harm to the user.

[0120] It should be noted that the up and down movement of the weight-reducing hanger mentioned in the present embodiment is actually the up and down movement of the vest of the weight-reducing hanger worn by the user. When the vest of the weight-reducing hanger moves up and down, the pull rope between the vest and the motor stretches or contracts, but when the user walks normally, the stretching or contraction of the pull rope is within the range of the preset change amount, that is, the degree of the up and down movement of the vest is also within the range of the preset change amount. However, if the user suddenly falls, the weight-reducing tension applied by the motor to the pull rope is less than the user's gravity, then the stretching of the pull rope exceeds the preset change amount. Based on this, the height change of the weight-reducing hanger when the user walks can be determined according to the heights of the weight-reducing hanger obtained multiple times. Once the height change exceeds the preset change amount, it can be determined that the user is about to fall, and the height of the weight-reducing hanger is locked, that is, the pull rope is no longer stretched, and the treadmill is controlled to stop running.

[0121] In addition, the preset interval time can be but is not limited to 50ms. The preset interval time cannot be set too long, otherwise the user cannot be protected in time when the user falls. The preset change amount can be 20cm, 22cm or 25cm, which is not limited in this application. The height change amount can be the difference between the height of the weight-reducing hanger obtained this time and the height of the weight-reducing hanger obtained last time, or it can be the difference between the heights of the weight-reducing hanger obtained in multiple cycles, which is not limited in this application.

[0122] As a preferred embodiment, after controlling the motor of the weight-reducing hanger to output the pulling force to the user as the weight-reducing pulling force, the method further comprises:

[0123] Obtain the actual pulling force applied to the motor by the user when walking on the treadmill;

[0124] If the actual pulling force is greater than the weight-reducing pulling force, the output pulling force of the motor of the weight-reducing hanger on the user is increased;

[0125] If the actual pulling force is less than the weight-reducing pulling force, the output pulling force of the motor of the weight-reducing hanger to the user is reduced.

[0126] In this embodiment, during the user's walking process, the motor is adjusted in real time to output the pulling force for the user. For example, in the initial state, the weight-reducing pulling force is calculated based on the user's weight and the preset weight-reducing coefficient. The motor is first made to apply the weight-reducing pulling force to the user, so that the user can perform gait training under the condition of the weight-reducing pulling force. If the weight-reducing pulling force is exactly the pulling force required for the user to stand, then the actual pulling force applied by the user to the motor is the same as the weight-reducing pulling force. However, if the weight-reducing pulling force can no longer make the user stand and walk during walking, the user will reversely apply an actual pulling force greater than the weight-reducing pulling force to the motor of the weight-reducing hanger when falling. In this case, the output pulling force of the motor of the weight-reducing hanger on the user needs to be increased on the basis of the weight-reducing pulling force, so that the user can stand and walk on the treadmill. However, there are also some cases where the user can gradually stand on his own during the training process, then the actual pulling force output by the user to the motor is less than the weight-reducing pulling force. In order to reduce the power consumption of the motor, the output pulling force of the hanger on the user can be reduced at this time.

[0127] As a preferred embodiment, before calculating the weight-reducing pulling force based on the user's weight and a preset weight-reducing coefficient, the method further includes:

[0128] Determine whether a weight loss instruction has been received;

[0129] If yes, the step of calculating the weight-reducing pulling force based on the user's weight and a preset weight-reducing coefficient is entered;

[0130] If not, the process proceeds to the step of obtaining the leg joint data of the user when walking on the treadmill.

[0131] In this embodiment, when the user can stand and walk normally but has an abnormal gait, in order to reduce the power consumption of the motor, the weight-reducing pull may not be output. Only when a weight-reducing instruction is received and it is determined that the user needs to perform weight-reducing support of the weight-reducing hanger, the weight-reducing pull is calculated and output.

[0132] It should be noted that after the user's gait training is completed, a gait training report of the user can be generated based on the user's actual left foot lifting time, actual left foot lifting height, actual right foot lifting time, actual right foot lifting height, step length, step width and stride at the end of the training, so as to show the user the effect of the user's gait training.

[0133] Please refer to Figure 3 , Figure 3 This is a structural schematic diagram of a control system of a gait training device provided by the present invention. The gait training device includes a treadmill, and the control system includes:

[0134] The first acquisition unit 31 is used to acquire leg joint point data of the user when walking on the treadmill; the leg joint point data is motion data of at least one leg joint point when the user walks on the treadmill;

[0135] A second acquisition unit 32 is used to acquire the current running speed of the treadmill and determine the target running speed of the treadmill based on the leg joint point data and the current running speed;

[0136] The adjustment unit 33 is used to adjust the current running speed of the treadmill to the target running speed.

[0137] For an introduction to the control system of the gait training device provided by the present invention, please refer to the above method embodiment, and the present invention will not be repeated here.

[0138] Please refer to Figure 4 , Figure 4 A schematic structural diagram of a control device of a gait training device provided by the present invention comprises:

[0139] A memory 41, used for storing computer programs;

[0140] The processor 42 is used to implement the steps of the control method of the gait training device as described above when executing the computer program.

[0141] For an introduction to the control device of the gait training device provided by the present invention, please refer to the above method embodiment, and the present invention will not be repeated here.

[0142] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0143] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for a gait training device, characterized in that: The gait training device comprises a treadmill, and the control method comprises: Acquire leg joint point data of a user when walking on a treadmill; the leg joint point data is motion data of at least one leg joint point of the user when walking on the treadmill; Acquire the current running speed of the treadmill, and determine the target running speed of the treadmill based on the leg joint point data and the current running speed; The current running speed of the treadmill is adjusted to the target running speed.

2. The control method of the gait training device according to claim 1, characterized in that: Obtain the leg joint data of the user when walking on the treadmill, including: Acquire a real-time video image of the user walking on the treadmill captured by a camera; Based on the real-time video image, the actual foot lifting time and actual foot lifting height of the user when walking on the treadmill are determined.

3. The control method of the gait training device according to claim 2, characterized in that: Determining a target running speed of the treadmill based on the leg joint point data and the current running speed includes: Calculating a foot-lifting time coefficient based on the actual foot-lifting time and the preset average foot-lifting time; Calculating a foot-lifting height coefficient based on the actual foot-lifting height and a preset average foot-lifting height; Calculate a movement disorder coefficient based on the foot-lifting time coefficient and the foot-lifting height coefficient; The target running speed is calculated based on the motion disorder coefficient and the current running speed of the treadmill.

4. The control method of the gait training device according to claim 3, characterized in that: The treadmill includes a left foot running belt and a right foot running belt; the current running speed of the treadmill includes the current left foot running speed of the left foot running belt and the current right foot running speed of the right foot running belt; the actual foot lifting time includes the actual left foot lifting time and the actual right foot lifting time, and the actual foot lifting height includes the actual left foot lifting height and the actual right foot lifting height; Calculating the foot lifting time coefficient based on the actual foot lifting time and the preset average foot lifting time includes: Calculate the left foot lifting time coefficient based on the actual left foot lifting time and the preset average foot lifting time, and calculate the right foot lifting time coefficient based on the actual right foot lifting time and the preset average foot lifting time; The foot-lifting height coefficient is calculated based on the actual foot-lifting height and the preset average foot-lifting height, including: Calculate the left foot lifting height coefficient based on the actual left foot lifting height and the preset average foot lifting height, and calculate the right foot lifting height coefficient based on the actual right foot lifting height and the preset average foot lifting height; The motion disorder coefficient is calculated based on the foot-lifting time coefficient and the foot-lifting height coefficient, including: Calculate the left foot movement disorder coefficient based on the left foot lifting time coefficient and the left foot lifting height coefficient, and calculate the right foot movement disorder coefficient based on the right foot lifting time coefficient and the right foot lifting height coefficient; Calculating the target running speed based on the motion disorder coefficient and the current running speed of the treadmill includes: Calculate the target left foot running speed based on the left foot movement disorder coefficient and the current left foot running speed, and calculate the target right foot running speed based on the right foot movement disorder coefficient and the current right foot running speed; Adjusting the current running speed of the treadmill to the target running speed includes: The current left foot running speed of the left foot running belt is adjusted to the target left foot running speed, and the current right foot running speed of the right foot running belt is adjusted to the target right foot running speed.

5. The control method of the gait training device according to any one of claims 1 to 4, characterized in that: The gait training device further includes a weight-reducing hanger for providing gravity support for the user; the control method further includes: Calculating a weight-reducing pulling force based on the user's weight and a preset weight-reducing coefficient; The motor of the weight-reducing hanger is controlled to output a pulling force to the user as the weight-reducing pulling force, so that the user can walk on the treadmill based on the weight-reducing pulling force provided by the motor.

6. The control method of the gait training device according to claim 5, characterized in that: After controlling the motor of the weight-reducing hanger to output the pulling force to the user to be the weight-reducing pulling force, the method further includes: Obtaining the height of the weight-reducing hanger at preset intervals; determining a height change of the weight-reducing hanger based on the height of the weight-reducing hanger; If the height change of the weight-reducing hanger is greater than a preset change, the height of the weight-reducing hanger is locked, and the treadmill is controlled to stop running.

7. The control method of the gait training device according to claim 5, characterized in that: After controlling the motor of the weight-reducing hanger to output the pulling force to the user to be the weight-reducing pulling force, the method further includes: obtaining an actual pulling force applied to the motor by the user when walking on the treadmill; If the actual pulling force is greater than the weight-reducing pulling force, increasing the output pulling force of the motor of the weight-reducing hanger on the user; If the actual pulling force is less than the weight-reducing pulling force, the output pulling force of the motor of the weight-reducing hanger on the user is reduced.

8. The control method of the gait training device according to claim 5, characterized in that: Before calculating the weight-reducing pulling force based on the weight of the user and the preset weight-reducing coefficient, the method further includes: Determine whether a weight loss instruction has been received; If yes, the step of calculating the weight-reducing pulling force based on the weight of the user and a preset weight-reducing coefficient is entered; If not, the process proceeds to the step of obtaining the leg joint data of the user when walking on the treadmill.

9. A control system for a gait training device, characterized in that: The gait training device comprises a treadmill, and the control system comprises: A first acquisition unit is used to acquire leg joint point data of a user when walking on a treadmill; the leg joint point data is motion data of at least one leg joint point of the user when walking on the treadmill; a second acquisition unit, configured to acquire a current running speed of the treadmill, and determine a target running speed of the treadmill based on the leg joint point data and the current running speed; An adjustment unit is used to adjust the current running speed of the treadmill to the target running speed.

10. A control device for a gait training device, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the control method of the gait training device as described in any one of claims 1 to 8 when executing a computer program.

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