Motion control method and device of walking aid, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a motion control method and device of a walking aid, electronic equipment and a storage medium, and relates to the technical field of intelligent walking aid. In the embodiment of the invention, in response to a walking aid request of a target object, lower limb point cloud data of the target object is acquired; performing arc fitting on a plurality of lower limb position coordinates included in the lower limb point cloud data to obtain a left lower limb position coordinate and a right lower limb position coordinate of the target object under a coordinate reference system set for the walking aid; obtaining object position coordinates of the target object based on the left lower limb position coordinates and the right lower limb position coordinates; and determining motion data of the target object based on the object position coordinates and a motion parameter threshold set set for the walking aid, and controlling the walking aid to move based on the motion data. In this way, motion control of the walking aid is achieved according to the motion data of the target object, and the actual motion requirement of the target object can be better met.

Description

Technical Field

[0001] This application relates to the technical field of intelligent walking assistance, and particularly to a method, device, electronic device, and storage medium for controlling the movement of a walking aid. Background Art

[0002] A walking aid is a device that assists people with lower limb dysfunction in walking, mainly achieving rehabilitation training or daily movement assistance for people with lower limb dysfunction (or walking aid users) by supporting body weight, maintaining balance, and enhancing muscle strength.

[0003] In related technologies, a walking aid user usually selects target motion parameters from multiple pre-set motion parameters for the walking aid, and then controls the movement of the walking aid according to the target motion parameters to achieve the rehabilitation training of the walking aid user.

[0004] However, with the above-mentioned walking aid control method, since the multiple motion parameters of the walking aid are pre-set, it is difficult to better adapt to the actual motion needs of the walking aid user. Therefore, how to control the movement of the walking aid to better adapt to the actual motion needs of the walking aid user is an urgent problem to be solved currently. Summary of the Invention

[0005] Embodiments of this application provide a method, device, electronic device, and storage medium for controlling the movement of a walking aid to better adapt to the actual motion needs of a target object (i.e., a walking aid user).

[0006] In a first aspect, embodiments of this application provide a method for controlling the movement of a walking aid, the method including:

[0007] In response to a walking request of a target object, acquiring lower limb point cloud data of the target object; the lower limb point cloud data includes: multiple lower limb position coordinates of the lower limbs of the target object in a coordinate reference system set for the walking aid;

[0008] Performing circular arc fitting on the multiple lower limb position coordinates included in the lower limb point cloud data to obtain the left lower limb position coordinate and the right lower limb position coordinate of the target object in the coordinate reference system;

[0009] Based on the left lower limb position coordinate and the right lower limb position coordinate, obtaining the object position coordinate of the target object;

[0010] Based on the object position coordinate and a set of motion parameter thresholds set for the walking aid, determining the motion data of the target object, and controlling the movement of the walking aid based on the motion data; wherein, the set of motion parameter thresholds at least includes: motion parameter thresholds set for at least one motion parameter included in the motion data.

[0011] In an alternative embodiment, performing circular arc fitting on a plurality of lower limb position coordinates included in the lower limb point cloud data to obtain the left lower limb position coordinates and the right lower limb position coordinates of the target object in the coordinate reference system includes:

[0012] Dividing the lower limb point cloud data into left lower limb point cloud data and right lower limb point cloud data based on the convergence characteristics of the plurality of lower limb position coordinates;

[0013] Using a preset least squares method to perform circular arc fitting on the left lower limb point cloud data and the right lower limb point cloud data respectively to obtain a first center coordinate corresponding to the left lower limb point cloud data and a second center coordinate corresponding to the right lower limb point cloud data;

[0014] Taking the first center coordinate as the left lower limb position coordinate and taking the second center coordinate as the right lower limb position coordinate.

[0015] In an alternative embodiment, using a preset least squares method to perform circular arc fitting on the left lower limb point cloud data and the right lower limb point cloud data respectively to obtain a first center coordinate corresponding to the left lower limb point cloud data and a second center coordinate corresponding to the right lower limb point cloud data includes:

[0016] Performing the following operations respectively on the left lower limb point cloud data and the right lower limb point cloud data:

[0017] Performing circular arc fitting on a plurality of first position coordinates included in the first point cloud data to obtain a target circle that satisfies the condition that the sum of the squares of the distances between the position coordinates corresponding to the least squares method and the center coordinate is the smallest; wherein, the first point cloud data is the left lower limb point cloud data or the right lower limb point cloud data;

[0018] Taking the center coordinate of the target circle as the center coordinate corresponding to the first point cloud data.

[0019] In an alternative embodiment, the method further includes:

[0020] Determining the average value of the abscissas and the average value of the ordinates of the plurality of first position coordinates;

[0021] Based on the differences between the abscissas of the plurality of first position coordinates and the average value of the abscissas respectively, and the differences between the ordinates of the plurality of first position coordinates and the average value of the ordinates respectively, obtaining a first abscissa corresponding to the abscissa of the center of the target circle and a first ordinate corresponding to the ordinate of the center of the target circle;

[0022] Taking the sum of the first abscissa and the average value of the abscissas as the abscissa of the center, and taking the sum of the first ordinate and the average value of the ordinates as the ordinate of the center.

[0023] In an alternative embodiment, determining the motion data of the target object based on the object position coordinates and a set of motion parameter thresholds set for the walking aid includes:

[0024] Obtain a subset of motion parameter thresholds associated with the motion type of the target object from the set of motion parameter thresholds; wherein, the motion types include: linear motion, zero-radius turning motion, and non-zero-radius turning motion;

[0025] Based on the object position coordinates and the subset of motion parameter thresholds, determine at least one motion parameter corresponding to the motion type, and use the at least one motion parameter as the motion data of the target object.

[0026] In an alternative embodiment, determining at least one motion parameter corresponding to the motion type based on the object position coordinates and the subset of motion parameter thresholds includes:

[0027] Construct linear relationships respectively corresponding to at least one motion parameter based on the subset of motion parameter thresholds;

[0028] Determine at least one motion parameter based on the at least one linear relationship and the object position coordinates.

[0029] In an alternative embodiment, the set of motion parameter thresholds includes at least one of the following motion parameter thresholds:

[0030] The maximum and minimum distances between the target object and the vertical axis of the coordinate reference system during movement; wherein, the positive direction of the vertical axis is the direction of the walking aid's forward movement;

[0031] The maximum and minimum distances between the target object and the horizontal axis of the coordinate reference system during movement; wherein, the positive or negative direction of the horizontal axis is the direction of the walking aid's turning;

[0032] A distance threshold set for the horizontal axis; the distance threshold is used to determine whether the motion type of the target object is linear motion;

[0033] The maximum straight-line speed, minimum straight-line speed, maximum angular speed, minimum angular speed, and wheelbase of the walking aid.

[0034] In a second aspect, an embodiment of the present application further provides a motion control device for a walking aid, and the device includes:

[0035] A data acquisition module, configured to obtain lower limb point cloud data of the target object in response to a walking aid request of the target object; the lower limb point cloud data includes: multiple lower limb position coordinates of the lower limbs of the target object in a coordinate reference system set for the walking aid;

[0036] A coordinate determination module, configured to perform circular arc fitting on the multiple lower limb position coordinates included in the lower limb point cloud data to obtain the left lower limb position coordinates and the right lower limb position coordinates of the target object in the coordinate reference system;

[0037] A coordinate processing module, configured to obtain the object position coordinates of the target object based on the left lower limb position coordinates and the right lower limb position coordinates;

[0038] A motion control module, configured to determine the motion data of the target object based on the object position coordinates and the set of motion parameter thresholds for the walking aid, and control the movement of the walking aid based on the motion data; wherein, the set of motion parameter thresholds at least includes: motion parameter thresholds set for at least one motion parameter included in the motion data.

[0039] In an optional embodiment, when performing circular arc fitting on a plurality of lower limb position coordinates included in the lower limb point cloud data to obtain the left lower limb position coordinates and the right lower limb position coordinates of the target object in the coordinate reference system, the coordinate determination module is specifically configured to:

[0040] Based on the convergence characteristics of the plurality of lower limb position coordinates, divide the lower limb point cloud data into left lower limb point cloud data and right lower limb point cloud data;

[0041] Adopt the preset least squares method to perform circular arc fitting on the left lower limb point cloud data and the right lower limb point cloud data respectively, and obtain the first center coordinate corresponding to the left lower limb point cloud data and the second center coordinate corresponding to the right lower limb point cloud data;

[0042] Take the first center coordinate as the left lower limb position coordinate, and take the second center coordinate as the right lower limb position coordinate.

[0043] In an optional embodiment, when adopting the preset least squares method to perform circular arc fitting on the left lower limb point cloud data and the right lower limb point cloud data respectively to obtain the first center coordinate corresponding to the left lower limb point cloud data and the second center coordinate corresponding to the right lower limb point cloud data, the coordinate determination module is specifically configured to:

[0044] For the left lower limb point cloud data and the right lower limb point cloud data, perform the following operations respectively:

[0045] Perform circular arc fitting on a plurality of first position coordinates included in the first point cloud data to obtain a target circle that satisfies the condition that the sum of the squares of the distances between the position coordinates corresponding to the least squares method and the center coordinate is the smallest; wherein, the first point cloud data is the left lower limb point cloud data or the right lower limb point cloud data;

[0046] Take the center coordinate of the target circle as the center coordinate corresponding to the first point cloud data.

[0047] In an optional embodiment, the coordinate determination module is further configured to:

[0048] Determine the average value of the abscissas and the average value of the ordinates of the plurality of first position coordinates;

[0049] Based on the differences between the abscissas of multiple first position coordinates and the average abscissa, and the differences between the ordinates of multiple first position coordinates and the average ordinate, obtain the first abscissa corresponding to the abscissa of the center of the target circle and the first ordinate corresponding to the ordinate of the center of the target circle;

[0050] Take the sum of the first abscissa and the average abscissa as the abscissa of the center of the circle, and take the sum of the first ordinate and the average ordinate as the ordinate of the center of the circle.

[0051] In an alternative embodiment, when determining the motion data of the target object based on the object position coordinates and the set of motion parameter thresholds for the walking aid, the motion control module is specifically configured to:

[0052] Obtain a subset of motion parameter thresholds associated with the motion type of the target object from the set of motion parameter thresholds; wherein, the motion types include: linear motion, zero-radius turning motion, and non-zero-radius turning motion;

[0053] Based on the object position coordinates and the subset of motion parameter thresholds, determine at least one motion parameter corresponding to the motion type, and use the at least one motion parameter as the motion data of the target object.

[0054] In an alternative embodiment, when determining at least one motion parameter corresponding to the motion type based on the object position coordinates and the subset of motion parameter thresholds, the motion control module is specifically configured to:

[0055] Based on the subset of motion parameter thresholds, construct linear relationships corresponding to at least one motion parameter respectively;

[0056] Based on the at least one linear relationship and the object position coordinates, determine at least one motion parameter.

[0057] In a third aspect, an embodiment of the present application further provides an electronic device, including:

[0058] A processor; and

[0059] A memory storing a program,

[0060] wherein the program includes instructions that, when executed by the processor, cause the processor to execute the motion control method of the walking aid as described in the first aspect.

[0061] In a fourth aspect, an embodiment of the present application further provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the motion control method of the walking aid as described in the first aspect.

[0062] Fifth aspect, the present application provides a computer program product, which, when called by a computer, causes the computer to execute the method steps of the motion control of the walking aid as described in the first aspect.

[0063] The beneficial effects of the present application are as follows:

[0064] In the motion control method of the walking aid provided in the embodiments of the present application, in response to the walking assistance request of the target object, the lower limb point cloud data of the target object is acquired, where the lower limb point cloud data may include: a plurality of lower limb position coordinates of the lower limbs of the target object in the coordinate reference system set for the walking aid; then, circular arc fitting is performed on the plurality of lower limb position coordinates included in the lower limb point cloud data to obtain the left lower limb position coordinate and the right lower limb position coordinate of the target object in the coordinate reference system set for the walking aid; further, based on the left lower limb position coordinate and the right lower limb position coordinate, the object position coordinate of the target object is obtained; finally, based on the object position coordinate and the set of motion parameter thresholds for the walking aid, the motion data of the target object is determined, and the walking aid is controlled to move based on the motion data; where the set of motion parameter thresholds includes at least: the motion parameter thresholds set for at least one motion parameter included in the motion data.

[0065] It can be seen that once the walking assistance request of the target object is received, the left lower limb position coordinate and the right lower limb position coordinate of the target object can be quickly and accurately obtained by performing circular arc fitting on the plurality of lower limb position coordinates of the lower limbs of the target object in the coordinate reference system set for the walking aid, and then the object position coordinate of the target object can be obtained. Then, in combination with the set of motion parameter thresholds including the motion parameter thresholds set for at least one motion parameter, the motion data of the target object can be determined, and the walking aid can be controlled to move based on the motion data. In this way, the motion control of the walking aid can be realized according to the motion data of the target object, which can better meet the actual motion needs of the target object (i.e., the user of the walking aid).

[0066] In addition, other features and advantages of the present application will be described in the subsequent description, and, in part, will become obvious from the description, or will be understood by implementing the present application. The objectives and other advantages of the present application can be achieved and obtained through the structures specifically pointed out in the written description, claims, and drawings. Description of the Drawings

[0067] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings described here are used to provide a further understanding of the present application, constitute a part of the present application, and do not constitute an improper limitation of the present application. In the drawings:

[0068] Figure 1An optional application scenario diagram provided by an embodiment of the present application;

[0069] Figure 2 A schematic flowchart of the implementation process of a motion control method for a walking aid provided by an embodiment of the present application;

[0070] Figure 3 A specific scenario diagram of a coordinate reference system for a walking aid provided by an embodiment of the present application;

[0071] Figure 4 A schematic flowchart of the implementation process of a method for determining the position coordinates of the left lower limb and the right lower limb provided by an embodiment of the present application;

[0072] Figure 5 An application scenario diagram provided by an embodiment of the present application based on Figure 4 ;

[0073] Figure 6 A schematic diagram of the change in the position coordinates of the left lower limb and the right lower limb of a target object during movement provided by an embodiment of the present application;

[0074] Figure 7 A schematic diagram of the change in the forward speed and turning speed of a target object during movement with the aid of a walking aid provided by an embodiment of the present application;

[0075] Figure 8 A schematic diagram of the linear relationship corresponding to the motion parameters provided by an embodiment of the present application;

[0076] Figure 9 A schematic structural diagram of a motion control device for a walking aid provided by an embodiment of the present application;

[0077] Figure 10 A schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0078] The embodiments of the present application will be described in more detail with reference to the accompanying drawings. Although some embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not used to limit the protection scope of the present application.

[0079] It should be understood that the steps recited in the method embodiments of the present application can be executed in a different order and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present application is not limited in this regard.

[0080] As used herein, the term "including" and its variants are open-ended, i.e., "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts such as "first", "second", etc. mentioned in this application are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0081] It should be noted that the modification of "one" and "a plurality of" mentioned in this application is illustrative rather than restrictive. Those skilled in the art should understand that, unless clearly specified otherwise in the context, it should be understood as "one or more".

[0082] The names of the messages or information exchanged between multiple devices in the embodiments of this application are only for illustrative purposes, and are not used to limit the scope of these messages or information.

[0083] First, a brief introduction to the design concept of the embodiments of this application is as follows:

[0084] A walking aid is a device that assists people with lower limb dysfunction in walking. It mainly realizes the rehabilitation training or daily movement assistance for people with lower limb dysfunction (or called walking aid users) by supporting body weight, maintaining balance and enhancing muscle strength.

[0085] For example, a walking aid can effectively reduce the muscle burden of the elderly during walking and increase the walking speed, so that the elderly can more easily cope with changing road conditions. Moreover, the walking aid has shown outstanding effects in helping the elderly to achieve the conversion from a sitting position to a standing position, and the user satisfaction has been improved, fully demonstrating the potential of intelligent walking aids in improving the quality of life. These improvements not only enhance the self-reliance ability of the elderly, but also greatly increase their social participation, enabling them to maintain vitality and independence while enjoying daily life.

[0086] In the related art, a walking aid user usually selects a target motion parameter from multiple pre-set motion parameters of the walking aid, and then controls the movement of the walking aid according to the target motion parameter to achieve the rehabilitation training of the walking aid user. However, with the foregoing walking aid control method, since the multiple motion parameters of the walking aid are pre-set, it is difficult to better adapt to the actual motion needs of the walking aid user, so there are limitations in the actual application of the walking aid.

[0087] In view of the above problems, the embodiments of the present application propose a motion control method for a walking aid, which may specifically include: in response to a walking request of a target object, acquiring lower limb point cloud data of the target object; the lower limb point cloud data may include: multiple lower limb position coordinates of the lower limbs of the target object in a coordinate reference system set for the walking aid; then, performing circular arc fitting on the multiple lower limb position coordinates included in the lower limb point cloud data to obtain the left lower limb position coordinate and the right lower limb position coordinate of the target object in the coordinate reference system; further, based on the left lower limb position coordinate and the right lower limb position coordinate, obtaining the object position coordinate of the target object; finally, based on the object position coordinate and a set of motion parameter thresholds set for the walking aid, determining the motion data of the target object, and controlling the motion of the walking aid based on the motion data; wherein, the set of motion parameter thresholds may at least include: motion parameter thresholds set for at least one motion parameter included in the motion data. In this way, by performing circular arc fitting on the multiple lower limb position coordinates of the lower limbs of the target object in the coordinate reference system set for the walking aid, the left lower limb position coordinate and the right lower limb position coordinate of the target object can be obtained quickly and accurately, and then the object position coordinate of the target object can be obtained. Moreover, by combining the preset set of motion parameter thresholds, determining the motion data of the target object, and controlling the motion of the walking aid based on the motion data, the actual motion requirements of the target object can be better met.

[0088] Specifically, the preferred embodiments of the present application will be described below with reference to the accompanying drawings of the specification. It should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present application, and are not used to limit the present application. And without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0089] Refer to Figure 1 As shown, it is a schematic diagram of an optional application scenario provided by the embodiments of the present application. This application scenario may include: a walking aid 101, a server 102, and a target object 103. Information interaction may be carried out between the walking aid 101 and the server 102 through a communication network. Among them, the communication methods adopted by the communication network may include: wireless communication methods and wired communication methods. Exemplarily, the walking aid 101 may access the network through cellular mobile communication technology and communicate with the server 102. Among them, the cellular mobile communication technology, for example, includes the fifth generation mobile networks (5G) technology or the next generation mobile communication technology.

[0090] Optionally, the walking aid 101 may access the network through short-range wireless communication methods and communicate with the server 102. Among them, the short-range wireless communication methods, for example, include wireless fidelity (Wi-Fi) technology.

[0091] The embodiments of the present application do not impose any restrictions on the number of communication devices involved in the above application scenarios. For example, the above application scenarios may include more walking aids, or may include more controllers, or may also include other network devices. As Figure 1 shown, only the walking aid 101 and the server 102 are taken as examples for description. Below, a brief introduction to the above-mentioned communication devices and their respective functions is given.

[0092] The walking aid 101 is a motion assistance tool that assists the human body to support the body, maintain balance and walk, and can be used to assist the target object 103 to move normally. Exemplarily, the walking aid 101 can be a four-legged frame walking aid, a wheeled walking aid or a table-type walking aid (or called a walking table). The embodiments of the present application do not make specific limitations on the type of the walking aid 101.

[0093] Among them, the four-legged frame walking aid may specifically include: a frame walking aid, a differential walking aid and a stepped walking aid. The wheeled walking aid may specifically include: a two-wheeled walking aid and a four-wheeled walking aid.

[0094] Optionally, a variety of sensors (such as, a speed sensor, an angular velocity sensor, a lidar sensor and a pressure sensor, etc.) can be deployed or installed on the walking aid 101, which are used to collect various motion parameters of the walking aid 101 during the process of the walking aid 101 assisting the target object 103 to move, and to detect in real time the distance change between the target object 103 and the walking aid 101 during the process of the target object 103 using the walking aid 101. It can be understood that other devices related to auxiliary motion (such as, a motor) can also be deployed or installed on the walking aid 101. The embodiments of the present application do not make specific limitations on this.

[0095] The server 102 can be an independent physical server, or a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery network (CDN), as well as big data and artificial intelligence platforms.

[0096] It should be understood that, in the embodiments of the present application, the server 102, that is, the controller of the walking aid 101, can be integrally deployed or installed on the walking aid 101, or can be independently set with the walking aid 101. The embodiments of the present application do not make limitations on this.

[0097] It is worth noting that the server 102 in the embodiments of the present application can respond to the walking assistance request of the target object and obtain the lower limb point cloud data of the target object. The lower limb point cloud data may include: a plurality of lower limb position coordinates of the lower limbs of the target object in the coordinate reference system set for the walking aid. Then, perform circular arc fitting on the plurality of lower limb position coordinates included in the lower limb point cloud data to obtain the left lower limb position coordinate and the right lower limb position coordinate of the target object in the coordinate reference system set for the walking aid. Further, based on the left lower limb position coordinate and the right lower limb position coordinate, obtain the object position coordinate of the target object. Finally, based on the object position coordinate and the set of motion parameter thresholds for the walking aid, determine the motion data of the target object, and control the movement of the walking aid based on the motion data. The set of motion parameter thresholds may at least include: motion parameter thresholds set for at least one motion parameter included in the motion data.

[0098] The target object 103 is also the user of the walking aid 101, so it is usually an object with certain obstacles in lower limb movement.

[0099] Next, in combination with the above application scenario and with reference to the accompanying drawings, the motion control method of the walking aid provided by the exemplary embodiments of the present application will be described. It should be noted that the above application scenario is only shown for the convenience of understanding the spirit and principle of the present application, and the embodiments of the present application are not limited in this regard.

[0100] Refer to Figure 2 As shown, it is a schematic flowchart of the implementation process of a motion control method of a walking aid provided by an embodiment of the present application. Taking the server as an example of the execution entity, the specific implementation process of this method is as follows:

[0101] S201: Respond to the walking assistance request of the target object and obtain the lower limb point cloud data of the target object.

[0102] The above walking assistance request can be sent to the walking aid through a terminal device. Of course, it can also be automatically triggered by a sensor (such as a pressure sensor) deployed on the walking aid when it detects that the target object is using the walking aid. The above lower limb point cloud data may include: a plurality of lower limb position coordinates of the lower limbs of the target object in the coordinate reference system set for the walking aid.

[0103] Exemplarily, refer to Figure 3As shown in the figure, it is a schematic diagram of a specific scenario of the coordinate reference system of a walking aid provided by an embodiment of the present application. The coordinate reference system R takes the projection position of the lidar sensor on the horizontal plane as the coordinate origin. The forward direction of the walking aid is the positive direction of the longitudinal axis (i.e., the Y-axis) of the coordinate reference system R, and the backward direction of the walking aid is the negative direction of the longitudinal axis (i.e., the Y-axis) of the coordinate reference system R. The right side of the walking aid (i.e., the direction where the right pressure sensor or the right motor is located) is the positive direction of the transverse axis (i.e., the X-axis) of the coordinate reference system R, and the left side of the walking aid (i.e., the direction where the left pressure sensor or the right motor is located) is the negative direction of the longitudinal axis (i.e., the X-axis) of the coordinate reference system R. And, from Figure 3 it can be seen that during the process of the target object using the walking aid, the left side of the target object is usually located in the third quadrant of the coordinate reference system R, while the right side of the target object is usually located in the fourth quadrant of the coordinate reference system R.

[0104] Therefore, when performing step S201, the lidar sensor can, during the process of the target object using the walking aid, collect in real time a plurality of lower limb position coordinates of the lower limbs of the target object in the coordinate reference system set for the walking aid. At this time, the server can obtain the lower limb point cloud data including the aforementioned plurality of lower limb position coordinates collected by the lidar sensor.

[0105] To improve the accuracy of subsequently determining the object position coordinates of the target object, after obtaining the lower limb point cloud data, the server can perform data preprocessing operations on the lower limb point cloud data. Exemplarily, the aforementioned data preprocessing operations include but are not limited to: performing noise reduction and smoothing processing on the lower limb point cloud data. The embodiments of the present application do not limit this.

[0106] S202: Perform circular arc fitting on the multiple lower limb position coordinates included in the lower limb point cloud data to obtain the left lower limb position coordinates and the right lower limb position coordinates of the target object in the coordinate reference system.

[0107] In this way, after the server obtains the lower limb point cloud data of the target object, by performing circular arc fitting operations on the multiple lower limb position coordinates included in the lower limb point cloud data to determine the center of the circle, the accurate position coordinates of the left lower limb and the right lower limb of the target object can be obtained, improving the accuracy and reliability of subsequently controlling the movement of the walking aid according to the movement data of the target object.

[0108] In an alternative implementation, after obtaining the lower limb point cloud data, the server can perform circular arc fitting on the lower limb point cloud data using the preset least squares method. And, to improve the efficiency and accuracy of data processing, the lower limb point cloud data can be divided into left lower limb point cloud data and right lower limb point cloud data, and then circular arc fitting is respectively performed on the left lower limb point cloud data and the right lower limb point cloud data to determine the left lower limb position coordinates and the right lower limb position coordinates.

[0109] Refer toFigure 4 As shown in the figure, it is a schematic flowchart of the implementation process of a method for determining the position coordinates of the left lower limb and the right lower limb provided by an embodiment of the present application. Taking the server as an example for the execution subject, the specific implementation process of this method is as follows:

[0110] S401: Based on the convergence characteristics of multiple lower limb position coordinates, divide the lower limb point cloud data into left lower limb point cloud data and right lower limb point cloud data.

[0111] The above-mentioned convergence characteristics can be: whether the abscissa of the lower limb position coordinate is greater than 0. Still taking Figure 3 the reference coordinate system R shown in the figure as an example, the lower limb position coordinates with the abscissa greater than 0 of the lower limb position coordinates can be divided into right lower limb coordinate point cloud data, and the lower limb position coordinates with the abscissa less than 0 of the lower limb position coordinates can be divided into left lower limb coordinate point cloud data. Of course, the above-mentioned convergence characteristics can also be the aggregation situation of the above-mentioned multiple lower limb position coordinates, that is, the lower limb point cloud data can be divided into left lower limb point cloud data and right lower limb point cloud data according to the aggregation situation of multiple lower limb position coordinates.

[0112] S402: Use the preset least squares method to perform circular arc fitting on the left lower limb point cloud data and the right lower limb point cloud data respectively, and obtain the first center coordinate corresponding to the left lower limb point cloud data and the second center coordinate corresponding to the right lower limb point cloud data.

[0113] In an optional implementation manner, when executing step S402, the server can perform the following operations on any one of the left lower limb point cloud data and the right lower limb point cloud data, that is, the first point cloud data: perform circular arc fitting on the multiple first position coordinates included in the first point cloud data, and obtain a target circle that satisfies the condition that the sum of the squares of the distances between the position coordinates corresponding to the least squares method and the center coordinate is the smallest, so as to use the center coordinate of the target circle as the center coordinate corresponding to the first point cloud data. In this way, through circular arc fitting by the least squares method, the server can accurately obtain the first center coordinate representing the left lower limb position coordinates and the second center coordinate representing the right lower limb position coordinates.

[0114] Exemplarily, the fitting circular arc corresponding to the first point cloud data can be specifically expressed as follows:

[0115]

[0116] Among them, (x, y) represents the points on the circular arc, (x c , y c ) represents the position of the center of the circle, and R o is the radius of the circle. Then, the calculation formula for the sum of the squares of the distances (that is, the sum of the squares of the distances between the position coordinates corresponding to the least squares method and the center coordinate) required for circular arc fitting by the least squares method can be specifically expressed as follows:

[0117]

[0118] Among them, f represents the sum of the squares of the distances between multiple first position coordinates included in the first point cloud data and the center coordinates. (x i , y i ) represents the i-th first position coordinate among the multiple first position coordinates.

[0119] Therefore, the target circle that satisfies the condition of the minimum sum of the squares of the distances between the position coordinates corresponding to the above least squares method and the center coordinates is also the circle fitted when f is minimized. Since solving the minimum value of f is equivalent to solving the minimum value of the sum of the differences between the squares of the distances between multiple first position coordinates and the center coordinates and the square of the radius R of the circle o .

[0120] Exemplarily, the summation formula for the difference between the square of the distance between the above multiple first position coordinates and the center coordinates and the square of the radius R of the circle o can be specifically expressed as follows:

[0121] h = ∑((x i - x c ) 2 + (y i - y c ) 2 - R o 2 ) 2

[0122] Among them, h represents the sum of the differences between the square of the distance between the above multiple first position coordinates and the center coordinates and the square of the radius R of the circle o . If we let g(x i , y i ) = (x i - x c ) 2 + (y i - y c ) 2 - R o 2 , then the summation formula for the difference between the square of the distance between the above multiple first position coordinates and the center coordinates and the square of the radius R of the circle o can be simplified to:

[0123] h = ∑g(x i , y i ) 2

[0124] Based on this, solving the minimum value of f (i.e., performing extreme value processing on f) is also to find the extreme values of x c , y c , and R oPartial derivative processing is performed, which is specifically expressed as follows:

[0125]

[0126] First, for Simplification is carried out, and the following expression one can be obtained:

[0127]

[0128] Since the radius R of the circle o is not 0, then there must exist ∑g(x i , y i ) = 0.

[0129] Next, for Simplification is carried out, and the following expression two can be obtained:

[0130]

[0131] Since the points corresponding to the first position coordinates (x i , y i ) are all points on the arc, so x i ≠x c , y i ≠y c , then there must exist ∑g(x i , y i ) = 0. Thus, it can be seen that the above-mentioned solution of the minimum value of f is also to solve ∑g(x i , y i ) = 0, and the obtained center coordinates can be used as the center coordinates corresponding to the first point cloud data (i.e., the center coordinates of the target circle).

[0132] In order to quickly solve ∑g(x i , y i ) = 0, the first abscissa corresponding to the abscissa of the center of the target circle and the first ordinate corresponding to the ordinate of the center of the target circle can be introduced. Optionally, the first abscissa and the first ordinate are expressed as follows:

[0133]

[0134] Among them, u c represents the first abscissa, x c represents the abscissa of the center of the circle, represents the average value of the abscissas of the above-mentioned multiple first position coordinates, which can be denoted as: N represents the number of the first position coordinates, v c represents the first ordinate, y c represents the ordinate of the center of the circle, Denote the average value of the ordinates of the multiple first position coordinates as above, which can be denoted as:

[0135] In addition, let where u i represents the second abscissa corresponding to the abscissa of the i-th first position coordinate, and v i represents the second ordinate corresponding to the ordinate of the i-th first position coordinate. That is, perform coordinate transformation on the above first position coordinates (x i , y i ) to convert them into position coordinates (u, v i ).

[0136] Furthermore, substitute u i , u c , v i , v c into ∑g(x i , y i ) = 0, and the following expression three can be obtained:

[0137]

[0138] Since ∑u i = ∑v i = 0, the above expression three can be simplified to the following expression four:

[0139]

[0140] If let S uv = ∑u i v i , then the above expression four can be obtained as the following expression five:

[0141]

[0142] Therefore, based on the above expression five, the first abscissa u c and the first ordinate v c can be calculated as follows:

[0143]

[0144] Finally, according to the center position of the arc obtained by circular arc fitting of the above multiple first position coordinates can be obtained, that is, the center coordinates (x c , y c ) of the target circle.

[0145] Therefore, in an alternative implementation, after the server performs circular arc fitting on multiple first position coordinates included in the first point cloud data to obtain a target circle that satisfies the condition of the minimum sum of the squares of the distances between the position coordinates corresponding to the least squares method and the center coordinates, the server can also determine the average value of the abscissas of the multiple first position coordinates and the average value of the ordinates Next, based on the differences between the abscissas of the multiple first position coordinates and the average value of the abscissas, and the differences between the ordinates of the multiple first position coordinates and the average value of the ordinates, the first abscissa u corresponding to the abscissa of the center of the target circle is obtained c and the first ordinate v corresponding to the ordinate of the center of the target circle c ; Finally, the sum of the first abscissa u c and the average value of the abscissas is used as the abscissa x of the center of the circle c , and the sum of the first ordinate v c and the average value of the ordinates is used as the ordinate y of the center of the circle c .

[0146] S403: Use the first center coordinates as the left lower limb position coordinates and the second center coordinates as the right lower limb position coordinates. The aforementioned left lower limb position coordinates can be denoted as: The aforementioned right lower limb position coordinates can be denoted as:

[0147] Based on the determination method of the left lower limb position coordinates and the right lower limb position coordinates recorded in the above steps S401 to S403, as shown in Figure 5 , after the server obtains the left lower limb point cloud data and the right lower limb point cloud data, it can perform circular arc fitting on the left lower limb point cloud data and the right lower limb point cloud data based on the preset least squares method, so as to obtain the left lower limb position of the target object and its corresponding left lower limb position coordinates and the right lower limb position of the target object and its corresponding right lower limb position coordinates

[0148] In addition, based on the above preset least squares method, the position coordinate changes of the left lower limb and the right lower limb of the target object during movement can also be successfully fitted. As shown in Figure 6 , it is a schematic diagram of the position coordinate changes of the left lower limb and the right lower limb of a target object during movement provided by an embodiment of the present application. It can be seen from Figure 6 that as the target object approaches or moves away from the walking aid, the longitudinal distance between the target object and the center of the walking aid shows dynamic changes of reduction and expansion; when the target object turns left or right, the lateral distance from the center of the walking aid increases accordingly

[0149] S203: Based on the left lower limb position coordinates and the right lower limb position coordinates, obtain the object position coordinates of the target object

[0150] Exemplarily, the abscissa and ordinate in the object position coordinates of the above-mentioned target object can be specifically expressed as follows:

[0151]

[0152] Among them, R X represents the abscissa in the object position coordinates, represents the abscissa in the left lower limb position coordinates, represents the abscissa in the right lower limb position coordinates, R Y represents the ordinate in the object position coordinates, represents the ordinate in the left lower limb position coordinates, represents the ordinate in the right lower limb position coordinates.

[0153] S204: Determine the motion data of the target object based on the object position coordinates and the set of motion parameter thresholds for the walking aid, and control the movement of the walking aid based on the motion data.

[0154] Among them, the above-mentioned set of motion parameter thresholds at least includes: motion parameter thresholds set for at least one motion parameter included in the above-mentioned motion data. Optionally, the above-mentioned set of motion parameter thresholds includes at least one of the following motion parameter thresholds: the maximum and minimum distances between the target object and the vertical axis of the coordinate reference system during the movement process. For example, they can be respectively denoted as: and the maximum and minimum distances between the target object and the horizontal axis of the coordinate reference system during the movement process. For example, they can be respectively denoted as: and the distance threshold set for the horizontal axis. For example, it can be denoted as: The distance threshold is used to determine whether the motion type of the target object is a straight-line motion; the maximum straight-line speed, minimum straight-line speed, maximum angular velocity (i.e., maximum turning speed), minimum angular velocity (i.e., minimum turning speed), and wheelbase of the walking aid. For example, they can be respectively denoted as: v max 、v min 、ω max 、ω min and L. It should be noted that the aforementioned wheelbase is the distance between the front and rear support points of the walking aid, which is usually used to ensure the stability of the walking aid and the comfort of the user during use.

[0155] Exemplarily, v max =1m / s、v min =0m / s、 ω max =0.4rad / s、ω min= -0.4 rad / s and L = 0.6 m.

[0156] It should be noted that the spacing threshold The specific method for determining whether the motion type of the target object is linear motion is as follows:

[0157]

[0158] Based on the above formula, it can be seen that when the abscissa R in the object position coordinates X whose absolute value is less than the spacing threshold (that is or ), it can be considered that the abscissa R X is 0, that is, it is determined that the motion type of the target object is linear motion; otherwise, it can be determined that the motion type of the target object is non-linear motion, that is, turning motion.

[0159] In addition, the maximum angular velocity ω max and the minimum angular velocity ω min can be determined according to the absolute value of the speed difference between the left and right sides of the walking aid during zero-radius turning (such as the speed difference between the left wheel and the right wheel of the walking aid) and the wheelbase L of the walking aid. Among them, zero-radius turning means that with a certain support point on one side of the walking aid as the reference point, the other side of the walking aid rotates. For example, the maximum angular velocity ω max and the minimum angular velocity ω min can be specifically expressed as follows:

[0160]

[0161] Among them, |Δv| represents the absolute value of the speed difference between the left and right sides of the walking aid during zero-radius turning.

[0162] In order to improve the efficiency of determining the motion data of the target object and reduce the computational complexity. In an alternative implementation, when performing step S204, after obtaining the object position coordinates of the target object, the server can obtain a subset of motion parameter thresholds associated with the motion type of the target object from the set of motion parameter thresholds set for the walking aid, so as to determine at least one motion parameter corresponding to the motion type based on the object position coordinates and the subset of motion parameter thresholds, and use the at least one motion parameter as the motion data of the target object. Among them, the aforementioned motion types may include, but are not limited to: linear motion, zero-radius turning motion, and non-zero-radius turning motion (or called normal turning motion).

[0163] Taking the motion parameters including the forward speed of the target object and the turning speed of the target object as an example. If the motion type of the target object is linear motion, then the subset of motion parameter thresholds includes v max and vmin At this time, based on the object position coordinates of the target object and this subset of motion parameter thresholds, the server can determine the forward speed of the target object. If the motion type of the target object is a zero-radius turning motion, then the subset of motion parameter thresholds includes ω max and ω min At this time, based on the object position coordinates of the target object and this subset of motion parameter thresholds, the server can determine the turning speed of the target object. If the motion type of the target object is a non-zero-radius turning motion, then the subset of motion parameter thresholds includes v max 、v min 、ω max and ω min At this time, based on the object position coordinates of the target object and this subset of motion parameter thresholds, the server can determine the forward speed and the turning speed of the target object.

[0164] It should be noted that in the case where the specific type of the target object is unknown, the subsets of motion parameter thresholds corresponding to the above 3 motion types all include for determining whether the target object is in a straight-line motion or a turning motion.

[0165] Based on the motion control method of the walking aid described in the above steps S201 to S204, the server can obtain the motion data of the target object during the process of moving with the walking aid. Exemplarily, referring to Figure 7 as shown, the server can obtain the forward speed and the turning speed of the target object during the process of moving with the walking aid.

[0166] In order to more accurately and quickly determine the motion parameters of the target object, corresponding linear relationships can be constructed respectively for at least one of the above motion parameters based on the above subset of motion parameter thresholds. In this way, once the object position coordinates of the target object are obtained, at least one motion parameter of the target object can be determined according to the at least one pre-constructed linear relationship.

[0167] Exemplarily, referring to Figure 8 (a) in, assuming that the motion parameter is the forward speed of the target object, then the linear relationship constructed for the forward speed of the target object can be specifically expressed as follows:

[0168]

[0169] Among them, v represents the forward speed of the target object, R Y represents the ordinate in the object position coordinates, represents the maximum distance between the target object and the horizontal axis of the coordinate reference system during the movement, represents the minimum distance between the target object and the horizontal axis of the coordinate reference system during movement, v max represents the maximum straight-line speed of the walking aid, v min represents the minimum straight-line speed of the walking aid. R Y ×(-1) is because the ordinate in the object position coordinates is negative under the above coordinate reference system.

[0170] For another example, referring to Figure 8 as shown in (b) of, assuming that the motion parameter is the turning speed of the target object, then the linear relationship constructed for the turning speed of the target object can be specifically expressed as follows:

[0171]

[0172] where ω represents the turning speed of the target object, R X represents the abscissa in the object position coordinates, represents the maximum distance between the target object and the vertical axis of the coordinate reference system during movement, represents the minimum distance between the target object and the vertical axis of the coordinate reference system during movement, ω max represents the maximum turning speed of the walking aid, ω min represents the minimum turning speed of the walking aid.

[0173] In summary, in the motion control method of the walking aid provided in the embodiments of the present application, in response to the walking request of the target object, the lower limb point cloud data of the target object is acquired, where the lower limb point cloud data includes: multiple lower limb position coordinates of the lower limbs of the target object in the coordinate reference system set for the walking aid; then, circular arc fitting is performed on the multiple lower limb position coordinates included in the lower limb point cloud data to obtain the left lower limb position coordinates and the right lower limb position coordinates of the target object in the coordinate reference system set for the walking aid; further, based on the left lower limb position coordinates and the right lower limb position coordinates, the object position coordinates of the target object are obtained; finally, based on the object position coordinates and the set of motion parameter thresholds for the walking aid, the motion data of the target object is determined, and the walking aid is controlled to move based on the motion data; where the set of motion parameter thresholds includes: motion parameter thresholds set for at least one motion parameter included in the motion data. In this way, the motion control of the walking aid can be realized according to the motion data of the target object, which can better meet the actual motion needs of the target object.

[0174] In addition, based on the above motion control method of the walking aid, not only a comprehensive detection of the target object using the walking aid is realized, but also through the high adaptability of the movement of the walking aid to the actual movement of the target object, safety prevention can be achieved to prevent the target object from falling during the use of the walking aid due to the low movement adaptability between the walking aid and the target object.

[0175] Further, based on the same technical concept, an embodiment of the present application also provides a motion control device for a walking aid, and the control of the walking aid is used to implement the above method flow of the embodiment of the present application. Exemplarily, referring to Figure 9 As shown, the motion control device 900 of the walking aid may include: a data acquisition module 901, a coordinate determination module 902, a coordinate processing module 903, and a motion control module 904, where:

[0176] The data acquisition module 901 is configured to obtain the lower limb point cloud data of the target object in response to the walking aid request of the target object; the lower limb point cloud data includes: a plurality of lower limb position coordinates of the lower limbs of the target object in the coordinate reference system set for the walking aid;

[0177] The coordinate determination module 902 is configured to perform circular arc fitting on the plurality of lower limb position coordinates included in the lower limb point cloud data to obtain the left lower limb position coordinates and the right lower limb position coordinates of the target object in the coordinate reference system;

[0178] The coordinate processing module 903 is configured to obtain the object position coordinates of the target object based on the left lower limb position coordinates and the right lower limb position coordinates;

[0179] The motion control module 904 is configured to determine the motion data of the target object based on the object position coordinates and the set of motion parameter thresholds for the walking aid, and control the motion of the walking aid based on the motion data; where the set of motion parameter thresholds includes at least: the motion parameter thresholds set for at least one motion parameter included in the motion data.

[0180] In an alternative embodiment, when performing circular arc fitting on the plurality of lower limb position coordinates included in the lower limb point cloud data to obtain the left lower limb position coordinates and the right lower limb position coordinates of the target object in the coordinate reference system, the coordinate determination module 902 is specifically configured to:

[0181] Based on the convergence characteristics of the plurality of lower limb position coordinates, divide the lower limb point cloud data into left lower limb point cloud data and right lower limb point cloud data;

[0182] Adopt the preset least squares method to perform circular arc fitting on the left lower limb point cloud data and the right lower limb point cloud data respectively to obtain the first center coordinate corresponding to the left lower limb point cloud data and the second center coordinate corresponding to the right lower limb point cloud data;

[0183] Take the first center coordinate as the left lower limb position coordinate, and take the second center coordinate as the right lower limb position coordinate.

[0184] In an alternative embodiment, when performing circular arc fitting on the left lower limb point cloud data and the right lower limb point cloud data respectively by using a preset least squares method to obtain the first center coordinate corresponding to the left lower limb point cloud data and the second center coordinate corresponding to the right lower limb point cloud data, the coordinate determination module 902 is specifically configured to:

[0185] Perform the following operations on the left lower limb point cloud data and the right lower limb point cloud data respectively:

[0186] Perform circular arc fitting on multiple first position coordinates included in the first point cloud data to obtain a target circle that satisfies the condition that the sum of the squares of the distances between the position coordinates corresponding to the least squares method and the center coordinate is the smallest; wherein, the first point cloud data is the left lower limb point cloud data or the right lower limb point cloud data;

[0187] Take the center coordinate of the target circle as the center coordinate corresponding to the first point cloud data.

[0188] In an alternative embodiment, the coordinate determination module 902 is further configured to:

[0189] Determine the average value of the abscissas and the average value of the ordinates of the multiple first position coordinates;

[0190] Based on the differences between the abscissas of the multiple first position coordinates and the average value of the abscissas respectively, and the differences between the ordinates of the multiple first position coordinates and the average value of the ordinates respectively, obtain the first abscissa corresponding to the abscissa of the center of the target circle and the first ordinate corresponding to the ordinate of the center of the target circle;

[0191] Take the sum of the first abscissa and the average value of the abscissas as the abscissa of the center, and take the sum of the first ordinate and the average value of the ordinates as the ordinate of the center.

[0192] In an alternative embodiment, when determining the motion data of the target object based on the object position coordinates and the set of motion parameter thresholds for the walking aid, the motion control module 904 is specifically configured to:

[0193] Obtain a subset of motion parameter thresholds associated with the motion type of the target object from the set of motion parameter thresholds; wherein, the motion types include: linear motion, zero-radius turning motion, and non-zero-radius turning motion;

[0194] Based on the object position coordinates and the subset of motion parameter thresholds, determine at least one motion parameter corresponding to the motion type, and take the at least one motion parameter as the motion data of the target object.

[0195] In an alternative embodiment, when determining at least one motion parameter corresponding to the motion type based on the object position coordinates and the subset of motion parameter thresholds, the motion control module 904 is specifically configured to:

[0196] Construct at least one linear relationship corresponding to each of the motion parameters based on a subset of motion parameter thresholds;

[0197] Determine at least one motion parameter based on the at least one linear relationship and the object position coordinates.

[0198] Based on the descriptions of the above method embodiments and apparatus embodiments, an exemplary embodiment of the present invention further provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor. The memory stores a computer program executable by the at least one processor, and when executed by the at least one processor, the computer program is used to cause the electronic device to execute the method according to the embodiments of the present invention.

[0199] An embodiment of the present application further provides a non-transitory computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor of a computer, it is used to cause the computer to execute the method according to the embodiments of the present application.

[0200] An embodiment of the present application further provides a computer program product, including a computer program, wherein when the computer program is executed by a processor of a computer, it is used to cause the computer to execute the method according to the embodiments of the present application.

[0201] Refer to Figure 10 As shown, the following will describe a block diagram of an electronic device 1000 that can be a server or a client of the present application, which is an example of a hardware device applicable to various aspects of the present application. The electronic device is intended to represent various forms of digital electronic computer devices, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described herein and / or claimed.

[0202] As Figure 10As shown, the electronic device 1000 includes a computing unit 1001, which can perform various appropriate actions and processes according to a computer program stored in a read only memory (ROM) 1002 or a computer program loaded from a storage unit 1008 into a random access memory (RAM) 1003. In the RAM 1003, various programs and data required for the operation of the device 1000 can also be stored. The computing unit 1001, the ROM 1002, and the RAM 1003 are connected to each other through a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0203] A plurality of components in the electronic device 1000 are connected to the I / O interface 1005, including: an input unit 1006, an output unit 1007, a storage unit 1008, and a communication unit 1009. The input unit 1006 can be any type of device capable of inputting information into the electronic device 1000. The input unit 1006 can receive input digital or character information, and generate key signal inputs related to user settings and / or function controls of the electronic device. The output unit 1007 can be any type of device capable of presenting information, and can include but is not limited to a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 1008 can include but is not limited to a magnetic disk, an optical disk. The communication unit 1009 allows the electronic device 1000 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include but is not limited to a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth device, a WiFi device, a worldwide interoperability for microwave access (WiMax) device, a cellular communication device, and / or the like.

[0204] The computing unit 1001 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1001 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1001 executes the various methods and processes described above. For example, in some embodiments, the above-described motion control method of the walking aid can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as the storage unit 1008. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 1000 via the ROM 1002 and / or the communication unit 1009. In some embodiments, the computing unit 1001 can be configured to execute the above-described motion control method of the walking aid in any other suitable manner (e.g., by means of firmware).

[0205] The program code for implementing the method of the present application can be written in any combination of one or more programming languages. These program codes can be provided to the processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the program codes are executed by the processor or controller, the functions / operations specified in the flowchart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, executed partially on the machine and partially on a remote machine as an independent software package, or executed entirely on a remote machine or server.

[0206] In the context of the present application, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM) or flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0207] As used in this application, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and / or device (e.g., a disk, an optical disk, a memory, a programmable logic device (PLD)) used to provide machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and / or data to a programmable processor.

[0208] To provide for interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a cathode ray tube (CRT) or a liquid crystal display (LCD) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can also be used to provide for interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic, speech, or tactile input).

[0209] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0210] A computer system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is created by computer programs that run on the respective computers and have a client-server relationship with each other.

[0211] Also, it should be understood that the above-disclosed is only a preferred embodiment of the present application, and of course it cannot be used to limit the scope of the rights of the present invention. Therefore, equivalent changes made in accordance with the claims of the present invention still fall within the scope covered by the present application.

Claims

1. A motion control method for a walking aid, characterized in that Including: In response to a walking assistance request of a target object, acquiring lower limb point cloud data of the target object; The lower limb point cloud data includes: a plurality of lower limb position coordinates of the lower limbs of the target object in a coordinate reference system set for the walking aid; Performing circular arc fitting on the plurality of lower limb position coordinates included in the lower limb point cloud data to obtain left lower limb position coordinates and right lower limb position coordinates of the target object in the coordinate reference system; Based on the left lower limb position coordinates and the right lower limb position coordinates, obtaining object position coordinates of the target object; Based on the object position coordinates and a set of motion parameter thresholds set for the walking aid, determining motion data of the target object, and controlling the movement of the walking aid based on the motion data; wherein, the set of motion parameter thresholds at least includes: motion parameter thresholds set for at least one motion parameter included in the motion data.

2. The method according to claim 1, characterized in that The performing circular arc fitting on the plurality of lower limb position coordinates included in the lower limb point cloud data to obtain left lower limb position coordinates and right lower limb position coordinates of the target object in the coordinate reference system includes: Based on the convergence characteristics of the plurality of lower limb position coordinates, dividing the lower limb point cloud data into left lower limb point cloud data and right lower limb point cloud data; Using a preset least squares method to perform circular arc fitting on the left lower limb point cloud data and the right lower limb point cloud data respectively, to obtain a first center coordinate corresponding to the left lower limb point cloud data and a second center coordinate corresponding to the right lower limb point cloud data; Taking the first center coordinate as the left lower limb position coordinate, and taking the second center coordinate as the right lower limb position coordinate.

3. The method according to claim 2, wherein The using a preset least squares method to perform circular arc fitting on the left lower limb point cloud data and the right lower limb point cloud data respectively, to obtain a first center coordinate corresponding to the left lower limb point cloud data and a second center coordinate corresponding to the right lower limb point cloud data includes: For the left lower limb point cloud data and the right lower limb point cloud data, respectively performing the following operations: Performing circular arc fitting on a plurality of first position coordinates included in first point cloud data to obtain a target circle that satisfies the condition that the sum of the squares of the distances between the position coordinates corresponding to the least squares method and the center coordinate is the smallest; wherein, the first point cloud data is the left lower limb point cloud data or the right lower limb point cloud data; Taking the center coordinate of the target circle as the center coordinate corresponding to the first point cloud data.

4. The method according to claim 3, characterized in that, The method further includes: Determining the average value of the abscissas and the average value of the ordinates of the plurality of first position coordinates; Based on the differences between the abscissas of the plurality of first position coordinates and the average value of the abscissas respectively, and the differences between the ordinates of the plurality of first position coordinates and the average value of the ordinates respectively, obtaining a first abscissa corresponding to the abscissa of the center of the target circle and a first ordinate corresponding to the ordinate of the center of the target circle; Taking the sum of the first abscissa and the average value of the abscissas as the abscissa of the center, and taking the sum of the first ordinate and the average value of the ordinates as the ordinate of the center.

5. The method according to claim 1, characterized in that, Determining the motion data of the target object based on the object position coordinates and a set of motion parameter thresholds set for the walking aid, includes: Obtaining a subset of motion parameter thresholds associated with the motion type of the target object from the set of motion parameter thresholds; wherein, the motion types include: linear motion, zero-radius turning motion, and non-zero-radius turning motion; Based on the object position coordinates and the subset of motion parameter thresholds, determining at least one motion parameter corresponding to the motion type, and using the at least one motion parameter as the motion data of the target object.

6. The method according to claim 5, wherein The determining, based on the object position coordinates and the subset of motion parameter thresholds, at least one motion parameter corresponding to the motion type, includes: Based on the subset of motion parameter thresholds, constructing linear relationships respectively corresponding to the at least one motion parameter; Based on the at least one linear relationship and the object position coordinates, determining the at least one motion parameter.

7. The method according to any one of claims 1-6, characterized in that, The set of motion parameter thresholds includes at least one of the following motion parameter thresholds: The maximum distance and minimum distance between the target object and the longitudinal axis of the coordinate reference system during the movement; wherein, the positive direction of the longitudinal axis is the forward direction of the walking aid; The maximum distance and minimum distance between the target object and the transverse axis of the coordinate reference system during the movement; wherein, the positive direction or negative direction of the transverse axis is the turning direction of the walking aid; A distance threshold set for the transverse axis; the distance threshold is used to determine whether the motion type of the target object is linear motion; The maximum straight-line speed, minimum straight-line speed, maximum angular velocity, minimum angular velocity, and wheelbase of the walking aid.

8. A motion control device for a walking aid, characterized in that, Including: A data acquisition module, configured to obtain the lower limb point cloud data of the target object in response to a walking aid request of the target object; The lower limb point cloud data includes: a plurality of lower limb position coordinates of the lower limbs of the target object in a coordinate reference system set for the walking aid; A coordinate determination module, configured to perform circular arc fitting on the plurality of lower limb position coordinates included in the lower limb point cloud data to obtain the left lower limb position coordinates and right lower limb position coordinates of the target object in the coordinate reference system; A coordinate processing module, configured to obtain the object position coordinates of the target object based on the left lower limb position coordinates and the right lower limb position coordinates; A motion control module, configured to determine the motion data of the target object based on the object position coordinates and a set of motion parameter thresholds set for the walking aid, and control the movement of the walking aid based on the motion data; wherein, the set of motion parameter thresholds at least includes: motion parameter thresholds set for at least one motion parameter included in the motion data.

9. An electronic device, including: A processor; And A memory storing a program, wherein, the program includes instructions that, when executed by the processor, cause the processor to execute the method according to any one of claims 1-7.

10. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to execute the method according to any one of claims 1-7.

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