Multi-mode power assisting equipment

Abstract

The invention relates to the technical field of sports equipment manufacturing, in particular to multi-mode power assisting equipment which comprises a pedal, a pressure bearing body, a power driving system, a power source connection and management module and a mode switching control assembly. The pedal is fixed on the pressure-bearing body, and the power driving system is arranged at the bottom of the pressure-bearing body. The power supply connection and management module is provided with double interfaces, a household power supply interface meets the electricity demand of an in-situ running mode, and an adaptive portable belt power supply interface meets the electricity demand of a labor-saving accelerated walking mode. The mode switching control assembly realizes switching of three modes: in an in-situ running mode, a household power supply is taken, and the power driving system outputs reverse damping force to simulate a scene; in the labor-saving accelerated walking mode, a waistband power supply and a power driving system are used for assisting walking; in the exercise auxiliary supporting mode, assistance is provided for the physically handicapped person. The multi-mode power assisting equipment integrates three modes, the limitation of function splitting of traditional equipment is effectively broken through, and the multi-scene use requirements can be met.

Description

Technical Field

[0001] This invention relates to the field of sports equipment manufacturing technology, and in particular to a multi-mode power-assisted device. Background Technology

[0002] With increasing health awareness and a growing aging population, people's needs for exercise, daily travel, and rehabilitation assistance are becoming increasingly diversified, and various power-assisted devices are gradually becoming important tools for improving quality of life. However, existing technologies, especially single-function devices, are insufficient to meet the needs of complex scenarios and have significant limitations. In indoor fitness settings, traditional treadmills can provide running exercise, but they are bulky and require fixed installation, taking up a lot of space. At the same time, their damping adjustment is mostly preset, which makes it difficult to simulate the dynamic changes of ground reaction force when running outdoors, resulting in a gap between the exercise experience and the real scene.

[0003] In everyday travel scenarios, while ordinary means of transportation (such as electric skateboards and e-bikes) can save effort and speed up the journey, they are often designed for specific modes of transportation and are difficult to carry flexibly when walking short distances or transferring to public transportation. In rehabilitation and assistive scenarios, most walking aids for people with mobility impairments rely on mechanical support and lack active power assistance. They are difficult to adjust the support intensity in real time according to the user's movement intentions, and cannot respond quickly to prevent falls in dangerous situations such as center of gravity shift. Their safety and adaptability need to be improved. In summary, in the existing technology, fitness equipment, mobility aids and rehabilitation walking aids are independent and have fragmented functions. Users need to purchase equipment separately for different scenarios, which not only increases economic costs, but also causes problems such as inconvenient storage and cumbersome use.

[0004] Therefore, developing a multi-mode power-assisted device that integrates three modes—running in place, effortless and accelerated walking, and sports assistance support—and can flexibly switch according to scenario requirements, has become the key to solving the above-mentioned technical pain points. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-mode power-assisted device, aiming to solve the problems of limited functionality, poor adaptability to different scenarios, and unsatisfactory user experience in existing designs. For example, fitness equipment is difficult to use outdoors, and mobility devices lack fitness functions and are unsuitable for rehabilitation groups.

[0006] This invention relates to a multi-mode power-assisted device, characterized in that it includes a pedal, a pressure-bearing body, a power drive system, a power connection and management module, and a mode switching control component; The pedal, as a supporting component that the user directly steps on, is fixed to the pressure-bearing body; The power drive system is installed at the bottom of the pressure-bearing body; The power connection and management module has two power supply interfaces: one is a power cord interface for connecting to a household power supply to meet the power needs of the power drive system in the stationary running mode; the other is an interface for adapting to a portable waist belt power supply to provide 0.5 to 1 hour of power support for the power drive system in the effortless acceleration walking mode. The mode switching control component is used to switch between three usage modes, including: The stationary running mode draws power from household electricity via a power cord, and the power drive system delivers reverse damping force to simulate a running scenario. The effort-saving and speed-up walking mode utilizes a portable waist belt power supply, and the power drive system assists the user in walking. The motion assistance support mode is designed for people with physical disabilities, providing motion assistance through the power drive system.

[0007] As a further improvement to the technical solution disclosed in this invention, the mode switching control component includes a mode recognition submodule and a strategy selection submodule; the mode recognition submodule determines whether a mode switch is required by detecting the user's operation commands, motion state parameters and power connection status; the strategy selection submodule selects the corresponding switching strategy based on the recognition result of the mode recognition submodule, and the operation commands include pedal pressure, duration and mode switching button signal.

[0008] As a further improvement to the technical solution disclosed in this invention, the motion state parameters include the user's cadence, stride length, and center of gravity changes.

[0009] As a further improvement to the technical solution disclosed in this invention, the mode switching control component also includes a fuzzy control submodule; the fuzzy control submodule takes the user's step frequency change rate and pedal pressure change rate as input, and calculates the output mode switching transition coefficient through preset fuzzy rules; the transition coefficient is used to adjust the output force change rate of the power drive system during the mode switching process.

[0010] As a further improvement to the technical solution disclosed in this invention, the power connection and management module includes a power monitoring unit and an early warning submodule; the power monitoring unit detects the remaining power of the portable belt power supply in real time, and when the remaining power is lower than a preset threshold, the early warning submodule reminds the user through sound and light signals, and automatically reduces the output power of the power drive system in the effortless acceleration walking mode to extend the battery life.

[0011] As a further improvement to the technical solution disclosed in this invention, the power drive system includes a motor, a transmission mechanism, a walking mechanism, and a force feedback unit. The motor serves as the power source, transmitting power to the walking mechanism through the transmission mechanism. In the stationary running mode, the force feedback unit monitors the pedal force and movement speed in real time, and outputs a damping force opposite to the direction of movement through the motor. The magnitude of the damping force changes positively with the pedal force and frequency to simulate the ground reaction force during real running. In the energy-saving and acceleration walking mode, the force feedback unit outputs an auxiliary thrust through the motor based on the user's stride frequency and leg force signals. The auxiliary thrust is transmitted to the walking mechanism through the transmission mechanism. In the motion assistance and support mode, the force feedback unit combines the user's joint movement angle and movement intention, and outputs an auxiliary thrust through the motor to assist movement. When the user is stationary or needs to stabilize their posture, a damping force is output to prevent swaying. When the user's center of gravity shift exceeds a preset threshold, the force distribution of the walking mechanism is adjusted through the transmission mechanism, and a reverse damping force is output to prevent further shift of the center of gravity.

[0012] In practical applications, the multi-mode power-assisted equipment disclosed in this invention can achieve at least the following beneficial technical effects, specifically: 1) The multi-mode power-assisted equipment integrates three modes: running in place, effortless and accelerated walking, and sports assistance support, breaking the limitations of the traditional separation of functions between fitness equipment, mobility equipment, and rehabilitation equipment. The same equipment can meet the needs of users in multiple scenarios such as indoor fitness, short outdoor trips, and rehabilitation assistance, eliminating the need to purchase multiple devices separately, which reduces economic costs, saves storage space, and significantly improves ease of use; 2) The device features a dual-interface design, supporting both household power and portable power banks, facilitating precise matching of power needs across different modes. The stationary running mode connects to a household power source for a continuous and stable power supply; the effortless acceleration walking mode is compatible with the belt power supply, providing extended battery life to meet short-distance travel needs. This design not only balances the high power requirements of stationary scenarios with the portability of mobile scenarios but also ensures efficient operation of the multi-mode power-assist equipment in various situations. 3) The multi-mode power-assisted equipment can flexibly switch operating modes according to the scenario, and the output characteristics of the power drive system are specifically optimized in different modes to ensure that each mode can accurately meet the core needs of the corresponding scenario and improve the overall user experience. Specifically, the reverse damping force when running in place enhances the realism, the auxiliary thrust when walking with effortless effort improves efficiency, and the support force when exercising ensures safety. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the paired application status of the multi-mode power assist equipment disclosed in this invention.

[0015] Figure 2 This is a three-dimensional schematic diagram of the multi-mode power-assisted equipment disclosed in this invention from one perspective.

[0016] Figure 3 This is a three-dimensional schematic diagram of the multi-mode power-assisted equipment disclosed in this invention from another perspective.

[0017] Figure 4 This is a three-dimensional schematic diagram of the power drive system in the multi-mode power assist equipment disclosed in this invention.

[0018] Figure 5 This is a three-dimensional schematic diagram of the pressure-bearing body in the multi-mode power-assisted equipment disclosed in this invention, from one perspective.

[0019] Figure 6 This is a three-dimensional schematic diagram of the pressure-bearing body in the multi-mode power-assisted equipment disclosed in this invention from another perspective.

[0020] Figure 7 yes Figure 5 The front view.

[0021] Figure 8 yes Figure 7 AA sectional view.

[0022] Figure 9 This is a three-dimensional schematic diagram of the front-mounted pressure-bearing sub-body in the multi-mode power-assisted equipment disclosed in this invention.

[0023] Figure 10 This is a three-dimensional schematic diagram of the rear-mounted pressure-bearing sub-body in the multi-mode power-assisted equipment disclosed in this invention.

[0024] Figure 11 This is a three-dimensional schematic diagram of the left-side column pin in the multi-mode power assist equipment disclosed in this invention.

[0025] Figure 12 This is a three-dimensional schematic diagram of the right-side column pin in the multi-mode power assist equipment disclosed in this invention.

[0026] Figure 13 This is the control flowchart of the multi-mode power-assisted equipment disclosed in this invention.

[0027] 1-Pressure bearing body; 11-Front pressure bearing sub-body; 111-Left mounting through hole; 112-Right mounting through hole; 12-Rear pressure bearing sub-body; 121-Left through hole; 122-Right through hole; 13-Hinged assembly; 131-Left pin; 1311-Left through hole; 132-Right pin; 1321-Right through hole; 133-Left screw; 134-Right screw; 2-Pedal; 3-Power drive system; 31-Transmission mechanism; 311-Primary transmission belt; 312-Left secondary transmission belt; 313-Right secondary transmission belt; 32-Traveling mechanism; 321-Active traveling roller; 322-Rear driven traveling roller; 323-Front driven traveling roller; 33-Mobile power supply. Detailed Implementation

[0028] The present invention will be further described in detail below with reference to specific embodiments. Figure 1 The diagram shows the paired application state of the multi-mode power-assisted equipment disclosed in this invention. It can be seen that it is composed of a left-positioned power-assisted device and a right-positioned power-assisted device. The two are symmetrical in structure and can correspond to the user's left foot and right foot respectively, forming a collaborative walking assistance system.

[0029] From the perspective of the structure of a single multi-mode power assist device (such as...) Figure 2 , Figure 3 As shown in the diagram, its core components include a pressure-bearing body 1, a pedal 2, and a power drive system 3. The pressure-bearing body 1, as the basic load-bearing component of the entire equipment, is made of high-strength lightweight alloy or engineering plastic materials, ensuring structural stability while effectively controlling the overall weight. The pedal 2 is detachably fixed to the top of the pressure-bearing body 1, providing the user with comfortable and stable foot support. The power drive system 3, installed at the bottom of the pressure-bearing body 1, is the key component for realizing power output.

[0030] The power drive system 3, together with the pressure-bearing body 1 and the pedal 2, constitutes the basic framework of the multi-mode power-assisted equipment. In different power supply modes, it outputs reverse damping force to simulate running, provides auxiliary thrust to assist walking, and outputs targeted exercise assistance to help those with disabilities. It is the core of the power output that realizes the multi-mode function. For example... Figure 4 As shown, the power drive system 3 mainly consists of a motor (not shown), a transmission mechanism 31, and a walking mechanism 32. Among them, the motor, as the core power source, is responsible for outputting assist kinetic energy. The driving force generated by the motor is efficiently transmitted to the walking mechanism 32 through the transmission mechanism 31, and is finally converted into the propulsion power of the power-assisted equipment.

[0031] like Figure 5 , Figure 6As shown, the pressure-bearing body 1 is a split structure, comprising a front pressure-bearing sub-body 11, a rear pressure-bearing sub-body 12, and a hinge assembly 13. The front pressure-bearing sub-body 11 and the rear pressure-bearing sub-body 12 are rotatably connected by the hinge assembly 13. The axis of the hinge assembly 13 is arranged horizontally and perpendicular to the direction of travel of the power-assisted equipment, allowing the front pressure-bearing sub-body 11 to flexibly deflect relative to the rear pressure-bearing sub-body 12 in the vertical direction.

[0032] To further enhance safety during travel, the front end of the front-mounted pressure-bearing sub-body 11 adopts an upwardly curved transition structure. In practical applications, the guiding effect of the curved surface effectively avoids ground protrusions (such as stones, curb edges, etc.) during equipment movement, reducing the probability of direct collisions.

[0033] As described above, the hinge assembly 13 is the core component that enables the relative movement of the front pressure-bearing sub-body 11 and the rear pressure-bearing sub-body 12. Specifically, it includes a left-side pin 131, a right-side pin 132, a left-side screw 133, and a right-side screw 134 (e.g., ...). Figure 7 , Figure 8 (As shown in the diagram). Both the left pin 131 and the right pin 132 are made of high-hardness, wear-resistant material. The left pin 131 and right pin 132 are symmetrically distributed on the left and right sides of the connection between the front bearing sub-body 11 and the rear bearing sub-body 12, and their axes are collinear, ensuring the consistency of the rotation axis. (As shown in the diagram). Figure 9 As shown, the left side of the rear end of the front pressure bearing sub-body 11 is provided with a left mounting through hole 111, and the right side is provided with a right mounting through hole 112. The left pin 131 is embedded in the left mounting through hole 111, and its inner end is in close contact with the left side wall of the rear pressure bearing sub-body 12 and fixed as one piece. The right pin 132 is assembled in the right mounting through hole 112 in the same way, and its inner end is in close contact with the right side wall of the rear pressure bearing sub-body 12. Through the coordinated rigid support of the left pin 131 and the right pin 132, a stable fulcrum is provided for the front pressure bearing sub-body 11 and the rear pressure bearing sub-body 12 to perform deflection movements.

[0034] like Figure 11 , Figure 12 As shown, the left-side pin 131 has an axially formed left-side through hole 1311 adapted to the left-side screw 133, and the right-side pin 132 has a corresponding right-side through hole 1321 adapted to the right-side screw 134. Figure 10As shown, the left and right walls of the rear bearing sub-body 12 are respectively provided with a left through hole 121 and a right through hole 122, coaxially corresponding to the left through hole 1311 and the right through hole 1321. During assembly, the left screw 133 passes through the left through hole 1311 and the left through hole 121 in sequence. The right screw 134 passes through the right through hole 1321 and the right through hole 122 in sequence. In this way, the axial tightening force of the left screw 133 and the right screw 134 non-rigidly locks the left pin 131 and the right pin 132 to the side wall of the rear bearing sub-body 12, which ensures the connection strength and prevents the left pin 131 and the right pin 132 from axially moving during rotation.

[0035] When the power-assisted equipment is on a level surface, the upper surfaces of the front bearing sub-body 11 and the rear bearing sub-body 12 are on the same plane. At this time, the gap between the left pin 131 and the inner wall of the left mounting through hole 111 and the gap between the right pin 132 and the inner wall of the right mounting through hole 112 are both maintained at 0.1-0.2mm, with no obvious shaking and flexible rotation. When the power-assisted equipment travels to a slope or steps, the front bearing sub-body 11 can deflect upwards by a maximum of 30° or downwards by a maximum of 20° around the hinge axis.

[0036] like Figure 4 As shown, the traveling mechanism 32 includes an active traveling roller 321, a rear driven traveling roller 322, and a front driven traveling roller 323 arranged sequentially along the traveling direction. The active traveling roller 321 is the main actuator for power output and is installed at the rear end of the rear-mounted pressure-bearing sub-body 12. The motor adopts an integrated design built into the cavity of the active traveling roller 321, directly serving as the drive source to drive the active traveling roller 321 to rotate circumferentially, which saves design space and reduces intermediate power transmission losses. The rear driven walking roller 322 is installed at the connection between the front pressure bearing sub-body 11 and the rear pressure bearing sub-body 12. It serves as a support point for the connection between the front pressure bearing sub-body 11 and the rear pressure bearing sub-body 12, and also receives power through the transmission mechanism 31 to coordinate the movement rhythm of the active walking roller 321 and the front driven walking roller 323. The front driven walking roller 323 is installed at the front end of the front pressure bearing sub-body 11. It mainly undertakes the support function of the front pressure bearing sub-body 11 and can flexibly adapt to the road surface undulations as the front pressure bearing sub-body 11 deflects up and down, ensuring ground stability during the movement.

[0037] It is important to note that during the insertion of the left pin 131 and the right pin 132, the left screw 133 passes through the left through hole 1311 and the left through hole 121 in sequence, and extends to the left end of the rear driven roller 322 (non-threaded connection, only restricting the axial movement of the left pin 131 without affecting the free rotation of the rear driven roller 322), and is locked in place by a threaded pair. The right screw 134 passes through the right through hole 1321 and the right through hole 122 in sequence, and extends to the right end of the rear driven roller 322 to a set depth (similarly).

[0038] Similarly, Figure 4 As can be clearly seen in the diagram, the transmission mechanism 31 adopts a multi-stage belt drive design, consisting of a primary transmission belt 311, a left-side secondary transmission belt 312, and a right-side secondary transmission belt 313, forming an efficient power transmission path in conjunction with the motor. The primary transmission belt 311 is wound between the active travel roller 321 and the rear driven travel roller 322. The left-side secondary transmission belt 312 and the right-side secondary transmission belt 313 are symmetrically distributed on the left and right sides of the primary transmission belt 311, both wound between the rear driven travel roller 322 and the front driven travel roller 323, forming a power transmission structure of "central branching and double-sided transmission". In this way, it can not only adapt to the structural characteristics of the split pressure body 1, but also maintain the stability of power transmission when the front pressure body 11 and the rear pressure body 12 are relatively deflected, avoiding transmission failure caused by structural deformation. At the same time, the balanced force of the left secondary transmission belt 312 and the right secondary transmission belt 313 reduces unilateral wear and extends the service life of the transmission system.

[0039] Furthermore, to achieve precise adaptation of the multi-mode power-assisted equipment to various scenarios such as running in place, energy-saving walking, and assisted support, and to break through the functional limitations of traditional designs, the multi-mode power-assisted equipment also integrates a power connection and management module and a mode switching control component (not shown in the figure). The power connection and management module has two power supply interfaces: one is a power cord interface for connecting to a household power supply to meet the power requirements of the power drive system during running in place mode; the other is an interface for use with a portable waist belt power supply, used to provide 0.5 to 1 hour of power support for the power drive system during energy-saving and accelerated walking mode.

[0040] The mode switching control component is responsible for switching between three usage modes: the stationary running mode is powered by household power and the power drive system outputs reverse damping force to simulate a real running scenario; the effort-saving acceleration walking mode relies on a portable waist belt power supply and the power drive system provides auxiliary thrust for the user's walking; the sports assistance support mode is designed for people with disabilities and the power drive system can output targeted sports assistance to help people with disabilities maintain their own center of gravity stability.

[0041] In addition to having dual power supply interfaces, the power connection and management module's power monitoring unit accurately detects the remaining power of the portable belt power supply in real time. When the remaining power is detected to be below a preset 20% threshold, the warning submodule immediately activates an audible and visual warning: an intermittent beeping sound is emitted via a built-in buzzer, while the LED indicator on the side of the multi-mode power assist device flashes rapidly red, providing a double reminder to the user to charge the power supply in time. In the effortless acceleration walking mode, if the power is below 15%, the power drive system 3 reduces its output power to 70% of the rated power, maximizing the battery life while ensuring basic walking assistance functions.

[0042] Figure 13 The control flowchart of the multi-mode power-assisted equipment disclosed in this invention is shown. It is based on the mode switching control component and constructs a closed-loop control logic of "signal acquisition-analysis and judgment-command output-execution feedback".

[0043] The mode switching control component's mode recognition submodule is always operational, comprehensively analyzing various information to determine whether a mode switch is necessary. When the user presses the mode switching button, the button signal is directly transmitted to the mode recognition submodule, which responds within 0.5 seconds and triggers the mode switching process. Simultaneously, the mode recognition submodule also detects the pedal force and duration via a pressure sensor within pedal 2. If, in stationary running mode, the user's pedal force suddenly decreases for more than 2 seconds, combined with parameters indicating a drop in cadence to the walking range, the mode recognition submodule determines that the user may need to switch to a less strenuous, faster walking mode and provides slight vibration feedback to prompt the user to confirm the switch. Furthermore, power connection status is also a crucial factor. When a household power outlet is detected as disconnected and the portable belt's power supply is connected, the mode recognition submodule will default to switching to the less strenuous, faster walking mode, reducing the need for manual operation by the user. After receiving the recognition results from the pattern recognition submodule, the strategy selection submodule quickly selects the corresponding switching strategy. For example, when switching from the stationary running mode to the energy-saving and acceleration walking mode, the strategy selection submodule first controls the power drive system 3 to gradually reduce the reverse damping force while gradually increasing the auxiliary thrust. The entire transition process lasts for 2 seconds to avoid sudden changes in power output that could cause discomfort to the user. When switching from the energy-saving and acceleration walking mode to the exercise assistance support mode, the strategy selection submodule adjusts the output parameters of the power drive system 3 in advance based on the user's body state detected by the center of gravity sensor to ensure that appropriate support can be provided immediately after the switch. The fuzzy control submodule plays a key role in the mode switching process. It takes the user's step frequency change rate and pedal pressure change rate as input and performs calculations according to preset fuzzy rules.

[0044] The preset fuzzy rules are set based on the fuzzification hierarchy of the step frequency change rate and the pedal pressure change rate, as follows: Fuzzy Hierarchy of Input Quantities Step frequency change rate (Δf): Divided into {NB (negative large), NM (negative medium), NS (negative small), ZO (zero), PS (positive small), PM (positive medium), PB (positive large)}, corresponding to the interval from significant decrease to significant increase in step frequency, with units of steps / s. 2 ; Pedal pressure change rate (ΔP): divided into {NB (negative large), NM (negative medium), NS (negative small), ZO (zero), PS (positive small), PM (positive medium), PB (positive large)}, corresponding to the interval from significant pressure decrease to significant pressure increase, with the unit being N / S; Output quantity (transition coefficient K) fuzzy classification It is divided into {VS (minimal), S (small), M (medium), L (large), VL (maximum)}, corresponding to the range of output force change rate from 0.1 times the reference rate to 1.0 times the reference rate, where the reference rate is the output force change rate when the mode is running stably. Control rule table

[0045]

[0046] Rule application logic The fuzzy control submodule fuzzifies Δf and ΔP using triangular membership functions, performs approximate reasoning based on the control rule table, and then defuzzifies using the centroid method to obtain a precise transition coefficient K, thereby achieving dynamic adjustment of the power output of the drive system. For example, when the step frequency change rate Δf is 5% / s and the pedal pressure change rate ΔP is 8% / s, the calculated transition coefficient K is 0.6. The output force change rate of the drive system 3 will be adjusted according to this coefficient, making the mode switching process smoother and reducing the impact on the continuity of the user's movements. In motion-assisted support mode, the force feedback unit monitors the user's joint movement angles in real time using angle sensors mounted on the edge of pedal 2. Combined with center of gravity change data obtained from the center of gravity sensor, it accurately determines the user's movement intention. When a stepping motion is detected, the power drive system 3 outputs appropriate auxiliary thrust from behind the stepping leg to help the user complete the stepping motion. When the user is standing still, the power drive system 3 outputs stable damping force to prevent the user from swaying due to slight shifts in the center of gravity. If the user's center of gravity shift exceeds a preset threshold (e.g., a shift of more than 30cm in the forward / backward direction or more than 20cm in the left / right direction), the force feedback unit immediately transmits a signal to the power drive system 3. The power drive system 3 then quickly adjusts the force distribution of the walking mechanism 32 through the transmission mechanism 31, increasing the support force on the opposite side of the shift direction, while simultaneously outputting corresponding damping force to prevent further shifts in the center of gravity, thereby achieving fall protection. In stationary running mode, the force feedback unit monitors the pedal force and speed in real time, transmitting the data to the motor. Based on this data, the motor outputs a damping force opposite to the direction of movement, and the magnitude of this damping force adjusts in real time according to changes in pedal force and frequency. When the user pedals forcefully and at a faster frequency, the damping force increases accordingly, simulating the larger ground reaction force encountered while running outdoors; conversely, when the user slows down and reduces pedal force, the damping force decreases, just like running easily on a flat surface, making the indoor running experience closer to real-world scenarios.

[0047] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily 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 invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-mode power-assisted equipment, characterized in that, Includes pedals, pressure-bearing body, power drive system, power connection and management module, and mode switching control components; The pedal, which serves as a support component for direct user stepping, is fixed to the pressure-bearing body. The power drive system is installed at the bottom of the pressure-bearing body; The power connection and management module has two power supply interfaces: one is a power cord interface for connecting to a household power supply to meet the power demand of the power drive system in the stationary running mode; the other is an interface for adapting to a portable waist belt power supply to provide 0.5 to 1 hour of power support for the power drive system in the effortless acceleration walking mode. The mode switching control component is used to switch between three usage modes, including: The stationary running mode draws power from household power via a power cord, and the power drive system delivers a reverse damping force to simulate a running scenario. The effort-saving and speed-up walking mode utilizes a portable waist belt power supply, and the power drive system assists the user in walking. The motion assistance support mode is designed for individuals with physical disabilities, where the power drive system provides motion assistance.

2. The multi-mode power-assisted equipment according to claim 1, characterized in that, The mode switching control component includes a mode recognition submodule and a strategy selection submodule. The mode recognition submodule determines whether a mode switch is needed by detecting the user's operation commands, motion state parameters, and power connection status. The strategy selection submodule selects the corresponding switching strategy based on the recognition results of the mode recognition submodule. The operation commands include pedal pressure, duration, and mode switching button signal.

3. The multi-mode power-assisted equipment according to claim 2, characterized in that, Motion parameters include the user's cadence, stride length, and center of gravity changes.

4. The multi-mode power-assisted equipment according to claim 2, characterized in that, The mode switching control component also includes a fuzzy control submodule; the fuzzy control submodule takes the user's step frequency change rate and pedal pressure change rate as input, and calculates the output mode switching transition coefficient through preset fuzzy rules; the transition coefficient is used to adjust the output force change rate of the power drive system during the mode switching process.

5. The multi-mode power-assisted equipment according to claim 1, characterized in that, The power connection and management module includes a power monitoring unit and an early warning submodule. The power monitoring unit detects the remaining power of the portable belt power supply in real time. When the remaining power is lower than a preset threshold, the early warning submodule reminds the user through sound and light signals, and automatically reduces the output power of the power drive system in the effortless acceleration walking mode to extend the battery life.

6. The multi-mode power-assisted equipment according to claim 1, characterized in that, The power drive system includes a motor, a transmission mechanism, a walking mechanism, and a force feedback unit. The motor serves as the power source, transmitting power to the walking mechanism via the transmission mechanism. In stationary running mode, the force feedback unit monitors the pedal force and speed in real time, outputting a damping force opposite to the direction of movement via the motor. The magnitude of the damping force changes positively with the pedal force and frequency to simulate the ground reaction force during actual running. In energy-saving and acceleration walking mode, the force feedback unit outputs an auxiliary thrust via the motor based on the user's stride frequency and leg force signals. This auxiliary thrust is transmitted to the walking mechanism via the transmission mechanism. In motion assistance and support mode, the force feedback unit combines the user's joint movement angle and movement intention, outputting an auxiliary thrust via the motor to assist movement. When the user is stationary or needs to stabilize their posture, a damping force is output to prevent swaying. When the user's center of gravity shift exceeds a preset threshold, the force distribution of the walking mechanism is adjusted via the transmission mechanism, while simultaneously outputting a reverse damping force to prevent further shift of the center of gravity.

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