Rehabilitation walking aid robot control method and device, electronic equipment and storage medium

Abstract

The invention discloses a rehabilitation walking aid robot control method and device, electronic equipment and a storage medium, and belongs to the field of electric rehabilitation walking assistants.The method comprises the steps that the actual position of a sliding block on each side on a sliding rail is obtained, the actual position and a preset position are compared, deviation information is obtained, the compensation amount is calculated according to the deviation information, and the compensation amount is calculated; and the walking mechanism is controlled to move according to the compensation amount so that the left sliding block can return to the left preset position and the right sliding block can return to the right preset position. After wearing the trunk restraint mechanism, a rehabilitation trainer walks, steps, turns around and the like, the trunk restraint mechanism pulls the sliding block to move on the sliding rail, the sliding block deviates from a preset position, and the control logic automatically drives the walking mechanism to drive the sliding rail to move so that the sliding block can be located at the same position on the sliding rail as soon as possible. Finally, the rehabilitation walking-aid robot intelligently follows the rehabilitation trainee to move and steer, the rehabilitation trainee does not need to distract to control the rehabilitation walking-aid robot, and the rehabilitation walking-aid robot does not depend on other people to remotely control the rehabilitation walking-aid robot.

Description

Technical Field

[0001] This invention relates to a control method, device, electronic device, and storage medium for a rehabilitation walking aid robot, belonging to the field of electric rehabilitation walking aids. Background Technology

[0002] Traditional lower limb gait rehabilitation equipment, such as rehabilitation training balance bars, are fixed in location and have a fixed movement trajectory. They cannot adapt to the diverse rehabilitation exercise training needs, and the movements are monotonous, resulting in limited rehabilitation effects.

[0003] Existing technologies include mobile rehabilitation robots that allow rehabilitation trainees to move more freely by holding or wearing them. However, these robots are typically controlled manually, with the trainee using a joystick to move the robot while simultaneously practicing walking. This prevents the trainee from focusing on their leg muscles, which is already a weakness for lower limb rehabilitation trainees, further diminishing the effectiveness of the rehabilitation training. Furthermore, manually operating the joystick requires hand movements, hindering hand balance and preventing the achievement of multi-joint comprehensive training needs. If someone else remotely controls the robot, it not only increases the human effort required for rehabilitation training but also makes it impossible for that person to constantly monitor the trainee's intended direction and achievable speed. When the robot's speed and direction are mismatched with the trainee's, it can actually provide significant resistance. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, the present invention provides a control method, device, electronic device and storage medium for a rehabilitation walking robot, which enables the rehabilitation walking robot to automatically follow the rehabilitation trainer.

[0005] The technical solution adopted by this invention to solve its technical problem is: In a first aspect, this application provides a control method for a rehabilitation walking robot. The applicable rehabilitation walking robot includes a trunk restraint mechanism, a frame, a pair of parallel slide rails disposed on the left and right sides of the frame, and a walking mechanism for driving the frame to move. Sliders are slidably disposed on the slide rails, and one slider is connected to each of the left and right sides of the trunk restraint mechanism. The steps of the rehabilitation assistive walking robot control method include: Obtain the actual position of the slider on each side on the slide rail; By comparing the preset left position with the actual position on the left, left deviation information is obtained; by comparing the preset right position with the actual position on the right, right deviation information is obtained. Calculate the compensation amount based on the left deviation information and the right deviation information; The walking mechanism is moved according to the compensation amount so that the left slider returns to the left preset position and the right slider returns to the right preset position.

[0006] The rehabilitation walking robot control method provided in this application enables a rehabilitation walking robot with a corresponding structure to automatically follow the rehabilitation trainer while walking, without the rehabilitation trainer needing to be distracted by operating the rehabilitation walking robot, and without relying on others to remotely control the rehabilitation walking robot.

[0007] Furthermore, the walking mechanism of the applicable rehabilitation walking robot is divided into a left walking mechanism and a right walking mechanism; The step of calculating the compensation amount based on the left deviation information and the right deviation information includes: calculating the left compensation amount based on the left deviation information, and calculating the right compensation amount based on the right deviation information; The step of controlling the movement of the walking mechanism according to the compensation amount includes: controlling the left walking mechanism to move according to the left compensation amount, and controlling the right walking mechanism to move according to the right compensation amount.

[0008] Furthermore, neither the left preset position nor the right preset position is located at either end of the slide rail.

[0009] Furthermore, both the left deviation information and the right deviation information include direction and displacement.

[0010] Further, the step of calculating the compensation amount based on the left deviation information and the right deviation information includes: Left deviation information where the displacement exceeds the left displacement threshold is set as valid left deviation information, and right deviation information where the displacement exceeds the right displacement threshold is set as valid right deviation information. The compensation amount is calculated based on the effective left deviation information and the effective right deviation information.

[0011] Furthermore, the steps of the rehabilitation assistive walking robot control method further include: During the generation of multiple valid left deviation information, the number of times the valid left deviation information is generated is recorded as the number of valid left deviation information, and the number of times the left slider moves relative to the slide rail is recorded as the number of left jitters. When the ratio of the number of valid left deviation information to the number of left jitters is lower than the lower limit of a preset range, the left displacement threshold is lowered. When the ratio of the number of valid left deviation information to the number of left jitters is higher than the upper limit of the preset range, the left displacement threshold is raised. During the generation of multiple valid right deviation information, the number of times the valid right deviation information is generated is recorded as the right valid number, and the number of times the right slider moves relative to the slide rail is recorded as the right jitter number. When the ratio of the right valid number to the right jitter number is lower than the lower limit of the preset range, the right displacement threshold is lowered. When the ratio of the right valid number to the right jitter number is higher than the upper limit of the preset range, the right displacement threshold is raised.

[0012] Furthermore, the steps of the rehabilitation assistive walking robot control method further include: Obtain the force state information of the left and right sides of the torso restraint mechanism; the force state information is the magnitude of the force that is horizontal and perpendicular to the slide rail, or the deformation in the direction that is horizontal and perpendicular to the slide rail; By comparing the force state information on the left and right sides, the lateral displacement information is obtained; The lateral displacement information that is greater than the lateral displacement threshold is set as valid lateral displacement information; Calculate the lateral compensation amount based on the effective lateral displacement information; The lateral compensation amount is used to control the lateral movement of the walking mechanism so that the force state information on the left and right sides of the torso restraint mechanism is consistent.

[0013] Secondly, this application provides a control device for a rehabilitation walking robot. The applicable rehabilitation walking robot includes a trunk restraint mechanism, a frame, a pair of parallel slide rails disposed on the left and right sides of the frame, and a walking mechanism for driving the frame to move. A slider is slidably disposed on the slide rail, and a slider is connected to each of the left and right sides of the trunk restraint mechanism. The device includes: The acquisition module is used to acquire the actual position of the slider on each side on the slide rail; The comparison module is used to compare the left preset position with the actual position on the left to obtain left deviation information, and to compare the right preset position with the actual position on the right to obtain right deviation information. The calculation module is used to calculate the compensation amount based on the left deviation information and the right deviation information; The execution module is used to control the walking mechanism to move according to the compensation amount so that the left slider returns to the left preset position and the right slider returns to the right preset position.

[0014] Thirdly, this application provides an electronic device including a processor and a memory, the memory storing computer-readable instructions that, when executed by the processor, perform the steps of the method described in the first aspect.

[0015] Fourthly, this application provides a storage medium having a computer program stored thereon, which, when executed by a processor, performs the steps of the method described in the first aspect.

[0016] The beneficial effects of this invention are as follows: After the rehabilitation trainee wears the trunk restraint mechanism and walks, actions such as stepping and turning cause the trunk restraint mechanism to pull the slider to move on the slide rail. When the slider deviates from the preset position, the deviation is detected, the compensation amount is calculated, and the walking mechanism is driven to move the frame, thereby causing the slide rail to move with the frame to the position that adapts to the slider. The movement of the slide rail makes the slider quickly reach the same position on the slide rail. Ultimately, the rehabilitation walking robot can intelligently follow the rehabilitation trainee's movement and turning without the rehabilitation trainee having to operate the rehabilitation walking robot at their own pace, and without relying on others to remotely control the rehabilitation walking robot.

[0017] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings. Attached Figure Description

[0018] Figure 1 This is a structural diagram of a rehabilitation walking robot provided in an embodiment of this application.

[0019] Figure 2 This is a schematic diagram showing the relative positions of the slider and the slide rail under different motion states.

[0020] Figure 3 This is a schematic diagram of a torso restraint mechanism provided in an embodiment of this application.

[0021] Reference numerals: 1. Frame; 2. Walking mechanism; 10. Slider; 11. Slide rail; 12. Sensor; 13. Torso restraint mechanism; 131. Left connecting rod; 132. Middle connecting rod; 133. Right connecting rod. Detailed Implementation

[0022] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0023] The following disclosure provides many different embodiments or examples for implementing different structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0024] This application provides a control method for a rehabilitation walking robot, applicable to rehabilitation walking robots such as... Figure 1 It includes a torso restraint mechanism 13, a frame 1, a pair of parallel slide rails 11 located on the left and right sides of the frame 1, and a walking mechanism 2 that drives the frame 1 to move. Slider 10 is slidably mounted on the slide rails 11, and a slider 10 is connected to each of the left and right sides of the torso restraint mechanism 13.

[0025] The steps of the rehabilitation walking robot control method include: S1: Obtain the actual position of each slider on the slide rail.

[0026] S2: Compare the preset left position with the actual position on the left to obtain left deviation information; compare the preset right position with the actual position on the right to obtain right deviation information.

[0027] S3: Calculate the compensation amount based on the left deviation information and the right deviation information.

[0028] S4: Control the movement of the walking mechanism according to the compensation amount so that the left slider returns to the left preset position and the right slider returns to the right preset position.

[0029] It is important to note that Figure 1 The rehabilitation walking robot shown is only one feasible structure, not the only one. Figure 1 In the corresponding embodiment, the trunk restraint mechanism 13 is an elastic strap for wearing on the hip of the rehabilitation trainee; the slide rail 11 is located below the handrail; the walking mechanism 2 consists of two drive wheels that cannot rotate freely and are driven by a servo motor, with their axis of rotation perpendicular to the slide rail 11; in order to perform step S1, this embodiment has a sensor 12 installed under the handrail to obtain the position of the slider on the slide rail.

[0030] In other feasible structures, the support rods of the frame can be combined in various ways, even allowing a pair of slide rails to rise and fall simultaneously, rather than necessarily... Figure 1The type of support rod setup only requires space below the torso restraint mechanism for leg movement during walking. The torso restraint mechanism can also be used for the waist, chest, or other areas. The walking mechanism can also be a multi-link mechanical leg. The principle for obtaining the slider's position on the rail can include photoelectric detection, ultrasonic positioning, the slider's position affecting the rail resistance, and image recognition combined with photography.

[0031] Specifically, the left and right preset positions can be manually set before training; or the rehabilitation trainee can wear the trunk restraint mechanism and set the slider position corresponding to their comfortable standing posture as the left and right preset positions.

[0032] exist Figure 1 In the corresponding embodiment, the walking mechanism is divided into a left walking mechanism and a right walking mechanism, i.e., the two rear wheels in the figure. The preset position, actual position, deviation information, compensation amount, etc., are all calculated independently for the left and right sides.

[0033] For example, step S3 becomes: calculate the left compensation amount based on the left deviation information, and calculate the right compensation amount based on the right deviation information.

[0034] Step S4 becomes: Press the left compensation amount to control the left traveling mechanism to move so that the left slider returns to the left preset position, and press the right compensation amount to control the right traveling mechanism to move so that the right slider returns to the right preset position.

[0035] In addition to forward walking, rehabilitation training also includes backward walking training. Specifically, the preset left and right positions are not located at the ends of the slide rail, so that the slider slides in opposite directions on the slide rail when the trainee walks forward and backward. Correspondingly, the left deviation information and right deviation information both include direction and displacement.

[0036] Some control cases, for example Figure 2 As shown, Figure 2 From a bird's-eye view, Figure 2 In this embodiment, for ease of understanding, the line connecting the left preset position and the right preset position is perpendicular to the slide rail (perpendicularity is not necessarily required in embodiments where the preset position is established in a comfortable posture for the rehabilitation trainee).

[0037] like Figure 2 At point a, when the rehabilitation trainee walks forward, the trunk restraint mechanism 13 pulls the slider 10 forward relative to the slide rail 11, with both the left and right sides deviating positively from the preset position. During the control process, after obtaining the actual position of the slider, it is determined whether the left and right sliders deviate positively or negatively from the preset position, calculates the displacement of the left slider from the left preset position (dashed line), and calculates the displacement of the right slider from the right preset position (dashed line), obtaining the left compensation amount and the right compensation amount, and then combining them with... Figure 1The structure is such that the left rear wheel follows the left compensation amount, and the right rear wheel follows the right compensation amount (except during lifting). The slide rail is fixed relative to the frame, while the slider is basically stationary relative to the torso of the rehabilitation trainee. Therefore, the result of the left and right rear wheels following the track is that the slide rail actively moves to adapt to the position of the slider, so that the left slider "returns" to the left preset position and the right slider "returns" to the right preset position. In fact, the left preset position on the slide rail follows the three-dimensional space where the left slider is located, and the right preset position follows the three-dimensional space where the right slider is located.

[0038] like Figure 2 At point b, similar to walking forward, when the rehabilitation trainee walks backward, both the left and right sliders deviate negatively from the preset position (dashed line). Calculate the compensation amount and make the walking mechanism follow, so that the rehabilitation walking robot can move backward with the rehabilitation trainee.

[0039] Figure 2 At point C, the trainee is instructed to perform a compound walking and turning motion. The trainee walks forward and turns left, causing both the left and right sliders to deviate from their preset positions, with the right slider displaced more than the left. The control principle remains the same, except that the left and right compensation amounts differ, and the right rear wheel travels more than the left rear wheel, thus following the trainee's forward turning motion.

[0040] Of course, some trainees who recover well will be able to walk continuously, which may cause the slider to continuously deviate from the preset position. In this case, it is equivalent to the slide rail constantly chasing the slider.

[0041] This application also provides a rehabilitation walking robot control device, including: The acquisition module is used to obtain the actual position of each slider on the slide rail; The comparison module is used to compare the preset left position with the actual position on the left to obtain left deviation information, and to compare the preset right position with the actual position on the right to obtain right deviation information. The calculation module is used to calculate the compensation amount based on the left deviation information and the right deviation information; The execution module is used to control the movement of the walking mechanism according to the compensation amount so that the left slider returns to the left preset position and the right slider returns to the right preset position.

[0042] In reality, many trainees who need to use rehabilitation walking robots have difficulty controlling their lower limb strength and swing amplitude, which is why training is necessary. For example, some Parkinson's patients tend to move involuntarily, and some stroke patients may tremble. If the slider has to catch up with the rail every time it moves relative to the rail, the training will appear stumbling, and some trainees will find it difficult to walk in the direction they originally wanted to walk.

[0043] In a preferred embodiment, step S3 includes: S31: Set left deviation information where the displacement exceeds the left displacement threshold as valid left deviation information, and set right deviation information where the displacement exceeds the right displacement threshold as valid right deviation information.

[0044] S32: Calculate the compensation amount based on the effective left deviation information and the effective right deviation information.

[0045] Left and right displacement thresholds can be set, for example, to represent 1% to 20% of the total displacement of the slide rail (specifically, 2%, 5%, 10%, etc.). By setting these thresholds, movements not voluntary can be filtered out. Different thresholds can also be set based on individual rehabilitation levels. For example, lower thresholds can be set for those newly transitioning from bedridden to walking with difficulty, while gradually increasing thresholds can be used for those recovering more slowly. Furthermore, stroke sequelae can sometimes cause significant differences in strength between the left and right sides, allowing for different left and right displacement thresholds.

[0046] Accordingly, the rehabilitation walking robot control device in this application embodiment further includes a determination module, used to set left deviation information where the displacement exceeds a left displacement threshold as valid left deviation information, and right deviation information where the displacement exceeds a right displacement threshold as valid right deviation information. The execution module is used to calculate the compensation amount based on the valid left deviation information and the valid right deviation information.

[0047] More preferably, the steps of the rehabilitation assistive walking robot control method further include: During the generation of multiple (first quantity) valid left deviation information, the number of times valid left deviation information is generated is recorded as the number of valid left deviation information, and the number of times the left slider moves relative to the slide rail is recorded as the number of left jitters. When the ratio of the number of valid left deviation information to the number of left jitters is lower than the lower limit of the preset range, the left displacement threshold is lowered. When the ratio of the number of valid left deviation information to the number of left jitters is higher than the upper limit of the preset range, the left displacement threshold is raised. During the generation of multiple valid right deviation information, the number of times valid right deviation information is generated is recorded as the right valid number, and the number of times the right slider moves relative to the slide rail is recorded as the right jitter number. When the ratio of the right valid number to the right jitter number is lower than the lower limit of the preset range, the right displacement threshold is lowered. When the ratio of the right valid number to the right jitter number is higher than the upper limit of the preset range, the right displacement threshold is raised.

[0048] The first quantity can be 10 to 1000 (specifically, 10, 100, 200, 500, etc.). For example, for every 80 consecutive valid left deviation information points generated (left and right are calculated independently, regardless of how many valid right deviation information points were generated in between), the number of left jitters generated during the period is counted, and the number of left jitters is divided by 80 (the first quantity), then compared with a preset range. The preset range is, for example, first quantity: number of jitters = 1:5 to 20. When the ratio is greater than 1:5, the left displacement threshold is increased, for example, by increasing the threshold by 1% of the total slide rail distance each time it is adjusted; when the ratio is less than 1:20, the left displacement threshold is decreased, and the same applies to the right side.

[0049] After a period of use, the rehabilitation walking robot can adapt to the user's left and right side body strength, better matching their gait and walking speed. As the same user continues to use the robot and makes progress, the training intensity can be automatically adjusted to help them walk better and better.

[0050] Accordingly, the rehabilitation walking robot control device in this application embodiment further includes: The recording module is used to record the number of times valid left deviation information is generated during the generation of multiple valid left deviation information, as the left valid number, and to record the number of times the left slider moves relative to the slide rail as the left jitter number; during the generation of multiple valid right deviation information, the module records the number of times valid right deviation information is generated, as the right valid number, and to record the number of times the right slider moves relative to the slide rail as the right jitter number. The adjustment module is used to lower the left displacement threshold when the ratio of the left valid count to the left jitter count is lower than the lower limit of the preset range, and to raise the left displacement threshold when the ratio of the left valid count to the left jitter count is higher than the upper limit of the preset range; and to lower the right displacement threshold when the ratio of the right valid count to the right jitter count is lower than the lower limit of the preset range, and to raise the right displacement threshold when the ratio of the right valid count to the right jitter count is higher than the upper limit of the preset range.

[0051] Rehabilitation training also includes lateral walking training; correspondingly, the walking mechanism can be a Mecanum wheel or a multi-link mechanical leg. The control method steps for the rehabilitation walking robot also include: Obtain the force status information on the left and right sides of the torso restraint mechanism.

[0052] By comparing the force information on the left and right sides, the lateral displacement information is obtained.

[0053] Lateral displacement information that exceeds the lateral displacement threshold is set as valid lateral displacement information.

[0054] The lateral compensation amount is calculated based on the effective lateral displacement information.

[0055] The lateral movement of the walking mechanism is controlled by the lateral compensation amount to ensure that the force information on the left and right sides of the torso restraint mechanism is consistent.

[0056] Among them, the force state information is the magnitude of the force that is horizontal and perpendicular to the slide rail, or the deformation in the direction that is horizontal and perpendicular to the slide rail.

[0057] If the force information is the magnitude of a force that is horizontal and perpendicular to the slide rail, then... Figure 1 In a corresponding embodiment, two force sensors are installed in the trunk restraint mechanism: one connected between the left side of the trunk restraint mechanism and the left slider, and the other connected between the right side of the trunk restraint mechanism and the right slider. When the rehabilitation trainee takes a step to the left, the force obtained by the right force sensor is greater than the force obtained by the left force sensor. The difference between the two forces is used to obtain lateral displacement information. To prevent some rehabilitation trainees from being unstable, a larger lateral displacement threshold can be set, for example, the force on one side reaching 150% to 500% of the force on the other side. After comparing the effective lateral displacement information, the lateral compensation amount is calculated, driving the Mecanum wheel to move laterally.

[0058] If the force state information is the deformation in a horizontal direction perpendicular to the slide rail, in some embodiments, the torso restraint mechanism can be as follows: Figure 3 As shown, the system includes a left connecting rod 131, a middle connecting rod 132, and a right connecting rod 133. Initially, the middle connecting rod 132 is perpendicular to the slide rail. The left connecting rod and the middle connecting rod form an obtuse angle, and both the left and right connecting rods form an obtuse angle with the middle connecting rod; these two included angles are equal. The middle connecting rod connects to a strap worn by the rehabilitation trainee, which can fix the trainee's hips, waist, chest, abdomen, back, and shoulders. A left angle sensor is installed at the connection point between the left and middle connecting rods, or at the connection point between the left slider and the left connecting rod, or both left angle sensors are installed simultaneously; right angle sensors are symmetrically arranged on the right side.

[0059] When the rehabilitation trainee takes a lateral step, the angle between the links (and / or the angle between the link and the slider) changes relative to the initial state. By comparing the changes in angle on the left and right sides, the deformation in the horizontal and perpendicular direction of the slide rail can be obtained.

[0060] Accordingly, the acquisition module of the rehabilitation walking robot control device in this application embodiment is further configured to acquire force state information on the left and right sides of the torso restraint mechanism. The comparison module is further configured to compare the force state information on the left and right sides to obtain lateral displacement information. The determination module is further configured to set lateral displacement information greater than the lateral displacement threshold as valid lateral displacement information. The calculation module is further configured to calculate the lateral compensation amount based on the valid lateral displacement information. The execution module is further configured to control the walking mechanism to move laterally according to the lateral compensation amount so that the force state information on the left and right sides of the torso restraint mechanism is consistent.

[0061] This application embodiment also provides an electronic device including: a processor and a memory, the processor and the memory being interconnected and communicating with each other via a communication bus and / or other forms of connection mechanism, the memory storing a computer program executable by the processor, and when the computing device is running, the processor executes the computer program to perform the method in any optional implementation of the above embodiments to achieve the following functions: obtaining the actual position of each slider on the slide rail; comparing the left preset position with the actual position on the left side to obtain left deviation information, and comparing the right preset position with the actual position on the right side to obtain right deviation information; calculating a compensation amount based on the left deviation information and the right deviation information; and controlling the walking mechanism to move according to the compensation amount so that the left slider returns to the left preset position and the right slider returns to the right preset position.

[0062] This application provides a storage medium storing a computer program. When the computer program is executed by a processor, it performs the method in any optional implementation of the above embodiments to achieve the following functions: obtaining the actual position of each slider on the slide rail; comparing the left preset position with the actual position on the left side to obtain left deviation information, and comparing the right preset position with the actual position on the right side to obtain right deviation information; calculating a compensation amount based on the left deviation information and the right deviation information; and controlling the walking mechanism to move according to the compensation amount so that the left slider returns to the left preset position and the right slider returns to the right preset position. The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0063] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0064] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0065] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0066] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A control method for a rehabilitation walking robot, characterized in that, The applicable rehabilitation walking robot includes a trunk restraint mechanism, a frame, a pair of parallel slide rails disposed on the left and right sides of the frame, and a walking mechanism for driving the frame to move. Sliders are slidably disposed on the slide rails, and one slider is connected to each of the left and right sides of the trunk restraint mechanism. The steps of the rehabilitation assistive walking robot control method include: Obtain the actual position of the slider on each side on the slide rail; By comparing the preset left position with the actual position on the left, left deviation information is obtained; by comparing the preset right position with the actual position on the right, right deviation information is obtained. Calculate the compensation amount based on the left deviation information and the right deviation information; The walking mechanism is moved according to the compensation amount so that the left slider returns to the left preset position and the right slider returns to the right preset position.

2. The control method for the rehabilitation walking robot according to claim 1, characterized in that, The walking mechanism of the applicable rehabilitation walking robot is divided into a left walking mechanism and a right walking mechanism; The step of calculating the compensation amount based on the left deviation information and the right deviation information includes: calculating the left compensation amount based on the left deviation information, and calculating the right compensation amount based on the right deviation information; The step of controlling the movement of the walking mechanism according to the compensation amount includes: controlling the left walking mechanism to move according to the left compensation amount, and controlling the right walking mechanism to move according to the right compensation amount.

3. The rehabilitation assistive walking robot control method according to claim 1, characterized in that, Neither the left preset position nor the right preset position is located at either end of the slide rail.

4. The control method for the rehabilitation walking robot according to claim 3, characterized in that, Both the left deviation information and the right deviation information include direction and displacement.

5. The rehabilitation assistive walking robot control method according to claim 4, characterized in that, The step of calculating the compensation amount based on the left deviation information and the right deviation information includes: Left deviation information where the displacement exceeds the left displacement threshold is set as valid left deviation information, and right deviation information where the displacement exceeds the right displacement threshold is set as valid right deviation information. The compensation amount is calculated based on the effective left deviation information and the effective right deviation information.

6. The control method for the rehabilitation walking robot according to claim 5, characterized in that, The steps also include: During the generation of multiple valid left deviation information, the number of times the valid left deviation information is generated is recorded as the number of valid left deviation information, and the number of times the left slider moves relative to the slide rail is recorded as the number of left jitters. When the ratio of the number of valid left deviation information to the number of left jitters is lower than the lower limit of a preset range, the left displacement threshold is lowered. When the ratio of the number of valid left deviation information to the number of left jitters is higher than the upper limit of the preset range, the left displacement threshold is raised. During the generation of multiple valid right deviation information, the number of times the valid right deviation information is generated is recorded as the right valid number, and the number of times the right slider moves relative to the slide rail is recorded as the right jitter number. When the ratio of the right valid number to the right jitter number is lower than the lower limit of the preset range, the right displacement threshold is lowered. When the ratio of the right valid number to the right jitter number is higher than the upper limit of the preset range, the right displacement threshold is raised.

7. The control method for the rehabilitation walking robot according to claim 1, characterized in that, The steps also include: Obtain the force state information of the left and right sides of the torso restraint mechanism; the force state information is the magnitude of the force that is horizontal and perpendicular to the slide rail, or the deformation in the direction that is horizontal and perpendicular to the slide rail; By comparing the force state information on the left and right sides, the lateral displacement information is obtained; The lateral displacement information that is greater than the lateral displacement threshold is set as valid lateral displacement information; Calculate the lateral compensation amount based on the effective lateral displacement information; The lateral compensation amount is used to control the lateral movement of the walking mechanism so that the force state information on the left and right sides of the torso restraint mechanism is consistent.

8. A control device for a rehabilitation walking robot, characterized in that, The applicable rehabilitation walking robot includes a trunk restraint mechanism, a frame, a pair of parallel slide rails disposed on the left and right sides of the frame, and a walking mechanism for driving the frame to move. Sliders are slidably disposed on the slide rails, and one slider is connected to each of the left and right sides of the trunk restraint mechanism. The device includes: The acquisition module is used to acquire the actual position of the slider on each side on the slide rail; The comparison module is used to compare the left preset position with the actual position on the left to obtain left deviation information, and to compare the right preset position with the actual position on the right to obtain right deviation information. The calculation module is used to calculate the compensation amount based on the left deviation information and the right deviation information; The execution module is used to control the walking mechanism to move according to the compensation amount so that the left slider returns to the left preset position and the right slider returns to the right preset position.

9. An electronic device, characterized in that, It includes a processor and a memory, the memory storing computer-readable instructions that, when executed by the processor, perform the steps of the method as described in any one of claims 1-7.

10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it performs the steps of the method as described in any one of claims 1-7.

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