Motor control method applied to walking aid equipment and walking aid equipment

Abstract

The invention discloses a motor control method applied to walking aid equipment and the walking aid equipment, and the method comprises the steps: determining the working mode of the walking aid equipment in response to a control instruction, and the working mode comprises a power assisting mode and a resistance mode; determining a target input current of the walking aid device according to the working mode; generating a target output current according to the target input current and a preset control algorithm; and controlling a motor to provide assistance or resistance according to the target output current and the working mode. According to the technical scheme, the power assisting mode and the resistance mode are set for the walking aid equipment, when a user selects the power assisting mode or the resistance mode, the motor is controlled through the target output current to provide power assisting or resistance, and therefore the walking aid function or the training function of the walking aid equipment is achieved. Therefore, the user can use the walking aid function and the training function in different scenes through the walking aid equipment, so that the user requirements are met, and the product experience of the user is improved.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a motor control method and a walking aid device. Background Technology

[0002] Wheelchairs primarily provide mobility assistance to people with disabilities, improving their quality of life and enabling them to perform daily activities and participate in social life independently. Therefore, based on their intended use, wheelchairs currently on the market typically only offer mobility aids.

[0003] However, in some application scenarios, for patients who need rehabilitation due to illness, surgery or physical weakness, and for elderly people who face walking difficulties due to weakened muscle strength and decreased balance, these people need both walking aids to enable daily travel and a portable assistive device that can be used anytime and anywhere for rehabilitation training to help them relearn and practice walking patterns, improve muscle strength and coordination, and restore mobility.

[0004] With the arrival of the silver age, the value of this tool, which combines mobility assistance and exercise support, will become increasingly significant. On the one hand, it can meet the daily travel and social needs of the elderly through its mobility assistance function; on the other hand, it can enhance muscle strength, maintain joint flexibility, and prevent problems such as muscle atrophy and osteoporosis through assisted walking training, thereby delaying the decline of physical function and the effects of aging, and helping the elderly maintain health and independence. Summary of the Invention

[0005] This application provides a motor control method and a walking aid device for use in walking aid devices, in order to meet the needs of specific user groups for tools that combine walking aid functions and exercise assistance functions.

[0006] In a first aspect, this application provides a motor control method for a mobility aid device, the method comprising:

[0007] In response to a control command, the operating mode of the walking aid device is determined, the operating mode including an assist mode and a resistance mode;

[0008] The target input current of the mobility aid device is determined according to the operating mode.

[0009] The target output current is generated based on the target input current and the preset control algorithm;

[0010] The motor of the walking aid device is controlled to provide assistance or resistance based on the target output current and the operating mode.

[0011] Optionally, determining the target input current of the mobility aid device based on the operating mode includes:

[0012] The target control parameter is determined based on the operating mode, wherein when the operating mode is the assist mode, the target control parameter is determined to be the target speed; when the operating mode is determined to be the drag mode, the target control parameter is determined to be the target drag.

[0013] The target input current is determined based on the target control parameters.

[0014] Optionally, when the operating mode is the assist mode, generating the target output current based on the target input current and a preset control algorithm includes:

[0015] The feedback speed and feedback current of the motor of the walking aid device are obtained, wherein the feedback speed is the actual speed at which the motor of the walking aid device operates according to the target current, and the feedback current is the actual current at which the motor of the walking aid device operates according to the target current;

[0016] The target input current is adjusted according to the feedback speed and the control algorithm to obtain the corrected input current;

[0017] The target output current is obtained by adjusting the correction input current based on the feedback current and the control algorithm.

[0018] Optionally, when the operating mode is resistance mode, generating the target output current based on the target input current and a preset control algorithm includes:

[0019] The feedback speed and feedback current of the motor of the walking aid device are obtained, wherein the feedback speed is the actual speed at which the motor of the walking aid device operates according to the target current, and the feedback current is the actual current at which the motor of the walking aid device operates according to the target current;

[0020] A control current is generated based on the preset speed control conditions, the feedback speed, and the control algorithm.

[0021] Based on the control current and the target input current, a corrected input current is generated;

[0022] The target output current is obtained by adjusting the correction input current based on the feedback current and the control algorithm.

[0023] Optionally, the operating mode further includes a constant speed mode, which is configured with a set speed. The step of controlling the motor of the walking aid device to provide assistance or resistance based on the target output current and the operating mode includes:

[0024] Determine the set speed and the feedback speed of the walking aid device motor;

[0025] Determine whether the feedback speed is greater than the set speed;

[0026] If it is greater than the target output current, then the motor of the walking aid device is controlled to provide resistance according to the target output current;

[0027] If the value is less than the target output current, the motor of the walking aid device is controlled to provide assistance.

[0028] Optionally, generating the target output current based on the target input current and a preset control algorithm includes:

[0029] The feedback speed and feedback current of the motor of the walking aid device are obtained, wherein the feedback speed is the actual speed at which the motor of the walking aid device operates according to the target current, and the feedback current is the actual current at which the motor of the walking aid device operates according to the target current;

[0030] A control current is generated based on the set speed, the feedback speed, and the control algorithm.

[0031] Based on the control current and the target input current, a corrected input current is generated;

[0032] The target output current is obtained by adjusting the correction input current based on the feedback current and the control algorithm.

[0033] Optionally, before generating the control current based on the set speed, the feedback speed, and the control algorithm, the method further includes:

[0034] Obtain the actual distance between the user and the mobility aid device;

[0035] Determine whether the actual distance is greater than a preset distance;

[0036] When the actual distance is greater than the set distance, the motor of the walking aid device is controlled to stop working.

[0037] Optionally, the method further includes:

[0038] Obtain user status information, which indicates whether the user is in a seated position; generate the control command based on the user status information.

[0039] Secondly, this application also provides a walking aid device, comprising:

[0040] main body;

[0041] The motor is located within the main body;

[0042] A control mechanism, communicatively connected to the motor, is configured to control the motor to provide assistance or resistance according to the method described in the first aspect.

[0043] Optionally, the mobility aid is an electric wheelchair, which provides at least an assist mode and a resistance mode;

[0044] When the electric wheelchair is in assist mode, the user can sit in the electric wheelchair in a seated position, and the electric wheelchair provides power to carry the user's movement.

[0045] When the electric wheelchair is in resistance mode, the user can grip and push the electric wheelchair, which provides resistance so that the user needs to overcome the resistance to exercise.

[0046] Thirdly, this application also provides an electronic device including a memory and a processor, the memory being connected to the processor, the processor being configured to execute one or more computer programs stored in the memory, the processor causing the electronic device to perform the method as described in the first aspect when executing the one or more computer programs.

[0047] In the technical solution provided in this application, by setting an assist mode and a resistance mode for the walking aid device, when the user selects the assist mode or the resistance mode, the motor provides assistance or resistance through target output current control, thereby realizing the walking aid function or training function of the walking aid device respectively. Thus, users can use the walking aid function and training function in different scenarios through this walking aid device, thereby meeting user needs and improving the user's product experience. Attached Figure Description

[0048] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1a A schematic diagram of the application environment for a motor control method for a walking aid device with a walking function provided in an embodiment of this application;

[0050] Figure 1b This application provides another schematic diagram of an application environment for a motor control method for a walking aid device with a walking function, as an embodiment of this application.

[0051] Figure 2 This is a schematic diagram of the architecture of a mobility aid device provided in one embodiment of this application;

[0052] Figure 3 A schematic flowchart of a motor control method for a walking aid device with a walking function provided in an embodiment of this application;

[0053] Figure 4 This is a schematic flowchart of a method for determining a target input current according to an embodiment of this application;

[0054] Figure 5 A schematic flowchart of a method for generating a target output current in a boost mode provided in an embodiment of this application;

[0055] Figure 6 A schematic diagram of the circuit principle of the control algorithm in the assist mode provided in an embodiment of this application;

[0056] Figure 7 A schematic flowchart of a method for generating a target output current in a boost mode provided in an embodiment of this application;

[0057] Figure 8 A schematic diagram of the circuit principle of the control algorithm in resistance mode provided in an embodiment of this application;

[0058] Figure 9 A schematic flowchart of a method for generating a target output current in constant velocity mode according to an embodiment of this application;

[0059] Figure 10 A schematic diagram of the circuit principle of the control algorithm in constant speed mode provided in an embodiment of this application;

[0060] Figure 11 This is a schematic diagram of an electronic device architecture provided in an embodiment of this application. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0062] It should be noted that, unless there is a conflict, the various features in the embodiments of this application can be combined with each other, all of which are within the protection scope of this application. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device or the order in the flowchart. Moreover, the terms "first," "second," and "third" used in this application do not limit the data or execution order, but only distinguish identical or similar items with essentially the same function and effect.

[0063] First, to facilitate the explanation of the training equipment stall protection method provided in the embodiments of this application, the application environment of the method provided in the embodiments of this application will be introduced.

[0064] Please see Figure 1a and Figure 1b , Figure 1a This is a schematic diagram illustrating the application environment of a motor control method for mobility aids provided in an embodiment of this application. Figure 1b This illustration shows another application environment for a motor control method for a mobility aid device, as provided in one embodiment of this application. The mobility aid device can be an electric wheelchair, a smart mobility scooter, or an exoskeleton-powered machine. Figure 1a In this application scenario, a wheelchair 10 and a user 20 are included. The user 20 can sit in the wheelchair 10, which is self-propelled to carry the user 20 and move to the location specified by the user 20. Figure 1b In the application scenario, there are also wheelchairs 10 with walking function and users 20. Users 20 hold the wheelchair 10 with both hands and push the wheelchair 10 to move. At this time, the wheelchair 10 generates resistance. Users 20 need to overcome the resistance with both legs to push the wheelchair 10 to move, thereby achieving the effect of exercising users 20's legs and carrying out rehabilitation training.

[0065] Please see Figure 2 , Figure 2 This is a schematic diagram of a wheelchair architecture provided according to an embodiment of this application. The wheelchair 10 includes a main body 11, a motor 12, and a control mechanism 13. The main body 11 is used to provide load-bearing and mobility functions, thereby carrying the user 20 for movement. The specific structure can be referred to in the prior art wheelchairs, which will not be described in detail here.

[0066] The motor 12 is housed within the main body 11 and provides power for movement of the main body 11. The output shaft of the motor 12 is connected to a pulley drive in the main body 11. When the output shaft rotates forward, the wheelchair provides assistance; when the output shaft rotates in reverse, the wheelchair provides resistance. Specifically, the motor 12 can be classified into various types based on its structure, working principle, and power supply, such as synchronous motors and asynchronous motors, DC motors and AC motors, brushless motors and brushed motors, etc., without specific limitations.

[0067] The control mechanism 13 is also located within the main body 11. The control mechanism 13 can receive user commands to determine the user-selected working mode and set parameters. The control mechanism 13 is communicatively connected to the motor 12 to control the motor 12 to generate corresponding power or resistance according to the user 20's commands, thereby meeting the functional requirements of walking assistance or training.

[0068] When user 20 selects the assisted mode, user 20 typically sits on the main body 11 of wheelchair 10. The control mechanism 13 generates a corresponding working current according to the set speed, and the motor 12 operates according to this working current to generate sufficient power to move user 20. When user 20 selects the resistance mode, user 20 typically stands, supports the main body of wheelchair 10 with both hands, and pushes the wheelchair 10 to move. In this case, the control mechanism 13 generates a corresponding working current according to the set resistance, and the motor 12 generates corresponding resistance according to this working current, so that user 20 must overcome this resistance to move the wheelchair 10, thus achieving the purpose of exercising user 20.

[0069] Based on the above application scenario description, the following describes the motor control method for walking aids provided in the embodiments of this application.

[0070] Please see Figure 3 , Figure 3 A schematic flowchart of a motor control method for a walking aid device provided in an embodiment of this application includes:

[0071] S31. In response to control commands, determine the operating mode of the mobility aid device.

[0072] In this step, the control command is an electronic signal sent by the user to the control mechanism of the walking aid device, used to control the walking aid device to perform corresponding actions. Specifically, the receiving of control commands can be achieved through physical buttons, or through other external controllers sending electronic signals, infrared signals, etc. The electronic signals can be digital or analog signals, without limitation. The information contained in the control command includes at least the working mode of the walking aid device and the configuration parameters in that working mode. For example, if the control command determines the working mode to be assistive mode, then the control command also includes the preset movement speed of the walking aid device to control the motor of the walking aid device to work and make the walking aid device reach the preset movement speed. When the control command determines the working mode to be resistance mode, then it also includes the preset resistance of the walking aid device to make the motor of the walking aid device work to generate corresponding resistance for the user to overcome and exercise.

[0073] In this step, the operating mode is defined as the way the walking aid device outputs power. Specifically, the operating mode can be an assist mode, which corresponds to the output of assistive power, meaning that this power helps the walking aid device move relative to the ground; conversely, if the operating mode is a resistance mode, it corresponds to the output of resistance power, meaning that this power prevents the walking aid device from moving relative to the ground. In a specific embodiment, the motor of the walking aid device is usually a torque motor, which can output torque in the opposite direction. By controlling the direction of the torque output of the torque motor, it corresponds to the output of assistive power and resistance power, respectively. That is, when the user sits on the walking aid device, the operating mode is assist mode, and the motor works to make the walking aid device move while the user moves; when the user stands and holds the walking aid device, the operating mode is resistance mode, and the motor works so that the user must exert force to push the walking aid device to move.

[0074] S32. Determine the target input current of the walking aid device according to the working mode.

[0075] In this step, the target input current is the initial operating current preset according to the operating mode. Specifically, after the control mechanism determines the operating mode, it first obtains a preset target input current based on the operating mode and its configuration parameters, and then sends this current to the motor of the walking aid device. The motor of the walking aid device operates according to the target input current and generates corresponding parameters (such as speed). At this time, the walking aid device may be affected by external environmental interference or changes in its own system conditions, and may not be able to reach the preset speed. In this case, the target input current needs to be adjusted subsequently to correct the deviation. In short, the target input current is the preset initial input quantity in the closed-loop control system.

[0076] S33. Generate the target output current based on the target input current and the preset control algorithm.

[0077] In this step, the preset control algorithm is used to correct the target input current. Specifically, the control algorithm needs to adjust the target input current at the input end based on the feedback current at the output end to obtain a target output current that is more conducive to achieving the operating mode parameters. In this embodiment, the control algorithm adopts the PID algorithm, and the overall structure is a dual closed-loop structure, where the inner PID is the current control loop and the outer PID is the speed control loop, which will be described in detail later and will not be elaborated here.

[0078] In other embodiments, the control algorithm can also be a three-loop structure, including an outermost position control loop. The position control loop can be integrated between the motor driver and the motor encoder, or between the control mechanism and the motor encoder or final load. The internal output of the position control loop is the setting input for the speed control loop. While the position control loop allows control of multiple parameters, it also results in the highest computational load and slowest dynamic response speed due to the calculations performed across all three control loops.

[0079] In this step, the target output current is the corrected current obtained after adjusting the target input current based on the control algorithm and feedback. When the walking aid motor operates according to the target output current, the corresponding parameters of the walking aid are closer to the target input current set in the operating mode. That is, the control mechanism achieves the corresponding operating mode by sending the target output current to the walking aid motor.

[0080] S34. Control the motor of the walking aid device to provide assistance or resistance according to the target output current and working mode.

[0081] In this step, after calculating and determining the target output current, the control mechanism sends the target output current to the walking aid motor in conjunction with the operating mode. The walking aid motor operates according to the target output current, thereby generating the assistance or resistance determined by the operating mode, thus realizing the assistance mode or resistance mode.

[0082] In summary, the motor control method for the walking aid device provided in this application sets an assist mode and a resistance mode for the walking aid device. When the user selects the assist mode or the resistance mode, the motor provides assistance or resistance through target output current control, thereby realizing the walking aid function or training function of the walking aid device respectively. Thus, users can use the walking aid device to use the walking aid function and training function in different scenarios, thereby meeting user needs and improving the user's product experience.

[0083] The method for determining the target input current in the embodiments of this application is described below.

[0084] Please see Figure 4 , Figure 4 A flowchart illustrating a method for determining a target input current according to an embodiment of this application includes:

[0085] S41. Determine the target control parameters based on the working mode.

[0086] S42. Determine the target input current based on the target control parameters.

[0087] In step S41, the target control parameter is the motion parameter of the walking aid device determined according to the operating mode. Specifically, different operating modes are configured with different target control parameters. For example, when the operating mode is assist mode, the target control parameter is the target speed, that is, the motor speed of the walking aid device in this operating mode should reach the target speed. Similarly, when the operating mode is resistance mode, the target control parameter is the target resistance, and the torque resistance provided by the walking aid device motor should reach the target resistance.

[0088] In step S42, the target control parameter and the target input current can be converted. For example, when the target control parameter is the target resistance, the output torque of the walking aid motor can be calculated based on the target resistance, and the target input current of the walking aid motor can be further determined based on the output torque. Similarly, when the target control parameter is the target speed, the corresponding output torque needs to be calculated first, and then converted from the output torque to the target input current.

[0089] The following describes the method for generating the target output current in boost mode.

[0090] Please see Figure 5 , Figure 5 A schematic flowchart of a method for generating a target output current in boost mode according to an embodiment of this application includes:

[0091] S51. Obtain the feedback speed and feedback current of the motor of the walking aid device.

[0092] S52. Adjust the target input current according to the feedback speed and control algorithm to obtain the corrected input current.

[0093] S53. Adjust and correct the input current based on the feedback current and control algorithm to obtain the target output current.

[0094] In step S51, the walking aid motor first operates according to the target input current. At this time, the feedback current and feedback speed of the walking aid motor are obtained by the current sampling circuit and encoder built into the walking aid motor, respectively. The feedback current is the actual operating current of the walking aid motor, which deviates somewhat from the target input current. The feedback speed is the actual operating speed of the walking aid motor, which also deviates somewhat from the target speed. When the difference between the feedback current and the target input current is large, the control algorithm needs to correct it so that the actual current matches the target input current, thereby achieving the desired target speed. The feedback speed is handled similarly and will not be elaborated further.

[0095] In step S52, the control algorithm is the algorithm for adjusting the target input current for the user. For details, please refer to [link / reference needed]. Figure 6 , Figure 6This is a schematic diagram of the circuit principle of the control algorithm in the assist mode provided in one embodiment of this application. In this embodiment, the control algorithm is specifically a PID algorithm, but it also includes PI algorithms, PD algorithms, etc. The entire control system is a dual-loop PID control system, where the outer loop is a speed control loop and the inner loop is a current control loop. More specifically, after the target input current is input to the motor of the assist device, the feedback speed and feedback current are obtained. The difference between the feedback speed and the target speed is calculated, and then the difference is adjusted using the PI control algorithm to obtain the corrected input current, which can be calculated with reference to the following exemplary formula:

[0096]

[0097] Where u_1(t) is the corrected input current, e_1(t) is the difference between the feedback speed and the target speed, and K p K is the proportional-integral coefficient. i is the integral time coefficient, and t is time.

[0098] It is understandable that a differential term can be added to the above formula, and the specific choice can be made by those skilled in the art based on the actual situation, without any limitation.

[0099] In step S53, since a dual-loop PID control system is used, the output of the outer-loop PID control is used to correct the input current as the input of the inner-loop PID control. Simultaneously, feedback current is introduced as feedback to further adjust the correction input current and improve control stability. Specifically, the difference between the correction input current and the feedback current needs to be determined first and used as the input. In this embodiment, the inner-loop PID control also uses PI control, which can be calculated using the following exemplary formula:

[0100]

[0101] Where u_2(t) is the target output current, e_2(t) is the difference between the correction input current and the feedback current, and K p K is the proportional-integral coefficient. i is the integral time coefficient, and t is time.

[0102] The following describes the method for generating the target output current in resistance mode.

[0103] Please see Figure 7 , Figure 7 A schematic flowchart of a method for generating a target output current in boost mode according to an embodiment of this application includes:

[0104] S71. Obtain the feedback speed and feedback current of the motor of the walking aid device.

[0105] S72. Generate control current based on preset speed control conditions, feedback speed, and control algorithm.

[0106] S73. Generate a corrected input current based on the control current and the target input current.

[0107] S74. Adjust and correct the input current based on the feedback current and control algorithm to obtain the target output current.

[0108] In step S71, the feedback speed and feedback current in the resistance mode are the same as those in the assist mode. Those skilled in the art can refer to step S51 to obtain the feedback speed and feedback current, which will not be elaborated here.

[0109] In step S72, in resistance mode, the default motor speed is 0, meaning the motor is stalled, and the user must overcome the resistance generated by the motor. For details, please refer to [link to relevant documentation]. Figure 8 , Figure 8 This is a schematic diagram of the circuit principle of the control algorithm in resistance mode provided in one embodiment of this application. It is similar to the schematic diagram in assist mode, but the difference lies in that after the outer loop PID speed control, the generated control current is not directly used as the input quantity for the inner loop PID current control. Instead, it still needs to be calculated by subtracting the target input current. The speed control condition can also be understood as setting the target speed to 0, thereby completing the outer loop PID control. The outer loop PID control uses a PI control algorithm, with the input quantity being the feedback speed and the output quantity being the control current. That is, by adjusting the control current, the motor speed is adjusted towards 0. Specifically, the control current can be calculated using the following exemplary formula:

[0110]

[0111] Where u_3(t) is the control current, e_feedback(t) is the feedback current, and K p K is the proportional-integral coefficient. i is the integral time coefficient, and t is time.

[0112] In step S73, the control current cannot be directly used as the input quantity for the inner-loop PID control. Instead, it needs to be calculated by subtracting the target input current from the control current, and then this difference is used as the input quantity for the inner-loop PID control. Specifically, the target input current in resistance mode is derived from the set target resistance, and the correction input current can be determined by subtracting the control current from the target input current.

[0113] In step S74, the principle is the same as in step S54; the target output current is also calculated using a PI control algorithm, and the input is the difference between the feedback current and the correction input. Specifically, refer to the following exemplary formula for calculation:

[0114]

[0115] Where u_4(t) is the target output current, e_3(t) is the difference between the correction input current and the feedback current, and K p K is the proportional-integral coefficient. i is the integral time coefficient, and t is time.

[0116] It should be noted that after determining the target output current, the target output current needs to be converted into AC current through an inverter before being input into the motor of the walking aid device.

[0117] The constant velocity mode provided by another embodiment of this application is described below.

[0118] Please see Figure 9 , Figure 9 A schematic flowchart of a method for generating a target output current in constant velocity mode according to an embodiment of this application includes:

[0119] S91. Obtain the feedback speed and feedback current of the motor of the walking aid device.

[0120] S92. Generate control current based on the set speed, feedback speed, and control algorithm.

[0121] S93. Generate a corrected input current based on the control current and the target input current.

[0122] S94. Adjust and correct the input current based on the feedback current and control algorithm to obtain the target output current.

[0123] In step S91, in constant speed mode, the target input current is obtained by converting the preset maximum resistance. After providing the target input current to the motor of the walking aid device, the actual feedback speed and feedback current of the motor of the walking aid device are obtained. For details, please refer to steps S51 and S71 above, which will not be repeated here.

[0124] In step S92, the target speed is set differently from the resistance mode, where the target speed is 0. Instead, the target speed is set as the target speed, and the target resistance limitation is removed. Specifically, the constant speed mode is another mode developed from the resistance mode for training the user's leg strength. In the resistance mode, the user must exert force with their lower limbs to overcome the resistance generated by the motor of the walking aid to move it. In the constant speed mode, the user still needs to exert force with their lower limbs, but the control condition is the moving speed of the walking aid motor. For example, in the constant speed mode, the set speed is 1 m / s. If the user can overcome the resistance and the actual speed exceeds the set speed, for example, reaching 2 m / s, the control mechanism will generate a new control current, causing the walking aid motor to provide greater resistance to reduce the actual speed to the set speed. Conversely, if the user cannot overcome the resistance and the actual speed of the walking aid is less than the set speed, for example, only 0.5 m / s, the control mechanism will reduce the control current, and in some cases, may even provide assistance without providing resistance, allowing the user to increase the actual speed of the walking aid to reach the set speed. The function of the control current is to adjust the target input current so that the actual speed of the motor of the walking aid device reaches the set speed.

[0125] For specific implementation examples, please refer to Figure 10 , Figure 10 This is a schematic diagram of the circuit principle of the control algorithm in constant speed mode according to an embodiment of this application. The circuit principle in constant speed mode is similar to that in resistance mode, the difference being that a set speed is used instead of the speed control condition in resistance mode. The generation of the control current can be referred to step S72, and will not be described again.

[0126] In step S93, the input current is corrected to the difference between the target input current and the control current.

[0127] In step S94, the control algorithm is the PI algorithm, which can be referred to in steps S54 and S74 for details, and will not be repeated here.

[0128] In some embodiments, after determining the target output current, the constant-speed mode further includes the following steps:

[0129] S95. Determine the set speed and the feedback speed of the walking aid's motor.

[0130] S96. Determine whether the feedback speed is greater than the set speed.

[0131] S97. If it is greater than the target output current, the motor of the walking aid device will be controlled to provide resistance.

[0132] S98. If the current is less than the target output current, the motor of the walking aid device will be controlled to provide assistance.

[0133] In step S95, the set speed is the speed set by the user when using constant speed mode, and the feedback speed is the actual speed.

[0134] In step S96, if the feedback speed is greater than the set speed, it indicates that the resistance provided by the motor of the walking aid is insufficient, making it difficult for the user to achieve a good training effect. Therefore, the process proceeds to step S97, where higher resistance is provided based on the target output current to enhance the training effect. If the feedback speed is less than the set speed, it indicates that the user is currently finding it more difficult to overcome the resistance, resulting in a heavier training burden. Therefore, the process proceeds to step S98, where the resistance is reduced based on the target output current to match the user's current lower limb strength.

[0135] In some embodiments, the constant-speed mode is also configured with a safety system to prevent the walking aid from moving on its own while providing assistance to guide the user in certain scenarios, causing the user to separate from the walking aid and fall. Specifically, before the step of generating the control current in the constant-speed mode, the following steps are also included:

[0136] S101. Obtain the actual distance between the user and the walking aid device.

[0137] S102. Determine whether the actual distance is greater than the preset distance.

[0138] S103. When the actual distance is greater than the set distance, control the motor of the walking aid to stop working.

[0139] In step S101, when a user trains using the mobility aid, a signal transmitter needs to be attached to their body. The mobility aid is then equipped with a signal receiver to detect the actual distance between the user and the mobility aid. For example, the user wears an infrared generator, and the mobility aid is equipped with an infrared receiver. The infrared receiver determines the distance between the infrared generator and the infrared receiver by receiving infrared light and measuring the time, thereby indirectly determining the distance between the user and the mobility aid.

[0140] In step S102, the control mechanism determines whether the actual distance is greater than a preset distance based on the actual distance, thereby determining whether the walking aid is under the user's control. For example, when the user pushes the walking aid normally, the distance between the user and the walking aid is 0.3m. If the distance between the user and the walking aid suddenly changes to 0.4m, it is determined that the walking aid is trending out of the user's control. At this point, the process proceeds to step S103, controlling the walking aid motor to stop working until the actual distance is less than or equal to the preset distance.

[0141] In some embodiments, the mobility aid device is further equipped with a sensor to determine the user's state, thereby automatically generating control commands based on the user's state and switching operating modes. Specifically, this includes the following steps:

[0142] S111. Obtain user status information, which is used to indicate whether the user is in a sitting position.

[0143] S112. Generate control commands based on the user status information.

[0144] In step S111, the user status information is information acquired by the sensing device indicating whether the user is in a seated position. For example, the sensing device can be a pressure sensor, etc. When the user is sitting on the walking aid, the pressure sensor can determine that the user is in a seated position through pressure, thereby generating user status information indicating that the user is in a seated position. As another example, the sensing device can be an infrared sensor, etc. When the user is holding the walking aid in a standing position, the infrared sensor detects that the user is standing in a preset position through infrared light, thereby generating user status information indicating that the user is not in a seated position.

[0145] In step S112, the control mechanism generates control commands based on the user's status information, so that the working mode automatically switches between assist mode and resistance mode. That is, when the user is sitting on the walking aid, the walking aid can automatically switch to assist mode; and when the user is standing and holding the walking aid, the walking aid automatically switches to resistance mode, thereby reducing the amount of manual operation by the user and improving the user experience.

[0146] In some embodiments, the mobility aid is an electric wheelchair, providing at least an assist mode and a resistance mode. When the electric wheelchair is set to assist mode, the user can sit in the wheelchair and control it to move, achieving the wheelchair's normal functions. When the electric wheelchair is set to resistance mode, the user can hold the wheelchair in a standing position. In this mode, the wheelchair's motor generates resistance; if the user wishes to move, they must exert force to overcome this resistance, thereby strengthening the user's leg muscles. In this embodiment, the electric wheelchair can switch between wheelchair and rehabilitation exercise equipment solely through motor control, integrating the functions of two different devices, enhancing product functionality and improving user experience.

[0147] In summary, the motor control method for walking aids provided in this application allows the control mechanism to adjust the target output current according to a control algorithm in different modes by setting an assist mode and a resistance mode for the walking aid, thereby providing corresponding assistance or resistance to achieve the walking aid function or training function of the walking aid. Based on the resistance mode, in addition to setting the resistance, the user can also set a target speed, i.e., a constant speed mode, allowing the walking aid to adaptively adjust the resistance provided by the motor according to the user's current thrust, maintaining the user's movement at a certain speed, thus better serving the user. Therefore, users can use the walking aid and training functions in different scenarios through this walking aid, thereby meeting user needs and improving the user's product experience.

[0148] This application also provides a walking aid device, including a main body, a motor, and a control mechanism. The motor is disposed within the main body, and the control mechanism is communicatively connected to the motor. The control mechanism is configured to control the motor according to the walking aid device motor control method provided in this application.

[0149] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, which, when executed by a computer, cause the computer to perform the method as described in the foregoing embodiments.

[0150] This application also provides an electronic device. Specifically, in this embodiment, the electronic device is a main circuit board built into a training device. The main circuit board has multiple logic control units, including a memory and a processor. The memory is connected to the processor, and the processor executes one or more computer programs stored in the memory. When the processor executes the one or more computer programs, it causes the electronic device to implement a motor control method for the walking aid device. See also... Figure 11 , Figure 11 This is a schematic diagram of an electronic device architecture provided according to an embodiment of this application. The electronic device 110 includes one or more processors 111 and a memory 112. The memory 112 is connected to one or more processors 111, for example, via a bus. The processors 111 and the memory 112 can be connected via a bus or other means. Figure 11 Taking the example of a connection between China and Israel via a bus.

[0151] The memory 112, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the walking aid device motor control method in the embodiments of this disclosure. The processor 111 implements the function of the walking aid device motor control method provided in the above method embodiments by running the non-volatile software programs, instructions, and modules stored in the memory 112.

[0152] Memory 112 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 112 may optionally include memory remotely located relative to processor 111, and these remote memories may be connected to processor 111 via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0153] The program instructions / modules are stored in the memory 112 and, when executed by one or more processors 111, execute the motor control method for the walking aid device in any of the above method embodiments.

[0154] This disclosure also provides a computer storage medium storing computer-executable instructions that are executed by one or more processors, for example... Figure 11 One of the processors 111 can enable the one or more processors to execute the motor control method for the walking aid device in any of the above method embodiments.

[0155] This disclosure also provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium. The computer program includes program instructions that, when executed by a computer, cause the computer to perform the motor control method for the walking aid device in any of the above method embodiments.

[0156] The device or equipment embodiments described above are merely illustrative. The unit modules described as separate components may or may not be physically separate. The components shown as module units may or may not be physical units; that is, they may be located in one place or distributed across multiple network module units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0157] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0158] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure, and not to limit them; under the concept of this disclosure, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this disclosure as described above, which are not provided in detail for the sake of brevity; although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure.

Claims

1. A motor control method applied to a walking aid, characterized by, The method comprises: determining the working mode of the walking aid device in response to the control instruction, the working mode comprising a power-assisted mode and a resistance mode; determining the target input current of the walking aid device according to the working mode; generating the target output current according to the target input current and a preset control algorithm; controlling the motor of the walking aid device to provide power assistance or resistance according to the target output current and the working mode.

2. The method of claim 1, wherein, The determination of the target input current of the walking aid device according to the working mode comprises: determining the target control parameter according to the working mode, wherein, when the working mode is the power-assisted mode, the target control parameter is determined as a target speed; and when the working mode is the resistance mode, the target control parameter is determined as a target resistance; determining the target input current according to the target control parameter.

3. The method of claim 2, wherein, When the working mode is the power-assisted mode, the generation of the target output current according to the target input current and the preset control algorithm comprises: obtaining the feedback speed and the feedback current of the motor of the walking aid device, wherein the feedback speed is the actual speed of the motor of the walking aid device working according to the target current, and the feedback current is the actual current of the motor of the walking aid device working according to the target current; adjusting the target input current according to the feedback speed and the control algorithm to obtain a corrected input current; adjusting the corrected input current according to the feedback current and the control algorithm to obtain the target output current.

4. The method of claim 2, wherein, When the working mode is the resistance mode, the generation of the target output current according to the target input current and the preset control algorithm comprises: obtaining the feedback speed and the feedback current of the motor of the walking aid device, wherein the feedback speed is the actual speed of the motor of the walking aid device working according to the target current, and the feedback current is the actual current of the motor of the walking aid device working according to the target current; generating a control current according to a preset speed control condition, the feedback speed and the control algorithm; generating a corrected input current according to the control current and the target input current; adjusting the corrected input current according to the feedback current and the control algorithm to obtain the target output current.

5. The method of claim 1, wherein, The working mode further comprises a constant speed mode, the constant speed mode being configured with a set speed, and the control of the motor of the walking aid device to provide power assistance or resistance according to the target output current and the working mode comprises: determining the set speed and the feedback speed of the motor of the walking aid device; judging whether the feedback speed is greater than the set speed; if yes, controlling the motor of the walking aid device to provide resistance according to the target output current; if no, controlling the motor of the walking aid device to provide power assistance according to the target output current.

6. The method of claim 5, wherein, The generation of the target output current according to the target input current and the preset control algorithm comprises: obtaining the feedback speed and the feedback current of the motor of the walking aid device, wherein the feedback speed is the actual speed of the motor of the walking aid device working according to the target current, and the feedback current is the actual current of the motor of the walking aid device working according to the target current; generating a control current according to the set speed, the feedback speed and the control algorithm; generating a corrected input current according to the control current and a target input current; adjusting the corrected input current according to the feedback current and the control algorithm to obtain the target output current.

7. The method of claim 6, wherein, Before the step of generating a control current according to the set speed, the feedback speed and the control algorithm, the method further comprises: obtaining an actual distance between the user and the walking aid device; determining whether the actual distance is greater than a preset set distance; stopping the motor of the walking aid device when the actual distance is greater than the set distance.

8. The method of claim 1, wherein, The method further comprises: obtaining user state information, the user state information being used to indicate whether the user is in a sitting position; generating the control instruction according to the user state information.

9. A walking aid, characterized in that comprise: a main body; a motor arranged in the main body; a control mechanism in communication connection with the motor, the control mechanism being configured to control the motor to provide assistance or resistance according to the method of any one of claims 1 to 8.

10. The walking aid of claim 9, wherein, The walking aid device is an electric wheelchair, and the electric wheelchair provides at least an assistance mode and a resistance mode; When the electric wheelchair is in the assistance mode, the user can sit on the electric wheelchair in a sitting position, and the electric wheelchair provides power to carry the user to move; When the electric wheelchair is in the resistance mode, the user can hold and push the electric wheelchair, and the electric wheelchair provides resistance so that the user needs to overcome the resistance to exercise.

11. An electronic device, comprising: comprise a memory and a processor, the memory being connected to the processor, the processor being used to execute one or more computer programs stored in the memory, and the processor, when executing the one or more computer programs, causes the electronic device to implement the method of any one of claims 1 to 8.

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