Motion scene recognition method, apparatus, device, medium and product

Abstract

This application discloses a motion scene recognition method, apparatus, device, medium, and product, belonging to the field of robotics. The method is executed by an exoskeleton device, which includes sensors. The method includes: acquiring a sensor parameter sequence, the sensor parameter sequence being collected by the sensors during the movement of the exoskeleton device; determining motion information of the exoskeleton device based on the sensor parameter sequence, the motion information indicating at least one of the exoskeleton device's height change rate and stride length; and determining that the motion scene of the exoskeleton device changes from an initial motion scene to a target motion scene, in response to the motion information satisfying a scene triggering condition at a first moment and not satisfying a scene termination condition between the first moment and a second moment.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a method, apparatus, device, medium, and product for motion scene recognition. Background Technology

[0002] An exoskeleton is a wearable mechanical structure that assists or enhances the human body's motor abilities. Exoskeletons not only need to provide functional enhancements for different limb movements in terms of power output, but also need to provide perceptual predictions for different movement scenarios in terms of intent decision-making, such as recognizing uphill and downhill scenarios.

[0003] In related technologies, the wearer's movement scenario is usually determined based on the sensor parameters obtained by the sensors in the exoskeleton device, thereby providing different movement ability assistance strategies for different movement scenarios.

[0004] However, improving the accuracy of motion scene recognition is an urgent problem to be solved. Summary of the Invention

[0005] This application provides a method, apparatus, device, medium, and product for motion scene recognition, the technical solution of which is as follows:

[0006] According to one aspect of this application, a motion scene recognition method is provided, the method being performed by an exoskeleton device, the exoskeleton device including sensors, the method comprising:

[0007] Acquire a sensor parameter sequence, which is obtained by the sensors during the movement of the exoskeleton device;

[0008] Based on the sensor parameter sequence, motion information of the exoskeleton device is determined, and the motion information is used to indicate at least one of the height change rate and stride of the exoskeleton device;

[0009] In response to the motion information satisfying the scene triggering condition at the first moment, and the scene termination condition not being met between the first moment and the second moment, it is determined that the motion scene of the exoskeleton device changes from the initial motion scene to the target motion scene.

[0010] According to another aspect of this application, a motion scene recognition device is provided, the device being provided by an exoskeleton device, the exoskeleton device including sensors, the device comprising:

[0011] The acquisition module is used to acquire sensor parameter sequences, which are obtained by the sensors during the movement of the exoskeleton device.

[0012] The processing module is used to determine the motion information of the exoskeleton device based on the sensor parameter sequence, wherein the motion information is used to indicate at least one of the height change rate and stride of the exoskeleton device;

[0013] The processing module is further configured to determine that the motion scene of the exoskeleton device changes from the initial motion scene to the target motion scene in response to the motion information satisfying the scene triggering condition at the first moment and not satisfying the scene termination condition between the first moment and the second moment.

[0014] In an optional design of this application, the target motion scene is an uphill motion scene, and the processing module is further configured to:

[0015] In response to the motion information satisfying the uphill triggering condition at the first moment and not satisfying the uphill termination condition between the first moment and the second moment, it is determined that the motion scene of the exoskeleton device changes from the initial motion scene to the uphill motion scene;

[0016] The uphill triggering condition includes the height change rate reaching a first change rate threshold; the uphill termination condition includes the height change rate not reaching a second change rate threshold, or the stride not reaching a first amplitude threshold.

[0017] In an optional design of this application, the target motion scene is a downhill motion scene, and the processing module is further configured to:

[0018] In response to the motion information satisfying the downhill triggering condition at the first moment and not satisfying the downhill termination condition between the first moment and the second moment, it is determined that the motion scene of the exoskeleton device changes from the initial motion scene to the downhill motion scene;

[0019] The downhill triggering condition includes the altitude change rate not reaching the third change rate threshold; the downhill termination condition includes the altitude change rate reaching the fourth change rate threshold.

[0020] In an optional design of this application, the processing module is further configured to:

[0021] In response to the motion information satisfying the scene recovery condition at the third moment, it is determined that the motion scene of the exoskeleton device changes from the target motion scene to the initial motion scene, wherein the third moment is the moment after the second moment.

[0022] According to another aspect of this application, a computer device is provided, the computer device including a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, the at least one program, the code set or instruction set being loaded and executed by the processor to implement the motion scene recognition method as described above.

[0023] According to another aspect of this application, a computer-readable storage medium is provided, wherein at least one instruction, at least one program, code set, or instruction set is stored therein, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the motion scene recognition method as described above.

[0024] According to another aspect of this application, a computer program product is provided, the computer program product including computer instructions stored in a computer-readable storage medium, wherein a processor reads from the computer-readable storage medium and executes the computer instructions to implement the motion scene recognition method described above.

[0025] The beneficial effects of the technical solution provided in this application include at least the following:

[0026] By satisfying the scene triggering condition at the first moment, it indicates that the movement scene of the exoskeleton device may change from the initial movement scene; if the scene termination condition is not satisfied between the first moment and the second moment, the movement scene of the exoskeleton device remains stably maintained in the target movement scene, avoiding the problem of erroneous changes in the movement scene of the exoskeleton device due to uneven road surface conditions; thus improving the accuracy of movement scene recognition. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0028] Figure 1 A schematic diagram of the architecture of a control system provided in an exemplary embodiment of this application is shown;

[0029] Figure 2 This is a schematic diagram of a motion scene recognition method provided in an exemplary embodiment of this application;

[0030] Figure 3 This is a flowchart of a motion scene recognition method provided in an exemplary embodiment of this application;

[0031] Figure 4 This is a flowchart of a motion scene recognition method provided in an exemplary embodiment of this application;

[0032] Figure 5 This is a flowchart of a motion scene recognition method provided in an exemplary embodiment of this application;

[0033] Figure 6 This is a schematic diagram of an exemplary embodiment of the present application providing uphill triggering conditions and uphill termination conditions;

[0034] Figure 7 This is a flowchart of a motion scene recognition method provided in an exemplary embodiment of this application;

[0035] Figure 8 This is a flowchart of a motion scene recognition method provided in an exemplary embodiment of this application;

[0036] Figure 9 This is a schematic diagram of downhill triggering conditions and downhill termination conditions provided in an exemplary embodiment of this application;

[0037] Figure 10 This is a flowchart of a motion scene recognition method provided in an exemplary embodiment of this application;

[0038] Figure 11 This is a flowchart of a motion scene recognition method provided in an exemplary embodiment of this application;

[0039] Figure 12 This is a structural block diagram of a motion scene recognition device provided in an exemplary embodiment of this application;

[0040] Figure 13 A schematic diagram of the structure of a computer device provided in an exemplary embodiment of this application is shown.

[0041] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0043] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0044] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0045] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions. For example, the sports information involved in this application was obtained with full authorization.

[0046] It should be understood that although the terms first, second, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, a first parameter may also be referred to as a second parameter without departing from the scope of this disclosure, and similarly, a second parameter may also be referred to as a first parameter. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0047] Figure 1 A schematic diagram of the architecture of a control system provided in one embodiment of this application is shown. The control system may include an exoskeleton device 100. An exoskeleton device is a wearable mechanical structure. An exoskeleton device can assist or enhance the movements and abilities of the wearer.

[0048] Optionally, the exoskeleton device 100 includes a controller 110 and at least one sensor.

[0049] Optionally, the controller 110 is used to control various components in the exoskeleton device 100. For example, the controller 110 controls the various components of the exoskeleton device 100 to switch the exoskeleton device 100 to a "sitting" posture, or the controller 110 controls the various components of the exoskeleton device 100 to switch the exoskeleton device 100 to a flat-ground assist mode, which is used to assist the wearer in walking on flat ground, and so on. Exemplarily, the controller 110 includes a processor, which may be a microprocessor (MCU), a CPU (Central Processing Unit), etc. Exemplarily, the controller 110 is a computer device, such as a microcomputer.

[0050] Optionally, the controller 110 is connected to at least one sensor, which is used to collect the motion state of the exoskeleton device 100, such as posture, speed, acceleration, and position. The controller 110 can determine the control method for the exoskeleton device 100 based on the sensor parameters collected by the at least one sensor.

[0051] For example, in this embodiment of the application, the controller 110 determines the motion scenario of the exoskeleton device 100 based on sensor parameters collected by at least one sensor, and sets different assist modes of the exoskeleton device 100 for different motion scenarios.

[0052] Exoskeleton devices can provide assist torque that follows the wearer's gait, reducing physical exertion during walking, running, climbing, and other activities, making movement easier. To achieve this, and to provide the most suitable assistance for various motion scenarios while optimizing the quality of assistance, adaptive recognition of the wearer's motion environment is necessary. For adaptive recognition of inclines and declines, current technologies typically use IMU (Inertial Measurement Unit) inertial navigation to obtain the wearer's Euler angles or barometers to detect altitude changes. However, commonly used low-cost inertial navigation systems (accelerometers, gyroscopes, magnetometers) can experience data shifts if not calibrated before use or after prolonged operation. Furthermore, they perform poorly in scenarios requiring vigorous movement, making accurate recognition difficult. Barometers, on the other hand, are susceptible to environmental influences, failing to accurately measure altitude changes in turbulent environments; and they have low sensitivity to dynamic changes and lack real-time performance, making it difficult to detect scene changes promptly during the wearer's movement. To address these issues, this application proposes an adaptive recognition algorithm that integrates data fusion from sensors such as IMU, barometer, and hip joint motor encoder. This algorithm, with strong robustness and real-time performance, can accurately identify the application scenario of the wearable object and improve the quality of assistance.

[0053] Figure 2 A schematic diagram of a motion scene recognition method provided in an exemplary embodiment of this application is shown.

[0054] The exoskeleton device includes sensors that acquire motion information 210 of the exoskeleton device. The motion information 210 is calculated based on a sequence of sensor parameters acquired by the sensors; for example, the motion information is used to indicate at least one of the exoskeleton device's height change rate and stride length.

[0055] When the exoskeleton device is in the initial motion scene 200a, in response to the motion information 210 satisfying the scene trigger condition 302, the motion scene of the exoskeleton device may change from the initial motion scene 200a. The moment when the motion information 210 satisfies the scene trigger condition 302 is recorded as the first moment. Between the first moment and the second moment, in response to the motion information 210 not satisfying the scene termination condition 304, the motion scene of the exoskeleton device remains stably maintained in the target motion scene 200b, confirming that the motion scene of the exoskeleton device has changed, thus avoiding the problem of erroneous changes in the motion scene of the exoskeleton device due to uneven road surfaces. Here, the initial motion scene 200a corresponds to the flat ground motion scene where the wearer of the exoskeleton device moves on flat ground. The target motion scene 200b corresponds to the uphill or downhill motion scene where the wearer of the exoskeleton device moves on a slope. When the exoskeleton device is in the target motion scene 200b, in response to the motion information 210 satisfying the scene recovery condition 306, the motion scene of the exoskeleton device changes from the target motion scene 200b to the initial motion scene 200a.

[0056] The motion scene recognition method will be introduced through the following examples.

[0057] Figure 3 A flowchart illustrating a motion scene recognition method provided in an exemplary embodiment of this application is shown. This method can be performed by an exoskeleton device, which can be... Figure 1 The exoskeleton device shown in the image. The method includes:

[0058] Step 510: Obtain the sensor parameter sequence.

[0059] For example, the exoskeleton device includes sensors or the exoskeleton device is connected to sensors.

[0060] For example, an exoskeleton device includes at least one sensor, with different sensors used to acquire different types of sensor parameter sequences. These sensor parameter sequences are acquired by the sensors during the movement of the exoskeleton device; for instance, they refer to parameters acquired by the sensors when the wearer is wearing the exoskeleton device, such as height, speed, acceleration, angular velocity, pressure, and electromyographic signals. For example, the sensor includes a sampling period (also called sampling frequency), which indicates the time interval between two consecutive samples. For instance, if the sampling period is 2ms, the sensor will sample once every 2ms to obtain sensor parameters. The sensor parameter sequence is a queue of sensor parameters arranged in chronological order.

[0061] Step 520: Determine the motion information of the exoskeleton device based on the sensor parameter sequence.

[0062] For example, the motion information of the exoskeleton device is obtained from a sequence of sensor parameters. In some examples, since the signals acquired by the sensors are electrical signals, it is necessary to convert the electrical signals into motion information with physical meaning, such as the rate of change of height and stride. For example, the motion information of the exoskeleton device can be calculated by performing at least one of the following methods on the sensor parameter sequence: downsampling, filtering, smoothing, convolution calculation, arithmetic operations, and function mapping.

[0063] For example, motion information is used to indicate at least one of the exoskeleton device's height change rate and stride length. The height change rate indicates the rate of change of height in the vertical direction in a real-world coordinate system, such as the speed in the up direction (i.e., the Up direction) in an East-North-Up (ENU) coordinate system. The stride length indicates the distance of a single step taken by the wearer while walking or running, typically referring to the straight-line distance between the center points of the two feet from the moment one foot lands to the moment the other lands.

[0064] Step 530: In response to the motion information satisfying the scene triggering condition at the first moment, and the scene termination condition not being met between the first moment and the second moment, determine that the motion scene of the exoskeleton device changes from the initial motion scene to the target motion scene.

[0065] For example, even if the scene triggering conditions are met at the first moment, the motion scene of the exoskeleton device may change from the initial motion scene. In the real world, the road surface may have uneven surfaces such as potholes and obstacles. If the scene termination condition is not met between the first and second moments, the motion scene of the exoskeleton device remains stably maintained in the target motion scene, thus confirming that the motion scene of the exoskeleton device has changed. This avoids the problem of incorrect changes in the motion scene of the exoskeleton device due to the aforementioned uneven road surface conditions.

[0066] In one alternative design of this application, the motion scene of the exoskeleton device is used to indicate the type of ground slope on which the exoskeleton device is located; for example, at least one of uphill motion scene, downhill motion scene, and flat ground motion scene. It is understood that in different implementations, the motion scene of the exoskeleton device can also be used to indicate the type of movement speed of the exoskeleton device (e.g., walking motion scene, running motion scene) and the type of surface material (e.g., sand motion scene, plastic track motion scene, paved road motion scene, etc.).

[0067] In one optional design of this application, the initial motion scene in the various embodiments of this application is a flat ground motion scene. However, it is not excluded that the initial motion scene may be implemented as other motion scenes.

[0068] In summary, the method provided in this embodiment indicates that the motion scene of the exoskeleton device may change from the initial motion scene by satisfying the scene triggering condition at the first moment; if the scene termination condition is not satisfied between the first moment and the second moment, the motion scene of the exoskeleton device remains stably maintained in the target motion scene, avoiding the problem of erroneous changes in the motion scene of the exoskeleton device due to uneven road surface conditions; thus improving the accuracy of motion scene recognition.

[0069] Next, we will introduce the target motion scenario through different embodiments.

[0070] In one implementation, the target motion scenario is an uphill motion scenario;

[0071] In another implementation, the target motion scenario is a downhill motion scenario.

[0072] The following will describe different embodiments separately.

[0073] In one implementation, the target motion scenario is an uphill motion scenario. Accordingly, Figure 4 A flowchart illustrating a motion scene recognition method provided in an exemplary embodiment of this application is shown. This method can be performed by an exoskeleton device. That is, in Figure 3 In the illustrated embodiment, step 530 can be implemented as step 532:

[0074] Step 532: In response to the motion information satisfying the uphill triggering condition at the first moment, and the uphill termination condition not being met between the first moment and the second moment, determine that the motion scenario of the exoskeleton device changes from the initial motion scenario to the uphill motion scenario.

[0075] In this embodiment, the target motion scenario is an uphill motion scenario, which corresponds to the uphill triggering condition and the uphill termination condition.

[0076] The uphill trigger condition includes the height change rate reaching a first threshold. When the height change rate reaches the first threshold, the height change rate of the exoskeleton device changes significantly, which conforms to the motion law that the height of the exoskeleton device increases with the height of the uphill surface when moving on an uphill road, indicating the possibility of a change in the motion scenario.

[0077] The uphill termination conditions include the rate of change of height not reaching the second rate of change threshold, or the stride length not reaching the first amplitude threshold. If the uphill termination conditions are met between the first and second moments, such as the exoskeleton device's rate of change of height not reaching the second rate of change threshold, or the stride length not reaching the first amplitude threshold, it indicates that the exoskeleton device only met the uphill trigger condition at the first moment due to uneven road surface or the wearer's jumping action, and is not continuously moving on the uphill surface; the exoskeleton device's motion scene remains the initial motion scene. If the uphill termination conditions are not met between the first and second moments, it indicates that the wearer of the exoskeleton device continues to move on the uphill surface, and the exoskeleton device's motion scene changes from the initial motion scene to an uphill motion scene.

[0078] Correspondingly, when the exoskeleton device is in an uphill motion scenario, the system switches to an uphill assist mode to provide assistance to the wearer when moving uphill. For example, it assists the wearer in raising their legs when moving uphill. For instance, this embodiment determines whether the exoskeleton device is in an uphill motion scenario based on both the rate of change of height and stride length, providing more data sources for determining the motion scenario. This helps reduce the time required to determine the motion scenario and improves the efficiency of motion scenario recognition.

[0079] See Figure 5 ,exist Figure 4 Step 532 in the corresponding embodiment can be implemented as steps 532a and 532b:

[0080] Step 532a: In response to the motion information satisfying the uphill trigger condition at the first moment, the first timer is triggered.

[0081] As described above, if the motion information meets the uphill trigger condition at the first moment, the height change rate of the exoskeleton device changes significantly, consistent with the motion patterns on an uphill surface, indicating a possible change in the motion scenario. The triggered first timer indicates this change in the motion scenario. The duration of the first timer is the time between the first and second moments. The first timer stops timing when the uphill termination condition is met. Furthermore, the first timer stops timing and resets its duration to the time between the first and second moments when the uphill termination condition is met.

[0082] For example, the duration of the first timer can be preset or set through human-computer interaction. In one example, the duration of the first timer is 0.35 seconds.

[0083] Step 532b: If the first timer expires, determine that the motion scenario of the exoskeleton device changes from the initial motion scenario to an uphill motion scenario.

[0084] For example, if the first timer expires, the wearer of the exoskeleton continues to move uphill, and the movement scenario of the exoskeleton changes from the initial movement scenario to an uphill movement scenario.

[0085] In the event that the first timer expired, the first timer did not stop timing due to the fulfillment of the uphill stop condition, thus avoiding the problem of incorrect changes in the movement scene of the exoskeleton device caused by the aforementioned uneven road surface.

[0086] In summary, the method provided in this embodiment indicates that the motion scene of the exoskeleton device may change from the initial motion scene to an uphill motion scene when the uphill trigger condition is met at the first moment; if the uphill termination condition is not met between the first moment and the second moment, the motion scene of the exoskeleton device remains stably in the uphill motion scene, avoiding the problem of incorrect changes in the motion scene of the exoskeleton device due to uneven road surface conditions; thus improving the accuracy of motion scene recognition.

[0087] The following section provides a further explanation of the conditions for triggering an uphill slope.

[0088] Figure 6 A schematic diagram of an exemplary embodiment of this application is shown, illustrating the uphill triggering condition and the uphill abort condition.

[0089] The uphill triggering condition includes at least one of the following: first uphill triggering condition 611, second uphill triggering condition 612, and third uphill triggering condition 613.

[0090] • The first uphill trigger condition 611 includes: the rate of change of altitude (denoted as HR) reaches the first rate of change threshold;

[0091] In this example, the first rate of change threshold is a threshold for determining if the height change rate is significantly large. Based on the height change rate, the movement scene of the exoskeleton device can be determined to change to an uphill movement scene. The value of the first rate of change threshold is denoted as a1. Correspondingly, the first uphill trigger condition 611 is denoted as HR>a1.

[0092] • The second uphill trigger condition 612 includes: the rate of change of altitude reaches the first rate of change threshold and the stride (denoted as A) gait Reaching the second amplitude threshold;

[0093] In this example, the first rate of change threshold is the threshold for judging the height change rate. The change of the movement scene of the exoskeleton device cannot be determined based on the height change rate. It is necessary to determine the change of the movement scene to the uphill movement scene by taking the stride to reach the second amplitude threshold.

[0094] On an uphill road, the wearer of the exoskeleton needs to move uphill, and the leg lifting action increases the stride length; the movement scene changes to an uphill movement scene by combining the stride length reaching the second amplitude threshold with the first rate of change threshold.

[0095] Here, the value of the first rate of change threshold is denoted as a3, and the value of the second magnitude threshold is denoted as A4. Correspondingly, the second uphill trigger condition 612 is denoted as HR>a3&A gait >A4.

[0096] • The third uphill trigger condition 613 includes: the rate of change of altitude reaches the first rate of change threshold and meets the first auxiliary condition; the first auxiliary condition includes the stride length reaching the second amplitude threshold, or the difference between the stride length and the reference stride length reaching the first difference threshold;

[0097] In this example, the first rate of change threshold is a threshold for judging the value of the height change rate. The change of the movement scene of the exoskeleton device cannot be determined based on the height change rate. The first auxiliary condition is needed to jointly determine the change of the movement scene to an uphill movement scene.

[0098] On an uphill road, the wearer of the exoskeleton device needs to move uphill, and the leg lifting action increases the stride length; the stride length value or the difference between the stride length and the reference stride length is used to determine the change of the movement scene to an uphill movement scene.

[0099] For example, the reference stride is determined based on the historical stride of the exoskeleton device in a flat terrain movement scenario. For example, when the height change rate of the exoskeleton device is close to 0, the stride collected during flat terrain movement will be determined as the reference stride (e.g., denoted as A). gait-stable The difference between the stride length and the reference stride length in the first auxiliary condition (e.g., denoted as A). diff The current stride length (A) is obtained from the sensor. gait The difference between the stride length and the reference stride length.

[0100] Wherein, the value of the first rate of change threshold is denoted as a2, the value of the second magnitude threshold is denoted as A3, and the value of the first difference threshold is denoted as A d1 Correspondingly, the third uphill trigger condition 613 is denoted as HR>a2&(A diff >A d1 ||A gait >A4).

[0101] Exemplarily, the reference stride is obtained by performing filtering on historical strides in a low-pass filtering manner. The traveling speed (also referred to as walking speed) corresponding to the historical strides is greater than a speed threshold, so as to ensure that the wearer of the exoskeleton device keeps moving. The height change rate corresponding to the historical strides is within a first value range (for example, the first value range includes a height change rate value of 0), so as to ensure that the wearer of the exoskeleton device is in a flat-ground movement scenario. Further, the upper limit or lower limit of the first value range is denoted as hd, where b4<hd<a4. For the introduction of b4 and a4, please refer to this embodiment and Figure 9 the corresponding embodiment. The speed change rate corresponding to the historical strides is within a second value range, which prevents the wearer of the exoskeleton device from being in a process of running too fast or moving too slowly, and ensures that the wearer of the exoskeleton device is in a normal walking state.

[0102] In a further optional design of the present application, for the first uphill trigger condition 611 or the third uphill trigger condition 613, the corresponding uphill termination condition is implemented as a first uphill termination condition 621.

[0103] The first uphill termination condition 621 includes that the height change rate does not reach a second change rate threshold, or the stride does not reach a first amplitude threshold. The value of the second change rate threshold is denoted as a4, and the value of the first amplitude threshold is denoted as A2. Correspondingly, the first uphill termination condition 621 is denoted as HR<a4||A gait <A2.

[0104] In another further optional design of the present application, for the second uphill trigger condition 612, the corresponding uphill termination condition is implemented as a second uphill termination condition 622.

[0105] The second uphill termination condition 622 includes that the height change rate does not reach the second change rate threshold, or the stride does not reach the first amplitude threshold. The value of the second change rate threshold is denoted as a2, and the value of the first amplitude threshold is denoted as A1. Correspondingly, the second uphill termination condition 622 is denoted as HR<a2||A gait <A1.

[0106] In an optional design of the present application, an uphill recovery condition 625 further exists. The change of the movement scenario triggered by the uphill recovery condition 625 will be introduced in the form of a separate embodiment hereinafter, and only the value of the uphill recovery condition 625 is introduced herein. For any uphill trigger condition, a corresponding uphill recovery condition 625 exists.

[0107] Uphill recovery condition 625 includes the following: the rate of change of height does not reach the fifth rate of change threshold, and the stride does not reach the fifth amplitude threshold. The fifth rate of change threshold is denoted as a4, and the fifth amplitude threshold is denoted as A1. Accordingly, uphill recovery condition 625 is denoted as HR. <a4||A gait <A1。

[0108] Optionally, in the above embodiments, the value of the rate of change threshold corresponding to the height change rate is implemented as: a1>a2>a3>a4>0. The value of the amplitude threshold corresponding to the stride is implemented as: A4>A3>A2>A1>0.

[0109] In summary, the method provided in this embodiment indicates that the motion scene of the exoskeleton device may change from the initial motion scene to an uphill motion scene when the uphill trigger condition is met at the first moment; if the uphill termination condition is not met between the first moment and the second moment, the motion scene of the exoskeleton device remains stably in the uphill motion scene, avoiding the problem of incorrect changes in the motion scene of the exoskeleton device due to uneven road surface conditions; thus improving the accuracy of motion scene recognition.

[0110] In another implementation, the target motion scenario is a downhill motion scenario. Accordingly, Figure 7 A flowchart illustrating a motion scene recognition method provided in an exemplary embodiment of this application is shown. This method can be performed by an exoskeleton device. That is, in Figure 3 In the illustrated embodiment, step 530 can be implemented as step 534:

[0111] Step 534: In response to the motion information satisfying the downhill triggering condition at the first moment, and the downhill termination condition not being met between the first moment and the second moment, determine that the motion scenario of the exoskeleton device changes from the initial motion scenario to the downhill motion scenario.

[0112] In this embodiment, the target motion scenario is a downhill motion scenario, which corresponds to the downhill triggering condition and the downhill termination condition.

[0113] The downhill trigger condition includes the fact that the rate of change of height does not reach the third rate of change threshold. When the rate of change of height does not reach the third rate of change threshold, the rate of change of height of the exoskeleton device changes significantly, consistent with the motion pattern of the exoskeleton device decreasing in height as the downhill surface decreases, indicating a possible change in the motion scenario.

[0114] The downhill termination condition includes the height change rate reaching the fourth change rate threshold. If the downhill termination condition is met between the first and second moments, such as the exoskeleton device's height change rate reaching the fourth change rate threshold, it indicates that the exoskeleton device only met the downhill trigger condition at the first moment due to uneven road surface or the wearer's squatting action, and is not continuously moving on the downhill surface; the exoskeleton device's motion scene remains the initial motion scene. If the downhill termination condition is not met between the first and second moments, it indicates that the wearer of the exoskeleton device continues to move on the downhill surface, and the exoskeleton device's motion scene changes from the initial motion scene to a downhill motion scene.

[0115] Correspondingly, when the exoskeleton device is used in a downhill motion scenario, it switches to downhill assist mode to provide assistance to the wearer when moving downhill. For example, it provides support to the higher legs when the wearer is moving downhill to ensure a stable center of gravity.

[0116] See Figure 8 ,exist Figure 7 Step 534 in the corresponding embodiment can be implemented as steps 534a and 534b:

[0117] Step 534a: In response to the motion information satisfying the downhill trigger condition at the first moment, the second timer is triggered.

[0118] As described above, if the motion information meets the downhill trigger condition at the first moment, the exoskeleton device's height change rate changes significantly, consistent with motion patterns on a downhill surface, indicating a possible change in the motion scenario. The triggered second timer indicates this change in the motion scenario. The second timer's duration is the time between the first and second moments. The second timer stops timing when the downhill abort condition is met. Furthermore, the second timer stops timing and resets its duration to the time between the first and second moments when the downhill abort condition is met.

[0119] For example, similar to the first timer, the duration of the second timer can be preset or set through human-computer interaction. In one example, the duration of the second timer is 0.35 seconds. It should be noted that the duration settings of the first and second timers in this application can be independent of each other, and their durations can be different.

[0120] Step 534b: If the second timer expires, determine that the motion scenario of the exoskeleton device changes from the initial motion scenario to a downhill motion scenario.

[0121] For example, if the second timer expires, the wearer of the exoskeleton continues to move downhill, and the movement scenario of the exoskeleton changes from the initial movement scenario to a downhill movement scenario.

[0122] When the second timer expired, it did not stop timing due to the fulfillment of the downhill termination condition, thus avoiding the problem of incorrect changes in the movement scene of the exoskeleton device caused by the aforementioned uneven road surface.

[0123] In summary, the method provided in this embodiment indicates that the motion scene of the exoskeleton device may change from the initial motion scene to a downhill motion scene when the downhill trigger condition is met at the first moment; if the downhill termination condition is not met between the first moment and the second moment, the motion scene of the exoskeleton device remains stably in the downhill motion scene, avoiding the problem of incorrect changes in the motion scene of the exoskeleton device due to uneven road surface; thus improving the accuracy of motion scene recognition.

[0124] The following section provides a further explanation of the downhill trigger conditions.

[0125] Figure 9 A schematic diagram of downhill triggering conditions and downhill abort conditions provided in an exemplary embodiment of this application is shown.

[0126] Downhill trigger condition: at least one of the following: first downhill trigger condition 631 and second downhill trigger condition 632.

[0127] • The first downhill trigger condition 631 includes: the rate of change of altitude does not reach the third rate of change threshold;

[0128] In this example, the third rate of change threshold is a threshold for determining if the height change rate is significantly small. Based on the height change rate, the change in the exoskeleton device's motion scenario to a downhill motion scenario can be determined independently. The value of the third rate of change threshold is denoted as b1. Correspondingly, the first downhill trigger condition 631 is denoted as HR. <b1。

[0129] • The second downhill trigger condition 632 includes: the rate of change of altitude does not reach the third rate of change threshold and the second auxiliary condition is met; the second auxiliary condition includes that the stride does not reach the third amplitude threshold, or the difference between the stride and the reference stride does not reach the second difference threshold;

[0130] In this example, the third rate of change threshold is a threshold for judging the value of the height change rate. The change of the motion scene of the exoskeleton device cannot be determined based on the height change rate. The second auxiliary condition is needed to jointly determine the change of the motion scene to a downhill motion scene.

[0131] On a downhill road, the wearer of the exoskeleton device needs to go downhill, and the wearer has a speed pointing in the direction of movement. In order to maintain the stability of the body's center of gravity and avoid falling, the wearer has a movement pattern of reducing stride length. The stride length value or the difference between the stride length and the reference stride length is used to jointly determine the change of the movement scene to a downhill movement scene.

[0132] Similar to the above description, the reference stride is determined based on the historical stride of the exoskeleton device in flat terrain movement scenarios.

[0133] The value of the third rate of change threshold is denoted as b3, the value of the third amplitude threshold is denoted as A1, and the value of the second difference threshold is denoted as -A. d1 Accordingly, the second downhill trigger condition 632 is denoted as HR. <b3&(A diff <-A d1 ||A gait <A1)。

[0134] In a further optional design of this application, for the first downhill triggering condition 631, the corresponding downhill abort condition is implemented as the first downhill abort condition 641.

[0135] The first downhill termination condition 641 includes the elevation change rate reaching the fourth rate of change threshold. The value of the fourth rate of change threshold is denoted as b2. Accordingly, the first downhill termination condition 641 is denoted as HR>b2.

[0136] In another further optional design of this application, for the second downhill triggering condition 632, the corresponding downhill abort condition is implemented as the second downhill abort condition 642.

[0137] The second downhill termination condition 642 includes either the rate of change of altitude reaching the fourth rate of change threshold or the stride reaching the fourth amplitude threshold. The value of the fourth rate of change threshold is denoted as b3, and the value of the fourth amplitude threshold is denoted as A1. Accordingly, the second downhill termination condition 642 is denoted as HR>b3||A1. gait >A1.

[0138] In one optional design of this application, a downhill recovery condition is also included, which includes at least one of a first downhill recovery condition 645 and a second downhill recovery condition 646. Variations in the motion scenario triggered by the downhill recovery condition will be described below in separate embodiments; here, only the values ​​of the downhill recovery condition will be described.

[0139] Further, for the first downhill trigger condition 631, the corresponding downhill recovery condition is implemented as a first downhill recovery condition 645. The first downhill recovery condition 645 includes that the altitude change rate reaches a sixth change rate threshold. The value of the sixth change rate threshold is denoted as b4. Correspondingly, the first downhill recovery condition 645 is denoted as HR>b4.

[0140] For the second downhill trigger condition 632, the corresponding downhill recovery condition is implemented as a second downhill recovery condition 646. The second downhill recovery condition 646 includes that the altitude change rate reaches the sixth change rate threshold, and a third auxiliary condition is satisfied. The value of the sixth change rate threshold is denoted as b4, and the third auxiliary condition is implemented as (A diff >-A d1 ||A gait >A1). For the adoption numbers and values in the third auxiliary condition, reference may be made to the description in the second auxiliary condition. Correspondingly, the second downhill recovery condition 646 is denoted as HR>b4&(A diff >-A d1 ||A gait >A1).

[0141] Optionally, in the above embodiment, the values of the change rate thresholds corresponding to the altitude change rate are implemented as: b1<b2<b3<b4<0. The values of the amplitude thresholds corresponding to the stride are implemented as: A4>A3>A2>A1>0. It should be noted that, in Figure 6 and Figure 9 , the values of the amplitude thresholds corresponding to the strides may also be implemented to be the same or different, and the present application does not exclude the case where any one of A4, A3, A2 and A1 is implemented as different values respectively in Figure 6 and Figure 9 .

[0142] Exemplarily, in this embodiment, it is jointly determined based on the altitude change rate and the stride whether the exoskeleton device is in a downhill motion scene, which provides more data source bases for the determination of the motion scene, is beneficial to reducing the time required for determining the motion scene where the exoskeleton device is located, and improves the recognition efficiency of the motion scene.

[0143] In summary, according to the method provided in this embodiment, by satisfying the downhill trigger condition at the first moment, it is indicated that there is a possibility that the motion scene of the exoskeleton device changes from the initial motion scene to the downhill motion scene; in the case that the downhill suspension condition is not satisfied from the first moment to the second moment, the motion scene of the exoskeleton device is stably maintained in the downhill motion scene, which avoids the problem that the motion scene of the exoskeleton device changes erroneously due to the uneven road surface, and improves the recognition accuracy of the motion scene.

[0144] Next, we will introduce the process of restoring the motion scene of the exoskeleton device from the target motion scene to the initial motion scene.

[0145] Figure 10 A flowchart illustrating a motion scene recognition method provided in an exemplary embodiment of this application is shown. This method can be performed by an exoskeleton device. That is, in Figure 3 Based on the illustrated embodiment, step 540 is also included:

[0146] Step 540: In response to the motion information satisfying the scene recovery condition at the third moment, determine that the motion scene of the exoskeleton device changes from the target motion scene to the initial motion scene.

[0147] For example, the third moment is the moment after the second moment. If the scene recovery condition is met at the third moment, the exoskeleton device is instructed to no longer maintain the target motion scene, and the target motion scene changes back to the initial motion scene.

[0148] As described above, the initial motion scene is usually implemented as a flat ground motion scene, but it is not excluded that the initial motion scene may be implemented as an uphill or downhill motion scene. It should be noted that in one example, the initial motion scene in steps 530 and 540 is the same motion scene.

[0149] In one alternative design, the triggering condition for the change of the motion scene from the target motion scene to the initial motion scene also includes that the recovery termination condition is not met between the third and fourth moments. Furthermore, if the initial motion scene is implemented as an uphill motion scene or a downhill motion scene, please refer to the uphill termination condition and downhill termination condition mentioned above for the corresponding recovery termination conditions.

[0150] Similar to the embodiments described above, the target motion scenarios in this embodiment include uphill motion scenarios or downhill motion scenarios. The different implementation methods are described below.

[0151] In one alternative implementation, the target motion scenario is an uphill motion scenario, and step 540 in this embodiment can be implemented as follows:

[0152] • In response to the motion information meeting the uphill recovery condition at the third moment, the motion scenario of the exoskeleton device is determined to change from the uphill motion scenario to the initial motion scenario.

[0153] The conditions for uphill recovery include that the rate of change of height does not reach the fifth rate of change threshold, and the stride does not reach the fifth amplitude threshold. For example, please refer to the above text. Figure 6 This section introduces the possible values ​​for the uphill recovery condition. It should be noted that... Figure 6The implementation method shown applies to both the uphill recovery condition and each uphill trigger condition, but it does not exclude the possibility that in other implementation methods, different uphill trigger conditions correspond to different uphill recovery conditions.

[0154] In another implementation, the target motion scenario is a downhill motion scenario, and step 540 in this embodiment can be implemented as follows:

[0155] • In response to the motion information meeting the downhill recovery condition at the third moment, the motion scenario of the exoskeleton device is determined to change from the downhill motion scenario to the initial motion scenario.

[0156] The downhill recovery condition includes the rate of change of altitude reaching the sixth threshold. For an example, please refer to the above text. Figure 9 This section introduces the possible values ​​for the downhill recovery condition. It should be noted that... Figure 9 This paper illustrates how different downhill trigger conditions correspond to corresponding downhill recovery conditions. However, it does not exclude the possibility that in other implementations, multiple uphill trigger conditions may correspond to the same uphill recovery condition, or that there may be other correspondences between downhill trigger conditions and their corresponding downhill recovery conditions.

[0157] In summary, the method provided in this embodiment, by satisfying the scene triggering condition at the first moment, indicates that the motion scene of the exoskeleton device may change from the initial motion scene; if the scene termination condition is not satisfied between the first and second moments, the motion scene of the exoskeleton device remains stably maintained in the target motion scene, avoiding the problem of erroneous changes in the motion scene of the exoskeleton device due to uneven road surfaces; thus improving the accuracy of motion scene recognition. By satisfying the scene recovery condition at the third moment, a trigger condition for the motion scene to return to the initial motion scene is provided, ensuring the switching of motion scenes.

[0158] In one optional design of this application, the exoskeleton device includes a camera as well as sensors, the camera being used to capture environmental images around the sensors. Accordingly, in response to motion information satisfying scene triggering conditions at a first moment, and not satisfying scene termination conditions between the first and second moments, and the environmental images satisfying scene switching conditions, the exoskeleton device determines that the motion scene of the exoskeleton device changes from the initial motion scene to the target motion scene.

[0159] For example, scene switching conditions include the proportion of the ground area in the environmental frame falling within a preset range. In one example, if the target motion scene is an uphill motion scene, the uphill road surface occupies a larger area in the viewing frame, and the preset range is greater than a first range threshold. In another example, if the target motion scene is a downhill motion scene, the downhill road surface occupies a smaller area in the viewing frame, and the preset range is less than a second range threshold. The values ​​of the first range threshold and the second range threshold can be the same or different.

[0160] For example, the ground area can be determined based on color information in the environmental image. In an urban environment, the ground area differs in color from the building area outside the ground area. Using the color information at the bottom of the image as a reference, areas with a similarity less than a color difference threshold are identified as the ground area. Similarly, in a natural environment, the ground and the sky area outside the ground area differ in color. Furthermore, urban environments (including outdoor streets with many buildings, staircases inside buildings, and corridors) have dense buildings, while natural environments (such as parks, suburbs, and grasslands) have sparse buildings. In urban and natural environments, the first range threshold is set with different values. For example, the first range threshold in the urban environment is lower than that in the natural environment, setting a more lenient threshold in densely built urban environments to accommodate situations where buildings obstruct the road surface. Similarly, in urban and natural environments, the second range threshold is set with different values. For example, the second range threshold in the urban environment is lower than that in the natural environment.

[0161] For example, ground regions can also be predicted using an Artificial Neural Network (ANN). For instance, by extracting hidden features from the hidden layer space of the environmental image, the ground region in the environmental image can be predicted. It should be noted that during the training of the ANN, the ground region is labeled as a connected region in the observed image in the training data, guiding the ANN to predict the ground region as a connected region to match the continuous patterns of ground regions in the real world. Furthermore, the ground region is labeled as a polygon with fewer than a certain number of sides in the training data, guiding the ANN to predict the ground region as a relatively regular polygonal region, avoiding excessive shape cutting of the ground region, to match the pattern of real-world ground regions being either straight-edged or having regular bends.

[0162] Next, the process of determining the operational information of the exoskeleton device will be introduced. Accordingly, Figure 11 A flowchart illustrating a motion scene recognition method provided in an exemplary embodiment of this application is shown. This method can be performed by an exoskeleton device. That is, in Figure 3 In the illustrated embodiment, step 520 can be implemented as at least one of steps 522 and 524. In this embodiment, the sensor parameter sequence includes a height sequence and / or a hip joint angle sequence acquired by the sensor.

[0163] Step 522: Calculate stride information based on the hip joint angle sequence.

[0164] For example, the sensor parameter sequence includes a height sequence and / or a hip angle sequence acquired by the sensor.

[0165] For example, the sensors in the exoskeleton device include a hip joint motor encoder that calculates stride information based on hip joint angle values. Step frequency and stride length information are then calculated based on the hip joint angle values.

[0166] For example, the hip joint angle value is obtained through a hip joint motor encoder (calculating the difference between the encoders on both sides of the hip joint), and then converted into step frequency W and stride amplitude A through an AFO (Adaptive Frequency Oscillator) structure. The AFO first defines an adaptive oscillation model x(t) = f(t), where f(t) includes the amplitude A, frequency ω, and phase of the adaptive oscillation model. Parameters such as AFO are adaptively adjusted based on feedback from the hip joint angle signal (generally by minimizing the error between AFO and the actual joint angle), and the frequency W and amplitude A are updated. The gait cycle T is determined by analyzing the peak values ​​fmax and fmin of the hip joint angle rise and fall, as well as the time intervals of the peak rise (t.index(fmax)0) and the peak fall (t.index(fmin)0). Finally, the amplitude A and gait frequency W for each gait cycle are determined using the gait cycle T. Here, t represents the real-time period (i.e., moment).

[0167] For example,

[0168] Specifically, the error(t) between AFO and the actual joint angle p(t) is shown below.

[0169] error(t) = f(t) - p(t)

[0170] The gait period T is calculated as follows.

[0171] T=2×(t.index(fmax)-t.index(fmin))

[0172] Step 524: Calculate the rate of change of altitude based on the altitude sequence.

[0173] For example, the sensors of the exoskeleton device include a height (altitude) sensor, and for example, the rate of change of height is obtained by differentiating the height sequence acquired by the sensor.

[0174] In one alternative implementation, it also includes:

[0175] Obtain the prediction parameter sequence and calculate the predicted rate of change based on the prediction parameter sequence;

[0176] Accordingly, step 524 can be implemented as follows:

[0177] Obtain the wind influence factor, and perform a fusion calculation on the predicted rate of change and the rate of change of height based on the wind influence factor to update the rate of change of height.

[0178] The set of predicted parameter sequences includes at least one of a predicted height sequence and a predicted acceleration sequence; based on the sensor height sequence and the set of predicted parameter sequences, the height change rate is calculated, including at least one of the following: calculating a first height change rate based on the predicted height sequence; and calculating a second height change rate based on the predicted acceleration sequence;

[0179] Based on the sensor height sequence, the third height change rate is calculated; a smoothing operation is performed on the third height change rate to obtain the fourth height change rate; based on the wind influence factor, at least two of the first, second, third, and fourth height change rates are fused to obtain the fused height change rate.

[0180] Optionally, the first height change rate is obtained by differentiating the predicted height; the third height change rate is obtained by differentiating the sensor height; and the fourth height change rate is obtained by smoothing and filtering the third height change rate. Based on the first, second, third, and fourth height change rates, the fused height change rate is obtained.

[0181] For example, HR = p1HR1 + p2HR2 + p3HR3 + p4HR4.

[0182] In the above formula, p1, p2, p3, and p4 are four variables, affected by the wind force factor k. pr Modulation. p1=P1+k pr R P1 p2 = P2 + k pr R P2 p3 = P3 + k pr R P3 p4 = P4 + k pr R P4 P1, R P1 P2, R P2 P3, R P3 P4, RP4 These are all constants of empirical parameters. The fused altitude change rate HR characterizes the wearer's altitude change rate (positive or negative) along the z-axis in the world coordinate system. HR represents the fused altitude change rate; HR1 represents the first altitude change rate; HR2 represents the second altitude change rate; HR3 represents the third altitude change rate; and HR4 represents the fourth altitude change rate.

[0183] In summary, the method provided in this embodiment indicates that the motion scene of the exoskeleton device may change from the initial motion scene by satisfying the scene triggering condition at the first moment; if the scene termination condition is not satisfied between the first moment and the second moment, the motion scene of the exoskeleton device remains stably maintained in the target motion scene, avoiding the problem of erroneous changes in the motion scene of the exoskeleton device due to uneven road surface conditions; thus improving the accuracy of motion scene recognition.

[0184] Those skilled in the art will understand that the above embodiments can be implemented independently, or the above embodiments can be freely combined to create new embodiments to implement the motion scene recognition method of this application.

[0185] Figure 12 This illustration shows a structural block diagram of a motion scene recognition device provided in an exemplary embodiment of this application. The device is provided by an exoskeleton device, which includes sensors. The device includes:

[0186] The acquisition module 710 is used to acquire a sensor parameter sequence, which is obtained by the sensor during the movement of the exoskeleton device.

[0187] The processing module 720 is configured to determine the motion information of the exoskeleton device based on the sensor parameter sequence, wherein the motion information is used to indicate at least one of the height change rate and stride of the exoskeleton device;

[0188] The processing module 720 is further configured to determine that the motion scene of the exoskeleton device changes from the initial motion scene to the target motion scene in response to the motion information satisfying the scene triggering condition at the first moment and not satisfying the scene termination condition between the first moment and the second moment.

[0189] In an optional implementation of this embodiment, the target motion scene is an uphill motion scene, and the processing module 720 is further configured to:

[0190] In response to the motion information satisfying the uphill triggering condition at the first moment and not satisfying the uphill termination condition between the first moment and the second moment, it is determined that the motion scene of the exoskeleton device changes from the initial motion scene to the uphill motion scene;

[0191] The uphill triggering condition includes the height change rate reaching a first change rate threshold; the uphill termination condition includes the height change rate not reaching a second change rate threshold, or the stride not reaching a first amplitude threshold.

[0192] In an optional implementation of this embodiment, the processing module 720 is further configured to:

[0193] In response to the motion information satisfying the uphill triggering condition at the first moment, a first timer is triggered. The duration of the first timer is the duration between the first moment and the second moment. The first timer stops timing when the uphill termination condition is met.

[0194] If the first timer expires, it is determined that the motion scenario of the exoskeleton device changes from the initial motion scenario to the uphill motion scenario.

[0195] In an optional implementation of this embodiment, the uphill triggering condition includes at least one of the following:

[0196] The height change rate reaches the first change rate threshold and the stride reaches the second amplitude threshold;

[0197] The height change rate reaches the first change rate threshold and satisfies the first auxiliary condition; the first auxiliary condition includes the stride reaching the second amplitude threshold, or the difference between the stride and the reference stride reaching the first difference threshold;

[0198] The reference stride is determined based on the historical stride of the exoskeleton device in a flat terrain movement scenario.

[0199] In an optional implementation of this embodiment, the target motion scene is a downhill motion scene, and the processing module 720 is further configured to:

[0200] In response to the motion information satisfying the downhill triggering condition at the first moment and not satisfying the downhill termination condition between the first moment and the second moment, it is determined that the motion scene of the exoskeleton device changes from the initial motion scene to the downhill motion scene;

[0201] The downhill triggering condition includes the altitude change rate not reaching the third change rate threshold; the downhill termination condition includes the altitude change rate reaching the fourth change rate threshold.

[0202] In an optional implementation of this embodiment, the processing module 720 is further configured to:

[0203] In response to the motion information satisfying the downhill triggering condition at the first moment, a second timer is triggered. The duration of the second timer is the duration between the first moment and the second moment. The second timer stops timing when the downhill stop condition is met.

[0204] If the second timer expires, it is determined that the motion scenario of the exoskeleton device changes from the initial motion scenario to the downhill motion scenario.

[0205] In an optional implementation of this embodiment, the downhill triggering condition includes:

[0206] The height change rate does not reach the third change rate threshold and meets the second auxiliary condition; the second auxiliary condition includes that the stride does not reach the third amplitude threshold, or that the difference between the stride and the reference stride does not reach the second difference threshold;

[0207] The reference stride is determined based on the historical stride of the exoskeleton device in a flat terrain movement scenario.

[0208] In an optional implementation of this embodiment, the downhill abort condition includes:

[0209] The height change rate reaches the fourth change rate threshold or the stride reaches the fourth amplitude threshold.

[0210] In an optional implementation of this embodiment, the processing module 720 is further configured to:

[0211] In response to the motion information satisfying the scene recovery condition at the third moment, it is determined that the motion scene of the exoskeleton device changes from the target motion scene to the initial motion scene, wherein the third moment is the moment after the second moment.

[0212] In an optional implementation of this embodiment, the target motion scene is an uphill motion scene, and the processing module 720 is further configured to:

[0213] In response to the motion information satisfying the uphill recovery condition at the third moment, the motion scenario of the exoskeleton device is determined to change from the uphill motion scenario to the initial motion scenario.

[0214] The uphill recovery conditions include the height change rate not reaching the fifth change rate threshold and the stride not reaching the fifth amplitude threshold.

[0215] In an optional implementation of this embodiment, the target motion scene is a downhill motion scene, and the processing module 720 is further configured to:

[0216] In response to the motion information satisfying the downhill recovery condition at the third moment, the motion scenario of the exoskeleton device is determined to change from the downhill motion scenario to the initial motion scenario.

[0217] The downhill recovery condition includes the elevation change rate reaching the sixth change rate threshold.

[0218] In one optional implementation of this embodiment, the initial motion scenario is a flat ground motion scenario.

[0219] In an optional implementation of this embodiment, the sensor parameter sequence includes the height sequence and / or hip joint angle sequence acquired by the sensor, and the processing module 720 is further configured to perform at least one of the following:

[0220] The stride information is calculated based on the hip joint angle sequence;

[0221] The rate of change of altitude is calculated based on the altitude sequence.

[0222] In an optional implementation of this embodiment, the acquisition module 710 is further configured to:

[0223] Obtain the prediction parameter sequence, and calculate the predicted rate of change based on the prediction parameter sequence;

[0224] The processing module 720 is further configured to:

[0225] Obtain the wind force influence factor, and perform a fusion calculation on the predicted rate of change and the rate of change of height based on the wind force influence factor to update the rate of change of height.

[0226] It should be noted that the device provided in the above embodiments is only illustrated by the division of the above functional modules when implementing its functions. In actual applications, the above functions can be assigned to different functional modules according to actual needs, that is, the content structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0227] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments of the relevant method; the technical effects achieved by each module performing its operation are the same as the technical effects in the embodiments of the relevant method, and will not be elaborated here.

[0228] Figure 13 A schematic diagram of the structure of a computer device provided in an exemplary embodiment of this application is shown.

[0229] The computer device 800 includes a central processing unit (CPU) 801, a system memory 804 including random access memory (RAM) 802 and read-only memory (ROM) 803, and a system bus 805 connecting the system memory 804 and the CPU 801. The computer device 800 also includes a basic input / output system (I / O system) 806 to facilitate information transfer between various devices within the server, and a mass storage device 807 for storing the operating system 813, application programs 814, and other program modules 815.

[0230] The basic input / output system 806 includes a display 808 for displaying information and an input device 809 for user input, such as a mouse or keyboard. Both the display 808 and the input device 809 are connected to the central processing unit 801 via an input / output controller 810 connected to the system bus 805. The basic input / output system 806 may also include the input / output controller 810 for receiving and processing input from multiple other devices such as a keyboard, mouse, or electronic stylus. Similarly, the input / output controller 810 also provides output to a display screen, printer, or other types of output devices.

[0231] The mass storage device 807 is connected to the central processing unit 801 via a mass storage controller (not shown) connected to the system bus 805. The mass storage device 807 and its associated computer-readable storage media provide non-volatile storage for the computer device 800. That is, the mass storage device 807 may include computer-readable storage media (not shown), such as a hard disk or a compact disc read-only memory (CD-ROM) drive.

[0232] Without loss of generality, the computer-readable storage medium may include computer storage media and communication media. Computer storage media include volatile and non-volatile, removable and non-removable media implemented using any method or technology for storing information such as computer-readable storage instructions, data structures, program modules, or other data. Computer storage media include RAM, ROM, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other solid-state storage technologies, CD-ROM, digital versatile disc (DVD) or other optical storage, magnetic tape cassettes, magnetic tape, disk storage, or other magnetic storage devices. Of course, those skilled in the art will recognize that the computer storage medium is not limited to the above-mentioned types. The system memory 804 and mass storage device 807 described above can be collectively referred to as memory.

[0233] The memory stores one or more programs, which are configured to be executed by one or more central processing units 801. The one or more programs contain instructions for implementing the above method embodiments, and the central processing unit 801 executes the one or more programs to implement the methods provided by the above method embodiments.

[0234] According to various embodiments of this application, the computer device 800 can also be connected to a remote computer device on a network, such as the Internet. That is, the computer device 800 can be connected to a network 812 via a network interface unit 811 connected to the system bus 805, or the network interface unit 811 can be used to connect to other types of networks or remote computer device systems (not shown).

[0235] The memory further includes one or more programs stored in the memory, and the one or more programs include steps performed by a computer device in the methods provided in the embodiments of this application.

[0236] In an exemplary embodiment, this application provides an exoskeleton device, which includes sensors and is used to implement the motion scene recognition method provided in the above-described method embodiments.

[0237] In an exemplary embodiment, a chip is also provided, the chip including programmable logic circuits and / or program instructions, which, when the chip is run on a computer device, are used to implement the motion scene recognition method described above.

[0238] In an exemplary embodiment, a computer program product is also provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions to implement the motion scene recognition method provided in the above-described method embodiments.

[0239] In an exemplary embodiment, a computer-readable storage medium is also provided, which stores a computer program that is loaded and executed by a processor to implement the motion scene recognition method provided in the above-described method embodiments.

[0240] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0241] Those skilled in the art will recognize that the functions described in the embodiments of this application in one or more of the above examples can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any medium that facilitates the transfer of a computer program from one place to another. Storage media can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0242] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A motion scene recognition method, characterized in that, The method is performed by an exoskeleton device, the exoskeleton device including sensors, and the method includes: Acquire a sensor parameter sequence, which is obtained by the sensors during the movement of the exoskeleton device; Based on the sensor parameter sequence, motion information of the exoskeleton device is determined, and the motion information is used to indicate at least one of the height change rate and stride of the exoskeleton device; In response to the motion information satisfying the scene triggering condition at the first moment, and the scene termination condition not being satisfied between the first moment and the second moment, it is determined that the motion scene of the exoskeleton device changes from the initial motion scene to the target motion scene.

2. The method according to claim 1, characterized in that, The target motion scenario is an uphill motion scenario. The response to the motion information satisfying the scenario triggering condition at a first moment, and not satisfying the scenario termination condition between the first and second moments, determines that the motion scenario of the exoskeleton device changes from the initial motion scenario to the target motion scenario, including: In response to the motion information satisfying the uphill triggering condition at the first moment, and not satisfying the uphill termination condition between the first moment and the second moment, it is determined that the motion scene of the exoskeleton device changes from the initial motion scene to the uphill motion scene; The uphill triggering condition includes the height change rate reaching a first change rate threshold; the uphill termination condition includes the height change rate not reaching a second change rate threshold, or the stride not reaching a first amplitude threshold.

3. The method according to claim 2, characterized in that, The step of determining that the motion scenario of the exoskeleton device changes from the initial motion scenario to the uphill motion scenario in response to the motion information satisfying the uphill triggering condition at the first moment and not satisfying the uphill termination condition between the first moment and the second moment includes: In response to the motion information satisfying the uphill triggering condition at the first moment, a first timer is triggered. The duration of the first timer is the duration between the first moment and the second moment. The first timer stops timing when the uphill termination condition is met. If the first timer expires, it is determined that the motion scenario of the exoskeleton device changes from the initial motion scenario to the uphill motion scenario.

4. The method according to claim 2, characterized in that, The uphill triggering condition includes at least one of the following: The height change rate reaches the first change rate threshold and the stride reaches the second amplitude threshold; The height change rate reaches the first change rate threshold and satisfies the first auxiliary condition; the first auxiliary condition includes the stride reaching the second amplitude threshold, or the difference between the stride and the reference stride reaching the first difference threshold; The reference stride is determined based on the historical stride of the exoskeleton device in a flat terrain movement scenario.

5. The method according to claim 1, characterized in that, The target motion scenario is a downhill motion scenario. The response to the motion information satisfying the scenario triggering condition at a first moment, and not satisfying the scenario termination condition between the first and second moments, determines that the motion scenario of the exoskeleton device changes from the initial motion scenario to the target motion scenario, including: In response to the motion information satisfying the downhill triggering condition at the first moment and not satisfying the downhill termination condition between the first moment and the second moment, it is determined that the motion scene of the exoskeleton device changes from the initial motion scene to the downhill motion scene; The downhill triggering condition includes the altitude change rate not reaching the third change rate threshold; the downhill termination condition includes the altitude change rate reaching the fourth change rate threshold.

6. The method according to claim 5, characterized in that, The step of determining that the motion scene of the exoskeleton device changes from the initial motion scene to the downhill motion scene in response to the motion information satisfying the downhill triggering condition at the first moment and not satisfying the downhill termination condition between the first moment and the second moment includes: In response to the motion information satisfying the downhill triggering condition at the first moment, a second timer is triggered. The duration of the second timer is the duration between the first moment and the second moment. The second timer stops timing when the downhill stop condition is met. If the second timer expires, it is determined that the motion scenario of the exoskeleton device changes from the initial motion scenario to the downhill motion scenario.

7. The method according to claim 5, characterized in that, The downhill triggering conditions include: The height change rate does not reach the third change rate threshold and meets the second auxiliary condition; the second auxiliary condition includes that the stride does not reach the third amplitude threshold, or that the difference between the stride and the reference stride does not reach the second difference threshold; The reference stride is determined based on the historical stride of the exoskeleton device in a flat terrain movement scenario.

8. The method according to claim 5, characterized in that, The downhill termination conditions include: The height change rate reaches the fourth change rate threshold or the stride reaches the fourth amplitude threshold.

9. The method according to any one of claims 1 to 8, characterized in that, The method further includes: In response to the motion information satisfying the scene recovery condition at the third moment, it is determined that the motion scene of the exoskeleton device changes from the target motion scene to the initial motion scene; The third moment is the moment after the second moment.

10. The method according to claim 9, characterized in that, The target motion scenario is an uphill motion scenario. The step of determining that the motion scenario of the exoskeleton device changes from the target motion scenario to the initial motion scenario in response to the motion information satisfying the scenario recovery condition at a third time includes: In response to the motion information satisfying the uphill recovery condition at the third moment, the motion scenario of the exoskeleton device is determined to change from the uphill motion scenario to the initial motion scenario. The uphill recovery conditions include the height change rate not reaching the fifth change rate threshold and the stride not reaching the fifth amplitude threshold.

11. The method according to claim 9, characterized in that, The target motion scenario is a downhill motion scenario. The step of determining that the motion scenario of the exoskeleton device changes from the target motion scenario to the initial motion scenario in response to the motion information satisfying the scenario recovery condition at a third time includes: In response to the motion information satisfying the downhill recovery condition at the third moment, it is determined that the motion scenario of the exoskeleton device changes from the downhill motion scenario to the initial motion scenario. The downhill recovery condition includes the elevation change rate reaching the sixth change rate threshold.

12. The method according to any one of claims 1 to 8, characterized in that, The initial motion scenario is a flat ground motion scenario.

13. The method according to any one of claims 1 to 8, characterized in that, The sensor parameter sequence includes the height sequence and / or hip joint angle sequence collected by the sensor. The determination of the motion information of the exoskeleton device based on the sensor parameter sequence includes at least one of the following: The stride information is calculated based on the hip joint angle sequence; The height change rate is calculated based on the height sequence.

14. The method according to claim 13, characterized in that, The method further includes: Obtain the prediction parameter sequence, and calculate the predicted rate of change based on the prediction parameter sequence; The calculation of the altitude change rate based on the altitude sequence includes: Obtain the wind force influence factor, and perform a fusion calculation on the predicted rate of change and the rate of change of height based on the wind force influence factor to update the rate of change of height.

15. A motion scene recognition device, characterized in that, The device is provided by an exoskeleton device, the exoskeleton device including sensors, and the device includes: The acquisition module is used to acquire sensor parameter sequences, which are obtained by the sensors during the movement of the exoskeleton device. The processing module is used to determine the motion information of the exoskeleton device based on the sensor parameter sequence, wherein the motion information is used to indicate at least one of the height change rate and stride of the exoskeleton device; The processing module is further configured to determine that the motion scene of the exoskeleton device changes from the initial motion scene to the target motion scene in response to the motion information satisfying the scene triggering condition at the first moment and not satisfying the scene termination condition between the first moment and the second moment.

16. A computer device, characterized in that, The computer device includes: a processor and a memory, wherein the memory stores at least one program; the processor is configured to execute the at least one program in the memory to implement the motion scene recognition method as described in any one of claims 1 to 14.

17. A computer-readable storage medium, characterized in that, The readable storage medium stores executable instructions, which are loaded and executed by a processor to implement the motion scene recognition method as described in any one of claims 1 to 14.

18. A computer program product, characterized in that, The computer program product includes computer instructions stored in a computer-readable storage medium. The processor reads and executes the computer instructions from the computer-readable storage medium to implement the motion scene recognition method as described in any one of claims 1 to 14.

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