Hybrid reality based electric cart and exoskeleton collaborative control method, system and device

Abstract

The application provides a mixed reality-based electric cart and exoskeleton cooperative control method, system and device, which can be applied to the fields of robots and mixed reality interaction technology. The method comprises the following steps: acquiring a real-time pose of an electric cart and a virtual map, the electric cart comprising a mobile chassis, a support component of the mobile chassis being used for supporting a patient to maintain an upright balance, and wheels of the mobile chassis being used for driving the mobile chassis to move horizontally; planning a moving path of the electric cart according to the real-time pose and the virtual map to obtain a navigation path of the electric cart; in the case that a path curvature radius of the navigation path is less than or equal to a preset curvature radius threshold, controlling the wheels to move with a turning parameter under the condition of meeting a turning constraint, and controlling a lower limb exoskeleton driving mechanism of the electric cart to drive legs of the patient to perform joint movement in a sagittal plane according to a preset step frequency, the path curvature radius and a pelvic width of the patient.

Description

Technical Field

[0001] This invention relates to the field of robotics and mixed reality interaction, and more specifically to a method, system, and device for the coordinated control of an electric trolley and exoskeleton based on mixed reality. Background Technology

[0002] With the increasing number of patients suffering from lower limb motor dysfunction due to neurological diseases such as stroke and spinal cord injury, the demand for lower limb rehabilitation training is growing rapidly. Although fixed rehabilitation equipment can provide standard gait training, patients find it difficult to obtain a true sense of spatial displacement, the training process is repetitive and monotonous, and active participation is low.

[0003] Although mobile mobility aids have spatial mobility, the mobile platform and exoskeleton usually use independent control methods, and there is a lack of a coordinated mechanism between the two for human gait stability. Summary of the Invention

[0004] In view of the above problems, the present invention provides a method, system and device for coordinated control of electric trolley and exoskeleton based on mixed reality.

[0005] According to a first aspect of the present invention, a method for coordinated control of an electric trolley and exoskeleton based on mixed reality is provided, comprising: acquiring the real-time pose of the electric trolley and a virtual map constructed based on the real environment of the electric trolley, wherein the electric trolley includes a movable chassis, a support component of the movable chassis for supporting the patient to maintain upright balance, and wheels of the movable chassis for driving the movable chassis to move horizontally, so as to cooperate with the lower limb exoskeleton system to complete the horizontal movement generated along the ground with the patient during gait training; planning the movement path of the electric trolley according to the real-time pose and the virtual map to obtain the navigation path of the electric trolley; when the radius of curvature of the navigation path is less than or equal to a preset radius of curvature threshold, controlling the wheels to move with turning parameters under turning constraints, and controlling the lower limb exoskeleton drive mechanism of the electric trolley to drive the patient's legs to perform joint movements in the sagittal plane according to a preset step frequency, the radius of curvature of the path and the width of the patient's pelvis, wherein the turning constraints are determined according to the radius of curvature of the path.

[0006] According to an embodiment of the present invention, the turning parameters include turning speed, turning radius, and turning angular velocity, and the turning constraint conditions include at least one of the following: the turning speed is less than a preset safe turning speed, wherein the preset safe turning speed is determined based on the path curvature radius and the safe lateral acceleration coefficient; the turning radius is greater than a preset safe radius, wherein the preset safe radius is determined based on the frame length of the electric trolley along the travel direction and the turning speed; the turning angular velocity is less than a preset turning angular velocity, wherein the preset turning angular velocity is determined based on the preset safe turning speed and the preset safe radius.

[0007] According to an embodiment of the present invention, the lower limb exoskeleton drive mechanism of the electric trolley is controlled to drive the patient's legs to perform joint movements in the sagittal plane based on a preset step frequency, path curvature radius, and the patient's pelvic width. This includes: determining the medial leg step length scaling factor and the lateral leg step length scaling factor based on the turning radius and pelvic width; determining the actual step length of the medial leg and the actual step length of the lateral leg based on the preset step length, the medial leg step length scaling factor, and the lateral leg step length scaling factor; and controlling the lower limb exoskeleton drive mechanism to drive the patient's legs to perform joint movements in the sagittal plane according to the actual step length of the medial leg, the actual step length of the lateral leg, and the preset step frequency.

[0008] According to an embodiment of the present invention, the method further includes: driving the lower limb exoskeleton drive mechanism according to a preset step frequency and a preset step length when the path curvature radius is greater than a preset curvature radius threshold, so as to enable the patient to perform straight gait training.

[0009] According to an embodiment of the present invention, the virtual map includes the endpoint position in gait training; the real-time pose of the electric trolley includes the real-time position and the direction of travel; the distance between the endpoint position and the real-time position is within a preset safe distance range; and the angle between the endpoint position and the direction of travel is within a preset safe angle range.

[0010] According to an embodiment of the present invention, the virtual map further includes the obstacle positions of virtual obstacles; the movement path of the electric stroller is planned according to the real-time pose and the virtual map to obtain the navigation path of the electric stroller, including: using the real-time position and the end position as the starting point and ending point of gait training, respectively, to plan the movement path of the electric stroller to obtain an initial path including multiple path nodes; and fine-tuning the target path nodes among the multiple path nodes whose distance from the obstacle position is less than a preset collision safety distance to generate the navigation path.

[0011] According to an embodiment of the present invention, the method further includes: when the electric trolley reaches the endpoint position, regenerating the endpoint position based on the pose of the electric trolley at the endpoint position, a preset safe distance range, and a preset safe angle range.

[0012] According to an embodiment of the present invention, the navigation path is smoothed by interpolation to obtain the navigation trajectory; the radius of curvature of the path is calculated point by point along the navigation trajectory.

[0013] A second aspect of the present invention provides a mixed reality-based electric trolley and exoskeleton collaborative control system, comprising: an electric trolley including a mobile chassis and a lower limb exoskeleton drive mechanism; a support component of the mobile chassis for supporting the patient to maintain upright balance; wheels of the mobile chassis for driving the mobile chassis to move horizontally, in coordination with the lower limb exoskeleton system to complete the patient's horizontal movement along the ground during gait training; and a controller, signal-connected to the wheel drive unit of the mobile chassis and the lower limb exoskeleton drive mechanism, for controlling the electric trolley using the above method.

[0014] A third aspect of the present invention provides a mixed reality-based electric trolley and exoskeleton collaborative control device, comprising: an acquisition module for acquiring the real-time pose of the electric trolley and a virtual map constructed based on the real environment of the electric trolley, wherein the electric trolley includes a movable chassis, a support component of the movable chassis for supporting the patient to maintain upright balance, and wheels of the movable chassis for driving the movable chassis to move horizontally, so as to cooperate with the lower limb exoskeleton system to complete the horizontal movement of the patient along the ground during gait training; a path planning module for planning the movement path of the electric trolley according to the real-time pose and the virtual map to obtain the navigation path of the electric trolley; and a control module for controlling the wheels to move with turning parameters under turning constraints when the radius of curvature of the navigation path is less than or equal to a preset radius of curvature threshold, and controlling the lower limb exoskeleton drive mechanism of the electric trolley to drive the patient's legs to perform joint movements in the sagittal plane according to a preset step frequency, the radius of curvature of the path, and the width of the patient's pelvis, wherein the turning constraints are determined based on the radius of curvature of the path.

[0015] A fourth aspect of the present invention provides an electronic device comprising: one or more processors; and a memory for storing one or more computer programs, wherein the one or more processors execute the one or more computer programs to implement the steps of the method described above.

[0016] A fifth aspect of the present invention also provides a computer-readable storage medium having a computer program or instructions stored thereon, wherein the computer program or instructions, when executed by a processor, implement the steps of the above-described method.

[0017] A sixth aspect of the present invention also provides a computer program product, including a computer program or instructions that, when executed by a processor, implement the steps of the above-described method.

[0018] According to an embodiment of the present invention, the electric trolley includes a movable chassis and a lower limb exoskeleton drive mechanism. The support components of the movable chassis are used to support the patient to maintain upright balance. The wheels of the movable chassis are used to drive the movable chassis to move horizontally, so as to cooperate with the lower limb exoskeleton system to complete the horizontal movement generated by the patient along the ground during gait training. The lower limb exoskeleton drive mechanism drives the patient's legs to perform joint movements in the sagittal plane. The structure of the electric trolley can assist the patient in gait training based on obtaining a real sense of spatial displacement, and can enhance the patient's active participation.

[0019] By deeply coupling the curvature of the navigation path obtained from mixed reality with the motion control of the electric trolley-type exoskeleton, in scenarios where the path curvature radius is less than or equal to a preset curvature radius threshold (i.e., curves with small curvature), the turning parameters of the wheels can be limited according to the path curvature radius to prevent rollover or loss of control. Simultaneously, the joint movements of the legs in the sagittal plane are adjusted in real time based on preset stride frequency, path curvature radius, and the patient's pelvic width to simulate physiological turning gait. This also avoids motion conflicts between the trolley and the legs, improving patient comfort and training compliance. Attached Figure Description

[0020] The above-described features, other objects, and advantages of the present invention will become clearer from the following description of embodiments of the invention with reference to the accompanying drawings, in which:

[0021] Figure 1 A schematic diagram of an electric trolley according to an embodiment of the present invention is shown.

[0022] Figure 2 A flowchart illustrating a mixed reality-based electric trolley and exoskeleton collaborative control method according to an embodiment of the present invention is shown.

[0023] Figure 3 A flowchart illustrating the coordinated control of an electric trolley according to an embodiment of the present invention is shown schematically.

[0024] Figure 4 A schematic diagram illustrating a display interface for a mixed reality scene according to an embodiment of the present invention is shown.

[0025] Figure 5 A schematic top view of a training ground according to an embodiment of the present invention is shown;

[0026] Figure 6 The diagram illustrates a mixed reality-based electric trolley and exoskeleton collaborative control system according to an embodiment of the present invention.

[0027] Figure 7 This schematic diagram illustrates a structural block diagram of a mixed reality-based electric trolley and exoskeleton collaborative control device according to an embodiment of the present invention.

[0028] Figure 8 A block diagram of an electronic device suitable for implementing a mixed reality-based electric trolley and exoskeleton collaborative control method is shown schematically according to an embodiment of the present invention. Detailed Implementation

[0029] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the invention. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the invention for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0030] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0031] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0032] When using expressions such as "at least one of A, B and C", they should generally be interpreted in accordance with the meaning that is commonly understood by those skilled in the art (e.g., "a system having at least one of A, B and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B and C, etc.).

[0033] In the technical solution of this invention, the user information (including but not limited to user personal information, user image information, user device information, such as location information) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, storage, use, processing, transmission, provision, disclosure, and application of related data all comply with relevant laws, regulations, and standards, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entry points for users to choose to authorize or refuse.

[0034] With the increasing number of patients suffering from lower limb motor dysfunction due to neurological diseases such as stroke and spinal cord injury, the demand for lower limb rehabilitation training is growing rapidly. Although fixed rehabilitation equipment can provide standard gait training, patients find it difficult to obtain a true sense of spatial displacement, the training process is repetitive and monotonous, and their active participation is low.

[0035] Although mobile mobility aids have spatial mobility, the mobile platform and exoskeleton usually use independent control methods, and there is a lack of a coordinated mechanism between the two for human gait stability.

[0036] This invention provides a mixed reality-based method for coordinated control of an electric trolley and exoskeleton, comprising: acquiring the real-time pose of the electric trolley and a virtual map constructed based on the real environment of the electric trolley; wherein the electric trolley includes a movable chassis, a support component of the movable chassis for supporting the patient to maintain upright balance, and wheels of the movable chassis for driving the movable chassis to move horizontally, in coordination with the lower limb exoskeleton system to complete the patient's horizontal movement along the ground during gait training; planning the movement path of the electric trolley based on the real-time pose and the virtual map to obtain the navigation path of the electric trolley; when the radius of curvature of the navigation path is less than or equal to a preset radius of curvature threshold, controlling the wheels to move with turning parameters under turning constraints, and controlling the lower limb exoskeleton drive mechanism of the electric trolley to drive the patient's legs to perform joint movements in the sagittal plane based on a preset step frequency, the radius of curvature of the path, and the width of the patient's pelvis, wherein the turning constraints are determined based on the radius of curvature of the path.

[0037] Figure 1 A schematic diagram of an electric trolley according to an embodiment of the present invention is shown.

[0038] like Figure 1 As shown, the electric stroller includes a mobile chassis 110 and a lower limb exoskeleton system 120. The patient can wear the lower limb exoskeleton system 120 and hold the support components 111 of the mobile chassis 110 with both hands.

[0039] During gait training, the support component 111 supports the patient to maintain upright balance, and the lower limb exoskeleton drive mechanism of the lower limb exoskeleton system 120 drives the patient's legs to perform joint movements in the sagittal plane, thereby generating horizontal displacement along the ground. To provide the patient with a realistic sense of spatial displacement, the wheels 112 (including four wheels in the figure) of the movable chassis 110 can be used to drive the movable chassis to move horizontally, cooperating with the lower limb exoskeleton system to complete the horizontal movement generated by the patient along the ground during gait training.

[0040] The frame of the electric trolley can be determined by the support component 111 and the movable chassis 110. For example, the frame length of the electric trolley along the travel direction is L as shown in the figure. f L f Key structural dimensions that constrain patient movement trajectories and gait parameters.

[0041] It should be noted that, in this embodiment, the frame length of the electric trolley along the travel direction can be the distance from the rear end to the front end of the mobile chassis 110. If the electric trolley has other structures, the frame length along the travel direction can be the distance from the rear end to the front end of the electric trolley. For example, the rear end of the electric trolley can be the rear wheel of the mobile chassis 110, and the front end of the electric trolley can be the front wheel of the mobile chassis 110.

[0042] Figure 2 A flowchart illustrating a mixed reality-based electric trolley and exoskeleton collaborative control method according to an embodiment of the present invention is shown.

[0043] like Figure 2 As shown, the mixed reality-based electric trolley and exoskeleton collaborative control method of this embodiment includes operations S210 to S230.

[0044] During operation S210, the real-time pose of the electric trolley and a virtual map constructed based on the real environment of the electric trolley are acquired. The electric trolley includes a mobile chassis, a support component of the mobile chassis for supporting the patient to maintain upright balance, and wheels of the mobile chassis for driving the mobile chassis to move horizontally, so as to cooperate with the lower limb exoskeleton system to complete the horizontal movement of the patient along the ground during gait training.

[0045] According to an embodiment of the present invention, the electric stroller can be a mobile walking aid device, which can be composed of a mobile platform and a lower limb exoskeleton system.

[0046] According to embodiments of the present invention, the real-time pose of the electric trolley may include the trolley's position information and direction information. For example, the position information may be the position relative to an obstacle, the position relative to the destination, or the real-time geographical location, without specific limitations. For example, the direction information may include the direction relative to an obstacle, the direction relative to the destination, or the direction of travel, without specific limitations.

[0047] According to an embodiment of the present invention, constructing a virtual map based on the real environment of an electric trolley may include: establishing a coordinate mapping relationship between the virtual space and the physical environment based on the positions of buildings and surrounding objects within a preset spatial range in the real environment of the electric trolley relative to the electric trolley; constructing an environmental grid map based on the coordinate mapping relationship and attribute information such as the shape of buildings and surrounding objects; and rendering buildings and surrounding objects in the environmental grid map.

[0048] According to an embodiment of the present invention, the support component of the mobile chassis can be a handrail component for the patient. The patient can hold the support component with both hands to maintain upright balance.

[0049] According to an embodiment of the present invention, the wheels of the mobile chassis may be four (e.g., Figure 1 (As shown), to keep the electric cart moving smoothly.

[0050] When operating the S220, the movement path of the electric stroller is planned based on the real-time pose and virtual map to obtain the navigation path of the electric stroller.

[0051] For example, based on the real-time pose of the electric stroller, the location information of virtual buildings and virtual surrounding objects in the virtual map, the A* algorithm is used to traverse and search, and the navigation path of the electric stroller is output.

[0052] For example, sampling points are randomly generated within the feasible space of the virtual map, and tree branches are continuously grown with the real-time pose as the root node. By rapidly expanding the random tree and incorporating cost optimization, the branches are rewired to generate shorter, smoother global path nodes. It should be noted that smooth interpolation can be performed on the global path nodes to obtain the navigation path of the electric cart.

[0053] In operation S230, when the radius of curvature of the navigation path is less than or equal to a preset radius of curvature threshold, the wheels are controlled to move with turning parameters under the condition of satisfying the turning constraint. Based on the preset step frequency, the radius of curvature of the path and the width of the patient's pelvis, the lower limb exoskeleton drive mechanism of the electric trolley is controlled to drive the patient's legs to perform joint movements in the sagittal plane. The turning constraint is determined based on the radius of curvature of the path.

[0054] According to an embodiment of the present invention, the path curvature radius of the navigation path can be the segmented average curvature radius or the instantaneous curvature radius of the discrete sampling points of the trajectory.

[0055] For example, consider an initial navigation path that has not undergone smooth interpolation and consists only of discrete path nodes connected as a broken line segment. Each pair of adjacent path nodes forms a straight line segment, and three consecutive nodes form a circular arc fitting interval. The radius of this circular arc, fitted using three points, is the segmental average radius of curvature of this path segment.

[0056] For example, high-density sampling points are taken at equal intervals along a smooth navigation path. For each sampling point on the trajectory, the instantaneous curvature of that point is calculated using the first and second derivatives of the curve, and then the instantaneous radius of curvature is converted.

[0057] According to an embodiment of the present invention, a preset radius of curvature threshold can be used to distinguish whether gait training is in turning mode or straight-line mode. For example, the preset radius of curvature threshold can be 4 meters. If the radius of curvature of the navigation path is less than or equal to 4 meters, the system enters turning mode; if the radius of curvature of the navigation path is greater than 4 meters, the system enters straight-line mode.

[0058] According to an embodiment of the present invention, the turning constraint is determined based on the radius of curvature of the path. For example, the smaller the radius of curvature of the path, the lower the turning speed, to prevent rollover; at the same time, the radius of curvature of the path cannot be too small to prevent spinning in place, etc.

[0059] According to an embodiment of the present invention, the turning parameters can be determined based on the turning constraints. For example, if the turning constraints include turning speed, path curvature radius, etc., then there are corresponding turning parameters such as turning speed and path curvature radius.

[0060] According to embodiments of the present invention, the preset cadence can be set according to actual conditions. For example, the preset cadence can be the real-time cadence of the lower limb exoskeleton system, or it can be a cadence set based on experience to suit the patient, without any specific limitations.

[0061] According to an embodiment of the present invention, the patient's pelvic width can be the transverse straight-line distance between the greater trochanters of the two femurs, which is the outermost transverse dimension of the human pelvic region.

[0062] According to embodiments of the present invention, the lower limb exoskeleton drive mechanism may include drive motors corresponding to multiple joints of the lower limb. For example, the lower limb exoskeleton drive mechanism includes a servo motor corresponding to the knee joint, which can adjust the knee joint angle of the patient during walking.

[0063] According to an embodiment of the present invention, the joint movement of the two legs in the sagittal plane can be constrained to only swing the two legs back and forth, and combined with the horizontal displacement of the moving chassis to replicate the basic straight and turning gait, which is a form of exercise for lower limb rehabilitation gait training.

[0064] According to an embodiment of the present invention, the real-time gait phase of the lower limb exoskeleton drive mechanism is acquired, and the moving speed of the wheels is adjusted according to the real-time gait phase so that the movement of the electric trolley is synchronized with the patient's gait.

[0065] According to an embodiment of the present invention, the electric trolley includes a movable chassis and a lower limb exoskeleton drive mechanism. The support components of the movable chassis are used to support the patient to maintain upright balance. The wheels of the movable chassis are used to drive the movable chassis to move horizontally, so as to cooperate with the lower limb exoskeleton system to complete the horizontal movement generated by the patient along the ground during gait training. The lower limb exoskeleton drive mechanism drives the patient's legs to perform joint movements in the sagittal plane. The structure of the electric trolley can assist the patient in gait training based on obtaining a real sense of spatial displacement, and can enhance the patient's active participation.

[0066] By deeply coupling the curvature of the navigation path obtained from mixed reality with the motion control of the electric trolley-type exoskeleton, in scenarios where the path curvature radius is less than or equal to a preset curvature radius threshold (i.e., curves with small curvature), the turning parameters of the wheels can be limited according to the path curvature radius to prevent rollover or loss of control. Simultaneously, the joint movements of the legs in the sagittal plane are adjusted in real time based on preset stride frequency, path curvature radius, and the patient's pelvic width to simulate physiological turning gait. This also avoids motion conflicts between the trolley and the legs, improving patient comfort and training compliance.

[0067] According to an embodiment of the present invention, the turning parameters include turning speed, turning radius, and turning angular velocity, and the turning constraint conditions include at least one of the following: the turning speed is less than a preset safe turning speed, wherein the preset safe turning speed is determined based on the path curvature radius and the safe lateral acceleration coefficient; the turning radius is greater than a preset safe radius, wherein the preset safe radius is determined based on the frame length of the electric trolley along the travel direction and the turning speed; the turning angular velocity is less than a preset turning angular velocity, wherein the preset turning angular velocity is determined based on the preset safe turning speed and the preset safe radius.

[0068] The preset safe turning speed can be the maximum safe turning speed. The formula is as follows:

[0069] (1);

[0070] The safety lateral acceleration coefficient is used to characterize the dynamic stability constraint parameter of the human body during turning. Adaptive adjustments should be made based on the patient's recovery progress or training stage. R is the acceleration due to gravity. R is the radius of curvature of the path. The turning speed v of the electric cart. turn Do not exceed the maximum safe turning speed.

[0071] The preset safety radius can be the minimum safe turning radius. The formula is as follows:

[0072] (2);

[0073] The length of the frame of the electric cart along the traveling direction is Lf. When R<Rmin, the path is re-planned, and rotation in place is prohibited.

[0074] The preset turning angular velocity is equal to the ratio between the preset safe turning speed and the preset safe radius, that is .

[0075] The turning angular velocity of the electric cart is less than or equal to the preset turning angular velocity, as follows:

[0076] (3);

[0077] According to an embodiment of the present invention, the virtual map includes the end position in gait training; the real-time pose of the electric cart includes the real-time position and the advancing direction; the distance between the end position and the real-time position is within a preset safe distance range; the included angle of the end position relative to the advancing direction is within a preset safe angle range.

[0078] At least one passable area can be determined from the virtual map according to the real-time pose of the electric cart. The end position of gait training is set in the at least one passable area.

[0079] For example, the distance between the end position and the real-time position is within the preset safe distance range, and the preset safe range is determined according to the training intensity of the patient and the tolerance range of a single training. Therefore, the end position is for effective gait training of the patient. The preset safe distance range may be 20 meters, 30 meters, etc., which is not specifically limited.

[0080] For example, the included angle of the end position relative to the advancing direction is within the preset safe angle range, and the preset safe angle range is set to avoid sharp large-amplitude turns of the patient and the equipment, so as to ensure the stability of training. For example, the preset safe angle range may be greater than 15 degrees and less than 160 degrees, which is not specifically limited.

[0081] According to an embodiment of the present invention, the virtual map further includes obstacle positions of virtual obstacles; planning the moving path of the electric cart according to the real-time pose and the virtual map to obtain the navigation path of the electric cart includes: taking the real-time position and the end position as the walking start point and end point of gait training respectively to plan the moving path of the electric cart, so as to obtain an initial path including a plurality of path nodes; fine-tuning the target path nodes among the plurality of path nodes whose distance to the obstacle position is less than the preset collision safety distance, so as to generate the navigation path.

[0082] The real-time location serves as the starting point for gait training, and the ending point serves as the ending point. Virtual obstacles provide visual guidance, directing patients to walk in different directions and at different distances, avoiding monotony and repetitive exercises, and enhancing the patient's immersion and participation in rehabilitation training. It should be noted that virtual obstacles can include objects that hinder the patient's movement, such as virtual cardboard boxes, virtual walls, virtual tables, and virtual chairs. All of these virtual obstacles are constructed based on the real-world environment in which the electric stroller is located.

[0083] The endpoint and virtual obstacles serve as constraints for navigation path planning. First, the A* algorithm can be used, with the real-time location and endpoint as the starting and ending points for gait training, respectively, to plan the movement path of the electric cart within a passable area. The VFH+ algorithm is then used for local obstacle avoidance correction. Combining the positions of virtual obstacles, local fine-tuning is performed on target path nodes whose distance to the obstacle position is less than a preset collision safety distance, correcting for road segments where collisions are likely.

[0084] For example, the preset collision safety distance can be determined based on the frame width of the electric stroller. The preset collision safety distance can be greater than the frame width of the electric stroller, or greater than 1.5 times the frame width of the electric stroller, etc., without specific restrictions.

[0085] According to an embodiment of the present invention, the navigation path is smoothed by interpolation to obtain the navigation trajectory; the radius of curvature of the path is calculated point by point along the navigation trajectory.

[0086] For example, replacing the original discrete polyline with B-spline smoothing interpolation makes the navigation trajectory continuous and smooth, eliminating jerks in the trolley's movement. Alternatively, curve fitting can be performed on multiple path nodes along the navigation path to obtain a continuous and smooth navigation trajectory.

[0087] For example, the radius of curvature of the path can be calculated point by point along the navigation trajectory based on the three-point method or the arc length differential.

[0088] By dynamically matching the electric trolley's travel speed with the exoskeleton's gait correction parameters based on the path curvature radius, the problem of gait trajectory distortion caused by the frame constraint under turning conditions is solved, improving the smoothness and safety of gait training.

[0089] According to an embodiment of the present invention, the above method further includes: driving the lower limb exoskeleton drive mechanism according to a preset step frequency and a preset step length when the path curvature radius is greater than a preset curvature radius threshold, so as to enable the patient to perform straight gait training.

[0090] The path curvature radius R is determined in real time to determine whether it exceeds a preset curvature radius threshold. When the path curvature radius exceeds the preset curvature radius threshold, the system enters a straight-line coordinated mode. The lower limb exoskeleton system operates according to a preset gait frequency f0 and a preset stride length d. step The electric scooter uses the human gait speed as input to smoothly follow the movement, and applies an auxiliary driving force in the same direction as the human movement to improve the smoothness of movement.

[0091] Figure 3 A flowchart illustrating the coordinated control of an electric trolley according to an embodiment of the present invention is shown.

[0092] like Figure 3 As shown, the coordinated control of the electric trolley includes operations S310~S340.

[0093] In operation S310, obtain the radius of curvature of the navigation path.

[0094] In operation S320, determine whether the radius of curvature of the path is greater than the preset radius of curvature threshold. If yes, execute operation S330; otherwise, execute operation S340.

[0095] When operating the S330, control the electric trolley in straight-line cooperative mode.

[0096] When operating the S340, control the electric trolley in the turning coordination mode.

[0097] According to an embodiment of the present invention, the lower limb exoskeleton drive mechanism of the electric trolley is controlled to drive the patient's legs to perform joint movements in the sagittal plane based on a preset step frequency, path curvature radius, and the patient's pelvic width. This includes: determining the medial leg step length scaling factor and the lateral leg step length scaling factor based on the turning radius and pelvic width; determining the actual step length of the medial leg and the actual step length of the lateral leg based on the preset step length, the medial leg step length scaling factor, and the lateral leg step length scaling factor; and controlling the lower limb exoskeleton drive mechanism to drive the patient's legs to perform joint movements in the sagittal plane according to the actual step length of the medial leg, the actual step length of the lateral leg, and the preset step frequency.

[0098] When the radius of curvature of the path is less than or equal to a preset threshold, the turning coordination mode is entered. The electric trolley travels along the arc trajectory and meets the safety speed constraint. The exoskeleton maintains a constant step frequency and generates a bilateral asymmetrical gait based on the turning radius and the patient's pelvic width.

[0099] The electric trolley travels along a circular arc trajectory. Due to lateral acceleration safety constraints, the trolley's turning speed is less than the maximum safe turning speed. Simultaneously, to prevent the trolley from spinning in place during turns, the turning radius is greater than the minimum safe turning radius. If the turning radius is less than the minimum safe turning radius, path planning is re-implemented to generate a safe and smooth path. During the turn, the turning angular velocity is constrained to be less than the preset turning speed (…). This controls the wheels to travel along a predetermined circular arc trajectory.

[0100] The lower limb exoskeleton system maintains a preset cadence. Unchanged, based on the turning radius R and the patient's pelvic width Generate bilateral asymmetric gait.

[0101] Based on the turning radius R and pelvic width Determine the scaling factor for the inner leg stride length. and outer leg stride scaling factor The formula is as follows:

[0102] (4)

[0103] (5)

[0104] According to the preset step size Inner leg stride scaling factor and outer leg stride scaling factor Determine the actual stride length of the inner leg. And the actual stride length of the outer leg The formula is as follows:

[0105] (6)

[0106] (7)

[0107] Therefore, the scaling factor is applied to the sagittal reference trajectory of the corresponding hip and knee joints, reducing the stride length of the inner leg and increasing the stride length of the outer leg, thus achieving a natural turn. This eliminates the problems of pelvic torsion, leg dragging and pulling, and trunk compensation tilt caused by the consistent stride length of the inner and outer legs during turning training, ensuring that the sagittal flexion and extension trajectory of the legs output by the exoskeleton conforms to the physiological laws of the human body's natural turning gait.

[0108] According to an embodiment of the present invention, the method further includes: when the electric trolley reaches the endpoint position, regenerating the endpoint position based on the pose of the electric trolley at the endpoint position, a preset safe distance range, and a preset safe angle range.

[0109] Figure 4 A schematic diagram illustrating a patient's real-time display interface according to an embodiment of the present invention is shown.

[0110] like Figure 4 As shown, patients can wear an MR (Mixed Reality) headset over their eyes. The MR headset displays the following in real time: current mode (e.g., coordinated turning control), current state (e.g., the patient's gait training is in the process of turning right), distance target and estimated arrival time, training progress bar, mixed reality scene, and global map. It should be noted that the distance target can be understood as the distance to the destination, which is represented by a pentagram in the mixed reality scene and global map. Virtual obstacles can be represented by cylinders, and the planned path and guiding arrows are also displayed.

[0111] Figure 5 A schematic top view of a training field according to an embodiment of the present invention is shown.

[0112] like Figure 5 As shown, real-time monitoring of the distance between the electric stroller's real-time position and the destination position allows for timely determination of whether the stroller has reached the destination. P0 represents the electric stroller's real-time position, and T1 represents the destination position (also known as reaching the target). The gait training pattern for the patient walking from P0 to T1 is a straight-line pattern.

[0113] Once the electric stroller has reached position T1, a new position T2 is generated based on the stroller's posture at that position, the preset safe distance range, and the preset safe angle range. The next walking training task (e.g., turning mode) then begins. After completing gait training from T1 to T2, a new position T3 is generated, and gait training in a mixed mode from T2 to T3 begins. This cycle is repeated continuously until all gait training is completed, at which point the electric stroller movement and exoskeleton joint actuation are stopped.

[0114] For example, the pose of the electric trolley at the destination includes the current destination position and the current direction of travel. The distance between the new destination position and the current destination position is constrained to within a preset safe distance range, and the angle between the new destination position and the current direction of travel is constrained to within a preset safe angle range.

[0115] According to an embodiment of the present invention, the compliant endpoint position can be automatically regenerated when the electric trolley reaches the original endpoint but the actual posture does not fall within the preset safe distance and preset safe angle range. This effectively avoids the risk of imbalance and fall caused by the trolley's parking deviation and trunk posture tilt at the end of the patient's training, and ensures that the patient is in a stable, upright, and safe posture at the end of each gait training session.

[0116] Figure 6 The diagram illustrates a mixed reality-based electric trolley and exoskeleton collaborative control system according to an embodiment of the present invention.

[0117] like Figure 6 As shown, the mixed reality-based electric trolley and exoskeleton collaborative control system 600 includes an electric trolley 610 and a controller 620.

[0118] The electric trolley 610 includes a mobile chassis and a lower limb exoskeleton drive mechanism. The support components of the mobile chassis are used to support the patient to maintain upright balance. The wheels of the mobile chassis are used to drive the mobile chassis to move horizontally, so as to cooperate with the lower limb exoskeleton system to complete the horizontal movement of the patient along the ground during gait training. The lower limb exoskeleton drive mechanism is used to drive the patient's legs to perform joint movements in the sagittal plane.

[0119] The controller 620 is connected to the wheel drive unit of the mobile chassis and the drive mechanism of the lower limb exoskeleton, respectively, and is used to execute a mixed reality-based electric trolley and exoskeleton collaborative control method to control the electric trolley.

[0120] According to an embodiment of the present invention, the mixed reality-based electric trolley and exoskeleton collaborative control system 600 may further include a mixed reality module 630. The mixed reality module 630 employs a head-mounted mixed reality device with spatial anchoring and environmental scanning capabilities to realize spatial environment perception, virtual target and virtual obstacle generation, and display of information such as planned path and current motion status.

[0121] The controller 620 is the core control unit, which communicates with the mixed reality module 630, the wheel drive unit 611 of the mobile chassis in the electric trolley 610, and the lower limb exoskeleton drive mechanism 612 of the lower limb exoskeleton system to ensure low-latency transmission of control commands. The mobile chassis is used to carry the patient and the lower limb exoskeleton. The lower limb exoskeleton system is fixedly installed in the internal frame of the electric trolley. The lower limb exoskeleton drive mechanism 612 (such as a servo motor) drives the patient's lower limbs to perform gait movements in the sagittal plane through the hip and knee joints. The hip width and leg length of the exoskeleton are adjustable to adapt to patients of different heights and body types.

[0122] Figure 7 The diagram illustrates a structural block diagram of a mixed reality-based electric trolley and exoskeleton collaborative control device according to an embodiment of the present invention.

[0123] like Figure 7 As shown, the mixed reality-based electric trolley and exoskeleton collaborative control device 700 of this embodiment includes an acquisition module 710, a path planning module 720 and a control module 730.

[0124] The acquisition module 710 is used to acquire the real-time pose of the electric trolley and a virtual map constructed based on the real environment of the electric trolley. The electric trolley includes a movable chassis, supporting components of which support the patient to maintain upright balance, and wheels that drive the chassis to move horizontally, coordinating with the lower limb exoskeleton system to complete the patient's horizontal movement along the ground during gait training. In one embodiment, the acquisition module 710 can be used to perform the operation S210 described above, which will not be repeated here.

[0125] The path planning module 720 is used to plan the movement path of the electric stroller based on the real-time pose and virtual map, thereby obtaining the navigation path of the electric stroller. In one embodiment, the path planning module 720 can be used to perform the operation S220 described above, which will not be repeated here.

[0126] The control module 730 is used to control the wheels to move with turning parameters under turning constraints when the radius of curvature of the navigation path is less than or equal to a preset radius of curvature threshold. It also controls the lower limb exoskeleton drive mechanism of the electric trolley to move the patient's legs in the sagittal plane according to a preset step frequency, the radius of curvature of the path, and the patient's pelvic width. The turning constraints are determined based on the radius of curvature of the path. In one embodiment, the control module 730 can be used to execute the operation S230 described above, which will not be repeated here.

[0127] According to an embodiment of the present invention, the turning parameters include turning speed, turning radius, and turning angular velocity, and the turning constraint conditions include at least one of the following: the turning speed is less than a preset safe turning speed, wherein the preset safe turning speed is determined based on the path curvature radius and the safe lateral acceleration coefficient; the turning radius is greater than a preset safe radius, wherein the preset safe radius is determined based on the frame length of the electric trolley along the travel direction and the turning speed; the turning angular velocity is less than a preset turning angular velocity, wherein the preset turning angular velocity is determined based on the preset safe turning speed and the preset safe radius.

[0128] According to an embodiment of the present invention, the control module 730 includes a first determining module, a second determining module, and a control submodule. The first determining submodule is used to determine the medial leg step length scaling factor and the lateral leg step length scaling factor based on the turning radius and pelvic width; the second determining submodule is used to determine the actual medial leg step length and the actual lateral leg step length based on the preset step length, the medial leg step length scaling factor, and the lateral leg step length scaling factor; the control submodule is used to control the lower limb exoskeleton drive mechanism to drive the patient's legs to perform joint movements in the sagittal plane according to the actual medial leg step length, the actual lateral leg step length, and the preset step frequency.

[0129] According to an embodiment of the present invention, the above-described device further includes a drive module. The drive module is used to drive the lower limb exoskeleton drive mechanism according to a preset step frequency and a preset step length when the radius of curvature of the path is greater than a preset radius of curvature threshold, so as to enable the patient to perform straight gait training.

[0130] According to an embodiment of the present invention, the virtual map includes the endpoint position in gait training; the real-time pose of the electric trolley includes the real-time position and the direction of travel; the distance between the endpoint position and the real-time position is within a preset safe distance range; and the angle between the endpoint position and the direction of travel is within a preset safe angle range.

[0131] According to an embodiment of the present invention, the virtual map further includes the obstacle locations of virtual obstacles; the path planning module 720 includes a path planning submodule and a fine-tuning submodule. The path planning submodule is used to plan the movement path of the electric cart using the real-time location and the endpoint location as the starting and ending points of gait training, respectively, to obtain an initial path including multiple path nodes; the fine-tuning submodule is used to fine-tune the target path nodes among the multiple path nodes whose distance from the obstacle location is less than a preset collision safety distance to generate a navigation path.

[0132] According to an embodiment of the present invention, the above-described apparatus further includes a generation module. The generation module is used to regenerate the endpoint position based on the pose of the electric trolley at the endpoint position, a preset safe distance range, and a preset safe angle range when the electric trolley reaches the endpoint position.

[0133] According to an embodiment of the present invention, the above-described apparatus further includes a smooth interpolation processing module and a calculation module. The smooth interpolation processing module is used to perform smooth interpolation processing on the navigation path to obtain a navigation trajectory; the calculation module is used to calculate the radius of curvature of the path point by point along the navigation trajectory.

[0134] According to embodiments of the present invention, any plurality of modules among the acquisition module 710, path planning module 720, and control module 730 may be combined into one module, or any one of these modules may be split into multiple modules. Alternatively, at least a portion of the functionality of one or more of these modules may be combined with at least a portion of the functionality of other modules and implemented in one module. According to embodiments of the present invention, at least one of the acquisition module 710, path planning module 720, and control module 730 may be at least partially implemented as hardware circuitry, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or any other reasonable means of integrating or packaging circuitry, or implemented in software, hardware, or firmware, or in any suitable combination of any of these three implementation methods. Alternatively, at least one of the acquisition module 710, path planning module 720, and control module 730 may be at least partially implemented as a computer program module, which, when run, can perform corresponding functions.

[0135] Figure 8 A block diagram of an electronic device suitable for implementing a mixed reality-based electric trolley and exoskeleton collaborative control method is shown schematically according to an embodiment of the present invention.

[0136] like Figure 8 As shown, an electronic device 800 according to an embodiment of the present invention includes a processor 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage portion 808 into a random access memory (RAM) 803. The processor 801 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 801 may also include onboard memory for caching purposes. The processor 801 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0137] RAM 803 stores various programs and data required for the operation of electronic device 800. Processor 801, ROM 802, and RAM 803 are interconnected via bus 804. Processor 801 executes various operations of the method flow according to embodiments of the present invention by executing programs in ROM 802 and / or RAM 803. It should be noted that the programs may also be stored in one or more memories other than ROM 802 and RAM 803. Processor 801 may also execute various operations of the method flow according to embodiments of the present invention by executing programs stored in said one or more memories.

[0138] According to an embodiment of the present invention, the electronic device 800 may further include an input / output (I / O) interface 805, which is also connected to a bus 804. The electronic device 800 may also include one or more of the following components connected to the input / output (I / O) interface 805: an input section 806 including a keyboard, mouse, etc.; an output section 807 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN card, modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the input / output (I / O) interface 805 as needed. A removable medium 811, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 810 as needed so that computer programs read from it can be installed into the storage section 808 as needed.

[0139] The present invention also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs, which, when executed, implement the method according to the embodiments of the present invention.

[0140] According to embodiments of the present invention, a computer-readable storage medium may be a non-volatile computer-readable storage medium, such as including, but not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. For example, according to embodiments of the present invention, a computer-readable storage medium may include ROM 802 and / or RAM 803 and / or one or more memories other than ROM 802 and RAM 803 described above.

[0141] Embodiments of the present invention also include a computer program product comprising a computer program containing program code for performing the methods shown in the flowchart. When the computer program product is run on a computer system, the program code enables the computer system to implement the mixed reality-based electric trolley and exoskeleton collaborative control method provided in the embodiments of the present invention.

[0142] When the computer program is executed by the processor 801, it performs the functions defined in the system / apparatus of this invention. According to embodiments of the invention, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0143] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and may be downloaded and installed via the communication section 809, and / or installed from a removable medium 811. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0144] In such an embodiment, the computer program can be downloaded and installed from a network via communication section 809, and / or installed from removable medium 811. When the computer program is executed by processor 801, it performs the functions defined in the system of this embodiment of the invention. According to embodiments of the invention, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0145] According to embodiments of the present invention, program code for executing the computer programs provided in the embodiments of the present invention can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0146] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0147] Those skilled in the art will understand that the features described in the various embodiments of the present invention can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present invention. In particular, the features described in the various embodiments of the present invention can be combined and / or combined in various ways without departing from the spirit and teachings of the present invention. All such combinations and / or combinations fall within the scope of the present invention.

[0148] The embodiments of the present invention have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of the invention. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of the invention, and all such substitutions and modifications should fall within the scope of the invention.

Claims

1. A method for coordinated control of an electric trolley and exoskeleton based on mixed reality, characterized in that, The method includes: The real-time pose of the electric trolley and a virtual map constructed based on the real environment of the electric trolley are obtained. The electric trolley includes a mobile chassis, the support components of the mobile chassis are used to support the patient to maintain upright balance, and the wheels of the mobile chassis are used to drive the mobile chassis to move horizontally, so as to cooperate with the lower limb exoskeleton system to complete the horizontal movement of the patient along the ground during gait training. The movement path of the electric trolley is planned based on the real-time pose and the virtual map to obtain the navigation path of the electric trolley. When the radius of curvature of the navigation path is less than or equal to a preset radius of curvature threshold, the wheels are controlled to move with turning parameters under the condition of satisfying the turning constraint. Based on the preset step frequency, the radius of curvature of the path, and the width of the patient's pelvis, the lower limb exoskeleton drive mechanism of the electric trolley is controlled to drive the patient's legs to perform joint movements in the sagittal plane. The turning constraint is determined based on the radius of curvature of the path.

2. The method according to claim 1, characterized in that, The turning parameters include turning speed, turning radius, and turning angular velocity, and the turning constraints include at least one of the following: The turning speed is less than a preset safe turning speed, wherein the preset safe turning speed is determined based on the radius of curvature of the path and the safe lateral acceleration coefficient; The turning radius is greater than a preset safety radius, wherein the preset safety radius is determined based on the frame length of the electric trolley along the travel direction and the turning speed; The turning angular velocity is less than a preset turning angular velocity, wherein the preset turning angular velocity is determined based on the preset safe turning speed and the preset safe radius.

3. The method according to claim 2, characterized in that, Based on a preset step frequency, the radius of curvature of the path, and the patient's pelvic width, the lower limb exoskeleton drive mechanism of the electric trolley is controlled to drive the patient's legs to perform joint movements in the sagittal plane, including: Based on the turning radius and the pelvic width, determine the inner leg stride scaling factor and the outer leg stride scaling factor; The actual step length of the inner leg and the actual step length of the outer leg are determined based on the preset step length, the inner leg step length scaling factor, and the outer leg step length scaling factor. The lower limb exoskeleton drive mechanism is controlled according to the actual stride length of the inner leg, the actual stride length of the outer leg, and the preset stride frequency to drive the patient's legs to perform joint movements in the sagittal plane.

4. The method according to claim 1, characterized in that, The method further includes: When the radius of curvature of the path is greater than the preset radius of curvature threshold, the lower limb exoskeleton drive mechanism is driven according to the preset step frequency and preset step length to enable the patient to perform straight gait training.

5. The method according to claim 1, characterized in that, The virtual map includes the endpoint location in gait training; The real-time pose of the electric trolley includes its real-time position and direction of travel; The distance between the endpoint location and the real-time location is within a preset safe distance range; The angle between the endpoint position and the direction of travel is within a preset safety angle range.

6. The method according to claim 5, characterized in that, The virtual map also includes the location of virtual obstacles; The step of planning the movement path of the electric stroller based on the real-time pose and the virtual map to obtain the navigation path of the electric stroller includes: Using the real-time location and the endpoint location as the starting and ending points of the gait training, respectively, the movement path of the electric trolley is planned to obtain an initial path including multiple path nodes. The navigation path is generated by fine-tuning the target path nodes among the plurality of path nodes whose distance from the obstacle position is less than a preset collision safety distance.

7. The method according to claim 5, characterized in that, The method further includes: When the electric trolley reaches the destination position, the destination position is regenerated based on the electric trolley's position at the destination position, the preset safe distance range, and the preset safe angle range.

8. The method according to claim 1, characterized in that, The method further includes: The navigation path is then subjected to smooth interpolation to obtain the navigation trajectory; The radius of curvature of the path is calculated point by point along the navigation trajectory.

9. A mixed reality-based electric stroller and exoskeleton collaborative control system, characterized in that, The system includes: An electric trolley includes a mobile chassis and a lower limb exoskeleton drive mechanism. The support components of the mobile chassis are used to support the patient to maintain upright balance. The wheels of the mobile chassis are used to drive the mobile chassis to move horizontally, so as to cooperate with the lower limb exoskeleton system to complete the horizontal movement of the patient along the ground during gait training. The lower limb exoskeleton drive mechanism is used to drive the patient's legs to perform joint movements in the sagittal plane. The controller is connected to the wheel drive unit of the mobile chassis and the drive mechanism of the lower limb exoskeleton, respectively, and is used to execute the method described in any one of claims 1 to 8 to control the electric trolley.

10. A mixed reality-based electric trolley and exoskeleton collaborative control device, characterized in that, The device includes: The acquisition module is used to acquire the real-time pose of the electric trolley and a virtual map constructed based on the real environment of the electric trolley. The electric trolley includes a mobile chassis, the support components of the mobile chassis are used to support the patient to maintain upright balance, and the wheels of the mobile chassis are used to drive the mobile chassis to move horizontally, so as to cooperate with the lower limb exoskeleton system to complete the horizontal movement of the patient along the ground during gait training. The path planning module is used to plan the movement path of the electric stroller based on the real-time pose and the virtual map, so as to obtain the navigation path of the electric stroller. The control module is used to control the wheels to move with turning parameters under turning constraints when the radius of curvature of the navigation path is less than or equal to a preset radius of curvature threshold, and to control the lower limb exoskeleton drive mechanism of the electric trolley to drive the patient's legs to perform joint movements in the sagittal plane according to the preset step frequency, the radius of curvature of the path and the width of the patient's pelvis, wherein the turning constraints are determined based on the radius of curvature of the path.

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