CN113499229A - Control method and control system of rehabilitation mechanism and rehabilitation equipment - Google Patents
Control method and control system of rehabilitation mechanism and rehabilitation equipment Download PDFInfo
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- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
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Abstract
本发明实施例公开一种康复机构的控制方法、康复机构的控制系统及康复设备。该康复机构的控制方法包括传感模块检测环境特征、使用者的使用姿态信息以及使用者相对所述康复机构的位置信息；控制模块接收所述环境特征、所述使用姿态信息以及所述位置信息，并根据所述环境特征、所述使用姿态信息以及所述位置信息控制所述康复机构的行走模块全向自主行走。本发明实施例提供的技术方案可以实时检测使用者的康复状态，方便康复训练的规划，能够根据使用者相对康复机构的位置以及环境特征进行整个康复机构的行走路劲规划，实现全自动全向自主跟随，降低对患者的干扰，减小护理人员的工作负担，提升患者康复训练的效果。
Embodiments of the present invention disclose a control method for a rehabilitation mechanism, a control system for the rehabilitation mechanism, and rehabilitation equipment. The control method of the rehabilitation institution includes the sensing module detecting environmental characteristics, the user's use posture information and the user's position information relative to the rehabilitation institution; the control module receives the environmental characteristics, the use posture information and the position information , and control the walking module of the rehabilitation mechanism to walk autonomously in all directions according to the environmental characteristics, the use posture information and the position information. The technical solutions provided by the embodiments of the present invention can detect the rehabilitation state of the user in real time, facilitate the planning of rehabilitation training, and can plan the walking strength of the entire rehabilitation institution according to the position of the user relative to the rehabilitation institution and environmental characteristics, and realize fully automatic omnidirectional Follow autonomously, reduce interference to patients, reduce the workload of nursing staff, and improve the effect of patient rehabilitation training.
Description
Technical Field
The embodiment of the invention relates to the technical field of rehabilitation equipment, in particular to a control method of a rehabilitation mechanism, a control system of the rehabilitation mechanism and the rehabilitation equipment.
Background
Due to the reasons of cerebral apoplexy, cerebrovascular diseases, accidental injuries and the like, a large number of patients have inconvenience in hands and feet, paralysis and even amputation. For patients with inconvenient hands and feet and paralysis, nursing and rehabilitation training are needed; for lower extremity amputees, they need to learn and practice the use of prosthetics. These inevitably require additional support and weight loss to ensure that care or rehabilitation can be performed safely and effectively.
The walking mode of the walking hanger of the existing rehabilitation equipment is driven by a patient, pushed by a nursing staff and driven by two driving wheels, and the three modes can not enable the walking hanger to realize full-automatic omnidirectional autonomous following, so that the problems that the workload of the nursing staff is large, the types of the rehabilitation training actions are limited or the patient training is interfered and the like can be caused.
The problem that the existing rehabilitation equipment cannot meet the requirements of patients becomes an urgent problem to be solved in the industry.
Disclosure of Invention
The embodiment of the invention provides a control method of a rehabilitation mechanism, a control system of the rehabilitation mechanism and rehabilitation equipment.
In order to realize the technical problem, the invention adopts the following technical scheme:
in a first aspect, an embodiment of the present invention provides a control method for a rehabilitation facility, including:
the sensing module detects environmental characteristics, using posture information of a user and position information of the user relative to the rehabilitation mechanism;
and the control module receives the environmental characteristics, the using posture information and the position information and controls the walking module of the rehabilitation mechanism to walk in an omnidirectional and autonomous manner according to the environmental characteristics, the using posture information and the position information.
In some embodiments, the sensing module detects environmental characteristics, user posture information, and user position information relative to the rehabilitation facility, including:
the environment sensor collects the environment characteristics of the surrounding environment of the rehabilitation mechanism and sends the environment characteristics to the control module; wherein the environmental features comprise binocular vision images and lidar point cloud images of the environment around the rehabilitation facility;
the human body sensor collects the use posture information of the user on the rehabilitation mechanism and sends the use posture information to the control module; wherein the using posture information comprises real-time image data of the user collected by the human body sensor;
the displacement sensor collects the position information of a user relative to the rehabilitation mechanism and sends the position information to the control module; wherein the position information comprises an offset of a suspension hanger plate of the rehabilitation mechanism relative to a hanger center.
In some embodiments, the control module receives the environmental characteristics, the use posture information and the position information, and controls a walking module of the rehabilitation mechanism to walk omnidirectionally and autonomously according to the environmental characteristics, the use posture information and the position information, including:
the environment perception processing unit receives the environment characteristics and generates a grid map represented by a matrix according to the environment characteristics;
the human body posture processing unit receives the use posture information of the user to the rehabilitation mechanism, judges whether the user is in the posture information about falling down or not according to the use posture information of the user to the rehabilitation mechanism, and calculates the offset of the user relative to the center of the hanging bracket;
the position detection processing unit judges the movement expected value of the walking module according to the position information of the user relative to the rehabilitation mechanism, which is acquired by the displacement sensor, and the offset of the user relative to the center of the hanging bracket, which is calculated by the human body posture processing unit; wherein the expected value of movement comprises a direction of expected movement and a distance of expected movement;
and the path planning unit judges whether the walking module can continuously move and the target variable quantity of the walking module displacement and the human body posture according to the grid map and the movement expected value of the walking module.
In some embodiments, after the sensing module detects the environmental characteristics, the user's use posture information and the user's position information relative to the rehabilitation facility, the method further comprises:
the emergency sensor collects an emergency signal whether the emergency sensor is triggered.
In some embodiments, after the path planning unit determines whether the walking module can continue to move and the target variation of the walking module displacement and the human body posture according to the grid map and the expected movement value of the walking module, the method further includes:
the emergency state detection unit generates an emergency stop command and an emergency event type according to the posture information of whether the user falls, the signal of whether the walking module can move continuously and the emergency signal of whether the emergency sensor is triggered, wherein the posture information is sent by the human body posture processing unit, and the signal is sent by the path planning unit.
In some embodiments, after the emergency state detection unit generates an emergency stop command and an emergency event type according to the posture information of whether the user is about to fall sent by the human posture processing unit, the signal of whether the walking module can move continuously sent by the path planning unit, and the emergency signal of whether the emergency sensor is triggered, the method further includes:
the control unit controls a driving source of the rehabilitation mechanism to brake emergently to stop the walking module according to the emergency stop command, and controls the driving source of the rehabilitation mechanism to drive the walking module to walk according to the displacement of the walking module and the target change amount of the posture of the human body;
and the control unit controls a display module to display emergency information and controls a voice module to carry out voice warning according to the emergency stop command and the type of the emergency event.
In some specific embodiments, the controlling unit controls the driving source of the rehabilitation mechanism to drive the walking module to walk by controlling the driving source of the rehabilitation mechanism to perform emergency braking according to the emergency stop command and controlling the driving source of the rehabilitation mechanism to walk according to the target variation of the displacement and the posture of the human body, including:
when an emergency stop command is triggered, the control unit outputs a target speed of zero, and the driving source performs emergency braking to stop the walking module;
when the emergency stop command is not triggered, the control unit proportionally calculates the target movement speed of the walking module according to the error between the current displacement and the target displacement of the walking module and the error between the current human body posture and the target human body posture; decomposing the target movement speed of the walking module into a target rotation speed of a driving source of the walking module by using a movement decomposition algorithm, and outputting the target rotation speed to a speed regulator of the driving source; the speed regulator controls the walking speed of the walking module by regulating the rotating speed of the driving source.
In some specific embodiments, the receiving, by the context-aware processing unit, the environmental feature and generating a grid map represented by a matrix according to the environmental feature includes:
the environment perception processing unit is used for searching vanishing points for static objects in a voting mode according to binocular visual images of the surrounding environment of the rehabilitation institution acquired by the environment sensor, extracting the edges of the static objects by using color features, acquiring the edge information of the static objects through a preset operator, and then identifying the static objects in a grid map; for a dynamic static object, judging whether the pixel moves or not by using the instantaneous moving speed of the pixel on an imaging plane, marking a pixel moving path in a grid map, and generating the grid map represented by a matrix;
when the environment sensor cannot acquire a binocular visual image of the surrounding environment of the rehabilitation institution, the environment perception processing unit reflects the correlation between the mobile hanger and the surrounding environment object by using depth information in a scene according to a laser radar point cloud image acquired by the environment sensor, acquires depth data of the surrounding environment by using the environment sensor, interpolates the depth data by using color data to form a small-granularity depth image, forms a high-resolution scene image of the surrounding environment in the grid map, and generates the grid map represented by a matrix.
In some specific embodiments, the human body posture processing unit receives real-time image data of a user acquired by the human body sensor; and judge whether the user is in the gesture of will falling down and the relative gallows of user offset in center, include:
the human body posture processing unit extracts different feature points of the user by adopting a preset algorithm according to real-time image data of the user acquired by the human body sensor, and connects the feature points by using line segments according to a human body structure to obtain a skeleton framework of the user;
obtaining data characteristics of an angle, an angular velocity and an angular acceleration of a joint of a user in a joint movement direction through adjacent image data with preset frame numbers, and judging whether the person is in a falling posture or not through pattern recognition by an algorithm;
acquiring initial position data of central points of five characteristic points of a right eye, a right ear, a nose, a left eye and a left ear of a user when the user stands in the middle position of a walking hanging bracket in an initial state; acquiring current position data of central points of five characteristic points of a right eye, a right ear, a nose, a left eye and a left ear of a user when the user is in a use state; and the human body posture processing unit obtains the offset of the user relative to the center of the hanging bracket according to the difference value between the current position data and the initial position data.
In some specific embodiments, the calculating, by the position detection processing unit, the expected movement value of the walking module according to the offset of the suspended hanging plate of the rehabilitation mechanism relative to the center of the hanging frame and the offset of the user relative to the center of the hanging frame of the rehabilitation mechanism, which are acquired by the displacement sensor, includes:
the position detection processing unit multiplies the offset of a user relative to the center of a hanging frame of the rehabilitation mechanism and the offset of a hanging board of the rehabilitation mechanism relative to the center of the hanging frame by different weight coefficients respectively through a weighting algorithm and then carries out vector summation to obtain the movement expected value of the walking module; the weight coefficient of the offset of the user relative to the center of the hanging frame of the rehabilitation mechanism is larger than the weight coefficient of the offset of the hanging plate of the rehabilitation mechanism relative to the center of the hanging frame.
In some specific embodiments, the determining, by the path planning unit, whether the walking module can continue to move and the target variation of the walking module displacement and the human body posture according to the grid map and the expected movement value of the walking module includes:
according to the grid map input by the environment sensing module and the movement expected value of the walking hanger input by the position detection module, establishing distance information from the current position to all other points in the grid map; calculating distance measurement information of each node in a path planning process through a preset algorithm to obtain target variable quantities of the displacement of the walking module and the posture of the human body;
if the obstacle appears, canceling the search along the pre-route, outputting the prompt information that the obstacle exists in the front, and judging that the walking module can not move continuously; wherein the grid map identifies surrounding obstacles, walking hangers, and other modules, the obstacles being displayed as open circuits in the grid map.
In a second aspect, an embodiment of the present invention provides a control system for a rehabilitation facility, which executes the control method for any one of the rehabilitation facilities in the first aspect;
the control system of the rehabilitation institution comprises:
the sensing module is used for detecting environmental characteristics, using posture information of a user and position information of the user relative to the rehabilitation mechanism;
and the control module is used for receiving the environmental characteristics, the using posture information and the position information and controlling the walking module of the rehabilitation mechanism to walk in an omnidirectional and autonomous manner according to the environmental characteristics, the using posture information and the position information.
In a third aspect, an embodiment of the present invention provides a rehabilitation apparatus, including the control system of the rehabilitation facility in the second aspect; the control system of the rehabilitation institution comprises: the device comprises a sensing module and a control module;
the rehabilitation apparatus further comprises: the hanger comprises a hanger body and a walking module; the hanger body is a portal frame;
the walking module is arranged below the vertical section of the portal frame and is provided with a driving source, and the driving source can drive the walking module to walk independently in all directions;
the sensing module is arranged on the hanger body and can detect environmental characteristics, using posture information of a user and position information of the user relative to the hanger body;
the control module is arranged below a vertical section of the portal frame and is adjacent to the walking module, the sensing module is connected with the control module, and the control module is used for receiving the environmental characteristics, the using posture information and the position information and controlling the walking module of the rehabilitation mechanism to walk independently in all directions according to the environmental characteristics, the using posture information and the position information.
In some embodiments, the rehabilitation device further comprises: the suspension module is arranged on the horizontal section of the portal frame and comprises a suspension bracket and suspension hanging plates, and the suspension hanging plates are arranged on the suspension bracket in a sliding manner along two mutually vertical directions; the suspension bracket includes: the suspension device comprises an X-direction support and a Y-direction support, wherein the X-direction support is arranged at intervals, two ends of the Y-direction support are respectively slidably arranged on the two X-direction supports, and the suspension hanging plate is slidably arranged on the Y-direction support;
the sensing module comprises an environment sensor, a human body sensor and a displacement sensor; the environment sensors are arranged on the periphery of the hanger body and used for collecting environment characteristics; the human body sensor is arranged at the top of the hanger body, and the environment sensor is used for collecting the use posture information of a user; the displacement sensor comprises an X-direction displacement sensor arranged on the X-direction support and a Y-direction displacement sensor arranged on the Y-direction support, and the displacement sensor is used for acquiring the position information of a user.
In some embodiments, the rehabilitation device further comprises:
the emergency sensor is electrically connected with the control module and is used for acquiring an emergency signal whether the emergency sensor is triggered; the emergency sensor comprises an emergency stop button, and the emergency stop button is arranged on the hanger body; and/or the emergency sensor comprises a plurality of pressure-sensitive handrails which are arranged on the hanger body at intervals along the vertical direction.
According to the control method of the rehabilitation mechanism, provided by the embodiment of the invention, the environmental characteristics, the using posture information of the user and the position information of the user relative to the rehabilitation mechanism are detected through the sensing module, the control module receives the environmental characteristics, the using posture information and the position information, and controls the walking module of the rehabilitation mechanism to walk independently in an omnidirectional manner according to the environmental characteristics, the using posture information and the position information, so that the rehabilitation state of the user is detected in real time, the planning of rehabilitation training is facilitated, on the other hand, the walking path stiffness planning of the whole hanger system can be carried out according to the position of the user relative to the rehabilitation mechanism and the environmental characteristics, full-automatic omnidirectional autonomous following can be realized, the interference on the patient is reduced, the work load of nursing personnel is reduced, and the effect of the rehabilitation training of the patient is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
Fig. 1 is a flowchart of a control method of a rehabilitation facility according to an embodiment of the present invention;
FIG. 2 is a flow chart of another control method for a rehabilitation facility according to an embodiment of the present invention;
FIG. 3 is a flow chart of a control method for a rehabilitation facility according to an embodiment of the present invention;
fig. 4 is a flowchart of a control method of another rehabilitation facility according to an embodiment of the present invention. (ii) a
FIG. 5 is a flow chart of a control method for a rehabilitation facility according to an embodiment of the present invention;
FIG. 6 is a flow chart of a control method for a rehabilitation facility according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a control system of a rehabilitation facility according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a control system of another rehabilitation facility provided by the embodiment of the invention;
fig. 9 is a schematic structural diagram of a control system of a rehabilitation facility according to another embodiment of the invention;
fig. 10 is a schematic structural diagram of a control system of a rehabilitation facility according to another embodiment of the invention;
fig. 11 is a schematic structural diagram of a rehabilitation device provided by an embodiment of the invention;
fig. 12 is a schematic structural diagram of another rehabilitation device provided by the embodiment of the invention;
fig. 13 is a schematic structural diagram of a walking module according to an embodiment of the present invention;
FIG. 14 is a schematic view of a portion of a transmission assembly provided in accordance with an embodiment of the present invention;
FIG. 15 is another partial schematic structural view of the transmission assembly of the embodiment of the present invention;
fig. 16 is a schematic structural view of a suspension module according to an embodiment of the present invention;
fig. 17 is a schematic structural view of a suspension plate according to an embodiment of the invention.
Reference numerals:
1. a hanger body;
2. a walking module;
21. a drive source; 22. a walking bracket; 23. an omnidirectional traveling wheel; 231. an input axle;
24. a transmission assembly; 241. a coupling; 242. a power input shaft; 243. a first timing pulley; 244. a second timing pulley; 245. a first bearing; 246. a second bearing; 247. a shaft sleeve;
3. a suspension module;
31. a suspension bracket; 310. an X-direction bracket; 311. an X-direction sliding block; 312. an X-direction optical axis; 313. an X-direction buffer block; 314. an X-direction limiting block; 315. a Y-direction bracket; 316. a Y-direction sliding block; 317. a Y-direction optical axis; 318. a Y-direction buffer block; 319. a Y-direction limiting block;
32. hanging a hanging plate; 321. a hanger plate body; 322. a lifting eye screw; 323. a lifting eye nut; 324. a thrust bearing;
41. an X-direction displacement sensor; 42. a Y-direction displacement sensor; 43. an environmental sensor; 44. a body sensor; 45. a displacement sensor;
5. an emergency sensor; 51. an emergency stop button; 52. a pressure-sensitive armrest;
6. a control module; 7. a sensing module;
721. a context aware processing unit; 722. a human body posture processing unit; 723. a position detection processing unit; 724. a path planning unit; 725. an emergency state detection unit; a control unit 726;
100. a control system of the rehabilitation facility; 200. a rehabilitation device.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Based on the above technical problem, the present embodiment proposes the following solutions:
fig. 1 is a flowchart of a control method of a rehabilitation facility according to an embodiment of the present invention. Referring to fig. 1, a control method of a rehabilitation facility according to an embodiment of the present invention includes:
s101, detecting environmental characteristics, using posture information of a user and position information of the user relative to the rehabilitation mechanism by a sensing module.
Specifically, the sensing module may include an environment sensor, a human body sensor, a displacement sensor, and a control module.
S102, the control module receives the environment characteristics, the using posture information and the position information and controls the walking module of the rehabilitation mechanism to walk independently in an omnidirectional mode according to the environment characteristics, the using posture information and the position information.
Specifically, the sensing module can detect environmental characteristics, the using posture of a user and the position of the user relative to the rehabilitation mechanism, the control module receives the environmental characteristics, the using posture information and the position information, carries out comprehensive calculation according to the environmental characteristics, the using posture information and the position information and controls the walking module of the rehabilitation mechanism to walk independently in all directions, the control module can comprehensively consider the real-time environmental characteristics, the using posture information and the position information of the rehabilitation mechanism, the relative position information of the user and the rehabilitation mechanism and other factors, the route of the rehabilitation mechanism is planned in time, and the walking module of the rehabilitation mechanism can be controlled to walk independently in all directions. Set up the recovered state that can real-time detection user on the one hand like this, make things convenient for the planning of rehabilitation training, on the other hand can carry out the walking of whole gallows system and enough plan according to the position and the environmental characteristics of the relative rehabilitation institution of user, has promoted the safety in utilization of gallows system.
According to the control method of the rehabilitation mechanism, the environmental characteristics, the using posture information of the user and the position information of the user relative to the rehabilitation mechanism are detected through the sensing module, the control module receives the environmental characteristics, the using posture information and the position information, and controls the walking module of the rehabilitation mechanism to walk independently in all directions according to the environmental characteristics, the using posture information and the position information, so that the rehabilitation state of the user is detected in real time, planning of rehabilitation training is facilitated, on the other hand, walking road strength planning of the whole hanging bracket system can be carried out according to the position of the user relative to the rehabilitation mechanism and the environmental characteristics, full-automatic all-direction independent following can be achieved, interference to the patient is reduced, the workload of nursing staff is reduced, and the effect of rehabilitation training of the patient is improved.
In some embodiments, fig. 2 is a flowchart of a control method of another rehabilitation facility provided by the embodiments of the present invention. On the basis of the above embodiment, referring to fig. 2, the control method of the rehabilitation facility according to the embodiment of the present invention includes:
s201, an environment sensor collects environment characteristics of the surrounding environment of the rehabilitation mechanism and sends the environment characteristics to a control module; the environment characteristics comprise binocular vision images and laser radar point cloud images of the surrounding environment of the rehabilitation institution.
Specifically, the environmental sensor may include a binocular camera for acquiring binocular visual images of the surroundings of the rehabilitation facility and a lidar for acquiring point cloud images of the surroundings of the rehabilitation facility.
S202, collecting use posture information of a user on the rehabilitation mechanism by a human body sensor, and sending the use posture information to the control module; wherein the using posture information comprises real-time image data of the user collected by the human body sensor.
Specifically, the human body sensor comprises a camera, a depth camera or an infrared camera and the like, and is used for collecting the use posture information of the user to the rehabilitation mechanism.
S203, a displacement sensor collects position information of a user relative to the rehabilitation mechanism and sends the position information to the control module; wherein the position information comprises an offset of a suspension hanger plate of the rehabilitation mechanism relative to a hanger center.
Specifically, the displacement sensor may include an X-direction displacement sensor and a Y-direction displacement sensor, and illustratively, a fixed end of the X-direction displacement sensor may be installed on the X-direction support, a movable end may be installed on the X-direction slider, a fixed end of the Y-direction displacement sensor may be installed on the Y-direction support, and a movable end is installed on the Y-direction slider. The position information of the user relative to the rehabilitation mechanism is collected in real time through the X-direction displacement sensor and the Y-direction displacement sensor.
S102, the control module receives the environment characteristics, the using posture information and the position information and controls the walking module of the rehabilitation mechanism to walk independently in an omnidirectional mode according to the environment characteristics, the using posture information and the position information.
In some embodiments, fig. 3 is a flowchart of a control method of a rehabilitation facility according to another embodiment of the present invention. On the basis of the above embodiment, referring to fig. 3, the control method of the rehabilitation facility according to the embodiment of the present invention includes:
s101, detecting environmental characteristics, using posture information of a user and position information of the user relative to the rehabilitation mechanism by a sensing module.
S301, the environment sensing processing unit receives the environment characteristics and generates a grid map represented by a matrix according to the environment characteristics.
In some specific embodiments, the environment sensing processing unit may search for a vanishing point by using a voting form according to a binocular visual image of the surrounding environment of the rehabilitation institution acquired by the environment sensor for a static object by using texture features of pixels, extract an edge of the static object by using color features, acquire edge information of the static object by using a preset operator, and further identify the static object in a grid map; for a dynamic and static object, judging whether the pixel moves or not by using the instantaneous moving speed of the pixel on an imaging plane, marking the moving path of the pixel in a grid map, and generating the grid map represented by a matrix. When the environment sensor cannot acquire a binocular visual image of the surrounding environment of the rehabilitation institution, the environment perception processing unit reflects the correlation between the mobile hanger and the surrounding environment object by using depth information in a scene according to a laser radar point cloud image acquired by the environment sensor, acquires depth data of the surrounding environment by using the environment sensor, interpolates the depth data by using color data to form a small-granularity depth image, forms a high-resolution scene image of the surrounding environment in a grid map, and generates the grid map represented by a matrix.
Specifically, the input source of the environment perception processing unit is an environment sensor, the input information is a binocular vision image and a laser radar point cloud image of the surrounding environment, and the output object is a path planning unit; the output information is a grid map represented by a matrix. According to the image transmitted by the environment sensor, for static objects, such as static obstacles or rehabilitation training modules, the texture features of pixels are utilized, the vanishing points are found in a voting mode, the edges of the obstacles or the modules are extracted by utilizing the color features, the edge information of the obstacles is obtained through Robert operators, soble operators, canny operators or Mean-shift operators, and the like, and then the obstacles or the rehabilitation training modules are identified in a grid map. For a dynamic object, such as a dynamic obstacle, a hanger body, or a moving rehabilitation training module, the instantaneous moving speed of pixels on an imaging plane is used to determine whether the pixels move, for example, optical flow detection may be used, and a pixel moving path is identified in a grid map. When the binocular camera is affected by ambient illumination, shadow and the like, and the type and the position information of the effective obstacles in the ambient environment are difficult to obtain, the environment perception processing unit can obtain a point cloud image by using a laser radar and reflect the correlation between the movable hanging bracket and the objects in the ambient environment by using the depth information in the scene. The method comprises the steps of obtaining depth data of the surrounding environment by using a laser radar, interpolating the depth data by using color data to form a small-granularity depth image, and forming a high-resolution scene image of the surrounding environment in a grid map.
S302, the human body posture processing unit receives the use posture information of the user to the rehabilitation mechanism, judges whether the user is in the posture information about falling down or not according to the use posture information of the user to the rehabilitation mechanism, and calculates the offset of the user relative to the center of the hanging bracket.
In some specific embodiments, the human body posture processing unit extracts different feature points of the user by adopting a preset algorithm according to real-time image data of the user acquired by the human body sensor, and connects the feature points by using line segments according to a human body structure to obtain a skeleton framework of the user; obtaining data characteristics of an angle, an angular velocity and an angular acceleration of a joint of a user in a joint movement direction through adjacent image data with preset frame numbers, and judging whether the person is in a falling posture or not through pattern recognition by an algorithm; acquiring initial position data of central points of five characteristic points of a right eye, a right ear, a nose, a left eye and a left ear of a user when the user stands in the middle position of a walking hanging bracket in an initial state; acquiring current position data of central points of five characteristic points of a right eye, a right ear, a nose, a left eye and a left ear of a user when the user is in a use state; and the human body posture processing unit obtains the offset of the user relative to the center of the hanging bracket according to the difference value between the current position data and the initial position data.
Specifically, the input source of the human body posture processing unit is a human body sensor; the input information is real-time image data of a user; the output objects are a position detection processing unit and an emergency state detection unit; the output information is whether the user is in a falling posture or not and the offset of the user relative to the center of the hanging bracket. The image data of a user is acquired through a human body sensor, 18 key points, such as a right eye, a right ear, a left eye, a left ear, a nose, a neck, a right shoulder, a right elbow, a right wrist, a left shoulder, a left elbow, a left wrist, a right crotch, a right knee, a right ankle, a left crotch, a left knee and a left ankle, are extracted through an OpenPose algorithm, and the points are connected through line segments according to the human body structure to obtain the skeleton framework of the human body. Illustratively, 12 joint motion directions can be obtained by 3 to 10 frames of adjacent image data, for example, angles, angular velocities and angular accelerations of the left shoulder joint along the sagittal plane, the left shoulder joint along the coronal plane, the left elbow joint, the right shoulder joint along the sagittal plane, the right shoulder joint along the coronal plane, the right elbow joint, the left hip joint along the sagittal plane, the left hip joint along the coronal plane, the left knee joint, the right hip joint along the sagittal plane, the right hip joint along the coronal plane and the right knee joint, and 36 data features are used for pattern recognition by SVM, LDA, KNN or ANN algorithm to determine whether the person is in the posture to fall. In an initial state, a user stands in the middle of the hanger body, and the central points of five key points of the right eye, the right ear, the nose, the left eye and the left ear of the user are used as initial position points. When the device is used, the central points of five key points of the right eye, the right ear, the nose, the left eye and the left ear of a user are extracted to be used as current position points. And obtaining the offset of the user relative to the center of the hanging bracket through the difference between the coordinates of the front position point and the coordinates of the initial position point.
S303, the position detection processing unit judges the expected movement value of the walking module according to the position information of the user relative to the rehabilitation mechanism, which is acquired by the displacement sensor, and the offset of the user relative to the center of the hanging bracket, which is calculated by the human body posture processing unit; wherein the expected value of movement comprises a direction of expected movement and a distance of expected movement.
In some specific embodiments, the position detection processing unit multiplies the offset of the user relative to the center of the lifting frame of the rehabilitation mechanism and the offset of the suspension lifting plate of the rehabilitation mechanism relative to the center of the lifting frame by different weight coefficients respectively through a weighting algorithm and then performs vector summation to obtain the movement expected value of the walking module; wherein, the weight coefficient of the offset of the user relative to the center of the hanging frame of the rehabilitation mechanism is larger than the weight coefficient of the offset of the hanging board of the rehabilitation mechanism relative to the center of the hanging frame.
S304, the path planning unit judges whether the walking module can move continuously and the target variable quantity of the walking module displacement and the human body posture according to the grid map and the movement expected value of the walking module.
In some specific embodiments, the path planning unit establishes distance information from the current position to all other points in the grid map according to the grid map input by the environment sensing module and the expected movement value of the walking hanger input by the position detection module; calculating distance measurement information of each node in a path planning process through a preset algorithm to obtain target variable quantities of the displacement of the walking module and the posture of the human body; if the obstacle appears, canceling the search along the pre-route, outputting the prompt information that the obstacle exists in the front, and judging that the walking module can not move continuously; wherein the grid map identifies surrounding obstacles, walking hangers, and other modules, the obstacles being shown as open circuits in the grid map.
Specifically, the input sources of the path planning unit are an environment perception processing unit and a position detection processing unit; the input information is a grid map represented by a matrix and a movement expected value of the hanger body, and exemplarily comprises a movement direction and a movement distance of the hanger body; the output object is an emergency state detection unit and a control unit; the output information is whether the hanger can continue to move or not and the target variable quantity of the displacement and the posture of the hanger body. According to the grid map which is input by the environment sensing module and identifies surrounding obstacles, the hanger body and other modules and the movement expected value of the hanger body input by the position detection module, distance information from the current position to all other points is established in the grid map, distance measurement information of each node is calculated in the path planning process according to the movement expected value of the hanger body, if an obstacle occurs, the search along the previous path is cancelled, and obstacle prompt information in the front is output.
In some embodiments, fig. 4 is a flowchart of a control method of a rehabilitation facility according to another embodiment of the present invention. On the basis of the above embodiment, referring to fig. 4, the control method of the rehabilitation facility according to the embodiment of the present invention includes:
s101, detecting environmental characteristics, using posture information of a user and position information of the user relative to the rehabilitation mechanism by a sensing module.
S401, the emergency sensor collects an emergency signal whether the emergency sensor is triggered.
Specifically, the emergency sensor may include an emergency stop button and/or a plurality of pressure sensitive armrests, and the emergency sensor is used for acquiring an emergency signal whether the emergency sensor is triggered.
S102, the control module receives the environment characteristics, the using posture information and the position information and controls the walking module of the rehabilitation mechanism to walk independently in an omnidirectional mode according to the environment characteristics, the using posture information and the position information.
In some embodiments, fig. 5 is a flowchart of a control method of a rehabilitation facility according to another embodiment of the present invention. On the basis of the above embodiment, referring to fig. 5, the control method of the rehabilitation facility according to the embodiment of the present invention includes:
s101, detecting environmental characteristics, using posture information of a user and position information of the user relative to the rehabilitation mechanism by a sensing module.
S401, the emergency sensor collects an emergency signal whether the emergency sensor is triggered.
S301, the environment sensing processing unit receives the environment characteristics and generates a grid map represented by a matrix according to the environment characteristics.
S302, the human body posture processing unit receives the use posture information of the user to the rehabilitation mechanism, judges whether the user is in the posture information about falling down or not according to the use posture information of the user to the rehabilitation mechanism, and calculates the offset of the user relative to the center of the hanging bracket.
S303, the position detection processing unit judges the expected movement value of the walking module according to the position information of the user relative to the rehabilitation mechanism, which is acquired by the displacement sensor, and the offset of the user relative to the center of the hanging bracket, which is calculated by the human body posture processing unit; wherein the expected value of movement comprises a direction of expected movement and a distance of expected movement.
S304, the path planning unit judges whether the walking module can move continuously and the target variable quantity of the walking module displacement and the human body posture according to the grid map and the movement expected value of the walking module.
S501, generating an emergency stop command and an emergency event type by an emergency state detection unit according to the posture information of whether the user falls, the signal of whether the walking module can move continuously and the emergency signal of whether the emergency sensor is triggered, wherein the posture information is sent by the human body posture processing unit, and the signal is sent by the path planning unit.
Specifically, the input source of the emergency state detection unit is a human body posture processing unit, a path planning unit and an emergency sensor, such as an emergency stop button or a pressure-sensitive handrail; the input information is whether the user is in a falling posture, whether the hanger can move continuously, and whether an emergency switch or a pressure-sensitive handrail is triggered; the output object is a control unit; the output information is an emergency stop command and an emergency event type. When the hanger body cannot move, the emergency switch is triggered or the pressure-sensitive handrail is triggered, an emergency stop command is sent. The emergency state detection unit judges the type of the emergency event according to the current information and sends the type of the emergency event to the control unit.
In some embodiments, fig. 6 is a flowchart of a control method of a rehabilitation facility according to another embodiment of the present invention. On the basis of the above embodiment, referring to fig. 6, the control method of the rehabilitation facility according to the embodiment of the present invention includes:
s101, detecting environmental characteristics, using posture information of a user and position information of the user relative to the rehabilitation mechanism by a sensing module.
S401, the emergency sensor collects an emergency signal whether the emergency sensor is triggered.
S301, the environment sensing processing unit receives the environment characteristics and generates a grid map represented by a matrix according to the environment characteristics.
S302, the human body posture processing unit receives the use posture information of the user to the rehabilitation mechanism, judges whether the user is in the posture information about falling down or not according to the use posture information of the user to the rehabilitation mechanism, and calculates the offset of the user relative to the center of the hanging bracket.
S303, the position detection processing unit judges the expected movement value of the walking module according to the position information of the user relative to the rehabilitation mechanism, which is acquired by the displacement sensor, and the offset of the user relative to the center of the hanging bracket, which is calculated by the human body posture processing unit; wherein the expected value of movement comprises a direction of expected movement and a distance of expected movement.
S304, the path planning unit judges whether the walking module can move continuously and the target variable quantity of the walking module displacement and the human body posture according to the grid map and the movement expected value of the walking module.
S501, generating an emergency stop command and an emergency event type by an emergency state detection unit according to the posture information of whether the user falls, the signal of whether the walking module can move continuously and the emergency signal of whether the emergency sensor is triggered, wherein the posture information is sent by the human body posture processing unit, and the signal is sent by the path planning unit.
S601, the control unit controls a driving source of the rehabilitation mechanism to brake emergently to stop the walking module to walk according to the emergency stop command, and controls the driving source of the rehabilitation mechanism to drive the walking module to walk according to the displacement of the walking module and the target change amount of the posture of the human body.
In some specific embodiments, when the emergency stop command is triggered, the control unit outputs the target speed as zero, and the driving source performs emergency braking to stop the walking module from walking; when the emergency stop command is not triggered, the control unit proportionally calculates the target movement speed of the walking module according to the error between the current displacement of the walking module and the target displacement and the error between the current human body posture and the target human body posture; decomposing the target movement speed of the walking module into a target rotating speed of a driving source of the walking module by using a movement decomposition algorithm, and outputting the target rotating speed to a speed regulator of the driving source; the speed regulator controls the walking speed of the walking module by regulating the rotating speed of the driving source.
Specifically, the drive source may be one of a brushless motor, a stepping motor, or a brush motor, and is provided with an angle hall sensor or a photoelectric encoder to enable servo control. Of course, the specific type of the driving source may be selected according to actual needs, and is not limited to the above definition. The input sources of the control unit are an emergency state detection unit and a path planning unit; the input information is an emergency stop command and target variable quantities of displacement and attitude respectively; the output object is a motor speed regulator; the output information is the respective target speeds of the four motors. Illustratively, the control unit outputs a target speed of 0 when the emergency stop command is triggered. When the emergency stop command is not triggered, the control unit calculates the target speed of the motion of the hanger body in proportion according to the error between the current pose and the target pose, decomposes the target speed of the walking hanger into target rotating speeds of four omnidirectional walking wheels by using a motion decomposition algorithm, and outputs the target rotating speeds to a speed regulator of a driving source, such as a motor speed regulator.
And S602, the control unit controls a display module to display emergency information and controls a voice module to perform voice warning according to the emergency stop command and the type of the emergency event.
Specifically, the control unit controls a voice module, such as a speaker, to perform sound alarm according to the received emergency type output by the emergency state detection unit, and controls a display module, such as a display, to emit a corresponding warning prompt.
The embodiment of the invention provides a control system of a rehabilitation mechanism, which executes the control method of the rehabilitation mechanism in any embodiment. Fig. 7 is a schematic structural diagram of a control system of a rehabilitation facility according to an embodiment of the present invention. On the basis of the above embodiment, referring to fig. 7, a control system 100 of a rehabilitation facility according to an embodiment of the present invention includes:
and the sensing module 7 is used for detecting environmental characteristics, using posture information of the user and position information of the user relative to the rehabilitation mechanism.
And the control module 6 is used for receiving the environmental characteristics, the using posture information and the position information and controlling the walking module of the rehabilitation mechanism to walk independently in an omnidirectional manner according to the environmental characteristics, the using posture information and the position information.
In some specific embodiments, fig. 8 is a schematic structural diagram of a control system of another rehabilitation facility provided by the embodiments of the present invention. On the basis of the above embodiment, referring to fig. 8, the sensing module 7 of the control system 100 of the rehabilitation facility according to the embodiment of the present invention includes:
the environment sensor 43 is used for acquiring the environmental characteristics of the surrounding environment of the rehabilitation mechanism and sending the environmental characteristics to the control module; the environment characteristics comprise binocular vision images and laser radar point cloud images of the surrounding environment of the rehabilitation institution.
The human body sensor 44 is used for collecting the use posture information of the user on the rehabilitation mechanism and sending the use posture information to the control module; the using posture information comprises user real-time image data acquired by the human body sensor.
The displacement sensor 45 is used for collecting the position information of the user relative to the rehabilitation mechanism and sending the position information to the control module; wherein the position information comprises the offset of a hanging plate of the rehabilitation mechanism relative to the center of the hanging frame.
In some specific embodiments, fig. 9 is a schematic structural diagram of a control system of a rehabilitation facility according to another embodiment of the present invention. On the basis of the above embodiment, referring to fig. 9, the control module 6 of the control system 100 of the rehabilitation facility according to the embodiment of the present invention includes:
and the environment perception processing unit 721 is configured to receive the environment features, and generate a grid map represented by the matrix according to the environment features.
The human body posture processing unit 722 is used for receiving the use posture information of the user to the rehabilitation mechanism, judging whether the user is in the posture information about falling down according to the use posture information of the user to the rehabilitation mechanism and calculating the offset of the user relative to the center of the hanging bracket.
The position detection processing unit 723 is used for judging the movement expected value of the walking module according to the position information of the user relative to the rehabilitation mechanism, which is acquired by the displacement sensor, and the offset of the user relative to the center of the hanging bracket, which is calculated by the human body posture processing unit; wherein the expected value of movement comprises a direction of expected movement and a distance of expected movement.
And the path planning unit 724 is used for judging whether the walking module can continuously move and the target variable quantity of the walking module displacement and the human body posture according to the grid map and the movement expected value of the walking module.
In some specific embodiments, fig. 10 is a schematic structural diagram of a control system of a rehabilitation facility according to another embodiment of the present invention. On the basis of the above embodiment, referring to fig. 10, the sensing module 7 of the control system 100 of the rehabilitation facility according to the embodiment of the present invention further includes:
and an emergency sensor 53 for acquiring an emergency signal whether the emergency sensor 53 is triggered.
The control module 72 of the rehabilitation facility's control system 100 further comprises:
an emergency state detection unit 725, configured to generate an emergency stop command and an emergency event type according to the posture information of whether the user is about to fall sent by the human posture processing unit, the signal sent by the path planning unit whether the walking module can continue to move, and the emergency signal sent by the emergency sensor 53 whether it is triggered.
And a control unit 726 for stopping the walking module from walking by controlling the driving source of the rehabilitation mechanism to perform emergency braking according to the emergency stop command, and controlling the driving source of the rehabilitation mechanism to drive the walking module to walk according to the displacement of the walking module and the target change amount of the human body posture. The control unit 726 is further configured to control the display module to display the emergency information and control the voice module to perform voice warning according to the emergency stop command and the type of the emergency event.
The control system of the rehabilitation mechanism provided by the embodiment of the invention detects the environmental characteristics, the using posture information of the user and the position information of the user relative to the rehabilitation mechanism through the sensing module, receives the environmental characteristics, the using posture information and the position information through the control module, and controls the walking module of the rehabilitation mechanism to walk independently in an omnidirectional manner according to the environmental characteristics, the using posture information and the position information, so that the rehabilitation state of the user is detected in real time, the planning of rehabilitation training is facilitated, on the other hand, the walking road stiffness planning of the whole hanger system can be carried out according to the position of the user relative to the rehabilitation mechanism and the environmental characteristics, and the use safety of the hanger system is improved.
Fig. 11 is a schematic structural diagram of a rehabilitation device according to an embodiment of the present invention. Fig. 12 is a schematic structural diagram of another rehabilitation device provided by the embodiment of the invention. Fig. 13 is a schematic structural diagram of a walking module according to an embodiment of the present invention. On the basis of the above embodiments, with reference to fig. 11 to 13, a rehabilitation device 200 provided by an embodiment of the present invention includes the control system 100 of the rehabilitation facility proposed by any of the above embodiments, the control system 100 of the rehabilitation facility includes a sensing module and a control module, and the rehabilitation device 200 includes: the hanging bracket comprises a hanging bracket body 1 and a walking module 2; the hanger body 1 is a portal frame; the walking module 2 is arranged below a vertical section of the portal frame, the walking module 2 is provided with a driving source 21, and the driving source 21 can drive the walking module 2 to walk independently in an omnidirectional manner; the sensing module is arranged on the hanger body 1 and can detect environmental characteristics, using posture information of a user and position information of the user relative to the hanger body; the control module 6 is arranged below a vertical section of the portal frame and is adjacent to the walking module 2, the sensing module is connected with the control module 6, and the control module 6 is used for receiving environmental characteristics, using posture information and position information and controlling the walking module 2 of the rehabilitation mechanism to walk independently in all directions according to the environmental characteristics, the using posture information and the position information.
Specifically, as shown in fig. 12, four walking modules 2 may be provided, and the four walking modules 2 are respectively located below two vertical sections of the gantry. As shown in fig. 13, each walking module 2 includes a driving source 21, a walking bracket 22, an omni-directional walking wheel 23, and a transmission assembly 24, and the driving source 21 may be a motor and can drive the omni-directional walking wheel 23 to walk autonomously in all directions. FIG. 14 is a schematic view of a portion of a transmission assembly provided in accordance with an embodiment of the present invention; FIG. 15 is another partial schematic view of the transmission assembly of the present invention. As shown in fig. 14 to 15, the transmission assembly 24 may include a coupling 241, a power input shaft 242, a first synchronous pulley 243, and a second synchronous pulley 244, wherein the coupling 241 is connected to the output shaft of the driving source 21, and one end of the power input shaft 242 is connected to the coupling 241; the other end is rotatably matched on the walking bracket 22, a first synchronous belt wheel 243 is arranged on the power input shaft 242, first bearings 245 are arranged on two sides of the first synchronous belt wheel 243, a second synchronous belt wheel 244 is matched with the first synchronous belt wheel 243 through a synchronous transmission belt, the second synchronous belt wheel 244 is arranged on the input wheel shaft 231 of the omnidirectional walking wheel 23, and second bearings 246 are arranged on two sides of the second synchronous belt wheel 244. The bushings 247 are located on both sides of the second timing pulley 244, and the bushings 247 are interposed between the second timing pulley 244 and the second bearing 246.
In some specific embodiments, fig. 16 is a schematic structural diagram of a suspension module provided in an embodiment of the present invention. On the basis of the above embodiment, with reference to fig. 12 and 16, the rehabilitation device provided in the embodiment of the present invention further includes: the suspension module 3 is arranged on the horizontal section of the portal frame, the suspension module 3 comprises a suspension bracket 31 and a suspension hanging plate 32, and the suspension hanging plate 32 is slidably arranged on the suspension bracket 31 along two mutually perpendicular directions; the suspension bracket 31 includes: the X-direction supports 310 and the Y-direction supports 315, the X-direction supports 310 are arranged at intervals, two ends of the Y-direction support 315 are respectively arranged on the two X-direction supports 310 in a sliding manner, and the suspension hanging plate 32 is arranged on the Y-direction support 315 in a sliding manner; the sensing module comprises an environment sensor 43, a human body sensor 44 and a displacement sensor 45; the environment sensors 43 are arranged around the hanger body 1, and the environment sensors 43 are used for collecting environmental characteristics; the human body sensor 44 is arranged at the top of the hanger body 1, and the environment sensor 43 is used for collecting the use posture information of a user; the displacement sensor 45 comprises an X-direction displacement sensor 41 arranged on the X-direction support 310 and a Y-direction displacement sensor 42 arranged on the Y-direction support 315, and the displacement sensor 45 is used for collecting the position information of the user.
Specifically, the suspension bracket 31 includes an X-direction bracket 310, an X-direction slider 311, an X-direction optical axis 312, an X-direction buffer block 313, an X-direction stopper 314, a Y-direction bracket 315, a Y-direction slider 316, a Y-direction optical axis 317, a Y-direction buffer block 318, and a Y-direction stopper 319. The X-direction brackets 310 are two spaced apart. The X-direction slider 311 is connected to the Y-direction holder 315, and the X-direction optical axis 312 is attached to the X-direction holder 310 and engaged with the X-direction slider 311. The X-direction buffer blocks 313 are arranged at two ends of the X-direction optical axis 312, and X-direction limiting blocks 314 are further arranged on the outer sides of the X-direction buffer blocks 313. The Y-direction brackets 315 are two and spaced apart from each other, two ends of each Y-direction bracket 315 are slidably disposed on the two X-direction brackets 310, respectively, and the hanging plate 32 is slidably disposed on the Y-direction bracket 315. The number of the Y-direction sliders 316 is four, the four Y-direction sliders 316 are all connected to the suspension plate 32, and the Y-direction optical axis 317 is mounted on the Y-direction bracket 315 and is matched with the Y-direction sliders 316. Each Y-direction optical axis 317 is provided with two Y-direction sliding blocks 316, Y-direction buffer blocks 318 are arranged at two ends of the Y-direction optical axis 317, and Y-direction limiting blocks 319 are further arranged on the outer sides of the Y-direction buffer blocks 318.
In some embodiments, with continued reference to fig. 12 on the basis of the above embodiments, the rehabilitation device 200 provided by the embodiment of the present invention further includes an emergency sensor 5, the emergency sensor 5 is electrically connected to the control module 6, and the emergency sensor 5 is configured to acquire an emergency signal indicating whether the emergency sensor is triggered; the emergency sensor 5 comprises an emergency stop button 51, and the emergency stop button 51 is arranged on the hanger body 1; and/or, the emergency sensor 5 comprises a plurality of pressure-sensitive handrails 52, and the plurality of pressure-sensitive handrails 52 are arranged on the hanger body 1 at intervals along the vertical direction. Optionally, fig. 17 is a schematic structural diagram of a suspension plate according to an embodiment of the present invention. As shown in fig. 17, the suspension plate 32 includes a suspension plate body 321, an eye screw 322, an eye nut 323 and two thrust bearings 324, the suspension plate body 321 is slidably disposed on the suspension bracket 31, the eye screw 322 is disposed on the suspension plate body 321 in a penetrating manner, the eye nut 323 is fitted on the eye screw 322, and the two thrust bearings 324 are disposed on the eye screw 322 and are stopped against the upper sidewall and the lower sidewall of the suspension plate body 321.
The rehabilitation equipment provided by the embodiment of the invention comprises the control system of the rehabilitation mechanism provided by any embodiment, and the hanger body is formed into the portal frame, so that on one hand, the weight of a user can be well borne, the stable operation of the whole hanger system can be ensured, and on the other hand, the portal structure can enable the hanger to well pass through the rehabilitation props such as stairs or slopes, so that the application range of the hanger system is expanded, the rehabilitation action of the user is expanded, and the rehabilitation effect of the user is improved. Because the lower extreme of portal frame is equipped with the walking module, the walking module can realize the walking of qxcomm technology under the drive of the driving source of self, has realized that the gallows system is full-automatic independently the qxcomm technology in the use and follows the user, can enough promote the safety in utilization of gallows system, can reduce nursing staff's work burden again. The slidably suspended module can move along with the user to reduce the influence of inertia and system response delay, so that the interference of the hanger system to the user is reduced, and the rehabilitation effect is ensured.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
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| CN114470719A (en) * | 2022-03-22 | 2022-05-13 | 北京蓝田医疗设备有限公司 | A fully automatic posture correction training method and system |
| WO2023284241A1 (en) * | 2021-07-16 | 2023-01-19 | 中国科学院深圳先进技术研究院 | Rehabilitation mechanism control method, rehabilitation mechanism control system, and rehabilitation device |
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| CN118893639B (en) * | 2024-07-15 | 2025-04-29 | 英格玛机器人科技(北京)有限公司 | Nursing robot control method and robot system |
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| CN109820695A (en) * | 2019-04-03 | 2019-05-31 | 郑州大学 | A ICU ward horizontal bilateral cerebral palsy lower extremity rehabilitation robot with communication and autonomous navigation and movement functions |
| CN112754868A (en) * | 2021-01-21 | 2021-05-07 | 芜湖航科恒益自动化科技有限责任公司 | Mobile accompanying type human lower limb rehabilitation training robot |
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| CN109568089A (en) * | 2019-01-24 | 2019-04-05 | 中国科学技术大学 | A kind of trailing type lower limb recovery robot by training paces system |
| CN111631921A (en) * | 2019-03-02 | 2020-09-08 | 杭州程天科技发展有限公司 | A kind of walking follow rehabilitation training equipment and automatic follow control method |
| CN113499229B (en) * | 2021-07-16 | 2023-08-08 | 中国科学院深圳先进技术研究院 | Rehabilitation institution control method, rehabilitation institution control system and rehabilitation device |
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| CN104968313A (en) * | 2012-11-09 | 2015-10-07 | 浩康股份公司 | Gait training apparatus |
| CN109820695A (en) * | 2019-04-03 | 2019-05-31 | 郑州大学 | A ICU ward horizontal bilateral cerebral palsy lower extremity rehabilitation robot with communication and autonomous navigation and movement functions |
| CN112754868A (en) * | 2021-01-21 | 2021-05-07 | 芜湖航科恒益自动化科技有限责任公司 | Mobile accompanying type human lower limb rehabilitation training robot |
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| WO2023284241A1 (en) * | 2021-07-16 | 2023-01-19 | 中国科学院深圳先进技术研究院 | Rehabilitation mechanism control method, rehabilitation mechanism control system, and rehabilitation device |
| CN114470719A (en) * | 2022-03-22 | 2022-05-13 | 北京蓝田医疗设备有限公司 | A fully automatic posture correction training method and system |
| CN114470719B (en) * | 2022-03-22 | 2022-12-20 | 北京蓝田医疗设备有限公司 | A fully automatic posture correction training method and system |
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| CN113499229B (en) | 2023-08-08 |
| WO2023284241A1 (en) | 2023-01-19 |
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