WO2023035456A1

WO2023035456A1 - Walking aid-based fall prevention walking aid method and system, and terminal device

Info

Publication number: WO2023035456A1
Application number: PCT/CN2021/137588
Authority: WO
Inventors: 张笑千; 罗朝晖; 尚鹏; 杨德龙; 侯增涛; 刘程祥; 王博
Original assignee: 中国科学院深圳先进技术研究院
Priority date: 2021-09-08
Filing date: 2021-12-13
Publication date: 2023-03-16
Also published as: CN113940667B; CN113940667A

Abstract

A fall prevention walking aid method and system based on a walking aid (101), and a terminal device. The method comprises: obtaining motion information of a target object (S201); if the motion information satisfies a preset fall prediction condition, determining a fall prediction direction of the target object according to the fall prediction condition and the motion information (S202); and increasing the movement rate of the walking aid (101) in the direction opposite to the fall prediction direction (S203). By means of the method, rehabilitation training can be continuously carried out while a fall is prevented, thereby ensuring the rehabilitation training effect.

Description

Walker-based anti-fall walking aid method, system and terminal device

technical field

The present application belongs to the technical field of intelligent walking aids, and in particular relates to a walking aid-based fall prevention walking aid method, system, device, terminal equipment and storage medium.

Background technique

The main pathological manifestation of lower limb dysfunction is that the patient's lower limbs are difficult to form effective support for his body, which greatly damages the patient's mobility and quality of life. The common example is lower limb dysfunction caused by stroke. With the development of the economy, patients with lower extremity dysfunction have an increasing need to improve their quality of life. Therefore, industries related to the rehabilitation of patients with lower limb dysfunction have developed to a certain extent, such as auxiliary equipment used in the rehabilitation process.

The use of assistive devices during the rehabilitation process can speed up the recovery process of the patient's balance and muscle strength. In the rehabilitation process of patients with lower limb dysfunction, it is very necessary to prevent patients from falling and avoiding secondary injuries. The anti-fall measures adopted in the prior art are generally based on known fall signals (such as detecting that the feet suddenly stop walking, the body has excessively leaned forward and backward, etc.) to remind the user or other people, or It is to prevent the patient from falling to the ground when the user has already fallen. Although such a solution can prevent the user from falling to the ground and causing secondary injuries, it generally leads to interruption of rehabilitation training during the execution process, thereby affecting the effect of rehabilitation training.

Contents of the invention

The embodiment of the present application provides a walker-based fall prevention and walking aid method, system, device, terminal device and storage medium, which can solve the technical problem in the prior art that the continuity of rehabilitation training cannot be guaranteed while preventing falls .

In the first aspect, the embodiment of the present application provides a walker-based fall prevention walking aid method, including:

obtaining motion information of a target subject using the walker;

If the motion information satisfies a preset fall prediction condition, then determine the fall prediction direction of the target object according to the fall prediction condition and the motion information;

increasing the rate of movement of the walker in a direction opposite to the fall predicted direction.

Based on the above method, the motion information of the target object at the current moment is obtained, and based on the judgment of the motion information acquisition of the target object, if the user meets the fall prediction condition, the fall prediction direction of the target object is determined according to the fall prediction condition and motion information, and the assistant is added. The speed at which the walker moves in the direction opposite to the predicted direction of the fall. During the moving process of the target object, the predicted direction of the target object's fall is given based on its motion information, so that the current moving speed of the walker is changed according to the predicted direction of the fall, so that the speed of the walker in the falling direction Reduce, so as to take anti-fall walking aid measures for the target object before the fall occurs, while preventing the fall, it can ensure the continuous progress of the rehabilitation training process and ensure the effect of the rehabilitation training.

In a possible implementation manner of the first aspect, the method further includes determining, according to the motion information, a deviation degree corresponding to the fall prediction direction;

Said increasing the speed of movement of said walker in a direction opposite to said fall prediction direction comprises:

When the degree of deviation is greater than a preset deviation value, increasing the moving rate of the walking aid in a direction opposite to the predicted direction of falling.

In a possible implementation manner of the first aspect, the motion information includes a first distance, and the first distance is a distance between the target object's ankle joint and the walking aid in a first direction, so The first direction is the direction or the opposite direction of the current moving speed of the target object:

The determining the deviation degree corresponding to the fall prediction direction according to the motion information includes:

When the fall prediction direction is the first direction, using the first distance and a preset distance range to determine the degree of deviation;

determining a corresponding first rate increase degree according to the degree of deviation;

The speed of movement of the walker in a direction opposite to the first direction is increased by the first degree of speed increase.

Optionally, the motion information includes the angle between the sagittal plane where the target object is located and the vertical line;

When the fall prediction direction is a second direction, the degree of deviation is determined by using the included angle and a preset included angle threshold, wherein the second direction is perpendicular to the direction in which the current moving speed of the target object is located. ;

determining a corresponding first deflection angle according to the degree of deviation;

Controlling the walker to deflect the first deflection angle in a direction opposite to the second direction, and the deflected direction is opposite to the fall prediction direction.

In a possible implementation manner of the first aspect, the motion information includes a first distance and an angle between a sagittal plane where the target object is located and a vertical line; wherein the first distance is the The distance between the ankle joint of the target object and the walker in a first direction, where the first direction is the direction or the opposite direction of the current moving speed of the target object; the degree of deviation includes the first degree of deviation and the second degree of deviation;

When the fall prediction direction is the third direction, the first deviation degree is determined by using the first distance and the preset distance range, and the first deviation degree is determined by using the included angle and the preset included angle threshold. Two degrees of deviation; wherein the angles between the third direction and the first direction and the second direction are both acute angles, and the second direction is perpendicular to the first direction;

determining a corresponding second rate increase degree according to the first deviation degree;

increasing the rate of movement of the walker in a direction opposite to the first direction by the second rate increase;

determining a corresponding second deflection angle according to the second deviation degree;

Controlling the walker to deflect by the second deflection angle in a direction opposite to the second direction, and the deflected direction is opposite to the fall prediction direction.

Optionally, multiple laser ranging sensors are provided at different positions of the walking aid, and the multiple laser ranging sensors are respectively used to detect the distance between the lower leg of the target object and the the second distance between the walkers;

The method for obtaining the first distance includes:

Obtaining multiple second distances through multiple laser ranging sensors;

Perform weighted summation on multiple second distances to obtain the first distance.

In the second aspect, the embodiment of the present application provides a walker-based anti-fall walking aid system, including a walker and a driving device, and the wheels of the walker are provided with motors;

The drive device is used to acquire motion information of a target object using the walker, and if the motion information satisfies a preset fall prediction condition, then determine the The fall prediction direction of the target object; controlling the motor according to the fall prediction direction, so that the motor drives the walker to increase the moving rate in the opposite direction of the fall prediction direction.

In a possible implementation manner of the second aspect, the motion information includes the first distance, and the angle between the sagittal plane where the target object is located and the vertical line; the system further includes multiple lasers A ranging sensor and an inertial sensor, a plurality of laser ranging sensors are arranged at different positions of the walker, wherein the plurality of laser ranging sensors are used to obtain the first distance, and the inertial sensors are used to obtain the first distance The included angle; when in use, the inertial sensor is worn on the target object.

In the third aspect, the embodiment of the present application provides a walker-based anti-fall walker device, including:

a movement information acquisition unit, configured to acquire movement information of a target object using the walker;

A fall prediction direction acquisition unit, configured to determine the fall prediction direction of the target object according to the fall prediction condition and the motion information if the motion information satisfies a preset fall prediction condition;

A control unit for increasing the speed of movement of the walking aid in a direction opposite to the predicted direction of falling.

In a fourth aspect, an embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and operable on the processor, when the processor executes the computer program The walking aid-based fall prevention and walking aid method described in any one of the above first aspects is realized.

In the fifth aspect, the embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements any one of the above-mentioned first aspects. A walker-based approach to fall prevention and mobility aids.

In the sixth aspect, the embodiment of the present application provides a computer program product, which, when the computer program product is run on the terminal device, enables the terminal device to execute the walking aid-based fall prevention described in any one of the above-mentioned first aspects. Walking aid method.

It can be understood that, for the beneficial effects of the above-mentioned second aspect to the sixth aspect, reference can be made to the related description in the above-mentioned first aspect, which will not be repeated here.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without any creative effort.

Fig. 1 is a schematic structural diagram of a walking aid-based anti-fall walking aid system provided by an embodiment of the present application;

Fig. 2 is a schematic flow diagram of a walker-based fall prevention and walking aid method provided by an embodiment of the present application;

Fig. 3 is a schematic diagram of the arrangement of laser ranging sensors provided by an embodiment of the present application;

Fig. 4 is a schematic structural diagram of a walker-based anti-fall walker provided by an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a terminal device provided by an embodiment of the present application.

Detailed ways

In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and/or components, but does not exclude one or more other Presence or addition of features, wholes, steps, operations, elements, components and/or collections thereof.

It should also be understood that the term "and/or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

In addition, in the description of the specification and appended claims of the present application, the terms "first", "second", "third" and so on are only used to distinguish descriptions, and should not be understood as indicating or implying relative importance.

Reference to "one embodiment" or "some embodiments" or the like in the specification of the present application means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in other embodiments," etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean "one or more but not all embodiments" unless specifically stated otherwise. The terms "including", "comprising", "having" and variations thereof mean "including but not limited to", unless specifically stated otherwise.

The current rehabilitation aids have certain problems in preventing users from falling. For example, generally all are the remedial measures taken under the situation that fall has taken place, can only accomplish to prevent user's health from falling down. Although the secondary injury caused by falls can be avoided to a certain extent, such a situation will still lead to the interruption of the rehabilitation training process, thereby interrupting the rhythm of rehabilitation training and affecting the effect of rehabilitation training.

As shown in FIG. 1 , it is a schematic structural diagram of a walking aid-based fall prevention walking aid system provided by an embodiment of the present application. The walking aid-based anti-fall walking aid system includes a walking aid 101, a motor 102 arranged on the walking aid, a driving device 103, a distance sensor group 104 connected in communication with the driving device, an inertial sensor group 105 and a pressure sensor group 106 ; wherein the distance sensor group 104 includes a plurality of laser ranging sensors 1041 , the inertial sensor group 105 includes a plurality of inertial sensors 1051 , and the pressure sensor group 106 includes a plurality of pressure sensors 1061 . The distance sensor group is set on the walking aid, the inertial sensor group is worn on the lower limbs of the target object, and the pressure sensor group is worn on the sole of the target object during use. In an embodiment of the application, the walker is positioned in front of the target subject during use. The drive device may be a terminal device, or a circuit drive module integrated on the walker.

In this embodiment, the motion information is obtained through each sensor in the distance sensor group, the inertial sensor group and the pressure sensor group. The drive device obtains the motion information of the target object from various sensors, and analyzes and judges whether the motion information meets the preset fall conditions. Fall prediction direction: the drive device drives the motor to increase the moving rate of the walker in the opposite direction to the fall prediction direction, so as to prevent the target object from falling in the fall prediction direction.

Optionally, the inertial sensor may be a nine-axis inertial sensor. It should be noted that each inertial sensor may also be another type of inertial sensor. The embodiment of the present application does not specifically limit the inertial sensor.

In another case, the motion information may be video information or image information obtained through a camera. Exemplarily, for example, the drive device in the system may be connected to a camera, the camera is set on the walker, and is used to capture video or images of the movement of the target object's lower limbs using the walker, and the drive device obtains the video captured by the camera or image and perform data analysis on the video information or image information, and obtain the moving speed of the target object in the first direction when the video information or image information meets the fall prediction condition, so as to control the walker according to the moving speed Movement in a first direction. Determine the fall prediction direction of the target object according to the fall prediction conditions and motion information; the driving device drives the motor to increase the moving rate of the walker in the opposite direction of the fall prediction direction to prevent the target object from falling in the fall prediction direction fall.

Referring to FIG. 2 , it is a schematic flowchart of a walking aid-based fall prevention walking aid method provided by an embodiment of the present application. By way of example and not limitation, the method may include the following steps:

S201. Acquire motion information of a target object using the walking aid.

In the embodiment of the present application, specifically, after the target object has put on the relevant equipment and started the walking aid, the motion information of the target object can be acquired.

Optionally, as mentioned above, the motion information may be image or video information obtained by a camera, or sensor information obtained by a sensor.

In an optional implementation manner, when it is detected that the target object is located at the target relative position of the walker, the motion information of the target object is acquired; where the target relative position refers to the relative position of the target object when using the walker position of the traveler.

In a possible implementation manner, after detecting that the target object is located at the target relative position of the walker, specifically, it may include:

detecting a relative position of a target object to said walker;

The relative position is compared with a preset relative position range, and if the relative position belongs to the preset relative position range, it is determined that the target object is located at the target relative position of the walker.

In a specific embodiment, after it is detected that the target object is located at the target relative position of the walking aid, it further includes: emitting a start-up prompt sound, the start-up prompt sound prompting the target object that the walker is already in the target position. start state.

S202. If the motion information satisfies a preset fall prediction condition, determine a fall prediction direction of the target object according to the fall prediction condition and the motion information.

In the embodiment of the present application, it is judged that the motion information satisfies the preset fall prediction condition, specifically, the motion trend of the target object is obtained by analyzing the motion information.

In an optional embodiment, if the motion information satisfies the preset fall prediction condition, then determine the fall prediction direction of the target object according to the fall prediction condition and motion information, specifically the collected motion information Input it into the preset machine learning model, so as to obtain the judgment result of the movement trend of the target object, and the judgment result is: walking normally (without falling) or falling in a specific direction. Wherein the specific direction is the fall prediction direction.

For the convenience of expression and understanding, in the embodiment of the present application, we take the moving direction of the target object as the front, the left side of the target object as the left side, and the right side of the target object as the right side. Therefore the fall prediction direction wherein can be any one in front, rear, left, right, left front, left rear, right front or right rear.

Optionally, the motion information can also be obtained by acquiring a video or photo of the lower limb movement of the target object; it is also possible to input the video or photo into a preset machine learning model to obtain a judgment result on the motion trend of the target object .

Exemplarily, the preset machine learning model mentioned in the embodiment of the present application is a classification model obtained through training, and the training samples of the preset machine learning model can simulate preset different motion postures (such as normal walking) and falling in a specific direction) to obtain. For example, using normal walking and falling in a specific direction as labels, the data collected by the sensor (or the video or photo of the subject's lower limb movement) in the corresponding motion posture is used as the feature to train the machine learning model. Preferably, the machine learning model may be a neural network model or a deep convolutional neural network model.

In the embodiment of the present application, the deep convolutional neural network can adopt a conventional structure, including an input layer, a convolutional layer, a pooling layer, a fully connected layer, and an output layer.

In the embodiment of this application, the training process of the deep convolutional neural network is as follows: select a number of normal people as the experimental subjects, let the experimental subjects simulate the action of falling in different directions and the normal walking action, and record the lower limbs of the experimental subjects The sensors collect data, among which falling in a specific direction and normal walking are used as labels, and the data collected by the sensors are used as features to obtain multiple sample data. Different sample data are composed of training set and test set respectively to train the deep convolutional neural network.

In a specific embodiment, the data collected by the sensor may include data collected by an inertial sensor, data collected by a ranging sensor, and data collected by a pressure sensor. Wherein the inertial sensor is a nine-axis inertial sensor and there are multiple ones, which are respectively arranged on the thigh, shank and toe of the target object. The data collected by the inertial sensor includes the angle, angular acceleration, angular acceleration, Acceleration, geomagnetism and temperature; the ranging sensor is a laser ranging sensor arranged on the walker, and the collected data of the ranging sensor is the distance between the walker and the target object; the pressure sensor is set on the two soles of the target object, The collected data of the pressure sensor is the plantar pressure.

S203. Increase the moving speed of the walker in a direction opposite to the predicted direction of falling.

In the embodiment of the present application, increasing the moving speed of the walker in the direction opposite to the predicted direction of falling can be specifically implemented by changing the magnitude and/or direction of the current moving speed of the walker. Direction decides. Increasing the moving speed in the direction opposite to the falling direction is equivalent to making the walker move relative to the target object in the opposite direction of the falling direction or giving the target object a moment in the opposite direction of the falling direction. For example, if the target object's predicted falling direction is the front, the walker increases the moving speed to the rear (that is, reduces the forward moving speed); The right moving rate can be specifically realized by controlling the walker to turn to the right (so that the moving direction of the walker is deflected to the right).

In the above method, by acquiring the motion information of the target object, if the motion information satisfies the preset fall prediction condition, then determine the fall prediction direction of the target object according to the fall prediction condition and motion information, and then increase the walking aid's ability to fall. Movement rate in the opposite direction of the direction. During the moving process of the target object, by analyzing the motion information of the target object, when the motion information meets the preset fall prediction condition, the fall prediction direction of the target object is determined according to the fall prediction condition motion information, and the fall prediction direction is determined according to the fall prediction condition. Predict the direction to change the current moving speed of the walker, so that the speed of the walker in the direction of the fall prediction is reduced, so as to take anti-fall walking aid measures for the target object before the fall occurs, while preventing the fall It can ensure the continuous progress of the rehabilitation training process and the effect of the rehabilitation training.

In a specific embodiment, the above method further includes: if the motion information does not satisfy the preset fall prediction condition, obtaining the moving rate of the target object in the current moving direction according to the motion information; The walker moves in the current moving direction of the target object.

In a specific embodiment, the above method further includes: determining the degree of deviation corresponding to the predicted direction of falling according to the motion information; wherein step S203 specifically includes: when the degree of deviation is greater than a preset deviation value, increasing The rate of movement of the walker in a direction opposite to the fall prediction direction.

In the above method, while obtaining the predicted direction of falling, it is necessary to further judge the degree of deviation, and step S203 will be executed only when the degree of deviation exceeds a certain threshold. If the degree of deviation is small, it can be considered as within an acceptable deviation range, and then step S203 is not performed, but the steps after the movement information does not meet the preset fall prediction condition are performed. Such a setting can avoid unnecessary adjustments and enhance the stability of the walking aid method.

Taking different fall prediction directions as examples, the method for obtaining the degree of deviation and the way for adjusting the speed of the walker will be described below.

In an optional embodiment, when the fall prediction direction is the first direction, the first distance and the preset distance range are used to determine the degree of deviation; step S203 specifically includes: determining the corresponding first rate increase degree according to the degree of deviation ; Increase the moving speed of the walker in the direction opposite to the first direction according to the first speed increase degree. In the embodiment of the present application, the motion information includes a first distance, the first distance is the distance between the ankle joint of the target object and the walker in the first direction, and the first direction is the direction or opposite direction of the current moving speed of the target object. direction.

The first direction in the embodiment of the present application is the direction or the opposite direction of the current moving speed of the target object. For ease of understanding, from the perspective of the target object, the first direction is front or rear.

Based on the above method, the embodiment of the present application aims at the situation where the target object has a tendency to fall backwards or forwards, by increasing the forward moving rate of the walker or increasing the backward moving rate of the walker (equivalent to reducing the walking aid) To prevent the target object from falling backward or forward, the method is simple and highly feasible.

In this embodiment of the application, when the distance between the waist of the target subject and the walker is fixed, the preset distance range is the distance between the ankle joint of the target subject and the walker in the current moving direction of the walker when the target subject is walking normally. The range of distances between the walkers.

In a specific embodiment, the distance between the waist of the target subject and the walking aid may be fixed by connecting the waist of the target subject to the walking aid. Optionally, a bracket for accommodating the target object may be provided at a position where the walker corresponds to the waist of the target object, and a belt that can fasten the waist is provided on the bracket.

For ease of understanding, an example is used below to explain the distance range: Assuming that the walker is located in front of the target object, a distance sensor is set at the position corresponding to the front side of the walker and the target object to measure the distance between the target object’s ankle joint and the walker. The distance between the walkers. When the target object stands on two feet, the distance between the two ankle joints and the walker is M; when the target object moves, because the distance between the waist of the target object and the walker is fixed, step forward The distance between the ankle joint on the outgoing side and the walker is relatively smaller than M, and the distance between the ankle joint on the rear side and the walker is relatively larger; the end value of the distance range is the distance between the ankle joint and the walker The distance between the minimum and maximum values.

After understanding the concept of the distance range, the concept of the degree of deviation is easier to understand. Specifically, using the first distance and the preset distance range, determining the degree of deviation includes: judging whether the first distance is within the preset distance range If the first distance is within the preset distance range, the degree of deviation is zero; if the first distance exceeds the preset distance range: then obtain the target end value, and the target end value is within the preset distance range The difference between the two end values and the first distance is smaller; the difference between the target end value and the first distance is taken, and the difference is divided by the target end value to obtain the degree of deviation . Specifically, if the first distance is less than the small end value of the distance range, the degree of deviation is the difference between the first distance and the small end value divided by the small end value; if the first distance is greater than the large end value of the distance range, Then the degree of deviation is the difference between the first distance and the big endian value divided by the big endian value.

Generally speaking, the motor capacity of the lower limbs of stroke patients is different on both sides. The lower limb with stronger motor capacity is the healthy limb, and the lower limb with weaker motor capacity is the affected limb. During the walking process of the target subject, the preset distance ranges corresponding to the two ankle joints may be different. The corresponding degree of deviation can be obtained by detecting the first distance corresponding to the ankle joint on any side and the corresponding preset distance range.

In the above method, when the distance between the waist of the target object and the walker is fixed, the next step of the target object is predicted by the degree to which the distance between the ankle joint of the target object and the walker deviates from the preset distance range. The degree of falling forward or backward at all times; the degree of speed reduction or increase is different for different degrees of fall, making the change of the speed of the walker more targeted and better preventing falls in the front and rear directions.

In the embodiment of the present application, since the distance between the waist of the target object and the walker is fixed, when the target object is walking normally, the distance range between the foot of the target object and the walker in the current moving direction is constant. If the subject's feet are too close or too far from the walker, the subject's body will lean forward or backward. Therefore, the distance between the target subject's feet and the walker can be used to indicate whether he has a tendency to fall back and forth. Due to the complex movement of the feet, there are certain difficulties in measurement and calculation. In the embodiment of the present application, the distance between the target object's foot and the walker is converted into the distance between the target object's ankle joint and the walker, which solves the technical problem that it is difficult to measure the distance between the foot and the walker.

In a specific embodiment, a plurality of laser ranging sensors are arranged on different positions of the walking aid, and the plurality of laser ranging sensors are respectively used to detect the calf and walking aid of the target object from different positions on the walking aid. The second distance between sensors; the method for obtaining the first distance may include: obtaining multiple second distances detected by multiple laser ranging sensors; performing weighted summation on the multiple second distances to obtain the first distance.

Exemplarily, multiple laser range-finding sensors are arranged on the walker in a triangular array. During the movement of the walker and the target object, the multiple laser range-finding sensors are in front of the target object, and the multiple laser range-finding sensors The distance sensor is at the level of the walker close to the ankle joint.

In a specific embodiment, the number of laser ranging sensors is 6, and the 6 laser ranging sensors are arranged as shown in FIG. 3 . As shown in FIG. 3 , the labels of the six laser ranging sensors are 31 , 32 , 33 , 34 , 35 and 36 respectively. Wherein the

laser ranging sensors

31 and 34 are large-range laser ranging sensors in the X direction; the

laser ranging sensors

32 and 35 are wide range laser ranging sensors in the Y direction; the

laser ranging sensors

33 and 36 are high-precision laser ranging sensors sensor. The

laser ranging sensors

31 , 32 and 33 correspond to the left calf of the target object; the

laser ranging sensors

34 , 35 and 36 correspond to the right calf of the target object. Among them, the first distance is obtained according to the following formula:

S _L ＝η _L X ₁ +μ _L X ₂ +δ _L X ₃

S _R ＝η _R X ₄ +μ _R X ₅ +δ _R X ₆

Among them, X ₁ , X ₄ , X ₂ , X ₅ , X ₃ , and X ₆ are the measured values of the laser ranging sensors with the same subscript, η _L , η _R , μ _L , μ _R , δ _L , and δ _R respectively X ₁ , X ₄ , X ₂ , X ₅ , X ₃ , and X ₆ are the corresponding weights; S _L , S _R are the first distances corresponding to the left ankle joint and the right ankle joint of the target object, respectively. Each weight is an experience value, which is generally related to the height of the target object, the distance between the feet in the standing state, etc., and can be obtained through experiments on different individuals, and the specific method will not be repeated here.

In the above method, considering that the ankle joint of the target object presents three-axis changes during the movement process, and the swing amplitude is greatly disturbed, multiple laser ranging sensors are used to form a measurement array, and the distance achieved by weighted mean filtering algorithm measurement so that the resulting value for the first distance is very accurate.

In the embodiment of the present application, the speed movement of the walker in the first direction can be controlled by changing the output power of the motor driving the walker forward. Optionally, a corresponding first speed increase degree is determined according to the degree of deviation; according to the first speed increase degree, the moving speed of the walker in a direction opposite to the first direction is increased. It may include: using the degree of deviation to determine the change degree of the output power of the motor driving the walker; controlling the change in the output power of the walker according to the change degree; Movement rate.

In a specific embodiment, the output power of the motor is adjusted by using PID (Proportional Integral Derivative, proportional integral derivative control) to control PWM.

In a specific embodiment, if the degree of deviation is less than 1%, the PWM is not adjusted; if the degree of deviation is 1% to 10%, the PWM is controlled to increase or decrease by 10%, PID control, and P, I, and D are maintained; If the degree of deviation is 10% to 20%, control PWM to increase or decrease by 20%, PID control, P increases by 10%, and I and D increase accordingly; if the degree of deviation is greater than 20%, control PWM to increase or decrease by 20%, PID Control, P increased by 20%, I, D increased accordingly.

In a specific embodiment, if the degree of deviation is less than 1%, the PWM is not adjusted. Specifically, it indicates that the degree of deviation is within an acceptable range, and it can be considered that the target object will not fall back and forth. The moving speed of the object in the current moving direction only needs to follow the moving of the target object.

In an optional embodiment, when the fall prediction direction is the second direction, the degree of deviation is determined by using the included angle and the preset included angle threshold, where the second direction is in the same direction as the current moving speed of the target object. The direction is vertical; step S203 increases the movement rate of the walker in the opposite direction of the fall prediction direction, including: determining the corresponding first deflection angle according to the degree of deviation; controlling the walker to the opposite direction of the second direction The first deflection angle is deflected, and the deflected direction is opposite to the predicted direction of falling. The motion information includes the angle between the sagittal plane where the target object is located and the vertical line.

In the embodiment of the present application, the second direction is perpendicular to the direction of the current moving speed of the walker on the first plane, where the first plane is the cross-section where the target object is located. Among them, the horizontal plane is an anatomical term, also known as the horizontal plane or the transverse plane. It is a plane parallel to the ground plane that divides the human body into upper and lower parts. sagittal plane) perpendicular to each other. Among them, coronal plane and sagittal plane are also anatomical terms, so I won’t repeat them here.

Based on the above explanation, those skilled in the art can understand that the second direction refers to left or right (ie, left or right of the target object, respectively).

Based on the above method, the embodiment of the present application aims at the situation where there is a tendency to fall to the left or the right, by controlling the walker to turn in the opposite direction to the second direction to prevent the target object from falling to the left or to the right. Changed the direction of the walker's moving speed, so that the speed of the walker increases in the opposite direction towards the second direction; the steering of the walker can guide the target object to increase the speed in the direction opposite to the falling direction, thereby avoiding the target object towards Falling in the second direction is simple and easy to implement.

In the embodiment of the present application, the angle between the sagittal plane where the target object is located and the vertical line is the inclination angle of the target object; use the angle and the preset angle threshold to determine the degree of deviation, and use the deviation The degree determines the corresponding first deflection angle; based on the first deflection angle, the walker is controlled to turn in the direction opposite to the second direction.

In the above method, the degree to which the target object falls to the left or right is predicted by the degree to which the angle between the sagittal plane where the target object is located and the plumb line deviates from the preset angle threshold; Different degrees of fall lead to different angles of reverse steering, which makes the change of the speed direction of the walker more targeted and better prevents falls in the left and right directions.

In a specific embodiment, the included angle between the sagittal plane where the target object is located and the vertical line can be specifically obtained through an inertial sensor arranged on the lower limb of the target object.

Exemplarily, the inertial sensor is a nine-axis inertial sensor, and the angle value on the Y axis of any nine-axis inertial sensor set on the lower limb of the target object is used as the angle between the sagittal plane where the target object is located and the plumb line .

In the embodiment of the present application, the preset included angle threshold is a range value of the included angle of the target object in a normal walking state. The method for determining the deviation degree of the target object includes: dividing the difference between the included angle and the preset included angle threshold by the preset included angle threshold to obtain the deviation degree.

In the embodiment of the present application, a steering motor may be provided on the wheel of the walker, and the steering motor on the walker may be driven to perform mid-steering according to the steering angle.

In a specific embodiment, if the degree of deviation is less than 1%, the steering motor is not adjusted; if the degree of deviation is 1% to 10%, the steering motor is controlled to turn 2°; if the degree of deviation is 10% to 20% , then control the steering motor to turn 5°; if the degree of deviation is greater than 20%, control the steering motor to turn 10°, and the specific turning direction is subject to the predicted direction of falling.

In a specific embodiment, when the fall prediction direction is the second direction, while controlling the walker to deflect the first deflection angle in the direction opposite to the second direction, it also includes: The motion information of the object is to obtain the current moving speed of the target object; based on the first deflection angle and the current moving speed of the target object, obtain the target speed of the walker after turning; control the walker to move at the current The speed of movement in the direction of movement is increased to the target speed.

In the above method, the movement rate of the walker in the current direction of movement is controlled to increase while turning, so that the movement rate of the walker in the direction after turning is equal to the current movement rate of the target object. In this way, the walker can obtain compensation speed in the direction after turning, so that it can still keep up with the movement of the target object well after turning.

In a specific embodiment, assuming that the first deflection angle is θ, and the current moving speed of the target object is V, then the target speed=V/cosθ.

In the embodiment of the present application, the current moving speed of the target object can be obtained according to conventional technical means in the art, for example, the average speed of the target object in the unit time can be obtained by removing the bits of the target object in unit time by time, if If the unit time is short enough, the average speed can be considered as the instantaneous speed, which is the current moving speed.

In a specific embodiment, an inertial sensor disposed on the target subject's lower limbs can be used to detect the raising angle of the target subject's lower limbs. The motion information also includes the length value of the lower limbs of the target object; the step is based on the motion information of the target object, obtaining the current movement rate of the target object; specifically including: obtaining the lower limb lifting angle detected by the inertial sensor; The angle and the length value of the lower limb are used to determine the step length of the lower limb, and the moving speed of the target object in the first direction is obtained according to the step length.

Through the above method, the data information (length of the lower limbs) of the target object can be integrated into the calculation of the moving speed, so that the obtained data is closer to the actual situation of the target object.

In an optional embodiment, a first inertial sensor is set on the thigh of the lower limb of the target object, and a second inertial sensor is set on the lower leg of the target object's lower limb, and the lifting angle of the lower limb includes the value acquired by the first inertial sensor. The thigh lifting angle, and the calf lifting angle acquired by the second inertial sensor, the length value includes the thigh length value and the calf length value.

In a practical application, the inertial sensor locations are on the thigh and lower leg of the target subject. Since the lower limbs of the human body are composed of thighs and calves connected by knee joints, the lifting angles of the thighs and calves will be different during the actual movement process. The above method detects the lifting angles of the thighs and calves respectively and combines The calf length value is used to calculate the step length, which makes the obtained moving distance data more accurate.

Generally speaking, inertial sensors are mainly components used to detect and measure acceleration, tilt, shock, vibration, rotation, and multi-degree-of-freedom motion. In the embodiment of the present application, the inertial sensor may be a nine-axis inertial sensor. In the embodiment of the present application, the lifting angle refers to the angle between the detection target (such as the thigh and lower leg of the target object) on the sagittal plane where the target object is located and the vertical direction during the moving process.

For practical applications, we first simulated the typical walking patterns of patients with stroke-induced lower extremity dysfunction. We define the movement phase of stroke patients (taking unilateral lower limb motor dysfunction as an example) into three parts, namely, the support phase of the legs, the step phase of the healthy limb, and the parallel step phase of the affected limb. In the start-up phase of the walker, the patient’s legs support the ground in parallel, that is, the legs support phase; then the patient’s healthy limbs step forward, and the healthy limbs step and the soles of the feet are on the ground, which is the healthy limbs’ gait phase, and the walker follows the patient’s movement, which is The patient provides support and walking aid stage; when the healthy limb steps on the ground, the healthy limb can provide part of the body weight support, but the walking speed and range of the affected limb are limited. At this time, the walker will dynamically adjust the parameters to carry out Walking aid, so that it can move to the position of the healthy limb, that is, when the affected limb completes the step and the sole of the foot touches the ground, that is, the affected limb is in the same step phase. The above process is mainly tested and verified through the movement of the patient on the vector plane. In this application, experiments and verifications are carried out through the movement of the human body on the sagittal plane, so no matter how the feet and upper body move, the movement of the human limbs can be simplified into a joint linkage diagram, where the thigh and calf are represented by the knee Two connecting rods that are articulated.

In a specific implementation, according to the above simplified method, wherein the step size can be obtained according to the following formula:

D _S ＝D ₁ sinθ ₁ +D ₂ sinθ ₂

Among them: D _S is the step length, D ₁ is the length value of the thigh of the target object, D ₂ is the length value of the calf of the target object, θ ₁ is the lifting angle of the thigh of the target object, and θ ₂ is the lifting angle of the calf of the target object.

In a specific implementation, the movement rate ΔV in the preset direction can be obtained according to the following formula:

Among them: ΔD is the moving distance in a unit time period, and Δt is a unit time period.

It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiment of the present application.

In an optional embodiment, when the fall prediction direction is the third direction, the degree of deviation includes the first degree of deviation and the second degree of deviation, so the first distance and the predicted degree of deviation need to be used when determining the degree of deviation. A distance range is set, the first degree of deviation is determined, and the second degree of deviation is determined by using the included angle and a preset included angle threshold.

In the embodiment of the present application, the motion information includes the first distance and the angle between the sagittal plane where the target object is located and the vertical line; the first distance is the ankle joint of the target object and the walker The distance in the first direction, where the first direction is the direction or the opposite direction of the current moving speed of the target object; wherein the included angles between the third direction and the first direction and the second direction are acute angles, The second direction is perpendicular to the first direction. Step S203 increasing the moving speed of the walker in the direction opposite to the predicted fall direction, specifically including: determining the corresponding second speed increase degree according to the first deviation degree; according to the second speed increase degree, increasing The moving speed of the walker in the opposite direction of the first direction; determine the corresponding second deflection angle according to the second deviation degree; control the walker to deflect the walker in the opposite direction of the second direction For the second deflection angle, the deflected direction is the opposite direction of the predicted fall direction.

For the convenience of understanding, the third direction in the embodiment of the present application is specifically and further explained. In this embodiment, the definitions of the first direction and the second direction are the same as those defined above. For ease of understanding, from the perspective of the target object, the third direction may be left front, left rear, right front or right rear.

From the above analysis, it can be seen that when the fall prediction direction is the third direction, the fall prediction direction of the target object has components in both the first direction and the second direction; The walker is adjusted. For the specific adjustment method, please refer to the content recorded in the case where the fall prediction direction is the first direction and the second direction, and will not be repeated here.

In the embodiment of the present application, in the case where the fall prediction direction is the first direction and the third direction, after the walker is controlled to turn, the walker-based fall prevention and walking aid method restarts to obtain the use of The motion information of the target object of the walker and subsequent steps, the moving direction of the walker is determined by the motion information of the target object, if the motion information of the target object no longer meets the fall prediction condition after the walker turns, then Control the walker to follow the target object, that is, control the walker to move in the current moving direction of the target object according to the current moving speed of the target object. At this time, the walker will turn to the current moving direction of the target object.

Corresponding to the walking aid-based fall prevention and walking aid method described in the above embodiments, Fig. 4 shows a structural block diagram of a walker-based fall prevention walking aid device 4 provided by the embodiment of the present application. Note that only the parts related to the embodiment of the present application are shown.

Referring to Figure 4, the device includes:

A movement information acquisition unit 41, configured to acquire movement information of a target subject using the walker;

A fall prediction information acquisition unit 42, configured to determine the fall prediction direction of the target object according to the fall prediction condition and the motion information if the motion information satisfies a preset fall prediction condition;

The control unit 43 is configured to increase the moving speed of the walker in a direction opposite to the predicted direction of falling.

It should be noted that the information interaction and execution process between the above-mentioned devices/units are based on the same concept as the method embodiment of the present application, and its specific functions and technical effects can be found in the method embodiment section. I won't repeat them here.

In addition, the device shown in Figure 4 may be a software unit, a hardware unit, or a combination of software and hardware built into existing terminal equipment, or it may be integrated into the terminal equipment as an independent pendant, or it may be used as an independent terminal device exists.

Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units, Completion of modules means that the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware It can also be implemented in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application. For the specific working process of the units and modules in the above system, reference may be made to the corresponding process in the foregoing method embodiments, and details will not be repeated here.

FIG. 5 is a schematic structural diagram of a terminal device provided by an embodiment of the present application. The terminal device in the embodiment of the present application is the driving device in the fall prevention walking aid system based on the walker. As shown in Figure 5 , the terminal device 5 of this embodiment includes: at least one processor 50 (only one processor is shown in Figure 5 ), a memory 51, and stored in the memory 51 and can be processed in the at least one processor A computer program 52 running on the processor 50, when the processor 50 executes the computer program 52, implements the steps in any of the above-mentioned embodiments of the walking aid-based fall prevention and walking aid method.

The terminal device 5 may be a mobile phone, a robot (for example, an intelligent robot in a hospital), a wearable device (such as a smart watch), and the like. The terminal device 5 may also be a computing device such as a desktop computer, a notebook, a palmtop computer, or a cloud server. The terminal device may include, but not limited to, a processor 50 and a memory 51 . Those skilled in the art can understand that Fig. 5 is only an example of the terminal device 5, and does not constitute a limitation to the terminal device 5, and may include more or less components than those shown in the figure, or combine some components, or different components , for example, may also include input and output devices, network access devices, and so on.

The so-called processor 50 can be a central processing unit (Central Processing Unit, CPU), and the processor 50 can also be other general processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit) , ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

The storage 51 may be an internal storage unit of the terminal device 5 in some embodiments, such as a hard disk or a memory of the terminal device 5 . The memory 51 may also be an external storage device of the terminal device 5 in other embodiments, such as a plug-in hard disk equipped on the terminal device 5, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, flash memory card (Flash Card), etc. Further, the memory 51 may also include both an internal storage unit of the terminal device 5 and an external storage device. The memory 51 is used to store operating system, application program, boot loader (BootLoader), data and other programs, such as the program code of the computer program. The memory 51 can also be used to temporarily store data that has been output or will be output.

The embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in each of the foregoing method embodiments can be realized.

An embodiment of the present application provides a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal can implement the steps in the foregoing method embodiments when executed.

If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the procedures in the methods of the above embodiments in the present application can be completed by instructing related hardware through computer programs, and the computer programs can be stored in a computer-readable storage medium. The computer program When executed by a processor, the steps in the above-mentioned various method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device, recording medium, computer memory, read-only memory (ROM, Read) -Only Memory), Random Access Memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium. Such as U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunication signals under legislation and patent practice.

In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts that are not detailed or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

In the embodiments provided in this application, it should be understood that the disclosed device/network device and method may be implemented in other ways. For example, the device/network device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still implement the foregoing embodiments Modifications to the technical solutions described in the examples, or equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the application, and should be included in the Within the protection scope of this application.

Claims

A walking aid-based anti-fall walking method, characterized in that it includes:

obtaining motion information of a target subject using the walker;

If the motion information satisfies a preset fall prediction condition, then determine the fall prediction direction of the target object according to the fall prediction condition and the motion information;

increasing the rate of movement of the walker in a direction opposite to the fall predicted direction.
The method according to claim 1, further comprising determining the degree of deviation corresponding to the predicted direction of falling according to the motion information;

Said increasing the speed of movement of said walker in a direction opposite to said fall prediction direction comprises:

When the degree of deviation is greater than a preset deviation value, increasing the moving rate of the walking aid in a direction opposite to the predicted direction of falling.
The method according to claim 2, wherein the motion information includes a first distance, the first distance is the distance between the ankle joint of the target object and the walker in a first direction, and the The first direction is the direction or the opposite direction of the current moving speed of the target object;

The determining the deviation degree corresponding to the fall prediction direction according to the motion information includes:

When the fall prediction direction is the first direction, using the first distance and a preset distance range to determine the degree of deviation;

Said increasing the speed of movement of said walker in a direction opposite to said fall prediction direction comprises:

determining a corresponding first rate increase degree according to the degree of deviation;

The speed of movement of the walker in a direction opposite to the first direction is increased by the first degree of speed increase.
The method according to claim 2, wherein the motion information includes the angle between the sagittal plane where the target object is located and a vertical line;

The determining the deviation degree corresponding to the fall prediction direction according to the motion information includes:

When the fall prediction direction is a second direction, the degree of deviation is determined by using the included angle and a preset included angle threshold, wherein the second direction is perpendicular to the direction in which the current moving speed of the target object is located. ;

Said increasing the speed of movement of said walker in a direction opposite to said fall prediction direction comprises:

determining a corresponding first deflection angle according to the degree of deviation;

Controlling the walker to deflect the first deflection angle in a direction opposite to the second direction, and the deflected direction is opposite to the fall prediction direction.
The method according to claim 2, wherein the motion information includes a first distance and an angle between a sagittal plane where the target object is located and a vertical line; wherein the first distance is the The distance between the ankle joint of the target object and the walker in a first direction, where the first direction is the direction or the opposite direction of the current moving speed of the target object; the degree of deviation includes the first degree of deviation and the second degree of deviation;

The determining the deviation degree corresponding to the fall prediction direction according to the motion information includes:

When the fall prediction direction is the third direction, the first deviation degree is determined by using the first distance and the preset distance range, and the first deviation degree is determined by using the included angle and the preset included angle threshold. Two degrees of deviation; wherein the angles between the third direction and the first direction and the second direction are both acute angles, and the second direction is perpendicular to the first direction;

Said increasing the speed of movement of said walker in a direction opposite to said fall prediction direction comprises:

determining a corresponding second rate increase degree according to the first deviation degree;

increasing the rate of movement of the walker in a direction opposite to the first direction by the second rate increase;

determining a corresponding second deflection angle according to the second deviation degree;

Controlling the walker to deflect by the second deflection angle in a direction opposite to the second direction, and the deflected direction is opposite to the fall prediction direction.
The method according to claim 3 or 5, wherein a plurality of laser ranging sensors are arranged at different positions of the walking aid, and the plurality of laser ranging sensors are respectively used to obtain the distance from the walking aid. detecting a second distance between the calf of the target object and the walking aid in different positions;

The method for obtaining the first distance includes:

Obtaining multiple second distances through multiple laser ranging sensors;

Perform weighted summation on multiple second distances to obtain the first distance.
A walker-based anti-fall walking aid system, characterized in that it includes a walker and a driving device, and the wheels of the walker are provided with motors;

The drive device is used to acquire motion information of a target object using the walker, and if the motion information satisfies a preset fall prediction condition, then determine the The fall prediction direction of the target object; controlling the motor according to the fall prediction direction, so that the motor drives the walker to increase the moving rate in the opposite direction of the fall prediction direction.
The system according to claim 7, wherein the motion information includes a first distance and an angle between a sagittal plane where the target object is located and a vertical line; the system also includes a plurality of lasers A ranging sensor and an inertial sensor, a plurality of laser ranging sensors are arranged at different positions of the walker, wherein the plurality of laser ranging sensors are used to obtain the first distance, and the inertial sensors are used to obtain the first distance The included angle; when in use, the inertial sensor is worn on the target object.
A terminal device, comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, characterized in that, when the processor executes the computer program, the following claims 1 to 1 are implemented. 6. The method described in any one.
A computer-readable storage medium storing a computer program, wherein the computer program implements the method according to any one of claims 1 to 6 when executed by a processor.