CN110652692A - Rehabilitation type auxiliary training walking machine and method for acquiring pace distance and pace frequency through speed digital signals and timing - Google Patents

Abstract

The invention relates to a rehabilitation type auxiliary training walking machine and a method for acquiring pace and pace frequency through speed digital signals and timing, comprising a walking machine body; and a sensing device installed on the treadmill body for sensing position information of a user on the running belt; the controller is used for controlling the rotating speed of the driving motor through the acquired and recognized position information and the motor driver; the wearable device is worn on the foot of a user, and is provided with a speed sensor and a pressure sensor; according to the wearable treadmill, the laser range finder judges the position information of the area where the user is located on the treadmill, the wearable equipment measures the data information of the step frequency and the step distance of the user during exercise, and the controller automatically adjusts the running speed of the treadmill by controlling the motor driver, so that personal safety and rehabilitation training of the user are guaranteed, and the wearable treadmill better meets the exercise intention of the user.

Description

Rehabilitation type auxiliary training walking machine and method for acquiring pace distance and pace frequency through speed digital signals and timing

Technical Field

The invention relates to the technical field of rehabilitation training of mechanical equipment, in particular to a rehabilitation type auxiliary training walking machine.

Background

In recent years, users with lower limb motor dysfunction caused by central nervous system diseases such as spinal injuries, cerebral apoplexy and the like have a rapidly increasing trend, the health of human beings is seriously harmed, the rehabilitation training of the users with lower limb motor dysfunction is a non-negligible problem, the weight-reducing walking training is one of important means for the walking rehabilitation treatment of the users with the diseases, the walking condition of the users can be effectively improved, and the rehabilitation walking function effectively replaces a physical therapist to carry out the rehabilitation training on the users.

Disclosure of Invention

In order to solve the defects in the prior art, the invention aims to provide a rehabilitation type auxiliary training walking machine which is used for meeting the rehabilitation training requirements of users with lower limb movement dysfunction.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a rehabilitation-type assisted-training walking machine, comprising:

the walking machine comprises a walking machine body, a walking belt and a driving motor, wherein the driving motor is used for driving the walking belt to move; and

a sensing device mounted on the treadmill body for sensing position information of a user on the tread belt; and

and the controller is used for controlling the rotating speed of the driving motor through the acquired and recognized position information and the motor driver.

The induction device is arranged on the front side of the walking machine body, and the induction end of the induction device faces the user arranged on the running belt, so that the distance information between the induction device and the user can be obtained, and the position information of the user on the running belt can be judged according to the distance information.

The sensing device adopts a laser range finder.

Still included one set or two sets of wearable equipment, it is dressed in user's foot, and be equipped with at least one speed sensor on the wearable equipment and be used for with at least one pressure sensor of running belt contact.

The pressure sensor and the speed sensor are connected in series to form a closed loop and are respectively connected with the controller;

the pressure sensors are provided with two or more pressure sensors which are connected in parallel.

The speed sensor is connected with the speed sensor data acquisition module, the speed sensor data acquisition module transmits a speed digital signal to the controller, and the speed digital signal and the timing information are used for calculating the step pitch and the step frequency of the user.

The pressure sensor is connected with the pressure sensor data acquisition module, the pressure sensor data acquisition module transmits pressure digital signals to the controller, and the pressure digital signals are used for judging and identifying whether the foot of the user is in a landing state.

A method for acquiring a step pitch and a step frequency through a speed digital signal and timing is characterized by comprising the following specific operation steps:

step 01: firstly, measuring the pressure value when the wearable equipment worn by the feet of a user is on the flat ground and the two feet of the user stand, wherein the left foot is LM1, and the right foot is RM 1;

step 02: when the user stands, the left foot is in place, the pressure values of the left foot and the right foot are measured when the right foot takes a step forwards from the ground, the left foot is Lmax1, and the right foot isRmin 1;

step 03: when the user stands, the right foot is in place, the pressure values of the left foot and the right foot are measured when the left foot takes a step forwards from the ground, the left foot is Lmin1, and the right foot isRmax 1;

step 04: the three steps are repeatedly operated for multiple times to obtain an average value, and the average value is calculated as follows:

LM＝(LM1+LM2+...+LMn)/n

RM＝(RM1+RM2+...+RMn)/n

Lmax＝(Lmax1+Lmax2+...+Lmax n)/n

Rmax＝(Rmax1+Rmax2+...+Rmax n)/n

Lmin＝(Lmin1+Lmin2+...+Lmin n)/n

Rmin＝(Rmin1+Rmin2+...+Rmin n)/n

wherein LM is a pressure value of the left foot of the user in an initial state, RM is a pressure value of the right foot of the user in the initial state, Lmax is a maximum pressure value of the left foot, Rmin is a minimum pressure value of the right foot, Lmin is a minimum pressure value of the left foot, and Rmax is a maximum pressure value of the right foot;

step 05: in the initial state, a user stands on a running board of a walking machine body by two feet, the initial speed is 0, and the maximum pressure values of the left foot and the right foot are set to be within a threshold range;

step 06: when a user stands on the original place and lifts the right foot to step forward, the pressure sensor switch of the right foot is closed, the speed sensor switch is closed, the controller starts timing, and when the right foot finishes stepping one step, the pressure value of the pressure sensor is detected whether to reach the set threshold range of the maximum pressure value of the right foot in the process that the right foot is close to the surface of the running belt to land;

when the threshold range is reached, the pressure sensor switch is switched off, the speed of the speed sensor is RV1, and the timing time of the reading controller isRt 1;

step 07: when the left foot is lifted to step forward, the pressure sensor switch of the left foot is closed, the speed sensor switch is closed, the controller starts timing, when the left foot finishes stepping one step, and the left foot is close to the surface of the running belt to land, whether the pressure value of the pressure sensor reaches the set threshold range of the maximum pressure value of the left foot is detected, the threshold range is reached, the pressure sensor switch is disconnected, the speed of the speed sensor is LV1, and the timing time of the reading controller isLt 1;

and (3) repeatedly carrying out the steps 06 and 07 by the user, measuring multiple groups of data, and calculating to obtain:

Rt＝(Rt1+Rt2+...+Rt n)/n

Lt＝(Lt1+Lt2+...+Lt n)/n

RS＝(RV1*Rt1+RV2*Rt2+...+RVn*Rt n)/n

LS＝(LV1*St1+LV2*St2+...+LVn*St n)/n

wherein Rt is the average step frequency of the right foot, Lt is the average step frequency of the left foot, RS is the average step pitch of the right foot, and LS is the average step pitch of the left foot;

step 08: the controller outputs a speed signal to the motor driver according to the pace and frequency data information of the user measured by the pressure sensor and the speed sensor, and the motor automatically adjusts the running speed of the running belt according to the speed signal output by the motor driver, so that the running speed of the running belt is consistent with the running speed of the user.

Thesteps 1 to 8 are that the first pressure sensor is taken as an example to calculate the step pitch and the step frequency of the left foot and the right foot of the user, the calculation principles of the step pitch and the step frequency of the user corresponding to the second pressure sensor, the third pressure sensor, the fourth pressure sensor and the fifth pressure sensor are the same as those of the first pressure sensor, the pressure set values corresponding to each pressure sensor in each state before the user goes to the walking machine are measured through multiple times of measurement, as long as one pressure sensor in five loops meets the set conditions, the loops are conducted, and the controller calculates the step pitch and the step frequency information of the user according to the uploaded data information.

The invention has the beneficial effects that:

the running speed of the motor is adjusted according to the position information judgment of the area where the user is located on the running belt through the laser range finder, and the user is prevented from being accidentally injured when the rehabilitation walking machine starts running.

The wearable equipment measures the data information of the step frequency and the step distance when the user moves, and the controller automatically adjusts the running speed of the running belt by controlling the motor driver, so that the running speed of the running belt is consistent with the running speed of the user, personal safety and rehabilitation training of the user are guaranteed, and the wearable equipment accords with the movement intention of the user.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic view illustrating the structure of the motor, the base frame, the running plate, the running belt and the drum.

Fig. 3 is a schematic structural diagram of a wearable device.

Fig. 4 is a schematic diagram of a sensor connection of a wearable device.

Fig. 5 is a schematic flow chart of step pitch and step frequency measurement.

FIG. 6 is a schematic diagram of the control system of the present invention.

In the figure, 1 controller, 2 bracket, 3 laser range finder, 4 emergency stop button, 5 handrail, 6 motor driver, 7 motor, 81 front roller, 82 rear roller, 9 running belt, 10 running board, 11 speed sensor, 12 pressure sensor, 13 base frame; 14 wireless transceiver module; 15 a processor;

a: a proximal region; b: a security zone; c: a distal region.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.

According to the illustrations of fig. 1 to 6: the embodiment provides a rehabilitation type auxiliary training walking machine, which comprises a walking machine and two sets of wearable devices, wherein in the using process, information of a user in the walking training process is obtained through the walking machine and the two sets of wearable devices, the rotating speed of the walking machine is adjusted in real time, the running speed of the walking machine is consistent with the running speed of the user, the personal safety and the rehabilitation training of the user are guaranteed, the exercise intention of the user is better met, and the specific implementation structures and the implementation methods of all components are described and explained respectively.

The treadmill includes the walking machine body, includingcontroller 1,base frame 13, support 2,laser range finder 3, emergency stop button 4,handrail 5,motor drive 6,motor 7, preceding cylinder 81, rear roll 82, running belt 9 and running board 10, wherein:

thecontroller 1 is arranged on the upper side of the middle part of the support 2, thelaser range finder 3 is arranged on the lower side of the middle part of the support 2, two sides of the support 2 are respectively connected and fixed with thehandrail 5, the bottom end of thehandrail 5 is connected with thebase frame 13, themotor 7 is arranged at the front end inside thebase frame 13, the front roller 81 and the rear roller 82 which are rotatably connected with themotor 7 are arranged on the rear side of themotor 7 inside thebase frame 13, wherein the front roller 81 is connected with themotor 7 through a transmission belt, the running plate 10 is arranged between the front roller 81 and the rear roller 82, two sides of the running plate 10 are respectively connected and fixed with thebase frame 13, the outer sides of the front roller 81 and the rear roller 82 are in transmission connection through the running belt 9, and the lower part of the top;

thearmrests 5 are designed in an elongated manner and cover the whole movement length range of the walking machine body, so that the elongated parts of the armrests are convenient for wheelchair users to stand up by virtue of force and convenient for patients to get on and off the walking machine body, and the emergency stop buttons 4 are arranged on the upper parts of the twoarmrests 5, so that the patients can conveniently start and stop the walking machine according to own movement intentions or in case of emergency;

the middle part of the bracket 2 is also provided with an emergency stop button 4 which is matched with the emergency stop button 4 on thehandrail 5, so that the emergency stop button 4 is respectively positioned at the front side and the two sides of a user, the use is more convenient, and the safety of the user is ensured;

thelaser range finder 3 is embedded in the inner side of the bracket 2, an opening for the operation of the sensing end of thelaser range finder 3 is reserved on the surface of the bracket 2, the sensing end of thelaser range finder 3 is arranged towards a user on the running belt 9 and used for obtaining the distance information between thelaser range finder 3 and the user and judging the position information of the user on the running belt 9 according to the distance information;

further, the top surface of running belt 9 is used for the regional internal division of running to be near-end region, safe district and distal end district, wherein the safe district is located running belt 9 middle part, the running area who uses as normal training, near-end region then is one side that running belt 9 is close to support 2 atlaser range finder 3 place, the distal end district then is one side that running belt 9 keeps away from support 2 atlaser range finder 3 place, through carrying out subregion control with running belt 9, can be when obtaining the position that is used for on running belt 9, the rotational speed ofcontrol motor 7, the adjustment user is in the safe position of running belt 9, for example:

when the patient is detected to be in the near-end area, thecontroller 1 displays the area of the patient, thecontroller 1 sends a signal to themotor driver 6, so that the running speed of themotor 7 is increased, the user slowly moves backwards, and the walking machine can normally run until the patient is in the safe area;

when the patient is detected to be in the far-end area, thecontroller 1 displays the area where the patient is located and simultaneously sends out a danger signal prompt to prompt that the patient does not reach a designated safety area, so that the running speed of themotor 7 is reduced to enable the user to move forwards slowly, and the walking machine can run normally until the patient is in the safety area.

Thecontroller 1 is used for achieving automatic adjustment of the user running speed and the walking machine running speed through obtaining and recognizing the position information and controlling the rotating speed of the drivingmotor 7 through themotor driver 6.

The wearable device can be a shoe or an insole, which is worn on the foot of a user, and the wearable device is provided with aspeed sensor 11 and fivepressure sensors 12 for contacting with the running belt 9, thepressure sensors 12 include a first pressure sensor, a second pressure sensor, a third pressure sensor, a fourth pressure sensor and a fifth pressure sensor, the first pressure sensor, the second pressure sensor and the third pressure sensor are located at the front sole, the fourth pressure sensor and the fifth pressure sensor are located at the rear heel, wherein:

the fivepressure sensors 12 are connected in parallel, and thepressure sensors 12 and thespeed sensor 11 are connected in series to form a closed loop and are respectively connected with thecontroller 1;

thespeed sensor 11 is connected with a speed sensor data acquisition module, the speed sensor data acquisition module of theprocessor 15 transmits a speed digital signal to thecontroller 1 through thewireless transceiver module 14, and the speed digital signal and the timing information are used for calculating the step pitch and the step frequency of the user;

thepressure sensor 12 is connected with the pressure sensor data acquisition module, the pressure sensor data acquisition module of theprocessor 15 transmits a pressure digital signal to thecontroller 1 through thewireless transceiving module 14, and the pressure digital signal is used for judging and identifying whether the foot of the user is in a landing state;

the wireless connection mode of thewireless transceiver module 14 is bluetooth connection.

The wearable device obtains the speed digital signal and the pressure digital signal in the movement process of the user through thepressure sensor 12 and thespeed sensor 11, and judges the movement state of the user through the speed digital signal and the pressure digital signal, so that the operation speed of the walking machine is automatically matched, and compared with the working mode of thelaser range finder 3, the working mode can actively and directly guarantee the use safety of the user, and forms a double protection mode with thelaser range finder 3, so that the use safety of the user is improved.

Based on the use of the wearable device in the above structure, the present embodiment further provides a method for acquiring a step pitch and a step frequency through a speed digital signal and timing, and the specific operation steps include:

step 01: firstly, measuring the pressure value when the wearable equipment worn by the feet of a user is on the flat ground and the two feet of the user stand, wherein the left foot is LM1, and the right foot isRM 1;

step 02: when the user stands, the left foot is in place, the pressure values of the left foot and the right foot are measured when the right foot takes a step forwards from the ground, the left foot is Lmax1, and the right foot isRmin 1;

step 03: when the user stands, the right foot is in place, the pressure values of the left foot and the right foot are measured when the left foot takes a step forwards from the ground, the left foot is Lmin1, and the right foot isRmax 1;

step 04: the three steps are repeatedly operated for multiple times to obtain an average value, and the average value is calculated as follows:

LM＝(LM1+LM2+...+LMn)/n

RM＝(RM1+RM2+...+RMn)/n

Lmax＝(Lmax1+Lmax2+...+Lmax n)/n

Rmax＝(Rmax1+Rmax2+...+Rmax n)/n

Lmin＝(Lmin1+Lmin2+...+Lmin n)/n

Rmin＝(Rmin1+Rmin2+...+Rmin n)/n

wherein LM is a pressure value of the left foot of the user in an initial state, RM is a pressure value of the right foot of the user in the initial state, Lmax is a maximum pressure value of the left foot, Rmin is a minimum pressure value of the right foot, Lmin is a minimum pressure value of the left foot, and Rmax is a maximum pressure value of the right foot;

step 05: in the initial state, a user stands on the running board 10 of the running machine body with two feet, the initial speed is 0, and the threshold value range is set for the maximum pressure value of the left foot and the right foot;

step 06: when a user stands on the original place with the left foot lifted and advances forwards, the switch of thepressure sensor 12 of the right foot is closed, the switch of thespeed sensor 11 is closed, thecontroller 1 starts timing, and when the right foot finishes stepping action and the right foot is close to the surface of the running belt 9 and falls to the ground, whether the pressure value of thepressure sensor 12 reaches the set threshold range of the maximum pressure value of the right foot is detected;

when the threshold range is reached, the switch of thepressure sensor 12 is switched off, the speed of thespeed sensor 11 is RV1, and the timing time of the readingcontroller 1 isRt 1;

step 07: when the right foot of a user lands on the ground and the left foot of the user lifts and steps forward, the switch of thepressure sensor 12 of the left foot is closed, the switch of thespeed sensor 11 is closed, thecontroller 1 starts timing, when the left foot finishes stepping action and the left foot is close to the surface of the running belt 9 and lands on the ground, whether the pressure value of thepressure sensor 12 reaches the set threshold range of the maximum pressure value of the left foot is detected, the threshold range is reached, the switch of thepressure sensor 12 is disconnected, the speed of thespeed sensor 11 is LV1, and the timing time of the readingcontroller 1 isLt 1;

and (3) repeatedly carrying out the steps 06 and 07 by the user, measuring multiple groups of data, and calculating to obtain:

Rt＝(Rt1+Rt2+...+Rt n)/n

Lt＝(Lt1+Lt2+...+Lt n)/n

RS＝(RV1*Rt1+RV2*Rt2+...+RVn*Rt n)/n

LS＝(LV1*St1+LV2*St2+...+LVn*St n)/n

wherein Rt is the average step frequency of the right foot, Lt is the average step frequency of the left foot, RS is the average step pitch of the right foot, and LS is the average step pitch of the left foot;

step 08: thecontroller 1 outputs a speed signal to themotor driver 6 according to the pace and frequency data information of the user measured by thepressure sensor 12 and thespeed sensor 11, and themotor 7 automatically adjusts the running speed of the running belt 9 according to the speed signal output by themotor driver 6, so that the running speed of the running belt 9 is consistent with the running speed of the user;

thesteps 1 to 8 are that the first pressure sensor is taken as an example to calculate the step pitch and the step frequency of the left foot and the right foot of the user, the calculation principles of the step pitch and the step frequency of the user corresponding to the second pressure sensor, the third pressure sensor, the fourth pressure sensor and the fifth pressure sensor are the same as those of the first pressure sensor, the pressure set values corresponding to each pressure sensor in each state before the user goes to the walking machine are measured through multiple times of measurement, as long as onepressure sensor 12 in five loops meets the set conditions, the loops are conducted, and thecontroller 1 calculates the step pitch and the step frequency information of the user according to the uploaded data information.

The above description is only a preferred embodiment of the present invention, and the technical solutions to achieve the objects of the present invention by basically the same means are all within the protection scope of the present invention.

Claims (8)

1. A rehabilitation-type assisted-training walking machine, comprising:

the walking machine comprises a walking machine body, a walking belt and a driving motor, wherein the driving motor is used for driving the walking belt to move; and

a sensing device mounted on the treadmill body for sensing position information of a user on the tread belt; and

and the controller is used for controlling the rotating speed of the driving motor through the acquired and recognized position information and the motor driver.

2. The rehabilitation-type assisted-training walker of claim 1, wherein: the induction device is arranged on the front side of the walking machine body, and the induction end of the induction device faces the user arranged on the running belt, so that the distance information between the induction device and the user can be obtained, and the position information of the user on the running belt can be judged according to the distance information.

3. A rehabilitation-type assisted-training walking machine according to claim 1 or 2, wherein: the sensing device adopts a laser range finder.

4. The rehabilitation-type assisted-training walker of claim 1, wherein: still included one set or two sets of wearable equipment, it is dressed in user's foot, and be equipped with at least one speed sensor on the wearable equipment and be used for with at least one pressure sensor of running belt contact.

5. The rehabilitation-type assisted-training walker of claim 4, wherein: the pressure sensor and the speed sensor are connected in series to form a closed loop and are respectively connected with the controller;

the pressure sensors are provided with two or more pressure sensors which are connected in parallel.

6. The rehabilitation-type assisted-training walking machine of claim 4 or 5, wherein: the speed sensor is connected with the speed sensor data acquisition module, the speed sensor data acquisition module transmits a speed digital signal to the controller, and the speed digital signal and the timing information are used for calculating the step pitch and the step frequency of the user.

7. The rehabilitation-type assisted-training walking machine of claim 4 or 5, wherein: the pressure sensor is connected with the pressure sensor data acquisition module, the pressure sensor data acquisition module transmits pressure digital signals to the controller, and the pressure digital signals are used for judging and identifying whether the foot of the user is in a landing state.

8. A method for acquiring a step pitch and a step frequency through a speed digital signal and timing is characterized by comprising the following specific operation steps:

step 01: firstly, measuring the pressure value when the wearable equipment worn by the feet of a user is on the flat ground and the two feet of the user stand, wherein the left foot is LM1, and the right foot is RM 1;

step 02: when the user stands, the left foot is in place, the pressure values of the left foot and the right foot are measured when the right foot takes a step forwards from the ground, the left foot is Lmax1, and the right foot is Rmin 1;

step 03: when the user stands, the right foot is in place, the pressure values of the left foot and the right foot are measured when the left foot takes a step forwards from the ground, the left foot is Lmin1, and the right foot is Rmax 1;

step 04: the three steps are repeatedly operated for multiple times to obtain an average value, and the average value is calculated as follows:

LM＝(LM1+LM2+...+LMn)/n

RM＝(RM1+RM2+...+RMn)/n

Lmax＝(Lmax1+Lmax2+...+Lmax n)/n

Rmax＝(Rmax1+Rmax2+...+Rmax n)/n

Lmin＝(Lmin1+Lmin2+...+Lmin n)/n

Rmin＝(Rmin1+Rmin2+...+Rmin n)/n

wherein LM is a pressure value of the left foot of the user in an initial state, RM is a pressure value of the right foot of the user in the initial state, Lmax is a maximum pressure value of the left foot, Rmin is a minimum pressure value of the right foot, Lmin is a minimum pressure value of the left foot, and Rmax is a maximum pressure value of the right foot;

step 05: in the initial state, a user stands on a running board of a walking machine body by two feet, the initial speed is 0, and the maximum pressure values of the left foot and the right foot are set to be within a threshold range;

step 06: when a user stands on the original place and lifts the right foot to step forward, the pressure sensor switch of the right foot is closed, the speed sensor switch is closed, the controller starts timing, and when the right foot finishes stepping one step, the pressure value of the pressure sensor is detected whether to reach the set threshold range of the maximum pressure value of the right foot in the process that the right foot is close to the surface of the running belt to land;

when the threshold range is reached, the pressure sensor switch is switched off, the speed of the speed sensor is RV1, and the timing time of the reading controller is Rt 1;

step 07: when the left foot is lifted to step forward, the pressure sensor switch of the left foot is closed, the speed sensor switch is closed, the controller starts timing, when the left foot finishes stepping one step, and the left foot is close to the surface of the running belt to land, whether the pressure value of the pressure sensor reaches the set threshold range of the maximum pressure value of the left foot is detected, the threshold range is reached, the pressure sensor switch is disconnected, the speed of the speed sensor is LV1, and the timing time of the reading controller is Lt 1;

and (3) repeatedly carrying out the steps 06 and 07 by the user, measuring multiple groups of data, and calculating to obtain:

Rt＝(Rt1+Rt2+...+Rt n)/n

Lt＝(Lt1+Lt2+...+Lt n)/n

RS＝(RV1*Rt1+RV2*Rt2+...+RVn*Rt n)/n

LS＝(LV1*St1+LV2*St2+...+LVn*St n)/n

wherein Rt is the average step frequency of the right foot, Lt is the average step frequency of the left foot, RS is the average step pitch of the right foot, and LS is the average step pitch of the left foot;

step 08: the controller outputs a speed signal to the motor driver according to the pace and frequency data information of the user measured by the pressure sensor and the speed sensor, and the motor automatically adjusts the running speed of the running belt according to the speed signal output by the motor driver, so that the running speed of the running belt is consistent with the running speed of the user.

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