CN111939009B - Double-track tracking rehabilitation weight-reduction walking training vehicle and tracking method - Google Patents

Abstract

The invention provides a rehabilitation weight-reducing walking training vehicle with double-track tracking and a tracking method, wherein the tracking motion of the weight-reducing vehicle is realized by adopting a double-track tracking scheme; comprises a body of a rehabilitation weight-reduction walking training vehicle; the left and right sides in front of the bottom of the vehicle body are respectively provided with a left driving wheel and a right driving wheel; the driving wheel is driven by the driving motor, a tracking sensor which is right opposite to the tracking track is installed in front of a rack of the driving motor, the tracking sensor tracks the tracking track and feeds a tracking result back to the controller, and the controller controls the driving wheel to accelerate, decelerate or move at a constant speed according to the tracking result. The invention adopts a double-track tracking mode to realize the active control of the advancing and turning of the weight-reducing vehicle, does not need human intervention on the advancing route of the weight-reducing vehicle, avoids the potential safety hazard existing when a patient operates and controls the weight-reducing vehicle to turn, can release the manpower for the accompanying and supervising to operate the weight-reducing vehicle, and can carry out the rehabilitation training process of the patient continuously and smoothly on the premise of ensuring the safety.

Description

Rehabilitation weight loss walking training vehicle with dual track tracking and tracking method

technical field

The invention relates to a dual-track tracking rehabilitation weight-loss walking training vehicle and a tracking method, belonging to the technology of the rehabilitation weight-loss walking training vehicle.

Background technique

Rehabilitation training is required for patients with lower extremity motor dysfunction caused by stroke, spinal cord injury, fracture surgery, etc. in the recovery period. Rehabilitation training can be carried out under the guidance of professional rehabilitation personnel in one-on-one mode, or assistance with weight loss support function can be used. Rehabilitation training with training equipment; while the labor cost in the one-to-one mode is too high, and it is time-consuming and laborious, and at the same time, there is an extreme shortage of professional rehabilitation personnel, so it is not suitable for widespread promotion, so the use of auxiliary training equipment for rehabilitation training will be more feasible. 's plan. At present, there are not many auxiliary training equipment to choose from clinically. With the increasing demand for rehabilitation training, designing and improving safe, quantitative, effective and repeatable auxiliary training equipment is an urgent problem to be solved.

Rehabilitation weight loss walking training vehicle (hereinafter referred to as weight reduction vehicle) is an auxiliary training device that helps patients with lower limb motor dysfunction to perform walking training through weight loss support. For patients, especially those in the early stage of the disease, for safety reasons, the direction of travel of the weight-reducing vehicle cannot be controlled by the patient, and medical resources cannot be released if specialized medical staff are provided.

At present, in the electric lift machine in the field of rehabilitation, the turning solutions adopted include placing a posture sensor on the patient to collect the turning trend of the patient, and fixing the pull rope on the patient's shoulder to collect the turning trend of the patient. For example, due to factors such as abnormal gait and incorrect force exerting influence on the human walking posture, the sensor cannot continuously and accurately feedback the patient's turning intention; therefore, the auxiliary training equipment designed based on this type of technology is a potential safety hazard. Yes, it will also have an impact on the effect of rehabilitation training.

SUMMARY OF THE INVENTION

Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a dual-track tracking rehabilitation weight-loss walking training vehicle and a tracking method. The tracking method is used to realize the turning of the weight-loss vehicle without the need for medical staff to supervise the use. , which can achieve smooth rehabilitation training while ensuring safety.

Technical scheme: In order to realize the above-mentioned purpose, the technical scheme adopted in the present invention is:

Most of the existing tracking vehicles use a single-track tracking solution, that is, tracking by a single tracking sensor, and the tracking line can be single-track, double-track or more, but this single-track tracking solution requires the tracking sensor to be installed. It is in the middle of the car body, and there is a requirement for the installation height; due to the special structure of the weight reduction vehicle used for rehabilitation training, the installation of the aforementioned high-demand tracking sensor cannot be realized, so the single-track tracking scheme cannot be applied to weight reduction. car.

The invention provides a dual-track tracking rehabilitation weight-loss walking training vehicle, which adopts a dual-track tracking scheme to realize the tracking exercise of the weight-loss vehicle; includes a vehicle body of the rehabilitation weight-loss walking training vehicle; the forward direction of the vehicle body is In the front, the left and right drive wheels are respectively installed on the left and right sides of the bottom of the car body. The left drive motor drives the left drive wheel, and the right drive motor drives the right drive wheel. The movement of the car body depends on the left drive motor and the right drive motor. The differential motion is realized: when the left drive motor speed is equal to the right drive motor, the car body moves in a straight line; when the left drive motor speed is greater than the right drive motor, the car body turns right; when the left motor speed is lower than the right drive motor, the car body turns left sports.

A left tracking sensor is installed in front of the frame of the left drive motor facing the left tracking track. The left tracking sensor tracks the left tracking track and feeds back the tracking result to the controller. The result controls the left drive wheel to accelerate, decelerate or move at a constant speed;

A right tracking sensor is installed in front of the frame of the right drive motor facing the right tracking track. The right tracking sensor tracks the right tracking track and feeds back the tracking result to the controller. The result controls the right drive wheel to accelerate, decelerate or move at a constant speed.

The invention first creatively applies the tracking method to the weight-reducing vehicle, and then adopts the solution of dual tracking sensors + dual tracking tracks, which is a tracking solution completely different from the prior art, and can also be adapted to The tracking solution of the actual structure of the weight reduction vehicle is a simple and efficient solution; each tracking sensor controls one drive motor, instead of controlling two drive motors at the same time, and then through the cooperation of the two drive motors, the reduction is formed. The actual motion track of the heavy truck; the left tracking track and the right-left tracking track are parallel. Applying the tracking method to the weight-loss vehicle enables the weight-loss vehicle to move efficiently and stably along the established route, and realizes that the weight-loss vehicle can independently and safely perform rehabilitation training on patients without the escort of medical staff, which greatly improves the performance of the weight-loss vehicle. It reduces the demand for medical staff and greatly reduces the cost and environmental constraints of patient rehabilitation training.

Preferably, the left tracking sensor and the right tracking sensor are both tracking sensors including four tracking detectors, the center points of the four tracking detectors are on the same straight line l, When the straight line part of the tracking track is going straight, the straight line l is perpendicular to the straight line part of the tracking track.

Preferably, the four infrared detectors of the tracking sensor are marked as left, middle left, middle right and right four infrared detectors from left to right, in the direction of straight line l: the middle left and middle right infrared detectors The maximum distance between any two points within the detection range is 1/4～1/2 of the width of the tracking track, and the minimum distance between any two points outside the detection range of the left and middle-left infrared detectors is 1/3～1/2 of the width of the tracking track 1/2, the minimum distance between any two points outside the detection range of the center right and right infrared detectors is 1/3 to 1/2 of the width of the tracking track, and the equivalent diameter of the detection range of the infrared detector is the width of the tracking track 1/10 to 1/8 of .

Preferably, the four tracking detectors of the tracking sensor are all infrared detectors. When the infrared light of the infrared detector is irradiated on the black tracking track, the infrared light is absorbed by the tracking track. When the infrared light of the detector irradiates the area outside the tracking track (other color areas), the infrared light is reflected, and the infrared detector receives the reflected signal; level, no reflected signal is received) is connected to the I/O interface of the controller, the controller judges the motion state of the weight reduction vehicle through logic, and controls the drive motor, so that the drive wheel executes the relevant motion.

Preferably, when the tracking result is that the center-left and center-right infrared detectors receive the reflected signal, it means that the front is going straight; when the tracking result is that the left, center-left, and right infrared detectors receive the reflected signal, it means that the front is turning right ; When the tracking result is that the left, center, right, and right infrared detectors receive the reflected signal, it means the front left transmission.

Specifically, the width of the tracking track is 45mm, the equivalent diameter of the detection range of the infrared detector is 5-6mm, and the maximum distance between any two points within the detection range of the middle-left and middle-right infrared detectors is 15-16mm, The minimum distance between any two points outside the detection range of the left and center-left infrared detectors is 20-22mm, and the minimum distance between any two points outside the detection range of the center-right and right infrared detectors is 20-22mm.

A tracking method for the above-mentioned dual-track tracking rehabilitation weight loss walking training vehicle: for the left tracking sensor of the left drive motor, when the tracking result shows that the front is going straight, the controller controls the left drive motor to drive the left drive wheel at a constant speed Movement; when the tracking result shows that the front turns left, the controller controls the left drive motor to drive the left drive wheel to decelerate; when the tracking result shows that the front turns right, the controller controls the left drive motor to drive the left drive wheel to accelerate movement; for right The right tracking sensor of the drive motor, when the tracking result shows that the front is going straight, the controller controls the right drive motor to drive the right drive wheel to move at a constant speed; when the tracking result shows that the front turns left, the controller controls the right drive motor to drive the right drive When the tracking result shows that the front turns right, the controller controls the right drive motor to drive the right drive wheel to decelerate.

Specifically, the rotational speeds of the left drive motor and the right drive motor are calculated according to the following formula:

V _l =V _{l_last} +S _l ×(6×t ⁵ -15×t ⁴ +10×t ³ )/1000

V _r =V _{r_last} +S _r ×(6×t ⁵ -15×t ⁴ +10×t ³ )/1000

Among them: V _l and V _r represent the real-time speed sent by the left drive motor and the right drive motor to the controller respectively, in cm/s; V _{l_last} and V _{r_last} respectively represent the left drive motor and the right drive motor sent to the controller at the previous sampling time is the real-time speed of the controller, in cm/s; t represents the adjustment time, in ms; S _l represents the sign function of the left drive motor speed, S _l = -1 when the left drive motor turns left, and S _l = 1 when the left drive motor turns right , S _l = 0 when the left drive motor runs straight; S _r represents the sign function of the speed of the right drive motor, S _r = 1 when the right drive motor turns left, S _r = -1 when the right drive motor turns right, and S r when the right drive motor runs straight _r =0.

The controller judges the real-time detection results of the left and right tracking sensors, respectively controls the left and right left drive motors to move at a constant speed, accelerates or decelerates, and realizes the forward, left or right turn of the vehicle body through the principle of differential motion. exercise, complete the tracking exercise.

Beneficial effects: The present invention provides a dual-track tracking rehabilitation weight-loss walking training vehicle and a tracking method. The dual-track tracking method is used to realize the active control of the weight-loss vehicle's advancement and turning, without the need for human intervention to reduce weight. The travel route of the car avoids the potential safety hazard of allowing the patient to operate and control the turning of the weight-reduction vehicle, and at the same time, it can release the manpower for the escort to supervise the operation of the weight-reduction vehicle. On the premise of ensuring safety, the entire rehabilitation training of the patient can be carried out coherently and smoothly.

Description of drawings

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the result schematic diagram of the tracking sensor;

FIG. 3 is a schematic diagram of a tracking track, including two parallel tracking tracks in the figure;

Figure 4 is the tracking sensor detection logic, 4(a) means forward, 4(b) means right turn, 4(c) means left turn;

Fig. 5 is the control algorithm flow chart;

The figure includes: 1-tracking sensor; 2-drive wheel; 3-drive motor; 4-tracking detector; 5-tracking track.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

In the description of the present invention, it should be understood that the terms "center", "portrait", "horizontal", "top", "bottom", "front", "rear", "left", "right", " The orientation or positional relationship indicated by vertical, horizontal, top, bottom, inner, outer, etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and The description is simplified rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

As shown in Figure 1, it is a dual-track tracking rehabilitation weight-loss walking training vehicle. The dual-track tracking scheme is used to realize the tracking exercise of the weight-loss vehicle; it includes the body of the rehabilitation weight-loss walking training vehicle; The forward direction is the front, and the left and right drive wheels are installed on the left and right sides of the bottom front of the car body. The left drive motor drives the left drive wheel, and the right drive motor drives the right drive wheel. The movement of the car body depends on the left drive motor and The differential motion of the right drive motor is realized: when the speed of the left drive motor is equal to that of the right drive motor, the car body moves in a straight line; when the speed of the left drive motor is greater than that of the right drive motor, the car body rotates right; when the speed of the left drive motor is lower than that of the right drive motor, Car body turns left.

A left tracking sensor is installed in front of the frame of the left drive motor facing the left tracking track. The left tracking sensor tracks the left tracking track and feeds back the tracking result to the controller. As a result, the left driving wheel is controlled to accelerate, decelerate or move at a constant speed; a right tracking sensor is installed in front of the frame of the right driving motor facing the right tracking track, and the right tracking sensor tracks the right tracking track and will track the right tracking track. The tracking result is fed back to the controller, and the controller controls the right drive wheel to accelerate, decelerate or move at a constant speed according to the tracking result.

As shown in FIG. 2 , the left tracking sensor and the right tracking sensor are both tracking sensors including four tracking detectors, and the center points of the four tracking detectors are on the same straight line l, and the When traveling straight along the straight portion of the tracking track, the straight line l is perpendicular to the straight portion of the tracking track. In this example, L1=70mm, L2=59mm, L3=21mm, and L4=15.7mm.

As shown in Figure 3, this example provides a double tracking track, the inner and outer two tracking tracks are parallel to each other, the left tracking sensor and the right tracking sensor track one track respectively, and the width of a single tracking track is 45mm ; During the tracking training process, the weight-reducing car always moves along this tracking track.

The four tracking detectors of the tracking sensor are all infrared detectors. When the infrared light of the infrared detector is irradiated on the black tracking track, the infrared light is absorbed by the tracking track. When the light irradiates the area outside the tracking track (other color areas), the infrared light is reflected, and the infrared detector receives the reflected signal; The received reflected signal is low level) and connected to the I/O interface of the controller, the controller judges the motion state of the weight reduction vehicle through logic, and controls the driving motor to make the driving wheel perform the relevant motion. As shown in Figure 4, when the tracking result is that the center left and center right infrared detectors receive the reflected signal, it means that the front is going straight; when the tracking result is that the left, center left, and right infrared detectors receive the reflected signal, it means Turn right in front; when the tracking result is that the left, center right, and right infrared detectors receive reflected signals, it means that the front is passing left.

As shown in Figure 5, for the left tracking sensor of the left drive motor, when the tracking result shows that the front is going straight, the controller controls the left drive motor to drive the left drive wheel to move at a constant speed; when the tracking result shows that the front turns left, the controller controls The controller controls the left drive motor to drive the left drive wheel to decelerate; when the tracking result shows that the front turns right, the controller controls the left drive motor to drive the left drive wheel to accelerate; for the right tracking sensor of the right drive motor, when the tracking result When it shows that the front is going straight, the controller controls the right drive motor to drive the right drive wheel to move at a constant speed; when the tracking result shows that the front turns left, the controller controls the right drive motor to drive the right drive wheel to accelerate; when the tracking result shows that the front turns right , the controller controls the right drive motor to drive the right drive wheel to decelerate. The rotational speeds of the left drive motor and the right drive motor are calculated according to the following formula:

V _l =V _{l_last} +S _l ×(6×t ⁵ -15×t ⁴ +10×t ³ )/1000

V _r =V _{r_last} +S _r ×(6×t ⁵ -15×t ⁴ +10×t ³ )/1000

Among them: V _l and V _r represent the real-time speed sent by the left drive motor and the right drive motor to the controller respectively, in cm/s; V _{l_last} and V _{r_last} respectively represent the left drive motor and the right drive motor sent to the controller at the previous sampling time is the real-time speed of the controller, in cm/s; t represents the adjustment time, in ms; S _l represents the sign function of the left drive motor speed, S _l = -1 when the left drive motor turns left, and S _l = 1 when the left drive motor turns right , S _l = 0 when the left drive motor runs straight; S _r represents the sign function of the speed of the right drive motor, S _r = 1 when the right drive motor turns left, S _r = -1 when the right drive motor turns right, and S r when the right drive motor runs straight _r =0.

The controller judges the real-time detection results of the left and right tracking sensors, respectively controls the left and right left drive motors to move at a constant speed, accelerates or decelerates, and realizes the forward, left or right turn of the vehicle body through the principle of differential motion. exercise, complete the tracking exercise.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the above-mentioned embodiments do not limit the present invention in any form, and all technical solutions obtained by means of equivalent replacement or equivalent transformation fall within the protection scope of the present invention.

Claims (8)

1. A rehabilitation weight-loss walking training vehicle of dual-track tracking, comprising the vehicle body of the rehabilitation weight-loss walking training vehicle; it is characterized in that: with the forward direction of the vehicle body as the front, the left and right sides of the bottom front of the vehicle body are respectively installed There are left drive wheels and right drive wheels. The left drive motor drives the left drive wheel, and the right drive motor drives the right drive wheel. The movement of the vehicle body is realized by the differential motion of the left drive motor and the right drive motor: the speed of the left drive motor is equal to the right drive. When the motor is turned on, the car body moves in a straight line; when the speed of the left drive motor is greater than that of the right drive motor, the car body turns to the right; when the speed of the left drive motor is lower than that of the right drive motor, the car body turns to the left; For the left tracking sensor of the left drive motor, when the tracking result shows that the front is going straight, the controller controls the left drive motor to drive the left drive wheel to move at a constant speed; when the tracking result shows that the front turns left, the controller controls the left drive motor to drive The left drive wheel decelerates; when the tracking result shows that the front turns right, the controller controls the left drive motor to drive the left drive wheel to accelerate; For the right tracking sensor of the right drive motor, when the tracking result shows that the front is going straight, the controller controls the right drive motor to drive the right drive wheel to move at a constant speed; when the tracking result shows that the front turns left, the controller controls the right drive motor to drive The right drive wheel accelerates; when the tracking result shows that the front turns right, the controller controls the right drive motor to drive the right drive wheel to decelerate; The rotational speeds of the left drive motor and the right drive motor are calculated according to the following formula: V _l =V _{l_last} +S _l ×(6×t ⁵ -15×t ⁴ +10×t ³ )/1000 V _r =V _{r_last} +S _r ×(6×t ⁵ -15×t ⁴ +10×t ³ )/1000 Among them: V _l and V _r represent the real-time speed sent by the left drive motor and the right drive motor to the controller respectively, in cm/s; V _{l_last} and V _{r_last} respectively represent the left drive motor and the right drive motor sent to the controller at the previous sampling time is the real-time speed of the controller, in cm/s; t represents the adjustment time, in ms; S _l represents the sign function of the left drive motor speed, S _l = -1 when the left drive motor turns left, and S _l = 1 when the left drive motor turns right , S _l = 0 when the left drive motor runs straight; S _r represents the sign function of the speed of the right drive motor, S _r = 1 when the right drive motor turns left, S _r = -1 when the right drive motor turns right, and S r when the right drive motor runs straight _r =0. 2. The rehabilitation weight loss walking training vehicle of dual-track tracing according to claim 1, is characterized in that: A left tracking sensor is installed in front of the frame of the left drive motor facing the left tracking track. The left tracking sensor tracks the left tracking track and feeds back the tracking result to the controller. The result controls the left drive wheel to accelerate, decelerate or move at a constant speed; A right tracking sensor is installed in front of the frame of the right drive motor facing the right tracking track. The right tracking sensor tracks the right tracking track and feeds back the tracking result to the controller. The result controls the right drive wheel to accelerate, decelerate or move at a constant speed. 3. The rehabilitation weight loss walking training vehicle of dual-track tracking according to claim 2, wherein the left tracking sensor and the right tracking sensor are both tracking sensors comprising four tracking detectors, The center points of the four tracking detectors are on the same straight line l. When the vehicle body runs straight along the straight line portion of the tracking track, the straight line l is perpendicular to the straight line portion of the tracking track. 4. The rehabilitation weight loss walking training vehicle of dual-track tracking according to claim 3 is characterized in that: the four infrared detectors of the tracking sensor are marked as left, middle left, middle right, The four right infrared detectors are in the direction of straight line l: the maximum distance between any two points within the detection range of the center-left and center-right infrared detectors is 1/4 to 1/2 of the width of the tracking track, and the left and center-left infrared detectors The minimum distance between any two points outside the detection range of the detector is 1/3 to 1/2 of the width of the tracking track, and the minimum distance between any two points outside the detection range of the center right and right infrared detectors is 1 of the width of the tracking track. /3～1/2, the equivalent diameter of the detection range of the infrared detector is 1/10～1/8 of the width of the tracking track. 5. The rehabilitation weight loss walking training vehicle of dual-track tracking according to claim 3 or 4 is characterized in that: the four tracking detectors of the tracking sensor are all infrared detectors, and when the infrared detectors When the infrared light irradiates on the tracking track, the infrared light is absorbed by the tracking track. When the infrared light of the infrared detector irradiates the area outside the tracking track, the infrared light is reflected, and the infrared detector receives the reflected signal. 6. The rehabilitation weight loss walking training vehicle of dual-track tracking according to claim 5, is characterized in that: when the tracking result is that the center left and center right infrared detectors receive the reflected signal, it means that the front is going straight; When the tracking result is that the left, center left, and right infrared detectors receive the reflected signal, it means that the front turns right; 7 . The dual-track tracking rehabilitation weight-loss walking training vehicle according to claim 3 or 4, wherein the width of the tracking track is 45mm, and the equivalent diameter of the detection range of the infrared detector is 5-6mm , the maximum distance between any two points within the detection range of the center-left and center-right infrared detectors is 15-16mm, and the minimum distance between any two points outside the detection range of the left and center-left infrared detectors is 20-22mm. The minimum distance between any two points outside the detection range of the infrared detector is 20-22mm. 8 . The rehabilitation weight loss walking training vehicle of dual-track tracking according to claim 1 , wherein the controller controls the left and right-left drive respectively by judging the real-time detection results of the left and right tracking sensors respectively. 9 . The motor moves at a constant speed, accelerates or decelerates, and realizes the forward, left or right turn motion of the car body through the principle of differential motion, and completes the tracking motion.

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