阅读说明：本技术 训练设备的锁定方法、装置、训练设备及存储介质 (Locking method and device of training equipment, training equipment and storage medium ) 是由 谭高辉 冷正飞 印涛 陈海平 于 2019-09-25 设计创作，主要内容包括：本发明公开了一种训练设备的锁定方法,通过检测所述训练设备是否处于由待锁定状态转换为锁定状态；当检测当所述训练设备处于由待锁定状态转换为锁定状态时,获取所述第一连接件和所述第二连接件的当前角度；控制所述训练设备处于锁定状态,并控制所述第一连接件与所述第二连接件所成角度保持为所述当前角度。本发明还公开了一种训练设备的锁定装置、训练设备以及存储介质。本发明解决了由于下肢运动障碍者膝关节力量不足等原因,而导致下肢运动障碍者无法独立完成桥式运动的问题。(The invention discloses a locking method of training equipment, which comprises the steps of detecting whether the training equipment is in a state of being converted from a state to be locked into a locking state or not; when the training equipment is detected to be in a locking state converted from a state to be locked, acquiring the current angles of the first connecting piece and the second connecting piece; controlling the training equipment to be in a locked state, and controlling the angle formed by the first connecting piece and the second connecting piece to be kept at the current angle. The invention also discloses a locking device of the training equipment, the training equipment and a storage medium. The invention solves the problem that the lower limb dyskinesia patient can not independently complete bridge type movement due to insufficient knee joint strength of the lower limb dyskinesia patient and the like.)

1. A locking method of an exercise device, wherein the locking method of the exercise device is applied to an exercise device comprising a first link and a second link, the first link and the second link being movably connected, the locking method of the exercise device comprising:

detecting whether the training equipment is in a state of converting from a state to be locked into a locked state;

when the training equipment is detected to be in a locking state converted from a state to be locked, acquiring the current angles of the first connecting piece and the second connecting piece;

controlling the training equipment to be in a locked state, and controlling the angle formed by the first connecting piece and the second connecting piece to be kept at the current angle.

2. The locking method of an exercise device of claim 1, wherein the step of detecting whether the exercise device is in a transition from a to-be-locked state to a locked state comprises:

detecting whether a locking operation generated based on manual control of the training device is received;

and if the locking operation is received, determining that the training equipment is in a state of being converted from a state to be locked into a locking state.

3. The locking method of a training device of claim 2, wherein the step of detecting whether a locking operation generated based on the manual control lock is received further comprises:

and if the locking operation is not received, determining that the training equipment is in a to-be-locked state.

4. The locking method of an exercise device of claim 1, wherein the step of detecting whether the exercise device is in a transition from a to-be-locked state to a locked state comprises:

detecting the size of an internal included angle formed by the first connecting piece and the second connecting piece in a triangle formed by the first connecting piece, the second connecting piece and a horizontal plane;

detecting whether the size of the inner included angle is smaller than or equal to a preset included angle threshold value or not;

and if the size of the inner included angle is detected to be smaller than or equal to a preset included angle threshold value, determining that the training equipment is in a state of being converted from a state to be locked into a locked state.

5. The method for locking a training device according to claim 4, wherein the step of detecting whether the size of the included angle is smaller than or equal to a preset included angle threshold further comprises:

and if the size of the inner included angle is larger than a preset included angle threshold value, determining that the training equipment is in a state to be locked.

6. A locking device for an exercise apparatus, wherein the locking device is applied to an exercise apparatus, wherein the exercise apparatus comprises a first connecting member and a second connecting member, wherein the first connecting member and the second connecting member are movably connected, wherein the locking device for the exercise apparatus comprises:

the detection module is used for detecting whether the training equipment is in a state of being converted from a state to be locked into a locked state;

the acquisition module is used for acquiring the current angles of the first connecting piece and the second connecting piece when the training equipment is detected to be converted from a state to be locked into a locked state;

and the locking control module is used for controlling the training equipment to be in a locking state and controlling the angle formed by the first connecting piece and the second connecting piece to be kept at the current angle.

7. An exercise device, characterized in that the exercise device comprises: first and second connectors, a memory, a processor and a locking program of an exercise device stored on the memory and executable on the processor, the first and second connectors being operatively connected, the locking program of the exercise device when executed by the processor implementing the steps of the method of locking an exercise device according to any one of claims 1 to 5.

8. Storage medium, characterized in that the storage medium has stored thereon a locking program of an exercise device, which locking program, when executed by a processor, carries out the steps of the method of locking of an exercise device according to any one of claims 1 to 5.

Technical Field

The invention relates to the technical field of medical equipment, in particular to a locking method and device of training equipment, the training equipment and a storage medium.

Background

The bridge type movement can inhibit the extensor spasm mode of the lower limb, is favorable for improving the control and coordination capacity of the pelvis to the lower limb, and is the basis of successful standing and walking training. Therefore, in order to help the lower limb mobility impaired person to return to the normal state as soon as possible, the lower limb mobility impaired person often needs to perform the bridge type movement.

However, when the strength of the knee joint is insufficient in the lower limb movement disorder person, the lower limb movement disorder person may have difficulty performing the bridge type exercise or may not be able to perform the standard posture, or may not continue the bridge type exercise for a long time due to the weak knee joint. At present, no training equipment specially helping the lower limb dyskinesia patient to complete bridge type movement exists in the market.

The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.

Disclosure of Invention

The invention mainly aims to provide a locking method of training equipment, and aims to solve the technical problem that a person with lower limb dyskinesia cannot complete bridge type movement due to insufficient knee joint strength of the person with lower limb dyskinesia.

In order to achieve the above object, the present invention provides a locking method of an exercise device, the locking method of the exercise device being applied to an exercise device, the exercise device including a first link and a second link, the first link and the second link being movably connected, the locking method of the exercise device including:

detecting whether the training equipment is in a state of converting from a state to be locked into a locked state;

when the training equipment is detected to be in a locking state converted from a state to be locked, acquiring the current angles of the first connecting piece and the second connecting piece;

controlling the training equipment to be in a locked state, and controlling the angle formed by the first connecting piece and the second connecting piece to be kept at the current angle.

Optionally, the step of detecting whether the training device is in a state of being converted from a to-be-locked state to a locked state includes:

detecting whether a locking operation generated based on manual control of the training device is received;

and if the locking operation is received, determining that the training equipment is in a state of being converted from a state to be locked into a locking state.

Optionally, the step of detecting whether a lock operation generated based on the manual control lock is received further includes:

and if the locking operation is not received, determining that the training equipment is in a to-be-locked state.

Optionally, the step of detecting whether the training device is in a state of being converted from a to-be-locked state to a locked state includes:

detecting the size of an internal included angle formed by the first connecting piece and the second connecting piece in a triangle formed by the first connecting piece, the second connecting piece and a horizontal plane;

detecting whether the size of the inner included angle is smaller than or equal to a preset included angle threshold value or not;

and if the size of the inner included angle is detected to be smaller than or equal to a preset included angle threshold value, determining that the training equipment is in a state of being converted from a state to be locked into a locked state.

Optionally, after the step of detecting whether the size of the inner included angle is smaller than or equal to a preset included angle threshold, the method further includes:

and if the size of the inner included angle is larger than a preset included angle threshold value, determining that the training equipment is in a state to be locked.

In addition, in order to achieve the above object, the present invention further provides a locking device of an exercise apparatus, the locking device of the exercise apparatus being applied to an exercise apparatus, the exercise apparatus including a first link and a second link, the first link and the second link being movably connected, the locking device of the exercise apparatus including:

the detection module is used for detecting whether the training equipment is in a state of being converted from a state to be locked into a locked state;

the acquisition module is used for acquiring the current angles of the first connecting piece and the second connecting piece when the training equipment is detected to be converted from a state to be locked into a locked state;

and the locking control module is used for controlling the training equipment to be in a locking state and controlling the angle formed by the first connecting piece and the second connecting piece to be kept at the current angle.

Further, to achieve the above object, the present invention also provides a training apparatus including: a memory, a processor and a locking program of a training device stored on the memory and executable on the processor, the locking program of the training device implementing the steps of the locking method of the training device as described above when executed by the processor.

In addition, to achieve the above object, the present invention further provides a storage medium having a locking program of a training apparatus stored thereon, wherein the locking program of the training apparatus realizes the steps of the locking method of the training apparatus as described above when executed by a processor.

The locking method and device of the training equipment, the training equipment and the storage medium provided by the embodiment of the invention are used for determining whether the training equipment is in a state of being converted from a state to be locked into a locked state or not after the knee joint of a lower limb dyskinesia person bends at a specific angle based on a manual control locking mode or an automatic control locking mode. When the training equipment is converted from the state to be locked into the locked state, the current angles of the first connecting piece and the second connecting piece when the training equipment is converted from the state to be locked into the locked state are obtained, the training equipment is controlled to be in the locked state, and the angle formed by the first connecting piece and the second connecting piece of the training equipment is controlled to be kept at the current angle. After the training equipment is locked, a first connecting piece and a second connecting piece of the training equipment form a stable triangle with the upper surface of the bed surface, and the first connecting piece and the bed surface form a stable fixed included angle; and the first connecting piece is bound with the crus of the person with lower limb dyskinesia, so that the crus of the person with lower limb dyskinesia and the bed surface form a stable fixed included angle, thereby forming stable support. Therefore, the knee joint of the lower limb dyskinesia patient is stabilized at a specific flexion angle, the support is provided for the lower limb dyskinesia patient, and the lower limb dyskinesia patient is assisted to carry out bridge type movement; the problem that a person with lower limb movement disorder cannot independently complete bridge type movement due to insufficient knee joint strength of the person with lower limb movement disorder and the like is solved.

Drawings

FIG. 1 is a schematic diagram of a hardware operating environment of a training device according to an embodiment of the present invention;

FIG. 2 is a flowchart illustrating a locking method of a training apparatus according to a first embodiment of the present invention;

FIG. 3 is a diagram illustrating a bridge-type movement of a human body according to a first embodiment of a locking method of an exercise apparatus of the present invention;

FIG. 4 is a schematic diagram of a first embodiment of a locking method of an exercise device according to the present invention, wherein a human body performs a bridge-type motion while wearing the exercise device;

fig. 5 is a functional block diagram of a preferred embodiment of the locking device of the training apparatus of the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1, fig. 1 is a schematic structural diagram of a training device in a hardware operating environment according to an embodiment of the present invention.

The training apparatus may include: processor 101, and memory 201. In the training apparatus, the processor 101 is connected to the memory 201, the memory 201 stores computer readable instructions, and the processor 101 may call the computer readable instructions stored in the memory 201 and implement the steps of the embodiments of the locking method of the training apparatus as described below.

The memory 201 may be used to store software computer readable instructions as well as various data. The memory 201 may mainly include an area for storing computer-readable instructions and an area for storing data. Further, the memory 201 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.

The processor 101, which is the control center of the training apparatus, connects various parts of the entire training apparatus using various interfaces and lines, and performs various functions of the training apparatus and processes data by running or executing software computer-readable instructions and/or modules stored in the memory 201 and calling up data stored in the memory 201, thereby performing overall monitoring of the training apparatus. Processor 101 may include one or more processing units; alternatively, the processor 101 may integrate an application processor, which primarily handles operating systems, user interfaces, application computer readable instructions, etc., and a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 101.

Those skilled in the art will appreciate that the exercise device configuration shown in FIG. 1 does not constitute a limitation of the exercise device, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.

In this embodiment, the training apparatus includes: the locking method of the training device comprises a first connecting piece, a second connecting piece, a memory 201, a processor 101 and a locking program of the training device, wherein the locking program of the training device is stored in the memory 201 and can run on the processor 101, and when the processor 101 calls the locking program of the training device stored in the memory 201, the locking method of the training device provided by the embodiment of the application is executed. The first connecting element and the second connecting element are movably connected, for example, as an embodiment, the first connecting element and the second connecting element are connected by a shaft or a rotation.

Based on the hardware structure, various embodiments of the method are provided.

Referring to fig. 2, fig. 2 is a schematic flow chart of a preferred embodiment of the locking method of the training apparatus of the present invention.

While a logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different than presented herein.

The locking method of the training device is applied to the training device, and in various embodiments of the locking method of the training device, for convenience of description, the various embodiments are explained by taking the training device as an execution subject. In a first embodiment of the locking method of a training apparatus of the present invention, the locking method of the training apparatus comprises:

step S10, detecting whether the training device is in a state of being converted from a state to be locked into a locked state;

for ease of understanding, referring to fig. 3, fig. 3 is a schematic diagram of a human body bridge motion. The bridge type movement is divided into a double-bridge movement form and a single-bridge movement form, the patient lies on the back, the two legs are bent, then the hip is stretched, the hip is lifted, and the movement is kept, so that the bridge type double-bridge movement form is adopted; if the sick leg is bent, the leg is straightened, then the hip is stretched, the hip is lifted, and the hip is kept, the single-bridge motion mode is adopted. When the strength of the knee joint of the lower limb dyskinesia patient is insufficient, the lower limb dyskinesia patient can hardly do bridge type movement or can not achieve very standard posture, or can not continuously do bridge type movement for a long time due to the weakness of the knee joint.

Further, referring to fig. 3 and 4, fig. 4 is a schematic diagram of the human body performing a bridge type motion when wearing the training device. In order to facilitate the bridge type movement of the lower limb dyskinesia patient, the first connecting piece of the training device is tied with the crus of the lower limb dyskinesia patient, and after the knee joint of the lower limb dyskinesia patient bends at a specific angle, the training device locks the joint, so that the first connecting piece and the second connecting piece keep the bent specific angle, and the lower limb dyskinesia patient can stabilize the knee joint at the bending angle. When the knee joint is at a stable flexion angle, the feet of the lower limb dyskinesia patient are stabilized at the position of the bed surface, so that the support is provided for the lower limb dyskinesia patient, and the lower limb dyskinesia patient is assisted to carry out bridge type movement.

After the training equipment is locked, a first connecting piece and a second connecting piece of the training equipment form a stable triangle with the upper surface of the bed surface, and the first connecting piece and the bed surface form a stable fixed included angle; because the first connecting piece is bound with the crus of the person with lower limb dyskinesia, the crus of the person with lower limb dyskinesia and the bed surface form a stable fixed included angle, thereby forming stable and stable support.

For convenience of description, the present embodiment is illustrated with a bed top, and it is understood that the bed top can be replaced with a horizontal support surface such as the ground.

The state to be locked refers to the state of the training device before the training device enters the locked state.

The locking state means that the angle formed by the first connecting piece and the second connecting piece of the training equipment is kept unchanged, the first connecting piece and the second connecting piece of the training equipment form a stable triangle with the upper surface of the bed surface, and the first connecting piece and the bed surface form a stable fixed included angle.

The lower limb movement disorder person, in this embodiment, refers to a user wearing the training apparatus.

Specifically, in one embodiment, the training device may support manual control of the training device in a locked state, and after the lower limb dyskinesia person bends the knee joint at a specific angle, the training device may be manually locked, for example, by inputting a lock control through a specific key on the training device; the training equipment detects whether the locking operation input by the manual input exists, and when the training equipment detects the locking operation input by a user of the training equipment, the training equipment is determined to be in a state of being converted from a state to be locked into a locking state.

In one embodiment, referring to fig. 3 and 4, the training device supports automatic control of the training device in a locked state, and by detecting the bending angle of the knee joint of the person with lower limb dyskinesia, the training device is controlled to be in a locked state converted from a state to be locked when the bending angle of the knee joint of the person with lower limb dyskinesia is less than or equal to a specific angle, so as to further control the training device to enter the locked state. The inner included angle formed by the first connecting piece and the second connecting piece in a triangle formed by the first connecting piece, the second connecting piece and the horizontal plane of the training device is detected, so that the aim of detecting the bending angle of the knee joint of a person with lower limb dyskinesia is fulfilled. Therefore, the size of an inner included angle formed by the first connecting piece and the second connecting piece in a triangle formed by the first connecting piece, the second connecting piece and the horizontal plane of the training device can be detected, and whether the size of the inner included angle formed by the first connecting piece and the second connecting piece is smaller than or equal to a preset included angle threshold value or not is judged. And if the size of an inner included angle formed by the first connecting piece and the second connecting piece is larger than a preset included angle threshold value, controlling the training equipment to be in a state to be locked so as to enable the lower limb dyskinesia patient to further bend the knee joint. And if the size of the inner included angle formed by the first connecting piece and the second connecting piece is detected to be smaller than or equal to the preset included angle threshold, controlling the training equipment to be in a locked state converted from a to-be-locked state, so as to further control the training equipment to enter the locked state according to the control.

Step S20, when detecting that the training device is switched from a state to be locked to a locked state, acquiring the current angles of the first connecting piece and the second connecting piece;

when the training equipment is detected to be in a locked state converted from a to-be-locked state, the current knee joint bending angle of the lower limb dyskinesia person is proved to be the most suitable angle for the lower limb dyskinesia person to carry out bridge type movement, namely the current angle formed between the first connecting piece and the second connecting piece of the training equipment can provide comfortable support for the lower limb dyskinesia person, and the lower limb dyskinesia person is assisted to carry out bridge type movement.

Therefore, when the training equipment is detected to be in a locked state converted from a to-be-locked state, the current angle formed between the first connecting piece and the second connecting piece of the training equipment is obtained, so that the training equipment is locked according to the current angle formed between the first connecting piece and the second connecting piece of the training equipment, the knee joint of the lower limb dyskinesia patient is stabilized at a specific flexion angle, support is provided for the lower limb dyskinesia patient, and the lower limb dyskinesia patient is assisted in bridge type movement.

The current angle refers to the size of an inner included angle formed by the first connecting piece and the second connecting piece in a triangle formed by the first connecting piece, the second connecting piece and the horizontal plane of the training equipment when the training equipment is converted from the state to be locked to the locked state.

The first connecting piece is a part for binding the training equipment with the lower leg of the person with lower limb dyskinesia when the person with lower limb dyskinesia wears the training equipment.

The second link is the portion of the exercise device that is connected to the first link, as shown in figure 4.

And step S30, controlling the training device to be in a locked state, and controlling the angle formed by the first connecting piece and the second connecting piece to be kept at the current angle.

For easy understanding, referring to fig. 3 and 4, when the bending angle of the knee joint of the person with lower limb dyskinesia is smaller than or equal to a specific angle, the training device is controlled to enter a locking state from a state to be locked, the training device is locked, so as to stabilize the training device, the angle formed by the first connecting piece and the second connecting piece of the training device is kept to be the current angle when the state to be locked is converted into the locking state, and after the training device is locked, the first connecting piece and the second connecting piece of the training device form a stable triangle with the upper surface of the bed surface. Thereby realizing the purpose of stabilizing the knee joint of the lower limb dyskinesia patient at a specific flexion angle, providing support for the lower limb dyskinesia patient and assisting the lower limb dyskinesia patient to carry out bridge type movement

In this embodiment, it is determined whether the training apparatus is in the state of being converted from the state to be locked to the locked state after the lower limb dyskinetic person bends the knee joint by a certain angle based on the manner of manual control locking or automatic control locking. When the training equipment is in a state of being converted from a state of waiting to be locked into a locked state, the current angles of the first connecting piece and the second connecting piece when the training equipment is in the state of waiting to be locked are obtained, the training equipment is controlled to be in the locked state, and the angle formed by the first connecting piece and the second connecting piece of the training equipment is controlled to be kept at the current angle. After the training equipment is locked, a first connecting piece and a second connecting piece of the training equipment form a stable triangle with the upper surface of the bed surface, and the first connecting piece and the bed surface form a stable fixed included angle; and the first connecting piece is bound with the crus of the person with lower limb dyskinesia, so that the crus of the person with lower limb dyskinesia and the bed surface form a stable fixed included angle, thereby forming stable support. Therefore, the knee joint of the lower limb dyskinesia patient is stabilized at a specific flexion angle, the support is provided for the lower limb dyskinesia patient, and the lower limb dyskinesia patient is assisted to carry out bridge type movement; the problem that a person with lower limb movement disorder cannot independently complete bridge type movement due to insufficient knee joint strength of the person with lower limb movement disorder and the like is solved.

Further, based on the above first embodiment, a second embodiment of the locking method of the training apparatus of the present invention is proposed, and step S10 includes:

step A1, detecting whether a locking operation generated based on manual control of the training device is received;

the locking operation refers to an operation of a user of the training equipment for inputting and controlling the locking of the training equipment based on a control key of the training equipment, such as a mechanical key or an electronic key; the training apparatus locks the training apparatus based on the user-input operation of controlling the locking of the training apparatus after receiving the user-input operation of controlling the locking of the training apparatus.

Specifically, the training device may support manual control of the training device in a locked state, and after the lower limb dyskinesia person bends the knee joint by a specific angle, the training device may be locked manually, for example, by inputting a locking control through a specific key on the training device. Whether a user who receives the training equipment inputs an operation for controlling the locking of the training equipment based on a control key of the training equipment, such as a mechanical key or an electronic key, is detected, so that the training equipment is further controlled to enter a locking state according to the received locking control operation.

Step A2, if the locking operation is received, determining that the training device is in a state of being converted from a state of waiting to be locked to a locking state.

And if the user who receives the training equipment controls the locking operation of the training equipment based on the control key input of the training equipment, determining that the training equipment is in the state converted from the state to be locked to the locking state. The current knee joint bending angle of the lower limb dyskinesia person is most suitable for the lower limb dyskinesia person to carry out bridge type movement, namely the current angle formed between the first connecting piece and the second connecting piece of the training equipment can provide comfortable support for the lower limb dyskinesia person and assist the lower limb dyskinesia person to carry out bridge type movement.

When the training equipment is determined to be in the state of being converted from the state of waiting to be locked to the locked state, the training equipment is further controlled to enter the locked state from the state of waiting to be locked according to the state of the training equipment when the training equipment is converted from the state of waiting to be locked to the locked state, such as the angle between the first connecting piece and the second connecting piece. When the training equipment is controlled to be in the locking state, the angle between the first connecting piece and the second connecting piece of the training equipment is kept to be the angle when the state to be locked is converted into the locking state.

Further, step a1 is followed by:

step A3, if the locking operation is not received, determining that the training device is in a state to be locked.

And if the user who does not receive the training equipment inputs the operation for controlling the locking of the training equipment based on the control key of the training equipment, determining that the training equipment is still in the state to be locked, and further detecting whether the user who receives the training equipment inputs the operation for controlling the locking of the training equipment based on the control key of the training equipment and the like. Whether the training equipment is controlled to enter a locking state from a state to be locked or not is further determined, the knee joint of the lower limb dyskinesia patient is stabilized at a specific flexion angle, support is provided for the lower limb dyskinesia patient, and the lower limb dyskinesia patient is assisted to carry out bridge type movement.

In the embodiment, the training equipment is controlled to enter the locking state through manual input, so that a person with lower limb dyskinesia can manually control the training equipment to lock when the knee joint is bent to the most comfortable angle according to the requirement of the person. The knee joint of the lower limb dyskinesia patient is stabilized at a specific flexion angle, the support is provided for the lower limb dyskinesia patient, and the lower limb dyskinesia patient is assisted to carry out bridge type movement.

Further, based on the above-described first embodiment, a third embodiment of the locking method of the training apparatus of the present invention is proposed, and step S10 includes:

step B1, detecting the size of an internal included angle formed by the first connecting piece and the second connecting piece in a triangle formed by the first connecting piece, the second connecting piece and a horizontal plane;

for easy understanding, referring to fig. 3 and 4, the training device supports automatic control of the training device to be in a locked state, and by detecting the bending angle of the knee joint of the lower limb dyskinetic person, when the bending angle of the knee joint of the lower limb dyskinetic person is less than or equal to a specific angle, the training device is controlled to be in a locked state converted from the locked state, so as to further control the training device to enter the locked state.

Specifically, the size of an inner included angle formed by a first connecting piece and a second connecting piece in a triangle formed by the first connecting piece, the second connecting piece and a horizontal plane of the training device is detected. Because the first connecting piece of the training equipment is bound with the crus of the person with lower limb dyskinesia, the aim of detecting the bending angle of the knee joint of the person with lower limb dyskinesia can be fulfilled by detecting the size of an internal included angle formed by the first connecting piece and the second connecting piece in a triangle formed by the first connecting piece, the second connecting piece and the horizontal plane of the training equipment.

In this embodiment, a preset included angle threshold is preset as the most comfortable flexion angle for the lower limb movement obstacle to perform the bridge type movement. The method comprises the steps of detecting the size of an inner included angle formed by a first connecting piece, a second connecting piece and a horizontal plane of the training equipment and the size relation of an included angle threshold value, so as to determine whether the current bending angle of the knee joint of the lower limb dyskinesia patient is the most comfortable bending angle for the lower limb dyskinesia patient to perform bridge type movement.

Step B2, detecting whether the size of the inner included angle is smaller than or equal to a preset included angle threshold value;

the preset included angle threshold may be set according to specific requirements, and a specific value of the preset included angle threshold is not limited in this embodiment. However, in order to form a stable triangle with the horizontal plane by the first connecting part and the second connecting part of the training device, the feet of the lower limb dyskinesia patient can be stabilized on the bed surface, the support is provided for the lower limb dyskinesia patient, the lower limb dyskinesia patient is assisted to carry out bridge type movement, and the preset included angle threshold value is larger than 0 degree and smaller than 180 degrees.

For ease of understanding, the description is made with reference to specific embodiments. For example, if the preset included angle threshold is 90 °, it is detected whether the size of the internal included angle formed by the first connecting piece and the second connecting piece in the triangle formed by the first connecting piece, the second connecting piece and the horizontal plane of the training device is smaller than or equal to 90 °. If the preset included angle threshold is 75 degrees, whether the size of an inner included angle formed by the first connecting piece and the second connecting piece in a triangle formed by the first connecting piece, the second connecting piece and the horizontal plane of the training device is smaller than or equal to 75 degrees is detected.

And step B3, if the size of the inner included angle is detected to be smaller than or equal to a preset included angle threshold value, determining that the training equipment is in a state of being converted from a state to be locked into a locked state.

If the size of an inner included angle formed by the first connecting piece and the second connecting piece in a triangle formed by the first connecting piece, the second connecting piece and the horizontal plane of the training equipment is detected to be smaller than or equal to a preset included angle threshold value, the current bending angle of the knee joint of the lower limb dyskinesia patient is considered to be the most comfortable bending angle for the lower limb dyskinesia patient to carry out bridge type movement, the condition of automatically controlling the training equipment to enter a locking state is met, and the training equipment is determined to be in a state converted from a state to be locked into a locking state.

After the training equipment is determined to be in the locked state converted from the to-be-locked state, the training equipment is further controlled to enter the locked state from the to-be-locked state according to the state of the training equipment when the training equipment is converted from the to-be-locked state to the locked state, such as the angle between the first connecting piece and the second connecting piece. When the training equipment is controlled to be in the locking state, the angle between the first connecting piece and the second connecting piece of the training equipment is kept to be the angle when the training equipment is in the state to be locked.

Further, step B2 is followed by:

and step B4, if the size of the inner included angle is detected to be larger than a preset included angle threshold value, determining that the training equipment is in a state to be locked.

If the size of an inner included angle formed by the first connecting piece and the second connecting piece is larger than a preset included angle threshold value in a triangle formed by the first connecting piece, the second connecting piece and the horizontal plane of the training equipment, the training equipment is determined to be in a state to be locked, and the lower limb dyskinesia person can further bend the knee joint. And continuously detecting whether the size of an inner included angle formed by the first connecting piece and the second connecting piece in a triangle formed by the first connecting piece, the second connecting piece and the horizontal plane of the training device is smaller than or equal to a preset included angle threshold value. Whether the training equipment is controlled to enter a locking state from a state to be locked or not is further determined, the knee joint of the lower limb dyskinesia patient is stabilized at a specific flexion angle, support is provided for the lower limb dyskinesia patient, and the lower limb dyskinesia patient is assisted to carry out bridge type movement.

In the embodiment of the invention, whether the training equipment is locked or not is determined by detecting the size relation between the size of an inner included angle formed by the first connecting piece and the second connecting piece and a preset included angle threshold value in a triangle formed by the first connecting piece, the second connecting piece and the horizontal plane of the training equipment, so that the training equipment is automatically controlled to enter a locking state. Therefore, when a person with lower limb dyskinesia bends the knee joint to the most comfortable angle, the training device is automatically controlled to lock. The knee joint of the lower limb dyskinesia patient is stabilized at a specific flexion angle, the support is provided for the lower limb dyskinesia patient, and the lower limb dyskinesia patient is assisted to carry out bridge type movement.

In addition, the embodiment of the invention also provides a locking device of the training equipment.

Referring to fig. 5, fig. 5 is a functional block diagram of a preferred embodiment of the locking device of the training apparatus of the present invention.

In this embodiment, the locking device of the training apparatus is applied to the training apparatus, the training apparatus includes a first connecting member and a second connecting member, the first connecting member and the second connecting member are movably connected, and the locking device of the training apparatus includes:

the detection module 10 is configured to detect whether the training device is in a state that is converted from a to-be-locked state to a locked state;

an obtaining module 20, configured to obtain current angles of the first connecting element and the second connecting element when it is detected that the training apparatus is in a state of being converted from a state to be locked to a locked state;

and the locking control module 30 is used for controlling the training device to be in a locking state and controlling the angle formed by the first connecting piece and the second connecting piece to be kept at the current angle.

Further, the detection module 10 includes:

a first detection unit configured to detect whether a locking operation generated based on manual control of the training apparatus is received;

and the first state determination unit is used for determining that the training equipment is in a state converted from a state to be locked into a locked state if the locking operation is received.

Further, the detection module 10 further includes:

a second state determination unit, configured to determine that the training apparatus is in a to-be-locked state if the locking operation is not received.

Further, the detection module 10 includes:

the second detection unit is used for detecting the size of an inner included angle formed by the first connecting piece and the second connecting piece in a triangle formed by the first connecting piece, the second connecting piece and a horizontal plane;

the third detection unit is used for detecting whether the size of the inner included angle is smaller than or equal to a preset included angle threshold value or not;

and the third state determining unit is used for determining that the training equipment is in a state of being converted from a state to be locked into a locked state if the size of the inner included angle is smaller than or equal to a preset included angle threshold value.

Further, the detection module 10 further includes:

and the fourth state determining unit is used for determining that the training equipment is in a state to be locked if the size of the inner included angle is larger than a preset included angle threshold value.

In addition, an embodiment of the present invention further provides a storage medium, where a locking program of a training apparatus is stored on the storage medium, and when executed by a processor, the locking program of the training apparatus implements the following operations:

detecting whether the training equipment is in a state of converting from a state to be locked into a locked state;

when the training equipment is detected to be in a locking state converted from a state to be locked, acquiring the current angles of the first connecting piece and the second connecting piece;

controlling the training equipment to be in a locked state, and controlling the angle formed by the first connecting piece and the second connecting piece to be kept at the current angle.

Further, the step of detecting whether the training device is in a state of being converted from a to-be-locked state to a locked state comprises:

detecting whether a locking operation generated based on manual control of the training device is received;

and if the locking operation is received, determining that the training equipment is in a state of being converted from a state to be locked into a locking state.

Further, the step of detecting whether a lock operation generated based on the manual control lock is received further comprises:

and if the locking operation is not received, determining that the training equipment is in a to-be-locked state.

Further, the step of detecting whether the training device is in a to-be-locked state comprises:

detecting the size of an internal included angle formed by the first connecting piece and the second connecting piece in a triangle formed by the first connecting piece, the second connecting piece and a horizontal plane;

detecting whether the size of the inner included angle is smaller than or equal to a preset included angle threshold value or not;

and if the size of the inner included angle is detected to be smaller than or equal to a preset included angle threshold value, determining that the training equipment is in a state of being converted from a state to be locked into a locked state.

Further, after the step of detecting whether the size of the inner included angle is smaller than or equal to a preset included angle threshold, the method further includes:

and if the size of the inner included angle is larger than a preset included angle threshold value, determining that the training equipment is in a state to be locked.

The specific implementation of the storage medium of the present invention may refer to each embodiment of the locking method of the training device, and is not described herein again.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.