CN112631148A - Exoskeleton robot platform communication protocol and online simulation control system - Google Patents
Exoskeleton robot platform communication protocol and online simulation control system Download PDFInfo
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Abstract
The invention provides an exoskeleton robot platform communication protocol and an online simulation control system, and relates to the technical field of robot simulation; the communication protocol comprises a bottom layer control instruction and a user function instruction, the bottom layer control instruction realizes remote data monitoring or simulation application of an external terminal to the exoskeleton robot body, and the user function instruction realizes the operation of an internal packaging function of the exoskeleton robot body and enables the exoskeleton robot body to be switched between a server working mode and a client working mode; the on-line simulation control system based on the communication protocol completes the control operation of the exoskeleton robot body through the protocol, is compatible with various connection schemes, and integrates various effective tools such as data monitoring, data acquisition and export, built-in kinematics/dynamics models and the like; the communication protocol and the online simulation control system based on the protocol provided by the invention play an important role in the research and development of exoskeletal robots.
Description
Technical Field
The invention relates to the technical field of robot simulation, in particular to an exoskeleton robot platform communication protocol and an online simulation control system.
Background
The exoskeleton robot technology is a comprehensive technology which integrates sensing, control, information, fusion and mobile computing and provides a wearable mechanical mechanism for a person as an operator. In technical application, the exoskeleton robot can be divided into a rehabilitation exoskeleton robot for rehabilitation training, an auxiliary exoskeleton robot for walking assistance and an enhanced exoskeleton robot for assisting power enhancement.
The exoskeleton robot is taken as wearable intelligent equipment with strong man-machine coupling, the human factor engineering design is not only reflected in the comfortable wearing feeling, and the built-in human motion intention recognition system, the motion control algorithm, the external control terminal and other man-machine interaction schemes are also important components of the exoskeleton robot.
The human-computer interaction scheme of the exoskeleton robot is mainly used for a controller to transmit control information to an exoskeleton robot system, and the conventional human-computer interaction scheme can be divided into two types of passive perception type interaction and active control type interaction.
The passive sensing type interaction scheme is not limited to a human motion intention recognition system based on built-in mechanical sensing and a position sensor, a human motion intention detection system based on external electroencephalogram and electromyogram signals and the like, the intelligent degree of the interaction scheme is high, but relatively, the algorithm running calculation power requirement is high, and a high requirement is put forward to a processor;
the active control type interaction scheme comprises but is not limited to dominant control information input forms based on wearable devices such as airborne keys, touch display screen controllers, computers, smart phones, smart watches and AR glasses, the system stability of the interaction scheme is high, the implementation difficulty is relatively low, and development can be completed by relying on external devices.
In actual system design and application, the two schemes are generally mixed and matched for use, and the specific control terminal is also composite and diversified. The complete single-power exoskeleton robot system at least comprises three major components: mechanical structure and motion executor, main control and storage unit, sensing and other input devices. In the robot control scheme, the main controller executes corresponding algorithm programs in the storage unit based on the acquired information of the input equipment, and the mechanical structure and the motion actuator are used as controlled objects to execute corresponding actions. Through a distributed intelligent control system, cloud computing, 5G and other low-delay communication technologies, complex algorithms in a control system in a traditional exoskeleton robot can be migrated to other platforms, the exoskeleton robot system is simplified into a single execution unit, and therefore centralized management and decentralized control under the use of an exoskeleton cluster are achieved.
The exoskeleton robot is used as a typical application case of man-machine coupling, the combination application of various man-machine interaction forms and interaction terminals is very wide, but due to the difference of a man-machine interaction terminal operation platform, a connection mode and control authority, higher requirements are provided for the adaptability of the exoskeleton robot and the man-machine interaction terminal.
For the exoskeleton robot body, firstly, corresponding hardware connection schemes (wired RS232/485, CAN, network cable, wireless bluetooth, WiFi and the like) need to be equipped, and meanwhile, different interface protocols used need to be customized according to different external terminal requirements. Therefore, the types and complexity of the interface protocols of the exoskeleton robot body can be increased along with the increase of platform connection terminals. Secondly, for external terminals, the usage can be divided into three categories: the data platform monitors and displays, functions, operations and debugging control; a data platform monitoring display terminal generally needs to acquire normal electric quantity, attitude angle and operation state information from an exoskeleton robot body, and displays, stores or processes the information into a chart form for monitoring or data analysis; a function operation terminal, generally referred to as an external controller, needs to transmit related control information, such as parameters of startup and shutdown, switching of working modes, power level adjustment and the like, to the exoskeleton robot; the debugging control terminal generally takes over the exoskeleton robot completely, acquires motion sensing information of the exoskeleton robot body on line in real time, analyzes and processes the motion sensing information at the remote terminal, and returns the motion sensing information to the exoskeleton robot to control the motion of the exoskeleton robot. The three types of terminals have differences from the type of the running platform to the type and the number of parameters transmitted by the running platform and the exoskeleton robot, the real-time requirements of the parameters and the control authority level of the terminals, and the single development can cause higher complexity of the whole system, redundant program codes and poorer compatibility.
In addition, exoskeleton robot technology belongs to the leading-edge technology, relates to sensing, control, information, mobile computation and other directions, and has more research points for related control, information, computation and other researches besides robot body design.
Disclosure of Invention
The invention aims to provide an exoskeleton robot platform communication protocol and an online simulation control system, which can be compatible with various types of external terminals of an exoskeleton robot, and simultaneously provides an online simulation control system based on the protocol, which can perform exoskeleton online simulation operation and control across platforms, and solves the technical problems that in the prior art, an exoskeleton robot interface protocol is complicated, poor in compatibility and difficult to perform exoskeleton online simulation operation and control across platforms.
In order to achieve the above purpose, the invention provides the following technical scheme: a exoskeleton robot platform communication protocol is characterized in that a data frame comprises a frame header, a frame length, a function code, an operation code, a node code, a data section and a check section; the frame header is a double-byte value and is used for representing the start of a data frame; the frame length is a single byte value and is used for indicating the length of a data frame;
the operation code is a single byte value and is based on a C/S architecture and used for distinguishing a client signal and a server signal; the operation code is used for representing the operation functions of the data frame and comprises a parameter writing instruction, a parameter reading instruction, a bottom layer function calling instruction, a packaging function calling instruction, a parameter writing return instruction, a parameter reading return instruction, a bottom layer function calling return instruction and a packaging function return instruction;
the function code is a single byte value, the representation range of the function code is 0-255, and the function code is used for representing the function ID of the instruction; the node codes are single-byte values, the representation range of the node codes is 0-255, and the node codes are used for representing hardware node IDs inside the exoskeleton robot; the function code and the node code are combined to realize the function of the exoskeleton robot system;
the length of the data segment is not less than four bytes and is used for storing data transmitted by the data frame; the check segment is double-byte in length and is used for representing a data check result of the data frame.
Further, the exoskeleton robot platform communication protocol comprises bottom layer control instructions and user function instructions;
the bottom layer control instruction comprises joint motor data reading and writing and fuselage sensor information reading and writing, and is used for an external terminal to directly acquire real-time information of the exoskeleton robot body and write related control instructions for remote data monitoring or simulation application;
the user function instruction comprises control mode reading and writing and user configuration reading and writing, the user function instruction is used for an external terminal to operate the packaging function in the exoskeleton robot body, and the packaging function comprises switching of the working mode of the exoskeleton robot, squatting, leg lifting and landing and switching of going upstairs and downstairs.
Furthermore, the exoskeleton robot comprises two working modes, namely a server working mode and a client working mode;
the working mode of the server is as follows: the exoskeleton robot body takes a central control unit of the exoskeleton robot body as a control end under an exoskeleton robot platform communication protocol, an external terminal connected to the exoskeleton robot is taken as a system module of the exoskeleton robot, and the exoskeleton robot moves based on an internal function module of the exoskeleton robot;
the working mode of the client is as follows: the exoskeleton robot body is used as an execution module in the exoskeleton robot system under an exoskeleton robot platform communication protocol, and a central control unit of the exoskeleton robot is used as an information relay; the exoskeleton robot body moves according to the received control signals sent by the external terminal.
Further, the function code represents functions including hip/knee/ankle angle, hip/knee/ankle angular velocity, hip/knee/ankle acceleration, hip/knee current slope, hip/knee operation mode, hip/knee target moment, hip/knee target position, hip/knee pulse count, and maximum velocity in hip/knee position mode.
Further, the hardware nodes represented by the node codes comprise a left shank node, a left thigh node, a right shank node, a right thigh node and a back node.
Further, the transmission communication modes supported by the exoskeleton robot platform communication protocol include, but are not limited to, wired RS232/485, CAN, network cable, wireless WiFi, and bluetooth; the exoskeleton robot platform communication protocol enables the hardware communication module carried by the external terminal connected to the exoskeleton robot body to comprise but not limited to Windows and Android platforms; the exoskeleton robot platform communication protocol enables the exoskeleton robot body to be simultaneously connected with one or more types of external terminals under the conditions of CAN bus protocol, WLAN or WiFi, and the external terminals include but are not limited to HMI handheld terminals, mobile phones, computers and monitoring display equipment.
The invention also provides an online simulation control system of the exoskeleton robot, which comprises an exoskeleton robot 3D model, a data monitoring and storage derivation unit, a communication unit, an exoskeleton robot physical model, an exoskeleton robot kinematics model and an exoskeleton robot dynamics model, wherein the communication unit is used for connecting a plurality of exoskeleton robot bodies;
the online simulation control system acquires real-time sensing information of the exoskeleton robot body based on the exoskeleton robot platform communication protocol, updates and drives the 3D model of the exoskeleton robot to move to a relative position in real time according to the acquired real-time sensing information, and synchronizes the posture of the exoskeleton robot body to a software display page of the online simulation control system in real time; the real-time sensing information comprises joint angle information, angular velocity information, angular acceleration information and trunk pitch angle information;
the data monitoring and storage export unit is provided with a monitoring control and a storage control, and the monitoring control is used for displaying exoskeleton robot data received by the online simulation control system in a data curve form in real time according to chip selection; the storage control is used for starting a data storage switch of the online simulation control system so as to store the data received by the online simulation control system into a local database in a designated form or export the screened data for use;
the exoskeleton robot physical model is used for an online simulation control system to perform fine tuning simulation and custom modification according to an exoskeleton robot body, and the content of the custom modification comprises limb length, mass, gravity center position and joint angle range;
the exoskeleton robot kinematics model and the exoskeleton robot dynamics model are used for calculating control designated positions or torque output information of the exoskeleton robot body according to the exoskeleton robot body data acquired by the online simulation control system, and the exoskeleton robot kinematics model and the exoskeleton robot dynamics model are used for supporting the use of online or offline imported stored data.
Furthermore, the online simulation control system also comprises an online control unit, wherein the online control unit is used for acquiring the control authority of the exoskeleton robot body and performing online control on the exoskeleton robot body; the online control unit controls the operation mode of a joint servo motor on the exoskeleton robot body and outputs different scenes of the exoskeleton robot body; the operation modes of the joint servo motor comprise an angle mode, an angular speed mode and a torque output mode.
Further, the communication unit is RS232/485, CAN, WLAN, Bluetooth or WiFi.
Further, the online simulation control system is a semi-open source system.
According to the technical scheme, the exoskeleton robot platform communication protocol and the online simulation control system provided by the technical scheme of the invention have the following beneficial effects:
compared with the prior art, the exoskeleton robot platform communication protocol and the online simulation control system disclosed by the invention provide a more complete, cross-platform and special exoskeleton robot communication protocol with higher integration level; the data frame of the communication protocol comprises a frame header, a frame length, a function code, an operation code, a node code, a data section and a check section; the communication protocol comprises a bottom layer control instruction and a user function instruction, the bottom layer control instruction realizes remote data monitoring or simulation application of an external terminal to the exoskeleton robot body, and the user function instruction realizes operation of an internal packaging function of the exoskeleton robot body and enables the exoskeleton robot body to be switched between a server working mode and a client working mode;
in addition, the communication protocol supports transmission in the forms of wired RS232/485, CAN, network cable or wireless WiFi, Bluetooth and the like, and the connection terminal CAN be connected with the exoskeleton terminal as long as the connection terminal is provided with a related hardware communication module; based on the communication protocol, all external terminals related to the exoskeleton robot can be connected to the robot body, and robot control operation is completed through the protocol, so that the exoskeleton robot is not limited to Windows and Android which are platforms carried by the external terminals, and is not limited to external terminal types, and data sharing is performed.
The on-line simulation control system based on the communication protocol is specially used for simulation control of the exoskeleton robot, is compatible with various connection schemes, integrates various effective tools such as data monitoring, data acquisition and derivation, built-in kinematics/dynamics models and the like, and can play an important role in related research and development or research of the exoskeleton robot. In addition, the on-line simulation control system adopts a semi-open source design, can be developed secondarily, is used for system verification or algorithm verification of an exoskeleton robot related system, provides later-stage design guidance, simplifies a system development process and accelerates the system iteration speed.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a communication diagram of an exoskeleton robot platform.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Similarly, the singular forms "a," "an," or "the" do not denote a limitation of quantity, but rather denote the presence of at least one, unless the context clearly dictates otherwise. The terms "comprises," "comprising," or the like, mean that the elements or items listed before "comprises" or "comprising" encompass the features, integers, steps, operations, elements, and/or components listed after "comprising" or "comprising," and do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. "upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute position of the object to be described is changed, the relative positional relationships may also be changed accordingly.
Based on the prior art, when an exoskeleton robot body is provided with different hardware connection schemes, different interface protocols to be used need to be customized according to different external terminal requirements, so that the interface protocols are complicated; the exoskeleton robot body needs different parameters for regulating and controlling the exoskeleton robot according to different types of external terminals, so that the exoskeleton robot system has higher complexity, poorer compatibility and difficult online running test; the invention aims to provide a communication protocol and an online simulation control system of an exoskeleton robot platform, wherein the communication protocol is compatible with external terminals related to an exoskeleton robot and can be connected to an exoskeleton robot body, and robot control operation is completed through the protocol without being limited to the type of the external terminals; the online simulation control system based on the protocol and related to a semi-open source can perform online simulation operation and control on the exoskeleton in a cross-platform manner, is compatible with various connection schemes, integrates various effective tools such as data monitoring, data acquisition and derivation, built-in kinematics/dynamics models and the like, and plays an important role in related research and development of the exoskeleton robot or research.
The exoskeleton robot platform communication protocol and the online simulation control system of the present invention are further described in detail with reference to the specific embodiments.
The exoskeleton robot platform communication protocol aims to get through communication barriers of an exoskeleton robot body and various external terminals of the exoskeleton robot body, and is used for realizing communication between the exoskeleton robot body and the external terminals under an exoskeleton robot platform. Specifically, the data frame of the exoskeleton robot platform communication protocol comprises a frame header, a frame length, a function code, an operation code, a node code, a data section and a check section.
The frame header is a double-byte value and is used for indicating the start of a data frame; the frame length is a single byte value and is used for indicating the length of the data frame; the length of the data segment is not less than four bytes and is used for storing data transmitted by the data frame; the check segment is double-byte in length and is used for representing the data check result of the data frame; the operation code is a single byte value and is based on a C/S architecture and used for distinguishing a client signal and a server signal; the operation code is used for representing the operation function of the data frame and comprises a parameter writing instruction, a parameter reading instruction, a bottom layer function calling instruction, a packaging function calling instruction, a parameter writing return instruction, a parameter reading return instruction, a bottom layer function calling return instruction and a packaging function return instruction; the function code is a single byte value, the representation range of the function code is 0-255, and the function code is used for representing the function ID of the instruction; the node codes are single-byte values, the representation range of the node codes is 0-255, and the node codes are used for representing hardware node IDs inside the exoskeleton robot; the function code and the node code combination can flexibly represent and realize the function of the exoskeleton robot system. Meanwhile, the length of the functional code of the communication protocol data frame supports expansion, so that the communication protocol has expansibility.
In specific implementation, the functions represented by the function codes comprise hip/knee/ankle angles, hip/knee/ankle angular velocities, hip/knee/ankle accelerations, hip/knee current slopes, hip/knee operation modes, hip/knee target moments, hip/knee target positions, hip/knee pulse counts, and maximum velocities in the hip/knee position modes; the hardware nodes represented by the node codes comprise a left shank node, a left thigh node, a right shank node, a right thigh node and a back node.
TABLE 1 data frame composition
TABLE 2 function code parameter table
TABLE 3 opcode parameter Table
| Serial number | Function(s) | Operation code |
| 1 | Parameter write instruction | 0x01 |
| 2 | Parameter fetch instruction | 0x02 |
| 3 | Bottom function call instruction | 0x04 |
| 4 | Encapsulated function call instruction | 0x06 |
| 5 | Parameter write return instruction | 0x10 |
| 6 | Parameter read return instruction | 0x20 |
| 7 | Bottom layer function call return instruction | 0x40 |
| 8 | Encapsulated function return instruction | 0x80 |
TABLE 4 node code parameter Table
| Serial number | Function(s) | Operation code |
| 1 | Left shank node | 0x01 |
| 2 | Left thigh node | 0x02 |
| 3 | Right thigh node | 0x03 |
| 4 | Right crus node | 0x04 |
| 5 | Back node | 0x00 |
Tables 1 to 4 list specific examples of a type of data frame, function code, operation code, and node code, for example, data of the function code, operation code, and node code positions in the data frame in table 1 may be replaced by data corresponding to any one of tables 2, 3, and 4, so as to implement obtaining and returning to different targets and different data.
The exoskeleton robot platform communication protocol is different according to different implementation functions, and the classification of data frame instructions of the exoskeleton robot platform communication protocol is different, wherein the data frame instructions comprise bottom layer control instructions and user function instructions; the bottom layer control instruction comprises joint motor data reading and writing and fuselage sensor information reading and writing, and the instructions are used for an external terminal to directly acquire real-time information of the exoskeleton robot body and write related control instructions, and can be used for remote data monitoring or simulation application; the user function instructions comprise control mode reading and writing and user configuration reading and writing, the instructions are used for operating the functions of encapsulation in the exoskeleton robot body by a common external terminal, and the encapsulation functions comprise switching of the working mode of the exoskeleton robot, squatting, leg lifting and dropping, switching of going upstairs and downstairs and the like.
The exoskeleton robot platform communication protocol enables the exoskeleton robot working mode to comprise a server working mode and a client working mode; the working mode of the server is as follows: the exoskeleton robot body takes a central control unit of the exoskeleton robot body as a control end under an exoskeleton robot platform communication protocol, an external terminal connected to the exoskeleton robot is taken as a system module of the exoskeleton robot, and the exoskeleton robot carries out motion decision based on an internal function module of the exoskeleton robot; the working mode of the client is as follows: the exoskeleton robot body is used as an execution module in the exoskeleton robot system under an exoskeleton robot platform communication protocol, a central control unit of the exoskeleton robot body is used as an information relay to transfer control right to an external terminal with processing capability, and the exoskeleton robot body moves according to a control signal received by the exoskeleton robot body and sent by the external terminal.
The exoskeleton robot platform communication protocol supports transmission in the form of wired RS232/485, CAN, network cable or wireless WiFi, Bluetooth and the like, the type of the connected external terminal needs to be provided with a related hardware communication module to realize connection with an exoskeleton robot body through the exoskeleton robot platform communication protocol, and the exoskeleton robot platform communication protocol is not limited to Windows and Android platforms carried by the external terminal, and CAN also be other hardware communication modules. The exoskeleton robot platform communication protocol enables an exoskeleton robot body to support simultaneous connection of one or more different types of terminals under the conditions of a CAN bus protocol, a WLAN (wireless local area network) or a WiFi (wireless fidelity), and simultaneously connect external terminals such as an HMI (human machine interface) handheld terminal, a mobile phone, a computer and a monitoring display device within a hardware allowed range, and all the external terminals CAN share data within an allowed authority range, as shown in figure 1.
The invention also provides an exoskeleton robot online simulation control system based on the communication protocol, which comprises an exoskeleton robot 3D model, a data monitoring and storage derivation unit, a communication unit, an exoskeleton robot physical model, an exoskeleton robot kinematics model and an exoskeleton robot dynamics model, wherein the communication unit is used for connecting a plurality of exoskeleton robot bodies; when the exoskeleton robot online simulation control system is specifically connected, the exoskeleton robot online simulation control system supports various communication connection schemes, for example, a communication unit adopts RS232/485, CAN, WLAN, Bluetooth or WiFi, supports multipoint connection, and realizes simultaneous connection control of a plurality of exoskeleton robot bodies.
Specifically, the online simulation control system acquires real-time sensing information of the exoskeleton robot body, such as joint angle information, angular velocity information, angular acceleration information, trunk pitch angle information and the like, based on the exoskeleton robot platform communication protocol, updates and drives the 3D model of the exoskeleton robot to move to a relative position in real time according to the acquired real-time sensing information, and synchronizes the posture of the exoskeleton robot body to a software display page of the online simulation control system in real time.
The data monitoring and storage export unit of the online simulation control system is provided with a monitoring control and a storage control, wherein the monitoring control is used for displaying exoskeleton robot data received by the online simulation control system in a data curve form in real time according to chip selection; the storage control is used for starting a data storage switch of the online simulation control system so as to store the data received by the online simulation control system into a local database in a designated form or export the screened data for use according to the user requirements.
The exoskeleton robot physical model of the online simulation control system is used for the online simulation control system to parameterize partial data of the physical model according to the exoskeleton robot body, and perform fine-tuning simulation and custom modification, wherein the content of the custom modification comprises the length, the mass, the gravity center position and the joint angle range of a limb, so that the exoskeleton robot physical model has certain generalization capability. Meanwhile, the exoskeleton robot kinematics model and the exoskeleton robot dynamics model are used for calculating control designated positions or torque output information of the exoskeleton robot body according to the exoskeleton robot body data acquired by the online simulation control system, and the exoskeleton robot kinematics model and the exoskeleton robot dynamics model also support the use of online or offline imported and stored data.
The online simulation control system also comprises an online control unit, wherein the online control unit is used for acquiring the control authority of the exoskeleton robot body and performing online control on the exoskeleton robot body under the condition of the support of the exoskeleton robot body system; the control method comprises the steps that an online control unit controls the operation modes of joint servo motors on an exoskeleton robot body and outputs different scenes of the exoskeleton robot body, wherein the operation modes of the joint servo motors comprise an angle mode, an angular speed mode and a torque output mode; under the control function of the on-line simulation control system, the on-line simulation control system can make a control decision based on the received system information.
The online simulation control system is a semi-open source system, and by adopting the semi-open source design, a user can perform secondary development based on an API (application program interface) provided by the system to perform system verification or algorithm verification on an exoskeleton robot related system; for example, electroencephalogram and electromyogram acquisition equipment is accessed to form a full closed-loop system, and a high-performance processor operated by a simulation system is utilized to analyze the movement intention; or, running a self-defined robot mathematical model by using a high-performance processor of the carrying system to perform control verification in the aspects of kinematics or dynamics; the semi-open source design can provide guidance for later design, simplify the system development process and accelerate the system iteration speed.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. An exoskeleton robot platform communication protocol is characterized in that a data frame of the exoskeleton robot platform communication protocol comprises a frame header, a frame length, a function code, an operation code, a node code, a data segment and a check segment; the frame header is a double-byte value and is used for representing the start of a data frame; the frame length is a single byte value and is used for indicating the length of a data frame;
the operation code is a single byte value and is based on a C/S architecture and used for distinguishing a client signal and a server signal; the operation code is used for representing the operation functions of the data frame and comprises a parameter writing instruction, a parameter reading instruction, a bottom layer function calling instruction, a packaging function calling instruction, a parameter writing return instruction, a parameter reading return instruction, a bottom layer function calling return instruction and a packaging function return instruction;
the function code is a single byte value, the representation range of the function code is 0-255, and the function code is used for representing the function ID of the instruction; the node codes are single-byte values, the representation range of the node codes is 0-255, and the node codes are used for representing hardware node IDs inside the exoskeleton robot; the function code and the node code are combined to realize the function of the exoskeleton robot system;
the length of the data segment is not less than four bytes and is used for storing data transmitted by the data frame; the check segment is double-byte in length and is used for representing a data check result of the data frame.
2. An exoskeleton robot platform communication protocol as claimed in claim 1 wherein the exoskeleton robot platform communication protocol includes underlying control instructions and user function instructions;
the bottom layer control instruction comprises joint motor data reading and writing and fuselage sensor information reading and writing, and is used for an external terminal to directly acquire real-time information of the exoskeleton robot body and write related control instructions for remote data monitoring or simulation application;
the user function instruction comprises control mode reading and writing and user configuration reading and writing, the user function instruction is used for an external terminal to operate the packaging function in the exoskeleton robot body, and the packaging function comprises switching of the working mode of the exoskeleton robot, squatting, leg lifting and landing and switching of going upstairs and downstairs.
3. An exoskeleton robot platform communication protocol as claimed in claim 2 wherein the exoskeleton robot operating modes include two, a server operating mode and a client operating mode;
the working mode of the server is as follows: the exoskeleton robot body takes a central control unit of the exoskeleton robot body as a control end under an exoskeleton robot platform communication protocol, an external terminal connected to the exoskeleton robot is taken as a system module of the exoskeleton robot, and the exoskeleton robot moves based on an internal function module of the exoskeleton robot;
the working mode of the client is as follows: the exoskeleton robot body is used as an execution module in the exoskeleton robot system under an exoskeleton robot platform communication protocol, and a central control unit of the exoskeleton robot is used as an information relay; the exoskeleton robot body moves according to the received control signals sent by the external terminal.
4. An exoskeleton robot platform communication protocol as claimed in claim 1 wherein the function code represents functions including hip/knee/ankle angle, hip/knee/ankle angular velocity, hip/knee/ankle acceleration, hip/knee current slope, hip/knee operation mode, hip/knee target moment, hip/knee target position, hip/knee pulse count, maximum velocity in hip/knee position mode.
5. An exoskeleton robot platform communication protocol as claimed in claim 1 wherein the hardware nodes represented by the node codes include left calf node, left thigh node, right calf node, right thigh node and back node.
6. An exoskeleton robot platform communication protocol as claimed in claim 1 wherein the transmission communication modes supported by the exoskeleton robot platform communication protocol include but are not limited to wired RS232/485, CAN, network cable, wireless WiFi, bluetooth;
the exoskeleton robot platform communication protocol enables the hardware communication module carried by the external terminal connected to the exoskeleton robot body to comprise but not limited to Windows and Android platforms;
the exoskeleton robot platform communication protocol enables the exoskeleton robot body to be simultaneously connected with one or more types of external terminals under the conditions of CAN bus protocol, WLAN or WiFi, and the external terminals include but are not limited to HMI handheld terminals, mobile phones, computers and monitoring display equipment.
7. The online simulation control system for the exoskeleton robot is characterized by comprising a 3D model of the exoskeleton robot, a data monitoring and storage derivation unit, a communication unit, a physical model of the exoskeleton robot, a kinematics model of the exoskeleton robot and a dynamics model of the exoskeleton robot, wherein the communication unit is used for connecting a plurality of exoskeleton robot bodies;
the online simulation control system acquires real-time sensing information of the exoskeleton robot body based on the exoskeleton robot platform communication protocol of any one of claims 1 to 6, updates and drives the exoskeleton robot 3D model to move to a relative position in real time according to the acquired real-time sensing information, and synchronizes the posture of the exoskeleton robot body to a software display page of the online simulation control system in real time; the real-time sensing information comprises joint angle information, angular velocity information, angular acceleration information and trunk pitch angle information;
the data monitoring and storage export unit is provided with a monitoring control and a storage control, and the monitoring control is used for displaying exoskeleton robot data received by the online simulation control system in a data curve form in real time according to chip selection; the storage control is used for starting a data storage switch of the online simulation control system so as to store the data received by the online simulation control system into a local database in a designated form or export the screened data for use;
the exoskeleton robot physical model is used for an online simulation control system to perform fine tuning simulation and custom modification according to an exoskeleton robot body, and the content of the custom modification comprises limb length, mass, gravity center position and joint angle range;
the exoskeleton robot kinematics model and the exoskeleton robot dynamics model are used for calculating control designated positions or torque output information of the exoskeleton robot body according to the exoskeleton robot body data acquired by the online simulation control system, and the exoskeleton robot kinematics model and the exoskeleton robot dynamics model are used for supporting the use of online or offline imported stored data.
8. The on-line simulation control system for the exoskeleton robot of claim 7, further comprising an on-line control unit for acquiring the control authority of the exoskeleton robot body and performing on-line control on the exoskeleton robot body; the online control unit controls the operation mode of a joint servo motor on the exoskeleton robot body and outputs different scenes of the exoskeleton robot body; the operation modes of the joint servo motor comprise an angle mode, an angular speed mode and a torque output mode.
9. The exoskeleton robot online simulation control system of claim 7 wherein the communication unit is RS232/485, CAN, WLAN, Bluetooth or WiFi.
10. An exoskeleton robot online simulation control system as claimed in claim 7 wherein the online simulation control system is a semi-open source system.
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