CN101783065B - Wireless communication method and device of exoskeleton suit sensing signals - Google Patents
Wireless communication method and device of exoskeleton suit sensing signals Download PDFInfo
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- CN101783065B CN101783065B CN2010101120500A CN201010112050A CN101783065B CN 101783065 B CN101783065 B CN 101783065B CN 2010101120500 A CN2010101120500 A CN 2010101120500A CN 201010112050 A CN201010112050 A CN 201010112050A CN 101783065 B CN101783065 B CN 101783065B
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Abstract
The invention relates to wireless communication method and device of exoskeleton suit sensing signals. The method comprises the following steps of: controlling filtration and threshold triggering modes of a data acquisition module by an intelligent sampling algorithm; transmitting the processed signal data of an exoskeleton suit sensing system to a far-end industrial computer monitoring system in a linking way of a wireless network bridge; and finishing the wireless real-time data transmission of the whole exoskeleton suit sensing signals. The device formed by mounting a pressure sensor at the sole part of the exoskeleton suit body device and mounting an angular displacement sensor at the knee part converts signals acquired by the exoskeleton suit body device into digital signals by the data acquisition module and transmits the signals to the monitoring system of the far-end industrial computer by the special wireless network bridge. The invention has the advantages that the travel range of the exoskeleton suit during a test is widened, the far-distance real-time monitoring is realized, and the device cost is decreased.
Description
[technical field]
The present invention relates to exoskeleton suit sensing signals wireless communication technique field, specifically, is a kind of exoskeleton suit sensing signals wireless communication method and device.
[background technology]
Bone clothes are a kind ofly can help wearer to carry the weight walking or help the disabled person to improve the robot of limbs restore funcitons.At present, generally adopt the mode of wired connection for the test macro of exoskeleton suit sensing signals, the signal that collects in real time connects by cable and transfers to monitoring system, and the test space is subjected to the limitation in place, laboratory.There is certain shortcoming in this scheme: the first, and poor mobility.Because the bone clothes need be worked out of doors,, then limited to the range of movement of bone clothes if adopt the wire signal transmission mode.The second, can't realize the LAN (Local Area Network) real-time communication between a plurality of bone clothes.
[summary of the invention]
The objective of the invention is to overcome the deficiencies in the prior art, a kind of exoskeleton suit sensing signals wireless communication method and device are provided.
The objective of the invention is to be achieved through the following technical solutions:
One of purpose of the present invention provides a kind of exoskeleton suit sensing signals wireless communication method, by the gait signal of data collecting module collected to bone clothes body apparatus, and be can be for the digital signal of Computer Processing with the analog signal conversion of pressure transducer and angular displacement sensor, and use the intellegent sampling algorithm under the complex background noise, to extract useful signal, signal data after the processing is transferred in the monitoring system of far-end industrial computer by the butt joint of wireless bridge, finally finishes the wireless real-time Data Transmission of whole exoskeleton suit sensing signals; The intellegent sampling algorithm extracts useful signal by the control figure filtering mode under the complex background noise, the thresholding triggering mode of control data acquisition module is determined sampling instant, can cut down the consumption of energy and reduce memory data output, save the hard-disc storage space, reduce the data packet loss simultaneously.
Two of purpose of the present invention provides a kind of exoskeleton suit sensing signals wireless communication apparatus, comprises bone clothes body apparatus, pressure transducer, angular displacement sensor, data acquisition module, industrial computer, wireless bridge; Setting pressure sensor on bone clothes body apparatus sole, at knee joint place established angle displacement transducer, bone is obeyed the signal that body apparatus collects, be converted to digital signal by data acquisition module, and, transfer signals in the monitoring system of far-end industrial computer by wireless bridge;
Described pressure transducer is by the plantar pressure sensor-based system that 6 miniature pressure cells constitute, per 3 one group tiptoe, heel and place, pin side that is installed in bone clothes body apparatus;
Described angular displacement sensor, the rotating potentiometer that adopts 2 precisions are installed in the knee joint place of bone clothes body apparatus respectively as switching device, adopt the indirect measurement system of accelerometer as angular displacement simultaneously;
Described data acquisition module is the usb data acquisition module, this module has four independently IEPE sensor inputs, guarantee the synchronous of data stream by velocity gauge input synchronous triggering, every channel sample rate is up to 52.734kHz, responding range is 110dB, this module is used 24 A/D conversions, anti-mixing filter based on clock frequency can be provided, be connected to PC or notebook by USB, need not external power source, adopt BNC to connect, for all I/O signals provide safety and shirtsleeve operation.
Described wireless bridge uses intelligent filter algorithm and civilian wireless transmit frequency range, and the wireless data transmission distance is far away and antijamming capability is strong, and wireless transmission rate is 2Mb/s between monitoring base station that actual measurement sighting distance distance is 500 to 1000 meters and the bone clothes body apparatus.
Described wireless bridge has the small-sized flat plate antenna structure of low manufacturing cost.Used wave beam to be fan type spheroid-like and small size antenna with direction directive property, this structure is compared with common finger type antenna is to have strengthened resonance effect and emissive power, and physical dimension is 150 * 200 * 50mm.Antenna is connected on the antenna coupling shaft by the antenna connecting link, and the signal that receives is further amplified by prime amplifier after changing by power amplifier amplification and digital to analog converter, is connected with computing machine by netting twine at last.
Compared with prior art, good effect of the present invention is:
Adopt the wireless bridge data transfer mode, exoskeleton suit sensing signals is transferred in the remote-end monitoring system, the domain of walk of bone clothes when having enlarged test has realized at a distance monitoring in real time, has reduced installation cost.
[description of drawings]
Fig. 1 is an exoskeleton suit sensing signals wireless communication apparatus synoptic diagram;
Fig. 2 is the wireless bridge structural representation;
Fig. 3 is the antenna beam effect synoptic diagram before and after the antenna of wireless bridge improves;
Label in the accompanying drawing is respectively: 1, bone clothes body apparatus, 2, pressure transducer, 3, angular displacement sensor, 4, data acquisition module, 5, industrial computer, 6, wireless bridge, 7, wireless antenna, 8, the antenna connecting link, 9, the antenna coupling shaft, 10, power amplifier, 11, digital to analog converter, 12, prime amplifier, 13, netting twine, 14, emitting antenna, 15, the primary antenna wave beam, 16, improve the aft antenna wave beam, 17, receiving antenna
[embodiment]
The embodiment of a kind of exoskeleton suit sensing signals wireless communication method of the present invention and device below is provided.
A kind of exoskeleton suit sensing signals wireless communication method, collect the gait signal of bone clothes body apparatus 1 by data acquisition module 4, and be can be for the digital signal of Computer Processing with the analog signal conversion of pressure transducer 2 and angular displacement sensor 3, use intellegent sampling algorithm controls digital filter working method, under the complex background noise, isolate useful signal, signal data after the processing is transferred in the monitoring system of far-end industrial computer 5 by the butt joint of wireless bridge 6, finally finishes the wireless real-time Data Transmission of whole exoskeleton suit sensing signals; Determine to gather constantly by the thresholding triggering mode of intellegent sampling algorithm controls data acquisition module 4, reduce the memory space of data and save hard drive space, reduced the power consumption and the data packet loss of device simultaneously.
See also accompanying drawing 1, a kind of exoskeleton suit sensing signals wireless communication apparatus comprises bone clothes body apparatus 1, pressure transducer 2, angular displacement sensor 3, data acquisition module 4, industrial computer 5, wireless bridge 6; At bone clothes body apparatus 1 sole place setting pressure sensor 2, at knee joint place established angle displacement transducer 3, bone is obeyed the transducing signal that body apparatus 1 collects, be converted to digital signal by data acquisition module 4, and, transfer signals in the monitoring system of far-end industrial computer 5 by wireless bridge 6;
Described pressure transducer is by the plantar pressure sensor-based system that 6 miniature pressure cells constitute, per 3 one group tiptoe, heel and place, pin side that is installed in bone clothes body apparatus 1;
The bone clothes are on the basis based on human motion behavior consciousness information, change each angle and the velocity amplitude in joint by the driver that is installed in outer skeleton, reach with the coordinated movement of various economic factors of human body and assist function is provided, therefore the angle and the speed in joint are one of controlled target of system, and the detection of knee joint angle is most important concerning the control of total system.Described angular displacement sensor 3 adopts 2 pots as switching device, is installed in the knee joint place of bone clothes body apparatus 1 respectively, adopts the aided measurement device of accelerometer as angular displacement simultaneously;
Described data acquisition module 4 is the usb data acquisition module, this module has four independently IEPE sensor input interfaces, guarantee the synchronous of data stream by velocity gauge input synchronous triggering, every channel sample rate is up to 52.734kHz, responding range is 110dB, this module is used 24 A/D conversions, anti-mixing filter based on clock frequency can be provided, be connected to PC or notebook by USB interface, need not external power source, adopt the BNC web member, for all I/O signals provide safety and shirtsleeve operation.The main task of data acquisition module 4 is that the analog signal conversion of sensor and charge amplifier output is become digital signal, forms the data that computing machine can be handled; Data acquisition module 4 plays the function served as bridge between system software platform and each hardware of system in total system.
Described wireless bridge 6 has small-sized flat plate antenna structure and many many speed of bandwidth working methods of low manufacturing cost.In existing various TT﹠C system, the measured signal of sensor is handled the back with the communication cable transmission at advance signal usually, needs cable laying that the data of gathering are sent to control data corporation outside hundreds of rice, a few km even tens kms.The major defect of this transmission mode is for new erecting equipment, it is too high to the cost and the maintenance cost of information base station that it lays private cable, and to already used equipment, then need to increase the quantity of data line, reconstruction expense costliness, some equipment on the original basis in addition the data that can't increase wire signal again connect.Therefore wireless network communication technique is applied to low-cost real-time data acquisition field.
The present invention adopts wireless bridge 6 these communications to carry out the low-cost wireless transmission of Monitoring Data.The digital signal that industrial computer 5 was handled data acquisition module 4 is connected with wireless bridge 6 by netting twine.Wireless bridge 6 can be used to connect two or more independently network segments, and the receptacle of these separate network sections is usually located in the different buildingss, looks different request for utilizations, and the wireless connections distance can reach hundreds of rice to several kms.The agreement of wireless bridge 6 can be divided into the 802.11b or the 802.11g of 2.4GHz frequency range, and the 802.11a of 5.8GHz frequency range, wireless bridge 6 of the present invention adopts the 802.11b of 2.4GHz frequency range and the 802.11a agreement of 5.8GHz frequency range simultaneously, even insert as the user, use the 802.11a that works in 5.8GHz to make wireless relay simultaneously with the 802.11b/g that works in 2.4GHz.In actual use, far away by the wireless data transmission distance of wireless bridge 6, antijamming capability is strong, and transmission quality is higher, and the steady rate of obeying data wireless transmission between the body apparatus 1 at the monitoring base station and the bone of 500 to 1000 meters of sighting distances is about 2Mb/s.
The wireless bridge 6 that the present invention relates to, used wave beam to be fan type spheroid-like and wireless antenna 7 with direction directive property, it is to have strengthened resonance effect and emissive power that this structure is compared with common finger type antenna, and antenna and power amplifier device physical dimension are 150 * 200 * 50mm.See also accompanying drawing 2, wireless antenna 7 is connected on the antenna coupling shaft 9 by antenna connecting link 8, the signal that receives amplified by power amplifier 10 and digital to analog converter 11 conversions after, further, carry out signal wire transmission by netting twine 13 at last by prime amplifier 12 amplifications.
By the structure and the electric parameter optimization of matching of wireless antenna 7, the wireless bridge 6 that the present invention relates to has 3 improvement on performance.(1) under equal emissive power, reduced the emissive power loss; (2) antenna direction sensitivity and range of receiving have been enlarged; (3) compare with present other antenna, the antenna of PCB technology is cheap for manufacturing cost.See also accompanying drawing 3, use the wireless bridge 6 after improving, between emitting antenna 14 and receiving antenna 17, the antenna beam 16 after the improvement obviously enlarges than the emission orientation angle scope of primary antenna wave beam 15.
Need to keep " sighting distance " transmission conditions of two butt joint wireless bridges 6 in connecting wireless bridge 6 processes, promptly when wireless bridge 6 is installed, the acceptance distance that keep two wireless bridge 6 receptacles is " visual ".The bandwidth of maximum when obtaining the WLAN (wireless local area network) short range transmission can connect wireless bridge 6 by router, with three wireless bridges 6 integrated a group, this moment, the variation of antenna height not have to influence for the emission reception substantially.
In a pair of wireless bridge 6 one is connected in by netting twine on the monitoring system of industrial computer 5, another bone that is installed in " sighting distance " scope is obeyed on the body apparatus 1, then can realize the integral installation of this device, and finish the requirement of bone clothes gait signal wireless sensor monitoring.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, without departing from the inventive concept of the premise; can also make some improvements and modifications, these improvements and modifications also should be considered within the scope of protection of the present invention.
Claims (5)
1. exoskeleton suit sensing signals wireless communication method, it is characterized in that, by the gait signal of data collecting module collected to bone clothes body apparatus, and be can be for the digital signal of Computer Processing with the analog signal conversion of pressure transducer and angular displacement sensor, and use the intellegent sampling algorithm under the complex background noise, to extract useful signal, signal data after the processing is transferred in the monitoring system of far-end industrial computer by the butt joint of wireless bridge, finally finishes the wireless real-time Data Transmission of whole exoskeleton suit sensing signals; The intellegent sampling algorithm extracts useful signal by the control figure filtering mode under the complex background noise, the thresholding triggering mode of control data acquisition module is determined sampling instant.
2. an exoskeleton suit sensing signals wireless communication apparatus comprises bone clothes body apparatus, pressure transducer, angular displacement sensor, data acquisition module, industrial computer, wireless bridge; It is characterized in that, setting pressure sensor on bone clothes body apparatus sole, at knee joint place established angle displacement transducer, bone is obeyed the signal that body apparatus collects, be converted to digital signal by data acquisition module, and, transfer signals in the monitoring system of far-end industrial computer by wireless bridge.
3. a kind of exoskeleton suit sensing signals wireless communication apparatus as claimed in claim 2, it is characterized in that, described data acquisition module is the usb data acquisition module, this module has four independently IEPE sensor inputs, guarantee the synchronous of data stream by velocity gauge input synchronous triggering, every channel sample rate is up to 52.734kHz, responding range is 110dB, this module is used 24 A/D conversions, anti-mixing filter based on clock frequency can be provided, be connected to notebook, need not external power source by USB, adopt BNC to connect, for all I/O signals provide safety and shirtsleeve operation.
4. a kind of exoskeleton suit sensing signals wireless communication apparatus as claimed in claim 2, it is characterized in that, described wireless bridge uses intelligent filter algorithm and civilian wireless transmit frequency range, the wireless data transmission distance is far away and antijamming capability is strong, and wireless transmission rate is 2Mb/s between monitoring base station that actual measurement sighting distance distance is 500 to 1000 meters and the bone clothes body apparatus.
5. a kind of exoskeleton suit sensing signals wireless communication apparatus as claimed in claim 2 is characterized in that described wireless bridge has the small-sized flat plate antenna structure of low manufacturing cost; Used wave beam to be fan type spheroid-like and small size antenna with direction directive property, this physical dimension is 150 * 200 * 50mm; Antenna is connected on the antenna coupling shaft by the antenna connecting link, and the signal that receives is further amplified by prime amplifier after changing by power amplifier amplification and digital to analog converter, is connected with computing machine by netting twine at last.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101120500A CN101783065B (en) | 2010-02-23 | 2010-02-23 | Wireless communication method and device of exoskeleton suit sensing signals |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101120500A CN101783065B (en) | 2010-02-23 | 2010-02-23 | Wireless communication method and device of exoskeleton suit sensing signals |
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| Publication Number | Publication Date |
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| CN101783065A CN101783065A (en) | 2010-07-21 |
| CN101783065B true CN101783065B (en) | 2011-08-03 |
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| CN2010101120500A Expired - Fee Related CN101783065B (en) | 2010-02-23 | 2010-02-23 | Wireless communication method and device of exoskeleton suit sensing signals |
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| CN103198640B (en) * | 2013-04-12 | 2015-05-13 | 武汉大学 | Light transmission method and device of real-time mass electric physical quantity |
| CN104984537A (en) * | 2015-07-28 | 2015-10-21 | 安徽工程大学 | Gesture detection device for athlete hurdling process |
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| DE19758619C2 (en) * | 1997-09-11 | 2003-12-18 | Biopsytec Gmbh | Device for sampling and labeling a living being |
| CN2843338Y (en) * | 2005-11-11 | 2006-12-06 | 泰安市中心医院 | Human ecg signal monitoring radio transmitting device |
| CN101419078B (en) * | 2008-12-01 | 2012-02-15 | 深圳职业技术学院 | Moving displacement wireless detecting system and operation method thereof |
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