CN106618972A - Power-assisted walking device based on embedded system and control method - Google Patents
Power-assisted walking device based on embedded system and control method Download PDFInfo
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- CN106618972A CN106618972A CN201611096819.8A CN201611096819A CN106618972A CN 106618972 A CN106618972 A CN 106618972A CN 201611096819 A CN201611096819 A CN 201611096819A CN 106618972 A CN106618972 A CN 106618972A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
Abstract
The invention discloses a power-assisted walking device based on an embedded system and a control method. One side of a left waist main supporting piece of the device and one side of a right waist main supporting piece of the device are connected together through a waist adjusting mechanism; a six-shaft movement treating assembly is positioned on the outer side of a left waist main supporting rack; an emergency button is positioned on the outer side of a right waist main supporting rack; a left back supporting rack and a right back supporting rack are fixed on the waist main supporting racks on the corresponding sides; a master control box is fixed on the back supporting racks through connecting plates; a hip joint driving mechanism is connected with the waist supporting pieces from the lower part; and the device further comprises a hip joint actuating mechanism, a knee joint actuating mechanism and a foot mechanism. The control method comprises the following steps: measuring a pressure signal, a coordinate signal and speed and angle signals by using a sensor; processing the signals by a central processing unit; generating a servo motor control parameter and a short message module control signal; and when in an emergency circumstance, manually pushing the emergency button or the device to automatically transmit the coordinate signal and preset information to a target object via a short message module.
Description
Technical field
The present invention relates to a kind of power-assistant running mechanism, and in particular to a kind of assisted walk device based on embedded system
And control method.
Background technology
With the continuous development of society, the living standard and medical level of the people have and are significantly lifted, so as to
Make the national average life span also by the one's mid-70s for being lifted by now for 60 years old or so of six the seventies, approach World Developed Countries
Average level, with the increase of the average life span, the shared ratio in social total population of the elderly is also being continuously increased, and ends
2010, China's elderly population of more than 60 years old reached the 13.26% of total population more than 1.78 hundred million.Meanwhile, over-65s
Elderly population are about 1.19 hundred million, account for the 8.87% of total population, and social senilization's problem is more and more severeer.
The increase of elderly population quantity so that the elderly's product consumption steeply rises.With the increase at age, the elderly
Bone become " crisp ", knee joint, hip joint etc. are easy to pain, inflammation or pathology occur, but also to face osteoporotic
Affect, these problems all limit the motion of the elderly, and the reduction moved further has increased the problems referred to above, dislikes like this
Property circulation.In order to solve this problem, many walk help mechanisms are occurred in that on market, they are alleviated to a certain extent always
Year people's motion problems.
But there are many restrictions in the lower limb walk help mechanism for commercially existing at present：Hydraulic pressure being used ectoskeleton drive system more
Or air pressure drives, control accuracy is not high, noise big, and drive system shell adopts fixed structure, in order to ensure the rotation in joint
Angle, makes many internal mechanisms expose outside, and easily user is damaged；In addition existing ectoskeleton cannot set with other
Standby interconnection, when user goes out, household cannot implement the ruuning situation for grasping user and mechanism.Therefore, for above-mentioned technology
Problem, it is necessary to a kind of motor-driven lower limb rehabilitation ectoskeleton based on embedded system is provided, to solve drawbacks described above.This
Invention is directed to above-mentioned deficiency, there is provided a kind of lower limb assisted walk device based on embedded system, to help need crowd to carry out
Assisted walk.
The content of the invention
The problem to be solved in the present invention is just to provide and a kind of is carried based on the Motor drive of embedded system, for user joint
For the assisted walk device of additional torque, it is desirable to which the device is easy to control, high precision, can remotely follow the trail of, there is very high outgoing
Safety in utilization.
For achieving the above object, the present invention provides following technical scheme：
A kind of assisted walk device based on embedded OS, including right side back support, master control casing, left side
Back support, waistband fixing bolt, waistband, connection sheet, left lumbar support member, front side waist portion adjustment structure, posterior lumbar
Adjustment structure, hip joint fixing bolt, hip joint drive mechanism, left side lumbar support member, dislocation connector, dislocation connector spiral shell
The main connector of bolt, thigh, big leg restraint gear, knee joint drive mechanism, little leg restraint gear, the main connector of shank, sole spiral shell
Bolt, sole, foot's fixing band；
The left lumbar main backstop is identical with left side lumbar main backstop mechanism, and its one end is " G " type structure, another
End is fixed by front side waist portion regulating part and posterior lumbar regulating part；Six axle motion process components are located at left side lumbar main backstop
Outside, danger button be located at left lumbar main backstop outside；The six axles motion process component is with danger button by leading
Line is connected with Main Control Tank；
The left side back support and right side back support are enclosed within respective side waist main backstop, and blending bolt is tight
It is solidly connected；Master control casing is fixed on left side back support and right side back support by connection sheet, the set hole on waistband
Through left side back support and right side back support, and fixed using bolt；
The hip joint drive mechanism is located at the downside of Lordosis support, and by hip joint fixing shell and lumbar support
" G " the type structure threaded connection of part；Dislocation connector, the main connector of thigh, big leg restraint gear constitute hip joint executing agency,
Dislocation connector is fixedly connected with the output flange of hip joint drive mechanism, and the main connector of thigh is fixed with dislocation connector and connected
Connect, big leg restraint gear is connected with the main connector of thigh；
The knee joint drive mechanism is connected by way of screw fastening with the main connector of thigh；The main connector of shank,
Little leg restraint gear constitutes kneed executing agency, and the main connector of shank is fixedly connected with knee joint drive mechanism, and shank is solid
Determine mechanism to be connected with the main connector of shank；
The sole and foot's fixing band constitute foot mechanism, and sole is hinged with the main connector of shank, foot's fixing band
Fixation is riveted on sole.
Further, left lumbar main supporting structure is identical with the structure of the main supporting mechanism of left side lumbar, wherein, the right side
Side waist main supporting structure includes L-type support member and G type connectors；One end of the L-type support member arranges G type connectors and fixes
Bolt, and G type connector fixing bolts and G types connector are by the fastening of L-type support member nut.
Further, described hip joint drive mechanism includes coding counter, hip joint servomotor, servomotor
Pad, hip joint decelerator, decelerator pad, output shaft, hip joint key, hip joint output flange, hip joint fixing shell, a left side
Side fixed disc, right side clamping rings, hip joint rotation case, positioning bearing, bearing locating flange, hip joint shell gasket,
Wherein, the afterbody of hip joint servomotor is provided with counting coding counter, servo motor output shaft and hip joint decelerator
It is connected；Reducer output shaft is connected with hip joint output flange by hip joint key；Hip joint fixing shell is fixed with left side
Disk, right side clamping rings are fixedly connected by screw, form shell body, hip joint rotation case and hip joint output flange phase
Connection, output shaft one end is connected with positioning bearing, and the other end is connected with hip joint decelerator.
Further, described big leg restraint gear include restraining fixed structure, long fixing bolt, pressure-strain piece,
Thigh restraining, wherein, pressure-strain piece is fixed on the inner side of restraining fixed structure, and restraining fixed structure is by long fixation
Bolt is fixed with the main connector of thigh, and thigh restraining is fixed with restraining fixed structure.
Further, described Main Control Tank is by Main Control Tank drain pan, master control case lid, SMS module, SMS module antenna, central authorities
Processor, GPS module, GPS module receiver, lithium battery, bluetooth module, alarm modules composition, wherein Main Control Tank drain pan, master control
Case lid is bolted, and SMS module antenna is fixedly connected with Main Control Tank drain pan, and antenna end is outside casing, GPS module
Receiver is connected with master control case lid outside, and central processing unit, GPS module, lithium battery, bluetooth module, alarm modules are in casing
Portion is fixedly connected with Main Control Tank drain pan.
Further, six described axle motion process components are located at the rear side of left side lumbar main backstop, using what is pasted
Mode makes six axle motion process components fix with left side lumbar main backstop；Described danger button is located at the main support of left lumbar
The right side of frame, makes the mode being screwed fix danger button and left side lumbar main backstop.
Further, described embedded control system includes signal acquiring system, central processing system, motor control system
System, information transmitting system and CAN.
Further, described signal acquiring system includes GPS module, six axle motion process components, pressure-strain piece, volume
Code counter；Described central processing system includes process chip, serial line interface, network interface, general input/output port etc., institute
Process chip is stated using embedded OS UCOSIII；Described electric machine control system include servomotor driving chip and
Servomotor, the servomotor driving chip adopts high power DC driving chip.
Compared with prior art, the invention has the beneficial effects as follows：
Further, the control method of described device is：
Step one：Pressure-strain piece measures and produced pressure signal is acted between human body lower limbs and convalescence device；GPS module
Coordinate acquisition signal；Six axle motion process component acquisition device speed and angle signal；
Step 2：Institute's pressure measurement force signal is amplified and analog-to-digital conversion after Jing bus transfers to central processing unit；Coordinate signal
Jing bluetooth modules are transmitted to central processing unit after and analog-to-digital conversion amplified with speed and angle signal；
Step 3：The various signals of central processor comprehensive process；
Step 4：Central processing unit produces Serve Motor Control parameter and SMS module control signal；
Step 5：Encoder measures servomotor rotating speed, and by pid control algorithm servomotor rotating speed is repaired；
Step 6：Repeat above step one to step 5, realize based on the normal of the assisted walk device of embedded system
Operation；
Step 7：Emergency, manually actuated danger button or device are automatically by coordinate signal and presupposed information via short
Letter module is sent to destination object.
Embedded control system is carried using control chip, simple structure, cost is relatively low, be adapted to promote.
Description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is overall structure schematic rear view of the present invention；
Fig. 3 is waist adjustment Standard explosive view of the present invention；
Fig. 4 is the main support member of left lumbar of the present invention and danger button schematic diagram；
Fig. 5 is hip joint drive mechanism explosive view of the present invention；
Fig. 6 is big leg restraint gear schematic diagram of the invention；
Fig. 7 is main control box schematic diagram of the present invention；
Fig. 8 is electrical block diagram of the present invention.
Reference：
1- right sides back support, 2- master control casings, 3- left sides back support, 4- waistband fixing bolts, 5- waistbands, 6-
Connection sheet, 7- left lumbar support members, 8- front side waist portion adjustment structures, 9- posterior lumbar adjustment structures, 10- hip joints fix spiral shell
Bolt, 11- hip joint drive mechanisms, 12- left side lumbar support members, 13- dislocation connectors, 14, connector bolt, 15- are big for dislocation
The main connector of leg, the big leg restraint gears of 16-, 17- knee joint drive mechanisms, the little leg restraint gears of 18-, the main connector of 19- shanks,
20- sole bolts, 21- soles, 22- foots fixing band, 23- danger buttons, the axle motion process components of 24- six, 201- Main Control Tanks
Drain pan, 202- central processing units, 203- SMS module antennas, 204- SMS modules, 205-GPS module receivers, 206-GPS moulds
Block, 207- master control case lids, 208- alarm modules, 209- lithium batteries, 210- bluetooth modules, 211- sirens hole, 701- " G " type connect
Fitting, 702- waist fixing bolts, 703-G type connector fixing bolts, 704-L type support member screw threads, 705-L type support members,
1101- coding counters, 1102- hip joint servomotors, 1103- decelerator fixing bolts, 1104- servomotor pads,
1105- decelerator pads, 1106- hip joint decelerators, 1107- hip joint keys, 1108- hip joint shell fixing bolts, 1109-
Left side fixed disc, 1110- output shafts, 1111- hip joint rotation cases, 1112- hip joint output flanges, 1113- hip joints
Output flange bolt, 1114- hip joint fixing shells, 1115- positioning bearings, 1116- output flange back-up rings, 1117- bearings are determined
Position flange, 1118- hip joint shell gaskets, 1119- right sides clamping rings, 1120- hip joint bolts of cover.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.Based on this
Embodiment in invention, the every other reality that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example is applied, the scope of protection of the invention is belonged to.
With reference to accompanying drawing 1,2 and 3, in present example, a kind of lower limb assisted walk device based on embedded system, institute
State lower limb power-assistant running mechanism its left lumbar main backstop 7 identical with the mechanism of left side lumbar main backstop 12, its one end is " G "
Type structure, the other end is fixed by front side waist portion regulating part 8 and posterior lumbar regulating part 9；Six axle motion process components 24 are located at
The outside of left side lumbar main backstop 12, danger button 23 is located at the outside of left lumbar main backstop 7；The left side back
Support 3 and right side back support 1 are enclosed within respective side waist main backstop, and blending bolt is fastenedly connected；Master control casing 2 passes through
Connection sheet 6 is fixed on left side back support 3 and right side back support 1, and the set hole on waistband 5 passes through left side back-supported
Frame 3 and right side back support 1, and fixed using bolt；
The hip joint drive mechanism 11 be located at Lordosis support 7 downside, and by hip joint fixing shell 1104 with
" G " the type structure threaded connection of Lordosis support 7；The main connector 15 of dislocation connector 13, thigh, big leg restraint gear 16 are constituted
Hip joint executing agency, dislocation connector 13 is fixedly connected with the output flange 1112 of hip joint drive mechanism 11, the main company of thigh
Fitting 15 is fixedly connected with dislocation connector 13, and big leg restraint gear 16 is connected with the main connector 15 of thigh；
The knee joint drive mechanism 17 is connected by way of screw fastening with the main connector 15 of thigh；The main connection of shank
Part 19, little leg restraint gear 18 constitute kneed executing agency, and the main connector 19 of shank is fixed with knee joint drive mechanism 17
Connection, little leg restraint gear 18 is connected with the main connector 19 of shank；
The sole 21 and the composition foot mechanism of foot's fixing band 22, sole 21 is hinged with the main connector 19 of shank, foot
Fixing band 22 is fixed and is riveted on sole 21；
With reference to accompanying drawing 4, left lumbar main supporting structure 7 is identical with the structure of left side lumbar main supporting structure 12, wherein, it is described
Left lumbar main supporting structure 7 includes L-type support member 705 and G types connector 701；One end of the L-type support member 705 arranges G
Type connector fixing bolt 703, and G type connectors fixing bolt 703 passes through L-type support member nut 704 with G types connector 701
Fastening.
The embedded control system sends system by signal acquiring system, central processing system, electric machine control system, information
System and CAN composition, the various information of signal acquiring system collecting mechanism are transmitted to central processing system via CAN,
Motor control signal is generated after information is processed and alarm signal is sent to electric machine control system, information transmitting system；
The signal acquiring system is by GPS module 206, six axle motion process components 24, pressure-strain piece 603, coding meter
Number device composition 1101, GPS module 206 is connected calmly with the master control box solid 2 of walk help mechanism, and six axle motion process groups 24 are located at right side
On Lordosis support 7, three axis angular rates, three axles can be measured and accelerated, with the spin matrix of the axle of numeral output six or nine axles, quaternary
The fusion calculation data of number, Eulerian angles form；Pressure-strain piece is located between thigh fixed belt 16 and the main connector 15 of thigh；
The central processing system is made up of process chip, serial line interface, network interface, general input/output port etc., institute
Process chip is stated using embedded OS UCOSIII；Electric machine control system is by servomotor driving chip and servomotor
Composition, the servomotor driving chip adopts high power DC driving chip.
In the present embodiment, during patient's wearing mechanism, supported by adjusting left side lumbar support member 12 and left lumbar
Part 7 and the position relationship of adjustable waist bindiny mechanism 8, realize the rehabilitation crowd of different waist sizes；If being distributed on waistband
Dry circular hole can be with various collocation to be adapted to itself, and the flexible material of inner side also causes use feeling to rise；Thigh dislocation connector
14 and the main connector 15 of thigh different circular holes of arranging in pairs or groups can be adapted to the needs of different height rehabilitation personnels.
With reference to accompanying drawing 5, in the present embodiment, hip joint drive mechanism 11 includes coding counter 1101, servomotor
1102nd, decelerator 1106, protection shell 1114 and rotation containment vessel 1111, hip joint output flange 1112, bearing 1115, packing ring
1118th, cage connection flange 1117；Its operation principle is：Servomotor 1102 is received and rotated after the instruction of control system,
Coding counter 1101 records rotating speed, and the output shaft of servomotor 1102 matches with the input of decelerator 1106, realizes subtracting
Speed, and exported the rotating speed after deceleration by the output shaft 1110 of decelerator 1106, realize turning for hip joint output flange 1112
It is dynamic, reach the purpose of hip joint drive mechanism.
With reference to accompanying drawing 6, in the present embodiment, big leg restraint gear 16 includes restraining fixed structure 1601, long fixed spiral shell
Bolt 1602, pressure-strain piece 1603, thigh restraining 1604, wherein, pressure-strain piece 1603 is fixed on restraining fixed structure
1601 inner side, restraining fixed structure 1601 is fixed by long fixing bolt 1602 with the main connector 15 of thigh, thigh constraint
Band 1604 is fixed with restraining fixed structure 1601；When embedded control system runs, the motion of thigh and shank is via big
Leg restraining 16 and shank restraining 18 produce pressure, and pressure-strain piece 1603 is deformed upon in measurement apparatus, so as to measure
Pressure value, produces pressure value signal.
In the present embodiment, six axle motion process components 24 adopt MPU-6050 modules, module to make to be bolted to a left side
The right side of side waist main backstop 12；Described danger button 23 adopts stainless steel material, positioned at the right side of left lumbar main backstop 7
Side, and be fastenedly connected on left side lumbar main backstop 7 by screw.Six axle motion process component 24 measures three shaft angles during motion
Speed, three axles accelerate, and calculate number with the fusion of the spin matrix of the axle of numeral output six or nine axles, quaternary number, Eulerian angles form
According to；When causing danger, manually warning message is automatically generated by alarm button or system, the information is via central processing unit process
Producing signal afterwards makes SMS transmission module send note, reaches the effect for informing household.
With reference to accompanying drawing 7, Main Control Tank 2 includes Main Control Tank drain pan 201, master control case lid 207, SMS module 204, SMS module day
Line 203, central processing unit 202, GPS module 206, GPS module receiver 205, alarm modules 208, lithium battery 209, bluetooth mould
Block 210, wherein Main Control Tank drain pan 201, master control case lid 207 are bolted, SMS module antenna 203 and Main Control Tank drain pan
201 are fixedly connected, and antenna end is outside casing, and GPS module receiver 205 is connected with the outside of master control case lid 207, and central authorities are processed
Device 202, GPS module 206, alarm modules 208, lithium battery 209, bluetooth module 210 are solid in box house and Main Control Tank drain pan 201
Fixed connection；Central processing system receives the data transmitted via CAN, via embedded OS process, and will process
Information afterwards is sent to corresponding control module；The motor control signal control servomotor that embedded control system is produced drives
Chip produces the electric current and voltage needed for servomotor, and the torque of system needs has been reached；Central processing system can pass through
Jtag interface downloads embedded control system control program, and system can be monitored by serial line interface.
With reference to accompanying drawing 8, embedded control system includes signal acquiring system, central processing system, electric machine control system, letter
Breath transmission system and CAN.Signal acquiring system includes GPS module 206, six axle motion process components 24, pressure-strain piece
1603rd, coding counter 1601；Described central processing system includes process chip, serial line interface, network interface, universal input
Delivery outlet etc., the process chip adopts embedded OS UCOSIII；Described electric machine control system includes servomotor
Driving chip and servomotor 1102, the servomotor driving chip adopts high power DC driving chip.
In the present embodiment, the control method of device is：
Step one：Pressure-strain piece 1603 measures and produced pressure signal is acted between human body lower limbs and convalescence device；GPS
The coordinate acquisition signal of module 206；The acquisition device speed of six axle motion process component 24 and angle signal；
Step 2：Institute's pressure measurement force signal is amplified and analog-to-digital conversion after Jing bus transfers to central processing unit 202；Coordinate is believed
Number and speed and angle signal be amplified and analog-to-digital conversion after Jing bluetooth modules 2507 transmit to central processing unit 202；
Step 3：The various signals of the integrated treatment of central processing unit 202；
Step 4：Central processing unit 202 produces the control parameter of servomotor 1102 and SMS module control signal；
Step 5：Encoder measures the rotating speed of servomotor 1102, and by pid control algorithm 1102 turns of servomotor is repaired
Speed；
Step 6：Repeat above step one to step 5, realize based on the normal of the assisted walk device of embedded system
Operation；
Step 7：Emergency, manually actuated danger button 23 or device automatically by coordinate signal and presupposed information via
SMS module is sent to destination object.
Although the present invention has been presented for some embodiments of the present invention, it will be appreciated by those of skill in the art that
Without departing from the spirit of the invention, the embodiments herein can be changed.Above-described embodiment be it is exemplary,
Should not be using the embodiments herein as the restriction of interest field of the present invention.
Claims (9)
1. a kind of assisted walk device based on embedded OS, it is characterised in that including right side back support (1),
Master control casing (2), left side back support (3), waistband fixing bolt (4), waistband (5), connection sheet (6), left lumbar are supported
Part (7), front side waist portion adjustment structure (8), posterior lumbar adjustment structure (9), hip joint fixing bolt (10), hip joint driving machine
Structure (11), left side lumbar support member (12), dislocation connector (13), dislocation connector bolt (14), the main connector of thigh (15),
Big leg restraint gear (16), knee joint drive mechanism (17), little leg restraint gear (18), the main connector of shank (19), sole spiral shell
Bolt (20), sole (21) and foot's fixing band (22)；
The left side back support (3) and right side back support (1) one end are respectively perpendicular and are sleeved on the main support of left side lumbar
On frame (12) and left lumbar main backstop (7), and it is fastenedly connected with screw；The left side back support (3) and right side are carried on the back
Master control casing (2) is connected with by connection sheet (6) on portion's bracing frame (1), blending bolt (4) is fixed；
The left lumbar main backstop (7) is identical with left side lumbar main backstop (12) structure, and its one end is " G " type structure,
The other end is fixed together by front side waist portion regulating part (8) and posterior lumbar regulating part (9)；The left side lumbar main backstop
(12) six axles motion process component (24) are provided with；Danger button (23) is provided with the left lumbar main backstop (7)；
The six axles motion process component (24) is connected by wire with danger button (23) with Main Control Tank (2)；
The left lumbar main backstop (7) and left side lumbar main backstop (12) downside are provided with hip joint drive mechanism
(11), " G " the type structure of the left lumbar main backstop (7) and left side lumbar main backstop (12) drives respectively with hip joint
Hip joint fixing shell (1104) threaded connection in mechanism (11)；The output flange (1112) of hip joint drive mechanism (11) point
The connector bolt (14) that Tong Guo not misplace is connected with dislocation connector (13) threaded one end；The other end of dislocation connector (13) leads to
Cross screw thread to be connected with thigh main connector (15) one end, the other end and the knee joint drive mechanism of the main connector of thigh (15)
(17) one end is connected；The main connector of thigh (15) inner side is provided with big leg restraint gear (16)；The knee joint drive mechanism
(17) other end is connected with shank main connector (19) one end；The main connector of shank (19) other end is with sole (21) by pin
Crab bolt (20) connects；Riveting on sole (21) has foot's fixing band (22).
2. the assisted walk device based on embedded OS according to claim 1, it is characterised in that left lumbar
Main supporting structure (7) is identical with left side lumbar main supporting structure (12) structure, wherein, the left lumbar main supporting structure (7)
Including L-type support member (705) and G type connectors (701)；One end of the L-type support member (705) arranges G type connectors and fixes
Bolt (703), and G types connector fixing bolt (703) and G type connectors (701) is by L-type support member nut (704) fastening.
3. the assisted walk device based on embedded OS according to claim 1, it is characterised in that the hip is closed
Section drive mechanism (11) is identical with knee joint drive mechanism (17) structure；The hip joint drive mechanism (11) is including coding count
Device (1101), hip joint servomotor (1102), servomotor pad (1104), decelerator pad (1105), output shaft
(1110), hip joint key (1107), hip joint output flange (1112), hip joint fixing shell (1114), left side fixed disc
(1109), right side clamping rings (1119), hip joint rotation case (1111), positioning bearing (1115), bearing locating flange
And hip joint shell gasket (1118) (1117)；The hip joint servomotor (1102) is connected by wire with Main Control Tank (2)；
The afterbody of the hip joint servomotor (1102) is provided with coding counter (1101), servomotor (1102) output shaft and hip
Joint L-type decelerator (1106) is connected；It is provided between the servomotor (1102) and hip joint L-type decelerator (1106) and watches
Take motor pad (1104) and decelerator pad (1105)；Left side fixed disc is installed on the output shaft (1110)
(1109), output flange (1112), bearing locating flange (1117), hip joint shell gasket (1118) and right side clamping rings
(1119), wherein, hip joint output flange (1112) is connected by hip joint key (1107) with output shaft (1110)；Output shaft
(1110) one end is arranged in positioning bearing (1115), and the other end is arranged on the output end of hip joint decelerator (1106).
4. the assisted walk device based on embedded OS according to claim 1, it is characterised in that the thigh
Fixed mechanism (16) includes restraining fixed structure (1601), long fixing bolt (1602), pressure-strain piece (1603) and thigh
Restraining (1604)；The restraining fixed structure (1601) is U-shaped structure；The pressure-strain piece (1603) is fixed on constraint
Inner side with fixed structure (1601), restraining fixed structure (1601) is by long fixing bolt (1602) and the main connector of thigh
(15) fixed, thigh restraining (1604) is fixed with restraining fixed structure (1601).
5. the assisted walk device based on embedded OS according to any one of Claims 1-4, its feature exists
In the six axles motion process component (24) is using MPU-6050 modules.
6. the assisted walk device based on embedded OS according to claim 5, it is characterised in that the master control
Case (2) includes Main Control Tank drain pan (201), master control case lid (207), SMS module (204), SMS module antenna (203), centre
Reason device (202), GPS module (206), GPS module receiver (205), alarm modules (208), lithium battery (209) and bluetooth module
(210)；The Main Control Tank drain pan (201), master control case lid (207) are bolted, SMS module antenna (203) and Main Control Tank
Drain pan (201) is fixedly connected, and SMS module antenna (203) one end is placed in Main Control Tank drain pan (201) outside, the master control case lid
(207) it is outside to be provided with GPS module receiver (205)；Central processing unit is fixedly installed in the Main Control Tank drain pan (201)
(202), GPS module (206), alarm modules (208), lithium battery (209), bluetooth module (210).
7. the assisted walk device based on embedded OS according to claim 6, it is characterised in that described embedded
Formula control system includes signal acquiring system, central processing system, electric machine control system, information transmitting system and CAN.
8. the assisted walk device based on embedded OS according to claim 7, it is characterised in that the signal
Acquisition system includes GPS module (206), six axles motion process component (24), pressure-strain piece (1603), coding counter
(1601)；The central processing system includes process chip, serial line interface, network interface, general input/output port；The process
Chip adopts embedded OS UCOSIII；The electric machine control system includes servomotor driving chip and servomotor
(1102), the servomotor driving chip adopts high power DC driving chip.
9. the control method of the assisted walk device based on embedded OS according to any one of claim 6 to 8,
Characterized in that, comprising the steps：
Step one)：Pressure-strain piece (1603) measures and produced pressure signal is acted between human body lower limbs and convalescence device；GPS
Module (206) coordinate acquisition signal；Six axle motion process component (24) acquisition device speed and angle signal；
Step 2)：Institute's pressure measurement force signal is amplified and analog-to-digital conversion after Jing bus transfers to central processing unit (202)；Coordinate is believed
Number and speed and angle signal be amplified and analog-to-digital conversion after Jing bluetooth modules (210) transmit to central processing unit (202)；
Step 3)：Central processing unit (202) processes process step two) signal；
Step 4)：Central processing unit (202) produces servomotor (1102) control parameter and SMS module control signal；
Step 5)：Encoder measures servomotor (1102) rotating speed, repairs servomotor (1102) by pid control algorithm and turns
Speed；
Step 6)：Repeat above step one to step 5, realize the normal fortune based on the assisted walk device of embedded system
OK；
Step 7)：Emergency, manually actuated danger button (23) or device are automatically by coordinate signal and presupposed information via short
Letter module is sent to destination object.
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