CN106650224A - Remote monitoring available bionic rehabilitation exoskeleton system and control method thereof - Google Patents
Remote monitoring available bionic rehabilitation exoskeleton system and control method thereof Download PDFInfo
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- CN106650224A CN106650224A CN201610930959.4A CN201610930959A CN106650224A CN 106650224 A CN106650224 A CN 106650224A CN 201610930959 A CN201610930959 A CN 201610930959A CN 106650224 A CN106650224 A CN 106650224A
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Classifications
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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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
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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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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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
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- A—HUMAN NECESSITIES
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- 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
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- A—HUMAN NECESSITIES
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- 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
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- A—HUMAN NECESSITIES
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- 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
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- A61H2201/1207—Driving means with electric or magnetic drive
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- 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
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- 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
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- 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
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- 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
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract
The invention discloses a remote monitoring available bionic rehabilitation exoskeleton system and a control method thereof. The control system comprises a main control board, a motor control system, a sensor network, a wireless watch control terminal, a database, a remote monitoring server, a doctor client and a family client; the main control board is respectively connected with the motor control system, the sensor network and the wireless watch control terminal; the main control board is further connected with the remote monitoring server through a network; the doctor client and the family client are connected with the remote monitoring server through the network; the database is connected with the remote monitoring server, and the database is further connected with the main control board through the network; the remote monitoring available bionic rehabilitation exoskeleton system disclosed by the invention can monitor the safety of equipment and the user through the remote server and a local system, thereby having high safety performance, and meanwhile the doctors and the families can master the states of the patents through the remote monitoring server, and reasonable rehabilitation training schemes are formulated for the users.
Description
Technical field
The present invention relates to rehabilitation medical instrument field, more particularly, to the wearable bionical rehabilitation of one kind is ectoskeletal system is controlled
System and its control method.
Background technology
According to correlation study data display, at present paraplegia user number in the world increases year by year, not only cause the user compared with
Big financial burden, while also result in certain psychological burden.Therefore, walking aided and rehabilitation have become one it is increasingly tight
High social concern.In recent years, (natural calamity such as such as earthquake), the number of China's lower limb paralysis due to due to various
Reach hundreds thousand of.For the user that those are paralysed completely, pure drug therapy and operative treatment cannot be used
The thorough rehabilitation in family, accordingly, it would be desirable to go to improve or replace the function that paralytic loses by the means of rehabilitation project.Outside rehabilitation type
Bone is that one kind is worn on lower limb, and by motor joint the motion of lower extremity motor function obstacle user corresponding joint is driven, reach training/
The mechanical device of compensatory walking function.In order to solve pressure sore and the muscular atrophy that paraplegia patient long-term bed or wheelchair cause
Etc. disease, help them to stand and walk, improve its quality of life, and mitigate subscriber household and social financial burden, research
Rehabilitation type ectoskeleton and corresponding collaboration ectoskeleton control system of the exploitation with high-tech content and independent intellectual property right have
Highly important practical significance.Now wearable bionic exoskeleton technology is also present where many deficiencies, in control system
Build and use also Shortcomings and development space.
The content of the invention
The object of the invention is in the problem for overcoming prior art to exist, there is provided it is a kind of conveniently, safely, it is stable can remote monitoring
Bionical rehabilitation exoskeleton system and control method.
The object of the invention is achieved through the following technical solutions：
It is a kind of can remote monitoring bionical rehabilitation ectoskeleton control system, including master control borad, electric machine control system, sensor
Network, wireless wrist watch control end, database, remote monitoring server, doctor's client and family members' client；
The master control borad is connected respectively with electric machine control system, sensor network and wireless wrist watch control end；Master control borad
Also it is connected by network remote monitoring server；
Doctor's client terminal and family members' client terminal pass through network connection remote monitoring server；Database with it is long-range
Monitoring server connects, and database is also connected by network with master control borad；
The master control borad is powered for electric machine control system, is sent control instruction and is read control system data；Master control borad with
Sensor network is connected, and the data of sensor collection are read from sensor network；
The master control borad receives the control instruction of bionical rehabilitation ectoskeleton wearing patient and to the transmission of wireless wrist watch control end
Status data；
The master control borad reads the data of sensor collection from sensor network；
Doctor's client terminal monitors bionical rehabilitation ectoskeleton and uses patient by network connection remote monitoring server
State and to remote monitoring server send instruction adjust；
Family members' client terminal checks that bionical rehabilitation ectoskeleton uses patient by network connection remote monitoring server
State；
The instruction that the database is transmitted across to the data and remote monitoring server that store master control borad transmission；
The master control borad to remote monitoring server carries out two-way communication, exchanges control instruction, sensing data, bionical health
Multiple ectoskeleton state and bionical rehabilitation ectoskeleton wearing patient status information；Remote monitoring server receives master control borad passback
Data, analysis of history data and current data, to monitor bionical rehabilitation ectoskeleton running status and bionical rehabilitation dermoskeleton
Bone dresses the state of patient, when abnormal conditions occur in bionical rehabilitation ectoskeleton or patient, to master control borad control instruction is sent,
And corresponding process operation and operating result are informed into bionical rehabilitation ectoskeleton user with short message mode.
Further to realize the object of the invention, it is preferable that the master control borad includes internal interface, external interface, communication mould
Block, locating module, power transfer module, power source protective module and processor；Internal interface include CAN1 modules, CAN2 modules,
Interior serial ports；External interface includes outer serial ports and USB/HUB modules；Communication module includes Ethernet debugging module, wireless network card, 4G
Module, 2.4G wireless modules；Locating module is mainly GPS module；Power transfer module include master switch, 3.3VLDO modules,
5VDCDC modules, MOS modules and power module；Power source protective module is mainly current detector；Processor includes central authorities' process
Device and first microprocessor；The power source protective module, locating module, internal interface and external interface all connect with central processing unit
Connect；Ethernet debugging module, wireless network card and 4G modules are all connected with central processing unit, 2.4G wireless modules and the first microprocessor
Device connects；First microprocessor is connected by interior serial ports with central processing unit；Master switch respectively with 24V lithium batteries, 3.3VLDO
Module and 5VDCDC modules connect；5VDCDC modules are connected by MOS modules with power module, and power module is processed with central authorities
Device connects；3.3VLDO modules are connected with first microprocessor.
Preferably, the sensor network is made up of left limb CAN with right limb CAN；Left limb CAN and right limb
CAN is connected with CAN2 modules；Left limb sensor network includes left primary minimum leg sensor node, left knee electromechanical transducer, a left side
Limb thigh sensor node and left hip electromechanical transducer；Right limb sensor network includes right primary minimum leg sensor node, right knee electricity
Machine sensor, right limb thigh sensor node and right hip electromechanical transducer；
The left limb thigh sensor node, right limb thigh sensor node, left primary minimum leg sensor node, right primary minimum leg
Sensor node 323 all includes obliquity sensor, acceleration transducer, pressure sensor, AD conversion module, voltage conversion mould
Block and the second microprocessor；The obliquity sensor, acceleration transducer, AD conversion module and voltage transformation module all respectively with
Second microprocessor connects；Pressure sensor is connected with AD conversion module；Voltage transformation module is connected with CAN2 modules.
Preferably, the obliquity sensor and acceleration of the left limb thigh sensor node and right limb thigh sensor node
Sensor places draw-in groove with trunk obliquity sensor is positioned over；The obliquity sensor of left primary minimum leg sensor node is passed with acceleration
With being positioned at little leg support, pressure sensor is positioned over foot bottom pressure sensor standing groove to sensor；Left hip electromechanical transducer, the right side
Hip electromechanical transducer, left knee electromechanical transducer and right knee electromechanical transducer are the sensors of same type, are respectively placed in left limb
Hip motor, right limb hip motor, left limb knee motor, the inside of right limb knee motor.
Preferably, the electric machine control system includes that motor encoder drives with CAN servomotors；Each motor encoder
With the drive system that CAN servomotors drive one servomotor of composition, the direct phase of MOS modules of motor encoder and master control borad
Even；Left limb hip motor, right limb hip motor, left limb knee motor, the CAN motor servo driver carries of right limb knee motor
On unified CAN1 module bus.
Preferably, the wireless wrist watch control end include 2.4G wireless modules, obliquity sensor, button, display screen and
3rd microprocessor；The 2.4G wireless modules, obliquity sensor, button and display screen all respectively with the 3rd microprocessor connect
Connect；The wireless wrist watch control end be worn on bionical rehabilitation ectoskeleton using patients wrist at；2.4G wireless modules are by wireless
Communication mode is connected with master control borad.
Preferably, the remote monitoring server include authentication module, instruction control module, real-time monitoring module,
Timing data analysis module, warning module and communication module；Authentication module and instruction control module respectively with communication module
Connection；Timing data analysis module and real-time monitoring module are connected respectively with warning module；Warning module is connected with communication module
Connect；Authentication module is to verify User logs in and give corresponding authority；Instruction control module is to the bionical health of ectoskeleton
Multiple ectoskeleton sends control instruction, and the bionical rehabilitation ectoskeleton of real-time monitoring module monitor in real time and bionical rehabilitation ectoskeleton are used
Patient safety state；Timing data analysis module is periodically generated healthy and bionical rehabilitation ectoskeleton state with regard to patient body
Report；Warning module in processing system produce all information；Communication module is responsible for long distance control system with bionical rehabilitation
Communication between ectoskeleton local system, doctor's client and family members client three.
Using described system can remote monitoring bionical rehabilitation ectoskeleton control method, comprise the following steps：
Step S10：User presses master switch start, and bionical rehabilitation ectoskeleton is started working；
Step S11：Bionical rehabilitation ectoskeleton proceeds by self-inspection, checks whether master control borad is normal, and whether just electric system
Often, whether sensor network is normal, notifies that the bionical rehabilitation ectoskeleton of long distance control system is already powered on；If self-inspection notes abnormalities,
Then enter step S13；If self-inspection is normal, into step；
Step S13：Bionical rehabilitation ectoskeleton to long distance control system request excludes exception, judges abnormal by step S14
Whether discharge, if long distance control system excludes exception, into step；If abnormal do not exclude, System Reports prompting user
After mistake, into step S30, system enters holding state；
Step S12：Electric machine control system is opened and motor connection；
Step S15：Master control borad waits wireless wrist watch control end to send instruction of standing, if user sends enter after instruction of standing
Step S16；
Step S16：Master control borad receives sensor network data and whether judges user in seated position, if user is in seat
Lower state, then execution step S18；If user is not at seated position, execution step S17；
Step S17：Prompting user's adjustment sitting posture, reentering step S16 carries out seated position judgement；
Step S18：Master control borad to electric machine control system sends instruction, performs standing activities；Into step S19；
Step S19:The real-time monitoring module of remote monitoring server monitors standing action executing jointly with central processing unit,
Ensure user security；If occurring exception in action executing process, into step S20；If action is successfully completed, into step
S21；
Step S20：Stop current standing activities to perform, return action starting point, after systems inspection debug, notify to use
Family re-starts standing, resumes step S15；
Step S21：User Status is converted to standing state, and master control borad gathers sensor network data as following action
Reference threshold in implementation procedure；Into step S22；
Step S22：Master control borad judges whether user meets the condition of taking a step, and whether condition of taking a step herein offsets for user's center of gravity
To one side, whether trunk leans forward；Step S23 is entered if trigger condition is met；Reenter S22 if being unsatisfactory for be examined
Survey；
Step S23：Master control borad to electric machine control system sends instruction, performs action of taking a step；Into step S24；
Step S24:The real-time monitoring module of remote monitoring server monitors action executing of taking a step jointly with central processing unit,
Ensure user security；If occurring exception in action executing process, into step S25；If action is successfully completed, into step
S26；
Step S25：Remote monitoring server and master control borad attempt solving abnormal problem jointly, such as motor delay remove after machine it is wrong
Miss and reconnect；Step S23 is entered if it can normally remove extremely, action of taking a step is continued to complete；Can not be normally clear if abnormal
Except then into step S27；
Step S27：Bionical rehabilitation ectoskeleton attempts locked motor and calls the bionical rehabilitation ectoskeleton of mechanical lock pinning, and by
Remote monitoring server sends the information that requests help；Into step S30, system enters holding state；
Step S26：Judge whether user thinks that stopping is taken a step action, if stopping action of taking a step, into step S28；If no
Stopping is taken a step action, then reenter step S22 and judge whether to trigger next step and take a step action；
Step S28：Master control borad to electric machine control system sends instruction, performs and receives leg action；Into step S29；
Step S29:The real-time monitoring module of remote monitoring server monitors receipts leg action executing jointly with central processing unit,
Ensure user security；If occurring exception in action executing process, into step S25, attempt removing exception；If action success
Complete, then into step S30, system enters holding state；
Step S31：User presses any key wakeup system, and returns to step S21；
Step S41：Doctor's client to remote monitoring server initiates TCP connections, and both sides are set up after connection, to long-range prison
Control server sends authentication information；
Step S42：Remote monitoring server verifies the identity information of doctor's client, confirms the behaviour that the client has
Make authority；If identity information authentication failed, remote monitoring server is automatically switched off connection；
Step S43：After remote monitoring server checking client identity success, the user is read from database newest
Data record, including the ectoskeletal self-inspection information of bionical rehabilitation, bionical rehabilitation ectoskeleton usage record, user's physiological data and fortune
Dynamic data；Data in database are the data that timing data analysis module is recorded in the course of the work with real-time monitoring module；
Step S44：Remote monitoring server is transferred data to after doctor's client, by etc. doctor's client to be received
Control instruction；
Step S45：Remote monitoring server is received and transfer to instruction control module to process after doctor's client control instruction
Control instruction, master control borad execute instruction is sent to if control instruction is legal by control instruction by communication module, and master control borad 0 is returned
After returning implementing result, implementing result is synchronized to into database concurrency and gives doctor client.
Relative to prior art, the invention has the advantages that：
1) remote monitoring server of the present invention is received master control borad and is sent by the bionical rehabilitation ectoskeleton master control borad of network connection
Data, analysis of history data or current data monitor bionical rehabilitation ectoskeleton and dress the state of patient, and send appropriate
Control instruction；The present invention provide can the bionical rehabilitation exoskeleton system of remote monitoring can carry out long-range and local monitoring,
Safer guarantee is provided.
2) database of the present invention is directly connected to remote monitoring server, to store data of master control borad transmission and long-range
The instruction that monitoring server is transmitted across, stores rehabilitation training of the bionical rehabilitation ectoskeleton using the historical data analysis patient of patient
Situation, and appropriate modification is made to the configuration of bionical rehabilitation ectoskeleton by doctor's client, provide individual for each different patient
Property training program, with convenient, safety and it is stable the characteristics of.
3) doctor terminal of the present invention monitors bionical rehabilitation ectoskeleton and uses patient by network connection remote monitoring server
State and to remote monitoring server send instruct, make appropriate adjustment；Family members' terminal passes through network connection remote monitoring
Server uses the state of patient to check bionical rehabilitation ectoskeleton；The present invention is easy to doctor and family members to supervise by long-range
Control server understands in time patient's states, formulates rational rehabilitation training scheme.
4) remote server of the present invention monitors the safety that bionical rehabilitation ectoskeleton uses patient jointly with local system, improves
The new energy of safety.
5) present invention can remote monitoring bionical rehabilitation exoskeleton system simple structure efficiently, mistake occur can quickly search
And respond.
Description of the drawings
Fig. 1 is the integral mechanical structure using the wearable bionic exoskeleton pedipulator convalescence device of control system of the present invention
Schematic diagram.
Fig. 2 be the present invention can remote monitoring bionical rehabilitation ectoskeleton control system frame diagram.
Fig. 3 is the frame diagram of wearable ectoskeleton local system master control borad of the invention.
Fig. 4 is the frame diagram of wearable ectoskeleton local system sensor network of the invention.
Fig. 5 is the frame diagram of wearable ectoskeleton local system sensor node of the invention.
Fig. 6 is the frame diagram of wearable ectoskeleton local system electric machine control system of the invention.
Fig. 7 is the frame diagram of wearable ectoskeleton local system wireless wrist watch control end of the invention.
Fig. 8 is the frame diagram of the remote monitoring server of the present invention.
Fig. 9 is wearable exoskeleton system workflow diagram of the invention.
Figure 10 be the present invention can remote monitoring bionical rehabilitation ectoskeleton control system remote monitoring server and doctor client
The workflow diagram of end interaction.
Specific embodiment
To more fully understand the present invention, below in conjunction with accompanying drawing to the present invention can remote monitoring bionical rehabilitation ectoskeleton system
System is further described, it should be noted that embodiment is only used for explaining the present invention, and does not constitute to present invention protection model
The restriction enclosed.
The present invention can the bionical rehabilitation ectoskeleton control system of remote monitoring be mainly used in wearable bionic exoskeleton machine
Tool leg convalescence device.In the present invention, wearable bionic exoskeleton pedipulator convalescence device is same meaning with bionical rehabilitation ectoskeleton
Think.
Fig. 1 is the integral mechanical structure schematic diagram of wearable bionic exoskeleton pedipulator convalescence device, wearable bionical outer
Bone pedipulator convalescence device mainly includes trunk support 1, thigh support frame 2, little leg support 3, left limb hip motor 4, right limb hip
Portion's motor 5, left limb knee motor 6, right limb knee motor 7, foot bottom pressure sensor standing groove 8, trunk obliquity sensor are placed
Draw-in groove 9, bandage 10, knapsack internal layer 11, knapsack upper strata 16, watch 12, crutch 13, contact to earth pressure sensor 14 and foot support
Plate 15.Crutch 13 has two, is held by the right-hand man of user respectively.
Trunk support 1 is bilateral symmetry, is bundled in user's upper body；Thigh support frame 2 is bilateral symmetry, is bundled in
On the user left side and the right thigh, little leg support 3 is bilateral symmetry, is bundled on the user left side and the right shank；Foot
Gripper shoe 15 is arranged on user's sole；Described binding is fixed by bandage 10, and bandage 10 is placed in thigh support frame 2 and shank
The middle part of support 3；Trunk support 1 is connected by left limb hip motor 4 with left limb thigh support frame 2 with right limb hip motor 5；It is left
Limb hip motor 4 is screwed with the stator of right limb hip motor 5 with trunk support 1, left limb hip motor 4 and right limb hip
The rotor of portion's motor 5 and left limb thigh support frame 2 by can pulling/inserting structure fix；When left limb hip motor 4 and right limb hip motor
During 5 rotation, the motor that the trunk support 1 being fixed on stator is rotated with the thigh support frame 2 being fixed on rotor drives and produces
Raw relative angular movement；Left limb hip motor 4 and both relative angular movements of right limb hip motor 5 control；Thigh support frame 2 with it is little
Leg support 3 is connected respectively with left limb knee motor 6 with the stator and rotor of right limb knee motor 7；Left limb knee motor 6 and right limb
Knee motor 7 is connected to thigh support frame 2 with little leg support 3 and controls both relative angular movements；Little leg support 3 and foot support
Plate 15 is flexibly connected.Foot supporting board 15 subjects the weight of user's body, and foot force biography is provided with foot supporting board 15
Sensor standing groove 8；The signal that foot bottom pressure sensor is produced is represented and effectively puts on it, and its pressure value depends on the appearance of user
State.Trunk obliquity sensor places the centre position that draw-in groove 9 is positioned over the left and right sides of trunk support 1, for placement angle biography
Sensor.Knapsack internal layer 11 is bonded in behind trunk support 1 with knapsack upper strata 16, and knapsack internal layer 11 is used to place master control borad 100, carries on the back
Layer 16 is wrapped for placing 24V lithium batteries 176.Watch 12 is worn on user's left hand wrist, and crutch 13 is held in user or so two
Hand is used to support body, and the pressure sensor 14 that contacts to earth is placed in crutch bottom, contacts to earth pressure value for obtaining crutch.
As shown in Fig. 2 can remote monitoring bionical rehabilitation ectoskeleton control system include master control borad 100, motor control system
System 200, sensor network 300, wireless wrist watch control end 400, database 500, remote monitoring server 600, doctor's client
700 and family members' client 800；Wherein, master control borad 100, electric machine control system 200, sensor network 300 and wireless wrist watch control
End processed 400 constitutes wearable ectoskeleton local system；Database 500, remote monitoring server 600, doctor's client 700 and
Family members' client 800 constitutes wearable ectoskeleton remote system.Master control borad 100 respectively with electric machine control system 200, sensor network
Network 300 and wireless wrist watch control end 400 connect；Master control borad is also connected by network with remote monitoring server 600；Doctor
Client terminal 700 and family members' client terminal 800 pass through network connection remote monitoring server 600；Database 500 and remote monitoring
Server 600 connects, and database 500 is also connected by network with master control borad 100.
Master control borad 100 is positioned in knapsack upper strata 16；Master control borad 100 is connected with electric machine control system 200, is motor control
System 200 is powered, and is sent control instruction and is read control system data.Master control borad 100 is connected with sensor network 300, from
The data of sensor collection are read in sensor network 300；Master control borad 100 is connected with wireless wrist watch control end 400, master control borad
100 receive bionical rehabilitation ectoskeleton dresses the control instructions of patient and to the transmission state data of wireless wrist watch control end 400；Master control
Plate 100 is connected by network with remote monitoring server 600, and master control borad 100 to remote monitoring server 600 carries out two-way
Letter, exchanges control instruction, sensing data, bionical rehabilitation ectoskeleton state and bionical rehabilitation ectoskeleton wearing patient's states etc.
Information.Doctor's client 700 and family members' client 800 are connected by network with remote monitoring server 600；Database
500 are connected by network with master control borad 100；Database 500 is also connected with remote monitoring server 600.
As shown in figure 3, master control borad 100 includes internal interface, external interface, communication module, locating module, Power convert mould
Block, power source protective module and processor.Internal interface includes CAN1 modules 110, CAN2 modules 111, interior serial ports 160；Outside connects
Mouth includes outer serial ports 162 and USB/HUB modules 161；Communication module includes Ethernet debugging module 120, wireless network card 121,4G
Module 140,2.4G wireless modules 123；Locating module is mainly GPS module 150；Power transfer module include master switch 170,
3.3VLDO modules 173,5VDCDC modules 172, MOS modules 171 and power supply 174；Power source protective module is mainly current detector
175；Processor includes central processing unit 190 and first microprocessor 191.Power source protective module, locating module, internal interface and
External interface is all connected with central processing unit；Ethernet debugging module 120, wireless network card 121 and 4G modules 140 all with centre
Reason device connection, 2.4G wireless modules 123 are connected with first microprocessor 191；
Wherein, in internal interface, CAN1 modules 110 respectively with electric machine control system 200 in servomotor drive 220 and
Central processing unit 190 is joined directly together, and completes central processing unit 190 by CAN agreement two-way with electric machine control system 200
Communication, central processing unit sends control instruction to 190 to motor, and servomotor drives 220 to send instruction to central processing unit and holds
The information such as row state, motor configuration information, motor status.CAN2 modules 111 respectively with sensor network 300 and central processing unit
190 are joined directly together, and by CAN agreement the two-way communication of central processing unit 190 and sensor network 300, centre are completed
Reason device 190 sends and request of data and network configuration information to sensor network 300, such as transmission frequency, switch sensor
Node etc., sensor network 300 sends the sensing data and report sensor state of collection to central processing unit 190.
In external interface, outer serial ports 162 completes the functions such as the renewal to the Program of central processing unit 190, the programming of system,
Also serve as the spare interface of expanding function.USB/HUB modules 161 complete to copy into the function of copying out data to central processing unit.
Ethernet debugging module 120 realizes that developer accesses central authorities' process in LAN or wide area network, checks imitative
Raw rehabilitation ectoskeleton running status, changes profile information, and sends control instruction manually and debug bionical rehabilitation ectoskeleton.
Wireless network card 121 is directly connected with 4G modules 140 with central processing unit 190, and wireless network card 121 is by internet and long-range prison
Control server 600 is connected, and completes the communication of central processing unit 190 and remote monitoring server 600, and wireless network card 121 runs
In the environment accessed with smooth WIFI hot spot, 4G moulds are automatically switched to when not possessing WIFI access conditions in running environment
Block 140 provides the communication of central processing unit 100 and remote monitoring server 600.In 4G modules 140 and wireless network card 121 not
Possesses condition of work, such as in suburb activity, central processing unit 190 will need what is sent to bionical rehabilitation ectoskeleton wearing patient
Data storage waits 4G modules 140 to be communicated with remote monitoring server again with the normal work of wireless network card 121 local.
GPS module 150 provides positioning service for bionical rehabilitation ectoskeleton using patient, and sends positional information to centre periodically
Positional information is transferred to remote monitoring server 600, the bionical rehabilitation ectoskeleton of monitor in real time by reason device 190, central processing unit 190
Using the positional information of patient, to find bionical rehabilitation ectoskeleton in time when drop-in patient is used.
In power transfer module, master switch 170 is connected with 24V lithium batteries 176, as the switch of power supply, and has
Standby diverter function.3.3VLDO modules 173 and 5VDCDC modules 172 are all connected with master switch, complete voltage conversion function,
5VDCDC modules 172 are connected by MOS modules 171 with the module of power supply 174, are central processing unit 190 by 24V voltage conversions
5V supply voltages；3.3VLDO modules 173 are connected with first microprocessor 191, are the micro- places of 3.3V first by 24V voltage conversions
The supply voltage of reason device 191.MOS modules 171 complete voltage limitation function, cut off when the supply voltage of 24V lithium batteries 176 is not enough
The bionical rehabilitation ectoskeleton safety of power protection.Motor encoder 210 connects respectively with MOS modules 171 and current detector module 175
Connect；The electric current of the collection input motor encoder 210 of current detector module 175, when current values are excessive, cuts off to motor control
The power supply of system 200, protects the safe operation of motor.
First microprocessor 191 is connected by interior serial ports 160 with central processing unit 190, the conduct of first microprocessor 191
The connection bridge of wireless wrist watch control end 400 and central processing unit 190, by central processing unit 190 and wireless wrist watch control end 400
Between communication data packed in self-defining mode, while mitigate central processing unit load.
Acceleration transducer 130 is connected with central processing unit 190；Acceleration transducer 130 gathers the acceleration of knapsack
Situation, the data of collection have the property as sensor network data, and its data value is to judge that bionical rehabilitation ectoskeleton is worn
Wear the part of patient motion state.
As shown in figure 4, sensor network 300 is made up of left limb CAN with right limb CAN, two CANs with
CAN2 modules 111 are connected, and are received by CAN2 modules 111 and send data to central processing unit 190；Sensor network 300 is
Bilateral symmetry, left limb sensor network includes that left primary minimum leg sensor node 321, left knee electromechanical transducer 311, left limb are big
Leg sensor node 320 and left hip electromechanical transducer 310；Correspondingly right limb sensor network includes right primary minimum leg sensor node
323rd, right knee electromechanical transducer 313, right limb thigh sensor node 322 and right hip electromechanical transducer 312.Left primary minimum leg sensor
Node 321 is positioned at little leg support 3；Left knee electromechanical transducer 311 is positioned at left limb knee motor 6；Left limb thigh sensing
Device node 320 is positioned at thigh support frame 2；Left hip electromechanical transducer 310 is positioned at left limb hip motor 4.Right limb sensor
It is corresponding that network places deployment way with left limb sensor network.Left hip electromechanical transducer 310, right hip electromechanical transducer 312, a left side
Knee electromechanical transducer 311 and right knee electromechanical transducer 313 are currently held to read the positional information of each correspondence position motor
Row state.Left limb thigh sensor node 320 is respectively placed on left and right thigh support frame 2 with right limb thigh sensor node 322,
Left primary minimum leg sensor node 321 is respectively placed on the little leg support 3 in left and right with right primary minimum leg sensor node 323.Left limb is big
Leg sensor node 320 and right limb thigh sensor node 322, left primary minimum leg sensor node 321, right primary minimum leg sensor section
323 are put in addition to placement location difference, with identical circuit structure.
As shown in figure 5, left limb thigh sensor node 320, right limb thigh sensor node 322, left primary minimum leg sensor
Node 321, right primary minimum leg sensor node 323 all include obliquity sensor 3201, acceleration transducer 3202, pressure sensor
3203rd, AD conversion module 3204, the microprocessor 3206 of voltage transformation module 3205 and second；Obliquity sensor 3201, acceleration
Sensor 3202, AD conversion module 3204 and voltage transformation module 3205 are all connected with the second microprocessor 3206 respectively；Pressure
Sensor 3203 is connected with AD conversion module 3204；Voltage transformation module 3205 is connected with CAN2 modules 111.Left limb thigh sensing
Device node 320 is same with the obliquity sensor 3201 of right limb thigh sensor node 322 and acceleration transducer 3202 to be positioned over body
Dry obliquity sensor places draw-in groove 9, to measure bionical rehabilitation ectoskeleton wearing patient motion acceleration and trunk inclination angle angle
Degree, judges bionical rehabilitation ectoskeleton wearing patient's real-time attitude.The obliquity sensor 3201 of left primary minimum leg sensor node 321 with
Acceleration transducer 3202, to the tilt angles and acceleration of motion that detect shank, judges with being positioned at little leg support 2
Bionical rehabilitation ectoskeleton uses patient's attitude, pressure sensor 3203 to be positioned over foot bottom pressure sensor standing groove 8, detects bionical
Rehabilitation ectoskeleton uses patient's plantar pressure situation, to constitute action triggers condition and judge that bionical rehabilitation ectoskeleton is used
The state and safe condition of patient.AD conversion module 3204 is to the analog sensor signal that gathers pressure sensor 3203
Data signal is converted to, and is sent to the second microprocessor 3206.Voltage transformation module 3205 connects the second microprocessor 3206
With CAN, it is inconsistent with CAN low and high level numerical value and expression way to solve the problems, such as microprocessor.Left hip
Electromechanical transducer 310, right hip electromechanical transducer 312, left knee electromechanical transducer 311 are mutually similar with right knee electromechanical transducer 313
The sensor of type, is respectively placed in left limb hip motor 4, right limb hip motor 5, left limb knee motor 6, right limb knee motor 7
Inside, be a kind of sensor for measuring position of magnetic pole and servomotor corner and rotating speed.
As shown in fig. 6, electric machine control system 200 includes that motor encoder 210 drives 220 with CAN servomotors.Each electricity
Machine encoder drives the drive system of one servomotor of composition, motor encoder 210 and master control borad 100 with CAN servomotors
MOS modules 171 be joined directly together, power supply is supplied by master control borad.It is for controlling servomotor that CAN servomotors drive 220
A kind of controller, its effect acts on common alternating current motor similar to frequency converter, by position, three kinds of modes pair of speed and torque
Servo motor is controlled, and realizes high-precision transmission system positioning.Left limb hip motor 4, right limb hip motor 5, left limb knee
Portion's motor 6, right limb knee motor 7 CAN motor servo drivers carry in the unified bus of CAN1 modules 110, using CAN1
The bus of module 110 communicates with central processing unit 190.
As shown in fig. 7, wireless wrist watch control end 400 include 2.4G wireless modules 410, obliquity sensor 420, button 430,
The microprocessor 450 of display screen 440 and the 3rd；2.4G wireless modules 410, obliquity sensor 420, button 430 and display screen 440
All it is connected with the 3rd microprocessor 450 respectively.Wireless wrist watch control end 400 is worn on bionical rehabilitation ectoskeleton and uses patients wrist
Place, sends control instruction and checks the information such as bionical rehabilitation ectoskeleton state, own bodies state to patient.2.4G it is wireless
Module 410 is connected by communication with master control borad 100, completes master control borad 100 two-way with wireless wrist watch control end 400
Communication.The auxiliary detection user's current pose of obliquity sensor 420.Button 430 is that bionical rehabilitation ectoskeleton uses patient and wrist-watch
Interactive mode, bionical rehabilitation ectoskeleton may be selected motor pattern, display status information using patient.Display screen 440 is to aobvious
Show the information such as bionical rehabilitation ectoskeleton current motion state, working condition.
As shown in figure 8, remote monitoring server 600 includes authentication module 610, instruction control module 620, timing number
According to analysis module 630, real-time monitoring module 640, warning module 650 and communication module 660；Authentication module 610 and instruction
Control module 620 is connected respectively with communication module 660；Timing data analysis module 630 and real-time monitoring module 640 respectively with advance
Alert module 650 connects；Warning module 650 is connected with communication module 660.
Authentication module 610 is different with account number cipher mode or dynamic secret order mode certification login user identity
User has different authorities, and family members user and clinician user are distinguished in the present invention, and each user can bind one or more
The bionical rehabilitation ectoskeleton of rehabilitation ectoskeleton hardware, the user of all logins is only able to display and changes the bionical rehabilitation ectoskeleton of binding
Relevant information.
Instruction control module 620 to wearable ectoskeleton to send control instruction.The control instruction includes：Sensor
Status inquiry instruction, sensor network configuration-direct, motor control instruction, motor configuration-direct, kinematic parameter configuration-direct etc..
Sensor states query statement is to inquire about sensor network working condition, current configuration information etc..Sensor network configuration refers to
Order is to change sensor network configuration parameter.Motor control instruction sends motor control order to long-range, and remote control is imitated
Raw rehabilitation ectoskeleton.Motor configuration-direct is to change motor configuration parameter.Kinematic parameter configuration-direct is to change bionical health
The parameters such as multiple ectoskeleton gait planning parameter, such as paces size, paces frequency.Instruction control module 620 has two kinds of work sides
Formula, it is a kind of be by the transmission of long distance control system voluntarily control instruction, such as when sensing data or configuration information are lacked,
Inquiry instruction query sensor whether normal work is sent, the bionical rehabilitation ectoskeleton of the ectoskeleton initially long-range clothes of connection are generally used for
Business device.Another kind is operational order control module 620 after the raw client 700 of career in medicine is logged in, and instruction control module 620 will provide doctor
The raw operation interface of client 700 sends any legal instruction, and for example kinematic parameter configuration-direct is to adjust outside bionical rehabilitation
The gait parameter of bone, motor control instruction, by instruction control module 620, is cured to single -step operation motor training patient etc.
Raw client 700 will be able to be that per bionical rehabilitation ectoskeleton wearing patient formulates personalized training program, accelerate bionical health
Multiple ectoskeleton uses the break-in of patient with bionical rehabilitation ectoskeleton.
Real-time monitoring module 640 is responsible for analyzing the sensor network that bionical rehabilitation ectoskeleton local system sends in real time
Information, bionical rehabilitation ectoskeleton status information, user profile etc., to find that bionical rehabilitation ectoskeleton is existed using patient in time
Potential safety hazard or and the safety problem such as working sensor exception that occurs, motor delays machine, and bionical rehabilitation ectoskeleton makes
The problems such as using patient falls.Implementing monitoring module 640 can use Bayesian Classification Arithmetic, but be not limited to such algorithm.In real time
Monitoring module 640 is just opened when bionical rehabilitation ectoskeleton local system works.Real-time monitoring module 640 is detected after exception
Generating abnormal information transfers to warning module 650 to be processed.Real-time monitoring module 640 is responsible for all data that will be received simultaneously
In write into Databasce 500, the operation such as storehouse information is updated the data.
Timing data analysis module 630 is responsible for the bionical rehabilitation ectoskeleton of periodic analysis and uses patient data to generate two class reports
Accuse：Bionical rehabilitation ectoskeleton is reported and the operation report of bionical rehabilitation ectoskeleton using patient health.Bionical rehabilitation ectoskeleton makes
The physiological data such as heartbeat of patient, blood are used with bionical rehabilitation ectoskeleton in patient health report record analysis certain period of time
The information such as pressure, exercise data such as travel distance, step number, cadence, ZMP points such as change at the information, and timing data analysis module 630 is by root
Determine that levels of information transfers to warning module to be processed according to analysis result, report file will be sent to all bionical with mail he
Rehabilitation ectoskeleton association user.Database 500 to set up database purchase relevant information, such as SQLServer, MySQL,
XML file etc..
Warning module 650 is responsible for processing all abnormal informations of whole exoskeleton system, and warning module 650 is by warning level
It is divided three classes：General information, such as exoskeleton system cycle self-inspection information, action executing stage information, bionical rehabilitation ectoskeleton
Sensor network configuration parameter modification operation etc.；Warning message, such as sensor node parameters are abnormal or lack, outside bionical rehabilitation
The information such as bone electricity exception；Emergence message, such as motor are delayed machine, and bionical rehabilitation ectoskeleton uses patient falls etc..Warning module
650 will be operated for different warning levels using different early warning, and general information treats user with log mode data-in storehouse
Check when needing.Warning message equally with log mode data-in storehouse, after association user logs in long distance control system 600,
Reading database warning message is shown to into user, warning message just can be deleted after user needs to process warning message.
For different emergence messages, warning module 650 will have corresponding emergency processing operation such as motor and delay machine, and warning module will send
Emergency instruction opens mechanical lock prevents patient from falling down, and attempts processing motor and delay machine mistake, if being successfully processed mistake will solve lock machine
Tool is locked.After completing emergency processing operation, warning module accuses emergence message, alignment processing operation and operating result with short message mode
Know all users of the bionical rehabilitation ectoskeleton association.
Communication module 660 is responsible for remote monitoring server and bionic exoskeleton local system master control borad 100, doctor's client
700, family members' client 800 communicates.Communication form is based on internet, it is also possible to by LAN, Metropolitan Area Network (MAN), wide area network, mutually
Networking, wireless broadband network, WLAN WLAN, general packet radio service GPRS, global intercommunication microwave access WIMAX, the
Any one of 3 g mobile communication net 3G, forth generation mobile radio communication 4G etc. similar network communication services completes communication.It is logical
The information of warning module 650 is carried out partition of the level by letter module 660 according to warning level, higher preferential of more urgent information acquisition
Transmission route, any non-warning module information is as general information process.
Doctor's client 700 includes login module and communication module, login module to telnet server 600
Authentication module carry out authentication, obtain the due authority of doctor's client.When being signed in using the end of doctor client 700
Remote monitoring server 600, can operate the information of all modules for checking remote monitoring server, change each module and show
Information configuration parameter such as sensing data display format, increase and reduce bionical rehabilitation ectoskeleton and use patient health report bag
Containing project etc..
Family members' client 800 includes login module and communication module, login module to telnet server 600
Authentication module carry out authentication, obtain the due authority of family members' client 800, family members' client 800 only possesses to be looked into
The authority of real-time monitoring module 640 and the information of timing data analysis module 630 is seen, to family members bionical rehabilitation ectoskeleton is checked
Using the status information of patient.The implementation of doctor's client 700 mainly based on pc client, may also be employed mobile phone A PP shape
Formula.Family members' client 800 is main with the realization of mobile phone A PP form.
Doctor's client can log in remote monitoring server and check patient's states with family members' client；Doctor's client can be stepped on
Record long distance control system changes bionical rehabilitation ectoskeleton configuration parameter, formulates personalized hurt of rehabilitation scheme.
As shown in figure 9, can the workflow diagram of bionical rehabilitation ectoskeleton control system of remote monitoring comprise the following steps：
Step S10：User presses master switch 170 and starts shooting, and bionical rehabilitation ectoskeleton is started working；
Step S11：Bionical rehabilitation ectoskeleton proceeds by self-inspection, checks whether master control borad 100 is normal, electric system 200
Whether normal, whether sensor network 300 is normal, notifies that the bionical rehabilitation ectoskeleton of long distance control system 600 is already powered on；If from
Inspection notes abnormalities, then into step S13；If self-inspection is normal, into step S12；
Step S13：Bionical rehabilitation ectoskeleton to the request of long distance control system 600 excludes exception, judges different by step S14
Often whether discharge, it is abnormal that long distance control system 600 can recover such as parameter loss, renewal etc.；If long distance control system 600 is excluded
It is abnormal, then into step S12；If abnormal do not exclude, after System Reports prompting user error, into step S30, system is entered
Enter holding state；
Step S12：Electric machine control system is opened and motor connection；
Step S15：Master control borad 100 waits wireless wrist watch control end 400 to send instruction of standing, if user sends instruction of standing
Step S16 is entered afterwards；
Step S16：Master control borad 100 receives the data of sensor network 300 and whether judges user in seated position, if user
In seated position, then execution step S18；If user is not at seated position, execution step S17；
Step S17：Prompting user's adjustment sitting posture, reentering step S16 carries out seated position judgement；
Step S18：Master control borad 100 to electric machine control system 200 sends instruction, performs standing activities；Into step S19；
Step S19:The real-time monitoring module 640 of remote monitoring server 600 with central processing unit 190 jointly stand by monitoring
Action executing, it is ensured that user security；If occurring exception in action executing process, into step S20；If action is successfully completed,
Then enter step S21；
Step S20：Stop current standing activities to perform, return action starting point, after systems inspection debug, notify to use
Family re-starts standing, resumes step S15；
Step S21：User Status is converted to standing state, and master control borad 100 gathers sensor network data as following
Reference threshold in action executing process；Into step S22；
Step S22：Master control borad judges whether user meets the condition of taking a step, and whether condition of taking a step herein offsets for user's center of gravity
To one side, whether trunk leans forward；Step S23 is entered if trigger condition is met；Reenter S22 if being unsatisfactory for be examined
Survey；
Step S23：Master control borad 100 to electric machine control system 200 sends instruction, performs action of taking a step；Into step S24；
Step S24:The real-time monitoring module 640 of remote monitoring server 600 with central processing unit 190 jointly take a step by monitoring
Action executing, it is ensured that user security；If occurring exception in action executing process, into step S25；If action is successfully completed,
Then enter step S26；
Step S25：Remote monitoring server 600 and the common trial solution abnormal problem of master control borad 100, such as motor are delayed after machine
Remove mistake and reconnect；Step S23 is entered if it can normally remove extremely, action of taking a step is continued to complete；Can not if abnormal
Normal removing then enter step S27；
Step S27：Bionical rehabilitation ectoskeleton attempts locked motor and calls the bionical rehabilitation ectoskeleton of mechanical lock pinning, and by
Remote monitoring server sends the information that requests help；Into step S30, system enters holding state；
Step S26：Judge whether user thinks that stopping is taken a step action, if stopping action of taking a step, into step S28；If no
Stopping is taken a step action, then reenter step S22 and judge whether to trigger next step and take a step action；
Step S28：Master control borad 100 to electric machine control system 200 sends instruction, performs and receives leg action；Into step S29；
Step S29:Jointly leg is received in monitoring to the real-time monitoring module 640 of remote monitoring server 600 with central processing unit 190
Action executing, it is ensured that user security；If occurring exception in action executing process, into step S25, attempt removing exception；If
Action is successfully completed, then into step S30, system enters holding state；
Step S31：User presses any key wakeup system, and returns to step S21.
As shown in Figure 10, can remote monitoring bionical rehabilitation ectoskeleton control system remote monitoring server 600 with doctor
The workflow of the raw interaction of client 700 is comprised the following steps：
Step S41：Doctor's client 700 to remote monitoring server 600 initiates TCP connections, and both sides are set up after connection, to
Remote monitoring server 600 sends authentication information；
Step S42：The identity information of the checking doctor of remote monitoring server 600 client 700, confirms that the client is had
Some operating rights；If identity information authentication failed, remote monitoring server 600 is automatically switched off connection；
Step S43：After the checking client identity success of remote monitoring server 600, from database 500 user is read
Newest data record, including the ectoskeletal self-inspection information of bionical rehabilitation, bionical rehabilitation ectoskeleton usage record, user's physiology number
According to and exercise data；Data in database 500 are for timing data analysis module 630 with real-time monitoring module 640 worked
The data recorded in journey；
Step S44：Remote monitoring server 600 is transferred data to after doctor's client 700, will wait doctor visitor to be received
The control instruction at family end 700, such as adjusts bionical rehabilitation ectoskeleton motor speed, articulation angle parameter；
Step S45：Remote monitoring server 600 is received transfers to instruction control mould after the control instruction of doctor's client 700
Block 620 processes control instruction, control instruction is sent to into master control borad 100 by communication module 660 if control instruction is legal and is held
Row instruction, master control borad 100 is returned after implementing result, and implementing result is synchronized to into database 500, and is sent to doctor's client
700；
Increase in above-mentioned steps or insert about doctor's client, family members' client and database effect will
Embody
The present invention can the bionical rehabilitation exoskeleton system of remote monitoring there is advantages below：First, system architecture is simply high
Effect, mistake occur can quickly search and respond；Second：Remote server monitors bionical rehabilitation ectoskeleton and makes jointly with local system
With the safety of patient, the new energy of safety is improved；3rd：Doctor and family members can in time understand patient's shape by remote monitoring server
State, formulates rational rehabilitation training scheme.
On the basis of the present invention, those skilled in the art can be designed that many other modification and embodiment, this
A little modifications and embodiment also fall within concept disclosed in the present application and technological frame.
Claims (8)
1. it is a kind of can remote monitoring bionical rehabilitation ectoskeleton control system, it is characterised in that including master control borad, motor control system
System, sensor network, wireless wrist watch control end, database, remote monitoring server, doctor's client and family members' client；
The master control borad is connected respectively with electric machine control system, sensor network and wireless wrist watch control end；Master control borad also leads to
Cross network remote monitoring server to be connected；
Doctor's client terminal and family members' client terminal pass through network connection remote monitoring server；Database and remote monitoring
Server connects, and database is also connected by network with master control borad；
The master control borad is powered for electric machine control system, is sent control instruction and is read control system data；Master control borad and sensing
Device network is connected, and the data of sensor collection are read from sensor network；
The master control borad receives the control instruction of bionical rehabilitation ectoskeleton wearing patient and to wireless wrist watch control end transmission state
Data；
The master control borad reads the data of sensor collection from sensor network；
Doctor's client terminal monitors shape of the bionical rehabilitation ectoskeleton using patient by network connection remote monitoring server
State is simultaneously adjusted to remote monitoring server transmission instruction；
Family members' client terminal checks that bionical rehabilitation ectoskeleton uses the shape of patient by network connection remote monitoring server
State；
The instruction that the database is transmitted across to the data and remote monitoring server that store master control borad transmission；
The master control borad to remote monitoring server carries out two-way communication, exchanges control instruction, sensing data, outside bionical rehabilitation
Skeletal status and bionical rehabilitation ectoskeleton wearing patient status information；Remote monitoring server receives the number of master control borad passback
According to, analysis of history data and current data, to monitor bionical rehabilitation ectoskeleton running status and bionical rehabilitation ectoskeleton
The state of wearing patient, when abnormal conditions occur in bionical rehabilitation ectoskeleton or patient, to master control borad control instruction is sent, and
Corresponding process operation and operating result are informed into bionical rehabilitation ectoskeleton user with short message mode.
2. it is according to claim 1 can remote monitoring bionical rehabilitation ectoskeleton control system, it is characterised in that the master
Control plate includes internal interface, external interface, communication module, locating module, power transfer module, power source protective module and process
Device；Internal interface includes CAN1 modules, CAN2 modules, interior serial ports；External interface includes outer serial ports and USB/HUB modules；Communication
Module includes Ethernet debugging module, wireless network card, 4G modules, 2.4G wireless modules；Locating module is mainly GPS module；Electricity
Source modular converter includes master switch, 3.3VLDO modules, 5VDCDC modules, MOS modules and power module；Power source protective module master
It to be current detector；Processor includes central processing unit and first microprocessor；The power source protective module, locating module,
Internal interface and external interface are all connected with central processing unit；Ethernet debugging module, wireless network card and 4G modules all with central authorities
Processor connects, and 2.4G wireless modules are connected with first microprocessor；First microprocessor is by interior serial ports and central processing unit
It is connected；Master switch is connected respectively with 24V lithium batteries, 3.3VLDO modules and 5VDCDC modules；5VDCDC modules pass through MOS moulds
Block is connected with power module, and power module is connected with central processing unit；3.3VLDO modules are connected with first microprocessor.
3. it is according to claim 2 can remote monitoring bionical rehabilitation ectoskeleton control system, it is characterised in that the biography
Sensor network is made up of left limb CAN with right limb CAN；Left limb CAN is all connected with right limb CAN with CAN2 modules
Connect；Left limb sensor network includes left primary minimum leg sensor node, left knee electromechanical transducer, left limb thigh sensor node and a left side
Hip electromechanical transducer；Right limb sensor network includes right primary minimum leg sensor node, right knee electromechanical transducer, right limb thigh sensing
Device node and right hip electromechanical transducer；
The left limb thigh sensor node, right limb thigh sensor node, left primary minimum leg sensor node, right primary minimum leg sensing
Device node 323 all includes obliquity sensor, acceleration transducer, pressure sensor, AD conversion module, voltage transformation module and the
Two microprocessors；The obliquity sensor, acceleration transducer, AD conversion module and voltage transformation module are all micro- with second respectively
Processor connects；Pressure sensor is connected with AD conversion module；Voltage transformation module is connected with CAN2 modules.
4. it is according to claim 3 can remote monitoring bionical rehabilitation ectoskeleton control system, it is characterised in that the left side
Limb thigh sensor node is positioned over trunk and inclines together with the obliquity sensor and acceleration transducer of right limb thigh sensor node
Angle transducer places draw-in groove；The obliquity sensor of left primary minimum leg sensor node is same with acceleration transducer to be positioned over little leg support
Place, pressure sensor is positioned over foot bottom pressure sensor standing groove；Left hip electromechanical transducer, right hip electromechanical transducer, left knee electricity
Machine sensor and right knee electromechanical transducer are the sensors of same type, are respectively placed in left limb hip motor, right limb hip electricity
Machine, left limb knee motor, the inside of right limb knee motor.
5. it is according to claim 1 can remote monitoring bionical rehabilitation ectoskeleton control system, it is characterised in that the electricity
Machine control system includes that motor encoder drives with CAN servomotors；Each motor encoder drives composition with CAN servomotors
The drive system of one servomotor, motor encoder is joined directly together with the MOS modules of master control borad；Left limb hip motor, right limb
Hip motor, left limb knee motor, the CAN motor servo drivers carry of right limb knee motor are in unified CAN1 module bus
On.
6. it is according to claim 1 can remote monitoring bionical rehabilitation ectoskeleton control system, it is characterised in that the nothing
Line wrist-watch control end includes 2.4G wireless modules, obliquity sensor, button, display screen and the 3rd microprocessor；The 2.4G
Wireless module, obliquity sensor, button and display screen are all connected with the 3rd microprocessor respectively；The wireless wrist watch control end is worn
Be worn over bionical rehabilitation ectoskeleton using patients wrist at；2.4G wireless modules are connected by communication with master control borad.
7. it is according to claim 1 can remote monitoring bionical rehabilitation ectoskeleton control system, it is characterised in that it is described remote
Range monitoring server includes authentication module, instruction control module, real-time monitoring module, timing data analysis module, early warning
Module and communication module；Authentication module and instruction control module are connected respectively with communication module；Timing data analysis module
It is connected with warning module respectively with real-time monitoring module；Warning module is connected with communication module；Authentication module is to test
Card User logs in simultaneously gives corresponding authority；Instruction control module to send control instruction to the bionical rehabilitation ectoskeleton of ectoskeleton,
The bionical rehabilitation ectoskeleton of real-time monitoring module monitor in real time and bionical rehabilitation ectoskeleton use patient safety state；Timing data
Analysis module is periodically generated the report of and bionical rehabilitation ectoskeleton state healthy with regard to patient body；Warning module is to process
The all information produced in system；Communication module is responsible for long distance control system with bionical rehabilitation ectoskeleton local system, Yi Shengke
Communication between family end and family members client three.
8. using the system described in claim 1-7 can remote monitoring bionical rehabilitation ectoskeleton control method, its feature exists
In comprising the following steps：
Step S10：User presses master switch start, and bionical rehabilitation ectoskeleton is started working；
Step S11：Bionical rehabilitation ectoskeleton proceeds by self-inspection, checks whether master control borad is normal, and whether electric system is normal, passes
Whether sensor network is normal, notifies that the bionical rehabilitation ectoskeleton of long distance control system is already powered on；If self-inspection notes abnormalities, enter
Step S13；If self-inspection is normal, into step；
Step S13：Bionical rehabilitation ectoskeleton to long distance control system request excludes exception, and whether exception is judged by step S14
Discharge, if long distance control system excludes exception, into step；If abnormal do not exclude, System Reports prompting user error
Afterwards, into step S30, system enters holding state；
Step S12：Electric machine control system is opened and motor connection；
Step S15：Master control borad waits wireless wrist watch control end to send instruction of standing, if user sends enter step after instruction of standing
S16；
Step S16：Master control borad receives sensor network data and whether judges user in seated position, if user is in shape of sitting down
State, then execution step S18；If user is not at seated position, execution step S17；
Step S17：Prompting user's adjustment sitting posture, reentering step S16 carries out seated position judgement；
Step S18：Master control borad to electric machine control system sends instruction, performs standing activities；Into step S19；
Step S19:The real-time monitoring module of remote monitoring server monitors standing action executing jointly with central processing unit, it is ensured that
User security；If occurring exception in action executing process, into step S20；If action is successfully completed, into step S21；
Step S20：Stop current standing activities to perform, return action starting point, after systems inspection debug, notify user's weight
Newly stood, resumes step S15；
Step S21：User Status is converted to standing state, and master control borad gathers sensor network data as following action executing
During reference threshold；Into step S22；
Step S22：Master control borad judges whether user meets the condition of taking a step, and whether condition of taking a step herein is displaced to one for user's center of gravity
Whether side, trunk leans forward；Step S23 is entered if trigger condition is met；Reenter S22 if being unsatisfactory for be detected；
Step S23：Master control borad to electric machine control system sends instruction, performs action of taking a step；Into step S24；
Step S24:The real-time monitoring module of remote monitoring server monitors action executing of taking a step jointly with central processing unit, it is ensured that
User security；If occurring exception in action executing process, into step S25；If action is successfully completed, into step S26；
Step S25：Remote monitoring server and master control borad attempt solving abnormal problem jointly, and such as motor to be delayed and remove mistake simultaneously after machine
Reconnect；Step S23 is entered if it can normally remove extremely, action of taking a step is continued to complete；If it can not normally remove extremely
Into step S27；
Step S27：Bionical rehabilitation ectoskeleton attempts locked motor and calls mechanical lock to pin bionical rehabilitation ectoskeleton, and by long-range
Monitoring server sends the information that requests help；Into step S30, system enters holding state；
Step S26：Judge whether user thinks that stopping is taken a step action, if stopping action of taking a step, into step S28；If not stopping
Take a step action, then reenter step S22 and judge whether to trigger next step and take a step action；
Step S28：Master control borad to electric machine control system sends instruction, performs and receives leg action；Into step S29；
Step S29:The real-time monitoring module of remote monitoring server monitors receipts leg action executing jointly with central processing unit, it is ensured that
User security；If occurring exception in action executing process, into step S25, attempt removing exception；If action is successfully completed,
Step S30 is then entered, system enters holding state；
Step S31：User presses any key wakeup system, and returns to step S21；
Step S41：Doctor's client to remote monitoring server initiates TCP connections, and both sides are set up after connection, to remote monitoring clothes
Business device sends authentication information；
Step S42：Remote monitoring server verifies the identity information of doctor's client, confirms the operating rights that the client has
Limit；If identity information authentication failed, remote monitoring server is automatically switched off connection；
Step S43：After remote monitoring server checking client identity success, from database the newest data of the user are read
Record, including the ectoskeletal self-inspection information of bionical rehabilitation, bionical rehabilitation ectoskeleton usage record, user's physiological data and motion number
According to；Data in database are the data that timing data analysis module is recorded in the course of the work with real-time monitoring module；
Step S44：Remote monitoring server is transferred data to after doctor's client, by etc. doctor's client to be received control
Instruction；
Step S45：Remote monitoring server is received transfers to instruction control module to process control after doctor's client control instruction
Instruction, master control borad execute instruction is sent to if control instruction is legal by control instruction by communication module, and master control borad 0 is returned and held
After row result, implementing result is synchronized to into database concurrency and gives doctor client.
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