CN107015564B - Walking-aid robot and combined intelligent control method - Google Patents
Walking-aid robot and combined intelligent control method Download PDFInfo
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Abstract
The invention discloses a walking-aid robot and an intelligent control method thereof, wherein the walking-aid robot comprises: the robot comprises a handle, a semi-circular arc mechanism, a ball joint, a semi-U-shaped frame, a robot trunk, an outward-extending type supporting structure and an omnidirectional chassis; the handle is used for holding by a user and transmitting the movement intention of the user; the semi-circular arc mechanism is used for falling prevention buffering and height and angle adjustment during man-machine interaction; the ball joint is used for driving the semi-arc mechanism to move; the half U-shaped frame is used for supporting the forearm of a user; the robot trunk is used for realizing data acquisition, data processing, data transmission and motion control; the outward-extending supporting structure is used for preventing backward falling; the omnidirectional chassis is used for driving the robot to move in 360 degrees in an omnidirectional manner. The combined intelligent walking-assisting robot can be used by the old with different lower limb strength, is small in size, has multiple rehabilitation training modes, can comprehensively protect falling, enlarges the range of applicable people, enhances the portability and operability of indoor use of a user, and enriches the rehabilitation training modes.
Description
Technical Field
The invention belongs to the technical field of human-computer interaction and walking aid rehabilitation, and particularly relates to a walking aid robot and a combined intelligent control method.
Background
As a large population country, China has grown from 1.78 billion in 2010 to 2.3 billion in 2016, accounting for 16.7% of the total population, and the number of lost elderly is nearly 1 hundred million in empty nests and solitary elderly, and about 3500 million in half lost elderly over 60 years old. On the one hand, aging population increases the disability probability and the number of disabled people. On the other hand, chronic disease patients have a high disability rate due to the acute-phase treatment mode for a long time. According to the world health organization, the number of people over 60 years old accounts for more than 10% of the total number of the society, or the number of people over 65 years old accounts for more than 7% of the total number of the society, the China has rapidly entered the aged society, and in the two or three decades, 4 hundred million or more of aged patients over 60 years old and 5 hundred million or more of chronic patients need rehabilitation treatment. In addition, the technical personnel for rehabilitation in China have great gaps, and the supply-demand ratio is as high as about 1: 10000, so that the walking-assisting and rehabilitation robot is introduced to not only assist the old with weak lower limb strength to walk normally, but also greatly improve the industrial rehabilitation level, and effectively solve the problem of shortage of rehabilitation doctors.
At present, users of walking-aid robots are mostly old people, and the common vision of the old people is poor, the lower limb strength is weak, and even the walking is difficult. The current walking-aid robot is generally a single robot, can only meet the use requirements of the old with certain lower limb strength, and cannot meet the walking-aid and rehabilitation training requirements of the old with serious disability. And a single walking-aid robot can only exercise the lower limb strength of the old through assisting walking, the rehabilitation effect is limited, and the function is single. And the general size of current helping hand robot is bigger than normal, excessively occupies indoor space, is not convenient for use and indoor activity, and the flexibility is not enough.
Therefore, at present, a set of walking-assisting robot system is urgently needed to be developed, the use requirements of the elderly with different lower limb strength can be met, multiple rehabilitation training modes are provided, the robot can prevent falling in all directions, the size of the robot is reduced, the environment adaptive capacity of the robot is enhanced, a better walking-assisting effect is achieved, and the walking-assisting robot is expected to be gradually commercialized and industrialized.
Disclosure of Invention
Aiming at the defects of the walking-aid robot, the invention aims to provide the combined intelligent walking-aid robot which can be used by old people with different lower limb strength, is small in size, has multiple rehabilitation training modes, can comprehensively protect against falling, enlarges the range of applicable people, enhances the portability and operability of indoor use of users, enriches the rehabilitation training modes, strengthens a safety protection mechanism, and aims to solve the problems that the existing walking-aid robot is single in applicable people and function, insufficient in comprehensive safety protection mechanism, large in occupied indoor space and limited in rehabilitation training effect.
The invention provides a walking-aid robot, comprising: the robot comprises a handle, a semi-circular arc mechanism, a ball joint, a semi-U-shaped frame, a robot trunk, an outward-extending type supporting structure and an omnidirectional chassis; the handle is used for holding by a user and transmitting the movement intention of the user; the semi-circular arc mechanism is used for falling prevention buffering and height and angle adjustment during man-machine interaction; the ball joint is used for driving the semi-arc mechanism to move; the half U-shaped frame is used for supporting the forearm of a user; the robot trunk is used for realizing data acquisition, data processing, data transmission and motion control; the outward-extending supporting structure is used for preventing backward falling; the omnidirectional chassis is used for driving the robot to move in 360 degrees in an omnidirectional manner.
Still further, the semi-circular arc mechanism comprises: an emergency stop switch, a flange plate and a six-dimensional force sensor; the emergency stop switch is positioned at the upper right side and used for stopping the motion of the robot under the sudden or unexpected condition; the flange plate is connected with the ball joint and the six-dimensional force sensor; the six-dimensional force sensor is connected with the robot trunk and used for measuring force data of a user holding a handle.
Still further, the robot torso includes: the system comprises an omnidirectional chassis control board, an omnidirectional chassis motor drive board, a lithium battery voltage control board, a data acquisition module, a microcomputer, a lithium battery, a laser range finder, a groove-shaped frame, a telescopic rod, two side plates, a bottom partition board, a middle partition board, an upper partition board and a rear side plate; the two telescopic rods are fixed on the side plates at the two sides, and the length of the telescopic rods can be adjusted; the side plates at the two sides are fixedly connected with the rear side plate, the middle partition plate, the upper partition plate and the bottom partition plate; an omnidirectional chassis control board, an omnidirectional chassis driving board and a lithium battery voltage control board are fixed on the upper partition board, the omnidirectional chassis control board is connected with the microcomputer and the omnidirectional chassis driving board, receives data analyzed and processed by the microcomputer, transmits corresponding PWM waves to the driving board, outputs voltage to the motor by the driving board, and controls the speed and direction of the motor movement, and the lithium battery voltage control board is connected with the lithium battery, the omnidirectional chassis control board and the omnidirectional chassis driving board and is used for converting the lithium battery voltage into 24V voltage to supply power to the omnidirectional chassis control board and the omnidirectional chassis driving board; a microcomputer and a data acquisition module are fixed on the middle partition plate, the digital acquisition module receives the force data processed by the conditioning circuit and transmits the force data to the microcomputer, and the microcomputer is used for realizing the collection, processing and distribution of the data; the bottom partition plate is fixedly provided with a lithium battery and a laser range finder, the lithium battery is used for providing power input of the robot, the laser range finder is connected with the microcomputer and used for measuring leg data to identify the movement intention of a user, and the position and speed difference of the two robots are measured simultaneously to realize the following and cooperative movement modes.
Still further, the flared support structure comprises: the device comprises an electric cylinder, a bracket and an omnidirectional wheel; the electric cylinder with the support is connected with the rear side plate of the robot trunk, and the electric cylinder is used for controlling folding and unfolding of the outward-unfolding type supporting structure.
Furthermore, the omnidirectional chassis is connected with the center of the bottom of the trunk of the robot, and the omnidirectional chassis fixing frame is Y-shaped and forms an included angle of 120 degrees with each other.
The invention adopts two walking-aid robots to realize the functions of standing-aid, multi-mode walking aid, rehabilitation training, all-round falling-prevention and the like. When the two walking-aid robots are combined for use, the combined system helps a user to realize the posture cycle change from standing to sitting to standing by the aid of the ball joints, the horizontal support frames and the abduction type support structures, strengthens the training of physical functions of the arms, the legs, the waist and other parts, accelerates the recovery period of the physical functions, and has more prominent rehabilitation training effect compared with the walking rehabilitation. The robot is small in size, flexible and convenient to control in an indoor limited space environment, the activity area of the robot used by a user is expanded, the robot is more convenient to live, and the environment adaptability of the robot is enhanced.
The invention also provides an intelligent control method based on the walking-aid robot, which adopts two walking-aid robots to realize a following type movement mode; the method comprises the following steps:
(1) when the movement intention of a user is obtained, a six-dimensional force sensor on a semi-arc structure in the main robot generates force data, the force data are conditioned by a conditioning circuit of the trunk of the robot and are transmitted to a data acquisition module, then the force data are transmitted to a microcomputer through a USB (universal serial bus), the microcomputer transmits the data to a control panel of an omnidirectional chassis through a serial port, the control panel generates PWM (pulse-width modulation) waves and transmits the PWM waves to a drive panel, a motor works, an omnidirectional wheel rotates, and the main robot moves according to the intention of the user;
(2) detecting a difference in real-time speed and direction of motion between the master robot and the slave robot by a laser range finder from a robot torso;
(3) and the motion control system in the slave robot performs position and speed compensation correction according to the difference between the real-time speed and the motion direction, so that the motion of the slave robot is consistent with that of the master robot, and the dual-robot following motion is realized.
The invention also provides an intelligent control method based on the walking-aid robot, which adopts two walking-aid robots to realize a combined collaborative movement mode; the method comprises the following steps:
(1) when the movement intention of a user is obtained, a six-dimensional force sensor on a semi-arc structure of the main robot generates force data, the force data are conditioned by a conditioning circuit of the trunk of the robot and are transmitted to a data acquisition module, then the force data are transmitted to a microcomputer through a USB (universal serial bus), the microcomputer transmits the data to a control panel of an omnidirectional chassis through a serial port, the control panel generates PWM (pulse-width modulation) waves and transmits the PWM waves to a drive panel, a motor works, an omnidirectional wheel rotates, and the main robot moves according to the intention of;
(2) the slave robot generates the intention movement in the same way as the master robot;
(3) detecting a difference in real-time speed and direction of motion between the master robot and the slave robot by a laser range finder from a robot torso;
(4) and the slave robot motion control system performs position and speed compensation correction according to the difference between the real-time speed and the motion direction, so that the motion intention of the slave robot is consistent with the motion intention of the master robot, and the combined collaborative motion of the two robots is realized.
In the combined cooperative double-robot mode, forward and backward falling can be prevented, and left and right falling can be prevented, forward and backward falling can be prevented in the following double-robot mode, and left or right side falling can be avoided by holding the slave robot when an emergency occurs.
The invention also provides an intelligent control method based on the walking-aid robot as claimed in claim 1, wherein two walking-aid robots are adopted to realize a rehabilitation training mode; the method comprises the following steps:
(1) when the initial state of a user is detected that the two hands respectively hold the handles 1 of the two robots, the forearms are placed on the horizontal support frame to be supported by stress; when the waist and the knees are bent downwards and the lower semi-arc-shaped mechanism 2 of the handle is driven to rotate backwards, the user slowly and comfortably changes from the standing posture to the semi-standing posture by adjusting the height of the handle 1;
(2) when the user is detected to continuously sink the waist and bend the knees, the semi-arc mechanism 2 is controlled to be driven to continuously rotate backwards to a lower position, and the user changes from a half standing posture to a sitting posture;
(3) changing from sitting posture to standing posture to the reverse process of the steps (1) and (2), exerting force by a user through a horizontal support frame, legs and waist, lifting the trunk upwards, gradually reducing the bending of knees, recovering from the sitting posture to a half-standing posture, and moving the semi-circular arc mechanism 2 to a middle position;
(4) the user continues to lift the trunk, the legs are upright, the semi-circular arc mechanism 2 is restored to the position in the step (1), and the semi-standing posture is restored to the standing posture;
(5) and (4) repeating the steps (1) to (4) to realize the posture cycle transformation of 'standing-sitting-standing' and carry out limb rehabilitation training.
The invention also provides an intelligent control method based on the walking-aid robot, which adopts two walking-aid robots to realize a standing-aid mode; the method comprises the following steps:
(1) when the initial posture of a user is a sitting posture and the instantaneous force drastic change is detected by the six-dimensional force sensor, force data are collected and compared by a threshold value to judge that the user is in a standing preparation state at the moment, and the two robots are controlled not to move;
(2) the user exerts force with the help of the horizontal support frame of the half U-shaped frame and the supporting force of the abduction type supporting structure, and the hands, the waist and the legs exert force together to slowly realize standing.
Further, either one of the two robots is set as a master robot and the other is set as a slave robot according to the actual intention of the user.
According to the invention, the slave robot measures the distance and the speed difference between the two robots in real time through the laser range finder, then the motion control system adjusts the motion tracks of the slave robot so as to realize that the two robots always keep a fixed distance and move forwards in parallel transversely, and the two robots realize real-time combination cooperation or following through the control mode, so that good use experience and fall protection are ensured.
The combined intelligent walking-aid robot provided by the invention can provide two motion modes: the combined type double-robot mode is an intelligent combined type robot and assists a user to walk and live in a cooperative mode, and the following type double-robot mode is a mode that the user only needs to use the main robot and the auxiliary robot is in a following state. The combined type double-robot mode is used for the serious enabling condition of a user, provides multiple rehabilitation training modes, accelerates the recovery of lower limb strength of the enabled user, can enter the following type double-robot mode when the user recovers to have certain lower limb walking capability, and the user with certain lower limb strength only needs to directly enter the following type double-robot mode. The combined intelligent robot can be used by the old with different lower limb strength, and the applicable crowd range is enlarged; the size of the robot is reduced, and the portability and operability of indoor use of a user are enhanced; the rehabilitation training can be carried out by assisting walking and standing and sitting posture conversion, so that the rehabilitation training mode is enriched; and the intelligent walking-aid robot combined system capable of comprehensively protecting falling strengthens a safety protection mechanism, and can effectively solve the problems of standing aid, walking aid and rehabilitation training of old people or disabled people.
Compared with the prior art, the technical scheme of the invention has the advantages that the omnidirectional chassis is used, the outward-extending type supporting device is added, the auxiliary supporting function of the half-U-shaped frame and the combination of the two robots are assisted, so that more excellent robot stability, stronger robot bearing capacity and more comprehensive falling protection capacity can be obtained; because the six-dimensional force sensor, the data acquisition module and the microcomputer are adopted to acquire, process and analyze data, and the additional control system adopts closed-loop control of speed and position, the effects of intelligent identification and real-time accurate control of movement intention can be obtained.
Drawings
FIG. 1 is a front view of a single robot configuration provided by an embodiment of the present invention.
FIG. 2 is a rear view of a single intelligent walker robot configuration provided by embodiments of the present invention.
FIG. 3 is a right side view of a single intelligent walker robot configuration provided by an embodiment of the present invention.
FIG. 4 is a left side view of a single intelligent walker robot configuration provided by an embodiment of the present invention.
FIG. 5 is a schematic diagram of a control structure of a single intelligent walking-aid robot provided by the embodiment of the invention.
Fig. 6 is a schematic diagram of a control structure of a following dual-robot mode according to an embodiment of the present invention.
Fig. 7 is a schematic control structure diagram of a combined collaborative dual-robot mode according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of rehabilitation training for changing from "standing" to "sitting" to "standing", in which (a) is an initial standing position, (b) is a standing position → a half-standing position, (c) is a half-standing position → a sitting position, (d) is a sitting position → a half-standing position, and (e) is a half-standing position → a standing position.
Fig. 9 is a schematic diagram of the man-machine position of the following dual-robot mode according to the embodiment of the present invention.
Fig. 10 is a schematic diagram of a human-machine location of a combined collaborative dual-robot mode according to an embodiment of the present invention.
In the figure: 1 is a handle, 2 is a semi-circular arc mechanism, 3 is a ball joint, 4 is a semi-U-shaped frame, 5 is a robot trunk, 6 is an abduction type supporting structure, and 7 is an omnidirectional chassis.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, 2, 3 and 4, the walking-aid robot provided by the invention comprises: the robot comprises a handle 1, a semi-circular arc mechanism 2, a ball joint 3, a semi-U-shaped frame 4, a robot trunk 5, an abduction type supporting structure 6 and an omnidirectional chassis 7; the handle 1 is used for holding and supporting by a user and transmitting the movement intention of the user; the semi-circular arc mechanism 2 is used for fall prevention buffering and height and angle adjustment during man-machine interaction; the ball joint 3 is used for driving the semi-arc mechanism 2 to move; the half U-shaped frame 4 is used for supporting the forearm of a user; the robot trunk 5 is used for providing power supply, data acquisition, processing and transmission and motion control; the abduction type supporting structure 6 is used for preventing backward falling, and the omnidirectional chassis 7 is used for driving the robot to do 360-degree omnidirectional motion.
The semi-arc mechanism 2 comprises an emergency stop switch, a flange plate and a six-dimensional force sensor. The emergency stop switch is positioned at the upper right side of the structure and used for immediately stopping the motion of the robot in case of sudden or unexpected situations; the lower end of a flange plate in the semi-circular arc mechanism 2 is connected with the upper part of the ball joint 3 and the six-dimensional force sensor; the six-dimensional force sensor is connected with a conditioning circuit board in the robot body 5 and used for measuring force data of a user holding a handle; the end of the semi-circular arc mechanism 2 is connected with the speed reducer on the side surface of the two sides of the ball joint 3, so that the semi-circular arc mechanism 2 rotates by 360 degrees by taking the horizontal radial direction as the axis, and the design can be used for carrying out human-computer interaction height adjustment during falling buffering and rehabilitation training.
The ball joint 3 comprises a spherical shell, the front surface of the shell is provided with a smiling face expression, the spherical shell comprises two groups of motors, encoders, speed reducers, support frames, ball joint control plates and ball joint drive plates, and the lower part of the ball joint 3 is fixed on the semi-U-shaped frame 4.
One ends of two motors of the ball joint 3 are respectively fixed on the support frame horizontally and vertically to form a two-position plane coordinate system for acquiring the position information of the ball joint, and the other ends are coaxially connected with the encoder to form a position closed loop through the position information; the speed reducer is also fixed on the support frame and provides a certain rated speed reduction ratio; the ball joint control board is connected with the encoder to obtain the real-time speed of the motor; the ball joint driving board is connected with the ball joint control board and the motor, and obtains PWM signals output by the control board to control the rotating speed and the direction of the motor. The appearance of the ball joint 3 simulates the shape of a brain and the expression of a human face, so that a user can more easily obtain warm feeling and close feeling when using the ball joint, and the experience of man-machine interaction is enhanced.
The half U-shaped frame 4 is provided with a ball joint 3, and the lower part is connected with the central part of the groove-shaped frame, and a foldable supporting plate is arranged on the half U-shaped frame and is used for supporting the lower arm of a user and assisting the person with weak lower limb strength to stand and walk. The application of different crowds and different scenes is convenient for to folded cascade design, and is convenient not occupation space again promptly.
The internal structure of the robot trunk 5 is as follows: the all-direction chassis comprises an all-direction chassis control board, an all-direction chassis motor drive board, a lithium battery voltage control board, a data acquisition module, a microcomputer, a lithium battery, a laser range finder, a groove type frame, a telescopic rod, two side plates, a bottom partition board, a middle partition board, an upper partition board and a rear side board.
Two telescopic rods of the robot trunk 5 are fixed on the side plates at two sides through U-shaped blocks, and the length of the telescopic rods can be manually adjusted so as to adapt to users with different heights; the side plates at the two sides are fixedly connected with the rear side plate, the middle partition plate, the upper partition plate and the bottom partition plate; an omnidirectional chassis control board, an omnidirectional chassis driving board and a lithium battery voltage control board are fixed on the upper partition board, the omnidirectional chassis control board is connected with the microcomputer and the omnidirectional chassis driving board, receives data analyzed and processed by the microcomputer, transmits corresponding PWM waves to the driving board, outputs voltage to the motor by the driving board, and controls the speed and the direction of the movement of the motor, and the lithium battery voltage control board is connected with the lithium battery, the omnidirectional chassis control board and the omnidirectional chassis driving board, and is used for converting the voltage of the lithium battery into 24V voltage and then supplying power to the omnidirectional chassis control board and the omnidirectional chassis driving board; the middle partition board is fixed with a microcomputer and a data acquisition module, the digital acquisition module receives the force data processed by the conditioning circuit and then transmits the force data to the microcomputer through a USB wire, and the microcomputer is used for bearing a written program and collecting, processing and distributing the data. The bottom separator is fixed with a lithium battery and a laser range finder, the lithium battery is responsible for providing power input of the robot, the laser range finder is connected with a microcomputer through a USB line and used for measuring leg data to identify the movement intention of a user, and simultaneously measuring the position and speed difference of the two robots to realize a following and cooperative movement mode; the layered design of the partition board of the robot trunk 5 concentrates and places original devices of the same type or directly connected, so that the robot trunk is attractive and neat, is convenient for wiring, and is also beneficial to debugging and troubleshooting.
Abduction formula bearing structure 6, including electric cylinder, support, omniwheel, electric cylinder and support on it are connected with the posterior lateral plate of robot truck 5, and folding and the expansion of the receipts of electric cylinder control abduction formula support frame 6 are both portable and save space, and this design can effectively prevent user's falling backward.
The 7 centers in chassis of qxcomm technology and 5 bottoms of robot truck link to each other, and 7 mounts in chassis of qxcomm technology become "Y" type, and mutual contained angle becomes 120, and 3 motors of group, reduction gear, encoder and omniwheel are fixed in respectively on 3 directions of mount and coaxial arrangement, and the equipment order is: the omnidirectional wheel is positioned at the outermost end of the omnidirectional chassis 7 and is connected with the speed reducer, and one end of the motor is connected with the speed reducer and the other end is connected with the encoder. The design can realize 360-degree omnidirectional movement of the robot and can realize the movement intention of a user in any direction and speed.
As shown in fig. 5, the motion control principle of the single intelligent robot in the present invention is as follows:
(1) a user holds the handle 1 by hand, applies force in the expected movement direction, and acts on the six-dimensional force sensor on the semi-arc structure 2 to generate movement intention;
(2) pressure value data of a six-dimensional force sensor on the semi-arc structure 2 is adjusted by a conditioning circuit in the robot trunk 5 to finish corresponding conversion of force and speed, then is collected by a data collection module and is transmitted to a microcomputer through a USB port serial port;
(3) a microcomputer in the robot trunk 5 is communicated with a control panel of the ball joint 3 and a control panel of the omnidirectional chassis 7 through serial ports, and then formed PWM signals are sent to corresponding motor drive plates to drive the motors to work, so that the actual movement direction and speed of the walking-aid robot are formed;
(4) the encoders of the ball joint 3 and the omnidirectional chassis 7 monitor the speed of the motor in real time to form a speed or position closed loop, and the real-time speed of the robot is compensated and corrected;
(5) the robot moves according to the user's intention.
The two intelligent walking-aid robots in the invention both follow the motion control principle.
As one embodiment, we analyze the following type dual-robot movement pattern, as shown in fig. 6 and 9, the specific operation steps are as follows:
(1) a user holds the handle 1 of the main robot by one hand, and simultaneously, the forearm is placed on the horizontal supporting frame of the half U-shaped frame 4 to exert force to generate movement intention;
(2) the main robot movement intent is translated into robot movement: force data are generated by a six-dimensional force sensor on the main robot semi-arc structure 2, are conditioned by a conditioning circuit of the robot trunk 5 and are transmitted to a data acquisition module, and then are transmitted to a microcomputer through a USB (universal serial bus), the microcomputer transmits the data to a control panel of an omnidirectional chassis 7 through a serial port, the control panel generates PWM (pulse-width modulation) waves and transmits the PWM waves to a drive plate, a motor works, an omnidirectional wheel rotates, and the main robot moves according to the intention of a user;
(3) detecting motion errors of the master robot and the slave robot: detecting the difference between the real-time speed and the movement direction of the two robots from the laser range finders of the robot trunk 5;
(4) the slave robot follows the master robot to move: the slave robot motion control system performs position and speed compensation correction, ensures that the motion of the slave robot is consistent with that of the master robot, and realizes double-robot following motion.
The above-described exercise pattern is suitable for users who have a certain strength of the lower limbs or who are recovering only this stage.
As one embodiment, we analyze the motion pattern of the combined cooperative dual robot, as shown in fig. 7 and 10, and the specific operation steps are as follows:
(1) a user respectively holds the handles 1 of the walking-aid robot by two hands, and simultaneously, the small arms are placed on the horizontal supporting frame of the half U-shaped frame 4 to exert force to generate movement intentions;
(2) the main robot movement intent is translated into robot movement: force data are generated by a six-dimensional force sensor on the main robot semi-arc structure 2, are conditioned by a conditioning circuit of the robot trunk 5 and are transmitted to a data acquisition module, and then are transmitted to a microcomputer through a USB (universal serial bus), the microcomputer transmits the data to a control panel of an omnidirectional chassis 7 through a serial port, the control panel generates PWM (pulse-width modulation) waves and transmits the PWM waves to a drive plate, a motor works, an omnidirectional wheel rotates, and the main robot moves according to the intention of a user;
(3) generating an intended motion from the robot: generating an intended motion from the robot in the same manner as step 2;
(4) detecting the motion error of the master robot and the slave robot: detecting the difference between the real-time speed and the movement direction of the two robots from the laser range finders of the robot trunk 5;
(5) the master-slave robot combination moves in a cooperative mode: the slave robot motion control system performs position and speed compensation correction, ensures the consistency of the motion intentions of the master robot and the slave robot, and realizes the combined collaborative motion of the two robots.
The motion mode is suitable for users with too weak lower limb strength or even serious disability, can define a master-slave robot according to the use habits of the left hand and the right hand of the users, has selectivity, better satisfies the habits of the users, further improves the use comfort, and can intelligently identify the motion intentions of the users through force data and ensure the real-time performance of the intention realization so as to obtain good use experience.
As one embodiment, we analyze the rehabilitation training function of the present invention, as shown in fig. 8, the combined intelligent walking robot provided by the present invention can also realize the posture cycle transformation of "standing-sitting-standing" to perform rehabilitation training, and the specific operations are as follows:
(1) when the initial state of a user is detected that the two hands respectively hold the handles of the two robots, the forearms are placed on the horizontal support frame to be supported in a stress way; when the waist and the knees are bent downwards and the lower semi-arc-shaped mechanism of the handle is driven to rotate backwards, the user slowly and comfortably changes from a standing posture to a half-standing posture by adjusting the height of the handle;
(2) when the user is detected to continuously sink the waist and bend the knees, the semi-arc mechanism is controlled to be driven to continuously rotate backwards to a lower position, and the user changes from a half standing posture to a sitting posture;
(3) changing from sitting posture to standing posture to the reverse process of the steps (1) and (2), exerting force by a user through a horizontal support frame, legs and waist, lifting the trunk upwards, gradually reducing the bending of knees, recovering from the sitting posture to a half-standing posture, and moving the semi-circular arc mechanism 2 to a middle position;
(4) the user continues to lift the trunk, the legs are upright, the semi-arc mechanism is restored to the position in the step (1), and the semi-standing posture is restored to the standing posture;
(5) and (4) repeating the steps (1) to (4) to realize the posture cycle transformation of 'standing-sitting-standing' and carry out limb rehabilitation training.
The rehabilitation training strengthens strength training of the arms, the legs, the waist and the like, has better rehabilitation training effect compared with single walking assisting training, and enriches rehabilitation training means.
As one embodiment of the invention, we analyze the standing of the intelligent walking robot combination, and refer to the processes of (c), (d), and (e) in FIG. 8, and the specific operations are as follows:
(1) the initial posture of the user is a sitting posture, the handle 1 is tightly held by two hands, and the two small arms are placed on the horizontal supporting frame of the half U-shaped frame 4;
(2) the six-dimensional force sensor on the semi-arc structure 2 of the robot generates instantaneous sharp change of force, force data are collected and processed through a conditioning circuit and a data collection module in the robot body 5 and are transmitted to a microcomputer, the state of standing preparation at the moment is judged according to the microcomputer program presetting, the ball joint and the omnidirectional wheel motor are disabled at the moment, and both the robots do not move;
(3) the user exerts force with the help of the supporting force of the horizontal supporting frame and the outward-extending supporting frame 6 of the half U-shaped frame 4, and the two hands, the waist, the legs and the like are used for slowly standing.
The invention intelligently identifies the intention of standing preparation through the force data of the user, and compared with a single robot, the supporting force of both hands is much larger than that of one hand, so that the force can be exerted conveniently and stably.
Therefore, the embodiment has the characteristics of simple and easy operation, strong real-time performance, good safety and the like, can strengthen the rehabilitation training of limb strength, enhance the walking ability damage and the walking ability of the amblyopia patients, and improve the life quality of the patients.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A walking assist robot, comprising: the robot comprises a handle (1), a semi-circular arc mechanism (2), a ball joint (3), a semi-U-shaped frame (4), a robot trunk (5), an outward-extending type supporting structure (6) and an omnidirectional chassis (7);
the handle (1) is used for being held by a user to transfer the motion intention of the user; the semi-circular arc mechanism (2) is used for preventing falling buffering and adjusting the height and angle during man-machine interaction; the ball joint (3) is used for driving the semi-circular arc mechanism (2) to move; the half U-shaped frame (4) is used for supporting the forearm of a user; the robot trunk (5) is used for realizing data acquisition, data processing, data transmission and motion control; the abduction support structure (6) is used for preventing backward falling; the omnidirectional chassis (7) is used for driving the robot to move in 360 degrees in an omnidirectional manner;
when the two walking-aid robots are combined for use, the user is helped to realize the posture cyclic transformation from standing to sitting to standing through the cooperation of the ball joints, the semi-U-shaped frame (4) and the abduction type supporting structure (6).
2. Walking aid robot according to claim 1, characterized in that the semi-circular arc mechanism (2) comprises: an emergency stop switch, a flange plate and a six-dimensional force sensor;
the emergency stop switch is positioned at the upper right side and used for stopping the motion of the robot under the sudden or unexpected condition; the flange plate is connected with the ball joint (3) and the six-dimensional force sensor; the six-dimensional force sensor is connected with the robot trunk (5) and used for measuring force data of a user holding a handle.
3. Rollator robot according to claim 1, characterized in that the robot trunk (5) comprises: the device comprises an omnidirectional chassis control board, an omnidirectional chassis drive board, a lithium battery voltage control board, a data acquisition module, a microcomputer, a lithium battery, a laser range finder, a groove type frame, a telescopic rod, two side plates, a bottom partition board, a middle partition board, an upper partition board and a rear side plate;
the two telescopic rods are fixed on the side plates at the two sides, and the length of the telescopic rods can be adjusted;
the side plates at the two sides are fixedly connected with the rear side plate, the middle partition plate, the upper partition plate and the bottom partition plate;
an omnidirectional chassis control board, an omnidirectional chassis drive board and a lithium battery voltage control board are fixed on the upper partition board, the omnidirectional chassis control board is connected with the microcomputer and the omnidirectional chassis drive board, receives data analyzed and processed by the microcomputer, transmits corresponding PWM waves to the omnidirectional chassis drive board, outputs voltage to the motor by the omnidirectional chassis drive board, and controls the speed and the direction of the movement of the motor, and the lithium battery voltage control board is connected with the lithium battery, the omnidirectional chassis control board and the omnidirectional chassis drive board and is used for converting the voltage of the lithium battery into 24V voltage and supplying power to the omnidirectional chassis control board and the omnidirectional chassis drive board;
a microcomputer and a data acquisition module are fixed on the middle partition plate, the digital acquisition module receives the force data processed by the conditioning circuit and transmits the force data to the microcomputer, and the microcomputer is used for realizing the collection, processing and distribution of the data;
the bottom partition plate is fixedly provided with a lithium battery and a laser range finder, the lithium battery is used for providing power input of the robot, the laser range finder is connected with the microcomputer and used for measuring leg data to identify the movement intention of a user, and the position and speed difference of the two robots are measured simultaneously to realize the following and cooperative movement modes.
4. The walking aid robot according to claim 3, characterized in that the abduction support structure (6) comprises: the device comprises an electric cylinder, a bracket and an omnidirectional wheel; electric cylinder with the support is connected with the rear portion curb plate of robot truck (5), electric cylinder is used for controlling folding and the expansion of abduction formula supporting mechanism (6).
5. The walking-aid robot according to claim 1, characterized in that the omnidirectional chassis (7) is connected with the center of the bottom of the robot trunk (5), and the omnidirectional chassis (7) fixing frames are Y-shaped and form an included angle of 120 degrees with each other.
6. An intelligent control method based on the walking-aid robot of claim 3, wherein two walking-aid robots are adopted to realize a following type movement mode; the method is characterized by comprising the following steps:
s11: when the movement intention of a user is obtained, a six-dimensional force sensor on a semi-arc structure (2) in a main robot generates force data, the force data are conditioned by a conditioning circuit of a robot trunk (5), transmitted to a data acquisition module and then transmitted to a microcomputer through a USB (universal serial bus), the microcomputer transmits the data to an omnidirectional chassis control plate through a serial port, the omnidirectional chassis control plate generates PWM (pulse-width modulation) waves and sends the PWM waves to an omnidirectional chassis drive plate, a motor works, an omnidirectional wheel rotates, and the main robot moves according to the intention of the user;
s12: detecting a difference in real-time speed and direction of motion between the master and slave robots by a laser range finder from the robot torso (5);
s13: and the motion control system in the slave robot performs position and speed compensation correction according to the difference between the real-time speed and the motion direction, so that the motion of the slave robot is consistent with that of the master robot, and the dual-robot following motion is realized.
7. An intelligent control method based on the walking-aid robot of claim 3, which adopts two walking-aid robots to realize a combined collaborative movement mode; the method is characterized by comprising the following steps:
s21: when the movement intention of a user is obtained, a six-dimensional force sensor on a semi-arc structure (2) of the main robot generates force data, the force data are conditioned by a conditioning circuit of a robot trunk (5) and transmitted to a data acquisition module, then the force data are transmitted to a microcomputer through a USB (universal serial bus), the microcomputer transmits the data to an omnidirectional chassis control plate through a serial port, the omnidirectional chassis control plate generates PWM (pulse-width modulation) waves and transmits the PWM waves to an omnidirectional chassis drive plate, a motor works, an omnidirectional wheel rotates, and the main robot moves according to the intention of the user;
s22: the slave robot generates the intention movement in the same way as the master robot;
s23: detecting a difference in real-time speed and direction of motion between the master and slave robots by a laser range finder from the robot torso (5);
s24: and the slave robot motion control system performs position and speed compensation correction according to the difference between the real-time speed and the motion direction, so that the motion intention of the slave robot is consistent with the motion intention of the master robot, and the combined collaborative motion of the two robots is realized.
8. An intelligent control method based on the walking-aid robot of claim 1, wherein two walking-aid robots are adopted to realize a rehabilitation training mode; the method is characterized by comprising the following steps:
s31: when the initial state of a user is detected that the two hands respectively hold the handles of the two robots, the forearms are placed on the horizontal support frame to be supported in a stress way; when the waist and the knees are bent downwards and the lower semi-arc-shaped mechanism of the handle is driven to rotate backwards, the user slowly and comfortably changes from a standing posture to a half-standing posture by adjusting the height of the handle;
s32: when the user is detected to continuously sink the waist and bend the knees, the semi-arc mechanism is controlled to be driven to continuously rotate backwards to a lower position, and the user changes from a half standing posture to a sitting posture;
s33: the conversion from the sitting posture to the standing posture is the reverse process of the steps S31 and S32, the user exerts force by the horizontal support frame, the legs and the waist, the trunk is lifted upwards, the knee bending is gradually reduced, the semi-arc mechanism is restored to the semi-standing posture from the sitting posture, and the semi-arc mechanism moves to the position in S32;
s34: the user continues to lift the trunk, the legs are upright, the semi-circular arc mechanism is restored to the position in S31, and the semi-standing posture is restored to the standing posture;
s35: and repeating the steps S31-S34 to realize the posture cycle change of 'standing-sitting-standing' and carry out limb rehabilitation training.
9. An intelligent control method based on the walking-aid robot of claim 1, wherein two walking-aid robots are adopted to realize a standing-aid mode; the method is characterized by comprising the following steps:
s41: when the initial posture of a user is a sitting posture and the instantaneous force drastic change is detected by the six-dimensional force sensor, force data are collected and compared by a threshold value to judge that the user is in a standing preparation state at the moment, and the two robots are controlled not to move;
s42: the user exerts force with the help of the horizontal support frame of the half U-shaped frame (4) and the support force of the outward extending type support structure (6), and the hands, the waist and the legs exert force together to slowly realize standing.
10. The intelligent control method according to any one of claims 6 to 9, wherein either one of the two robots is set as a master robot and the other is set as a slave robot according to the real intention of the user.
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| CN108438095A (en) * | 2018-03-19 | 2018-08-24 | 合肥工业大学 | A kind of omnidirectional's nursing mobile robot platform |
| CN109157381B (en) * | 2018-07-24 | 2020-08-04 | 华中科技大学 | Handrail type intelligent tumble protection walking aid rehabilitation robot |
| CN109015676A (en) * | 2018-08-13 | 2018-12-18 | 范文捷 | A kind of robot for accompanying the walking of old man open air |
| CN110450193A (en) * | 2019-09-06 | 2019-11-15 | 梁渤涛 | The walking supporting mechanism of biped running type robot |
| CN112847367A (en) * | 2021-01-08 | 2021-05-28 | 北京工业大学 | Mechanical admittance control driving method |
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