CN109227552A - The control method and control system of exoskeleton robot - Google Patents
The control method and control system of exoskeleton robot Download PDFInfo
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- CN109227552A CN109227552A CN201811412838.6A CN201811412838A CN109227552A CN 109227552 A CN109227552 A CN 109227552A CN 201811412838 A CN201811412838 A CN 201811412838A CN 109227552 A CN109227552 A CN 109227552A
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- task
- exoskeleton robot
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- robot control
- operating system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
The present invention relates to a kind of exoskeleton robot control method and control system, the exoskeleton robot control method is applied in exoskeleton robot control system, which comprises carries out priority ranking to the task type of exoskeleton robot；Current task is executed, and judges whether to receive the higher task of priority；When receiving the higher task of priority, stop current task and the higher task of execution priority.Control method and control system of the invention effectively raises the execution efficiency of task, also, use real time operating system, improves the reliable and real-time of system by being ranked up to task.
Description
Technical field
The present invention relates to the control methods of exoskeleton robot technical field more particularly to a kind of exoskeleton robot and outer
The control system of bone robot.
Background technique
Exoskeleton robot is to imitate human skeleton structure, using the load-bearing capacity of bone, the robot that designs.By
It in exoskeleton robot is worn on the person, it is therefore necessary to guarantee that the movement of exoskeleton robot and human body keeps height to assist
It adjusts, avoids harm to the human body.
Exoskeleton robot will realize excellent control performance, first have to the real-time for ensuring to control, do not allow to control
The generation of phenomena such as system Caton processed.The non-real-time operations system such as the extensive operating system of current application such as Windows, Linux
System does not meet exoskeleton robot control and requires.
And how a kind of reliable and real-time high-efficiency control method is provided just to become those skilled in the art urgently to be resolved
One of problem.
Summary of the invention
The exoskeleton robot control system and control that the object of the present invention is to provide a kind of based on real time operating system and
Method enhances control system real-time, optimal control effect.
To achieve the above object, the present invention provides a kind of exoskeleton robot control method, is applied to exoskeleton robot
In control system, which comprises carry out priority ranking to the task type of exoskeleton robot；Current task is executed,
And judge whether to receive the higher task of priority；When receiving the higher task of priority, stops current task and simultaneously hold
The higher task of row major grade.
In certain embodiments, the exoskeleton robot control method further include: when having executed priority higher
When business, returns and execute predecessor's business.
In certain embodiments, the task type of the exoskeleton robot includes: incoming task and output task；It is described
Incoming task includes: foot force sensing task, posture sensing task, human-computer interaction sensing task, and the output task includes:
Motor control task, solenoid valve control task.
In certain embodiments, the posture sensing task, human-computer interaction sense task, motor control task, solenoid valve
Control task is equipped with hang-up and restores function.
In certain embodiments, letter is carried out between the incoming task and the operating system of exoskeleton robot control system
Breath two-way circulates；The output task is by the unidirectional supply information of operating system.
The present invention also provides a kind of exoskeleton robot control system, the control system of the exoskeleton robot includes:
Real time operating system, for the operation carrier as the exoskeleton robot control system；
Work order module carries out priority ranking for the task type to exoskeleton robot；
Task judgment module, for judging whether to receive the higher task of priority when executing current task；
Task execution module, for stopping current task and execution priority when receiving the higher task of priority
Higher task.
In certain embodiments, the task execution module is also used to return when having executed the higher task of priority
Execute predecessor's business.
In certain embodiments, the real time operating system includes: STM32 real time operating system.
In certain embodiments, the task type of the exoskeleton robot includes: incoming task and output task；It is described
Incoming task includes: foot force sensing task, posture sensing task, human-computer interaction sensing task, and the output task includes:
Motor control task, solenoid valve control task.
In certain embodiments, the exoskeleton robot control system further include: control module, for according to task shape
State, the posture is sensed into task, human-computer interaction sensing task, motor control task, solenoid valve control task hang up or
Restored.
In conclusion the control method and control system of exoskeleton robot of the present invention, compared with prior art,
It has the advantage that
The control method and control system of exoskeleton robot of the invention, use real time operating system, to improve
The real-time of exoskeleton robot control；
Further, method of the invention divides exoskeleton robot control task, sets task priority, optimizes machine
Device people's control sequence, to substantially increase control effect；
In addition, the control method and control system of exoskeleton robot of the invention, are provided with exoskeleton robot and appoint
The hang-up and recovery function of business, thus greatly reduce the power consumption drop of robot.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description simply to be introduced, it is clear that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without any creative labor, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow diagram of an implementation of exoskeleton robot control method of the invention；
Fig. 2 is the flow diagram of another implementation of exoskeleton robot control method of the invention；
Fig. 3 is the flow diagram of a specific embodiment of exoskeleton robot control method of the invention；
Fig. 4 is the structural schematic diagram of an implementation of exoskeleton robot control system of the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
It should be noted that, in this document, the relational terms (if present) such as " first ", " second ", " third " is only
Only it is used to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying these realities
There are any actual relationship or orders between body or operation.It should be understood that the term used in this way is in the appropriate case
Can be interchanged, so as to the embodiment of the present invention described herein, such as can in addition to those of illustrate or describe herein with
Outer sequence is implemented.In addition, the terms "include", "comprise", " having " or its any other variant are intended to nonexcludability
Include so that include a series of elements process, method, article or terminal device not only include those elements, and
It and further include other elements that are not explicitly listed, or further include for this process, method, article or terminal device institute
Intrinsic element.In the absence of more restrictions, the element limited by sentence " including ... " or " including ... ", not
There is also other elements in process, method, article or the terminal device for including the element for exclusion.In addition, herein
In, " being greater than ", " being less than ", " being more than " etc. are interpreted as not including this number；" more than ", " following ", " within " etc. be interpreted as including this
Number.
In described below, with reference to attached drawing, attached drawing describes several embodiments of the invention.It should be appreciated that also can be used
Other embodiments, and can be carried out without departing substantially from spirit and scope of the present disclosure mechanical composition, structure, electrically with
And operational change.Following detailed description should not be considered limiting, and the scope of embodiments of the invention
Only limited by the claims for the patent announced.Term used herein is merely to describe specific embodiment, and be not
Be intended to limit the term of space correlation of the present invention, for example, "upper", "lower", "left", "right", " following ", " lower section ", " lower part ",
" top ", " top " etc. can be used in the text in order to an elements or features and another element or spy shown in explanatory diagram
The relationship of sign.
As aforementioned described, exoskeleton robot will realize excellent control performance, first have to the reality for ensuring to control
Shi Xing, the generation for not allowing phenomena such as control system Caton occur.The extensive operating system of current application such as Windows, Linux
Etc. equal non-real time operating system, does not meet exoskeleton robot control and require.Therefore, applicant of the present invention selects uC/OS-II
Operating system of the real time operating system as robot control system reaches control with its real-time and multi-task scheduling feature
System requires.
Real time operating system utilizes it using highly reliable Harvard structure embedded chip type STM32 as operation carrier
Peripheral resources abundant build hardware control platform, and divide control task according to hardware platform, divide control priority, gram
The drawbacks of conventional sequential control mode of clothes causes.
Below in conjunction with FIG. 1 to FIG. 4, technical solution of the present invention is described in detail with specifically embodiment.Below this
Several specific embodiments can be combined with each other, may be no longer superfluous in some embodiments for the same or similar concept or process
It states.
Fig. 1 shows the control method of exoskeleton robot of the invention, as shown in Figure 1, the exoskeleton robot
Control method is applied in exoskeleton robot control system, the method may include:
Step S10 carries out priority ranking to the task type of exoskeleton robot；
Step S20 executes current task,
Step S30 judges whether to receive the higher task of priority；
When receiving the higher task of priority, step S40 is executed, stops current task and execution priority is higher
Task.
In the present embodiment, the task type of the exoskeleton robot includes: incoming task and output task；The input
Task includes: foot force sensing task, posture sensing task, human-computer interaction sensing task, and the output task includes: motor
Control task, solenoid valve control task.Further, the operating system of the incoming task and exoskeleton robot control system
Between carry out information bidirectional circulation；The output task is by the unidirectional supply information of operating system.Also, the posture sensing is appointed
Business, human-computer interaction sensing task, motor control task, solenoid valve control task are equipped with hang-up and restore function.
In a particular application, operation carrier of the exoskeleton robot using STM32 as real time operating system, with behaviour
Exoskeleton robot control division of teaching contents is 5 tasks by the multi-task scheduling ability and hardware platform for making system.Including
3 incoming tasks: foot force senses task, posture sensing task, human-computer interaction sensing task；2 output tasks: motor control
Task processed, solenoid valve control task.Wherein, information bidirectional circulates between incoming task and operating system, and output task is by operating
The unidirectional supply information of system.
Each task distributes different priority according to the control feature of exoskeleton robot, and sets respective task touching
Clockwork spring part cooperates with 5 tasks to be operated together and completes exoskeleton robot control according to trigger condition.In task operational process,
When encountering the triggering of higher priority tasks, then stops current task and go the higher task of execution priority, returned after having executed
It returns and continues to execute original task.Task execution need to meet trigger condition, execute one by one according still further to priority orders.
Each task control is corresponding to control each autocorrelative execution module.Each task in addition to foot force sensing task
Equipped with hanging up and restoring function choosing-item, robot power consumption is reduced.
Operating system selects the hang-up of remaining task according to the pressure information that foot force senses task feedback and restores function
Can: when the equal no pressure of left and right foot, it is believed that exoskeleton robot is in non-wearing state, hangs up remaining task；Conversely, outside task
Bone robot is in wearing state, restores remaining task.
Fig. 2 shows the flow diagram of another implementation of exoskeleton robot control method of the invention, such as Fig. 2
Shown, unlike previous embodiment, in the present embodiment, the method can also include:
Step S50 judges whether the higher task of priority that is finished,
After the higher task execution of priority, S20 is returned to step, that is, returns and executes predecessor's business.
When the higher task execution of priority does not finish also, S60 is then executed, that is, continues to execute priority higher
Business.
It is done further below with reference to concrete operating principle of the FIG. 1 to FIG. 3 to exoskeleton robot control method of the invention
It is described in detail, as shown in figure 3, exoskeleton robot control method of the invention is as follows:
1) system initialization；
2) all task orders execute primary；
3) it is judged according to the left and right foot press force information that foot force sensing task feeds back to real time operating system.If left
The equal no pressure of right crus of diaphragm, then jump to step 4)；Conversely, then jumping to step 5)；
4) posture sensing task, human-computer interaction sensing task, motor control task, solenoid valve control task are hung up, is jumped to
Step 8)；
5) according to the feedback information of 3 incoming tasks, trigger condition calculating is carried out by real time operating system, and complete to need to touch
The priority ranking of hair task；Meanwhile if task is in suspended state, is calculated by real time operating system and generate task recovery mesh
Record, the suspended state to be ended task according to the task list that need to restore；
6) task priority according to triggering task situation and setting is other, and according to priority sequence execution from high to low is touched
The task of hair；If existing task is in commission, priority ratio is carried out compared with still to new triggering task and currently performed task
According to priority sequence from high to low executes task.Particularly, when newly triggering task priority is higher than current execution task, permit
Perhaps currently performed task is interrupted, is returned after the completion of higher priority task to be done and continues to execute current task；
7) respective execution module work is controlled after task triggering.Wherein, the execution module of incoming task, which controls it, appoints
Business carries out information feedback, and the execution module for exporting task is only responsible for task execution, no information feedback；
8) feedback information is uploaded to real time operating system by the incoming task being triggered, and jumps to step 3).
Wherein, the foot force sensing task in 5 tasks is without suspended state, by operating system by certain control program into
Row triggering.
Exoskeleton robot control method of the invention remains exoskeleton robot control using real time operating system
The real-time of system；In addition, dividing exoskeleton robot control task, task priority is set, optimizes robot control sequence, reaches
To more preferably control effect；Finally, the hang-up and recovery function of setting exoskeleton robot task, drop to robot power consumption most
It is low.
The present invention also provides a kind of exoskeleton robot control systems, as shown in figure 4, exoskeleton robot control system
System may include:
Real time operating system 10, for the operation carrier as the exoskeleton robot control system；
Work order module 20 carries out priority ranking for the task type to exoskeleton robot；
Task judgment module 30, for judging whether to receive the higher task of priority when executing current task；
Task execution module 40, for when receiving the higher task of priority, stop current task simultaneously executing it is preferential
The higher task of grade.
In the present embodiment, the task execution module 40 is also used to return when having executed the higher task of priority
Execute predecessor's business.
In the present embodiment, the real time operating system includes: STM32 real time operating system, the exoskeleton robot
Task type includes: incoming task and output task；The incoming task includes: foot force sensing task, posture sensing times
Business, human-computer interaction sense task, and the output task includes: motor control task, solenoid valve control task.
In the present embodiment example, the exoskeleton robot control system will also to include: control module (not shown),
For the posture being sensed task, human-computer interaction senses task, motor control task, solenoid valve control according to task status
Task is hung up or is restored.
Specifically, the control system of the present embodiment is mainly using STM32 as the operation carrier of real time operating system, according to control
Process processed is divided into three levels, is respectively: control decision grade, control task grade and control executive level respectively correspond system control
Exoskeleton robot uC/OS-II real time operating system, five tasks and the corresponding execution mould of each task in structural schematic diagram
Block.
The operating system of exoskeleton robot of the invention uses uC/OS-II real time operating system, is based on ectoskeleton machine
Robot platform is divided into 5 tasks by the hardware platform of people and the multi-task scheduling function of uC/OS-II operating system, including
3 incoming tasks: foot force senses task, posture sensing task, human-computer interaction sensing task；2 output tasks: motor control
Task processed, solenoid valve control task.Information bidirectional circulates between incoming task and operating system, exports task by operating system list
To supply information.
Each each autocorrelative execution module of task control, wherein incoming task execution module information bidirectional stream associated therewith
Logical, output mission bit stream is unidirectionally flowed into its related execution module, and no information returns.
Each task in addition to foot force sensing task, which is equipped with, to be hung up and restores function choosing-item, the hang-up of the option with it is extensive
Multiple state depends on the feedback information that foot force sensing task gives operating system.When task suspension, robot can be reduced
Run power consumption.
Each task distributes different priority according to the control feature of exoskeleton robot, and sets respective task touching
Clockwork spring part.In task operational process, when encountering the triggering of higher priority tasks, then stops current task and go to execute preferentially
The higher task of grade returns after having executed and continues to execute original task.Task execution need to meet trigger condition, according still further to priority
Sequence executes one by one.
The workflow of the control system of exoskeleton robot of the invention is as shown in figure 3, specifically:
1) system initialization；
2) all task orders execute primary；
3) it is judged according to the left and right foot press force information that foot force sensing task feeds back to real time operating system.If left
The equal no pressure of right crus of diaphragm, then jump to step 4)；Conversely, then jumping to step 5)；
4) posture sensing task, human-computer interaction sensing task, motor control task, solenoid valve control task are hung up, is jumped to
Step 8)；
5) according to the feedback information of 3 incoming tasks, trigger condition calculating is carried out by real time operating system, and complete to need to touch
The priority ranking of hair task；Meanwhile if task is in suspended state, is calculated by real time operating system and generate task recovery mesh
Record, the suspended state to be ended task according to the task list that need to restore；
6) task priority according to triggering task situation and setting is other, and according to priority sequence execution from high to low is touched
The task of hair；If existing task is in commission, priority ratio is carried out compared with still to new triggering task and currently performed task
According to priority sequence from high to low executes task.Particularly, when newly triggering task priority is higher than current execution task, permit
Perhaps currently performed task is interrupted, is returned after the completion of higher priority task to be done and continues to execute current task；
7) respective execution module work is controlled after task triggering.Wherein, the execution module of incoming task, which controls it, appoints
Business carries out information feedback, and the execution module for exporting task is only responsible for task execution, no information feedback；
8) feedback information is uploaded to real time operating system by the incoming task being triggered, and jumps to step 3).
Wherein, the foot force sensing task in 5 tasks is without suspended state, by operating system by certain control program into
Row triggering.
Exoskeleton robot control method and control system of the present invention have following excellent compared with prior art
Point: the control method and control system of exoskeleton robot of the invention use real time operating system, to improve ectoskeleton
The real-time of robot control；Further, method of the invention, divides exoskeleton robot control task, and setting task is excellent
First grade optimizes robot control sequence, to substantially increase control effect；In addition, the control of exoskeleton robot of the invention
Method and control system processed are provided with the hang-up of task to exoskeleton robot and restore function, thus greatly reduce machine
The power consumption of people drops.
It should be understood by those skilled in the art that, the various embodiments described above can provide as method, apparatus or computer program production
Product.Complete hardware embodiment, complete software embodiment or embodiment combining software and hardware aspects can be used in these embodiments
Form.The all or part of the steps in method that the various embodiments described above are related to can instruct relevant hardware complete by program
At the program can store in the storage medium that computer equipment can be read, for executing the various embodiments described above method
The all or part of the steps.
As used in herein, singular " one ", "one" and "the" are intended to also including plural form, unless
There is opposite instruction in context.It will be further understood that term "comprising", " comprising " show there are the feature, step,
Operation, element, component, project, type, and/or group, but it is not excluded for one or more other features, step, operation, element, group
Presence, appearance or the addition of part, project, type, and/or group.Term "or" and "and/or" used herein are interpreted as including
Property, or mean any one or any combination.Therefore, " A, B or C " or " A, B and/or C " mean " it is following any one:
A；B；C；A and B；A and C；B and C；A, B and C ".Only when element, function, step or the combination of operation under certain modes inherently
When mutually exclusive, it just will appear the exception of this definition.
The various embodiments described above are referring to the method according to embodiment, equipment (system) and computer program product
Flowchart and/or the block diagram describes.It should be understood that can be realized by computer program instructions every in flowchart and/or the block diagram
The combination of process and/or box in one process and/or box and flowchart and/or the block diagram.It can provide these computers
Program instruction generates a machine to the processor of computer equipment, so that the finger executed by the processor of computer equipment
It enables and generates to specify in one or more flows of the flowchart and/or one or more blocks of the block diagram
The device of function.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (10)
1. a kind of exoskeleton robot control method is applied in exoskeleton robot control system characterized by comprising
Priority ranking is carried out to the task type of exoskeleton robot；
Current task is executed, and judges whether to receive the higher task of priority；
When receiving the higher task of priority, stop current task and the higher task of execution priority.
2. exoskeleton robot control method according to claim 1, which is characterized in that further include: it is preferential when having executed
When the higher task of grade, returns and execute predecessor's business.
3. exoskeleton robot control method according to claim 1, which is characterized in that the exoskeleton robot is appointed
Service type includes: incoming task and output task；The incoming task include: foot force sensing task, posture sensing task,
Human-computer interaction senses task, and the output task includes: motor control task, solenoid valve control task.
4. exoskeleton robot control method according to claim 3, which is characterized in that the posture senses task, people
Machine interacts sensing task, motor control task, solenoid valve control task and is equipped with hang-up and restores function.
5. exoskeleton robot control method according to claim 3, which is characterized in that the incoming task and ectoskeleton
Information bidirectional circulation is carried out between the operating system of robot control system；The output task unidirectionally supplies letter by operating system
Breath.
6. a kind of exoskeleton robot control system characterized by comprising
Real time operating system, for the operation carrier as the exoskeleton robot control system；
Work order module carries out priority ranking for the task type to exoskeleton robot；
Task judgment module, for judging whether to receive the higher task of priority when executing current task；
Task execution module, for when receiving the higher task of priority, stopping current task and execution priority is higher
Task.
7. exoskeleton robot control system according to claim 6, which is characterized in that the task execution module is also used
Predecessor's business is executed in returning when having executed the higher task of priority.
8. exoskeleton robot control system according to claim 6, which is characterized in that the real time operating system packet
It includes: STM32 real time operating system.
9. exoskeleton robot control system according to claim 6, which is characterized in that the exoskeleton robot is appointed
Service type includes: incoming task and output task；The incoming task include: foot force sensing task, posture sensing task,
Human-computer interaction senses task, and the output task includes: motor control task, solenoid valve control task.
10. exoskeleton robot control system according to claim 9, which is characterized in that further include: control module is used
According to task status, the posture is sensed into task, human-computer interaction sensing task, motor control task, solenoid valve control and is appointed
Business is hung up or is restored.
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Application publication date: 20190118 |