CN110236890B - Control device for exoskeleton robot - Google Patents
Control device for exoskeleton robot Download PDFInfo
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- CN110236890B CN110236890B CN201810186282.7A CN201810186282A CN110236890B CN 110236890 B CN110236890 B CN 110236890B CN 201810186282 A CN201810186282 A CN 201810186282A CN 110236890 B CN110236890 B CN 110236890B
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- 238000000034 method Methods 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims description 143
- 230000000087 stabilizing effect Effects 0.000 claims description 23
- 230000033001 locomotion Effects 0.000 claims description 12
- 230000007958 sleep Effects 0.000 claims description 8
- 210000003423 ankle Anatomy 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 210000003127 knee Anatomy 0.000 description 4
- 230000008054 signal transmission Effects 0.000 description 4
- 210000002683 foot Anatomy 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
-
- 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
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
Abstract
The invention discloses a control device for an exoskeleton robot, which is electrically connected to a control system of the exoskeleton robot, wherein the control system controls the exoskeleton robot to work according to a control command signal output by the control device, and the control device comprises: the first control unit and the upper computer control unit; the first control unit includes: the first key module and the first controller; the first key module outputs a first trigger signal; the first controller is electrically connected with the first key module, and the first controller receives and processes the first trigger signal output by the first key module and then outputs a first instruction signal; the upper computer control unit is electrically connected with the first controller and the control system, and outputs a first control command signal after receiving and processing the first command signal, and the control system receives and controls the exoskeleton robot to work according to the first control command signal.
Description
Technical Field
The invention relates to a control device for an exoskeleton robot.
Background
Restoring walking is an urgent hope for paralyzed lower limbs. The current common methods are to use lower limb orthoses including RGO (The reciprocating gait orthosis, interactive gait walking orthoses), HKAFO (THE HIP KNEE ANKLE foot orthosis, hip, knee, ankle, foot orthoses), KAFO (THE KNEE ANKLE foot orthosis, knee, ankle, foot orthoses), AFO (The ankle foot orthosis, ankle, foot orthoses) and the like in combination with walking with a common walker.
In recent years, international exoskeleton-assisted walking robots are rapidly developed, and patients can walk with the aid of the robot and a crutch to realize walking assistance. The clinical value of the robot is widely accepted, but the technology of home-made exoskeleton, intelligent auxiliary crutch and other equipment still lags behind.
In the prior art, the exoskeleton robot is controlled by screen control, mobile phone control and computer control, but the control mode is single, and when the exoskeleton robot is under the condition that electromagnetic conditions are relatively bad, unstable signal transmission is caused, and even signal interruption is caused; meanwhile, the control of the existing exoskeleton robot is controlled by accompanying personnel, a user can only passively move, when the exoskeleton robot starts or stops moving, the matching degree of the user and the accompanying personnel is particularly important, the use effect of the user is greatly affected due to low matching degree, and hidden danger is caused to the use safety of the user; therefore, developing a control device that can be operated by a user by himself and can control the motion state and motion mode of the exoskeleton robot in a wired or wireless manner has become an urgent problem to be solved based on the foregoing situation.
Disclosure of Invention
Therefore, the technical problem to be solved by the present invention is to provide a control device for an exoskeleton robot, which is electrically connected to a control system of the exoskeleton robot, wherein the control system controls the exoskeleton robot to work according to a control command signal output by the control device, and the control device comprises:
a first control unit comprising:
The first key module outputs a first trigger signal;
a first controller electrically connected to the first key module, the first controller receiving and
Processing the first key module to output the first trigger signal and then outputting a first instruction signal;
the upper computer control unit is electrically connected with the first controller and the control system, and outputs a first control command signal after receiving and processing the first command signal, and the control system receives and controls the exoskeleton robot to work according to the first control command signal.
The control device described above, further includes:
A second control unit comprising:
The second key module outputs a second trigger signal;
the second controller is electrically connected with the second key module and the upper computer control unit,
The second controller receives and processes the second trigger signal output by the second key module
Outputting a second instruction signal, wherein the upper computer control unit receives and processes the second instruction signal
Outputting a second control command signal, wherein the control system receives and responds to the second control command signal
And controlling the exoskeleton robot to work.
The control device further comprises a first power supply module and a first power supply management module, wherein the first power supply module is electrically connected with the first power supply management module, the first power supply management module is electrically connected with the first controller, the first power supply module provides electric energy for the first controller, and the first power supply management module provides stable charging voltage for the first power supply module when charging; the second control unit comprises a second power supply module and a second power supply management module, wherein the second power supply module is electrically connected with the second power supply management module, the second power supply management module is electrically connected with the second controller, the second power supply module provides electric energy for the second controller, and the second power supply management module provides stable charging voltage for the second power supply module when charging.
The control device comprises a first control unit, a second control unit and a first controller, wherein the first control unit further comprises a first voltage stabilizing module, and the first voltage stabilizing module is electrically connected with the first power management module and the first controller; the second control unit comprises a second voltage stabilizing module, and the second voltage stabilizing module is electrically connected with the second power management module and the second controller.
The control device comprises a first control unit, a second control unit and a host computer control unit, wherein the first control unit further comprises a first communication module, the second control unit comprises a second communication module, the upper computer control unit comprises a third communication module, the first communication module and the second communication module are electrically connected to the third communication module, and signal transmission is carried out among the first control unit, the second control unit and the upper computer control unit through the first communication module, the second communication module and the third communication module.
The control device comprises a first communication module and a second communication module, wherein the first communication module comprises a first wired communication module and a first wireless communication module; the second communication module comprises a second wired communication module and a second wireless communication module; the third communication module comprises a third wired communication module and a third wireless communication module, the first wired communication module and the second wired communication module are electrically connected to the third wired communication module, and the first wireless communication module and the second wireless communication module are electrically connected to the third wireless communication module.
The control device comprises a first key module, a first controller and a second key module, wherein the first key module outputs a first wake-up signal, and the first controller detects the first wired communication module and the working state of the first wireless communication module after receiving the first wake-up signal and selects to transmit signals through the first wired communication module or the first wireless communication module.
The control device comprises a first key module, a second key module, a first controller and a second controller, wherein the first key module outputs a first wake-up signal, the second controller detects the working states of the first wired communication module and the first wireless communication module after receiving the first wake-up signal, and signals are transmitted through the first wired communication module or the first wireless communication module.
The control device comprises an upper computer control unit, a control system and a control system, wherein the upper computer control unit comprises a UART module, the UART module is electrically connected with the control system, the UART module outputs the first control instruction signal to the control system, and the UART module outputs the second control instruction signal to the control system.
The control device comprises an upper computer control unit, a control system, a UART module, an MP3 module and a voice playing module, wherein the upper computer control unit further comprises the MP3 module and the voice playing module, the control system controls the exoskeleton robot to complete an action according to the first control command signal or the second control command signal, the control system further outputs a command completion signal corresponding to the action, the UART module further receives the command completion signal and then outputs the command completion signal to the MP3 module, the MP3 module stores a plurality of voice signals corresponding to a plurality of actions of the exoskeleton robot, and the MP3 module outputs the voice signals corresponding to the command completion signal to the voice playing module according to the command completion signal, and the voice playing module plays the voice signals.
The control device further comprises a first crutch body and a second crutch body, wherein the first control unit is arranged on the first crutch body, and the second control unit is arranged on the second crutch body.
The control device further comprises a first shell, the first shell is arranged on the first crutch body, and the first key module, the first controller, the first wireless communication module, the first voltage stabilizing module, the first power management module, the first power module and the first wired communication module are arranged in the first shell.
The control device further comprises a second shell, the second shell is arranged on the second crutch body, and the second key module, the second controller, the second wireless communication module, the second voltage stabilizing module, the second power management module, the second power module and the second wired communication module are arranged in the second shell.
The control device further comprises a first pressure sensing module, wherein the first pressure sensing module is electrically connected to the first controller, the first controller detects whether the first pressure sensing module receives continuous pressure after receiving the first wake-up signal, and when the first pressure sensing module receives continuous pressure, the first controller works, otherwise, the first controller sleeps; the second control unit further comprises a second pressure sensing module, the second pressure sensing module is electrically connected to the second controller, the second controller detects whether the second pressure sensing module receives continuous pressure after receiving the second wake-up signal, when the second pressure sensing module receives continuous pressure, the second controller works, and otherwise, the second controller sleeps.
The invention aims at the prior art and has the following effects:
1. the control device provided by the invention enables a user to actively control the exoskeleton robot to finish actions according to the self requirements, so that the use effect of the user and the safety of the user are improved;
2. The control device can control the motion state and the motion mode of the exoskeleton robot in a wired or wireless mode, and a user can switch between the wired mode and the wireless mode, so that the control device can overcome environmental interference and the applicability of the exoskeleton robot is enhanced;
3. The control device is integrated with the crutch body, so that convenience of a user is greatly enhanced.
Drawings
FIGS. 1-2 are schematic views of the overall structure of the control device of the present invention;
FIG. 3 is an enlarged schematic view of a portion of the control device of FIG. 2;
fig. 4 is a schematic view of the internal structure of the control device in fig. 1-2.
Wherein, the reference numerals are as follows:
first crutch body 11
Armrest portion 111
First control unit 12
First key module 121
First controller 122
First power management module 123
First voltage stabilizing module 124
First communication module 125
First wire communication module 1251
First wireless communication module 1252
First pressure sensing module 126
First power module 127
Second crutch body 21
Second control unit 22
Second key module 221
Second controller 222
Second power management module 223
Second voltage stabilizing module 224
Second communication module 225
Second wired communication module 2251
Second wireless communication module 2252
Second pressure sensing module 226
Second power supply module 227
Upper computer control unit 13
Third communication module 131
Third wire communication module 1311
Third wireless communication module 1312
UART module 132
MP3 module 133
Voice playing module 134
First housing 14
Second housing 24
Power indicator 128, 228
Detailed Description
The invention is described in further detail below with reference to the attached drawings and specific examples: the embodiment is implemented on the premise of the technical scheme of the invention, and an implementation mode and an operation process are provided, but the protection scope of the invention is not limited to the following embodiment.
Referring to fig. 1-4, fig. 1-2 are schematic views of the overall structure of a control device according to the present invention; FIG. 3 is an enlarged schematic view of a portion of the control device of FIG. 2; fig. 4 is a schematic diagram of the internal structure of the control device in fig. 1-2, wherein the arrow direction is the signal transmission direction. In this embodiment, the first control unit and the second control unit are respectively mounted on the first crutch body and the second crutch body, but the invention is not limited thereto, and in other embodiments, the first control unit and the second control unit may be respectively mounted on the first bracelet body and the second bracelet body.
As shown in fig. 1 to 4, the control device for an exoskeleton robot of the present invention is electrically connected to a control system 3 of the exoskeleton robot, the control system 3 controls the exoskeleton robot to work according to a control command signal output by the control device, and the control device includes: a first crutch body 11, a first control unit 12 and an upper computer control unit 13; the first control unit 12 is installed on the first crutch body 11, and includes: the first key module 121 and the first controller 122; the first key module 121 outputs a first trigger signal; the first controller 122 is electrically connected to the first key module 121, and the first controller 122 receives and processes the first trigger signal output by the first key module 121 and then outputs a first command signal; the upper computer control unit 13 is electrically connected to the first controller 122 and the control system 3, and the upper computer control unit 13 receives and processes the first command signal and outputs a first control command signal, and the control system 3 receives and controls the exoskeleton robot to work according to the first control command signal.
Further, the control device further includes: a second crutch body 21 and a second control unit 22; the second control unit 22 is installed on the second crutch body 21, and the second control unit 22 includes: a second key module 221 and a second controller 222; the second key module 221 outputs a second trigger signal; the second controller 222 is electrically connected to the second key module 221 and the upper computer control unit 13, the second controller 222 receives and processes the second trigger signal output by the second key module 221, and then outputs a second command signal, the upper computer control unit 13 receives and processes the second command signal, and then outputs a second control command signal, and the control system 3 receives and controls the exoskeleton robot to work according to the second control command signal.
In the embodiment, the first key module 121 and the second key module 221 are both one key, but the invention is not limited thereto.
Still further, the first control unit 12 further includes a first power module 127, a first power management module 123, and a first voltage stabilizing module 124, where the first power module 127 is electrically connected to the first power management module 123, the first power management module 123 is electrically connected to the first voltage stabilizing module 124, the first voltage stabilizing module 124 is electrically connected to the first controller 122, the first power module 127 provides electric energy for the first controller 122, the first power management module 123 provides a stable charging voltage when charging the first power module 127, and the first voltage stabilizing module 124 provides a stable external reference voltage for detecting the electric quantity of the first power management module 123 and a normal working voltage for the first controller 122; the second control unit 22 includes a second power module 227, a second power management module 223, and a second voltage stabilizing module 224, where the second power module 227 is electrically connected to the second power management module 223, the second power management module 223 is electrically connected to the second voltage stabilizing module 224, the second voltage stabilizing module 224 is electrically connected to the second controller 222, the second power module 227 provides electric energy for the second controller 222, the second power management module 223 provides a stable charging voltage when the second power module 227 charges, and the second voltage stabilizing module 224 provides a stable external reference voltage for detecting the electric energy of the second power management module 223 and provides a normal working voltage for the second controller 222.
Still further, the first control unit 12 further includes a first communication module 125, the second control unit 22 includes a second communication module 225, the upper computer control unit 13 includes a third communication module 131, the first communication module 125 and the second communication module 225 are electrically connected to the third communication module 131, and signal transmission is performed among the first control unit 12, the second control unit 22 and the upper computer control unit 13 through the first communication module 125, the second communication module 225 and the third communication module 131. The first communication module 125 includes a first wired communication module 1251 and a first wireless communication module 1252; the second communication module 225 includes a second wired communication module 2251 and a second wireless communication module 2252; the third communication module 131 includes a third wired communication module 1311 and a third wireless communication module 1312. The first key module 121 further outputs a first wake-up signal, and after the first controller 122 receives the first wake-up signal, the first controller 122 enters a normal operation mode, detects the operation states of the first wired communication module 1251 and the first wireless communication module 1252, and selects to transmit signals through the first wired communication module 1251 or the first wireless communication module 1252; the second key module 221 outputs a second wake-up signal, and after the second controller 222 receives the second wake-up signal, the second controller 222 enters a normal operation mode, detects the operation states of the second wired communication module 2251 and the second wireless communication module 2252, and selects to transmit signals through the second wired communication module 2251 or the second wireless communication module 2252. For example, when the first controller 122 detects that the first wired communication module 1251 is connected by wired connection, the first controller 122 selects to transmit signals through the first wired communication module 1251, and when the first controller 122 does not detect that the first wired communication module 1251 is connected by wired connection, the first controller 122 selects to transmit signals through the first wireless communication module 1252; when the second controller 222 detects that the second wired communication module 2251 is connected by wired connection, the second controller 222 selectively transmits a signal through the first wired communication module 1251, and when the second controller 222 does not detect that the second wired communication module 2251 is connected by wired connection, the second controller 222 selectively transmits a signal through the second wireless communication module 2252.
In this embodiment, the first wire communication module 1251 and the second wire communication module 2251 are electrically connected to the third wire communication module 1311; the first wireless communication module 1252 and the second wireless communication module 2252 are electrically connected to the third wireless communication module 1312, and the first wired communication module 1251 and the second wired communication module 2251 do not communicate with each other, so that signal interference between the first control unit 12 and the second control unit 22 is reduced, but the invention is not limited thereto.
It should be noted that, in the present embodiment, the first wired communication module 1251, the second wired communication module 2251 and the third wired communication module 1311 are RS485 wired communication modules, and the first wireless communication module 1252, the second wireless communication module 2252 and the third wireless communication module 1312 are Zigbee wireless communication modules, which is not a limitation of the present invention.
Still further, the upper computer control unit 13 includes a UART module 132, an MP3 module 133, and a voice playing module 134, where the UART module 132 is electrically connected to the control system 3, and the UART module 132 outputs a first control command signal and a second control command signal to the control system 3; after the control system 3 controls the exoskeleton robot to complete an action according to the first control command signal or the second control command signal, the control system 3 further outputs a command completion signal corresponding to the action, the UART module 132 further receives the command completion signal and outputs the command completion signal to the MP3 module 133, the MP3 module 133 stores a plurality of voice signals corresponding to a plurality of actions of the exoskeleton robot, the MP3 module 133 outputs a voice signal corresponding to the command completion signal to the voice play module 134 according to the command completion signal, and the voice play module 134 plays the voice signal, so that real-time voice broadcasting of the actions of the exoskeleton robot is realized. The voice playing module 134 is a speaker as a preferred embodiment, but the invention is not limited thereto.
The control device further includes a first housing 14 disposed on the first crutch body 11, and a first key module 121, a first controller 122, a first wireless communication module 1251, a first voltage stabilizing module 124, a first power management module 123, a first wired communication module 1252, and a first power module 127 are disposed in the first housing 14; the control device further includes a second housing 24 mounted on the second crutch body 21, and the second key module 221, the second controller 222, the second wireless communication module 2251, the second voltage stabilizing module 224, the second power module 227, the second wired communication module 2252 and the second power management module 223 are disposed in the second housing 24.
Further, the first control unit 12 further includes a first pressure sensing module 126, the first pressure sensing module 125 is disposed on the first crutch body 11, the first pressure sensing module 126 is electrically connected to the first controller 122, the first controller 122 further detects whether the first pressure sensing module 126 receives a continuous pressure after receiving the first wake-up signal, when the first pressure sensing module 126 receives the continuous pressure, the first controller 122 works, otherwise the first controller 122 sleeps; the second control unit 22 further includes a second pressure sensing module 226, the second pressure sensing module 226 is disposed on the second crutch body 21, the second pressure sensing module 226 is electrically connected to the second controller 222, the second controller 222 further detects whether the second pressure sensing module 226 receives a continuous pressure after receiving the second wake-up signal, when the second pressure sensing module 226 receives the continuous pressure, the second controller 222 works, otherwise the second controller 222 sleeps. In the embodiment, the first pressure sensing module 126 and the second pressure sensing module 226 are each a key, but the invention is not limited thereto.
In the embodiment, the first pressure sensing module 125 is mounted on the armrest portion 111 of the first crutch body 11, and the second pressure sensing module 226 is mounted on the armrest portion 211 of the second crutch body 21.
The specific operation of the control device according to the invention will be described in detail below with reference to fig. 1-4. Wherein the motion state of the exoskeleton robot in the embodiment includes motion execution and motion stop; the movement modes of the exoskeleton robot include standing, walking, sitting down, ascending stairs and descending stairs, but the present invention is not limited thereto.
1. The invention has the advantages of wired communication mode and wireless communication mode:
1. Wireless mode
The robot power is turned on without wiring, and the first key module 121 is pressed down for normal use.
When the first key module 121 is pressed down in a wireless mode for control, the first controller 122 is awakened to work, and after the command execution is finished, the first controller 122 enters a sleep state so as to achieve the purpose of reducing power consumption.
2. Wire-line mode
The first wire communication module 1252, the third wire communication module 132, the second wire communication module 2252 and the third wire communication module 132 are connected through two spiral lines, and after the connection is completed, a plug on the crutch is required to be fixed by using a binding band, so that the crutch is prevented from being pulled and rocked during use.
When the control is performed in a wired manner, the exoskeleton robot can automatically charge the first power module 127 and the second power module 227, so that the first controller 122 and the second controller 222 can be charged simultaneously, and the problem that the first controller 122 and the second controller 222 cannot be used due to power failure is solved; meanwhile, the wireless mode can be prevented from being unable to work normally due to signal interference.
2. Robot operation mode
1. The first control unit 12 is defined to select an operation mode of the exoskeleton robot:
the first key module 121 is used for performing mode switching, and the voice playing module 134 performs corresponding voice broadcasting during the switching. The first key module 121 has two modes of operation, namely long press and short press. When the time is short, the working mode switching sequence is standing, walking, sitting, going upstairs, going downstairs and standing; when the working mode is long, the working mode switching sequence is standing up, going down stairs, going up stairs, sitting down, walking and standing up.
2. The second control unit 22 is defined as a selection motion state, and when the first key module 121 selects the stand-up operation mode, the exoskeleton robot performs the stand-up operation after pressing the second key module 221, and stops the stand-up operation after pressing the second key module 221 again. In practical use, in order to ensure the safety of the user, the voice playing module 134 may play the voice signal "please confirm and stand up" after the second key module 221 is pressed for the first time, and the exoskeleton robot may perform the stand up operation after the second key module 221 is pressed for the second time.
In another embodiment of the present invention, the voice playing module 134 plays the voice signal "please confirm, stand up" after the second key module 221 is pressed for the first time, and the exoskeleton robot performs the stand up action when the second pressure sensing module 226 detects the pressure value after the second key module 221 is pressed for the second time.
In another embodiment of the present invention, after the second key module 221 is pressed for the first time, the voice playing module 134 plays the "please confirm" voice signal, and after the first key module 121 and the second key module 221 are pressed at the same time, the exoskeleton robot performs the raising operation.
3. In the walking mode, in order to cope with an emergency, the exoskeleton robot is immediately stopped and restored to an upright state regardless of whether the first key module 121 or the second key module 221 is pressed.
4. Charging method
When the power of the first power module 127 and the second power module 227 is low, the voice playing module 134 automatically plays the voice signal to remind the user to charge.
When charging is required, two charging modes can be selected: the external USB power supply charging mode and the charging mode when the control device is connected with the robot in a wired mode. The first housing 14 and the second housing 24 are also provided with power indicator lights 128, 228.
External USB power supply charging mode: after the USB line is plugged in, the crutch enters a charging state, when the crutch is charged, the power indicator 128 and 228 flash, if the power indicator 128 and 228 is always on, the crutch indicates full electric quantity, and the crutch can automatically sleep.
In summary, through the control device of the invention, a user can actively control the exoskeleton robot to complete the action according to the self-requirement, so as to improve the use effect and the safety of the user; secondly, the motion state and the motion mode of the exoskeleton robot can be controlled in a wired or wireless mode, and a user can switch between the wired mode and the wireless mode, so that the control device can overcome the environmental interference, and the applicability of the exoskeleton robot is enhanced; finally, the control device and the crutch body are integrated, so that convenience of a user is greatly enhanced.
Although the present invention has been described with reference to the above embodiments, it should be understood that the present invention is not limited thereto, and that various changes and modifications can be made by one skilled in the art without departing from the spirit and scope of the present invention, and the scope of the present invention is defined by the appended claims.
Claims (5)
1. The control device for the exoskeleton robot is electrically connected to a control system of the exoskeleton robot, and is characterized in that the control system controls the exoskeleton robot to work according to a control command signal output by the control device, and the control device comprises a first crutch body, a first control unit and an upper computer control unit, wherein:
the first control unit is defined as selecting an operation mode of the exoskeleton robot, is installed on the first crutch body, and comprises:
The first key module outputs a first trigger signal;
The first controller is electrically connected with the first key module, and the first controller receives and processes the first trigger signal output by the first key module and then outputs a first instruction signal;
the upper computer control unit is electrically connected with the first controller and the control system, and outputs a first control command signal after receiving and processing the first command signal, and the control system receives and controls the exoskeleton robot to work according to the first control command signal;
The control device also comprises a second crutch body and a second control unit, wherein the second control unit is defined as a selected motion state, is arranged on the second crutch body and comprises:
The second key module outputs a second trigger signal;
The second controller is electrically connected with the second key module and the upper computer control unit, the second controller receives and processes the second trigger signal output by the second key module and then outputs a second command signal, the upper computer control unit receives and processes the second command signal and then outputs a second control command signal, the control system receives and controls the exoskeleton robot to work according to the second control command signal,
The first control unit also comprises a first communication module, the second control unit comprises a second communication module, the upper computer control unit comprises a third communication module, the first communication module and the second communication module are electrically connected with the third communication module, the first communication module, the second communication module and the third communication module are used for transmitting signals among the first control unit, the second control unit and the upper computer control unit,
The first communication module comprises a first wired communication module and a first wireless communication module; the second communication module comprises a second wired communication module and a second wireless communication module; the third communication module comprises a third wired communication module and a third wireless communication module, the first wired communication module and the second wired communication module are electrically connected with the third wired communication module, the first wireless communication module and the second wireless communication module are electrically connected with the third wireless communication module,
The first key module outputs a first wake-up signal, the first controller detects the working states of the first wired communication module and the first wireless communication module after receiving the first wake-up signal, and selects to transmit signals through the first wired communication module or the first wireless communication module,
The second key module outputs a second wake-up signal, the second controller detects the working states of the second wired communication module and the second wireless communication module after receiving the second wake-up signal, and selects to transmit signals through the second wired communication module or the second wireless communication module,
The control device further comprises a first shell and a second shell, wherein the first shell is arranged on the first crutch body, and the first key module, the first controller, the first wireless communication module, the first voltage stabilizing module, the first power management module, the first power module and the first wired communication module are arranged in the first shell; the second shell is arranged on the second crutch body, the second key module, the second controller, the second wireless communication module, the second voltage stabilizing module, the second power management module, the second power module and the second wired communication module are arranged in the second shell,
The first control unit further comprises a first pressure sensing module, the first pressure sensing module is arranged on the armrest part of the first crutch body, the first pressure sensing module is electrically connected to the first controller, the first controller detects whether the first pressure sensing module receives continuous pressure after receiving the first wake-up signal, and when the first pressure sensing module receives continuous pressure, the first controller works, otherwise, the first controller sleeps; the second control unit further comprises a second pressure sensing module, the second pressure sensing module is arranged on the armrest part of the second crutch body, the second pressure sensing module is electrically connected with the second controller, the second controller detects whether the second pressure sensing module receives continuous pressure after receiving the second wake-up signal, and when the second pressure sensing module receives continuous pressure, the second controller works, otherwise, the second controller sleeps.
2. The control device of claim 1, wherein the first control unit further comprises a first power module and a first power management module, the first power module is electrically connected to the first power management module, the first power management module is electrically connected to the first controller, the first power module provides electric energy for the first controller, and the first power management module provides a stable charging voltage when the first power module is charged; the second control unit comprises a second power supply module and a second power supply management module, wherein the second power supply module is electrically connected with the second power supply management module, the second power supply management module is electrically connected with the second controller, the second power supply module provides electric energy for the second controller, and the second power supply management module provides stable charging voltage for the second power supply module when charging.
3. The control device of claim 2, wherein the first control unit further comprises a first voltage stabilizing module electrically connected to the first power management module and the first controller; the second control unit comprises a second voltage stabilizing module, and the second voltage stabilizing module is electrically connected with the second power management module and the second controller.
4. The control device of claim 1, wherein the host control unit comprises a UART module, the UART module is electrically connected to the control system, the UART module outputs the first control command signal to the control system, and the UART module outputs the second control command signal to the control system.
5. The control device according to claim 4, wherein the upper computer control unit further comprises an MP3 module and a voice playing module, the control system controls the exoskeleton robot to complete an action according to the first control command signal or the second control command signal, the control system further outputs a command completion signal corresponding to the action, the UART module further receives the command completion signal and outputs the command completion signal to the MP3 module, the MP3 module stores a plurality of voice signals corresponding to a plurality of actions of the exoskeleton robot, the MP3 module outputs the voice signals corresponding to the MP3 module to the voice playing module according to the command completion signal, and the voice playing module plays the voice signals.
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