CN114305996B - Speed control system and method for lower limb robot - Google Patents
Speed control system and method for lower limb robot Download PDFInfo
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Abstract
The invention provides a speed control system and a method for a lower limb robot, which comprises the following steps: laser doppler sensor module: the device is fixed on a lower limb robot, emits laser to the ground, and acquires the Doppler signal generated in the movement process by collecting the scattered light on the ground; the signal processing module: measuring and calculating characteristic frequency in the Doppler signal so as to measure the speed in the motion process; a speed adjusting module: regulating the next movement speed of the lower limb robot in real time according to the measured data; the structural part: the laser Doppler sensor module, the signal processing module and the speed adjusting module are fixed on the lower limb robot through structural parts. The laser Doppler sensor is innovatively applied to a wearable robot speed measuring system, the sensor is high in precision and spatial resolution, cannot be influenced by motion vibration during working, and is stable in light path, good in light source thermal stability, long in service life and suitable for long-time working.
Description
Technical Field
The invention relates to the field of control of lower limb rehabilitation robots, in particular to a speed control system and method of a lower limb robot.
Background
Because of diseases, safety accidents and other reasons, patients with walking dysfunction are increasing all the time, and because of the problems of laggard medical level in certain areas, high medical cost and the like, many patients miss the best rehabilitation opportunity, and in order to enable more patients to recover the walking ability at home without bearing high medical cost, the development of lower limb rehabilitation robots is particularly urgent.
Traditional low limbs rehabilitation training robot has the speed regulatory function freshly, when using low limbs robot to carry out the rehabilitation training, can not control the speed and the step size of walking in-process, and speed is too fast to surpass patient's bearing capacity, can cause the secondary damage to the patient, and speed too slow can not reach the effect of rehabilitation training again. The existing lower limb robot with the speed regulation system utilizes a pattern recognition technology to acquire motion information, but the realization difficulty of the mode is high, and the research and development cost is high. Therefore, the lower limb robot speed regulating system with lower cost and technical difficulty can provide training modes suitable for different patients with walking dysfunction.
Patent document CN113325720A discloses a rehabilitation training robot adaptive tracking control method with motion speed decision, which is characterized in that: comparing the current motion speed of the rehabilitation training robot with the current walking speed of a trainer, taking the speed value of the comparison result as a state variable of a speed decision, taking acceleration, deceleration and uniform motion of the rehabilitation training robot as actions of the speed decision, and designing a reward and punishment value function of a decision process according to the difference of the compared speed values to realize the motion speed decision of the rehabilitation training robot; a tracking error system is established by utilizing the decided motion speed and a rehabilitation training robot dynamics model, and a tracking control method for adapting to the walking speed of a trainer by the robot is provided, so that the error system is stable, and the coordination of the motion speed of a human-computer system is ensured. The scheme has higher difficulty in implementation and higher cost.
In summary, the speed control system and method for the lower limb robot provided by the invention aim to reduce the production cost and the realization difficulty.
Disclosure of Invention
In view of the defects in the prior art, the present invention provides a lower limb robot speed control system and method.
According to the present invention, there is provided a lower limb robot speed control system comprising:
laser doppler sensor module: the device is fixed on a lower limb robot, emits laser to the ground, and acquires the Doppler signal generated in the movement process by collecting the scattered light on the ground;
the signal processing module: measuring and calculating characteristic frequency in the Doppler signal so as to measure the speed in the motion process;
a speed adjusting module: regulating the speed of the next movement of the lower limb robot in real time according to the measured data;
the structural part: the laser Doppler sensor module, the signal processing module and the speed adjusting module are fixed on the lower limb robot through structural parts.
Preferably, the laser doppler sensor module comprises a power supply, an optical element and a housing, the optical element comprises a laser light source, a transmission grating, a diaphragm, a converging lens, a reflector and a filter, and the laser light source is connected with the power supply;
the housing is divided into two spaces, the optical elements are arranged in a first space, the optical elements are arranged in a dual-beam type optical path, and a power supply is placed in a second space.
Preferably, the signal processing module comprises a photoelectric detector and a data processing module, and the data processing module comprises a digital oscilloscope, a computer and a data processing program;
the photoelectric detector is arranged in the first space of the shell, collects ground scattered light signals, is connected with the oscilloscope in the data processing module and performs A/D conversion, the computer is connected with the oscilloscope and reads binary digital signals after A/D conversion, and the data processing program processes the digital signals.
Preferably, the data processing program includes the steps of:
step S1: establishing a Doppler frequency shift model and collecting Doppler sensor signals;
step S2: carrying out fast Fourier transform and band-pass filtering on the acquired signals;
and step S3: and fitting the characteristic frequency in the frequency spectrum by using a Gaussian function, and taking the mean value after fitting as the measured value of the Doppler frequency shift.
Preferably, the speed adjusting module comprises a driver, a belt and a servo motor;
the input end of the driver is connected with the data processing module, the output end of the driver is connected with the servo motor, the waistband is used for placing the driver, and the waistband is used for fixing the speed adjusting module.
Preferably, the step of controlling the movement speed by the driver comprises:
step S1: determining a walking speed V which is most suitable for the patient as a speed to be maintained in the training process;
step S2: comparing the speed vt detected by the sensor in the training process of the patient with the speed V to generate the speed variation of the lower limb robot;
and step S3: and the computer calculates the control quantity of the servo motor according to the speed variation and transmits the control quantity to the driver, and the servo motor acts according to the instruction of the driver.
Preferably, the structural part comprises an inner hexagonal countersunk head screw, a flexible pipe, a universal wheel and a bracket;
the inner hexagonal countersunk head screw is used for fixing the laser Doppler sensor module and the speed adjusting module, the flexible pipe is used for placing a lead, the universal wheel is fixed on a support, and the support is used for fixing the digital oscilloscope and the computer.
Preferably, when the patient trains on a flat road, the doppler shift model is:
wherein f is D1 And f D2 Is the Doppler shift, v, measured by two laser Doppler sensors x Is the speed during training and the speed v measured by the sensor t ≈v x θ is the angle of the laser beam incident on the ground with the sensor housing, and λ is the wavelength of the laser beam.
Preferably, when the patient trains on uneven road, the doppler shift model is:
v x is the velocity component of the lower limb robot in the horizontal direction, v y The speed component of the lower limb robot in the vertical direction is shown, and delta theta is an inclination angle of the shell and the horizontal direction; according to v during walking y ＜＜v x The change of the inclination angle is simplified:
the movement speed of the lower limb robot is as follows:
the invention provides a speed control method of a lower limb robot, which comprises the following steps:
step A1: emitting laser to the ground through a laser Doppler sensor module, and collecting scattered light on the ground to obtain a Doppler signal generated in the movement process;
step A2: measuring and calculating characteristic frequency in the Doppler signal so as to measure the speed in the motion process;
step A3: and adjusting the next movement speed of the lower limb robot in real time according to the measured data.
Compared with the prior art, the invention has the following beneficial effects:
1. the laser Doppler sensor is innovatively applied to a wearable robot speed measuring system, the walking speed of the robot can be directly measured through the sensor, the sensor is high in precision and spatial resolution, cannot be influenced by vibration of movement during working, and is stable in light path, good in light source thermal stability, long in service life and suitable for long-time working; the whole structure is highly integrated, and the structure is compact;
2. the invention has simple working principle and lower technical difficulty in realization, and can adjust the speed only by comparing the measured speed with the target speed;
3. the invention has better interactivity, and the patient can independently adjust the training speed during the rehabilitation training;
4. the sensor adopted in the invention can realize non-contact measurement, has high response speed, does not need to collect a large amount of data and has lower cost.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic overall view of a lower limb robot speed control system;
FIG. 2 is a schematic structural diagram of a laser Doppler sensor module;
fig. 3 is a schematic diagram of a dual-beam type optical path structure of the laser doppler sensor module.
Description of reference numerals:
Shell 2 digital oscilloscope 10
Transmission grating 4 driver 12
Servo motor 14 for convergent lens 6
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention provides a speed control system of a lower limb robot, which comprises a laser Doppler sensor module, a signal processing module, a speed adjusting module and a structural part, wherein the laser Doppler sensor module is fixed on the lower limb robot, emits laser to the ground and acquires Doppler signals generated in the motion process by collecting scattered light on the ground; the signal processing module is used for measuring and calculating characteristic frequency in the Doppler signal so as to measure the speed in the motion process; the speed adjusting module adjusts the next movement speed of the lower limb robot in real time according to the measured speed; the laser Doppler sensor module, the signal processing module and the speed adjusting module are fixed on the lower limb robot through structural parts.
Specifically, referring to fig. 2, the laser doppler sensor module includes a power supply 1, an optical element, and a housing 2; the optical element comprises a laser light source 3, a transmission grating 4, a diaphragm 5, a convergent lens 6, a reflector 7 and a filter plate 8, wherein the laser light source 3 is connected with a power supply 1, and the power supply 1 is a storage battery and can be charged.
Further, the housing 2 is divided into two spaces, the first space is provided with the optical elements arranged in a two-beam type optical path, and referring to fig. 3, the second space is provided with the power supply 1.
Furthermore, in the dual-beam type optical path, a laser light source 3 emits a beam of light, the beam of light is scattered into a plurality of beams of diffracted light with equal light intensity after passing through a transmission grating 4, zero-order and positive-negative first-order diffracted light is collected, the three beams of light pass through a first converging lens 6 to form three beams of parallel light, the zero-order light is blocked by an optical stop 5 after the converging lens 6, only the positive-negative first-order diffracted light passes through the zero-order diffracted light, the remaining two beams of light pass through a second converging lens 6 and are focused on the ground, and the two beams of light can generate interference fringes on the ground at the moment, wherein the interference fringes are an ellipsoidal measuring body which can be used for measuring the Doppler frequency shift. Then a reflector 7 is arranged in the backward propagation direction of the light to receive the scattered light from the ground, the reflector 7 is arranged at an angle of 45 degrees, the propagation direction of the scattered light is changed by 90 degrees, a filter 8 is arranged on the side surface to block the light with other wavelengths from entering, and finally a third converging lens 6 is arranged behind the filter 8 to focus the scattered light. Two identical double-beam type light paths are arranged in the first space, so that included angles between incident light rays and the shell 2 are all theta.
Specifically, the signal processing module includes a photodetector 9 and a data processing module, and the data processing module includes a digital oscilloscope 10, a computer 11, and a data processing program.
Further, the photodetector 9 is an avalanche diode for receiving the scattered light from the ground, and the photodetector 9 is placed at the focal point behind the third converging lens 6 to maximize the intensity of the received scattered light, thereby maximizing the intensity of the signal. The photoelectric detector 9 still is an analog signal after receiving the signal and performing photoelectric conversion, and the computer 11 cannot process the signal, so the photoelectric detector 9 is connected with two channels of the digital oscilloscope 10, and is transmitted into the computer 11 after a/D conversion in the oscilloscope 10 and processed by a data processing program. The digital oscilloscope 10 also has an adjusting function, and the distance between the photodetector 9 and the third converging lens 6 can be adjusted according to the level on the oscilloscope, wherein the higher the level is, the more concentrated the signal is, and the better the quality of the acquired signal is.
Further, the data processing program comprises the steps of:
step S1: a Doppler frequency shift model is established, and when a patient carries out rehabilitation training on a flat ground, the Doppler frequency shift measured by a Doppler sensor fixed on the exoskeleton of the lower limb robot is
Wherein: f. of D1 And f D2 Is the Doppler shift, v, measured by two laser Doppler sensors x Is the speed during training, and is considered to be the speed v measured by the sensor t ≈v x θ is an angle between the laser beam incident on the ground and the sensor housing 2, and λ is a wavelength of the laser beam;
when the patient is on an uneven roadWhen rehabilitation training is carried out, the sensor shell 2 forms an inclination angle delta theta with the horizontal direction, the included angle between the incident light direction of one Doppler sensor and the horizontal direction becomes theta + delta theta, the included angle between the incident light direction of the other Doppler sensor and the horizontal direction becomes theta-delta theta, and the lower limb robot has a velocity component v in the horizontal direction x Also having a velocity component v in the vertical direction y When the Doppler frequency shifts of the two Doppler sensors are respectively
During walking there are: v. of y ＜＜v x The change of the inclination angle can be simplified to
The movement speed of the lower limb robot can be obtained as
Step S2: carrying out fast Fourier transform and band-pass filtering on the acquired signals;
and step S3: fitting the characteristic frequencies in the spectrum with a Gaussian function, the general form of which is
Taking the fitted average value mu as the measured value of the Doppler frequency shift, fitting the Doppler signals of the two sensors to obtain the measured values of the Doppler frequency shift which are respectively mu 1 And mu 2 And the real-time movement speed of the lower limb robot can be obtained by using the formula (5).
The data processing procedure includes filtering, fast fourier transform, gaussian fitting. Firstly, filtering signals to remove background noise and high-frequency noise, selecting an FIR digital filter and selecting a Hamming window as a window function. And performing fast Fourier transform after filtering to obtain a frequency spectrum of the scattered light signal, wherein a characteristic peak exists in the frequency spectrum, and the abscissa corresponding to the characteristic peak is the Doppler frequency shift. And finally, for accurately estimating the Doppler frequency shift, determining to adopt a Gaussian fitting technology according to the similarity between the frequency spectrum waveform and a Gaussian function, namely fitting the characteristic frequency in the frequency spectrum by using the Gaussian function, wherein the general expression of the Gaussian function is as the expression (6), and taking the fitted mean value mu as the measured value of the Doppler frequency shift. Fitting the frequency spectrums of the two Doppler signals respectively to obtain mu 1 And mu 2 These two estimates are used as estimates of the two doppler shifts. From equation (5), the walking speed can be calculated as
v x ＝λ(μ 1 +μ 2 )/4cosθcosΔθ。
In particular, the speed regulation module comprises a drive 12, a belt 13 and a servomotor 14. The input end of the driver 12 is connected with the computer 11 in the data processing module, the output end of the driver is connected with the servo motor 14, the servo motor 14 is installed at the hip joint, the power supply 1 supplies power to all parts, the waist belt 13 is used for placing the driver 12, and the speed adjusting module is tied to the waist of a patient through the waist belt 13.
Furthermore, the drive 12 is a servo drive 12 from the company Elmo, the input of which is connected to the computer 11 and which transmits the speed information v determined in the data processing program t It is compared with the expected training speed V input in the computer 11 in advance, and then a decision is made. The decision process is as follows: measured velocity v t The result of comparison with the expected velocity V is three, V t ＜V、v t ＝V、v t More than V, corresponding to three control states of acceleration, uniform speed and deceleration respectively, and using delta V to representOne speed variation that the system needs to adjust at the end of the previous walking cycle is Δ V = V t V, with V t+1 Representing the speed of the next gait cycle, three control states can be described as: for accelerated motion there is v t+1 ＝v t + | Δ V |, for uniform motion there is V t++ ＝v t For deceleration there is v t+1 ＝v t - | Δ V |. The computer 11 calculates the control quantity of the servo motor 14 according to the adjustment quantity delta V, the driver 12 is connected with the computer 11 and transmits the motor control quantity, and the servo motor 14 controls the swing frequency of the lower limb according to the instruction of the driver 12 so as to achieve the purpose of speed adjustment.
Specifically, the structural members include hexagon socket countersunk head screws, flexible pipes, universal wheels 15 and brackets 16.
Further, the countersunk head screw is used for fixing the laser doppler sensor module integrated in the housing 2, the flexible tube is used for wrapping a lead, the universal wheel 15 is fixed at the bottom of the support 16, a patient can walk and train in any direction, the support 16 is used for fixing the digital oscilloscope 10 and the computer 11, and also can provide support for the patient, so that the patient can have a short rest at a training interval, and the patient can observe the walking speed in the training process in real time so as to make adjustments.
The invention also introduces a lower limb robot speed control method, which comprises the following steps:
step A1: emitting laser to the ground through a laser Doppler sensor module, and collecting scattered light on the ground to obtain Doppler signals generated in the movement process;
step A2: measuring and calculating characteristic frequency in the Doppler signal so as to measure the speed in the motion process;
step A3: and regulating the next movement speed of the lower limb robot in real time according to the measured data. .
The working principle of the invention is as follows:
when the patient performs walking rehabilitation training, the computer (11) on the bracket (16) can input the training speed suitable for the patient. When a patient starts training, a light source (3) in the Doppler sensor emits a beam of light to the ground, the scattered light is received by the photoelectric detector (9) again after being scattered by the ground, and the light signal is converted into a digital signal by the digital oscilloscope (10) and then transmitted into the computer (11). Because of Doppler effect, the digital signal contains Doppler frequency shift information, the computer (11) can obtain the speed information at the moment by estimating the frequency shift and according to a corresponding formula, then the speed is compared with the ideal speed input in advance, and the driver (12) is used for decision control, so that the rotating speed of the motor is changed, the speed of the next training period is changed, and the whole system also has a speed control function.
It is well within the knowledge of a person skilled in the art to implement the system and its various devices, modules, units provided by the present invention in a purely computer readable program code means that the same functionality can be implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (5)
1. A lower extremity robot velocity control system, comprising:
laser doppler sensor module: the device is fixed on a lower limb robot, emits laser to the ground, and acquires the Doppler signal generated in the movement process by collecting the scattered light on the ground;
the signal processing module: measuring and calculating characteristic frequency in the Doppler signal so as to measure the speed in the motion process;
a speed adjusting module: regulating the next movement speed of the lower limb robot in real time according to the measured data;
the structural part: the laser Doppler sensor module, the signal processing module and the speed adjusting module are fixed on the lower limb robot through structural parts;
the laser Doppler sensor module comprises a power supply (1), an optical element and a shell (2), wherein the optical element comprises a laser light source (3), a transmission grating (4), a diaphragm (5), a converging lens (6), a reflecting mirror (7) and a filter plate (8), and the laser light source (3) is connected with the power supply (1);
the housing (2) is divided into two spaces, the first space is provided with the optical elements which are arranged in a double-beam type light path, and the second space is provided with a power supply (1);
the signal processing module comprises a photoelectric detector (9) and a data processing module, and the data processing module comprises a digital oscilloscope (10), a computer (11) and a data processing program;
the photoelectric detector (9) is arranged in a first space of the shell (2), collects ground scattered light signals, is connected with a digital oscilloscope (10) in the data processing module and performs A/D conversion, the computer (11) is connected with the digital oscilloscope (10) and reads binary digital signals after A/D conversion, and the data processing program processes the digital signals;
the data processing program includes the steps of:
step S1: establishing a Doppler frequency shift model and collecting Doppler sensor signals;
step S2: carrying out fast Fourier transform and band-pass filtering on the acquired signals;
and step S3: fitting the characteristic frequency in the frequency spectrum by using a Gaussian function, and taking the mean value after fitting as the measured value of the Doppler frequency shift;
when a patient trains on a flat road, the Doppler shift model is as follows:
wherein f is D1 And f D2 Is the Doppler shift, v, measured by two laser Doppler sensors x Is the speed during training and the speed v measured by the sensor t ≈v x Theta is the angle between the laser beam incident on the ground and the sensor housing (2), and lambda is the wavelength of the laser beam;
when the patient trains on uneven road surfaces, the Doppler frequency shift model is as follows:
v x is the velocity component of the lower limb robot in the horizontal direction, v y The velocity component of the lower limb robot in the vertical direction is shown, and delta theta is the inclination angle of the shell (2) and the horizontal direction; according to v during walking y ＜＜v x And simplifying the inclination angle change:
the movement speed of the lower limb robot is as follows:
2. the lower extremity robot velocity control system of claim 1, wherein: the speed adjusting module comprises a driver (12), a waist belt (13) and a servo motor (14);
the input end of the driver (12) is connected with the data processing module, the output end of the driver is connected with the servo motor (14), the waistband (13) is used for placing the driver (12), and the waistband (13) is used for fixing the speed adjusting module.
3. The lower extremity robot velocity control system of claim 2, wherein: the step of controlling the speed of movement by the driver (12) comprises:
step S1: setting a walking speed V suitable for the patient as a speed to be kept in the training process;
step S2: the speed v detected by the sensor during the training of the patient t Comparing the variable quantity with the V to generate the speed variable quantity of the lower limb robot;
and step S3: the computer (11) calculates the control quantity of the servo motor (14) according to the speed variation and transmits the control quantity to the driver (12), and the servo motor (14) acts according to the instruction of the driver (12).
4. The lower extremity robot velocity control system of claim 1, wherein: the structural part comprises an inner hexagonal countersunk head screw, a flexible pipe, a universal wheel (15) and a bracket (16);
the inner hexagonal countersunk head screw is used for fixing the laser Doppler sensor module and the speed adjusting module, the flexible pipe is used for placing a lead, the universal wheel (15) is fixed on a support (16), and the support (16) is used for fixing the digital oscilloscope (10) and the computer (11).
5. A lower limb robot speed control method is characterized by comprising the following steps:
step A1: emitting laser to the ground through a laser Doppler sensor module, and collecting scattered light on the ground to obtain a Doppler signal generated in the movement process;
step A2: measuring and calculating characteristic frequency in the Doppler signal so as to measure the speed in the motion process;
step A3: and regulating the next movement speed of the lower limb robot in real time according to the measured data.
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