CN114474107B - Remote multi-machine control method for exoskeleton robot - Google Patents
Remote multi-machine control method for exoskeleton robot Download PDFInfo
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- CN114474107B CN114474107B CN202210214212.4A CN202210214212A CN114474107B CN 114474107 B CN114474107 B CN 114474107B CN 202210214212 A CN202210214212 A CN 202210214212A CN 114474107 B CN114474107 B CN 114474107B
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- 238000000034 method Methods 0.000 title claims description 11
- 230000033001 locomotion Effects 0.000 claims abstract description 39
- 230000000875 corresponding effect Effects 0.000 claims abstract description 19
- 230000001276 controlling effect Effects 0.000 claims abstract description 7
- 230000009471 action Effects 0.000 claims description 7
- 230000000977 initiatory effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000000926 separation method Methods 0.000 description 3
- 229910001069 Ti alloy Inorganic materials 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses an exoskeleton robot remote multi-machine control system, which comprises: exoskeleton teaching machine; one or more exoskeleton working subsystems having a traditional robot working mode and an exoskeleton robot working mode; the human body movement information acquisition subsystem is used for acquiring human body movement information, identifying the behavior intention of a user, detecting the site and environment information, and transmitting the information to the exoskeleton working subsystem and the exoskeleton teaching machine; and the remote control device is used for controlling the working mode of the exoskeleton working subsystem, only receiving the working instruction of the remote control device and completing corresponding actions when the traditional robot working mode, and the exoskeleton working subsystem receiving the instruction sent by the human motion information acquisition subsystem and making corresponding actions when the exoskeleton robot working mode.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a remote multi-machine control method of an exoskeleton robot.
Background
The exoskeleton robot can strengthen the human body capability, actively recognize the motion intention of the human body and make corresponding actions, has better man-machine interaction capability compared with the traditional robot, and has the effect that the traditional robot cannot replace in practical application. However, the existing exoskeleton robot has the following problems: 1) Man-machine separation is not enough to be a dangerous task: existing exoskeleton robots are generally worn directly on users, and if dangerous tasks are performed, life safety problems of the users themselves are also threatened. 2) Limited by the human body and the prior art, the strengthening capability to the human body is limited: although exoskeleton can strengthen human ability to a certain extent, in order to ensure cooperative consistency with human actions, the size of exoskeleton is generally almost the same as that of human body, which limits the size and working ability of the exoskeleton power system, and is limited by the current state of the art (such as the power storage ability of a battery), and the working ability of the exoskeleton has a larger gap compared with that of a traditional robot.
Disclosure of Invention
The invention provides an exoskeleton robot remote multi-machine control system and method for overcoming the defects of the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme: an exoskeleton robot remote multi-machine control system, comprising:
Exoskeleton teaching machine;
One or more exoskeleton working subsystems having a traditional robot working mode and an exoskeleton robot working mode;
The human body movement information acquisition subsystem is used for acquiring human body movement information, identifying the behavior intention of a user, detecting the site and environment information, and transmitting the information to the exoskeleton working subsystem and the exoskeleton teaching machine;
And the remote control device is used for controlling the working mode of the exoskeleton working subsystem, only receiving the working instruction of the remote control device and completing corresponding actions when the traditional robot working mode, and the exoskeleton working subsystem receiving the instruction sent by the human motion information acquisition subsystem and making corresponding actions when the exoskeleton robot working mode.
According to the invention, through a man-machine separation mode, a person can operate multiple machines, a plurality of exoskeleton robots can be operated to complete tasks, the number of operators is reduced, and the exoskeleton teaching machine can strengthen the human body capability.
Preferably, the exoskeleton working subsystem comprises an information sending and receiving module, an upper computer, a control module, a driving module, a safety module and an exoskeleton structure module.
Preferably, the information sending and receiving module is a wireless 2.4G frequency band Wi-Fi module.
The remote multi-machine control method of the exoskeleton robot comprises the following steps:
step one: the human motion information acquisition subsystem and the exoskeleton demonstration machine are worn on a user;
Step two: adjusting the working mode of the exoskeleton robot through the remote control device and commanding the exoskeleton working subsystem to move to the corresponding position so as to make corresponding initial actions;
step three: the exoskeleton robot working mode is switched to by controlling the exoskeleton working subsystem through the remote control device, and a human body action intention signal is received;
Step four: the user makes corresponding behavior actions, acquires human motion information through the human motion information acquisition subsystem, identifies the behavior intention of the user, detects the site and environment information, and transmits the information to the upper computer;
Step five: after the upper computer processes the received information, the information is converted into an instruction signal through the control system, and the instruction signal is sent to the exoskeleton teaching machine and the exoskeleton working subsystem;
step six: after the exoskeleton teaching machine and the exoskeleton working subsystem receive the signal instruction, the upper computer commands the driving module to complete the corresponding action instruction.
In summary, the invention enables one person to operate multiple machines in a man-machine separation mode, simultaneously operates a plurality of exoskeleton robots to complete tasks, reduces the number of operators, and strengthens the human capability of the exoskeleton teaching machine.
Drawings
FIG. 1 is a schematic diagram of a system according to the present invention.
Fig. 2 is a schematic diagram of a human motion information acquisition subsystem.
Detailed Description
Example 1:
As shown in fig. 1, an exoskeleton robot remote multi-machine control system includes: the system comprises an exoskeleton demonstrating device, an exoskeleton working subsystem, a human body motion information acquisition subsystem and a remote control device, wherein the human body motion information acquisition subsystem consists of 10 accelerometer gyro sensors (MPU 6050), as shown in figure 2, wherein the number 5 is a horizontal motion sensor for detecting the plane motion of the exoskeleton demonstrating device; the No. 0 motion compensation sensor is used for detecting and compensating the plane direction motion of the exoskeleton demonstrator; the first sensor group is formed by 1_1 and 1_2, the second sensor group is formed by 2_1 and 2_2, and the first sensor group and the second sensor group respectively form a two-arm pose acquisition subsystem; the third sensor group is formed by No. 3_1 and No. 3_2, the fourth sensor group is formed by No. 4_1 and No. 4_2, and the third sensor group and the fourth sensor group respectively form a double-leg pose acquisition subsystem.
Specifically, the exoskeleton working subsystem is provided with a traditional robot working mode and an exoskeleton robot working mode, and is a working machine, and comprises an information sending and receiving module, an upper computer, a control module, a driving module, a safety module and all or part of modules in an exoskeleton structure; the structure of the exoskeleton teaching machine is the same as that of the exoskeleton working subsystem.
In some embodiments, the host computer uses Raspberry Pi 4B (Raspberry Pi, 4G) as the host computer central processing system; the information sending and receiving module adopts a wireless 2.4G frequency band Wi-Fi module, and the exoskeleton teaching machine and the working machine adopt a Client-Server (C/S) Client-Server mode. The upper computer is used as a server, and the working machine is used as a client, so that one-to-many information sending and receiving functions are realized. The control module of each working machine adopts an STM32 singlechip as a driving control unit, the driving module adopts a direct current brushless motor with closed loop position feedback, the direct current brushless motor has a self-locking function as a safety module, and the exoskeleton structure adopts a titanium alloy structure.
The remote multi-machine control method of the exoskeleton robot comprises the following steps:
step one: the human motion information acquisition subsystem and the exoskeleton demonstration machine are worn on a user;
Step two: adjusting the working mode of the exoskeleton robot through the remote control device and commanding the exoskeleton working subsystem to move to the corresponding position so as to make corresponding initial actions;
step three: the exoskeleton robot working mode is switched to by controlling the exoskeleton working subsystem through the remote control device, and a human body action intention signal is received;
Step four: the user makes corresponding behavior actions, acquires human motion information through the human motion information acquisition subsystem, identifies the behavior intention of the user, detects the site and environment information, and transmits the information to the upper computer
Step five: after the upper computer processes the received information, the information is converted into an instruction signal through the control system, and the instruction signal is sent to the exoskeleton teaching machine and the exoskeleton working subsystem;
step six: after the exoskeleton teaching machine and the exoskeleton working subsystem receive the signal instruction, the upper computer commands the driving module to complete the corresponding action instruction.
Example 2:
unlike embodiment 1, the sensor in the human motion information acquisition subsystem is not necessarily a gyroscope and a horizontal motion sensor, but may be any type of sensor.
Example 3:
Unlike embodiment 1, the exoskeleton working subsystem does not have to be of a titanium alloy structure, and may be of any material structure or a combination of materials. Composite structures are particularly preferred.
Example 4:
Unlike embodiment 1, the exoskeleton working subsystem does not necessarily use Raspberry Pi 4B (Raspberry Pi, 4G)) as the central processing system of the host computer, but may be any type of host computer.
Example 5:
the difference between this embodiment and embodiment 1 is that the control module of the exoskeleton working subsystem does not necessarily adopt an STM32 single-chip microcomputer as a driving control unit, but a single-chip microcomputer or other type of control unit with any effort.
Example 6:
unlike embodiment 1, the driving module of the exoskeleton working subsystem does not necessarily use a brushless dc motor with closed loop position feedback, but any type of motor.
Example 7:
Unlike embodiments 1 and 6, the driving module of the exoskeleton working subsystem does not necessarily use a motor, but any type of driving manner such as hydraulic driving.
Example 8:
Unlike embodiment 1, the information transmission and reception of the exoskeleton working subsystem does not necessarily use a Wi-Fi module in the wireless 2.4G band, but rather uses any type and frequency of wireless or wired information transmission method.
Example 9:
Unlike embodiments 1-10, the exoskeleton working subsystem need not be an exoskeleton robot that does not wrap the user's body, but may be an exoskeleton armored robot that wraps the user either whole body or over a large area.
Example 10:
This embodiment differs from embodiments 1-9 in that the exoskeleton working subsystem is not necessarily a powered exoskeleton, but may be a non-powered exoskeleton or a flexible exoskeleton.
Example 11:
The present embodiment is different from embodiments 1 to 10 in that the human body movement information acquisition subsystem acquires and transmits movement intention information of a user, but may also be site information or environmental information.
Example 12:
Unlike embodiments 1 to 11, the exoskeleton working subsystem does not necessarily receive movement intention information of the user, but may also be site information or environment information.
Example 13:
unlike embodiments 1 to 12, the present embodiment is not necessarily the number 1 exoskeleton robot, and any number of exoskeleton robots may be worn by the user.
Example 14:
Unlike embodiments 1 to 13, the user may wear only the human motion information acquisition subsystem without wearing the exoskeleton teaching machine.
Example 15:
this embodiment differs from embodiments 1-14 in that the exoskeleton working subsystem can be designed as an exoskeleton robot of different structural types, for example, for military use, the front row exoskeleton robot can be designed as an exoskeleton robot with thick armor and strong defensive power; and the rear row is designed as an exoskeleton robot with weak defenses and strong firepower.
Example 16:
Unlike embodiments 1-15, the exoskeleton working subsystem can be designed as an exoskeleton robot that performs different tasks, for example, in order to extend the working time of the exoskeleton subsystem, a certain exoskeleton robot can be designed to specifically carry an energy storage battery.
Example 17:
This embodiment differs from embodiments 1-16 in that the number of exoskeleton working subsystems is not 10 outsoles, but rather any number.
The above embodiment is only a preferred embodiment of the present invention, but it is not intended to limit the present invention. Various changes and modifications may be made by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present invention. Therefore, all the technical schemes obtained by adopting the equivalent substitution or equivalent transformation are within the protection scope of the invention.
Claims (1)
1. The remote multi-machine control method of the exoskeleton robot is characterized in that the remote multi-machine control system of the exoskeleton robot is used for controlling, and comprises an exoskeleton demonstrator; one or more exoskeleton working subsystems having a traditional robot working mode and an exoskeleton robot working mode; the human body movement information acquisition subsystem is used for acquiring human body movement information, identifying the behavior intention of a user, detecting the site and environment information, and transmitting the information to the exoskeleton working subsystem and the exoskeleton teaching machine; the human motion information acquisition subsystem consists of 10 accelerometer gyroscopes, and comprises a horizontal motion sensor, a motion compensation sensor, a first sensor group, a second sensor group, a third sensor group and a fourth sensor group, wherein the horizontal motion sensor detects the plane motion of the exoskeleton teaching machine; the motion compensation sensor is used for detecting and compensating the plane direction motion of the exoskeleton teaching machine; the first sensor group and the second sensor group respectively form two arm pose acquisition subsystems; the third sensor group and the fourth sensor group respectively form a double-leg pose acquisition subsystem; the remote control device is used for controlling the working mode of the exoskeleton working subsystem, only receiving the working instruction of the remote control device and completing corresponding actions when the traditional robot working mode, and the exoskeleton working subsystem receiving the instruction sent by the human motion information acquisition subsystem and making corresponding actions when the exoskeleton robot working mode; the exoskeleton working subsystem comprises an information sending and receiving module, an upper computer, a control module, a driving module, a safety module and an exoskeleton structure module, wherein the information sending and receiving module is a wireless 2.4G frequency band Wi-Fi module, and the exoskeleton robot remote multi-machine control system comprises the following specific operation steps: step one: the human motion information acquisition subsystem and the exoskeleton demonstration machine are worn on a user; step two: adjusting the working mode of the exoskeleton robot through the remote control device and commanding the exoskeleton working subsystem to move to the corresponding position so as to make corresponding initial actions; step three: the exoskeleton robot working mode is switched to by controlling the exoskeleton working subsystem through the remote control device, and a human body action intention signal is received; step four: the user makes corresponding behavior actions, acquires human motion information through the human motion information acquisition subsystem, identifies the behavior intention of the user, detects the site and environment information, and transmits the information to the upper computer; step five: after the upper computer processes the received information, the information is converted into an instruction signal through the control system, and the instruction signal is sent to the exoskeleton teaching machine and the exoskeleton working subsystem; step six: after the exoskeleton demonstrating machine and the exoskeleton working subsystem receive the instruction signals, the upper computer commands the driving module to complete corresponding action instructions.
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| CN202210214212.4A CN114474107B (en) | 2022-03-07 | 2022-03-07 | Remote multi-machine control method for exoskeleton robot |
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Citations (5)
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| CN106650224A (en) * | 2016-10-31 | 2017-05-10 | 华南理工大学 | Remote monitoring available bionic rehabilitation exoskeleton system and control method thereof |
| CN108748147A (en) * | 2018-06-01 | 2018-11-06 | 清华大学深圳研究生院 | A kind of control system and method for ectoskeleton mechanical arm |
| CN111319026A (en) * | 2020-02-06 | 2020-06-23 | 北京凡川智能机器人科技有限公司 | Immersive human-simulated remote control method for double-arm robot |
| CN112631148A (en) * | 2020-12-25 | 2021-04-09 | 迈宝智能科技(苏州)有限公司 | Exoskeleton robot platform communication protocol and online simulation control system |
| CN113771040A (en) * | 2021-09-29 | 2021-12-10 | 北京理工大学 | Control system and method for lower limb exoskeleton robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10342725B2 (en) * | 2015-04-06 | 2019-07-09 | Kessier Foundation Inc. | System and method for user-controlled exoskeleton gait control |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106650224A (en) * | 2016-10-31 | 2017-05-10 | 华南理工大学 | Remote monitoring available bionic rehabilitation exoskeleton system and control method thereof |
| CN108748147A (en) * | 2018-06-01 | 2018-11-06 | 清华大学深圳研究生院 | A kind of control system and method for ectoskeleton mechanical arm |
| CN111319026A (en) * | 2020-02-06 | 2020-06-23 | 北京凡川智能机器人科技有限公司 | Immersive human-simulated remote control method for double-arm robot |
| CN112631148A (en) * | 2020-12-25 | 2021-04-09 | 迈宝智能科技(苏州)有限公司 | Exoskeleton robot platform communication protocol and online simulation control system |
| CN113771040A (en) * | 2021-09-29 | 2021-12-10 | 北京理工大学 | Control system and method for lower limb exoskeleton robot |
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